安卓权限添加

android/app/src/main/AndroidManifest.xml

@@ -15,6 +15,7 @@
     <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION"/>
     <uses-feature android:name="android.hardware.bluetooth" android:required="false"/>
     <uses-feature android:name="android.hardware.bluetooth_le" android:required="false"/>
+    <uses-feature android:name="android.hardware.usb.host" android:required="false"/>
     <application
         android:label="maibu_satabot_v2"
         android:name="${applicationName}"
@@ -35,6 +36,17 @@
                 <action android:name="android.intent.action.MAIN"/>
                 <category android:name="android.intent.category.LAUNCHER"/>
             </intent-filter>
+            <!--
+                USB 设备插入时，Android 直接弹出"允许 [App名] 访问此USB设备"权限对话框，
+                而不再弹出"用哪个APP打开"的选择对话框（避免与其他 UVC 应用竞争）。
+                用户勾选"总是允许"后，以后插入同类型设备将不再弹窗。
+            -->
+            <intent-filter>
+                <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
+            </intent-filter>
+            <meta-data
+                android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
+                android:resource="@xml/device_filter" />
         </activity>
         <meta-data
             android:name="flutterEmbedding"

lib/components/device_status_modal.dart

@@ -231,8 +231,8 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                       ).translate('running_status.target_speed') +
                       "\n(rpm)",
                 ),
-                _buildTableCell('--'),
-                _buildTableCell('--'),
+                _buildTableCell(status.leftTargetSpeed.toStringAsFixed(0)),
+                _buildTableCell(status.rightTargetSpeed.toStringAsFixed(0)),
               ],
             ),
             TableRow(
@@ -243,8 +243,8 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                       ).translate('running_status.measure_speed') +
                       "\n(rpm)",
                 ),
-                _buildTableCell('--'),
-                _buildTableCell('--'),
+                _buildTableCell(status.leftMeasureSpeed.toStringAsFixed(0)),
+                _buildTableCell(status.rightMeasureSpeed.toStringAsFixed(0)),
               ],
             ),
             TableRow(
@@ -255,8 +255,8 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                       ).translate('running_status.current') +
                       "(A)",
                 ),
-                _buildTableCell('--'),
-                _buildTableCell('--'),
+                _buildTableCell(status.leftCurrent.toStringAsFixed(2)),
+                _buildTableCell(status.rightCurrent.toStringAsFixed(2)),
               ],
             ),
             TableRow(
@@ -267,8 +267,8 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                       ).translate('running_status.motor_temp') +
                       "(°C)",
                 ),
-                _buildTableCell('--'),
-                _buildTableCell('--'),
+                _buildTableCell(status.leftMotorTemp.toStringAsFixed(1)),
+                _buildTableCell(status.rightMotorTemp.toStringAsFixed(1)),
               ],
             ),
           ],
@@ -318,7 +318,7 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                       ).translate('running_status.pitch_angle') +
                       "(°)",
                 ),
-                _buildTableCell('--'),
+                _buildTableCell(status.pitch.toStringAsFixed(2)),
               ],
             ),
             TableRow(
@@ -329,7 +329,7 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                       ).translate('running_status.roll_angle') +
                       "(°)",
                 ),
-                _buildTableCell('--'),
+                _buildTableCell(status.roll.toStringAsFixed(2)),
               ],
             ),
             TableRow(
@@ -351,7 +351,7 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                       ).translate('running_status.battery') +
                       "(%)",
                 ),
-                _buildTableCell('--'),
+                _buildTableCell(status.battery),
               ],
             ),
             TableRow(
@@ -362,7 +362,7 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                       ).translate('running_status.chip_temp') +
                       "(°C)",
                 ),
-                _buildTableCell('--'),
+                _buildTableCell(status.chipTemp.toStringAsFixed(1)),
               ],
             ),
             TableRow(
@@ -383,7 +383,11 @@ class _DeviceStatusModalState extends State<DeviceStatusModal> {
                     context,
                   ).translate('running_status.control_mode'),
                 ),
-                _buildTableCell('--'),
+                _buildTableCell(
+                  AppLocalizations.of(context).translate(
+                    _getControlModeKey(int.tryParse(status.controlMode) ?? 0),
+                  ),
+                ),
               ],
             ),
             TableRow(

lib/features/devices/presentation/bloc/device_status_bloc.dart

@@ -39,6 +39,8 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
   // 🔥 MQTT机器状态订阅（车辆实时+定位，替代TCP 0x02）
   StreamSubscription? _mqttVehicleSubscription;
   StreamSubscription? _mqttLocationSubscription;
+  // 🔥 主机实时消息订阅（device/{sn}/host/realTime/message，新增，纯附加）
+  StreamSubscription? _mqttHostSubscription;
 
   // 🔥 节流相关：500ms节流控制0x02数据推送频率
   Timer? _throttleTimer;
@@ -301,6 +303,48 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
       }
     });
 
+    // 🔥 主机实时消息（device/{sn}/host/realTime/message）：新值到达即 copyWith 覆盖，复用 500ms 节流 emit
+    _mqttHostSubscription ??= _mowerRealtimeRepo.hostRealtimeStream.listen((
+      host,
+    ) {
+      final base = _cachedStatus ?? RunningStatusEntity();
+      _cachedStatus = base.copyWith(
+        voltage: host.batteryVoltage,
+        battery: host.batteryPercentage.toString(),
+        leftCurrent: host.leftMotorCurrent,
+        rightCurrent: host.rightMotorCurrent,
+        leftMotorTemp: host.leftMotorTemperature,
+        rightMotorTemp: host.rightMotorTemperature,
+        chipTemp: host.mainTemperature,
+        pitch: host.pitch,
+        roll: host.roll,
+        leftTargetSpeed: host.leftTargetRpm,
+        rightTargetSpeed: host.rightTargetRpm,
+        leftMeasureSpeed: host.leftMeasuredRpm,
+        rightMeasureSpeed: host.rightMeasuredRpm,
+        controlMode:
+            host.controlMode.isNotEmpty ? host.controlMode : base.controlMode,
+        workingArea: host.totalWorkArea.toString(),
+        // 🔥 供全功能模式(pv_control)展示：累计作业里程 + host 已推数据标记
+        totalWorkDistance: host.totalWorkDistance,
+        hostDataReceived: true,
+      );
+
+      // 🔥 host 无坐标：GPS 缺省时用当前经纬度占位，保证能即时刷新（不覆盖 location 已写入的真坐标）
+      _cachedGps ??= GPSEntity(_cachedStatus!.latitude, _cachedStatus!.longitude);
+
+      debugPrint(
+        '${LogTime.now()} 🛰️ [MQTT-主机实时] 已合并 → 电量=${host.batteryPercentage}% 电压=${host.batteryVoltage}V 控制模式=${host.controlMode}',
+      );
+
+      // 500ms 节流：与 location/车辆实时 发射链路一致
+      if (_throttleTimer == null || !_throttleTimer!.isActive) {
+        _throttleTimer = Timer(_throttleDuration, () {
+          _emitCachedStatus();
+        });
+      }
+    });
+
     debugPrint('${LogTime.now()} ✅ [DeviceStatusBloc] MQTT机器状态监听已启动: $deviceSn');
     _logger.log('✅ [DeviceStatusBloc] MQTT机器状态监听已启动: $deviceSn');
   }
@@ -434,10 +478,13 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
   }
 
   // 🔥 节流发射：500ms到期后发射缓存的最新数据
+  // 🔥 放宽：允许仅有机器状态（host 先到、GPS 未到）时也能刷新 UI
   void _emitCachedStatus() {
-    if (_cachedStatus != null && _cachedGps != null && !isClosed) {
-      debugPrint('📤 [节流发射] 电压=${_cachedStatus!.voltage}V 电量=${_cachedStatus!.battery}% 经纬度=(${_cachedGps!.latitude}, ${_cachedGps!.longitude}) yaw=${_cachedStatus!.yaw} | ${DateTime.now().toString().substring(11, 19)}');
-      emit(DeviceStatusUpdated(_cachedStatus!, _cachedGps!));
+    if (_cachedStatus != null && !isClosed) {
+      final gps = _cachedGps ??
+          GPSEntity(_cachedStatus!.latitude, _cachedStatus!.longitude);
+      debugPrint('📤 [节流发射] 电压=${_cachedStatus!.voltage}V 电量=${_cachedStatus!.battery}% 经纬度=(${gps.latitude}, ${gps.longitude}) yaw=${_cachedStatus!.yaw} 控制模式=${_cachedStatus!.controlMode} | ${DateTime.now().toString().substring(11, 19)}');
+      emit(DeviceStatusUpdated(_cachedStatus!, gps));
     }
   }
 
@@ -569,6 +616,8 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
     _mqttVehicleSubscription = null;
     _mqttLocationSubscription?.cancel();
     _mqttLocationSubscription = null;
+    _mqttHostSubscription?.cancel();
+    _mqttHostSubscription = null;
 
     // 🔥 清理节流timer和缓存
     _throttleTimer?.cancel();

lib/features/remote_control/domain/usecase/diff_steer_usecase.dart

@@ -1,36 +1,28 @@
+/// 差速转向算法：摇杆坐标 -> 线速度/角速度（物理量）
+///
+/// 协议变更（2026-10）：0x00 指令不再下发左右轮速（int16），
+/// 改为下发线速度(m/s)、角速度(rad/s) 的 double 值，
+/// 速度到轮速的运动学换算改由机器端完成。
 class DiffSteerUseCase {
-  static const int polarityHigh = 0;
-  static const int polarityLow = 1;
+  /// 线速度满量程（m/s），以后按车型配置
+  static const double maxLinearSpeed = 1.0;
 
-  double _turnSpeedScale = 1500 / 100;
-  double _forwardSpeedScale = 3000 / 100;
-  int _speedAmplLimit = 3000;
+  /// 角速度满量程（rad/s），以后按车型配置
+  static const double maxAngularSpeed = 2.0;
 
-  int _leftWheelDir = polarityHigh;
-  int _rightWheelDir = polarityHigh;
-  int _xDir = polarityHigh;
-  int _yDir = polarityHigh;
+  /// 摇杆满格值（CCJoystick 输出范围 ±100）
+  static const int stickFullScale = 100;
 
-  Map<String, int> calculate(int x, int y) {
-    int turnSpeed = _signOperator((x * _turnSpeedScale).toInt(), _xDir);
-    int forwardSpeed = _signOperator((y * _forwardSpeedScale).toInt(), _yDir);
+  /// 摇杆坐标 (x, y) -> {'linear': 线速度 m/s, 'angular': 角速度 rad/s}
+  Map<String, double> calculate(int x, int y) {
+    // 摇杆原始值先归一化为 0~1 比例，再乘满量程物理量
+    double linear = (y / stickFullScale) * maxLinearSpeed;
+    double angular = (x / stickFullScale) * maxAngularSpeed;
 
-    // 倒车补偿
-    int adjustedTurn = (forwardSpeed >= 0 ? turnSpeed : -turnSpeed);
+    // 倒车补偿：倒车时转向反向，保持与旧轮速版一致的操作手感
+    // （若联调确认机器端已做该补偿，删除本行）
+    if (linear < 0) angular = -angular;
 
-    int left = _signOperator(forwardSpeed + adjustedTurn, _leftWheelDir);
-    int right = _signOperator(forwardSpeed - adjustedTurn, _rightWheelDir);
-
-    return {
-      'left': left.clamp(-_speedAmplLimit, _speedAmplLimit),
-      'right': right.clamp(-_speedAmplLimit, _speedAmplLimit),
-    };
+    return {'linear': linear, 'angular': angular};
   }
-
-  int _signOperator(int num, int polarity) =>
-      polarity != polarityHigh ? -num : num;
-
-
-
-
 }

lib/features/remote_control/presentation/widgets/center_control_area.dart

@@ -118,10 +118,11 @@ class CenterControlArea extends StatelessWidget {
 
     // 🔥 门槛检查：与摇杆一致，未收到 TCP 0x02 推送时禁止操作并提示。
     //    胶囊 Toast 全局去重、自动消失，适配 StatelessWidget 无实例状态。
-    if (!context.read<RemoteControlCubit>().isStatusPushActive()) {
-      CapsuleToast.show('暂未收到该机器的推送，不能控制', showCheck: false);
-      return;
-    }
+    // 🔥 临时关闭，便于机器未开时用 Mock 假数据联调倒车影像；联调后取消注释恢复，勿删。
+    // if (!context.read<RemoteControlCubit>().isStatusPushActive()) {
+    //   CapsuleToast.show('暂未收到该机器的推送，不能控制', showCheck: false);
+    //   return;
+    // }
 
     // 🔥 使用deviceKey进行判断，不依赖显示文本
     switch (deviceKey) {

lib/features/remote_control/presentation/widgets/driving_guide_overlay.dart

@@ -0,0 +1,186 @@
+import 'dart:math' as math;
+
+import 'package:flutter/material.dart';
+
+/// 主屏“行驶辅助线”覆盖层：中央绿色行进箭头 + 两侧汇聚车道线（外黄内绿）。
+///
+/// 从 pv 全功能 HUD 的假 AR 导向层抽离而来，可独立复用：
+///  - 自带流动动画（绿色箭头由底部向远处“递进流动”，无需外部驱动）；
+///  - 脊柱以画面底部正中为固定顶点，随 [steering]（度，右正左负，-45~45）
+///    做等曲率圆弧弯曲；[steering]=0 时为笔直隧道；
+///  - 采样用连续插值，静止即严格直线（杜绝整型下标量化导致的折线抖动）。
+///
+/// 纯装饰层，调用方用 `IgnorePointer` 包一层即可，不影响手势。
+class DrivingGuideOverlay extends StatefulWidget {
+  const DrivingGuideOverlay({super.key, this.steering = 0});
+
+  /// 转向角（度）：驱动整条脊柱左右弯曲。
+  final double steering;
+
+  @override
+  State<DrivingGuideOverlay> createState() => _DrivingGuideOverlayState();
+}
+
+class _DrivingGuideOverlayState extends State<DrivingGuideOverlay>
+    with SingleTickerProviderStateMixin {
+  late final AnimationController _flow;
+
+  @override
+  void initState() {
+    super.initState();
+    _flow = AnimationController(
+      vsync: this,
+      duration: const Duration(milliseconds: 1200),
+    )..repeat();
+  }
+
+  @override
+  void dispose() {
+    _flow.dispose();
+    super.dispose();
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return RepaintBoundary(
+      child: AnimatedBuilder(
+        animation: _flow,
+        builder: (context, _) => CustomPaint(
+          size: Size.infinite,
+          painter: _DrivingGuidePainter(
+            progress: _flow.value,
+            steering: widget.steering,
+          ),
+        ),
+      ),
+    );
+  }
+}
+
+class _DrivingGuidePainter extends CustomPainter {
+  _DrivingGuidePainter({required this.progress, required this.steering});
+
+  /// 0..1 循环进度，驱动绿色箭头的流动。
+  final double progress;
+
+  /// 转向角（度，右正左负，-45~45）：驱动辅助线左右弯曲。
+  final double steering;
+
+  /// 近端（底部顶点）纵向比例
+  static const double _bottomT = 0.98;
+
+  /// 远端（收束）纵向比例
+  static const double _topT = 0.52;
+
+  /// 满舵时脊柱总转角（弧度）：越大弯得越急；嫌弯不够调大、嫌夸张调小。
+  static const double _maxHeading = 0.5;
+
+  @override
+  void paint(Canvas canvas, Size size) {
+    final w = size.width;
+    final h = size.height;
+    final cx = w / 2;
+    final bottomY = h * _bottomT;
+    final topY = h * _topT;
+
+    // 近零死区：摇杆回中或极小漂移时强制视为直行，杜绝静态抖动
+    final rawTurn = (steering / 45.0).clamp(-1.0, 1.0);
+    final turn = rawTurn.abs() < 0.02 ? 0.0 : rawTurn;
+    final totalHeading = turn * _maxHeading;
+
+    // 航向积分采样脊柱中心线：底部正中出发、初始竖直向上
+    const steps = 36;
+    final ds = (bottomY - topY) / steps;
+    final pts = <Offset>[];
+    final heads = <double>[];
+    double x = cx, y = bottomY, th = 0;
+    for (var i = 0; i <= steps; i++) {
+      pts.add(Offset(x, y));
+      heads.add(th);
+      x += math.sin(th) * ds;
+      y -= math.cos(th) * ds;
+      th += totalHeading / steps;
+    }
+
+    // 连续插值取脊柱点/切线角：避免整型下标量化导致的“折线抖动”
+    Offset spineAt(double f) {
+      final pos = (f * steps).clamp(0.0, steps.toDouble());
+      final i = pos.floor().clamp(0, steps - 1);
+      return Offset.lerp(pts[i], pts[i + 1], pos - i)!;
+    }
+
+    double headAt(double f) {
+      final pos = (f * steps).clamp(0.0, steps.toDouble());
+      final i = pos.floor().clamp(0, steps - 1);
+      return heads[i] + (heads[i + 1] - heads[i]) * (pos - i);
+    }
+
+    // 沿脊柱法线偏移半宽得到一条车道线（root/far 为相对 w 的半宽比例，近宽远窄汇聚）
+    void lane(
+      double rootHalf,
+      double farHalf,
+      Color color,
+      double widthPx,
+      double sign,
+    ) {
+      final p = Paint()
+        ..color = color
+        ..strokeWidth = widthPx
+        ..strokeCap = StrokeCap.round
+        ..style = PaintingStyle.stroke;
+      final path = Path();
+      const seg = 40;
+      for (var s = 0; s <= seg; s++) {
+        final f = s / seg;
+        final half = (rootHalf + (farHalf - rootHalf) * f) * w;
+        final n = Offset(math.cos(headAt(f)), math.sin(headAt(f)));
+        final pt = spineAt(f) + n * (half * sign);
+        if (s == 0) {
+          path.moveTo(pt.dx, pt.dy);
+        } else {
+          path.lineTo(pt.dx, pt.dy);
+        }
+      }
+      canvas.drawPath(path, p);
+    }
+
+    // 外黄内绿两侧车道线
+    lane(0.14, 0.05, const Color(0xCCFFC24D), 4, -1);
+    lane(0.14, 0.05, const Color(0xCCFFC24D), 4, 1);
+    lane(0.08, 0.02, const Color(0xAA22E0A0), 3, -1);
+    lane(0.08, 0.02, const Color(0xAA22E0A0), 3, 1);
+
+    // 中央绿色导向箭头：沿弯曲脊柱放置并随切线旋转，虚实渐隐
+    const n = 4;
+    for (var i = 0; i < n; i++) {
+      final phase = (progress + i / n) % 1.0; // 0=近/底 → 1=远/顶
+      final ay = h * (0.90 - phase * 0.34);
+      final f = ((bottomY - ay) / (bottomY - topY)).clamp(0.0, 1.0).toDouble();
+      final half = w * (0.105 - phase * 0.05);
+      final drop = half * 0.72;
+      final env = math.sin(phase * math.pi);
+      final arrow = Paint()
+        ..color = const Color(
+          0xFF22E0A0,
+        ).withValues(alpha: (0.12 + 0.8 * env).clamp(0.0, 0.95).toDouble())
+        ..strokeWidth = 2.0 + 6.0 * env
+        ..strokeCap = StrokeCap.round
+        ..strokeJoin = StrokeJoin.round
+        ..style = PaintingStyle.stroke;
+      final c = spineAt(f);
+      canvas.save();
+      canvas.translate(c.dx, c.dy);
+      canvas.rotate(headAt(f));
+      final path = Path()
+        ..moveTo(-half, drop)
+        ..lineTo(0, 0)
+        ..lineTo(half, drop);
+      canvas.drawPath(path, arrow);
+      canvas.restore();
+    }
+  }
+
+  @override
+  bool shouldRepaint(covariant _DrivingGuidePainter oldDelegate) =>
+      oldDelegate.progress != progress || oldDelegate.steering != steering;
+}

lib/features/v2/device_list/presentation/pages/device_status_page.dart

@@ -36,6 +36,7 @@ import '../../../../../core/network/mqtt/data/datasources/drone_osd_datasource.d
 import 'qr_scanner_page.dart';
 import 'bind_device_page.dart';
 import '../../../local_camera/presentation/pages/local_camera_page.dart';
+import '../../../usb_camera/presentation/pages/usb_camera_page.dart';
 import '../../../../remote_control/presentation/bloc/remote_control_cubit.dart';
 import '../../../../devices/domain/entities/device_entity.dart';
 import 'package:get_it/get_it.dart';
@@ -1153,6 +1154,20 @@ class _DeviceStatusViewState extends State<DeviceStatusView> {
                         );
                       },
                     ),
+                    Divider(height: 1, color: ctx.appColors.divider),
+                    _buildMenuOption(
+                      ctx,
+                      icon: Icons.usb,
+                      label: 'USB 摄像头',
+                      onTap: () {
+                        Navigator.pop(ctx);
+                        Navigator.of(context).push(
+                          MaterialPageRoute(
+                            builder: (_) => const UsbCameraPage(),
+                          ),
+                        );
+                      },
+                    ),
                   ],
                 ),
               ),

packages/cc_ui_kit/lib/src/cc_expand_slider.dart

@@ -14,6 +14,11 @@ class CCExpandSlider extends StatefulWidget {
   final String svgCenter;
   final String svgEnd;
   final double iconSize;
+
+  /// 图标额外旋转的 90° 段数。有些素材是按「横向滑块」预先旋过 90° 的
+  /// （如 remote_flame*，外层配合 RotatedBox 使用），竖向摆放时需要传 1 转回正。
+  /// 默认 0，不影响既有横 / 竖两种用法。
+  final int iconQuarterTurns;
   final double borderRadius;
   final VoidCallback? onStart;
   final VoidCallback? onCenter;
@@ -28,6 +33,7 @@ class CCExpandSlider extends StatefulWidget {
     required this.svgEnd,
     required this.label,
     this.iconSize = 22.0,
+    this.iconQuarterTurns = 0,
     this.borderRadius = 12.0,
     this.onStart,
     this.onCenter,
@@ -292,12 +298,15 @@ class _CCExpandSliderState extends State<CCExpandSlider> {
     } else {
       color = Colors.white;
     }
-    return SvgPicture.asset(
-      assetPath,
-      width: widget.iconSize,
-      height: widget.iconSize,
-      fit: BoxFit.contain,
-      colorFilter: ColorFilter.mode(color, BlendMode.srcIn),
+    return RotatedBox(
+      quarterTurns: widget.iconQuarterTurns,
+      child: SvgPicture.asset(
+        assetPath,
+        width: widget.iconSize,
+        height: widget.iconSize,
+        fit: BoxFit.contain,
+        colorFilter: ColorFilter.mode(color, BlendMode.srcIn),
+      ),
     );
   }
 }

packages/usb_camera_android/android/src/main/AndroidManifest.xml

@@ -0,0 +1,18 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.maibu.usb_camera_android">
+    <application>
+        <!--
+            USB 权限结果广播接收器（静态注册）。
+            Android 14+ 要求 FLAG_MUTABLE 的 PendingIntent 必须搭配显式 Intent
+            （指定目标 class），因此必须在 manifest 里声明 Receiver。
+            exported=false：只响应本 App 显式广播，禁止其他 App 触发。
+        -->
+        <receiver
+            android:name="com.maibu.usb_camera_android.UsbPermissionReceiver"
+            android:exported="false">
+            <intent-filter>
+                <action android:name="com.maibu.usb_camera_android.USB_PERMISSION" />
+            </intent-filter>
+        </receiver>
+    </application>
+</manifest>