PalmOilRipenessDetection-Python/palm_oil_mobile/lib/services/tflite_service.dart

import 'dart:io';
import 'dart:math';
import 'dart:ui';
import 'dart:typed_data';
import 'dart:isolate';
import 'dart:async';
import 'package:flutter/services.dart';
import 'package:flutter/foundation.dart';
import 'package:image/image.dart' as img;
import 'package:image_picker/image_picker.dart';
import 'package:tflite_flutter/tflite_flutter.dart';
import 'package:camera/camera.dart';

class DetectionResult {
  final String className;
  final int classIndex;
  final double confidence;
  final Rect normalizedBox;

  const DetectionResult({
    required this.className,
    required this.classIndex,
    required this.confidence,
    required this.normalizedBox,
  });

  Color getStatusColor() {
    if (className == 'Empty_Bunch' || className == 'Abnormal') return const Color(0xFFF44336);
    if (className == 'Ripe' || className == 'Overripe') return const Color(0xFF4CAF50);
    return const Color(0xFFFF9800);
  }
}

class TfliteService {
  static const _modelAsset = 'best.tflite';
  static const _labelsAsset = 'labels.txt';
  static const int _inputSize = 640;
  static const double _confidenceThreshold = 0.25;

  Isolate? _isolate;
  SendPort? _sendPort;
  ReceivePort? _receivePort;

  List<String> _labels = [];
  final ImagePicker _picker = ImagePicker();
  bool _isInitialized = false;
  bool _isIsolateBusy = false;

  bool get isInitialized => _isInitialized;
  bool get isIsolateBusy => _isIsolateBusy;

  Future<void> initModel() async {
    try {
      final labelData = await rootBundle.loadString('assets/$_labelsAsset');
      _labels = labelData.split('\n').where((l) => l.trim().isNotEmpty).map((l) => l.trim()).toList();

      final modelData = await rootBundle.load('assets/$_modelAsset');
      final modelBytes = modelData.buffer.asUint8List();

      _receivePort = ReceivePort();
      _isolate = await Isolate.spawn(_isolateEntry, _receivePort!.sendPort);
      
      final completer = Completer<SendPort>();
      StreamSubscription? sub;
      sub = _receivePort!.listen((message) {
        if (message is SendPort) {
          completer.complete(message);
          sub?.cancel();
        }
      });
      _sendPort = await completer.future;

      final initCompleter = Completer<void>();
      final initReplyPort = ReceivePort();
      
      _sendPort!.send({
        'command': 'init',
        'modelBytes': modelBytes,
        'labelData': labelData,
        'replyPort': initReplyPort.sendPort,
      });

      StreamSubscription? initSub;
      initSub = initReplyPort.listen((message) {
        if (message == 'init_done') {
          initCompleter.complete();
          initSub?.cancel();
          initReplyPort.close();
        }
      });

      await initCompleter.future;

      _isInitialized = true;
      print('TfliteService: Model loaded via persistent isolate.');
    } catch (e) {
      print('TfliteService init error: $e');
      rethrow;
    }
  }

  Future<XFile?> pickImage() async {
    return await _picker.pickImage(
      source: ImageSource.gallery,
      maxWidth: _inputSize.toDouble(),
      maxHeight: _inputSize.toDouble(),
    );
  }

  Future<List<DetectionResult>> runInference(String imagePath) async {
    if (!_isInitialized) await initModel();

    final imageBytes = await File(imagePath).readAsBytes();
    
    final replyPort = ReceivePort();
    _sendPort!.send({
      'command': 'inference_static',
      'imageBytes': imageBytes,
      'replyPort': replyPort.sendPort,
    });

    final detections = await replyPort.first;
    replyPort.close();
    return detections as List<DetectionResult>;
  }

  Future<List<DetectionResult>> runInferenceOnStream(CameraImage image) async {
    if (!_isInitialized) await initModel();

    // The gatekeeper logic has moved up to LiveAnalysisScreen (Atomic Lock)
    // but we keep the safety bypass here just in case.
    if (_isIsolateBusy) return <DetectionResult>[];

    _isIsolateBusy = true;
    final replyPort = ReceivePort();
    
    _sendPort!.send({
      'command': 'inference_stream',
      'planes': image.planes.map((p) => {
        'bytes': p.bytes,
        'bytesPerRow': p.bytesPerRow,
        'bytesPerPixel': p.bytesPerPixel,
      }).toList(),
      'width': image.width,
      'height': image.height,
      'format': image.format.group,
      'replyPort': replyPort.sendPort,
    });

    final detections = await replyPort.first;
    replyPort.close();
    _isIsolateBusy = false;
    return detections as List<DetectionResult>;
  }

  static void _isolateEntry(SendPort sendPort) {
    final receivePort = ReceivePort();
    sendPort.send(receivePort.sendPort);

    Interpreter? interpreter;
    List<String> labels = [];

    receivePort.listen((message) {
      if (message is Map) {
        final command = message['command'];
        final replyPort = message['replyPort'] as SendPort;

        if (command == 'init') {
          final modelBytes = message['modelBytes'] as Uint8List;
          final labelData = message['labelData'] as String;

          final interpreterOptions = InterpreterOptions()..threads = 4;
          interpreter = Interpreter.fromBuffer(modelBytes, options: interpreterOptions);
          labels = labelData.split('\n').where((l) => l.trim().isNotEmpty).map((l) => l.trim()).toList();
          
          replyPort.send('init_done');
        } else if (command == 'inference_static') {
          if (interpreter == null) {
            replyPort.send(<DetectionResult>[]);
            return;
          }
          final imageBytes = message['imageBytes'] as Uint8List;
          final results = _inferenceStaticTask(imageBytes, interpreter!, labels);
          replyPort.send(results);
        } else if (command == 'inference_stream') {
          if (interpreter == null) {
            replyPort.send(<DetectionResult>[]);
            return;
          }
          final planes = message['planes'] as List<dynamic>;
          final width = message['width'] as int;
          final height = message['height'] as int;
          final format = message['format'];
          
          final results = _inferenceStreamTask(planes, width, height, format, interpreter!, labels);
          replyPort.send(results);
        }
      }
    });
  }

  static List<DetectionResult> _inferenceStaticTask(Uint8List imageBytes, Interpreter interpreter, List<String> labels) {
    try {
      final decoded = img.decodeImage(imageBytes);
      if (decoded == null) throw Exception('Could not decode image');

      final int width = decoded.width;
      final int height = decoded.height;
      final int size = width < height ? width : height;
      final int offsetX = (width - size) ~/ 2;
      final int offsetY = (height - size) ~/ 2;
      
      final cropped = img.copyCrop(decoded, x: offsetX, y: offsetY, width: size, height: size);
      final resized = img.copyResize(cropped, width: _inputSize, height: _inputSize, interpolation: img.Interpolation.linear);

      final inputTensor = List.generate(1, (_) =>
        List.generate(_inputSize, (y) =>
          List.generate(_inputSize, (x) {
            final pixel = resized.getPixel(x, y);
            return [pixel.r / 255.0, pixel.g / 255.0, pixel.b / 255.0];
          })
        )
      );

      final outputShape = interpreter.getOutputTensors()[0].shape;
      final outputTensor = List.generate(1, (_) =>
        List.generate(outputShape[1], (_) =>
          List<double>.filled(outputShape[2], 0.0)
        )
      );

      interpreter.run(inputTensor, outputTensor);

      return _decodeDetections(
        outputTensor[0], 
        labels, 
        cropSize: size, 
        offsetX: offsetX, 
        offsetY: offsetY, 
        fullWidth: width, 
        fullHeight: height
      );
    } catch (e) {
      print('Isolate static inference error: $e');
      return <DetectionResult>[];
    }
  }

  static List<DetectionResult> _inferenceStreamTask(
    List<dynamic> planes, int width, int height, dynamic format, 
    Interpreter interpreter, List<String> labels
  ) {
    try {
      final size = width < height ? width : height;
      final offsetX = (width - size) ~/ 2;
      final offsetY = (height - size) ~/ 2;

      img.Image? image;
      if (format == ImageFormatGroup.bgra8888) {
        final fullImage = img.Image.fromBytes(
          width: width,
          height: height,
          bytes: planes[0]['bytes'].buffer,
          format: img.Format.uint8,
          numChannels: 4,
          order: img.ChannelOrder.bgra,
        );
        image = img.copyCrop(fullImage, x: offsetX, y: offsetY, width: size, height: size);
      } else if (format == ImageFormatGroup.yuv420) {
        image = _convertYUV420ToImage(
          planes: planes,
          width: width,
          height: height,
          cropSize: size,
          offsetX: offsetX,
          offsetY: offsetY,
        );
      } else {
        print("TfliteService: Unsupported format: $format. Ensure platform correctly requests YUV420 or BGRA.");
        return <DetectionResult>[];
      }

      final resized = img.copyResize(image, width: _inputSize, height: _inputSize);
      
      final inputTensor = List.generate(1, (_) =>
        List.generate(_inputSize, (y) =>
          List.generate(_inputSize, (x) {
            final pixel = resized.getPixel(x, y);
            return [pixel.r / 255.0, pixel.g / 255.0, pixel.b / 255.0];
          })
        )
      );

      final outputShape = interpreter.getOutputTensors()[0].shape;
      final outputTensor = List.generate(1, (_) =>
        List.generate(outputShape[1], (_) =>
          List<double>.filled(outputShape[2], 0.0)
        )
      );

      interpreter.run(inputTensor, outputTensor);
      
      return _decodeDetections(
        outputTensor[0], 
        labels, 
        cropSize: size, 
        offsetX: offsetX, 
        offsetY: offsetY, 
        fullWidth: width, 
        fullHeight: height
      );
    } catch (e) {
      print('Isolate stream inference error: $e');
      return <DetectionResult>[];
    }
  }

  static img.Image _convertYUV420ToImage({
    required List<dynamic> planes,
    required int width,
    required int height,
    required int cropSize,
    required int offsetX,
    required int offsetY,
  }) {
    final yPlane = planes[0];
    final uPlane = planes[1];
    final vPlane = planes[2];

    final yBytes = yPlane['bytes'] as Uint8List;
    final uBytes = uPlane['bytes'] as Uint8List;
    final vBytes = vPlane['bytes'] as Uint8List;

    final yRowStride = yPlane['bytesPerRow'] as int;
    final uvRowStride = uPlane['bytesPerRow'] as int;
    final uvPixelStride = uPlane['bytesPerPixel'] as int;

    // Fast 32-bit Native memory buffer
    final Uint32List bgraData = Uint32List(cropSize * cropSize);
    int bufferIndex = 0;

    for (int y = 0; y < cropSize; y++) {
      for (int x = 0; x < cropSize; x++) {
        final int actualX = x + offsetX;
        final int actualY = y + offsetY;

        final int uvIndex = (uvRowStride * (actualY >> 1)) + (uvPixelStride * (actualX >> 1));
        final int yIndex = (actualY * yRowStride) + actualX;

        if (yIndex >= yBytes.length || uvIndex >= uBytes.length || uvIndex >= vBytes.length) {
            bufferIndex++;
            continue;
        }

        final int yp = yBytes[yIndex];
        final int up = uBytes[uvIndex];
        final int vp = vBytes[uvIndex];

        // Standard YUV to RGB conversion
        int r = (yp + (1.370705 * (vp - 128))).toInt();
        int g = (yp - (0.337633 * (up - 128)) - (0.698001 * (vp - 128))).toInt();
        int b = (yp + (1.732446 * (up - 128))).toInt();

        // Clamp inline for max speed
        r = r < 0 ? 0 : (r > 255 ? 255 : r);
        g = g < 0 ? 0 : (g > 255 ? 255 : g);
        b = b < 0 ? 0 : (b > 255 ? 255 : b);

        // Pack into 32-bit integer: 0xAARRGGBB -> Memory writes it Little Endian: B, G, R, A.
        bgraData[bufferIndex++] = (255 << 24) | (r << 16) | (g << 8) | b;
      }
    }
    
    return img.Image.fromBytes(
      width: cropSize, 
      height: cropSize, 
      bytes: bgraData.buffer,
      format: img.Format.uint8,
      numChannels: 4,               // Packed 4 channels (BGRA)
      order: img.ChannelOrder.bgra, // Explicitly tell image package it's BGRA
    );
  }

  /// Decodes YOLO26 NMS-Free detections.
  /// Unlike legacy YOLOv8, this model produces unique, final predictions
  /// directly in the output tensor, eliminating the need for a secondary
  /// Non-Max Suppression (NMS) loop in Dart.
  static List<DetectionResult> _decodeDetections(
    List<List<double>> rawDetections, 
    List<String> labels, {
    int? cropSize,
    int? offsetX,
    int? offsetY,
    int? fullWidth,
    int? fullHeight,
  }) {
    // YOLO26 E2E models typically return a fixed number of detections (e.g., top 100)
    // We only need to filter by confidence and map back to the original frame.
    final detections = <DetectionResult>[];
    for (final det in rawDetections) {
      if (det.length < 6) continue;
      final conf = det[4];
      if (conf < _confidenceThreshold) continue;

      double x1 = det[0].clamp(0.0, 1.0);
      double y1 = det[1].clamp(0.0, 1.0);
      double x2 = det[2].clamp(0.0, 1.0);
      double y2 = det[3].clamp(0.0, 1.0);
      
      // If crop info is provided, map back to full frame
      if (cropSize != null && offsetX != null && offsetY != null && fullWidth != null && fullHeight != null) {
        x1 = (x1 * cropSize + offsetX) / fullWidth;
        x2 = (x2 * cropSize + offsetX) / fullWidth;
        y1 = (y1 * cropSize + offsetY) / fullHeight;
        y2 = (y2 * cropSize + offsetY) / fullHeight;
      }

      final classId = det[5].round();

      if (x2 <= x1 || y2 <= y1) continue;

      final label = (classId >= 0 && classId < labels.length) ? labels[classId] : 'Unknown';

      detections.add(DetectionResult(
        className: label,
        classIndex: classId,
        confidence: conf,
        normalizedBox: Rect.fromLTRB(x1, y1, x2, y2),
      ));
    }
    detections.sort((a, b) => b.confidence.compareTo(a.confidence));
    return detections;
  }

  void dispose() {
    _receivePort?.close();
    if (_isolate != null) {
      _isolate!.kill(priority: Isolate.immediate);
      _isolate = null;
    }
    _isInitialized = false;
  }
}