From 179f11992b641a84c9e51b2ca6c77451904a458e Mon Sep 17 00:00:00 2001
From: Songzex <2402265378@qq.com>
Date: Wed, 18 Mar 2026 13:03:14 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90=E8=BF=9C=E7=A8=8B=E6=8E=A7?=
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---
 .../remote_control_repository_impl.dart         |  5 +++--
 .../presentation/bloc/remote_control_cubit.dart | 17 +++++++++++++++--
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart b/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
index 666ac143..7c8f9acf 100644
--- a/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
+++ b/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
@@ -36,7 +36,7 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
 
     debugPrint('🎮 [摇杆数据] originX: ${status.originX}, originY: ${status.originY}');
     debugPrint('⚙️ [电机速度] left: ${speeds['left']}, right: ${speeds['right']}');
-
+    debugPrint('🚨 [急停状态] emergency: ${status.isEmergency ? 1 : 0}');
 
     // 2. 调用 Codec：仅生成协议要求的 8 字节 Payload 负载数据
     final payload = MachineProtocolCodec.encodeRemoteControlPayload(
@@ -48,13 +48,14 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
       emergency: status.isEmergency ? 1 : 0,
     );
     debugPrint('📦 [发送数据] payload: ${payload}');
-
+    debugPrint('📦 [发送数据] emergency 字节值：${payload[7]}');
     // 3. 调用 TcpClient：发送指令。
     // TcpClient.sendRaw 会自动帮你加上 [0xAB, 0xAA] 头和 [0xAA, 0xAB] 尾
     _tcpClient.sendRaw(
       MachineProtocolConstants.cmdRemoteControl, // 这里通常是 0x00
       payload,
     );
+    debugPrint('✅ [TCP] 指令已发送');
   }
 
   @override
diff --git a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
index cd30fc79..a519114c 100644
--- a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
@@ -2,6 +2,7 @@ import 'dart:async';
 import 'dart:convert';
 import 'dart:ffi';
 
+import 'package:flutter/cupertino.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
 import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
@@ -134,13 +135,19 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
 
   // 4. 更新功能开关 (比如割刀速度、灯光、点火等)
   void updateFunction({int? mower, int? lift, int? ignition, bool? emergency}) {
+    debugPrint('🔧 [updateFunction] 调用 - mower: $mower, lift: $lift, ignition: $ignition, emergency: $emergency');
     final updatedEntity = state.controlEntity.copyWith(
       mower: mower,
       lift: lift,
       ignition: ignition,
       emergency: emergency,
     );
-    emit(state.copyWith(controlEntity: updatedEntity));
+    //emit(state.copyWith(controlEntity: updatedEntity));
+    emit(state.copyWith(
+      controlEntity: updatedEntity,
+      isEmergency: emergency ?? state.isEmergency,
+    ));
+    debugPrint('✅ [updateFunction] 状态已更新并 emit');
   }
 
   void updateOriginY(int y) {
@@ -186,7 +193,10 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
 
   void updateChassisLift(int i) {}
 
-  void updateEmergency(bool bool) {}
+  void updateEmergency(bool bool) {
+    debugPrint('🚨 [急停] ${bool ? "触发急停!" : "解除急停"}');
+    updateFunction(emergency: bool);
+  }
 
   void respondPermission(bool bool, String deviceId) {
     emit(state.copyWith(showPermissionRequestDialog: false));
@@ -243,16 +253,19 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   }
 /// 发送底盘指令
   void sendChassisCommand(int i) {
+    debugPrint(' [底盘指令] ${i}');
     updateFunction(lift: i);
   }
 /// 发送割刀指令
   void sendMowerCommand(int i) {
+  debugPrint(' [割刀指令] ${i}');
     updateFunction(mower: i);
   }
 /// 发送点火指令
   void sendFireCommand(int i) {
     //void updateFunction({int? mower, int? lift, int? ignition, bool? emergency})
    // updateFunction(mower:0, lift: 0, ignition: i, emergency: false);
+    debugPrint(' [点火指令] ${i}');
     updateFunction(ignition: i);
   }