flutterApp/lib/features/home/presentation/widgets/map/testmap_pages.dart

import 'dart:async';
import 'dart:collection';
import 'dart:convert';
import 'dart:math';
import 'dart:math' as math;
import 'dart:typed_data';
import 'package:flutter/material.dart';
import 'package:flutter/rendering.dart';
import 'package:flutter_bloc/flutter_bloc.dart';
import 'package:flutter_map/flutter_map.dart';
import 'package:geolocator/geolocator.dart';
import 'package:go_router/go_router.dart';
import 'package:http/http.dart' as http;
import 'package:latlong2/latlong.dart';
import 'package:maibu_satabot_v2/components/confrim_dialog.dart';
import 'package:maibu_satabot_v2/components/toast.dart';
import 'package:maibu_satabot_v2/core/app/app_user_cubit.dart';
import 'package:maibu_satabot_v2/core/consts/tcp_consts.dart';
import 'package:maibu_satabot_v2/core/di/injection.dart';
import 'package:maibu_satabot_v2/core/network/net_message_dispatcher.dart';
import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
import 'package:maibu_satabot_v2/core/router/route_paths.dart';
import 'package:maibu_satabot_v2/features/devices/data/models/device_add_path_point_model.dart' as work_area_model;
import 'package:maibu_satabot_v2/features/devices/data/models/device_work_area_param_model.dart' as work_area_model;
import 'package:maibu_satabot_v2/features/devices/data/repositories/generate_path_repository_Impl.dart';
import 'package:maibu_satabot_v2/features/devices/domain/usecases/get_work_record_usecase.dart';
import 'package:maibu_satabot_v2/features/devices/domain/usecases/select_work_record_usecase.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_bloc.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_event.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_state.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_cubit.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_state.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/BottomDirectionLine.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/common/commonFn.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/common/enum.dart';
import 'package:maibu_satabot_v2/components/input_confirm_dialog.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/common/tracepoint.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/map/CenterLocation.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/map/HeadingPointer.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/map/dji_tile_layer.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/obsToast.dart';
import 'package:maibu_satabot_v2/features/home/presentation/widgets/startpoint_area.dart';
import 'package:image/image.dart' as _image; // 注意命名空间冲突，使用 as img
import 'package:maibu_satabot_v2/features/home/presentation/widgets/video.dart';
import 'package:shared_preferences/shared_preferences.dart';
import 'dart:ui' as ui;

import '../path_list_pages.dart';

// 定义轨迹点类型（经纬度）
typedef PlotPoint = LatLng;
// 本地存储Key常量
const String kSavedPlotData = 'saved_plot_data';
const String kSavedGcjPathPoints = 'saved_gcj_path_points';
const String kSavedGcjOuterPoints = 'saved_gcj_outer_points';
const String kSavedMarkedPoints = 'saved_marked_points';
const String kSavedObstacleHoles = 'saved_obstacle_holes';
const String kSavedIsWorkAreaCompleted = 'saved_is_work_area_completed';

// 保持 PlotData 类不变
class PlotData {
  final String id;
  final String plotName;
  final String imageUrl; // 图片URL（本地/assets/网络都可）
  final String? jsonData; // 原始数据的JSON字符串（可选，便于调试或后续使用）

  PlotData({required this.id, required this.plotName, required this.imageUrl, this.jsonData});
}

class PlotDataPath {
  final dynamic? jsonData; // 原始数据的JSON字符串（可选，便于调试或后续使用）

  PlotDataPath({this.jsonData});
}

class MapPageEnterprise extends StatefulWidget {
  const MapPageEnterprise({Key? key}) : super(key: key);

  @override
  State<MapPageEnterprise> createState() => _MapPageEnterpriseState();
}

class _MapPageEnterpriseState extends State<MapPageEnterprise> {
  final _dispatcher = sl<NetMessageDispatcher>();
  bool _isRefreshing = false; // 新增：页面刷新状态标志
  bool _isVideoDialogOpen = false; // 控制视频弹窗显示
  String _videoStreamUrl = "";
  Offset _videoPopupPos = const Offset(0, 100); // 弹窗初始位置
  // 🔥 关键修复：添加截图全局Key
  final GlobalKey _mapRepaintKey = GlobalKey();
  // 4. 标记点集合（flutter_map需要Set类型）
  Set<Marker> _markers = {};

  final MapController _mapController = MapController();
  // 初始化轨迹管理器（泛型指定为LatLng）
  late final TracePoint<PlotPoint> _traceManager;
  late String workMode = "弓字模式"; // 作业模式：默认值为"弓字模式"

  WorkStatus _workStatus = WorkStatus.idle;
  bool isStartWork = false; //是否开始作业

  LatLng? _currentLatLng; //gc格式
  LatLng? _currentWgsLatLng;

  bool _isPanelOpen = false; // 控制面板显示/隐藏
  bool _directionBoxOpen = false; //航线面板显示/隐藏
  bool _saveBoxOpen = false; //保存按钮显示/隐藏
  bool _isListBoxOpen = false; //列表面板显示/隐藏
  bool _showHeadingWarn = false; // 航向角未初始化提示
  bool _showControlModeWarn = false; // 远程模式提示
  // 新增：存储选中的地块（null表示未选中）
  PlotData? _selectedPlot;
  PlotDataPath? _selectedPlotPath; // 存储选中地块的路径数据（可选）
  // 新增：控制底部作业面板显示
  bool _isWorkPanelOpen = false;
  bool _isWorkAreaCompleted = false;
  RobotMode _currentRobotMode = RobotMode.robot; //打点模式
  AreaMode _currentAreaMode = AreaMode.work; //作业区域还是障碍物区域
  WorkMode? _currentWorkMode = WorkMode.bow; // 当前作业模式
  // 新增：存储转换后的path和outer坐标
  List<LatLng> gcjPathPoints = [];
  List<LatLng> gcjOuterPoints = [];

  List<dynamic> startWorkList = [];

  List<PlotPoint>? tracePoint = []; //从tracepoint中获取的经纬度坐标
  List<PlotPoint>? gctracePoint = [];

  // ========== 核心新增状态 ==========
  List<LatLng> _markedPoints = []; // 存储所有s十字准星打点坐标
  List<LatLng> _robotModeWgsPoints = []; // Robot模式下从设备获取的wgs打点
  List<LatLng> _robotModeObsWgsPoints = []; // Robot模式下从设备获取的wgs打点  障碍物

  LatLng _mapCenter = const LatLng(39.9042, 116.4074);
  double _headingAngle = 0.0; // 当前机器航向角（单位：度）
  List typedPathList = <work_area_model.DeviceAddPathPointModel>[]; // 存储生成路径的坐标列表（已转换为LatLng）

  // ========== 障碍物模式核心状态 ==========
  List<List<LatLng>> _obstacleHoles = []; // 存储多组障碍物打点（嵌套数组：每组是一个障碍物）

  List<List<LatLng>> _obstacleWgsHoles = []; // 存储多组障碍物打点（嵌套数组：每组是一个障碍物）
  List<LatLng> _currentObstaclePoints = []; // 当前正在绘制的障碍物打点
  bool _isObstacleEditing = false; // 是否处于障碍物编辑状态

  //打点
  double _workDistance = 0.0; // 作业行距（单位：米）
  double _angle = 0.0; // 航线方向角（单位：度）

  //  大疆地图
  bool isDjMapShow = false;
  late DJIStation _currentStation;

  // 所有可用的场站列表（根据你的实际瓦片目录配置）
  final List<DJIStation> _stationList = [
    const DJIStation(name: 'liaoning', displayName: '一号场站'),
    const DJIStation(name: 'station_b', displayName: '二号场站'),
    const DJIStation(name: 'station_c', displayName: '三号场站'),
    // 新增场站只需在这里添加，无需修改其他逻辑
  ];

  // 其他

  @override
  void initState() {
    super.initState();
    _currentStation = _stationList.first;
    _traceManager = TracePoint<PlotPoint>();
    _initLocationEnterprise();
    // 新增：加载本地存储的绘制数据
    _loadSavedData();

    // 示例：切换到导航模式
    _traceManager.setMode(TPMode.LOCATION);

    // 🔥 核心修复：使用 addPostFrameCallback 延迟获取地图中心（渲染完成后执行）
    WidgetsBinding.instance.addPostFrameCallback((_) {
      if (mounted && _mapController.camera != null) {
        final originalCenter = _mapController.camera!.center;
        final highPrecisionCenter = LatLng(originalCenter.latitude, originalCenter.longitude);

        setState(() {
          _mapCenter = highPrecisionCenter;
        });
      } else {
        // 兜底：使用默认坐标初始化地图中心
        final defaultCenter = _getDefaultValidCenter();
        setState(() {
          _mapCenter = defaultCenter;
        });
      }
    });

    // 监听地图移动事件，实时更新连线
    _mapController.mapEventStream.listen((event) {
      if (event is MapEventMove || event is MapEventMoveEnd) {
        if (mounted && _mapController.camera != null) {
          final originalCenter = _mapController.camera!.center;
          final highPrecisionCenter = LatLng(originalCenter.latitude, originalCenter.longitude);

          setState(() {
            _mapCenter = highPrecisionCenter;
          });
        }
      }
    });
  }

  // 新增：手动清除本地存储数据
  Future<void> _clearLocalData() async {
    try {
      await LocationUtils.clearCache(LocationUtils.kSavedGcjPathPoints);
      await LocationUtils.clearCache(LocationUtils.kSavedGcjOuterPoints);
      await LocationUtils.clearCache(LocationUtils.kSavedMarkedPoints);
      await LocationUtils.clearCache(LocationUtils.kSavedObstacleHoles);
      await LocationUtils.clearCache(LocationUtils.kSavedIsWorkAreaCompleted);
      debugPrint('本地存储的绘制数据已清空');
    } catch (e) {
      debugPrint('清空本地数据失败：$e');
    }
  }

  // 新增：加载本地存储数据方法
  Future<void> _loadSavedData() async {
    try {
      final prefs = await SharedPreferences.getInstance();

      // 加载路径点
      final pathJson = prefs.getString(kSavedGcjPathPoints);
      if (pathJson != null) {
        final List<dynamic> pathList = jsonDecode(pathJson);
        gcjPathPoints = pathList.map((item) => LatLng(double.parse(item['lat'].toString()), double.parse(item['lng'].toString()))).toList();
      }

      // 加载外边界点
      final outerJson = prefs.getString(kSavedGcjOuterPoints);
      if (outerJson != null) {
        final List<dynamic> outerList = jsonDecode(outerJson);
        gcjOuterPoints = outerList.map((item) => LatLng(double.parse(item['lat'].toString()), double.parse(item['lng'].toString()))).toList();
      }

      // 加载打点数据
      final markedJson = prefs.getString(kSavedMarkedPoints);
      if (markedJson != null) {
        final List<dynamic> markedList = jsonDecode(markedJson);
        _markedPoints = markedList.map((item) => LatLng(double.parse(item['lat'].toString()), double.parse(item['lng'].toString()))).toList().toList();
      }

      // 加载障碍物数据
      final obstacleJson = prefs.getString(kSavedObstacleHoles);
      if (obstacleJson != null) {
        final List<dynamic> obstacleList = jsonDecode(obstacleJson);
        _obstacleHoles = obstacleList.map((hole) {
          return (hole as List<dynamic>).map((item) => LatLng(double.parse(item['lat'].toString()), double.parse(item['lng'].toString()))).toList();
        }).toList();
      }

      // 加载作业区域完成状态
      _isWorkAreaCompleted = prefs.getBool(kSavedIsWorkAreaCompleted) ?? false;
      _saveBoxOpen = _isWorkAreaCompleted;

      if (mounted) {
        setState(() {});
        // 移动地图到绘制内容中心
        List<LatLng> allPoints = [];
        allPoints.addAll(gcjPathPoints);
        allPoints.addAll(gcjOuterPoints);
        if (allPoints.isNotEmpty) {
          moveMapToPointsCenter(allPoints);
        }
      }
    } catch (e) {
      debugPrint('加载本地数据失败：$e');
    }
  }

  // 新增：保存绘制数据到本地
  Future<void> _saveDataToLocal() async {
    try {
      final prefs = await SharedPreferences.getInstance();

      // 保存路径点
      final pathList = gcjPathPoints.map((point) => {'lat': point.latitude, 'lng': point.longitude}).toList();
      prefs.setString(kSavedGcjPathPoints, jsonEncode(pathList));

      // 保存外边界点
      final outerList = gcjOuterPoints.map((point) => {'lat': point.latitude, 'lng': point.longitude}).toList();
      prefs.setString(kSavedGcjOuterPoints, jsonEncode(outerList));

      // 保存打点数据
      final markedList = _markedPoints.map((point) => {'lat': point.latitude, 'lng': point.longitude}).toList();
      prefs.setString(kSavedMarkedPoints, jsonEncode(markedList));

      // 保存障碍物数据
      final obstacleList = _obstacleHoles.map((hole) {
        return hole.map((point) => {'lat': point.latitude, 'lng': point.longitude}).toList();
      }).toList();
      prefs.setString(kSavedObstacleHoles, jsonEncode(obstacleList));

      // 保存作业区域完成状态
      prefs.setBool(kSavedIsWorkAreaCompleted, _isWorkAreaCompleted);
    } catch (e) {
      debugPrint('保存本地数据失败：$e');
    }
  }

  // ========== 新增：计算坐标列表的边界范围 ==========
  LatLngBounds? calculateBounds(List<LatLng> points) {
    if (points.isEmpty) return null;

    // 使用静态方法 fromPoints 创建边界（所有latlong2版本都支持）
    return LatLngBounds.fromPoints(points);
  }

  // ========== 新增：移动地图到坐标中心 ==========
  // ========== 移动地图到坐标中心（无需修改） ==========
  void moveMapToPointsCenter(List<LatLng> points) {
    if (points.isEmpty || !mounted) return;

    // 计算边界
    final bounds = calculateBounds(points);
    if (bounds == null) return;
    final currentZoom = _mapController.camera?.zoom ?? 18.0;
    _mapController.move(
      bounds.center, // 边界中心点
      currentZoom, // 保留当前缩放比例
    );

    print('地图已移动到绘制内容中心，边界范围：$bounds');
  }

  // ========== 新增：安全转换任意类型为double ==========
  double? safeToDouble(dynamic value) {
    if (value == null) return null;
    if (value is double) return value;
    if (value is int) return value.toDouble();
    if (value is String) {
      return double.tryParse(value); // 字符串转数字（失败返回null）
    }
    return null;
  }

  bool __isValidLatLng(LatLng? latLng) {
    if (latLng == null) return false;
    // 排除赤道0,0坐标，同时校验经纬度范围（避免非法值）
    return latLng.latitude != 0.0 &&
        latLng.longitude != 0.0 &&
        latLng.latitude >= -90 &&
        latLng.latitude <= 90 &&
        latLng.longitude >= -180 &&
        latLng.longitude <= 180;
  }

  bool _isValidLatLng(double lat, double lng) {
    return lat != 0 && lng != 0 && lat >= -90 && lat <= 90 && lng >= -180 && lng <= 180;
  }

  void _onDeviceData(double lng, double lat, bool obfFlag, int headingStatus, controlMode) {
    try {
      // 1. 校验坐标有效性
      if (!_isValidLatLng(lat, lng)) {
        debugPrint('坐标无效：纬度=$lat, 经度=$lng，跳过处理');
        return;
      }

      if (isStartWork && headingStatus == 0) {
        if (!_showHeadingWarn) {
          // 仅状态变化时更新，避免重复刷新
          setState(() => _showHeadingWarn = true);
        }
        return;
      } else if (isStartWork && headingStatus == 1 && _showHeadingWarn) {
        // 条件不满足时隐藏提示
        setState(() => _showHeadingWarn = false);
      }

      if (isStartWork && controlMode != "3") {
        if (!_showControlModeWarn) {
          // 仅状态变化时更新
          setState(() => _showControlModeWarn = true);
        }
      } else if (isStartWork && controlMode == "3" && _showControlModeWarn) {
        // 条件不满足时隐藏提示
        setState(() => _showControlModeWarn = false);
      }

      //if (isStartWork && obfFlag) {
      //  ObsToastWidget.show(context: context, message: "小迈提醒您前方有障碍物哦！");
      //} else {
      //  ObsToastWidget.dismiss();
      //}

      final wgsPoint = LatLng(lat, lng);

      // 2. 转换为高德GCJ02坐标系

      // 可选：更新航向角（如果有角度数据）
      // _headingAngle = updatedState.status.heading ?? 0.0;
      // 可选：插入队列
      _traceManager.upsert(wgsPoint, TPAction.UPDATE);
      tracePoint = _traceManager.getTracePoint();
      gctracePoint = batchWgs84ToGcj02(tracePoint!);

      debugPrint("$gctracePoint   gctracePoint");
    } catch (e) {
      debugPrint('处理经纬度数据失败：$e');
    }
  }

  void _showSavePlotDialog() {
    showInputConfirmDialog(
      context: context,
      title: '保存地块', // 自定义标题
      hintText: '请输入地块名称（如：北地块、一号田）', // 自定义输入提示
      labelText: '地块名称', // 自定义输入框标签
      confirmText: '保存', // 确认按钮文字
      cancelText: '取消', // 取消按钮文字
      // 输入校验器（可选）
      inputValidator: (inputText) {
        if (inputText.isEmpty) {
          return '地块名称不能为空！';
        }
        if (inputText.length > 20) {
          return '地块名称不能超过20个字符！';
        }
        return null; // 校验通过
      },
      onConfirm: (plotName) async {
        // 1. 关闭输入弹窗，显示截图加载中
        Navigator.pop(context);
        showDialog(
          context: context,
          barrierDismissible: false, // 禁止点击外部关闭
          builder: (ctx) => const Center(
            child: SizedBox(width: 60, height: 60, child: CircularProgressIndicator(strokeWidth: 3, color: Colors.white)),
          ),
        );

        // 2. 执行截图（核心调用）
        String? imgBase64 = await _captureMapToJpgBase64(quality: 80);

        // 4. 处理截图结果并保存
        if (mounted) {
          if (imgBase64 != null) {
            _savePlotData(plotName, imgBase64); // 传入 Base64
          } else {
            // 截图失败时，允许空图片保存（可根据业务调整为强制失败）
            _savePlotData(plotName, null);
            ToastUtils.showWarn(context, '地块保存成功，但地图截图生成失败！');
            //ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('地块保存成功，但地图截图生成失败！'), backgroundColor: Colors.amber));
          }
        }
      },
    );
  }

  void _debugPrintMultipartRequest(http.MultipartRequest request) {
    debugPrint('====================================');
    debugPrint('📡 请求 URL: ${request.url}');
    debugPrint('📡 请求方法: ${request.method}');

    // 1. 打印请求头（包含自动生成的 boundary）
    debugPrint('📡 请求头: ${request.headers}');

    // 2. 打印普通字段 (虽然我们现在没有普通字段，但保留以防万一)
    if (request.fields.isNotEmpty) {
      debugPrint('📝 普通字段:');
      request.fields.forEach((key, value) {
        debugPrint('   - $key: $value');
      });
    } else {
      debugPrint('📝 普通字段: 无');
    }

    // 3. 打印文件/Blob 字段 (核心：这里包含 file 和 workRecord)
    debugPrint('📁 上传文件/Blob 数量: ${request.files.length}');
    for (var file in request.files) {
      debugPrint('------------------------------------');
      debugPrint('   字段名 (name): ${file.field}');
      debugPrint('   文件名 (filename): ${file.filename}');
      debugPrint('   内容类型 (contentType): ${file.contentType}');

      // 特殊处理：如果是 workRecord，打印其内容
      if (file.field == 'workRecord' && file is http.MultipartFile) {
        // 将 ByteStream 转为 Uint8List 以查看内容
        file.finalize().first.then((bytes) {
          String content = utf8.decode(bytes);
          // 格式化 JSON 打印，更易读
          try {
            dynamic jsonObj = jsonDecode(content);
            debugPrint('   内容 (content): ${const JsonEncoder.withIndent('    ').convert(jsonObj)}');
          } catch (e) {
            debugPrint('   内容 (content): $content');
          }
        });
      } else {
        // 对于图片文件，打印大小即可，避免打印海量 Base64
        file.finalize().first.then((bytes) {
          debugPrint('   文件大小: ${bytes.length} 字节 (约 ${(bytes.length / 1024).toStringAsFixed(1)} KB)');
        });
      }
    }
    debugPrint('====================================');
  }

  // 3. 保存地块数据的核心方法（这里写你的实际保存逻辑）
  // 🔥 关键修改：增加 imgBase64 参数
  // 🔥 新的保存方法，严格匹配后端结构
  Future<void> _savePlotData(String plotName, String? imgBase64) async {
    // 1. 获取用户ID
    final userId = context.read<AppUserCubit>().state.user?.userId ?? "";
    if (userId.isEmpty) {
      ToastUtils.showError(context, '用户ID为空，无法保存！');
      return;
    }
    debugPrint("===打印生成的路径开始 ");
    for (var i = 0; i < typedPathList.length; i++) {
      debugPrint(typedPathList[i].toString());
    }
    debugPrint("===打印生成的路径结束");
    // 2. 构造 SavePath 数据 (严格对应你的 JS 结构)
    final Map<String, dynamic> savePath = {
      //'img': imgBase64 ?? '', // 截图的 Base64 字符串
      'name': plotName, // 地块名称
      'path': _currentWorkMode == WorkMode.custom
          ? [] // 自定义模式 path 为空数组
          : typedPathList
                .map(
                  (point) => {
                    // 路径点数组
                    'lon': point.longitude,
                    'lat': point.latitude,
                  },
                )
                .toList(),

      'outer':
          // 核心修改：根据机器人模式选择不同的坐标源
          (_currentRobotMode == RobotMode.robot ? _robotModeWgsPoints : gcjOuterPoints).map((point) {
            // Robot模式：_robotModeWgsPoints本身就是WGS84坐标，无需转换
            // Point模式：gcjOuterPoints是GCJ02坐标，需要转换为WGS84
            final wgs84 = _currentRobotMode == RobotMode.robot
                ? point // Robot模式直接使用原始WGS84坐标
                : gcj02ToWgs84(point.latitude, point.longitude); // Point模式转换

            return {'lng': wgs84.longitude, 'lat': wgs84.latitude};
          }).toList(),

      'planModel': _currentWorkMode == WorkMode.bow ? 0 : 2, // 作业模式值
    };

    // 3. 构造 workRecord (包裹一层)
    final Map<String, dynamic> workRecord = {
      'workName': plotName,
      'userId': userId,
      'jsonData': jsonEncode(savePath), // 将 savePath 转为 JSON 字符串
    };
    final String workRecordJson = jsonEncode(workRecord);
    final http.MultipartRequest request = http.MultipartRequest('POST', Uri.parse('https://serviceri.satabot.com/iot/workRecord/add'));

    // 5. 处理文件：将 Base64 转为 MultipartFile (对应 JS 的 dataURLtoFile)
    if (imgBase64 != null && imgBase64.isNotEmpty) {
      // 移除 Base64 头部 (如果有的话)
      String base64String = imgBase64;
      if (base64String.startsWith('data:image/jpeg;base64,')) {
        base64String = base64String.split(',').last;
      }
      Uint8List bytes = base64Decode(base64String);

      // 添加文件 (对应 formData.append("file", file))
      request.files.add(http.MultipartFile.fromBytes('file', bytes, filename: 'image.jpg', contentType: http.MediaType('image', 'jpeg')));
    }

    // 6. 添加 workRecord (对应 formData.append("workRecord", Blob))
    request.files.add(
      http.MultipartFile.fromString(
        'workRecord', // 键名必须是 workRecord
        workRecordJson,
        filename: 'workRecord.json', // 后端可能需要这个文件名来识别
        contentType: http.MediaType('application', 'json'), // 关键：指定 JSON 类型
      ),
    );

    //_debugPrintMultipartRequest(request);

    // 7. 发送请求
    try {
      ToastUtils.showLoading(context, '正在保存地块「$plotName」...');
      //ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('正在保存地块...'), backgroundColor: Colors.blue));

      final http.StreamedResponse response = await request.send();
      final String responseBody = await response.stream.bytesToString();
      debugPrint('保存地块响应体: $responseBody');

      if (response.statusCode == 200) {
        ToastUtils.showSuccess(context, '地块「$plotName」保存成功！');
        _clearLocalData();
        //ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('地块「$plotName」保存成功！'), backgroundColor: Colors.green));
        // 保存成功
        setState(() {
          _markedPoints.clear(); // 清空打点
          gcjPathPoints.clear(); // 清空路径
          gcjOuterPoints.clear(); // 清空外边界
          _robotModeWgsPoints.clear();

          _isPanelOpen = false; // 关闭操作面板
          _isWorkAreaCompleted = false; // 重置作业区域完成状态
        });
      } else {
        throw Exception('服务器错误: ${response.statusCode}, $responseBody');
      }
    } catch (e) {
      debugPrint('保存失败: $e');
      ToastUtils.showError(context, '保存失败: ${e.toString()}');
      //ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('保存失败: ${e.toString()}'), backgroundColor: Colors.red));
    }
  }

  List<LatLng> _getPolygonPoints() {
    if (_markedPoints.isEmpty || _mapController.camera == null) return [];

    List<LatLng> polygonPoints = List.from(_markedPoints);
    polygonPoints.add(_mapCenter);
    return polygonPoints;
  }

  // ========== 统一撤回方法（适配完成后状态） ==========
  void _undoAction() {
    setState(() {
      // 1. 作业区域模式
      if (_currentAreaMode == AreaMode.work) {
        if (_markedPoints.isNotEmpty) {
          _robotModeWgsPoints.removeLast();
          _markedPoints.removeLast();
          // 作业点撤回后，若路径已生成，重新生成路径（保持同步）
          if (_isWorkAreaCompleted && _markedPoints.length >= 3) {
            _generatePath(showTips: false);
          }
          ToastUtils.showInfo(context, '已撤回作业区域最后一个点，剩余${_markedPoints.length}个点');
          //ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('已撤回作业区域最后一个点，剩余${_markedPoints.length}个点')));
        } else {
          ToastUtils.showInfo(context, '暂无作业区域点可撤回');
          //ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('暂无作业区域点可撤回')));
        }
        return;
      }

      // 2. 空洞模式（完成后优先撤回已完成的空洞）
      if (_currentAreaMode == AreaMode.obstacle) {
        if (_currentObstaclePoints.isNotEmpty) {
          _currentObstaclePoints.removeLast();
          _robotModeObsWgsPoints.removeLast();
          if (_currentObstaclePoints.isEmpty) {
            _isObstacleEditing = false;
          }
          ToastUtils.showInfo(context, '已撤回当前空洞最后一个点，剩余${_currentObstaclePoints.length}个点');

          //ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('已撤回当前空洞最后1个点，剩余${_currentObstaclePoints.length}个点')));
          return; // 撤完点就结束，不执行后面的逻辑
        }

        // 第二步：当前空洞无点可撤 → 再撤回「上一个完整空洞」
        if (_obstacleHoles.isNotEmpty) {
          _obstacleHoles.removeLast();
          // 撤完空洞后重新生成路径（排除该空洞）
          if (_isWorkAreaCompleted) {
            _generatePath(showTips: false);
          }
          ToastUtils.showInfo(context, '已撤回上一个完整空洞，剩余${_obstacleHoles.length}个空洞');

          //ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('已撤回上一个完整空洞，剩余${_obstacleHoles.length}个空洞')));
          return;
        }

        // 第三步：无任何可撤内容
        ToastUtils.showInfo(context, '暂无空洞可撤回');
        //ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('暂无空洞可撤回')));
      }
    });
    _saveDataToLocal();
  }

  // ========== 统一删除方法（适配完成后状态） ==========
  void _deleteAllAction() {
    setState(() {
      // 1. 作业区域模式：清空作业点 + 重置路径
      if (_currentAreaMode == AreaMode.work) {
        if (_markedPoints.isEmpty) {
          ToastUtils.showInfo(context, '暂无作业区域点可删除');

          //ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('暂无作业区域点可删除')));
          return;
        }
        _markedPoints.clear();
        gcjPathPoints.clear();
        gcjOuterPoints.clear();
        _robotModeWgsPoints.clear();
        _isWorkAreaCompleted = false;
        _saveBoxOpen = false;
        typedPathList.clear();
        ToastUtils.showSuccess(context, '已清空所有作业区域点和路径');

        //ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('已清空所有作业区域点和路径')));
      }
      // 2. 空洞模式：清空所有空洞 + 恢复UI + 重新生成路径
      else if (_currentAreaMode == AreaMode.obstacle) {
        if (_obstacleHoles.isEmpty && _currentObstaclePoints.isEmpty) {
          ToastUtils.showInfo(context, '暂无障碍物可删除');
          return;
        }
        _obstacleHoles.clear();
        _currentObstaclePoints.clear();
        _robotModeObsWgsPoints.clear();
        _isObstacleEditing = false;
        // 清空后重新生成路径（无空洞）
        if (_isWorkAreaCompleted) {
          _generatePath(showTips: false);
        }
        ToastUtils.showSuccess(context, '已清空所有障碍物');
      }
    });
    _saveDataToLocal();
  }

  void _handleGotoLocation() {
    _mapController.move(_currentLatLng!, 18);
  }

  /// ===============================
  /// 企业级定位初始化（已修复坐标系）
  Future<void> _initLocationEnterprise() async {
    // 1. 设置轨迹模式为 LOCATION（核心：确保模式正确）
    _traceManager.setMode(TPMode.LOCATION);
  }

  // ========== 新增：页面刷新初始化方法 ==========
  Future<void> _handleRefresh() async {
    // 防止重复刷新
    if (_isRefreshing) return;
    // 🔥 修复1：保存当前有效的地图中心和缩放级别（而非定位坐标）
    final savedZoom = _mapController.camera?.zoom ?? 17.0;
    setState(() {
      _isRefreshing = true; // 标记开始刷新
    });

    try {
      // 2. 重置所有页面状态（恢复初始值）
      setState(() {
        _traceManager.setMode(TPMode.LOCATION);
        // 清空打点和轨迹数据
        _markedPoints.clear();
        gcjPathPoints.clear();
        _robotModeObsWgsPoints.clear();
        gcjOuterPoints.clear();
        _robotModeWgsPoints.clear();
        _isWorkAreaCompleted = false;
        _saveBoxOpen = false;

        // 重置面板状态
        _isPanelOpen = false;
        _directionBoxOpen = false;
        _isListBoxOpen = false;
        _isWorkPanelOpen = false;
        _obstacleHoles.clear();
        _currentObstaclePoints.clear();
        _isObstacleEditing = false;

        // 重置选中状态
        _selectedPlot = null;

        _selectedPlotPath = null;

        // 重置作业模式
        _currentRobotMode = RobotMode.robot;
        _currentAreaMode = AreaMode.work;
        _currentWorkMode = WorkMode.bow;

        // 重置参数
        _workDistance = 0.0;
        _angle = 0.0;
        // 🔥 修复2：优先恢复地图中心，而非定位坐标
        _currentLatLng = null;
        _currentWgsLatLng = null;
        _mapCenter = _getDefaultValidCenter(); // 仅用兜底坐标初始化地图中心

        isDjMapShow = false;
      });
      _clearLocalData();

      // 3. 重新初始化定位
      await _initLocationEnterprise();

      // 4. 重置轨迹管理器
      _traceManager.reset();
      if (_currentLatLng != null && _isValidLatLng(_currentLatLng!.latitude, _currentLatLng!.longitude)) {
        _mapController.move(_currentLatLng!, savedZoom);
      } else {
        // 使用兜底的有效坐标（确保在高德瓦片覆盖范围内）
        final defaultCenter = _getDefaultValidCenter();
        _mapController.move(defaultCenter, 17.0);
        _currentLatLng = null;
        _currentWgsLatLng = null;
        _mapCenter = defaultCenter;
      }

      // 5. 重新加载作业记录（保持数据最新）
      //  final userId = context.read<AppUserCubit>().state.user?.userId ?? "";
      //  if (userId.isNotEmpty) {
      //    await context.read<DevicesCubit>().loadWorkRecords(userId);
      //  }

      _mapController.move(_getDefaultValidCenter(), savedZoom);
      // 刷新成功提示
      if (mounted) {
        ToastUtils.showSuccess(context, '页面已刷新完成');
        //ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('页面已刷新完成'), backgroundColor: Colors.green, duration: Duration(seconds: 2)));
      }
    } catch (e) {
      // 错误处理
      debugPrint('刷新失败：$e');
      if (mounted) {
        ToastUtils.showError(context, '刷新失败：${e.toString().substring(0, 50)}');
        //ScaffoldMessenger.of(
        //  context,
        //).showSnackBar(SnackBar(content: Text('刷新失败：${e.toString().substring(0, 50)}'), backgroundColor: Colors.red, duration: Duration(seconds: 3)));
      }
    } finally {
      // 标记刷新结束
      if (mounted) {
        setState(() {
          _isRefreshing = false;
        });
      }
    }
  }

  /// 手动回到当前位置
  void _moveToCurrentLocation() {
    if (_currentLatLng == null) return;
    _mapController.move(_currentLatLng!, 17);
  }

  // ========== 障碍物模式：完成当前障碍物绘制 ==========
  void _completeObstacle() {
    if (_currentObstaclePoints.length < 3) {
      ToastUtils.showError(context, '障碍物区域至少需要3个打点！');
      return;
    }

    setState(() {
      // 保存当前障碍物组（Robot模式下直接用WGS84坐标）
      if (_currentRobotMode == RobotMode.robot && _robotModeObsWgsPoints.isNotEmpty) {
        final gcjPoints = _robotModeObsWgsPoints.map((wgs) => wgs84ToGcj02(wgs.latitude, wgs.longitude)).toList();
        _obstacleHoles.add(gcjPoints);
        _obstacleWgsHoles.add(List.from(_robotModeObsWgsPoints));
      } else {
        _obstacleHoles.add(List.from(_currentObstaclePoints));
      }
      _currentObstaclePoints.clear(); // 清空当前绘制的障碍物点
      _robotModeObsWgsPoints.clear(); // 清空Robot模式下的障碍物WGS84坐标
      _isObstacleEditing = false; // 退出编辑状态
    });
    _saveDataToLocal();

    debugPrint('完成障碍物绘制，当前障碍物组数：${_obstacleHoles.length}');
    ToastUtils.showSuccess(context, '已添加第${_obstacleHoles.length}个障碍物区域');
  }

  // ========== 核心方法：打点逻辑 ==========
  void _addMarkedPoint() {
    if (_currentAreaMode == AreaMode.work && _isWorkAreaCompleted) {
      ToastUtils.showError(context, '作业区域已完成，无法继续添加打点！');
      return;
    }
    setState(() {
      if (_currentRobotMode == RobotMode.point) {
        if (_currentAreaMode == AreaMode.work) {
          _markedPoints.add(_mapCenter);
          debugPrint('新增作业区域打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude}, ${_mapCenter.longitude}');
        } else {
          // 障碍物模式：添加到当前障碍物打点
          _currentObstaclePoints.add(_mapCenter);
          _isObstacleEditing = true; // 标记进入障碍物编辑状态
          debugPrint('新增障碍物打点：第${_currentObstaclePoints.length}个点，经纬度：${_mapCenter.latitude}, ${_mapCenter.longitude}');
        }
      } else {
        if (_currentLatLng == null || !_isValidLatLng(_currentLatLng!.latitude, _currentLatLng!.longitude)) {
          ToastUtils.showError(context, '设备坐标无效，无法添加打点！');
          return;
        }

        // 2. Robot模式-作业区域打点
        if (_currentAreaMode == AreaMode.work) {
          _markedPoints.add(_currentLatLng!); // 从设备实时坐标取最后一个值
          _robotModeWgsPoints.add(_currentWgsLatLng!);
          debugPrint('Robot模式新增作业打点：第${_markedPoints.length}个点，经纬度：${_currentLatLng!.latitude}, ${_currentLatLng!.longitude}');
        } else {
          // 3. Robot模式-障碍物打点
          _currentObstaclePoints.add(_currentLatLng!);
          _robotModeObsWgsPoints.add(_currentWgsLatLng!);
          _isObstacleEditing = true;
          debugPrint('Robot模式新增障碍物打点：第${_currentObstaclePoints.length}个点，经纬度：${_currentLatLng!.latitude}, ${_currentLatLng!.longitude}');
        }
      }
    });
    _saveDataToLocal();
    debugPrint('$_markedPoints,新增打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude.toStringAsFixed(20)}, ${_mapCenter.longitude.toStringAsFixed(20)}');
  }

  // ========== 新增：返回上一级页面的方法 ==========
  void _navigateBack() {
    // 关闭当前页面，返回上一级
    Navigator.of(context).pop();
  }

  @override
  void dispose() {
    _traceManager.reset();
    _mapController.dispose();
    super.dispose();
  }

  void _handleVideo() {
    setState(() {
      _isVideoDialogOpen = true; // 打开视频弹窗
    });
  }

  Widget _buildVideoPopup() {
    return Positioned(
      left: _videoPopupPos.dx,
      top: _videoPopupPos.dy,
      child: GestureDetector(
        // 拖拽区域（整个弹窗可拖拽）
        onPanUpdate: (details) {
          setState(() {
            _videoPopupPos = Offset(_videoPopupPos.dx + details.delta.dx, _videoPopupPos.dy + details.delta.dy);
          });
        },
        child: WebRTCMapPlayer(
          streamUrl: _videoStreamUrl,
          width: 320,
          height: 180,
          showLeftPip: false,
          showRightPip: false,
          onClose: _closeVideoDialog, // 关闭回调
        ),
      ),
    );
  }

  void _closeVideoDialog() {
    setState(() {
      _isVideoDialogOpen = false;
    });
  }

  // 🔥 改动2：修改 _buildPlotListItem 方法，增加删除时调用Bloc的逻辑
  Widget _buildPlotListItem(PlotData plot, Function(PlotData) onDelete) {
    return GestureDetector(
      // 核心：点击列表项触发选中逻辑
      onTap: () async {
        // 1. 清空之前的轨迹数据
        setState(() {
          gcjPathPoints = [];
          gcjOuterPoints = [];
        });

        await context.read<DevicesCubit>().loadSelectedPath(plot.plotName);
        final cubitState = context.read<DevicesCubit>().state;
        final _loadedPlot = cubitState.pathData;
        print('加载地块「${plot.plotName}」的路径数据: $_loadedPlot');
        if (_loadedPlot is List) {
          final List<dynamic> rawList = _loadedPlot as List<dynamic>;
          final pathRecords = rawList.where((item) => item is Map<String, dynamic>).cast<Map<String, dynamic>>().toList();
          if (pathRecords.isNotEmpty) {
            final selectedPlotPath = PlotDataPath(jsonData: pathRecords.first);
            try {
              final dynamic nestedJsonRaw = selectedPlotPath.jsonData['jsonData'];
              if (nestedJsonRaw != null && nestedJsonRaw is String) {
                final String nestedJsonStr = nestedJsonRaw;
                final dynamic parsedJson = jsonDecode(nestedJsonStr);
                workMode = parsedJson['planModel'] == WorkMode.bow.value ? "弓字模式" : "自定义模式";
                debugPrint('解析出的作业模式: ${parsedJson['planModel']},WorkMode.bow.value=${WorkMode.bow.value}, 解析结果: $workMode');
                if (parsedJson is Map<String, dynamic>) {
                  final Map<String, dynamic> nestedJson = parsedJson;
                  // 替换你原来的 rawPath/rawOuter 解析部分
                  final dynamic rawPath = nestedJson['path'];
                  final dynamic rawOuter = nestedJson['outer'];

                  debugPrint('解析后的路径数据11: pathList=$rawPath,');
                  debugPrint('解析后的外边界数据22: outerList=$rawOuter,');

                  // ========== 修复核心：先解码字符串，再处理类型 ==========
                  List<dynamic> pathList = [];
                  if (rawPath is String) {
                    try {
                      pathList = jsonDecode(rawPath) as List<dynamic>;
                    } catch (e) {
                      debugPrint('path 字符串解码失败: $e, rawPath=$rawPath');
                      pathList = [];
                    }
                  } else if (rawPath is List) {
                    pathList = rawPath;
                  } else {
                    pathList = [];
                  }

                  List<dynamic> outerList = [];
                  if (rawOuter is String) {
                    try {
                      outerList = jsonDecode(rawOuter) as List<dynamic>;
                    } catch (e) {
                      debugPrint('outer 字符串解码失败: $e, rawOuter=$rawOuter');
                      outerList = [];
                    }
                  } else if (rawOuter is List) {
                    outerList = rawOuter;
                  } else {
                    outerList = [];
                  }
                  if (_currentWorkMode == WorkMode.bow) {
                    startWorkList = pathList;
                  } else {
                    startWorkList = outerList;
                  }
                  // ========== 修复结束 ==========

                  debugPrint('解析后的路径数据: pathList=$pathList, 长度=${pathList.length}');
                  debugPrint('解析后的外边界数据: outerList=$outerList, 长度=${outerList.length}');
                  List<LatLng> newPathPoints = [];
                  List<LatLng> newOuterPoints = [];
                  for (var item in pathList) {
                    double? lat = safeToDouble(item['lat']);
                    double? lon = safeToDouble(item['lon']);
                    if (lat != null && lon != null) {
                      newPathPoints.add(convertWGS84ToGCJ02(lat, lon));
                    }
                  }
                  for (var item in outerList) {
                    double? lng = safeToDouble(item['lng']);
                    double? lat = safeToDouble(item['lat']);
                    if (lng != null && lat != null) {
                      newOuterPoints.add(convertWGS84ToGCJ02(lat, lng));
                    }
                  }
                  // 在这里更新状态（安全，因为在事件回调中）
                  setState(() {
                    gcjPathPoints = newPathPoints;
                    gcjOuterPoints = newOuterPoints;
                    if (_currentWorkMode == WorkMode.custom) gcjPathPoints = newOuterPoints; // 自定义模式不显示路径
                    _selectedPlot = plot;
                    _isListBoxOpen = false;
                    _isWorkPanelOpen = true;
                    _isPanelOpen = false; // 关闭操作面板，专注作业界面
                  });
                  // 移动地图到中心
                  List<LatLng> allPoints = [];
                  allPoints.addAll(gcjPathPoints);
                  allPoints.addAll(gcjOuterPoints);
                  if (allPoints.isNotEmpty) {
                    moveMapToPointsCenter(allPoints);
                  }
                }
              }
            } catch (e) {
              print('解析/转换坐标失败：$e');
              setState(() {
                gcjPathPoints = [];
                gcjOuterPoints = [];
                _selectedPlot = plot;
                _isListBoxOpen = false;
                _isWorkPanelOpen = true;
                _isPanelOpen = false; // 关闭操作面板，专注作业界面
              });
            }
          } else {
            setState(() {
              gcjPathPoints = [];
              gcjOuterPoints = [];
              _selectedPlot = plot;
              _isListBoxOpen = false;
              _isWorkPanelOpen = true;
              _isPanelOpen = false; // 关闭操作面板，专注作业界面
            });
          }
        } else {
          setState(() {
            gcjPathPoints = [];
            gcjOuterPoints = [];
            _selectedPlot = plot;
            _isListBoxOpen = false;
            _isWorkPanelOpen = true;
          });
        }
      },
      child: Container(
        margin: const EdgeInsets.symmetric(horizontal: 16, vertical: 4),
        padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 4),
        decoration: BoxDecoration(
          color: Colors.white,
          borderRadius: BorderRadius.circular(8),
          border: Border.all(
            color: _selectedPlot?.id == plot.id ? Colors.blue : Colors.grey[100]!,
            width: _selectedPlot?.id == plot.id ? 2 : 1, // 选中项高亮边框
          ),
        ),
        child: Row(
          children: [
            ClipRRect(
              borderRadius: BorderRadius.circular(8),
              child: Image.network(
                plot.imageUrl,
                width: 30,
                height: 30,
                fit: BoxFit.cover,
                errorBuilder: (context, error, stackTrace) {
                  return Container(
                    width: 30,
                    height: 30,
                    color: Colors.grey[200],
                    child: const Icon(Icons.image_outlined, color: Colors.grey),
                  );
                },
              ),
            ),

            const SizedBox(width: 10),

            Expanded(
              child: Text(
                plot.plotName,
                style: const TextStyle(fontSize: 16, color: Colors.black87),
                maxLines: 1,
                overflow: TextOverflow.ellipsis,
              ),
            ),

            IconButton(
              onPressed: () => _showDeleteConfirmDialog(plot, onDelete),
              icon: const Icon(Icons.delete_outline, color: Colors.redAccent, size: 20),
              padding: EdgeInsets.zero,
              constraints: const BoxConstraints(),
            ),
          ],
        ),
      ),
    );
  }

  LatLng _getDefaultValidCenter() {
    return const LatLng(30.279651, 120.154871);
  }

  Widget _buildMap(double lat, double lng, bool obfFlag, int headingStatus, String controlMode) {
    if (lat != 0 && lat != 0 && (lat != _currentLatLng?.latitude || lng != _currentLatLng?.longitude)) {
      _onDeviceData(lng, lat, obfFlag, headingStatus, controlMode);
    }
    final gcjPoint = wgs84ToGcj02(lat, lng);

    //final initCenter = bd09ToGcj02(
    //  '120.81992468426961', // 经度
    //  '32.04532826114155',
    //);

    // 🔥 修复1：初始化坐标改为直接使用有效GCJ02坐标，避免BD09转换风险
    final initCenter = _getDefaultValidCenter();
    _currentWgsLatLng = LatLng(lat, lng);

    //_currentLatLng = gcjPoint; // ✅ 状态变量在setState内更新
    if (_isValidLatLng(gcjPoint.latitude, gcjPoint.longitude)) {
      _currentLatLng = gcjPoint;
    } else {
      _currentLatLng = null;
    }

    return FlutterMap(
      mapController: _mapController,
      options: MapOptions(
        initialCenter: __isValidLatLng(_currentLatLng) ? _currentLatLng! : initCenter,
        initialZoom: 18,
        maxZoom: 22,
        minZoom: 3,
        enableScrollWheel: true,
        // 🔥 视觉放大：通过缩放系数实现"伪20级"显示（无空白）
        onTap: (_, __) {}, // 空实现，禁用地图点击响应
      ),
      children: [
        /// 高德瓦片（GCJ-02）
        TileLayer(
          //urlTemplate:
          //    "https://webst02.is.autonavi.com/appmaptile?style=6&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=2&style=7&key=bbb1f0f20eed6bf679eddf2625630aba",
          urlTemplate:
              'https://webrd02.is.autonavi.com/appmaptile'
              '?style=8&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=1'
              '&key=bbb1f0f20eed6bf679eddf2625630aba',
          // 🔥 修复：适配高DPI（替代pixelRatio）
          //  tileSize: 512, // 高清瓦片尺寸（默认256，改为512适配scale=2）
          tileProvider: NetworkTileProvider(
            // 自定义瓦片请求头（可选，提升兼容性）
            headers: {
              'Referer': 'https://www.amap.com', // 高德要求的Referer
            },
          ),
          maxZoom: 18,
        ),
        //if (isDjMapShow) DJITileLayer(stationName: _currentStation.name, mapController: _mapController),

        // 绘制path折线（Line模式）
        if (gcjPathPoints.isNotEmpty)
          PolylineLayer(
            polylines: [
              Polyline(
                points: gcjPathPoints, // 转换后的GCJ02坐标
                color: const Color.fromARGB(255, 255, 204, 0), // 金黄色（更醒目）
                strokeWidth: 1.0, // 折线宽度
                isDotted: false, // 非虚线（Line模式）
                borderColor: Colors.white, // 可选：添加白色描边，提升辨识度
                borderStrokeWidth: 0.5,
              ),
            ],
          ),

        // 绘制outer边框（Polygon模式）
        if (gcjOuterPoints.isNotEmpty && _currentWorkMode == WorkMode.bow)
          PolygonLayer(
            polygons: [
              Polygon(
                points: gcjOuterPoints, // 转换后的GCJ02坐标
                color: Colors.green.withOpacity(0.1), // 内部填充色（透明）
                borderColor: Colors.green, // 边框颜色
                borderStrokeWidth: 1.0, // 边框宽度
                isFilled: true, // 开启填充（即使透明，也需要开启才能显示边框）
              ),
            ],
          ),
        if (gcjPathPoints.isNotEmpty && _currentWorkMode == WorkMode.custom)
          PolylineLayer(
            polylines: [
              Polyline(
                points: gcjPathPoints, // 转换后的GCJ02坐标
                color: Colors.green, // 内部填充色（透明）
                strokeWidth: 3.0, // 折线宽度
                isDotted: false, // 非虚线（Line模式）
                borderColor: Colors.white, // 可选：添加白色描边，提升辨识度
                borderStrokeWidth: 0.5,
              ),
            ],
          ),

        /// 中心标与历史打点的虚线连线
        if (!_isWorkAreaCompleted)
          PolylineLayer(
            polylines: [
              for (int i = 0; i < _markedPoints.length - 1; i++)
                Polyline(points: [_markedPoints[i], _markedPoints[i + 1]], color: Colors.orange.withOpacity(0.5), strokeWidth: 1.5),
            ],
          ),
        if (_markedPoints.isNotEmpty && !_isWorkAreaCompleted && _currentRobotMode == RobotMode.point)
          PolylineLayer(
            polylines: [
              Polyline(points: [_mapCenter, _markedPoints.last], color: Colors.blue.withOpacity(0.5), strokeWidth: 1.5),
            ],
          ),

        /// 当前定位 Marker
        if (_currentLatLng != null && __isValidLatLng(_currentLatLng))
          MarkerLayer(
            markers: [
              Marker(
                point: _currentLatLng!,
                width: 40,
                height: 40,
                child: CustomPaint(
                  size: const Size(40, 40),
                  painter: HeadingMarkerPainter(headingAngle: _headingAngle),
                ),
              ),
            ],
          ),
        if (_currentWorkMode == WorkMode.bow && _markedPoints.isNotEmpty && !_isWorkAreaCompleted && _currentRobotMode == RobotMode.point)
          PolygonLayer(
            polygons: [
              Polygon(
                points: _getPolygonPoints(),
                color: Colors.green.withOpacity(0.2),
                borderColor: Colors.green.withOpacity(0.5),
                borderStrokeWidth: 1,
                isFilled: true,
              ),
            ],
          ),
        if (_obstacleHoles.isNotEmpty && _isObstacleEditing)
          PolygonLayer(
            polygons: _obstacleHoles.map((holePoints) {
              return Polygon(
                points: holePoints,
                color: Colors.red.withOpacity(0.2), // 红色半透明填充
                borderColor: Colors.red, // 红色边框
                borderStrokeWidth: 1.5,
                isFilled: true,
              );
            }).toList(),
          ),
        //开始作业之后

        // 2. 正在绘制的障碍物打点连线（红色虚线）
        if (_isObstacleEditing && _currentObstaclePoints.isNotEmpty)
          PolylineLayer(
            polylines: [
              // 已绘制的障碍物点连线
              for (int i = 0; i < _currentObstaclePoints.length - 1; i++)
                Polyline(
                  points: [_currentObstaclePoints[i], _currentObstaclePoints[i + 1]],
                  color: Colors.red.withOpacity(0.8),
                  strokeWidth: 1.5,
                  isDotted: true, // 虚线区分作业区域
                ),
              // 最后一个点到地图中心的连线
              Polyline(points: [_mapCenter, _currentObstaclePoints.last], color: Colors.red.withOpacity(0.5), strokeWidth: 1.5, isDotted: true),
            ],
          ),

        // 3. 障碍物打点标记（红色）
        if (_currentAreaMode == AreaMode.obstacle && _isObstacleEditing)
          MarkerLayer(
            markers: [
              // 已完成的障碍物打点
              for (var holeIndex = 0; holeIndex < _obstacleHoles.length; holeIndex++)
                for (var pointIndex = 0; pointIndex < _obstacleHoles[holeIndex].length; pointIndex++)
                  Marker(
                    point: _obstacleHoles[holeIndex][pointIndex],
                    width: 80,
                    height: 40,
                    child: Column(
                      mainAxisSize: MainAxisSize.min,
                      children: [
                        const SizedBox(height: 8),
                        Container(
                          width: 16,
                          height: 16,
                          decoration: const BoxDecoration(
                            color: Colors.red, // 红色标记区分作业区域
                            shape: BoxShape.circle,
                            boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 2)],
                          ),
                          child: Center(
                            child: Text(
                              '${holeIndex + 1}-${pointIndex + 1}', // 格式：组号-点号
                              style: const TextStyle(color: Colors.white, fontSize: 8, fontWeight: FontWeight.bold),
                            ),
                          ),
                        ),
                      ],
                    ),
                  ),
              // 正在绘制的障碍物打点
              for (var pointIndex = 0; pointIndex < _currentObstaclePoints.length; pointIndex++)
                Marker(
                  point: _currentObstaclePoints[pointIndex],
                  width: 80,
                  height: 40,
                  child: Column(
                    mainAxisSize: MainAxisSize.min,
                    children: [
                      const SizedBox(height: 8),
                      Container(
                        width: 16,
                        height: 16,
                        decoration: const BoxDecoration(
                          color: Colors.orange, // 橙色标记区分正在绘制
                          shape: BoxShape.circle,
                          boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 2)],
                        ),
                        child: Center(
                          child: Text(
                            '${pointIndex + 1}',
                            style: const TextStyle(color: Colors.white, fontSize: 10, fontWeight: FontWeight.bold),
                          ),
                        ),
                      ),
                    ],
                  ),
                ),
            ],
          ),
        if (!_isWorkAreaCompleted)
          /// 历史打点的绿色标记
          MarkerLayer(
            markers: _markedPoints.asMap().entries.map((entry) {
              int index = entry.key + 1; // 打点序号（从1开始）
              LatLng point = entry.value;

              return Marker(
                point: point,
                width: 80,
                height: 40,
                child: Column(
                  mainAxisSize: MainAxisSize.min,
                  children: [
                    const SizedBox(height: 8), // 向下偏移8px（抵消默认的顶部对齐）
                    // 绿色打点标记
                    Container(
                      width: 16,
                      height: 16,
                      decoration: const BoxDecoration(
                        color: Color(0xFF00C853), // 绿色主题色
                        shape: BoxShape.circle,
                        boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 2)],
                      ),
                      child: Center(
                        child: Text(
                          '$index',
                          style: const TextStyle(color: Colors.white, fontSize: 10, fontWeight: FontWeight.bold),
                        ),
                      ),
                    ),
                  ],
                ),
              );
            }).toList(),
          ),
        if (gctracePoint!.isNotEmpty && isStartWork)
          PolylineLayer(
            polylines: [
              for (int i = 0; i < gctracePoint!.length - 1; i++)
                Polyline(
                  points: [gctracePoint![i], gctracePoint![i + 1]],
                  color: Colors.white,
                  strokeWidth: 1.5,
                  isDotted: true, // 虚线区分作业区域
                ),
            ],
          ),
      ],
    );
  }

  /// 开始作业
  void _startWork() async {
    debugPrint('🔵 _startWork 方法被调用了！');

    debugPrint('📊 startWorkList 类型：${startWorkList.runtimeType}');
    debugPrint('📊 startWorkList 长度：${startWorkList.length}');
    debugPrint('📊 startWorkList 内容：$startWorkList');
    if (startWorkList.isEmpty) {
      debugPrint('🚀 作业列表为空');
      ToastUtils.showInfo(context, '作业列表为空,请重新选择路径');
      return;
    }
    isStartWork = true;
    _traceManager.setMode(TPMode.NAVIGATION);

    setState(() {
      _workStatus = WorkStatus.working;
    });

    //// 步骤1：将 List<LatLng> 转换为 List<DeviceAddPathPointModel>
    //final List<work_area_model.DeviceAddPathPointModel> pathModels = gcjPathPoints.map((latLng) {
    //  return work_area_model.DeviceAddPathPointModel(
    //    latitude: latLng.latitude, // 纬度
    //    longitude: latLng.longitude, // 经度
    //  );
    //}).toList();

    // 步骤2：将 List 转换为 Queue（队列）
    debugPrint('⚙️ 开始类型转换...');
    final List<work_area_model.DeviceAddPathPointModel> typedList = startWorkList.whereType<Map<String, dynamic>>().map((item) {
      return work_area_model.DeviceAddPathPointModel(latitude: (item['lat'] as num).toDouble(), longitude: (item['lon'] as num).toDouble());
    }).toList();

    debugPrint("===打印发送开始作业的路径开始 ");
    for (var i = 0; i < typedList.length; i++) {
      debugPrint(typedList[i].toString());
    }
    debugPrint("===打印发送开始作业的路径结束");
    final Queue<work_area_model.DeviceAddPathPointModel> pathQueue = Queue.from(typedList);

    debugPrint('🚀 开始作业：${_selectedPlot?.plotName ?? "未命名"}，路径点数量：${pathQueue.length}');
    debugPrint('第一个点 WGS84: ${pathQueue.first.latitude}, ${pathQueue.first.longitude}');

    // 步骤 3：调用 Cubit 方法（类型匹配）
    await context.read<DevicesCubit>().startRoutePlanning(pathQueue);
    context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
    // 可选：显示作业提示
    ToastUtils.showSuccess(context, '作业已开始');
    //ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('作业已开始'), backgroundColor: Colors.green));
  }

  /// 暂停作业
  void _pauseWork() async {
    setState(() {
      _workStatus = WorkStatus.paused;
    });
    context.read<DevicesCubit>().updateAppState(AppState.none);
    await context.read<DevicesCubit>().pauseRoutePlanning();
    debugPrint('暂停作业：${_selectedPlot!.plotName}');
  }

  void _stopWork() async {
    setState(() {
      _workStatus = WorkStatus.idle;
    });
    context.read<DevicesCubit>().updateAppState(AppState.none);
    await context.read<DevicesCubit>().stopRoutePlanning();
    //修改App的状态
    debugPrint('停止作业：${_selectedPlot!.plotName}');

    ///ToastUtils.showError(context, '作业已停止');
  }

  /// 继续作业
  void _resumeWork() async {
    setState(() {
      _workStatus = WorkStatus.working;
    });
    context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
    await context.read<DevicesCubit>().resumeRoutePlanning();
  }

  void _showDeleteConfirmDialog(PlotData plot, Function(PlotData) onDelete) {
    ConfirmDialog.show(
      context: context,
      title: '确认删除',
      content: '是否删除地块「${plot.plotName}」？删除后不可恢复。',
      confirmText: '删除',
      confirmTextColor: Colors.red,
      onConfirm: () {
        onDelete(plot);
      },
    );
  }

  Widget _buildWorkPanel() {
    return BlocBuilder<DevicesCubit, DevicesState>(
      builder: (context, state) {
        // 无选中地块或无路径数据时返回空
        if (_selectedPlot == null || state.pathData == null) {
          return const SizedBox.shrink();
        }

        return Positioned(
          left: 0,
          right: 0,
          bottom: 0,
          child: Container(
            padding: const EdgeInsets.all(16),
            decoration: const BoxDecoration(
              color: Colors.white,
              borderRadius: BorderRadius.vertical(top: Radius.circular(16)),
              boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 10, offset: Offset(0, -2))],
            ),
            child: Column(
              mainAxisSize: MainAxisSize.min,
              children: [
                // 1. 地块基础信息
                Row(
                  crossAxisAlignment: CrossAxisAlignment.center,
                  children: [
                    ClipRRect(
                      borderRadius: BorderRadius.circular(8),
                      child: Image.network(
                        _selectedPlot!.imageUrl,
                        width: 80,
                        height: 80,
                        fit: BoxFit.cover,
                        errorBuilder: (context, error, stackTrace) {
                          return Container(
                            width: 80,
                            height: 80,
                            color: Colors.grey[200],
                            child: const Icon(Icons.image_outlined, color: Colors.grey, size: 32),
                          );
                        },
                      ),
                    ),
                    const SizedBox(width: 16),
                    Expanded(
                      child: Column(
                        crossAxisAlignment: CrossAxisAlignment.start,
                        children: [
                          Text(
                            _selectedPlot!.plotName,
                            style: const TextStyle(fontSize: 18, fontWeight: FontWeight.bold, color: Colors.black87),
                            maxLines: 2,
                            overflow: TextOverflow.ellipsis,
                          ),
                          const SizedBox(height: 4),
                          Text('作业模式：$workMode', style: const TextStyle(fontSize: 14, color: Colors.grey)),
                        ],
                      ),
                    ),
                    IconButton(
                      onPressed: () {
                        setState(() {
                          _isWorkPanelOpen = false;
                          _selectedPlot = null;
                          gcjPathPoints = [];
                          gcjOuterPoints = [];
                        });
                      },
                      icon: const Icon(Icons.close, color: Colors.grey, size: 20),
                      padding: EdgeInsets.zero,
                      constraints: const BoxConstraints(minWidth: 24, minHeight: 24),
                    ),
                  ],
                ),

                const SizedBox(height: 16),

                // 2. 错误提示（如果加载失败）
                if (state.errorMessage != null)
                  Container(
                    padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 8),
                    margin: const EdgeInsets.only(bottom: 12),
                    decoration: BoxDecoration(
                      color: Colors.red[50],
                      borderRadius: BorderRadius.circular(6),
                      border: Border.all(color: Colors.red[200]!),
                    ),
                    child: Row(
                      children: [
                        const Icon(Icons.error_outline, color: Colors.redAccent, size: 16),
                        const SizedBox(width: 8),
                        Expanded(
                          child: Text(
                            state.errorMessage!,
                            style: const TextStyle(fontSize: 14, color: Colors.redAccent),
                            maxLines: 2,
                            overflow: TextOverflow.ellipsis,
                          ),
                        ),
                      ],
                    ),
                  ),

                // 3. 开始作业按钮（加载中禁用）
                // 放在 Column/Row 的 children: [ ... ] 内部
                _workStatus == WorkStatus.idle
                    ? SizedBox(
                        width: double.infinity,
                        height: 50,
                        child: ElevatedButton(
                          onPressed: state.isLoading || startWorkList.isEmpty
                              ? null
                              : () {
                                  // 开始作业逻辑
                                  _startWork();
                                },
                          style: ElevatedButton.styleFrom(
                            backgroundColor: const Color(0xFF00C853),
                            foregroundColor: Colors.white,
                            shape: RoundedRectangleBorder(borderRadius: BorderRadius.circular(8)),
                            elevation: 2,
                            disabledBackgroundColor: Colors.grey[300],
                            disabledForegroundColor: Colors.grey[600],
                          ),
                          child: state.isLoading
                              ? const SizedBox(width: 20, height: 20, child: CircularProgressIndicator(strokeWidth: 2, color: Colors.white))
                              : const Text('开始作业', style: TextStyle(fontSize: 14, fontWeight: FontWeight.bold)),
                        ),
                      )
                    : Row(
                        children: [
                          // 暂停/继续图标按钮
                          Expanded(
                            child: SizedBox(
                              width: 50,
                              height: 50,
                              child: ElevatedButton(
                                onPressed: () => _workStatus == WorkStatus.working ? _pauseWork() : _resumeWork(),
                                style: ElevatedButton.styleFrom(
                                  backgroundColor: _workStatus == WorkStatus.working ? Colors.amber : const Color(0xFF00C853),
                                  foregroundColor: Colors.white,
                                  shape: const CircleBorder(),
                                  elevation: 2,
                                  // 调整内边距，让图标居中更协调
                                  padding: const EdgeInsets.symmetric(horizontal: 8),
                                ),
                                child: Icon(
                                  // 作业中显示暂停图标，暂停中显示播放（继续）图标
                                  _workStatus == WorkStatus.working ? Icons.pause : Icons.play_arrow,
                                  size: 24, // 图标尺寸
                                ),
                              ),
                            ),
                          ),
                          const SizedBox(width: 12),
                          // 停止图标按钮
                          Expanded(
                            child: SizedBox(
                              width: 50,
                              height: 50,
                              child: ElevatedButton(
                                onPressed: () => _stopWork(),
                                style: ElevatedButton.styleFrom(
                                  backgroundColor: Colors.redAccent,
                                  foregroundColor: Colors.white,
                                  shape: const CircleBorder(),
                                  elevation: 2,
                                  padding: const EdgeInsets.symmetric(horizontal: 8),
                                ),
                                child: const Icon(
                                  Icons.stop, // 停止图标（也可以用 Icons.close）
                                  size: 24,
                                ),
                              ),
                            ),
                          ),
                        ],
                      ),
                //SizedBox(
                //  width: double.infinity,
                //  height: 50,
                //  child: ElevatedButton(
                //    onPressed: state.isLoading || gcjPathPoints.isEmpty
                //        ? null
                //        : () {
                //            // 作业逻辑：使用加载的pathData
                //            debugPrint('开始作业：${_selectedPlot!.plotName}，路径数据：$gcjPathPoints');
                //          },
                //    style: ElevatedButton.styleFrom(
                //      backgroundColor: const Color(0xFF00C853),
                //      foregroundColor: Colors.white,
                //      shape: RoundedRectangleBorder(borderRadius: BorderRadius.circular(8)),
                //      elevation: 2,
                //      disabledBackgroundColor: Colors.grey[300],
                //      disabledForegroundColor: Colors.grey[600],
                //    ),
                //    child: state.isLoading
                //        ? const SizedBox(width: 20, height: 20, child: CircularProgressIndicator(strokeWidth: 2, color: Colors.white))
                //        : const Text('开始作业', style: TextStyle(fontSize: 14, fontWeight: FontWeight.bold)),
                //  ),
                //),
              ],
            ),
          ),
        );
      },
    );
  }

  Future<String?> _captureMapToJpgBase64({int quality = 80}) async {
    try {
      // 1. 第一步：截取 PNG (Flutter 唯一支持的格式)
      RenderRepaintBoundary? boundary = _mapRepaintKey.currentContext?.findRenderObject() as RenderRepaintBoundary?;
      if (boundary == null) {
        debugPrint('截图失败：渲染对象未找到');
        return null;
      }

      // 🔥 注意：这里是 dart:ui 的 Image，需显式指定 ui.Image
      ui.Image image = await boundary.toImage(pixelRatio: 2.0);
      ByteData? byteData = await image.toByteData(format: ui.ImageByteFormat.png);
      if (byteData == null) {
        debugPrint('截图失败：字节数据为空');
        return null;
      }
      Uint8List pngBytes = byteData.buffer.asUint8List();

      // 2. 第二步：使用 image 库解码
      // 🚨 核心修复：变量类型必须显式写为 _image.Image?
      _image.Image? decodedImage = _image.decodeImage(pngBytes);
      if (decodedImage == null) {
        debugPrint('转换失败：无法解码 PNG');
        return null;
      }

      // 3. 第三步：编码为 JPG
      List<int> jpgBytes = _image.encodeJpg(decodedImage, quality: quality);
      Uint8List finalBytes = Uint8List.fromList(jpgBytes);

      // 4. 第四步：转换为 Base64
      String base64Str = base64Encode(finalBytes);
      debugPrint('JPG Base64 长度：${base64Str.length} (体积更小)');
      return base64Str;
    } catch (e) {
      debugPrint('生成 JPG Base64 异常：$e');
      return null;
    }
  }

  // 🔥 改动4：新增方法 - 将Bloc的workRecords转换为PlotData列表
  List<PlotData> _convertWorkRecordsToPlotData(List<Map<String, dynamic>> records) {
    return records.map((record) {
      return PlotData(
        id: record['id']?.toString() ?? DateTime.now().microsecondsSinceEpoch.toString(), // 唯一ID
        plotName: record['workName'] ?? '未命名地块', // 地块名称（从接口字段取）
        imageUrl: record['imgUrl'] ?? '', // 图片URL（从接口字段取，无则为空）
        jsonData: record['jsonData'], // 原始数据的JSON字符串（可选，便于调试或后续使用）
      );
    }).toList();
  }

  // ========== 抽象：生成路径的核心函数 ==========
  Future<void> _generatePath({bool showTips = true}) async {
    if (_currentWorkMode == WorkMode.custom) {
      setState(() {
        _saveBoxOpen = true; // 显示保存按钮
        _isWorkAreaCompleted = true; // 标记为完成，允许保存
        gcjPathPoints = List.from(_markedPoints); // outer直接使用打点坐标
        gcjOuterPoints = List.from(_markedPoints);
        typedPathList = []; // 路径列表置空
      });
      return;
    }

    // 1. 校验必要条件
    if (_currentAreaMode == AreaMode.work && _markedPoints.isEmpty) {
      if (showTips) {
        ToastUtils.showError(context, '请先添加作业区域打点！');
      }
      return;
    }
    if (_currentAreaMode == AreaMode.work && _markedPoints.length < 3) {
      if (showTips) {
        ToastUtils.showError(context, '作业区域至少需要3个打点才能生成路径！');
      }
      return;
    }
    if (_currentWorkMode == null) {
      if (showTips) {
        ToastUtils.showError(context, '请先选择作业模式！');
      }
      return;
    }

    try {
      // 2. 转换页面数据为 generatePath 所需的参数格式
      // 2.1 参考点（区分Robot/Point模式）
      LatLng firstPointWgs; // 最终传给接口的WGS84格式参考点
      if (_currentRobotMode == RobotMode.robot && _robotModeWgsPoints.isNotEmpty) {
        // Robot模式：直接使用原始WGS84坐标（无需转换）
        firstPointWgs = _robotModeWgsPoints.first;
      } else if (_currentRobotMode == RobotMode.point && _markedPoints.isNotEmpty) {
        // Point模式：先取十字准星的GCJ02坐标 → 转换为WGS84
        LatLng firstPointGcj = _markedPoints.first;
        firstPointWgs = gcj02ToWgs84(firstPointGcj.latitude, firstPointGcj.longitude);
      } else {
        if (showTips) {
          ToastUtils.showError(context, '参考点坐标为空，请先添加作业区域打点！');
        }
        return; // 终止方法执行，避免后续错误
      }

      // 参考点使用转换后的WGS84坐标
      final referencePoint = work_area_model.ReferencePoint(lat: firstPointWgs.latitude, lon: firstPointWgs.longitude);

      // 2.2 航向角
      final heading = _angle == -1 ? -1 : _angle.toInt();

      // 2.3 外边界（作业区域）- 核心区分Robot/Point模式
      List<work_area_model.Position> outerPositions = [];
      if (_currentRobotMode == RobotMode.robot && _robotModeWgsPoints.isNotEmpty) {
        // Robot模式：直接使用原始WGS84坐标，跳过GCJ02→WGS84转换
        outerPositions = _robotModeWgsPoints.map((latLng) {
          return work_area_model.Position(lat: latLng.latitude, lon: latLng.longitude);
        }).toList();
      } else if (_currentRobotMode == RobotMode.point && _markedPoints.isNotEmpty) {
        // Point模式：十字准星的GCJ02坐标 → 转换为WGS84
        outerPositions = _markedPoints.map((latLng) {
          final wgs84Point = gcj02ToWgs84(latLng.latitude, latLng.longitude);
          return work_area_model.Position(lat: wgs84Point.latitude, lon: wgs84Point.longitude);
        }).toList();
      }
      gcjOuterPoints = outerPositions.map((point) {
        double wgs84Lat = point.lat;
        double wgs84Lon = point.lon;
        final gcjPoint = wgs84ToGcj02(wgs84Lat, wgs84Lon);
        return LatLng(gcjPoint.latitude, gcjPoint.longitude);
      }).toList();

      final outerBoundary = work_area_model.OuterBoundary(position: outerPositions, sideWidth: _workDistance);

      work_area_model.HoleBoundary? holeBoundary;

      if (_obstacleHoles.isNotEmpty) {
        // 1. 构造二维 Position 数组
        List<List<work_area_model.Position>> positionList = [];

        if (_currentRobotMode == RobotMode.robot && _robotModeObsWgsPoints.isNotEmpty) {
          for (var holePoints in _obstacleWgsHoles) {
            List<work_area_model.Position> innerPositionList = [];

            innerPositionList = holePoints.map((latLng) {
              return work_area_model.Position(lat: latLng.latitude, lon: latLng.longitude);
            }).toList();
            positionList.add(innerPositionList);
          }
        } else if (_currentRobotMode == RobotMode.point && _obstacleHoles.isNotEmpty) {
          for (var holePoints in _obstacleHoles) {
            List<work_area_model.Position> innerPositionList = [];

            // Point模式：GCJ02→WGS84转换
            innerPositionList = holePoints.map((latLng) {
              final wgs84Point = gcj02ToWgs84(latLng.latitude, latLng.longitude);
              return work_area_model.Position(lat: wgs84Point.latitude, lon: wgs84Point.longitude);
            }).toList();
            positionList.add(innerPositionList);
          }
        }

        //for (var holePoints in _obstacleHoles) {
        //  List<work_area_model.Position> innerPositionList = [];

        //  if (_currentRobotMode == RobotMode.robot && _robotModeObsWgsPoints.isNotEmpty) {
        //    // Robot模式：使用障碍物原始WGS84坐标
        //    innerPositionList = holePoints.map((latLng) {
        //      return work_area_model.Position(lat: latLng.latitude, lon: latLng.longitude);
        //    }).toList();
        //  } else {
        //    // Point模式：GCJ02→WGS84转换
        //    innerPositionList = holePoints.map((latLng) {
        //      final wgs84Point = gcj02ToWgs84(latLng.latitude, latLng.longitude);
        //      return work_area_model.Position(lat: wgs84Point.latitude, lon: wgs84Point.longitude);
        //    }).toList();
        //  }
        //  positionList.add(innerPositionList);
        //}

        // 2. 创建 HoleBoundary 对象（无外层 Map）
        holeBoundary = work_area_model.HoleBoundary(position: positionList, sideWidth: 0.0);
      }

      // 🔥 第二步：构造符合方法参数要求的 Map<String, HoleBoundary>
      // 用一个临时 Map 来满足类型要求，后续在 Cubit 中取值即可
      Map<String, work_area_model.HoleBoundary> holes = {};
      if (holeBoundary != null) {
        holes = {'tempKey': holeBoundary}; // 键名任意，仅为满足类型要求
      }
      final workType = _currentWorkMode == WorkMode.bow ? 0 : 2;

      // 3. 调用 Cubit 的 generatePath 方法（传入holes参数）
      await context.read<DevicesCubit>().generatePath(
        reference: referencePoint,
        heading: heading,
        outer: outerBoundary,
        holes: holes.isNotEmpty ? holes : {}, // 无障碍物时传空对象
        workType: workType,
      );

      // 4. 处理生成结果（原有逻辑不变）
      final cubitState = context.read<DevicesCubit>().state;
      print('${cubitState.generatedPath},路径生成结果');

      if (cubitState.errorMessage != null) {
        if (showTips) {
          ToastUtils.showError(context, '路径生成失败：${cubitState.errorMessage}');
          //ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('路径生成失败：${cubitState.errorMessage}'), backgroundColor: Colors.red));
        }
      } else if (cubitState.generatedPath != null) {
        if (showTips) {
          ToastUtils.showSuccess(context, '路径生成成功！');
        }
        if (cubitState.generatedPath is List) {
          setState(() {
            _isWorkAreaCompleted = true;
            _saveBoxOpen = true;
            final pathList = cubitState.generatedPath as List;
            typedPathList = pathList.whereType<work_area_model.DeviceAddPathPointModel>().toList();
            gcjPathPoints = typedPathList.map((point) {
              double wgs84Lat = point.latitude;
              double wgs84Lon = point.longitude;
              final gcjPoint = wgs84ToGcj02(wgs84Lat, wgs84Lon);
              return LatLng(gcjPoint.latitude, gcjPoint.longitude);
            }).toList();
            // 外边界保持原有逻辑
            //gcjOuterPoints = List.from(_markedPoints);
          });
          _saveDataToLocal();
          moveMapToPointsCenter(gcjPathPoints);
        }
      }
    } catch (e) {
      debugPrint('路径生成异常：$e');
      if (showTips) {
        ToastUtils.showError(context, '路径生成异常：${e.toString().substring(0, 50)}');
      }
    }
  }

  @override
  Widget build(BuildContext context) {
    final screenHeight = MediaQuery.of(context).size.height;
    final menuHeight = 16 * 6; // 假设 VerticalFloatMenu 有 6 个选项，每个高度为 56
    final maxTop = screenHeight - menuHeight;
    final userState = context.watch<AppUserCubit>().state;
    final deviceId = context.watch<DevicesCubit>().state.selectedDevice?.deviceName;

    if (deviceId != null && userState.user != null && userState.user!.token != null) {
      _videoStreamUrl = "webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId?token=${userState.user!.token}";
    } else {
      _videoStreamUrl = '';
      print("设备未选中或用户未登录，无法生成视频流地址");
    }
    return BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
      builder: (context, state) {
        // 初始化默认值
        String yaw = '--';
        String satelliteCnt = '--';
        double currentLat = 0.0;
        double currentLng = 0.0;
        bool obfFlag = false; //障碍物标志位
        int headingStatus = 0;
        String controlMode = "0";
        DeviceStatusUpdated? updatedState;

        if (state is DeviceStatusUpdated) {
          // 强转获取具体的状态数据
          updatedState = state as DeviceStatusUpdated;
          obfFlag = updatedState.status.obstacleFlag.toString() == 1;
          headingStatus = updatedState.status.headingStatus;
          controlMode = updatedState.status.controlMode;
          _headingAngle = updatedState.status.yaw;

          //debugPrint("路径规划四十数据 - 经纬度：");
          //debugPrint("  RunningStatus纬度：${updatedState.status.latitude}");
          //debugPrint("  RunningStatus经度：${updatedState.status.longitude}");
          //debugPrint("${updatedState.status.obstacleFlag},${updatedState.status.qual},${updatedState.status.controlMode}");
          //debugPrint("${updatedState.status.headingStatus},${updatedState.status.yaw}");

          // 提取经纬度并更新本地变量
          currentLat = updatedState.status.latitude;
          currentLng = updatedState.status.longitude;
        } else {}
        return Scaffold(
          body: SafeArea(
            child: Stack(
              children: [
                RepaintBoundary(key: _mapRepaintKey, child: _buildMap(currentLat, currentLng, obfFlag, headingStatus, controlMode)),

                // 地图核心组件
                if (_isRefreshing)
                  Positioned.fill(
                    child: Container(
                      color: Colors.black.withOpacity(0.3),
                      child: const Center(
                        child: Column(
                          mainAxisAlignment: MainAxisAlignment.center,
                          children: [CircularProgressIndicator(color: Colors.white, strokeWidth: 3)],
                        ),
                      ),
                    ),
                  ),

                // 悬浮返回按钮（核心修改）
                Positioned(
                  top: 10,
                  left: 10,
                  child: GestureDetector(
                    // 自定义点击事件
                    onTap: _navigateBack,
                    // 自定义点击反馈（替代 IconButton 的高亮/水波纹）
                    child: Container(
                      width: 40,
                      height: 40,
                      decoration: BoxDecoration(
                        color: Colors.white.withOpacity(0.8),
                        borderRadius: BorderRadius.circular(20),
                        boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 3, offset: const Offset(0, 2))],
                      ),
                      // 核心：用 Stack 实现点击高亮层 + 图标层
                      child: Stack(
                        alignment: Alignment.center, // 所有子组件居中
                        children: [
                          // 1. 点击高亮层（默认隐藏，点击时显示）
                          Positioned.fill(
                            child: Container(
                              decoration: BoxDecoration(
                                color: Colors.transparent, // 默认透明
                                borderRadius: BorderRadius.circular(20),
                              ),
                            ),
                          ),
                          // 2. 图标层（绝对居中）
                          const Icon(Icons.arrow_back_ios, color: Colors.black87, size: 20),
                        ],
                      ),
                    ),
                  ),
                ),

                /// 核心：地图正中心固定定位标
                if (_currentRobotMode == RobotMode.point)
                  Positioned(
                    left: 0,
                    right: 0,
                    top: 0,
                    bottom: 0,
                    child: Center(
                      // 自定义十字标（中心精准对齐地图中心）
                      child: SizedBox(
                        width: 16, // 十字整体宽度
                        height: 16, // 十字整体高度
                        child: CustomPaint(
                          painter: CrosshairPainter(), // 自定义十字画笔
                        ),
                      ),
                    ),
                  ),

                //保存按钮
                if (_saveBoxOpen)
                  Positioned(
                    right: 80,
                    top: maxTop > 10 ? 11 : maxTop,
                    child: Container(
                      width: 40,
                      height: 40,
                      decoration: BoxDecoration(
                        color: const Color(0xFF00C853),
                        shape: BoxShape.circle,
                        boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 4, offset: const Offset(0, 2))],
                      ),
                      child: IconButton(
                        onPressed: () {
                          _showSavePlotDialog();
                        },
                        icon: const Icon(Icons.save, color: Colors.white, size: 18),
                        padding: EdgeInsets.zero,
                        constraints: const BoxConstraints(),
                      ),
                    ),
                  ),

                // 右侧悬浮菜单
                Positioned(
                  height: 336,
                  right: 16,
                  top: maxTop > 10 ? 11 : maxTop,
                  child: FloatingActionButton(
                    onPressed: _moveToCurrentLocation,
                    child: VerticalFloatMenu(
                      onEditTap: (bool isOpen) {
                        setState(() {
                          _isPanelOpen = isOpen;
                        });
                      },
                      onListBox: (bool isOpen) {
                        // 🔥 改动5：加载作业记录（原有逻辑保留）
                        final userId = context.read<AppUserCubit>().state.user?.userId ?? "";
                        print('加载作业记录，当前用户ID：$userId');
                        context.read<DevicesCubit>().loadWorkRecords(userId);

                        setState(() {
                          _isListBoxOpen = isOpen;
                          _isWorkPanelOpen = false;
                        });
                      },
                      onDjShow: (bool isOpen) {
                        if (isOpen) context.go(RoutePaths.djMap);
                        setState(() {
                          isDjMapShow = isOpen;
                        });
                      },

                      onWorkModeSelected: (mode) {
                        _currentWorkMode = mode;
                        debugPrint('外部收到作业模式：$mode');
                      },
                      handleGotoLocation: _handleGotoLocation,
                      onRefreshTap: _handleRefresh, // 推荐用局部刷新
                      onVideoTap: _handleVideo,
                    ),
                  ),
                ),

                // 底部操作面板
                if (_isPanelOpen)
                  Positioned(
                    left: 0,
                    right: 0,
                    bottom: 0,
                    child: BottomOperationPanel(
                      initialRobotMode: _currentRobotMode,
                      initialAreaMode: _currentAreaMode,
                      initialWorkMode: _currentWorkMode!,
                      canUndo: _isWorkAreaCompleted && _currentAreaMode == AreaMode.work ? false : true,
                      onComplete: () async {
                        debugPrint(
                          '操作完成回调：当前机器人模式=$_currentRobotMode,当前区域模式=$_currentAreaMode,当前作业模式:$_currentWorkMode,作业区域点:$_markedPoints,作业行距=$_workDistance,航线方向角=$_angle',
                        );
                        if (_currentAreaMode == AreaMode.obstacle) {
                          // 障碍物模式：完成当前障碍物绘制
                          _completeObstacle();
                          await _generatePath(showTips: true);
                        } else {
                          // 作业区域模式：生成路径
                          await _generatePath(showTips: true);
                        }
                        // 5. 关闭操作面板
                        setState(() {
                          //_isPanelOpen = false; // 关闭操作面板
                        });
                      },
                      onUndoTap: () {
                        _undoAction();
                      },
                      onDeleteTap: () {
                        _deleteAllAction();
                      },
                      onRobotModeChanged: (mode) {
                        setState(() => _currentRobotMode = mode);
                        debugPrint('外部收到机器人模式：$mode');
                      },
                      onAreaModeChanged: (mode) {
                        setState(() => _currentAreaMode = mode);
                        debugPrint('外部收到区域模式：$mode');
                      },
                      onAddTap: () {
                        _addMarkedPoint();
                        debugPrint('外部处理加号按钮点击，已添加打点');
                      },
                      onDistanceTap: (distance) {
                        _workDistance = distance;
                        debugPrint('外部处理作业行距距离设置，当前距离：${distance.toStringAsFixed(1)}米');
                        if (_markedPoints.length >= 3 && _currentWorkMode != null) {
                          _generatePath(showTips: false);
                        }
                      },
                      onSettingTap: () {
                        setState(() {
                          _directionBoxOpen = true;
                        });
                        debugPrint('外部处理设置按钮点击');
                      },
                      onLandTap: () {
                        debugPrint('外部处理地块标签点击');
                      },
                      onRouteTap: () {
                        debugPrint('外部处理航线标签点击');
                      },
                    ),
                  ),

                // 航线方向面板
                if (_directionBoxOpen)
                  Positioned(
                    left: 0,
                    right: 0,
                    bottom: 0,
                    child: RouteDirectionPanel(
                      initialOptimalHeading: true,
                      initialDirection: 0.0,
                      onValueChanged: (result) {
                        debugPrint('最优航向：${result['optimalHeading']}，角度：${result['direction']}');
                        _angle = result['optimalHeading'] == true ? -1 : result['direction'];

                        debugPrint('外部处理航线方向设置，当前角度：${_angle}');
                        if (_markedPoints.length >= 3 && _currentWorkMode != null) {
                          debugPrint('外部处理航线方向设置11222：${_angle}');
                          _generatePath(showTips: false);
                        }
                      },
                      onCancel: () {
                        setState(() => _directionBoxOpen = false);
                      },
                    ),
                  ),

                // 列表面板 - 使用BlocBuilder监听DevicesCubit状态
                if (_isListBoxOpen)
                  BlocBuilder<DevicesCubit, DevicesState>(
                    builder: (context, state) {
                      final plotList = _convertWorkRecordsToPlotData(state.workRecords ?? []);

                      return Positioned.fill(
                        child: Column(
                          mainAxisAlignment: MainAxisAlignment.end,
                          children: [
                            Expanded(
                              child: GestureDetector(
                                onTap: () {
                                  setState(() {
                                    _isListBoxOpen = false;
                                  });
                                },
                                child: Container(color: Colors.black.withOpacity(0.3)),
                              ),
                            ),
                            Container(
                              width: double.infinity,
                              decoration: const BoxDecoration(
                                color: Colors.white,
                                borderRadius: BorderRadius.vertical(top: Radius.circular(16)),
                                boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 10, offset: Offset(0, -2))],
                              ),
                              constraints: const BoxConstraints(maxHeight: 600, minHeight: 200),
                              child: Column(
                                children: [
                                  Container(
                                    padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 12),
                                    child: Row(
                                      mainAxisAlignment: MainAxisAlignment.spaceBetween,
                                      children: [
                                        Text(
                                          '地块列表（共${plotList.length}条）',
                                          style: const TextStyle(fontSize: 18, fontWeight: FontWeight.bold, color: Colors.black87),
                                        ),
                                        IconButton(
                                          onPressed: () {
                                            setState(() {
                                              _isListBoxOpen = false;
                                            });
                                          },
                                          icon: const Icon(Icons.close, color: Colors.grey, size: 20),
                                        ),
                                      ],
                                    ),
                                  ),
                                  const Divider(height: 1, color: Colors.grey),
                                  Expanded(
                                    child: plotList.isEmpty
                                        ? const Center(
                                            child: Column(
                                              mainAxisAlignment: MainAxisAlignment.center,
                                              children: [
                                                Icon(Icons.inbox_outlined, color: Colors.grey, size: 48),
                                                SizedBox(height: 16),
                                                Text('暂无地块数据', style: TextStyle(color: Colors.grey, fontSize: 16)),
                                              ],
                                            ),
                                          )
                                        : ListView.builder(
                                            padding: const EdgeInsets.symmetric(vertical: 8),
                                            itemCount: plotList.length,
                                            itemBuilder: (context, index) {
                                              final plot = plotList[index];
                                              // 传入删除回调（调用Bloc的删除方法）
                                              return _buildPlotListItem(plot, (deletedPlot) async {
                                                await context.read<DevicesCubit>().deleteWorkRecord(deletedPlot.plotName);
                                                final userId = context.read<AppUserCubit>().state.user?.userId ?? "";
                                                await context.read<DevicesCubit>().loadWorkRecords(userId);

                                                setState(() {});
                                              });
                                            },
                                          ),
                                  ),
                                ],
                              ),
                            ),
                          ],
                        ),
                      );
                    },
                  ),
                if (_showHeadingWarn)
                  Positioned(
                    top: 100, // 调整位置，避免遮挡核心内容
                    left: 20,
                    right: 20,
                    child: Container(
                      padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 12),
                      decoration: BoxDecoration(
                        color: Colors.orange.withOpacity(0.9),
                        borderRadius: BorderRadius.circular(8),
                        boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 4, offset: const Offset(0, 2))],
                      ),
                      child: const Row(
                        children: [
                          Icon(Icons.warning_amber_rounded, color: Colors.white, size: 20),
                          SizedBox(width: 8),
                          Expanded(
                            child: Text('航向角未初始化，无法开始作业', style: TextStyle(color: Colors.white, fontSize: 14)),
                          ),
                        ],
                      ),
                    ),
                  ),

                // 2. 远程模式提示
                if (_showControlModeWarn)
                  Positioned(
                    top: 160, // 与上一个提示错开位置
                    left: 20,
                    right: 20,
                    child: Container(
                      padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 12),
                      decoration: BoxDecoration(
                        color: Colors.red.withOpacity(0.9),
                        borderRadius: BorderRadius.circular(8),
                        boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 4, offset: const Offset(0, 2))],
                      ),
                      child: const Row(
                        children: [
                          Icon(Icons.error_rounded, color: Colors.white, size: 20),
                          SizedBox(width: 8),
                          Expanded(
                            child: Text('请切换到远程模式后再开始作业', style: TextStyle(color: Colors.white, fontSize: 14)),
                          ),
                        ],
                      ),
                    ),
                  ),

                if (_isWorkPanelOpen) _buildWorkPanel(),
                if (_isVideoDialogOpen) _buildVideoPopup(),
              ],
            ),
          ),
        );
      },
    );
  }
}

// 转换单个WGS84坐标到GCJ02
LatLng convertWGS84ToGCJ02(double lat, double lon) {
  return wgs84ToGcj02(lat, lon);
}

/// =======================================================
/// 坐标转换：WGS84 -> GCJ02（国内高德/腾讯通用）
/// =======================================================
const double _pi = 3.1415926535897932384626;
const double _a = 6378245.0;
const double _ee = 0.00669342162296594323;

LatLng wgs84ToGcj02(double lat, double lon) {
  if (_outOfChina(lat, lon)) {
    return LatLng(lat, lon);
  }
  double dLat = _transformLat(lon - 105.0, lat - 35.0);
  double dLon = _transformLon(lon - 105.0, lat - 35.0);
  double radLat = lat / 180.0 * _pi;
  double magic = sin(radLat);
  magic = 1 - _ee * magic * magic;
  double sqrtMagic = sqrt(magic);
  dLat = (dLat * 180.0) / ((_a * (1 - _ee)) / (magic * sqrtMagic) * _pi);
  dLon = (dLon * 180.0) / (_a / sqrtMagic * cos(radLat) * _pi);
  double mgLat = lat + dLat;
  double mgLon = lon + dLon;
  return LatLng(mgLat, mgLon);
}

List<LatLng> batchWgs84ToGcj02(List<LatLng> wgs84Points) {
  // 遍历每个点，调用你已有的单个转换方法
  return wgs84Points.map((point) {
    return wgs84ToGcj02(point.latitude, point.longitude);
  }).toList();
}

LatLng bd09ToGcj02(dynamic bdLng, dynamic bdLat) {
  // 1. 先将字符串转为double（兼容你的初始值格式）
  double lng = _safeToDouble(bdLng);
  double lat = _safeToDouble(bdLat);

  // 2. BD09转GCJ02核心公式
  double x = lng - 0.0065;
  double y = lat - 0.006;
  double z = math.sqrt(x * x + y * y) - 0.00002 * math.sin(y * _pi);
  double theta = math.atan2(y, x) - 0.000003 * math.cos(x * _pi);
  double gcjLng = z * math.cos(theta);
  double gcjLat = z * math.sin(theta);

  return LatLng(gcjLat, gcjLng);
}

double _safeToDouble(dynamic value) {
  if (value == null) return 0.0;
  if (value is double) return value;
  if (value is int) return value.toDouble();
  if (value is String) {
    // 字符串转数字，失败返回0.0
    return double.tryParse(value) ?? 0.0;
  }
  return 0.0;
}

LatLng gcj02ToWgs84(double lat, double lon, {int iterations = 10}) {
  //if (_outOfChina(lat, lon)) {
  //  return LatLng(lat, lon);
  //}

  //double dLat = _transformLat(lon - 105.0, lat - 35.0);
  //double dLon = _transformLon(lon - 105.0, lat - 35.0);
  //double radLat = lat / 180.0 * _pi;
  //double magic = sin(radLat);
  //magic = 1 - _ee * magic * magic;
  //double sqrtMagic = sqrt(magic);
  //dLat = (dLat * 180.0) / ((_a * (1 - _ee)) / (magic * sqrtMagic) * _pi);
  //dLon = (dLon * 180.0) / (_a / sqrtMagic * cos(radLat) * _pi);
  //double mgLat = lat - dLat;
  //double mgLon = lon - dLon;
  //return LatLng(mgLat, mgLon);
  if (_outOfChina(lat, lon)) {
    return LatLng(lat, lon);
  }

  double initLat = lat;
  double initLon = lon;
  double delta = 1e-6; // 迭代精度（约0.1米）

  for (int i = 0; i < iterations; i++) {
    // 1. 用当前猜测值计算GCJ02坐标
    LatLng gcjGuess = wgs84ToGcj02(initLat, initLon);
    // 2. 计算与原始GCJ02的差值
    double dLat = gcjGuess.latitude - lat;
    double dLon = gcjGuess.longitude - lon;
    // 3. 修正猜测值
    initLat -= dLat;
    initLon -= dLon;
    // 4. 精度达标则提前退出
    if (sqrt(dLat * dLat + dLon * dLon) < delta) {
      break;
    }
  }

  return LatLng(initLat, initLon);
}

bool _outOfChina(double lat, double lon) {
  return lon < 72.004 || lon > 137.8347 || lat < 0.8293 || lat > 55.8271;
}

double _transformLat(double x, double y) {
  double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * sqrt(x.abs());
  ret += (20.0 * sin(6.0 * x * _pi) + 20.0 * sin(2.0 * x * _pi)) * 2.0 / 3.0;
  ret += (20.0 * sin(y * _pi) + 40.0 * sin(y / 3.0 * _pi)) * 2.0 / 3.0;
  ret += (160.0 * sin(y / 12.0 * _pi) + 320 * sin(y * _pi / 30.0)) * 2.0 / 3.0;
  return ret;
}

double _transformLon(double x, double y) {
  double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(x.abs());
  ret += (20.0 * sin(6.0 * x * _pi) + 20.0 * sin(2.0 * x * _pi)) * 2.0 / 3.0;
  ret += (20.0 * sin(x * _pi) + 40.0 * sin(x / 3.0 * _pi)) * 2.0 / 3.0;
  ret += (150.0 * sin(x / 12.0 * _pi) + 300.0 * sin(x / 30.0 * _pi)) * 2.0 / 3.0;
  return ret;
}