@mentra/crust 0.1.0-dev.0

package/android/src/main/java/com/mentra/crust/navigation/NavigationManager.kt

@@ -0,0 +1,1445 @@
+package com.mentra.crust.navigation
+
+import android.app.Activity
+import android.content.Context
+import android.util.Log
+import com.mapbox.api.directions.v5.DirectionsCriteria
+import com.mapbox.api.directions.v5.models.DirectionsRoute
+import com.mapbox.api.directions.v5.models.ManeuverModifier
+import com.mapbox.api.directions.v5.models.RouteOptions
+import com.mapbox.api.directions.v5.models.StepManeuver
+import com.mapbox.common.MapboxOptions
+import com.mapbox.common.location.Location
+import com.mapbox.geojson.Point
+import com.mapbox.navigation.base.ExperimentalPreviewMapboxNavigationAPI
+import com.mapbox.navigation.base.extensions.applyDefaultNavigationOptions
+import com.mapbox.navigation.base.extensions.applyLanguageAndVoiceUnitOptions
+import com.mapbox.navigation.base.options.NavigationOptions
+import com.mapbox.navigation.base.route.NavigationRoute
+import com.mapbox.navigation.base.route.NavigationRouterCallback
+import com.mapbox.navigation.base.route.RouterFailure
+import com.mapbox.navigation.base.trip.model.RouteProgress
+import com.mapbox.navigation.base.trip.model.RouteProgressState
+import com.mapbox.navigation.core.MapboxNavigation
+import com.mapbox.navigation.core.MapboxNavigationProvider
+import com.mapbox.navigation.core.directions.session.RoutesExtra
+import com.mapbox.navigation.core.directions.session.RoutesObserver
+import com.mapbox.navigation.core.directions.session.RoutesUpdatedResult
+import com.mapbox.navigation.core.reroute.RerouteController
+import com.mapbox.navigation.core.reroute.RerouteState
+import com.mapbox.navigation.core.replay.MapboxReplayer
+import com.mapbox.navigation.core.replay.history.ReplayEventBase
+import com.mapbox.navigation.core.replay.history.ReplayEventLocation
+import com.mapbox.navigation.core.replay.history.ReplayEventUpdateLocation
+import com.mapbox.navigation.core.replay.route.ReplayRouteMapper
+import com.mapbox.navigation.core.replay.route.ReplayRouteOptions
+import com.mapbox.navigation.core.replay.route.ReplayRouteSession
+import com.mapbox.navigation.core.replay.route.ReplayRouteSessionOptions
+import com.mapbox.navigation.core.trip.session.LocationMatcherResult
+import com.mapbox.navigation.core.trip.session.LocationObserver
+import com.mapbox.navigation.core.trip.session.OffRouteObserver
+import com.mapbox.navigation.core.trip.session.RouteProgressObserver
+
+/**
+ * NavigationManager
+ *
+ * Singleton wrapper around the **Mapbox Navigation SDK v3** for Android
+ * (migrated from the Google Navigation SDK). Owns the MapboxNavigation
+ * lifecycle, attaches observers, and exposes coarse callbacks consumed by
+ * CrustModule (which forwards them as events to JS).
+ *
+ * Headless: never mounts a MapView. The mobile app does not render a
+ * map natively (the miniapp WebView owns the visible map).
+ *
+ * ## Contract (UNCHANGED from the Google implementation)
+ *
+ * The public surface — `start` / `stop` / `ensureTermsAccepted` /
+ * `resetTermsAccepted` / `simulateDeviation` / `setWrongSidewalkOffset` /
+ * `setSkipCrossings`, plus the `StartOptions` / `Callbacks` /
+ * `ManeuverPayload` / `LocationPayload` / `RoutePoint` / `RouteStep` types —
+ * is byte-identical to the Google version. CrustModule and everything above
+ * the bridge (the `@mentra/miniapp` SDK, the PivotEngine) are unaffected by
+ * this migration. See issues/mapbox-navigation-migration.md.
+ *
+ * ## How Mapbox differs from Google (mapped onto the same contract)
+ *
+ * - **Off-route + reroute is automatic.** Mapbox detects off-route and
+ *   re-requests a route by default. We surface `OffRouteObserver` →
+ *   `onOffRoute`, `RerouteState` transitions → `onRerouting`, and
+ *   `RoutesObserver` (new route) → `onRoute`. No hand-rolled 30m
+ *   perpendicular detector for the live trip.
+ * - **Steps arrive inline** on each `RouteProgress` / off the
+ *   `NavigationRoute` directlegs — no Messenger-IPC NavInfo service
+ *   (NavInfoReceiverService is deleted). Road names + maneuver come from
+ *   the Directions `LegStep` / `BannerInstructions`.
+ * - **No T&C dialog.** Mapbox has no runtime terms screen, so
+ *   `ensureTermsAccepted` resolves immediately `true` and
+ *   `resetTermsAccepted` is a no-op — keeping the callback shape the
+ *   miniapp's `requestPermission()` expects.
+ * - **Enhanced (map-matched) location** replaces RoadSnappedLocationProvider
+ *   via `LocationObserver.onNewLocationMatcherResult`.
+ * - **Simulation** uses `MapboxReplayer` + `ReplayRouteMapper`; the three
+ *   dev walkers (deviate / wrong-sidewalk / skip-crossings) are
+ *   re-implemented by pushing synthetic `ReplayEventUpdateLocation`s.
+ */
+@OptIn(ExperimentalPreviewMapboxNavigationAPI::class)
+object NavigationManager {
+  private const val TAG = "NavigationManager"
+
+  private var mapboxNavigation: MapboxNavigation? = null
+  private var appContext: Context? = null
+
+  private var activeCallbacks: Callbacks? = null
+  private var lastEmittedKey: String? = null
+
+  /** True iff the active trip is using simulated locations. Drives reroute-restart logic. */
+  private var simulating: Boolean = false
+  /** Saved speed multiplier so deviation/reroute can resume at the same pace. */
+  private var simulationSpeed: Float = 1f
+  /**
+   * Set once when an arrival is handled so the repeated COMPLETE
+   * RouteProgress ticks the SDK keeps emitting after arrival don't
+   * re-trigger the sim→real-GPS handoff. Cleared on start()/stop().
+   */
+  private var arrivedHandled: Boolean = false
+
+  /** Most recent (map-matched) fix. Used to compute distance-to-maneuver and dev walkers. */
+  private var lastFixLat: Double = Double.NaN
+  private var lastFixLng: Double = Double.NaN
+  /**
+   * The sample BEFORE lastFix. Used by the Deviate dev button to derive
+   * the user's actual direction of travel (prev → last) so the
+   * straight-walk uses *their* bearing, not the route's local bearing.
+   */
+  private var prevFixLat: Double = Double.NaN
+  private var prevFixLng: Double = Double.NaN
+  /** Most recent speed in m/s, off the enhanced location. Null until first sample. */
+  private var lastSpeedMps: Float? = null
+
+  /** Edge-debounce for Mapbox's OffRouteObserver: true between an off-route
+   *  signal and the next fresh route, so we emit onOffRoute once per
+   *  divergence. Cleared when a (rerouted) route lands. */
+  private var offRouteFired: Boolean = false
+
+  /** Latest flattened active-route polyline + step list (for dev walkers + maneuver math). */
+  private var activePolyline: List<Pair<Double, Double>>? = null
+  private var activeSteps: List<RouteStep>? = null
+  /** Trip totals freshened on every RouteProgress tick. -1 = unknown. */
+  private var distanceToDestinationMeters: Int = -1
+  private var timeToDestinationSeconds: Int = -1
+  /** Current step maneuver + distance-to-next-maneuver from RouteProgress. Null until first tick. */
+  private var currentManeuverType: String? = null
+  private var distanceToManeuverMeters: Int? = null
+  private var currentRoad: String? = null
+  private var nextStepRoad: String? = null
+
+  // ---- Dev toggles (parity with the Google implementation) ----
+
+  /**
+   * Dev toggle: when true, every emitted location is shifted ~8m to the
+   * right of the local route bearing before being reported. Simulates a
+   * pedestrian walking on the wrong sidewalk so we can verify the
+   * along-path pivot trigger fires even when they're never within the
+   * 7m point radius of a pivot. Only meaningful in simulate mode.
+   */
+  private var wrongSidewalkOffsetEnabled: Boolean = false
+  private val WRONG_SIDEWALK_OFFSET_M = 8.0
+
+  /**
+   * Dev toggle: when true, takes over from the Mapbox replayer and walks
+   * the user along a *modified* polyline that omits crossing micro-steps,
+   * reproducing the wrong-sidewalk-then-missed-the-turn scenario. Only
+   * takes effect with simulate=true.
+   */
+  private var skipCrossingsEnabled: Boolean = false
+  private var skipCrossingsTimer: java.util.Timer? = null
+  private val SKIP_CROSSINGS_BASE_M_PER_TICK = 0.56
+  private val SKIP_CROSSINGS_TICK_MS = 400L
+  private val CROSSING_MAX_LEG_METERS = 25.0
+  private val CROSSING_MIN_BEND_DEG = 60.0
+
+  /**
+   * Baseline walking speed (m/s) stamped onto synthetic replay locations
+   * pushed by the dev helpers (deviate jump, skip-crossings walker).
+   */
+  private val DEVIATE_BASE_MPS = 1.4
+  /**
+   * How far (meters) the Deviate dev button jumps the simulated puck off
+   * the active route. Far enough that Mapbox's off-route detector fires
+   * reliably and triggers an automatic reroute.
+   */
+  private val DEVIATE_OFFSET_M = 60.0
+  /** Cached options so a re-request to the same final stop is possible. */
+  private var activeOptions: StartOptions? = null
+
+  /**
+   * One-shot gate set in `start()` and fired by `handleLocation` on the
+   * FIRST location fix after the trip session starts. Carries (originLat,
+   * originLng) — the real device position — into the deferred route
+   * request. Cleared after firing (and on stop()) so it runs exactly once
+   * per trip. This is how we get a valid origin without a synchronous
+   * Mapbox location getter (there is none).
+   */
+  private var pendingRouteRequest: ((originLat: Double, originLng: Double) -> Unit)? = null
+
+  // ---- Mapbox replay/sim plumbing ----
+  // ReplayRouteSession is Mapbox's purpose-built, all-in-one simulation
+  // driver (a MapboxNavigationObserver). It internally observes routes +
+  // route progress, pushes the real first device location, generates replay
+  // events from the active route, and resets on reroute — the entire sim
+  // lifecycle, in the correct order. We attach/detach it instead of hand-
+  // rolling MapboxReplayer + ReplayProgressObserver + manual pushEvents
+  // (which fought each other and left the puck frozen).
+  private var replaySession: ReplayRouteSession? = null
+  // The built-in MapboxReplayer is still used by the dev walkers
+  // (deviate / skip-crossings), which push synthetic locations directly.
+  private var replayer: MapboxReplayer? = null
+  private val replayRouteMapper = ReplayRouteMapper()
+
+  // ---- Mapbox observers (held so we can detach on stop) ----
+  private var routesObserver: RoutesObserver? = null
+  private var routeProgressObserver: RouteProgressObserver? = null
+  private var locationObserver: LocationObserver? = null
+  private var offRouteObserver: OffRouteObserver? = null
+  private var rerouteStateObserver: RerouteController.RerouteStateObserver? = null
+
+  // =====================================================================
+  // Wire payloads — IDENTICAL to the Google implementation. Do not change
+  // field names/types: CrustModule + the bridge depend on this shape.
+  // =====================================================================
+
+  data class ManeuverPayload(
+    /**
+     * Categorical type of the upcoming maneuver. One of: STRAIGHT,
+     * CONTINUE, SLIGHT_LEFT, SLIGHT_RIGHT, TURN_LEFT, TURN_RIGHT,
+     * SHARP_LEFT, SHARP_RIGHT, U_TURN, NAME_CHANGE, DEPART, ARRIVE.
+     */
+    val maneuverType: String,
+    /** Meters from the user's current position to that maneuver. -1 if unknown. */
+    val distanceMeters: Int,
+    /** Road the user is currently on. Null if unavailable. */
+    val fromRoad: String?,
+    /** Legacy "next road" field (== fromRoad historically). Kept for back-compat. */
+    val toRoad: String?,
+    /** Road the user will be on AFTER the upcoming maneuver. Null until known. */
+    val nextStepRoad: String?,
+    /** Total remaining distance to final destination, meters. -1 if unknown. */
+    val distanceToDestinationMeters: Int = -1,
+    /** Total remaining travel time, seconds. -1 if unknown. */
+    val timeToDestinationSeconds: Int = -1,
+    /** Current speed in m/s. Null if unavailable. */
+    val currentSpeedMps: Float? = null,
+    /** Speed limit on the current road segment in m/s. Null if unknown. */
+    val speedLimitMps: Float? = null,
+    /** Bearing along the route at the user's current position, 0–360. Null if unknown. */
+    val routeHeadingDeg: Float? = null,
+    /**
+     * Mapbox's verbatim turn-by-turn instruction for the step the user is
+     * approaching (e.g. "Keep right at the fork.", "Turn left onto Waller
+     * Street.", "Your destination is on the right."). Taken from the
+     * upcoming step's StepManeuver.instruction(); the maneuver card shows
+     * it as-is rather than reconstructing "Turn left onto X". Null when the
+     * SDK hasn't supplied one yet.
+     */
+    val instruction: String? = null,
+  )
+
+  data class LocationPayload(
+    val lat: Double,
+    val lng: Double,
+    val accuracy: Float?,
+    val timestamp: Long,
+  )
+
+  data class RoutePoint(val lat: Double, val lng: Double)
+
+  /**
+   * One step along the active route — used by the SDK's pivot module to
+   * enrich pivots with `fromRoad` / `toRoad` metadata. Lat/lng is the
+   * step's START coordinate.
+   */
+  data class RouteStep(
+    val lat: Double,
+    val lng: Double,
+    val routeIndex: Int,
+    val road: String?,
+    val maneuver: String,
+    val distanceMeters: Int,
+  )
+
+  interface Callbacks {
+    fun onManeuver(payload: ManeuverPayload)
+    fun onRerouting()
+    fun onArrived()
+    fun onError(message: String)
+    fun onLocation(payload: LocationPayload)
+    fun onRoute(points: List<RoutePoint>, steps: List<RouteStep>?)
+    /**
+     * Fires once when the user crosses the off-route threshold. Always
+     * arrives before `onRerouting` for the same deviation.
+     */
+    fun onOffRoute(perpendicularDistanceMeters: Double)
+  }
+
+  /** Trip configuration. `stops` is the canonical destination list (last is final). */
+  data class StartOptions(
+    val stops: List<Pair<Double, Double>>,
+    val mode: String = "driving",
+    val avoidHighways: Boolean = false,
+    val avoidTolls: Boolean = false,
+    val avoidFerries: Boolean = false,
+    val simulate: Boolean = false,
+    // Real-time (1×) by default. Mapbox's ReplayRouteMapper already bakes
+    // realistic per-segment speeds into the replay events; `playbackSpeed`
+    // is a raw time-scale ON TOP of that, so the old 5× default ran a
+    // walking sim at ~7 m/s (a sprint). 1× walks/drives the route at true
+    // speed; callers can still pass a higher multiplier to fast-forward.
+    val speedMultiplier: Float = 1f,
+  )
+
+  // =====================================================================
+  // T&C — Mapbox has no runtime terms dialog. Preserve the callback shape
+  // so the miniapp's requestPermission() keeps resolving {accepted:true}.
+  // =====================================================================
+
+  /**
+   * Mapbox has no Terms & Conditions dialog (acceptance is by
+   * account/usage, not a runtime screen). Resolves immediately `true`.
+   * Kept so callers that pre-trigger T&C don't break.
+   */
+  fun ensureTermsAccepted(activity: Activity, onResult: (accepted: Boolean) -> Unit) {
+    onResult(true)
+  }
+
+  /** No-op under Mapbox — there is no terms cache to clear. */
+  fun resetTermsAccepted(activity: Activity) {
+    Log.d(TAG, "resetTermsAccepted — no-op (Mapbox has no T&C dialog)")
+  }
+
+  // =====================================================================
+  // Lifecycle
+  // =====================================================================
+
+  /**
+   * Lazily create (or reuse) the process-wide MapboxNavigation. The token
+   * is read from the AndroidManifest meta-data `com.mapbox.token` (injected
+   * by mobile/plugins/android.ts), mirroring how the Google geo key was
+   * provisioned. MapboxNavigationProvider keeps a singleton; we attach our
+   * own observers per trip and detach in stop().
+   */
+  private fun ensureNavigation(activity: Activity): MapboxNavigation {
+    appContext = activity.applicationContext
+    val existing = if (MapboxNavigationProvider.isCreated()) MapboxNavigationProvider.retrieve() else null
+    if (existing != null) {
+      mapboxNavigation = existing
+      return existing
+    }
+    // v3 sets the token globally via MapboxOptions, not on NavigationOptions.
+    val token = readMapboxToken(activity)
+    if (token.isNotBlank()) {
+      MapboxOptions.accessToken = token
+    } else {
+      Log.e(TAG, "com.mapbox.token meta-data is empty — navigation will fail to authenticate")
+    }
+    val nav = MapboxNavigationProvider.create(
+      NavigationOptions.Builder(activity.applicationContext).build(),
+    )
+    mapboxNavigation = nav
+    return nav
+  }
+
+  /** Read the Mapbox runtime token from AndroidManifest meta-data com.mapbox.token. */
+  private fun readMapboxToken(activity: Activity): String {
+    return try {
+      val ai = activity.packageManager.getApplicationInfo(
+        activity.packageName,
+        android.content.pm.PackageManager.GET_META_DATA,
+      )
+      ai.metaData?.getString("com.mapbox.token") ?: ""
+    } catch (e: Throwable) {
+      Log.e(TAG, "failed to read com.mapbox.token meta-data", e)
+      ""
+    }
+  }
+
+  /**
+   * Start a navigation session. Initializes MapboxNavigation on first
+   * call. Because Mapbox has no T&C gate, this goes straight into route
+   * request + trip start (the `ensureTermsAccepted` wrapper resolves
+   * immediately for callers that still invoke it up front).
+   */
+  fun start(activity: Activity, options: StartOptions, callbacks: Callbacks) {
+    Log.d(TAG, "start stops=${options.stops.size} mode=${options.mode} simulate=${options.simulate} speed=${options.speedMultiplier}")
+    if (options.stops.isEmpty()) {
+      callbacks.onError("at least one stop is required")
+      return
+    }
+    val nav = try {
+      ensureNavigation(activity)
+    } catch (e: Throwable) {
+      Log.e(TAG, "MapboxNavigation init failed", e)
+      callbacks.onError("navigation init failed: ${e.message}")
+      return
+    }
+
+    activeCallbacks = callbacks
+    activeOptions = options
+    simulating = options.simulate
+    simulationSpeed = options.speedMultiplier.coerceIn(0.5f, 50f)
+    offRouteFired = false
+    arrivedHandled = false
+
+    attachObservers(nav, callbacks)
+
+    // Origin handling — the crux of a correct trip start.
+    //
+    // Mapbox has NO synchronous "current location" getter: the device
+    // position is only delivered asynchronously through LocationObserver,
+    // and only AFTER the trip session has started. So we cannot build the
+    // route's origin up front. Requesting with `stops.first()` as origin
+    // would be a bug — for a single-destination trip that first stop IS the
+    // destination, producing a degenerate origin==destination route (the
+    // exact trap the SDK's navigation.ts documents avoiding).
+    //
+    // Correct flow: start the trip session FIRST so location starts
+    // flowing, capture the first fix via a one-shot gate, then request the
+    // route from that real origin. `pendingRouteRequest` holds the trip
+    // params until the gate fires; `handleLocation` invokes it on the first
+    // location and clears it.
+    pendingRouteRequest = { originLat, originLng ->
+      requestAndStartRoute(nav, activity, options, originLat, originLng, callbacks)
+    }
+    startTripSession(nav, options)
+  }
+
+  /**
+   * Build the RouteOptions from a resolved origin + the trip stops, request
+   * the route, set it on the navigator, and emit it. Called once the first
+   * location fix has arrived (via `pendingRouteRequest`).
+   */
+  private fun requestAndStartRoute(
+    nav: MapboxNavigation,
+    activity: Activity,
+    options: StartOptions,
+    originLat: Double,
+    originLng: Double,
+    callbacks: Callbacks,
+  ) {
+    val coordinates = ArrayList<Point>()
+    coordinates.add(Point.fromLngLat(originLng, originLat))
+    for ((lat, lng) in options.stops) coordinates.add(Point.fromLngLat(lng, lat))
+
+    val routeOptions = RouteOptions.builder()
+      .applyDefaultNavigationOptions(profileFor(options.mode))
+      .applyLanguageAndVoiceUnitOptions(activity)
+      .coordinatesList(coordinates)
+      .alternatives(false)
+      .steps(true)
+      .bannerInstructions(true)
+      .voiceInstructions(false)
+      .exclude(buildExclude(options))
+      .build()
+
+    nav.requestRoutes(
+      routeOptions,
+      object : NavigationRouterCallback {
+        override fun onRoutesReady(routes: List<NavigationRoute>, routerOrigin: String) {
+          if (routes.isEmpty()) {
+            callbacks.onError("no route found")
+            return
+          }
+          nav.setNavigationRoutes(routes)
+          // In sim mode the ReplayRouteSession observes setNavigationRoutes
+          // and starts driving the puck automatically — no manual replay
+          // kick needed here.
+          emitRoute(routes.first(), callbacks)
+        }
+
+        override fun onFailure(reasons: List<RouterFailure>, routeOptions: RouteOptions) {
+          val msg = reasons.firstOrNull()?.message ?: "route request failed"
+          Log.e(TAG, "requestRoutes failed: $msg")
+          callbacks.onError(msg)
+        }
+
+        override fun onCanceled(routeOptions: RouteOptions, routerOrigin: String) {
+          Log.w(TAG, "route request canceled")
+        }
+      },
+    )
+  }
+
+  /** Comma-joined Directions `exclude` list from the avoid flags. Null when none. */
+  private fun buildExclude(options: StartOptions): String? {
+    val ex = mutableListOf<String>()
+    if (options.avoidTolls) ex.add(DirectionsCriteria.EXCLUDE_TOLL)
+    if (options.avoidFerries) ex.add(DirectionsCriteria.EXCLUDE_FERRY)
+    if (options.avoidHighways) ex.add(DirectionsCriteria.EXCLUDE_MOTORWAY)
+    return if (ex.isEmpty()) null else ex.joinToString(",")
+  }
+
+  /**
+   * Map the SDK-agnostic mode string to a Mapbox Directions profile.
+   * Google's `two_wheeler` has no Mapbox equivalent → driving (see the
+   * migration doc's open decision #3).
+   */
+  private fun profileFor(mode: String): String = when (mode.lowercase()) {
+    "walking" -> DirectionsCriteria.PROFILE_WALKING
+    "cycling" -> DirectionsCriteria.PROFILE_CYCLING
+    "two_wheeler" -> DirectionsCriteria.PROFILE_DRIVING
+    "driving" -> DirectionsCriteria.PROFILE_DRIVING_TRAFFIC
+    else -> DirectionsCriteria.PROFILE_DRIVING_TRAFFIC
+  }
+
+  /** Begin the trip session — either live GPS or the replay session for simulate mode. */
+  @OptIn(ExperimentalPreviewMapboxNavigationAPI::class)
+  private fun startTripSession(nav: MapboxNavigation, options: StartOptions) {
+    if (options.simulate) {
+      // Start the replay trip session, then attach Mapbox's ReplayRouteSession
+      // which owns the whole sim: it pushes the real first device location
+      // (firing LocationObserver → satisfies our first-fix gate so the route
+      // can be requested), then once the route lands it auto-generates replay
+      // events and drives the puck — and resets cleanly on every reroute. No
+      // manual pushRealLocation / pushEvents / restart needed.
+      val session = ReplayRouteSession().setOptions(
+        ReplayRouteSessionOptions.Builder()
+          .replayRouteOptions(replayRouteOptionsFor(options.mode, simulationSpeed))
+          // Snap the replay puck to the freshly-set route after a reroute
+          // so re-attaching the session (e.g. after the Deviate dev button
+          // forces a divergence) resumes cleanly on the NEW route.
+          .locationResetEnabled(true)
+          .build(),
+      )
+      replaySession = session
+      replayer = nav.mapboxReplayer
+      nav.startReplayTripSession()
+      session.onAttached(nav)
+    } else {
+      nav.startTripSession()
+    }
+  }
+
+  /**
+   * After a SIMULATED trip arrives, the replay puck is parked at the sim
+   * destination — so the location stream is reporting the fake endpoint,
+   * not the device's real position. Hand the location source back to real
+   * GPS: detach the replay session (its onDetached pushes the real device
+   * location) and switch from the replay trip session to a live one, so
+   * `onLocation` resumes emitting the user's actual position and the idle
+   * map snaps back to reality.
+   *
+   * No-op on real (non-sim) trips. Best-effort — failures are logged and
+   * leave the trip stopped rather than crashing.
+   */
+  @OptIn(ExperimentalPreviewMapboxNavigationAPI::class)
+  private fun returnToRealLocationAfterSimArrival() {
+    val nav = mapboxNavigation ?: return
+    try {
+      replaySession?.onDetached(nav)
+      replaySession = null
+      // Drop the finished route and flip the session from replay → live
+      // GPS. startTripSession() begins consuming the real device location
+      // provider again, so the next onLocation fix is the user's true spot.
+      nav.setNavigationRoutes(emptyList())
+      nav.stopTripSession()
+      nav.startTripSession()
+      Log.d(TAG, "sim arrival — handed location source back to real GPS")
+    } catch (e: Throwable) {
+      Log.w(TAG, "returnToRealLocationAfterSimArrival failed: ${e.message}")
+    }
+  }
+
+  /**
+   * Build ReplayRouteOptions tuned to the travel MODE and a speed
+   * multiplier.
+   *
+   * CRITICAL: Mapbox's default `ReplayRouteOptions` is tuned for DRIVING —
+   * `maxSpeedMps = 30` (108 km/h). Using it for a walking trip makes the
+   * sim sprint at highway speed (~10 m per tick), which is the "goes much
+   * faster than 1×" bug. So we set a realistic cruise speed per mode:
+   *   walking ≈ 1.4 m/s, cycling ≈ 5 m/s, driving = Mapbox default.
+   * `multiplier` scales that cruise (and turn) speed for fast-forward;
+   * 1× = real time.
+   */
+  private fun replayRouteOptionsFor(mode: String, multiplier: Float): ReplayRouteOptions {
+    val m = multiplier.toDouble().coerceIn(0.25, 50.0)
+    val base = ReplayRouteOptions.Builder().build()
+    // Realistic cruise speed (m/s) for the mode. driving keeps Mapbox's
+    // default (already realistic for roads).
+    val cruiseMps = when (mode.lowercase()) {
+      "walking" -> 1.4
+      "cycling" -> 5.0
+      "two_wheeler" -> base.maxSpeedMps
+      "driving" -> base.maxSpeedMps
+      else -> base.maxSpeedMps
+    }
+    // Turn/u-turn speeds: keep below cruise so corners slow down, but never
+    // above the mode cruise (else a walking sim still rounds corners at the
+    // driving default of 3 m/s — faster than its 1.4 m/s straightaways).
+    val turnMps = minOf(base.turnSpeedMps, cruiseMps)
+    val uTurnMps = minOf(base.uTurnSpeedMps, cruiseMps)
+    return base.toBuilder()
+      .maxSpeedMps(cruiseMps * m)
+      .turnSpeedMps(turnMps * m)
+      .uTurnSpeedMps(uTurnMps * m)
+      .build()
+  }
+
+  fun stop() {
+    Log.d(TAG, "stop")
+    val nav = mapboxNavigation
+    activeCallbacks = null
+    lastEmittedKey = null
+    simulating = false
+    simulationSpeed = 1f
+
+    // Tear down dev walkers first.
+    skipCrossingsEnabled = false
+    skipCrossingsTimer?.cancel(); skipCrossingsTimer = null
+    wrongSidewalkOffsetEnabled = false
+
+    if (nav != null) {
+      try {
+        detachObservers(nav)
+        // Detach the replay session (stops the sim, unregisters its
+        // internal observers, resets the replayer).
+        replaySession?.onDetached(nav)
+        replayer?.finish()
+        nav.stopTripSession()
+        nav.setNavigationRoutes(emptyList())
+      } catch (e: Exception) {
+        Log.e(TAG, "stop failed", e)
+      }
+    }
+    replaySession = null
+    replayer = null
+
+    activePolyline = null
+    activeSteps = null
+    distanceToDestinationMeters = -1
+    timeToDestinationSeconds = -1
+    currentManeuverType = null
+    distanceToManeuverMeters = null
+    currentRoad = null
+    nextStepRoad = null
+    lastSpeedMps = null
+    offRouteFired = false
+    activeOptions = null
+    pendingRouteRequest = null
+    prevFixLat = Double.NaN
+    prevFixLng = Double.NaN
+    lastFixLat = Double.NaN
+    lastFixLng = Double.NaN
+  }
+
+  // =====================================================================
+  // Observers — translate Mapbox events into the existing Callbacks shape.
+  // =====================================================================
+
+  private fun attachObservers(nav: MapboxNavigation, callbacks: Callbacks) {
+    // REROUTING IS FULLY OWNED BY MAPBOX. Auto-reroute is ON by default in
+    // v3 — when the user diverges, the SDK detects off-route AND fetches a
+    // new route on its own. We do NOT hand-roll perpendicular-distance
+    // detection, and we do NOT re-request the route ourselves; we just
+    // observe and forward the SDK's signals:
+    //   - OffRouteObserver        → onOffRoute (purely observational)
+    //   - RerouteStateObserver    → onRerouting (FetchingRoute state)
+    //   - RoutesObserver(REROUTE) → onRoute (the new route, already active)
+
+    // RoutesObserver — fires on initial route, every reroute, refresh, and
+    // alternatives. The new route is ALREADY set active by the SDK; we just
+    // flatten + emit it. We branch on `reason` so a reroute emit can also
+    // clear our off-route flag and (for the host) reads as a fresh route.
+    val routesObs = RoutesObserver { result: RoutesUpdatedResult ->
+      val route = result.navigationRoutes.firstOrNull() ?: return@RoutesObserver
+      val reason = result.reason
+      // Ignore refresh (same geometry, just live traffic) — it would
+      // needlessly re-emit the whole polyline + rebuild pivots.
+      if (reason == RoutesExtra.ROUTES_UPDATE_REASON_REFRESH) return@RoutesObserver
+      if (reason == RoutesExtra.ROUTES_UPDATE_REASON_REROUTE) {
+        Log.d(TAG, "routes updated: REROUTE — emitting new route")
+        offRouteFired = false // back on (a fresh) route
+      }
+      emitRoute(route, callbacks)
+    }
+    routesObserver = routesObs
+    nav.registerRoutesObserver(routesObs)
+
+    // RouteProgressObserver — every location tick. Carries current step,
+    // upcoming maneuver, distance-to-maneuver, and trip totals.
+    val progressObs = RouteProgressObserver { progress: RouteProgress ->
+      handleRouteProgress(progress, callbacks)
+    }
+    routeProgressObserver = progressObs
+    nav.registerRouteProgressObserver(progressObs)
+
+    // LocationObserver — enhanced (map-matched) location replaces Google's
+    // RoadSnappedLocationProvider.
+    val locObs = object : LocationObserver {
+      override fun onNewRawLocation(rawLocation: Location) { /* prefer matched */ }
+      override fun onNewLocationMatcherResult(result: LocationMatcherResult) {
+        handleLocation(result, callbacks)
+      }
+    }
+    locationObserver = locObs
+    nav.registerLocationObserver(locObs)
+
+    // OffRouteObserver — Mapbox's automatic off-route edge signal. PURELY
+    // OBSERVATIONAL: registering it does NOT disable auto-reroute. We
+    // surface onOffRoute for the UI's "off route" banner; the SDK handles
+    // the actual reroute and the new route arrives via RoutesObserver.
+    val offRouteObs = OffRouteObserver { offRoute: Boolean ->
+      if (offRoute && !offRouteFired) {
+        offRouteFired = true
+        // Distance from the route is best-effort context for the banner;
+        // not used to decide anything (the SDK already decided).
+        val perp = currentPerpDistanceMeters() ?: 0.0
+        Log.d(TAG, "off-route (Mapbox) — perp≈${perp}m; SDK will auto-reroute")
+        callbacks.onOffRoute(perp)
+      }
+    }
+    offRouteObserver = offRouteObs
+    nav.registerOffRouteObserver(offRouteObs)
+
+    // RerouteStateObserver — the authoritative "we are rerouting" signal.
+    // FetchingRoute → onRerouting (UI shows the rerouting state); the new
+    // route then lands via RoutesObserver(REROUTE). Available only while
+    // auto-reroute is enabled (getRerouteController() is null otherwise).
+    val rerouteObs = RerouteController.RerouteStateObserver { state: RerouteState ->
+      when (state) {
+        is RerouteState.FetchingRoute -> {
+          Log.d(TAG, "reroute state: FetchingRoute → onRerouting")
+          callbacks.onRerouting()
+        }
+        is RerouteState.Failed -> {
+          Log.w(TAG, "reroute failed: ${state.message}")
+          // Don't surface as a hard error — the user is still on the old
+          // route and the SDK may retry; just log.
+        }
+        else -> { /* Idle / RouteFetched / Interrupted — no UI change */ }
+      }
+    }
+    rerouteStateObserver = rerouteObs
+    nav.getRerouteController()?.registerRerouteStateObserver(rerouteObs)
+  }
+
+  private fun detachObservers(nav: MapboxNavigation) {
+    routesObserver?.let { nav.unregisterRoutesObserver(it) }
+    routeProgressObserver?.let { nav.unregisterRouteProgressObserver(it) }
+    locationObserver?.let { nav.unregisterLocationObserver(it) }
+    offRouteObserver?.let { nav.unregisterOffRouteObserver(it) }
+    rerouteStateObserver?.let { nav.getRerouteController()?.unregisterRerouteStateObserver(it) }
+    routesObserver = null
+    routeProgressObserver = null
+    locationObserver = null
+    offRouteObserver = null
+    rerouteStateObserver = null
+  }
+
+  /**
+   * Translate a RouteProgress tick into trip-state + an emitted maneuver.
+   * Mapbox gives us current step / upcoming maneuver / distance-remaining
+   * directly, so no polyline bearing-scanning is needed for the live trip
+   * (the bearing helpers remain for the dev walkers).
+   */
+  private fun handleRouteProgress(progress: RouteProgress, callbacks: Callbacks) {
+    distanceToDestinationMeters = progress.distanceRemaining.toInt().coerceAtLeast(-1)
+    timeToDestinationSeconds = progress.durationRemaining.toInt().coerceAtLeast(-1)
+
+    // Arrival.
+    if (progress.currentState == RouteProgressState.COMPLETE) {
+      callbacks.onArrived()
+      // In sim mode the puck is now parked at the SIMULATED destination, so
+      // the app's idea of "where I am" is the sim endpoint, not reality.
+      // Hand the location source back to real GPS so the idle map snaps to
+      // the user's actual position. Guarded by `arrivedHandled` so the
+      // repeated COMPLETE ticks the SDK emits after arrival don't reset the
+      // session over and over.
+      if (simulating && !arrivedHandled) {
+        arrivedHandled = true
+        returnToRealLocationAfterSimArrival()
+      }
+      return
+    }
+
+    val legProgress = progress.currentLegProgress
+    val stepProgress = legProgress?.currentStepProgress
+    val upcomingStep = legProgress?.upcomingStep
+    val currentStep = stepProgress?.step
+
+    // Show the maneuver the user is WALKING TOWARD — i.e. the UPCOMING step's
+    // maneuver — together with the distance to it.
+    //
+    // In Mapbox, `currentStep.maneuver` is the maneuver that BEGAN the
+    // current step (the depart, or the turn you just took), so showing it
+    // means the card says "Walk on Market St" for the whole approach and
+    // only flips to "Turn left" once you're already at the corner — one
+    // step behind. The `upcomingStep.maneuver` is the NEXT turn (the one
+    // ahead), and `stepProgress.distanceRemaining` is the distance to the
+    // END of the current step == where that upcoming maneuver happens. So
+    // upcomingStep.maneuver + distanceRemaining is the matched pair that
+    // reads "In 120 m, turn left onto the walkway" the whole way in, then
+    // "Now" inside the turn radius.
+    //
+    // The turn-display step (what we show) and its road:
+    val turnStep = upcomingStep ?: currentStep // upcoming normally; current only on the final/arrival leg
+    val distToManeuver = stepProgress?.distanceRemaining?.toInt() ?: -1
+    distanceToManeuverMeters = distToManeuver
+
+    val maneuver = turnStep?.maneuver()?.let { mapManeuver(it) } ?: "STRAIGHT"
+    currentManeuverType = maneuver
+    // Road the user is currently on = the current step's road; the road
+    // being entered at the turn = the upcoming step's road.
+    currentRoad = currentStep?.name()?.takeIf { it.isNotBlank() }
+    nextStepRoad = upcomingStep?.name()?.takeIf { it.isNotBlank() }
+
+    // Verbatim instruction for the maneuver we're showing (the upcoming
+    // turn). Same step as `maneuver`/`distToManeuver` so they stay
+    // consistent — the instruction describes the turn ahead, not the road
+    // we're currently walking.
+    val instruction = turnStep?.maneuver()?.instruction()?.takeIf { it.isNotBlank() }
+
+    val payload = ManeuverPayload(
+      maneuverType = maneuver,
+      distanceMeters = distToManeuver,
+      fromRoad = currentRoad,
+      toRoad = currentRoad, // legacy field == fromRoad, matching Google behavior
+      nextStepRoad = nextStepRoad,
+      distanceToDestinationMeters = distanceToDestinationMeters,
+      timeToDestinationSeconds = timeToDestinationSeconds,
+      currentSpeedMps = lastSpeedMps,
+      routeHeadingDeg = null,
+      instruction = instruction,
+    )
+    emitManeuverIfChanged(payload, callbacks)
+  }
+
+  /**
+   * Per-METRE dedup. ReplayRouteSession/RouteProgress ticks ~1 Hz while
+   * moving, so a 1 m bucket means the maneuver "In X m" countdown updates
+   * roughly once a second and stays in lockstep with the trip
+   * distance-to-destination shown on the HUD. (The old 5 m / 10 m buckets
+   * made "In 200 m" look frozen for several seconds and let the maneuver
+   * distance drift out of agreement with the overall distance on the final
+   * leg — e.g. card "In 70 m" while the HUD already said 65 m.)
+   *
+   * Both distance fields go into the key at 1 m granularity so a change in
+   * EITHER re-emits — the card's "In X m" and the HUD's "Arriving in X m"
+   * track the same value, to the metre, all the way to the door.
+   */
+  private fun emitManeuverIfChanged(payload: ManeuverPayload, callbacks: Callbacks) {
+    val distBucket = if (payload.distanceMeters >= 0) payload.distanceMeters else -1
+    val tripBucket = if (payload.distanceToDestinationMeters >= 0) payload.distanceToDestinationMeters else -1
+    val key = "${payload.maneuverType}|$distBucket|$tripBucket"
+    // Diagnostic: log EVERY tick (before the dedup early-return) so we can see
+    // whether the step distance (top box) is actually moving in lockstep with
+    // the trip distance (bottom box), and whether the dedup is suppressing it.
+    android.util.Log.d(
+      "NavManeuverDist",
+      "step=${payload.distanceMeters}m trip=${payload.distanceToDestinationMeters}m type=${payload.maneuverType} key=$key emit=${key != lastEmittedKey}",
+    )
+    if (key == lastEmittedKey) return
+    lastEmittedKey = key
+    callbacks.onManeuver(payload)
+  }
+
+  private fun handleLocation(result: LocationMatcherResult, callbacks: Callbacks) {
+    val loc = result.enhancedLocation
+
+    // First-fix gate: if a route request is pending (start() deferred it
+    // until we had a real origin), fire it now with the raw device
+    // position — NOT any dev-shifted variant. Cleared so it runs once.
+    val pending = pendingRouteRequest
+    if (pending != null) {
+      pendingRouteRequest = null
+      pending(loc.latitude, loc.longitude)
+    }
+
+    var effectiveLat = loc.latitude
+    var effectiveLng = loc.longitude
+
+    if (wrongSidewalkOffsetEnabled) {
+      val flat = activePolyline
+      if (flat != null && flat.size >= 2) {
+        val (idx, _) = closestSegmentIndex(flat, effectiveLat, effectiveLng)
+        val a = flat[idx]
+        val b = flat[(idx + 1).coerceAtMost(flat.size - 1)]
+        val routeBearing = bearing(a.first, a.second, b.first, b.second)
+        val perpBearing = (routeBearing + 90.0) % 360.0
+        val (offLat, offLng) = movePoint(effectiveLat, effectiveLng, WRONG_SIDEWALK_OFFSET_M, perpBearing)
+        effectiveLat = offLat
+        effectiveLng = offLng
+      }
+    }
+
+    prevFixLat = lastFixLat
+    prevFixLng = lastFixLng
+    lastFixLat = effectiveLat
+    lastFixLng = effectiveLng
+    lastSpeedMps = loc.speed?.toFloat()
+
+    callbacks.onLocation(
+      LocationPayload(
+        lat = effectiveLat,
+        lng = effectiveLng,
+        accuracy = loc.horizontalAccuracy?.toFloat(),
+        timestamp = System.currentTimeMillis(),
+      ),
+    )
+    // Off-route detection is now FULLY owned by Mapbox (OffRouteObserver +
+    // automatic reroute). No hand-rolled perpendicular-distance check here.
+  }
+
+  /** Perp distance from the last fix to the active polyline, or null. */
+  private fun currentPerpDistanceMeters(): Double? {
+    val flat = activePolyline ?: return null
+    if (flat.size < 2 || lastFixLat.isNaN() || lastFixLng.isNaN()) return null
+    val (_, perp) = closestSegmentIndex(flat, lastFixLat, lastFixLng)
+    return perp
+  }
+
+  // =====================================================================
+  // Route emit — flatten a NavigationRoute into the wire RoutePoint/RouteStep
+  // shape. Mapbox carries steps inline, so unlike Google there's no deferred
+  // re-emit waiting on a separate NavInfo service.
+  // =====================================================================
+
+  private fun emitRoute(route: NavigationRoute, callbacks: Callbacks) {
+    try {
+      val directionsRoute = route.directionsRoute
+      val geometry = directionsRoute.geometry()
+      val points: List<RoutePoint> = decodeGeometry(route)
+      if (points.isEmpty()) {
+        Log.w(TAG, "route geometry empty, nothing to emit")
+        return
+      }
+      val steps = buildRouteSteps(directionsRoute, points)
+      activePolyline = points.map { it.lat to it.lng }
+      activeSteps = steps
+      Log.d(TAG, "emit route — ${points.size} points, steps=${steps?.size ?: "null"}")
+      callbacks.onRoute(points, steps)
+    } catch (e: Exception) {
+      Log.e(TAG, "emitRoute failed", e)
+    }
+  }
+
+  /** Decode the route polyline. NavigationRoute exposes the full geometry. */
+  private fun decodeGeometry(route: NavigationRoute): List<RoutePoint> {
+    val out = ArrayList<RoutePoint>()
+    // The directions route geometry honors the request's geometry
+    // precision; NavigationRoute also exposes per-step geometry. Walk the
+    // legs' steps' geometry to assemble the full polyline in order.
+    val legs = route.directionsRoute.legs() ?: return out
+    for (leg in legs) {
+      val steps = leg.steps() ?: continue
+      for (step in steps) {
+        val geom = step.geometry() ?: continue
+        val pts = com.mapbox.geojson.utils.PolylineUtils.decode(geom, 6)
+        for (p in pts) out.add(RoutePoint(p.latitude(), p.longitude()))
+      }
+    }
+    return out
+  }
+
+  /**
+   * Build the wire-shape step list from the Directions legs/steps. Unlike
+   * Google's StepInfo (no coordinates), Mapbox `LegStep` carries its own
+   * geometry, so each step's start vertex is exact — no polyline-walking
+   * by cumulative distance needed.
+   */
+  private fun buildRouteSteps(route: DirectionsRoute, points: List<RoutePoint>): List<RouteStep>? {
+    val legs = route.legs() ?: return null
+    val out = ArrayList<RouteStep>()
+    var runningIndex = 0
+    for (leg in legs) {
+      val steps = leg.steps() ?: continue
+      for (step in steps) {
+        val maneuver = step.maneuver()?.let { mapManeuver(it) } ?: "STRAIGHT"
+        val road = step.name()?.takeIf { it.isNotBlank() }
+        val loc = step.maneuver()?.location()
+        val lat = loc?.latitude() ?: continue
+        val lng = loc.longitude()
+        // routeIndex: nearest polyline vertex to this step's maneuver point.
+        val idx = nearestPointIndex(points, lat, lng, runningIndex)
+        runningIndex = idx
+        out.add(
+          RouteStep(
+            lat = lat,
+            lng = lng,
+            routeIndex = idx,
+            road = road,
+            maneuver = maneuver,
+            distanceMeters = step.distance().toInt(),
+          ),
+        )
+      }
+    }
+    return if (out.isEmpty()) null else out
+  }
+
+  /** Nearest polyline vertex to (lat,lng), scanning forward from `from`. */
+  private fun nearestPointIndex(points: List<RoutePoint>, lat: Double, lng: Double, from: Int): Int {
+    var best = from.coerceIn(0, points.size - 1)
+    var bestD = Double.MAX_VALUE
+    for (i in from until points.size) {
+      val dLat = points[i].lat - lat
+      val dLng = points[i].lng - lng
+      val d = dLat * dLat + dLng * dLng
+      if (d < bestD) { bestD = d; best = i }
+    }
+    return best
+  }
+
+  // =====================================================================
+  // Maneuver mapping — Mapbox `type` + `modifier` → our ManeuverKind union.
+  // (Replaces NavInfoReceiverService.mapManeuver's Google-enum table.)
+  // =====================================================================
+
+  /**
+   * Reduce a Mapbox StepManeuver (type + modifier) to the categorical
+   * string vocabulary the bridge already uses: STRAIGHT, CONTINUE,
+   * SLIGHT_LEFT, SLIGHT_RIGHT, TURN_LEFT, TURN_RIGHT, SHARP_LEFT,
+   * SHARP_RIGHT, U_TURN, NAME_CHANGE, DEPART, ARRIVE.
+   *
+   * Per the migration doc §7. The PivotEngine trusts polyline geometry
+   * over this string for left/right, so roundabout approximations degrade
+   * gracefully.
+   */
+  @JvmStatic
+  fun mapManeuver(maneuver: StepManeuver): String {
+    val type = maneuver.type()
+    val modifier = maneuver.modifier()
+    return when (type) {
+      StepManeuver.DEPART -> "DEPART"
+      StepManeuver.ARRIVE -> "ARRIVE"
+      StepManeuver.NEW_NAME -> "NAME_CHANGE"
+      StepManeuver.CONTINUE, StepManeuver.MERGE -> "CONTINUE"
+      StepManeuver.NOTIFICATION -> "STRAIGHT"
+      // turn / end of road / fork / on ramp / off ramp / roundabout* →
+      // classify by modifier.
+      else -> classifyModifier(modifier)
+    }
+  }
+
+  private fun classifyModifier(modifier: String?): String = when (modifier) {
+    ManeuverModifier.UTURN -> "U_TURN"
+    ManeuverModifier.SHARP_LEFT -> "SHARP_LEFT"
+    ManeuverModifier.LEFT -> "TURN_LEFT"
+    ManeuverModifier.SLIGHT_LEFT -> "SLIGHT_LEFT"
+    ManeuverModifier.STRAIGHT -> "STRAIGHT"
+    ManeuverModifier.SLIGHT_RIGHT -> "SLIGHT_RIGHT"
+    ManeuverModifier.RIGHT -> "TURN_RIGHT"
+    ManeuverModifier.SHARP_RIGHT -> "SHARP_RIGHT"
+    else -> "STRAIGHT"
+  }
+
+  // =====================================================================
+  // Dev simulation — full parity with the Google implementation, driven by
+  // MapboxReplayer instead of Google's Navigator.simulator.
+  // =====================================================================
+
+  /**
+   * Dev-only: shove the simulated puck OFF the active route so Mapbox's
+   * built-in off-route detection + automatic rerouting kick in — exactly
+   * like a real GPS divergence. We no longer hand-roll the off-route math
+   * or call requestRoutes ourselves; we just teleport the replay puck
+   * `DEVIATE_OFFSET_M` perpendicular to the route and let the SDK do the
+   * rest (OffRouteObserver → onOffRoute, RerouteState → onRerouting,
+   * RoutesObserver(REROUTE) → onRoute).
+   *
+   * Requires simulate mode (a replayer to inject into). On a real-GPS trip
+   * there's nothing to push, so it no-ops with a log. `offsetMeters` from
+   * the legacy protocol overrides the default jump distance when > 0.
+   */
+  @OptIn(ExperimentalPreviewMapboxNavigationAPI::class)
+  fun simulateDeviation(offsetMeters: Double = 0.0) {
+    val replayer = replayer ?: run {
+      Log.w(TAG, "simulateDeviation: not in simulate mode — nothing to push off-route")
+      return
+    }
+    if (lastFixLat.isNaN() || lastFixLng.isNaN()) {
+      Log.w(TAG, "simulateDeviation: no last fix yet")
+      return
+    }
+
+    val nav = mapboxNavigation ?: run { Log.w(TAG, "simulateDeviation: no navigation"); return }
+
+    // Perpendicular bearing to walk along. Use the route's local bearing at
+    // the puck so we step SIDEWAYS off the road; fall back to the user's
+    // recent travel bearing + 90°.
+    val flat = activePolyline
+    val sideBearing: Double = if (flat != null && flat.size >= 2) {
+      val (idx, _) = closestSegmentIndex(flat, lastFixLat, lastFixLng)
+      val a = flat[idx]
+      val b = flat[(idx + 1).coerceAtMost(flat.size - 1)]
+      (bearing(a.first, a.second, b.first, b.second) + 90.0) % 360.0
+    } else if (!prevFixLat.isNaN() && haversine(prevFixLat, prevFixLng, lastFixLat, lastFixLng) > 0.5) {
+      (bearing(prevFixLat, prevFixLng, lastFixLat, lastFixLng) + 90.0) % 360.0
+    } else {
+      90.0 // arbitrary — due east
+    }
+
+    val maxJump = if (offsetMeters > 0.0) offsetMeters else DEVIATE_OFFSET_M
+
+    // THE KEY: ReplayRouteSession keeps pushing ON-ROUTE locations every
+    // RouteProgress tick (its internal RouteProgressObserver → pushEvents),
+    // so a one-off off-route blip is immediately buried and the puck never
+    // actually leaves the route. To force a real divergence we must:
+    //   1. detach the session so it stops feeding on-route points,
+    //   2. clear its queued on-route events,
+    //   3. push a SUSTAINED stream walking progressively off-route (so the
+    //      divergence persists long enough for Mapbox to detect it),
+    //   4. once the reroute lands (RoutesObserver REROUTE), the session is
+    //      re-attached so the puck resumes on the NEW route.
+    try {
+      replaySession?.onDetached(nav)
+      replayer.clearEvents()
+
+      // Walk from the puck outward to maxJump in ~10m steps, each a
+      // separate replay location so the off-route position is held across
+      // several ticks rather than a single frame.
+      //
+      // CRITICAL: the replayer plays events ordered/paced by eventTimestamp.
+      // All-zero timestamps would collapse into a single instant and never
+      // play as a sequence — so we stamp each event with a monotonically
+      // increasing time (1s apart) to hold the off-route position over
+      // several real seconds, which is what lets the detector latch.
+      val baseLat = lastFixLat
+      val baseLng = lastFixLng
+      val events = ArrayList<ReplayEventBase>()
+      var d = 10.0
+      var ts = 0.0
+      while (d <= maxJump) {
+        val (oLat, oLng) = movePoint(baseLat, baseLng, d, sideBearing)
+        events.add(ReplayRouteMapper.mapToUpdateLocation(ts, Point.fromLngLat(oLng, oLat)))
+        d += 10.0
+        ts += 1.0
+      }
+      // Hold at the farthest point for a few extra seconds so the off-route
+      // condition is unambiguous and the detector latches.
+      val (farLat, farLng) = movePoint(baseLat, baseLng, maxJump, sideBearing)
+      val farPoint = Point.fromLngLat(farLng, farLat)
+      repeat(6) {
+        events.add(ReplayRouteMapper.mapToUpdateLocation(ts, farPoint))
+        ts += 1.0
+      }
+
+      Log.d(TAG, "simulateDeviation: detached session, walking ${maxJump}m off-route in ${events.size} events")
+      replayer.pushEvents(events)
+      replayer.play()
+
+      // The divergence above moves the puck off-route (which exercises the
+      // OffRouteObserver / banner path). But to GUARANTEE a reroute even if
+      // the replayed divergence is too brief for the native detector, also
+      // ask the RerouteController to reroute directly — this is the reliable
+      // trigger. It fetches a new route from the current (now off-route)
+      // position and the result flows through RoutesObserver(REROUTE) →
+      // onRoute exactly like an automatic reroute. Fire it slightly after
+      // the off-route events start playing so the controller reroutes from
+      // the diverged position, not the on-route one.
+      val mainHandler = android.os.Handler(android.os.Looper.getMainLooper())
+      mainHandler.postDelayed({
+        try {
+          val controller = mapboxNavigation?.getRerouteController()
+          if (controller != null) {
+            // onRerouting fires automatically via our RerouteStateObserver
+            // (FetchingRoute) when reroute() runs — no manual call needed.
+            Log.d(TAG, "simulateDeviation: requesting reroute() directly")
+            controller.reroute(
+              RerouteController.RoutesCallback { routes: List<NavigationRoute>, _: String ->
+                // RoutesObserver(REROUTE) will also fire and emit the route;
+                // we don't setNavigationRoutes here (the controller does).
+                Log.d(TAG, "simulateDeviation: reroute() returned ${routes.size} route(s)")
+              },
+            )
+          } else {
+            Log.w(TAG, "simulateDeviation: no reroute controller (auto-reroute disabled?)")
+          }
+        } catch (e: Throwable) {
+          Log.e(TAG, "simulateDeviation reroute() failed", e)
+        }
+      }, 1500L)
+
+      // Re-attach the session so it resumes driving the puck once a route is
+      // active again (locationResetEnabled snaps it onto the new route).
+      // Delay until AFTER the off-route events + reroute fetch.
+      val playSeconds = (ts / simulationSpeed.coerceAtLeast(0.1f)).toDouble()
+      val reattachMs = ((playSeconds + 4.0) * 1000.0).toLong().coerceIn(5000L, 20000L)
+      mainHandler.postDelayed({
+        try {
+          if (simulating) replaySession?.onAttached(nav)
+        } catch (e: Throwable) {
+          Log.w(TAG, "simulateDeviation: re-attach session failed: ${e.message}")
+        }
+      }, reattachMs)
+    } catch (e: Throwable) {
+      Log.e(TAG, "simulateDeviation push failed", e)
+    }
+  }
+
+  /**
+   * Dev toggle. Shift every emitted location ~8m perpendicular-right of the
+   * route bearing, simulating a wrong-sidewalk pedestrian.
+   */
+  fun setWrongSidewalkOffset(enabled: Boolean) {
+    Log.d(TAG, "setWrongSidewalkOffset($enabled)")
+    wrongSidewalkOffsetEnabled = enabled
+  }
+
+  /**
+   * Dev toggle. Take over from the replayer and walk a polyline with
+   * crossing micro-steps removed. When disabled, hand control back to the
+   * replayer on the active route.
+   */
+  fun setSkipCrossings(enabled: Boolean) {
+    Log.d(TAG, "setSkipCrossings($enabled)")
+    skipCrossingsEnabled = enabled
+    if (enabled) startSkipCrossingsWalker() else stopSkipCrossingsWalker(resumeReplay = true)
+  }
+
+  private fun startSkipCrossingsWalker() {
+    val flat = activePolyline
+    if (flat == null || flat.size < 2) { Log.w(TAG, "startSkipCrossingsWalker: no route polyline"); return }
+    try { replayer?.stop() } catch (_: Throwable) {}
+    val modified = stripCrossings(flat)
+    Log.d(TAG, "skip-crossings walker: original=${flat.size} pts, modified=${modified.size} pts")
+    stopSkipCrossingsWalker(resumeReplay = false)
+    val startIdx = if (!lastFixLat.isNaN() && !lastFixLng.isNaN()) {
+      closestPolylineIndex(modified, lastFixLat, lastFixLng)
+    } else 0
+    val timer = java.util.Timer("skipCrossingsWalker", true)
+    val stepMeters = SKIP_CROSSINGS_BASE_M_PER_TICK * simulationSpeed
+    var cursor = startIdx.toDouble()
+    val mainHandler = android.os.Handler(android.os.Looper.getMainLooper())
+    timer.scheduleAtFixedRate(object : java.util.TimerTask() {
+      override fun run() {
+        mainHandler.post {
+          try {
+            if (!skipCrossingsEnabled) { cancel(); return@post }
+            cursor = advanceCursor(modified, cursor, stepMeters)
+            if (cursor >= modified.size - 1) { cancel(); return@post }
+            val (lat, lng) = pointAt(modified, cursor)
+            val brng = run {
+              val (nlat, nlng) = pointAt(modified, (cursor + 0.5).coerceAtMost(modified.size - 1.0))
+              bearing(lat, lng, nlat, nlng)
+            }
+            pushReplayLocation(lat, lng, brng)
+            activeCallbacks?.onLocation(LocationPayload(lat, lng, null, System.currentTimeMillis()))
+            prevFixLat = lastFixLat; prevFixLng = lastFixLng
+            lastFixLat = lat; lastFixLng = lng
+          } catch (e: Throwable) {
+            Log.e(TAG, "skip-crossings walker tick failed", e)
+          }
+        }
+      }
+    }, 0L, SKIP_CROSSINGS_TICK_MS)
+    skipCrossingsTimer = timer
+  }
+
+  private fun stopSkipCrossingsWalker(resumeReplay: Boolean) {
+    skipCrossingsTimer?.cancel(); skipCrossingsTimer = null
+    if (resumeReplay && simulating) restartReplayOnActiveRoute()
+  }
+
+  /**
+   * (Re)start the replayer driving the current active route at
+   * simulationSpeed. Called once the route lands (start) and on every
+   * reroute.
+   *
+   * Ordering matters and was the source of the "sim sometimes doesn't go
+   * off" bug:
+   *   1. stop() the player first — if it's mid-playback on the old buffer
+   *      (or the bootstrap seed location), pushing/clearing under it raced
+   *      and play() could no-op.
+   *   2. clearEvents() wipes the seed + any prior route events so the new
+   *      route plays from its true start.
+   *   3. set playbackSpeed BEFORE play so the first tick is already at the
+   *      right rate.
+   *   4. play() — starts from the head of the freshly-pushed buffer. We do
+   *      NOT seekTo(firstEvent): seeking to a specific event object after a
+   *      clear was unreliable (it occasionally landed past the start or on
+   *      a stale reference), leaving the puck frozen.
+   */
+  private fun restartReplayOnActiveRoute() {
+    val nav = mapboxNavigation ?: return
+    val replayer = replayer ?: return
+    val route = nav.getNavigationRoutes().firstOrNull() ?: return
+    try {
+      val events = replayRouteMapper.mapDirectionsRouteGeometry(route.directionsRoute)
+      if (events.isEmpty()) {
+        Log.w(TAG, "restartReplayOnActiveRoute: no replay events from route geometry")
+        return
+      }
+      replayer.stop()
+      replayer.clearEvents()
+      replayer.pushEvents(events)
+      replayer.playbackSpeed(simulationSpeed.toDouble())
+      replayer.play()
+      Log.d(TAG, "replay restarted — ${events.size} events @ ${simulationSpeed}×")
+    } catch (e: Throwable) {
+      Log.w(TAG, "restartReplayOnActiveRoute failed: ${e.message}")
+    }
+  }
+
+  /** Push one synthetic location into the replayer (used by the dev walkers). */
+  private fun pushReplayLocation(lat: Double, lng: Double, bearingDeg: Double) {
+    val replayer = replayer ?: return
+    // ReplayEventLocation(lon, lat, provider, time, altitude,
+    //   accuracyHorizontal, bearing, speed) — positional; nullable fields
+    //   are boxed Double?.
+    val location = ReplayEventLocation(
+      lng,
+      lat,
+      "mentra-dev-walker",
+      null,
+      null,
+      null,
+      bearingDeg,
+      DEVIATE_BASE_MPS * simulationSpeed,
+    )
+    val event = ReplayEventUpdateLocation(0.0, location)
+    try {
+      replayer.pushEvents(listOf<ReplayEventBase>(event))
+      replayer.play()
+    } catch (e: Throwable) {
+      Log.w(TAG, "pushReplayLocation failed: ${e.message}")
+    }
+  }
+
+  // ---- crossing strip (unchanged math from the Google implementation) ----
+
+  private fun stripCrossings(points: List<Pair<Double, Double>>): List<Pair<Double, Double>> {
+    if (points.size < 4) return points
+    val out = ArrayList<Pair<Double, Double>>(points.size)
+    out.add(points[0])
+    var i = 1
+    while (i < points.size - 1) {
+      val prev = points[i - 1]; val here = points[i]; val next = points[i + 1]
+      val legOut = haversine(here.first, here.second, next.first, next.second)
+      val bearIn = bearing(prev.first, prev.second, here.first, here.second)
+      val bearOut = bearing(here.first, here.second, next.first, next.second)
+      val bend = bearingDiffAbs(bearIn, bearOut)
+      val looksLikeCrossingStart = legOut < CROSSING_MAX_LEG_METERS && bend > CROSSING_MIN_BEND_DEG
+      if (looksLikeCrossingStart && i + 2 < points.size) {
+        val afterNext = points[i + 2]
+        val bearAfter = bearing(next.first, next.second, afterNext.first, afterNext.second)
+        val bendBack = bearingDiffAbs(bearOut, bearAfter)
+        val isCrossing = bendBack > CROSSING_MIN_BEND_DEG &&
+          bearingDiffAbs(bearIn, bearAfter) < CROSSING_MIN_BEND_DEG
+        if (isCrossing) {
+          val legAfter = haversine(next.first, next.second, afterNext.first, afterNext.second)
+          val skipDist = legOut + legAfter
+          val (newLat, newLng) = movePoint(here.first, here.second, skipDist, bearIn)
+          out.add(Pair(newLat, newLng))
+          i += 3
+          continue
+        }
+      }
+      out.add(here)
+      i++
+    }
+    if (out.last() != points.last()) out.add(points.last())
+    return out
+  }
+
+  private fun bearingDiffAbs(a: Double, b: Double): Double {
+    val d = (a - b + 540.0) % 360.0 - 180.0
+    return kotlin.math.abs(d)
+  }
+
+  private fun closestPolylineIndex(points: List<Pair<Double, Double>>, lat: Double, lng: Double): Int {
+    var best = 0; var bestD = Double.MAX_VALUE
+    for (i in points.indices) {
+      val (plat, plng) = points[i]
+      val dx = plat - lat; val dy = plng - lng
+      val d = dx * dx + dy * dy
+      if (d < bestD) { bestD = d; best = i }
+    }
+    return best
+  }
+
+  private fun advanceCursor(points: List<Pair<Double, Double>>, cursor: Double, meters: Double): Double {
+    if (points.size < 2) return cursor.coerceAtMost(0.0)
+    var idx = cursor.toInt(); var frac = cursor - idx; var remaining = meters
+    while (remaining > 0 && idx < points.size - 1) {
+      val a = points[idx]; val b = points[idx + 1]
+      val segLen = haversine(a.first, a.second, b.first, b.second)
+      val segLeft = (1.0 - frac) * segLen
+      if (remaining < segLeft) { frac += remaining / segLen; remaining = 0.0 }
+      else { remaining -= segLeft; idx++; frac = 0.0 }
+    }
+    return idx.toDouble() + frac
+  }
+
+  private fun pointAt(points: List<Pair<Double, Double>>, cursor: Double): Pair<Double, Double> {
+    val idx = cursor.toInt().coerceIn(0, points.size - 1)
+    val frac = (cursor - idx).coerceIn(0.0, 1.0)
+    if (idx >= points.size - 1) return points.last()
+    val a = points[idx]; val b = points[idx + 1]
+    return Pair(a.first + (b.first - a.first) * frac, a.second + (b.second - a.second) * frac)
+  }
+
+  private fun movePoint(lat: Double, lng: Double, meters: Double, bearingDeg: Double): Pair<Double, Double> {
+    val r = 6_371_000.0
+    val brng = Math.toRadians(bearingDeg)
+    val lat1 = Math.toRadians(lat); val lng1 = Math.toRadians(lng)
+    val ad = meters / r
+    val lat2 = kotlin.math.asin(
+      kotlin.math.sin(lat1) * kotlin.math.cos(ad) +
+        kotlin.math.cos(lat1) * kotlin.math.sin(ad) * kotlin.math.cos(brng),
+    )
+    val lng2 = lng1 + kotlin.math.atan2(
+      kotlin.math.sin(brng) * kotlin.math.sin(ad) * kotlin.math.cos(lat1),
+      kotlin.math.cos(ad) - kotlin.math.sin(lat1) * kotlin.math.sin(lat2),
+    )
+    return Math.toDegrees(lat2) to Math.toDegrees(lng2)
+  }
+
+  // ---- math helpers (unchanged) ----
+
+  private fun haversine(lat1: Double, lng1: Double, lat2: Double, lng2: Double): Double {
+    val r = 6_371_000.0
+    val dLat = Math.toRadians(lat2 - lat1)
+    val dLng = Math.toRadians(lng2 - lng1)
+    val a = kotlin.math.sin(dLat / 2).let { it * it } +
+      kotlin.math.cos(Math.toRadians(lat1)) *
+      kotlin.math.cos(Math.toRadians(lat2)) *
+      kotlin.math.sin(dLng / 2).let { it * it }
+    return 2 * r * kotlin.math.asin(kotlin.math.sqrt(a))
+  }
+
+  private fun bearing(lat1: Double, lng1: Double, lat2: Double, lng2: Double): Double {
+    val phi1 = Math.toRadians(lat1); val phi2 = Math.toRadians(lat2)
+    val lam1 = Math.toRadians(lng1); val lam2 = Math.toRadians(lng2)
+    val y = kotlin.math.sin(lam2 - lam1) * kotlin.math.cos(phi2)
+    val x = kotlin.math.cos(phi1) * kotlin.math.sin(phi2) -
+      kotlin.math.sin(phi1) * kotlin.math.cos(phi2) * kotlin.math.cos(lam2 - lam1)
+    val deg = Math.toDegrees(kotlin.math.atan2(y, x))
+    return (deg + 360.0) % 360.0
+  }
+
+  private fun closestSegmentIndex(
+    pts: List<Pair<Double, Double>>, lat: Double, lng: Double,
+  ): Pair<Int, Double> {
+    var bestIdx = 0; var bestDist = Double.POSITIVE_INFINITY
+    for (i in 0 until pts.size - 1) {
+      val d = perpDistanceMeters(lat, lng, pts[i].first, pts[i].second, pts[i + 1].first, pts[i + 1].second)
+      if (d < bestDist) { bestDist = d; bestIdx = i }
+    }
+    return Pair(bestIdx, bestDist)
+  }
+
+  private fun perpDistanceMeters(
+    pLat: Double, pLng: Double, aLat: Double, aLng: Double, bLat: Double, bLng: Double,
+  ): Double {
+    val mPerDegLat = 111_320.0
+    val mPerDegLng = 111_320.0 * kotlin.math.cos(Math.toRadians(aLat))
+    val px = (pLng - aLng) * mPerDegLng; val py = (pLat - aLat) * mPerDegLat
+    val bx = (bLng - aLng) * mPerDegLng; val by = (bLat - aLat) * mPerDegLat
+    val len2 = bx * bx + by * by
+    if (len2 == 0.0) return kotlin.math.sqrt(px * px + py * py)
+    var t = (px * bx + py * by) / len2
+    t = t.coerceIn(0.0, 1.0)
+    val projx = t * bx; val projy = t * by
+    return kotlin.math.sqrt((px - projx).let { it * it } + (py - projy).let { it * it })
+  }
+}