优化和路径规划新适配

lib/core/consts/http_api_consts.dart

@@ -58,4 +58,7 @@ class HttpApiConsts {
 
   // 获取无人机详情
   static const String getUAVDetail = "$baseUrl/iot/UAV/getUAVDetail";
+
+  // 飞行任务命令控制（暂停、返航等）
+  static const String flightTaskCommand = "$baseUrl/iot/UAV/flightTaskCommand";
 }

lib/core/consts/tcp_consts.dart

@@ -1,4 +1,6 @@
+import '../env/env_config.dart';
+
 class TCPConsts {
-  static const String TCP_IP = "1.95.137.212";
-  static const int TCP_PORT = 59016;
+  static String get TCP_IP => EnvConfig.tcpIp;
+  static int get TCP_PORT => EnvConfig.tcpPort;
 }

lib/core/di/injection.dart

@@ -1,4 +1,5 @@
 import 'package:dio/dio.dart';
+import 'package:flutter/widgets.dart';
 import 'package:get_it/get_it.dart';
 import 'package:go_router/go_router.dart';
 import 'package:maibu_satabot_v2/core/infrastructure/logging/sentry_logger_impl.dart';
@@ -90,6 +91,8 @@ import '../../features/v2/device_list/domain/usecases/get_drone_station_list_use
 import '../../features/v2/device_list/domain/usecases/get_video_stream_usecase.dart';
 import '../../features/v2/device_list/domain/usecases/get_uav_video_stream_usecase.dart';
 import '../../features/v2/device_list/domain/usecases/update_flight_task_status_usecase.dart';
+import '../../features/v2/device_list/domain/usecases/pause_flight_task_usecase.dart';
+import '../../features/v2/device_list/domain/usecases/return_home_usecase.dart';
 import '../../features/v2/device_list/presentation/bloc/drone_station_bloc.dart';
 import '../../features/v2/device_list/presentation/bloc/robot_list_bloc.dart';
 import '../../features/v2/device_list/presentation/bloc/device_realtime_bloc.dart';
@@ -192,7 +195,10 @@ Future<void> init() async {
   /// 1.3 Log工具Sentry
   sl.registerLazySingleton<ILoggerService>(() => SentryLoggerImpl());
 
-  /// 1.4 --- MQTT Data Sources ---
+  /// 1.4 --- Route Observer (路由监听器) ---
+  sl.registerLazySingleton<RouteObserver>(() => RouteObserver<ModalRoute<void>>());
+
+  /// 1.5 --- MQTT Data Sources ---
   sl.registerFactory<DroneOsdDataSource>(
     () =>
         DroneOsdDataSourceImpl(sl<MqttClient>(instanceName: 'droneOsdClient')),
@@ -358,6 +364,12 @@ Future<void> init() async {
   sl.registerLazySingleton<UpdateFlightTaskStatusUseCase>(
     () => UpdateFlightTaskStatusUseCase(sl()),
   );
+  sl.registerLazySingleton<PauseFlightTaskUseCase>(
+    () => PauseFlightTaskUseCase(sl()),
+  );
+  sl.registerLazySingleton<ReturnHomeUseCase>(
+    () => ReturnHomeUseCase(sl()),
+  );
   sl.registerFactory<DroneStationBloc>(
     () => DroneStationBloc(sl(), sl(), sl(), sl()),
   );

lib/core/env/env_config.dart

@@ -1,7 +1,7 @@
 class EnvConfig {
   static const String environment = String.fromEnvironment(
     'ENV',
-    defaultValue: 'dev',
+    defaultValue: 'prod',
   );
 
   static String get sentryDsn {
@@ -13,4 +13,15 @@ class EnvConfig {
   }
 
   static bool get isProduction => environment == 'prod';
+
+  /// TCP 服务器配置
+  static String get tcpIp => '1.95.137.212';
+  
+  static int get tcpPort {
+    // 测试服: 59016, 生产服: 9001
+    if (environment == 'prod') {
+      return 9001;
+    }
+    return 9001; // TCP 端口
+  }
 }

lib/core/network/tcp/tcp_client.dart

@@ -833,21 +833,24 @@ class TcpClient {
       return;
     }
     
-    isUserSwitch = true;
-    _isSwitching = true; // 🔥 关键修复：防止旧 socket 的 onDone/onError 触发重连
-    _connecting = true; // 🔥 防止 connect() 并发创建新连接
-    debugPrint('🔌 [TCP-connectBySwitch] 设置 _connecting=true');
-    
-    // 🔥 关键修复：如果 TCP 已连接，先断开旧连接再创建新连接
-    // 原因：旧连接可能是 _handleResume() 创建的“空连接”（没有关联设备），
-    // 服务端残留的 session 与当前连接不匹配，导致推送 have_logged_in
+    // 🔥 核心优化：如果 TCP 已连接，复用现有连接，只调 HTTP switchDevice
+    // 不再销毁重建，避免推送空窗期导致延迟
     if (_socket != null) {
-      debugPrint('🔌 [TCP-connectBySwitch] 检测到已有连接，先断开再创建新连接（确保服务端 session 干净）');
-      stopHeartbeat();
-      _socket!.destroy();
-      _socket = null;
-      _isSwitching = false; // 防止 onDone 触发重连
+      debugPrint('✅ [TCP-connectBySwitch] 已有连接，复用现有连接，只调 HTTP switchDevice: $deviceName');
+      _logger.logWithLevel('✅ [TCP-connectBySwitch] 复用连接，HTTP切换设备: $deviceName', shouldLog: true);
+      try {
+        await switchDeviceUseCase.deviceRepository.switchDevice("app", deviceName);
+        debugPrint('✅ [TCP-connectBySwitch] HTTP切换成功: $deviceName');
+      } catch (e) {
+        debugPrint('❌ [TCP-connectBySwitch] HTTP切换失败: $e');
+        _logger.logWithLevel('❌ [TCP-connectBySwitch] HTTP切换失败: $e', shouldLog: true);
+      }
+      return;
     }
+        
+    isUserSwitch = true;
+    _connecting = true; // 🔥 防止 connect() 并发创建新连接
+    debugPrint('🔌 [TCP-connectBySwitch] 无现有连接，开始新建');
     
     // debugPrint('🔌被动 [TCP] 开始连接：$host:$port'); // ✅ 必须看到这条
     _logger.logWithLevel('🔌被动 [TCP] 开始连接：$host:$port');
@@ -995,6 +998,7 @@ class TcpClient {
 
     _lastAuthPacketSentAt = DateTime.now(); // 🔥 记录发送 0x03 的时间
     _socket!.add(builder.takeBytes());
+    await _socket!.flush(); // 🔥 关键修复：强制flush，确保认证包立即到达服务端
     //debugPrint('🔑 被动[TCP] 已发送认证包 (0x03): $authString');
     _logger.logWithLevel('🔑 被动[TCP] 已发送认证包 (0x03): $authString');