feat(nav): per-POI navigation progress with dynamic ETA

app/backend/node_manager.py

@@ -145,7 +145,12 @@ def __init__(self, tinynav_db_path: str = '/tinynav/tinynav_db'):
         self._map_node_proc: subprocess.Popen | None = None
         self._cmd_vel_proc: subprocess.Popen | None = None
 
+        self._nav_progress: dict | None = None
+        self.nav_progress_callbacks: list = []
+
         self.create_subscription(Float32, '/battery', self._on_battery, 10)
+        self.create_subscription(Bool, '/mapping/nav_done', self._on_nav_done, 10)
+        self.create_subscription(String, '/mapping/nav_progress', self._on_nav_progress, 10)
         self._detect_and_init_sensor()
         self._start_unitree_if_configured()
 
@@ -157,6 +162,21 @@ def _on_battery(self, msg: Float32):
         with self._lock:
             self._battery = float(msg.data)
 
+    def _on_nav_done(self, msg: Bool):
+        if msg.data and self.state == 'navigation':
+            self.state = 'idle'
+            self._pub_state()
+
+    def _on_nav_progress(self, msg: String):
+        try:
+            data = json.loads(msg.data)
+            with self._lock:
+                self._nav_progress = data
+            for cb in self.nav_progress_callbacks:
+                cb(data)
+        except json.JSONDecodeError:
+            pass
+
     def _on_mapping_percent(self, msg: Float32):
         with self._lock:
             self.mapping_percent = float(msg.data)
@@ -186,7 +206,9 @@ def _on_pose_in_map(self, msg: Odometry):
                 pass
 
     def _on_relocalization(self, msg: Odometry):
+        pose = self._odom_to_dict(msg, source='map')
         with self._lock:
+            self._map_pose = pose
             self._localized = True
 
     def _on_nav_target_pose(self, msg: Odometry):

app/backend/ws.py

@@ -85,6 +85,38 @@ def _on_pose(pose: dict):
             pass
 
 
+# --------------------------------------------------------------------------- #
+# /ws/nav-progress  — pushed on every /mapping/nav_progress message          #
+# --------------------------------------------------------------------------- #
+
+@router.websocket('/ws/nav-progress')
+async def ws_nav_progress(ws: WebSocket):
+    await ws.accept()
+    queue: asyncio.Queue = asyncio.Queue(maxsize=10)
+    loop = asyncio.get_event_loop()
+
+    def _on_progress(data: dict):
+        loop.call_soon_threadsafe(lambda: _safe_put(queue, data))
+
+    node = runner.node
+    if node is None:
+        await ws.close(code=1013)
+        return
+
+    node.nav_progress_callbacks.append(_on_progress)
+    try:
+        while True:
+            data = await queue.get()
+            await ws.send_text(json.dumps(data))
+    except WebSocketDisconnect:
+        pass
+    finally:
+        try:
+            node.nav_progress_callbacks.remove(_on_progress)
+        except ValueError:
+            pass
+
+
 # --------------------------------------------------------------------------- #
 # /ws/map-update  — polls for occupancy_grid.npy mtime changes               #
 # --------------------------------------------------------------------------- #

app/frontend/lib/core/models.dart

@@ -1,6 +1,30 @@
 import 'dart:convert';
 import 'dart:typed_data';
 
+class NavProgress {
+  final int poiIndex;
+  final double percent;
+  final double pathRemainingM;
+  final double pathTotalM;
+  final double estimatedRemainingS;
+
+  const NavProgress({
+    required this.poiIndex,
+    required this.percent,
+    required this.pathRemainingM,
+    required this.pathTotalM,
+    required this.estimatedRemainingS,
+  });
+
+  factory NavProgress.fromJson(Map<String, dynamic> json) => NavProgress(
+        poiIndex: json['poi_index'] as int? ?? 0,
+        percent: (json['percent'] as num?)?.toDouble() ?? 0.0,
+        pathRemainingM: (json['path_remaining_m'] as num?)?.toDouble() ?? 0.0,
+        pathTotalM: (json['path_total_m'] as num?)?.toDouble() ?? 0.0,
+        estimatedRemainingS: (json['estimated_remaining_s'] as num?)?.toDouble() ?? -1.0,
+      );
+}
+
 class DeviceStatus {
   final bool online;
   final double? battery;

app/frontend/lib/core/providers.dart

@@ -41,6 +41,19 @@ final deviceStatusProvider = StreamProvider<DeviceStatus>((ref) {
   );
 });
 
+/// Streams NavProgress from WS /ws/nav-progress (pushed on every ROS message).
+final navProgressStreamProvider = StreamProvider<NavProgress>((ref) {
+  final ip = ref.watch(deviceIpProvider);
+  if (ip == null) return const Stream.empty();
+
+  final channel = WebSocketChannel.connect(Uri.parse('ws://$ip:8000/ws/nav-progress'));
+  ref.onDispose(() => channel.sink.close());
+
+  return channel.stream.map(
+    (data) => NavProgress.fromJson(jsonDecode(data as String) as Map<String, dynamic>),
+  );
+});
+
 /// Streams robot Pose from WS /ws/pose (pushed on every odometry message).
 final poseStreamProvider = StreamProvider<Pose>((ref) {
   final ip = ref.watch(deviceIpProvider);
@@ -98,6 +111,9 @@ final imageTopicsProvider = FutureProvider.autoDispose<List<String>>((ref) async
 /// Currently selected bag name for map building (null = use last verified).
 final selectedBagProvider = StateProvider<String?>((ref) => null);
 
+/// POIs currently being navigated (set when Go is pressed, cleared when nav done).
+final activeNavPoisProvider = StateProvider<List<Poi>>((ref) => const []);
+
 /// Currently selected preview topic (null = preview closed).
 final selectedPreviewTopicProvider = StateProvider<String?>((ref) => null);
 

app/frontend/lib/pages/nav_tab.dart

@@ -83,6 +83,20 @@ class _NavStatusCard extends ConsumerStatefulWidget {
 
 class _NavStatusCardState extends ConsumerState<_NavStatusCard> {
   bool _canceling = false;
+  bool _showCompletion = false;
+
+  @override
+  void didUpdateWidget(_NavStatusCard oldWidget) {
+    super.didUpdateWidget(oldWidget);
+    final wasNavigating = oldWidget.status.rawState == 'navigation';
+    final isNavigating = widget.status.rawState == 'navigation';
+    if (wasNavigating && !isNavigating) {
+      setState(() => _showCompletion = true);
+      Future.delayed(const Duration(milliseconds: 1200), () {
+        if (mounted) setState(() => _showCompletion = false);
+      });
+    }
+  }
 
   Future<void> _cancel() async {
     setState(() => _canceling = true);
@@ -106,39 +120,86 @@ class _NavStatusCardState extends ConsumerState<_NavStatusCard> {
   Widget build(BuildContext context) {
     final s = widget.status;
     final isNavigating = s.rawState == 'navigation';
+    final np = isNavigating ? ref.watch(navProgressStreamProvider).valueOrNull : null;
+    final showCompletion = _showCompletion;
+
+    String subtitle;
+    double progressValue;
+    if (showCompletion) {
+      subtitle = 'Arrived!';
+      progressValue = 1.0;
+    } else if (isNavigating && np != null) {
+      progressValue = (np.percent / 100.0).clamp(0.0, 1.0);
+      final remaining = np.pathRemainingM < 1000 ? '${np.pathRemainingM.toStringAsFixed(1)}m' : '--';
+      final eta = np.estimatedRemainingS >= 0
+          ? '~${np.estimatedRemainingS.toStringAsFixed(0)}s'
+          : '--';
+      subtitle = 'POI #${np.poiIndex + 1} · $remaining · $eta';
+    } else if (isNavigating) {
+      subtitle = 'Navigating...';
+      progressValue = 0.0;
+    } else {
+      subtitle = s.navStatus;
+      progressValue = 0.0;
+    }
+
+    final active = isNavigating || showCompletion;
+    final progressColor = showCompletion ? Colors.green : Colors.blue;
 
     return Card(
       child: Padding(
         padding: const EdgeInsets.all(16),
-        child: Row(children: [
-          Icon(
-            isNavigating ? Icons.navigation : Icons.navigation_outlined,
-            color: isNavigating ? Colors.blue : Colors.grey,
-            size: 28,
-          ),
-          const SizedBox(width: 12),
-          Expanded(
-            child: Column(crossAxisAlignment: CrossAxisAlignment.start, children: [
-              const Text('Navigation',
-                  style: TextStyle(fontWeight: FontWeight.bold, fontSize: 16)),
-              Text(
-                isNavigating ? 'Navigating...' : s.navStatus,
-                style: TextStyle(color: isNavigating ? Colors.blue : Colors.grey),
+        child: Column(crossAxisAlignment: CrossAxisAlignment.start, children: [
+          Row(children: [
+            Icon(
+              active ? Icons.navigation : Icons.navigation_outlined,
+              color: active ? progressColor : Colors.grey,
+              size: 28,
+            ),
+            const SizedBox(width: 12),
+            Expanded(
+              child: Column(crossAxisAlignment: CrossAxisAlignment.start, children: [
+                const Text('Navigation',
+                    style: TextStyle(fontWeight: FontWeight.bold, fontSize: 16)),
+                Text(
+                  subtitle,
+                  style: TextStyle(color: active ? progressColor : Colors.grey),
+                ),
+              ]),
+            ),
+            if (isNavigating)
+              OutlinedButton(
+                onPressed: _canceling ? null : _cancel,
+                style: OutlinedButton.styleFrom(foregroundColor: Colors.red),
+                child: _canceling
+                    ? const SizedBox(
+                        width: 16,
+                        height: 16,
+                        child: CircularProgressIndicator(strokeWidth: 2),
+                      )
+                    : const Text('Cancel'),
+              ),
+          ]),
+          if (active) ...[
+            const SizedBox(height: 10),
+            ClipRRect(
+              borderRadius: BorderRadius.circular(3),
+              child: LinearProgressIndicator(
+                value: progressValue,
+                color: progressColor,
+                backgroundColor: progressColor.withOpacity(0.15),
+                minHeight: 6,
+              ),
+            ),
+            const SizedBox(height: 4),
+            Align(
+              alignment: Alignment.centerRight,
+              child: Text(
+                '${(progressValue * 100).toStringAsFixed(1)}%',
+                style: TextStyle(fontSize: 12, color: progressColor),
               ),
-            ]),
-          ),
-          if (isNavigating)
-            OutlinedButton(
-              onPressed: _canceling ? null : _cancel,
-              style: OutlinedButton.styleFrom(foregroundColor: Colors.red),
-              child: _canceling
-                  ? const SizedBox(
-                      width: 16,
-                      height: 16,
-                      child: CircularProgressIndicator(strokeWidth: 2),
-                    )
-                  : const Text('Cancel'),
             ),
+          ],
         ]),
       ),
     );