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

import 'dart:async';
import 'dart:convert';
import 'dart:math';
import 'package:flutter/material.dart';
import 'package:flutter_bloc/flutter_bloc.dart';
import 'package:flutter_map/flutter_map.dart';
import 'package:geolocator/geolocator.dart';
import 'package:latlong2/latlong.dart';
import 'package:maibu_satabot_v2/components/confrim_dialog.dart';
import 'package:maibu_satabot_v2/core/app/app_user_cubit.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/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/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/enum.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/startpoint_area.dart';

import '../path_list_pages.dart';

// 定义轨迹点类型（经纬度）
typedef PlotPoint = LatLng;

// 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>();
  late StreamSubscription<RawPacket> _sub;
  bool _isRefreshing = false; // 新增：页面刷新状态标志

  final MapController _mapController = MapController();
  final TextEditingController _plotNameController = TextEditingController();
  // 初始化轨迹管理器（泛型指定为LatLng）
  late final TracePoint<PlotPoint> _traceManager;

  LatLng? _currentLatLng;
  StreamSubscription<Position>? _positionSub;
  bool _hasMovedOnce = false;
  bool _isPanelOpen = false; // 控制面板显示/隐藏
  bool _directionBoxOpen = false; //航线面板显示/隐藏
  final bool _saveBoxOpen = true; //保存按钮显示/隐藏
  bool _isListBoxOpen = false; //列表面板显示/隐藏
  // 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;

  RobotMode _currentRobotMode = RobotMode.point; //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 = [];

  // ========== 核心新增状态 ==========
  final List<LatLng> _markedPoints = []; // 存储所有打点坐标
  LatLng _mapCenter = const LatLng(39.9042, 116.4074);
  final double _headingAngle = 0.0; // 当前机器航向角（单位：度）
  List<LatLng>? _currentTracePoints; //收到机器的点坐标

  //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）

  @override
  void initState() {
    super.initState();
    _traceManager = TracePoint<PlotPoint>();
    _initLocationEnterprise();
    _sub = _dispatcher.onCommand(0x12).listen(_onDeviceData);
    // 设置事件回调（更新UI）
    _traceManager.onCurrentPointUpdated = (point) {
      setState(() {
        _currentTracePoints = _traceManager.getTracePoint();
      });
    };
    _traceManager.onCompletePointAdded = (point) {
      setState(() {
        _currentTracePoints = _traceManager.getTracePoint();
      });
    };

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

    // 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, // 原始纬度（保留全部小数位）
            originalCenter.longitude, // 原始经度（保留全部小数位）
          );

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

          // 可选：打印验证精度（保留15位小数）
          debugPrint(
            '地图中心更新（高精度）：纬度=${_mapCenter.latitude.toStringAsFixed(15)}, 经度=${_mapCenter.longitude.toStringAsFixed(15)}',
          );
        }
      }
    });
  }

  // ========== 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;

    // 移动地图到边界中心（自动适配缩放级别）
    _mapController.fitBounds(
      bounds,
      options: FitBoundsOptions(
        padding: const EdgeInsets.all(50), // 边缘留白（避免内容贴边）
        maxZoom: 18, // 最大缩放级别（防止过度放大）
      ),
    );

    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;
  }

  void _onDeviceData(RawPacket packet) {
    try {
      debugPrint('>>> 收到0x12设备数据: ${packet}');
      debugPrint('>>> 收到设备数据: ${utf8.decode(packet.payload)}');
      final csv = utf8.decode(packet.payload);
      final fields = csv.split(',');
      // 至少需 16 个字段（索引 10=航向角, 13=卫星数, 14=定位质量）
      if (fields.length >= 16) {
        //setState(() {
        //  _voltage = fields[0];           // 电压
        //  _leftSpeed = fields[1];         // 左轮目标速度
        //  _rightSpeed = fields[2];        // 右轮目标速度
        //  _pitch = fields[11];            // 俯仰角
        //  _roll = fields[12];             // 翻滚角
        //  _latitude = fields[16];         // 纬度
        //  _longitude = fields[17];        // 经度
        //  _timeStamp = '${fields[16]} ${fields[17]}'; // 时间戳（合并字段）
        //  _knifeCuttingSpeed = fields[19]; // 割刀速度
        //  _controlMode = fields[20];      // 控制模式
        //  _workingArea = fields[21];      // 作业面积
        //  _battery = fields[22];          // 电量
        //  _obstacleFlag = fields[23];     // 障碍物标志
        //  _yaw = fields[10];              // 航向角
        //  _satelliteCnt = fields[13];     // 卫星数
        //  _qual = fields[14];             // 定位质量
        //});
      }
    } catch (_) {
      // 解析失败时忽略，避免崩溃
    }
  }

  void _showSavePlotDialog() {
    // 清空上次的输入内容
    _plotNameController.clear();

    // 显示弹窗
    showDialog(
      context: context,
      builder: (BuildContext context) {
        return AlertDialog(
          title: const Text('保存地块'),
          content: TextField(
            controller: _plotNameController,
            decoration: const InputDecoration(
              hintText: '请输入地块名称（如：北地块、一号田）',
              border: OutlineInputBorder(),
              labelText: '地块名称',
            ),
          ),
          actions: [
            // 取消按钮
            TextButton(
              onPressed: () {
                Navigator.of(context).pop(); // 关闭弹窗
              },
              child: const Text('取消'),
            ),
            // 确认保存按钮
            TextButton(
              onPressed: () {
                // 获取输入的地块名称并去除首尾空格
                String plotName = _plotNameController.text.trim();

                // 验证输入是否为空
                if (plotName.isEmpty) {
                  ScaffoldMessenger.of(context).showSnackBar(
                    const SnackBar(
                      content: Text('地块名称不能为空！'),
                      backgroundColor: Colors.red,
                    ),
                  );
                  return;
                }

                // 执行保存逻辑
                _savePlotData(plotName);

                // 关闭弹窗
                Navigator.of(context).pop();

                // 保存成功提示
                ScaffoldMessenger.of(context).showSnackBar(
                  SnackBar(
                    content: Text('地块「$plotName」保存成功！'),
                    backgroundColor: Colors.green,
                  ),
                );
              },
              child: const Text('保存'),
            ),
          ],
        );
      },
    );
  }

  // 3. 保存地块数据的核心方法（这里写你的实际保存逻辑）
  void _savePlotData(String plotName) {
    // 示例：打印保存的信息（实际开发中替换为存数据库/本地存储/接口调用）

    debugPrint('===== 保存地块数据 =====');
    debugPrint('地块名称：$plotName');
    debugPrint('打点数量：${_markedPoints.length}');
    debugPrint('打点坐标：$_markedPoints');
    debugPrint('作业模式：$_currentWorkMode');
  }

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

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

  void _undoLastPoint() {
    if (_markedPoints.isNotEmpty) {
      setState(() {
        _markedPoints.removeLast(); // 删除最后一个打点
      });
      debugPrint('撤回成功，剩余打点数量：${_markedPoints.length}');
    } else {
      debugPrint('无打点可撤回');
      // 可选：提示用户
      ScaffoldMessenger.of(
        context,
      ).showSnackBar(const SnackBar(content: Text('暂无打点可撤回')));
    }
  }

  // ========== 核心：清空所有打点和轨迹 ==========
  void _deleteAllPoints() {
    if (_markedPoints.isNotEmpty) {
      setState(() {
        _markedPoints.clear(); // 清空所有打点
      });
      debugPrint('删除成功，已清空所有打点和轨迹');
      // 可选：提示用户
      ScaffoldMessenger.of(
        context,
      ).showSnackBar(const SnackBar(content: Text('已清空所有打点和轨迹')));
    } else {
      debugPrint('无打点可删除');
      ScaffoldMessenger.of(
        context,
      ).showSnackBar(const SnackBar(content: Text('暂无打点可删除')));
    }
  }

  /// ===============================
  /// 企业级定位初始化（已修复坐标系）
  /// ===============================
  Future<void> _initLocationEnterprise() async {
    final serviceEnabled = await Geolocator.isLocationServiceEnabled();
    if (!serviceEnabled) return;

    LocationPermission permission = await Geolocator.checkPermission();
    if (permission == LocationPermission.denied) {
      permission = await Geolocator.requestPermission();
    }
    if (permission != LocationPermission.whileInUse &&
        permission != LocationPermission.always) {
      return;
    }

    // 1️⃣ 首次强制获取定位
    final position = await Geolocator.getCurrentPosition(
      desiredAccuracy: LocationAccuracy.bestForNavigation,
    );

    final gcj = wgs84ToGcj02(position.latitude, position.longitude);
    _updateLocation(gcj, moveMap: true);

    // 2️⃣ 实时监听（不再强制移动地图）
    _positionSub =
        Geolocator.getPositionStream(
          locationSettings: const LocationSettings(
            accuracy: LocationAccuracy.bestForNavigation,
            distanceFilter: 2,
          ),
        ).listen((pos) {
          final gcj = wgs84ToGcj02(pos.latitude, pos.longitude);
          _updateLocation(gcj, moveMap: false);
        });
  }

  // ========== 新增：页面刷新初始化方法 ==========
  Future<void> _handleRefresh() async {
    // 防止重复刷新
    if (_isRefreshing) return;

    setState(() {
      _isRefreshing = true; // 标记开始刷新
    });

    try {
      // 1. 取消旧的定位监听
      await _positionSub?.cancel();

      // 2. 重置所有页面状态（恢复初始值）
      setState(() {
        // 清空打点和轨迹数据
        _markedPoints.clear();
        gcjPathPoints.clear();
        gcjOuterPoints.clear();
        _currentTracePoints = null;

        // 重置面板状态
        _isPanelOpen = false;
        _directionBoxOpen = false;
        _isListBoxOpen = false;
        _isWorkPanelOpen = false;

        // 重置选中状态
        _selectedPlot = null;
        _selectedPlotPath = null;

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

        // 重置参数
        _workDistance = 0.0;
        _angle = 0.0;
        _mapCenter = const LatLng(39.9042, 116.4074);
        _hasMovedOnce = false;
        _currentLatLng = null;
      });

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

      // 4. 重置轨迹管理器
      _traceManager.reset();

      // 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);
      }

      // 6. 重置地图视角到初始位置
      _mapController.move(const LatLng(39.9042, 116.4074), 17);

      // 刷新成功提示
      if (mounted) {
        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：$e');
      if (mounted) {
        ScaffoldMessenger.of(context).showSnackBar(
          SnackBar(
            content: Text('刷新失败：${e.toString().substring(0, 50)}'),
            backgroundColor: Colors.red,
            duration: Duration(seconds: 3),
          ),
        );
      }
    } finally {
      // 标记刷新结束
      if (mounted) {
        setState(() {
          _isRefreshing = false;
        });
      }
    }
  }

  /// ===============================
  /// 更新位置
  /// ===============================
  void _updateLocation(LatLng latLng, {bool moveMap = false}) {
    setState(() {
      _currentLatLng = latLng;
    });

    if (moveMap && !_hasMovedOnce) {
      _hasMovedOnce = true;
      _mapController.move(latLng, 17);
    }
  }

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

  // ========== 核心方法：打点逻辑 ==========
  void _addMarkedPoint() {
    setState(() {
      _markedPoints.add(_mapCenter); // 在地图中心打点
    });
    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() {
    _positionSub?.cancel();
    _traceManager.reset();
    _mapController.dispose();
    // 修复：_sub 是 non-null 类型，直接 cancel 无需 ?
    _sub.cancel();
    _plotNameController.dispose(); // 新增：释放文本控制器资源
    super.dispose();
  }

  // 模拟添加完成点
  void _addCompletePoint() {
    final newPoint = LatLng(
      39.9042 + (DateTime.now().millisecond / 10000),
      116.4074 + (DateTime.now().millisecond / 10000),
    );
    _traceManager.upsert(newPoint, TPAction.ADD);
  }

  // 模拟更新当前点
  void _updateCurrentPoint() {
    final newPoint = LatLng(
      39.9042 + (DateTime.now().millisecond / 10000),
      116.4074 + (DateTime.now().millisecond / 10000),
    );
    _traceManager.upsert(newPoint);
  }

  // 🔥 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 = [];
          _currentTracePoints = null;
        });

        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');

        // 2. 立即解析并更新状态（在事件回调中，不在 build 中）
        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);
                if (parsedJson is Map<String, dynamic>) {
                  final Map<String, dynamic> nestedJson = parsedJson;
                  final dynamic rawPath = nestedJson['path'];
                  final dynamic rawOuter = nestedJson['outer'];
                  List<dynamic> pathList = rawPath is List ? rawPath : [];
                  List<dynamic> outerList = rawOuter is List ? rawOuter : [];

                  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;
                    _selectedPlot = plot;
                    _isListBoxOpen = false;
                    _isWorkPanelOpen = true;
                  });

                  // 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;
              });
            }
          } else {
            setState(() {
              gcjPathPoints = [];
              gcjOuterPoints = [];
              _selectedPlot = plot;
              _isListBoxOpen = false;
              _isWorkPanelOpen = true;
            });
          }
        } 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(),
            ),
          ],
        ),
      ),
    );
  }

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

  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();
        }

        String workMode = "未知模式";
        if (_selectedPlotPath != null) {
          try {
            final String nestedJsonStr =
                _selectedPlotPath!.jsonData['jsonData'] as String;
            final Map<String, dynamic> nestedJson = jsonDecode(nestedJsonStr);
            workMode = nestedJson['planModel'] == WorkMode.bow.value
                ? "弓字模式"
                : "自定义模式";
          } catch (e) {
            workMode = "未知模式";
          }
        }
        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）
                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,
                            ),
                          ),
                  ),
                ),
              ],
            ),
          ),
        );
      },
    );
  }

  // 🔥 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();
  }

  @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;

    return Scaffold(
      body: SafeArea(
        child: Stack(
          children: [
            // 地图核心组件
            FlutterMap(
              mapController: _mapController,
              options: MapOptions(
                initialCenter:
                    _currentLatLng ?? const LatLng(39.9042, 116.4074),
                initialZoom: 20,
                maxZoom: 22,
                // 禁止地图点击事件（避免和中心标冲突）
                onTap: (_, __) {}, // 空实现，禁用地图点击响应
              ),
              children: [
                /// 高德瓦片（GCJ-02）
                TileLayer(
                  urlTemplate:
                      'https://webrd02.is.autonavi.com/appmaptile'
                      '?style=8&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=1'
                      '&key=bbb1f0f20eed6bf679eddf2625630aba',
                ),
                // 绘制path折线（Line模式）
                if (gcjPathPoints.isNotEmpty)
                  PolylineLayer(
                    polylines: [
                      Polyline(
                        points: gcjPathPoints, // 转换后的GCJ02坐标
                        color: Colors.blueAccent, // 折线颜色（可自定义）
                        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,
                      ),
                    ],
                  ),

                // 绘制outer边框（Polygon模式）
                if (gcjOuterPoints.isNotEmpty)
                  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: 2.0, // 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）
                      ),
                    ],
                  ),

                /// 中心标与历史打点的虚线连线
                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)
                  PolylineLayer(
                    polylines: [
                      Polyline(
                        points: [_mapCenter, _markedPoints.last],
                        color: Colors.blue.withOpacity(0.5),
                        strokeWidth: 1.5,
                      ),
                    ],
                  ),

                /// 当前定位 Marker
                if (_currentLatLng != null)
                  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)
                  PolygonLayer(
                    polygons: [
                      Polygon(
                        points: _getPolygonPoints(),
                        color: Colors.green.withOpacity(0.2),
                        borderColor: Colors.green.withOpacity(0.5),
                        borderStrokeWidth: 1,
                        isFilled: true,
                      ),
                    ],
                  ),

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

            // 底部操作面板
            if (_isPanelOpen)
              Positioned(
                left: 0,
                right: 0,
                bottom: 0,
                child: BottomOperationPanel(
                  initialRobotMode: RobotMode.point,
                  initialAreaMode: AreaMode.work,
                  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',
                    );

                    // 1. 校验必要条件（至少需要3个打点才能形成闭合区域）
                    if (_markedPoints.isEmpty) {
                      ScaffoldMessenger.of(context).showSnackBar(
                        const SnackBar(
                          content: Text('请先添加作业区域打点！'),
                          backgroundColor: Colors.red,
                        ),
                      );
                      return;
                    }
                    if (_markedPoints.length < 3) {
                      ScaffoldMessenger.of(context).showSnackBar(
                        const SnackBar(
                          content: Text('作业区域至少需要3个打点才能生成路径！'),
                          backgroundColor: Colors.red,
                        ),
                      );
                      return;
                    }
                    if (_currentWorkMode == null) {
                      ScaffoldMessenger.of(context).showSnackBar(
                        const SnackBar(
                          content: Text('请先选择作业模式！'),
                          backgroundColor: Colors.red,
                        ),
                      );
                      return;
                    }

                    try {
                      // 2. 转换页面数据为 generatePath 所需的参数格式
                      // 2.1 参考点（取第一个打点，转换为 WGS84）
                      final firstPoint = _markedPoints.first;
                      final wgs84FirstPoint = gcj02ToWgs84(
                        firstPoint.latitude,
                        firstPoint.longitude,
                      );
                      final referencePoint = work_area_model.ReferencePoint(
                        lat: wgs84FirstPoint.latitude,
                        lon: wgs84FirstPoint.longitude,
                      );

                      // 2.2 航向角（转换为整型，-1表示最优航向则取-1）
                      final heading = _angle == -1 ? -1 : _angle.toInt();

                      // 2.3 外边界（转换为 OuterBoundary 格式，所有点转 WGS84）
                      final outerBoundary = work_area_model.OuterBoundary(
                        // 将 LatLng 打点转换为 Position 列表（先转 WGS84）
                        position: _markedPoints.map((latLng) {
                          // 关键：每个点都转换为 WGS84 坐标系
                          final wgs84Point = gcj02ToWgs84(
                            latLng.latitude,
                            latLng.longitude,
                          );
                          return work_area_model.Position(
                            lat: wgs84Point.latitude,
                            lon: wgs84Point.longitude,
                          );
                        }).toList(),
                        sideWidth: _workDistance,
                      );

                      final holes = <work_area_model.HoleBoundary>[];

                      final workType = _currentWorkMode == WorkMode.bow
                          ? 0
                          : 2; // 注意：这里弓字模式是0，自定义是2（确认和后端一致）

                      // 3. 调用 Cubit 的 generatePath 方法生成路径
                      await context.read<DevicesCubit>().generatePath(
                        reference: referencePoint,
                        heading: heading,
                        outer: outerBoundary,
                        holes: holes,
                        workType: workType,
                      );

                      // 4. 获取生成结果并处理
                      final cubitState = context.read<DevicesCubit>().state;
                      if (cubitState.errorMessage != null) {
                        // 生成失败
                        ScaffoldMessenger.of(context).showSnackBar(
                          SnackBar(
                            content: Text('路径生成失败：${cubitState.errorMessage}'),
                            backgroundColor: Colors.red,
                          ),
                        );
                      } else if (cubitState.generatedPath != null) {
                        // 生成成功
                        ScaffoldMessenger.of(context).showSnackBar(
                          const SnackBar(
                            content: Text('路径生成成功！'),
                            backgroundColor: Colors.green,
                          ),
                        );
                        debugPrint('生成的路径数据：${cubitState.generatedPath}');

                        // 可选：将生成的路径转换为地图可显示的坐标（WGS84 → GCJ02）
                        if (cubitState.generatedPath is List) {
                          setState(() {
                            // 关键：生成的路径是 WGS84，需转回 GCJ02 才能在高德地图正确显示
                            gcjPathPoints = (cubitState.generatedPath as List)
                                .map((point) {
                                  // 先取 WGS84 坐标
                                  double wgs84Lat =
                                      safeToDouble(point['lat']) ?? 0.0;
                                  double wgs84Lon =
                                      safeToDouble(point['lon']) ?? 0.0;
                                  // 转换为 GCJ02
                                  final gcjPoint = wgs84ToGcj02(
                                    wgs84Lat,
                                    wgs84Lon,
                                  );
                                  return LatLng(
                                    gcjPoint.latitude,
                                    gcjPoint.longitude,
                                  );
                                })
                                .toList();
                            // 外边界也转回 GCJ02 显示（可选，保持和地图坐标系一致）
                            gcjOuterPoints = _markedPoints;
                          });
                          // 移动地图到生成的路径中心
                          moveMapToPointsCenter(gcjPathPoints);
                        }
                      }
                    } catch (e) {
                      // 异常处理
                      debugPrint('路径生成异常：$e');
                      ScaffoldMessenger.of(context).showSnackBar(
                        SnackBar(
                          content: Text(
                            '路径生成异常：${e.toString().substring(0, 50)}',
                          ),
                          backgroundColor: Colors.red,
                        ),
                      );
                    }

                    // 5. 关闭操作面板
                    setState(() => _isPanelOpen = false);
                  },
                  onUndoTap: _undoLastPoint,
                  onDeleteTap: _deleteAllPoints,
                  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',
                    );
                  },
                  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,
                  onConfirm: (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}');
                    setState(() => _directionBoxOpen = 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 (_isWorkPanelOpen) _buildWorkPanel(),
          ],
        ),
      ),
    );
  }
}

// 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 = 3.14159265358979324;
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);
}

LatLng gcj02ToWgs84(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);
}

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;
}