优化和路径规划新适配

lib/features/remote_control/presentation/bloc/remote_control_cubit.dart

@@ -79,6 +79,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   String? _cacheBattery;
   String? _cacheCtrlMode;
   int? _cachePing;
+  DateTime? _lastStatusPushTime; // 最后一次收到设备状态推送的时间
 
   void _initDeviceStatusListener() {
     _deviceStatusSub?.cancel();
@@ -97,6 +98,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
         _cacheBattery = battery.toString();
         _cacheCtrlMode = controlMode;
         _cachePing = c;
+        _lastStatusPushTime = DateTime.now(); // 记录最后一次推送时间
 
         // 500ms节流，不到时间不刷新UI
         final now = DateTime.now();
@@ -117,6 +119,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
             ),
             battery: int.tryParse(_cacheBattery ?? '') ?? 0,
             ping: _cachePing,
+            hasReceivedStatusPush: true, // 标记已收到设备状态推送
             // 🔥 标记为设备状态更新
             updateType: 'device_status',
           ),
@@ -677,6 +680,22 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   void toggleRightPip() =>
       emit(state.copyWith(showRightPip: !state.showRightPip));
 
+  // 🔥 切换前后视角（双击屏幕触发）
+  void toggleCameraView() {
+    final currentOriginY = state.controlEntity.originY;
+    // 🔥 originY >= 0 表示前视角，< 0 表示后视角
+    // 切换逻辑：如果当前是前视角（>=0），切换到后视角（-1）；反之亦然
+    final newOriginY = currentOriginY >= 0 ? -1 : 1;
+    
+    debugPrint('📷 [RemoteControlCubit] 切换前后视角: $currentOriginY -> $newOriginY');
+    
+    final updatedEntity = state.controlEntity.copyWith(y: newOriginY);
+    emit(state.copyWith(controlEntity: updatedEntity));
+    
+    // 🔥 发送 TCP 指令到设备
+    _repository.sendControlMachineCmd(updatedEntity);
+  }
+
   @override
   Future<void> close() {
     _timer?.cancel();
@@ -926,6 +945,14 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
     emit(state.copyWith(topRightIsExpanded: !state.topRightIsExpanded));
   }
 
+  /// 检查设备状态推送是否活跃（5秒内有推送视为活跃）
+  bool isStatusPushActive() {
+    if (!state.hasReceivedStatusPush) return false;
+    if (_lastStatusPushTime == null) return false;
+    // 超过5秒未收到新推送，视为推送已中断
+    return DateTime.now().difference(_lastStatusPushTime!) < const Duration(seconds: 5);
+  }
+
   Future<int> getNetworkDelay() async {
     try {
       // 直接 Ping 你的服务器IP
@@ -956,6 +983,10 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
     debugPrint('🎯 [RemoteControl] 设备名称: ${device.deviceName}');
     debugPrint('🎯 [RemoteControl] 当前TCP状态: ${tcpClient.isConnected ? "已连接" : "未连接"}');
 
+    // 🔥 关键修复：切换设备时清空所有缓存，防止显示上一个设备的数据
+    _clearAllCache();
+    debugPrint('✅ [RemoteControl] 已清空所有缓存数据');
+
     debugPrint('📦 [RemoteControl] 更新targetDevice状态');
     emit(state.copyWith(targetDevice: device));
     debugPrint('✅ [RemoteControl] targetDevice状态已更新');
@@ -997,6 +1028,11 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   void clearTargetDevice() {
     // debugPrint('🧹 [RemoteControl] 清除待控制设备');
     // _logger.logWithLevel('🧹 [RemoteControl] 清除待控制设备');
+    
+    // 🔥 关键修复：退出页面时清空所有缓存，防止数据滞留
+    _clearAllCache();
+    debugPrint('✅ [RemoteControl] 已清空所有缓存数据');
+    
     emit(state.copyWith(targetDevice: null));
   }
 
@@ -1006,5 +1042,32 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
     return state.targetDevice;
   }
 
+  /// 🔥 清空所有缓存数据（解决数据滞留和跨设备数据显示问题）
+  void _clearAllCache() {
+    _cacheVoltage = null;
+    _cacheBattery = null;
+    _cacheCtrlMode = null;
+    _cachePing = null;
+    _lastUiUpdateTime = null;
+    _lastStatusPushTime = null; // 重置推送时间
+    
+    // 🔥 同时重置 UI 状态为初始值
+    if (!isClosed) {
+      emit(
+        state.copyWith(
+          runningStatusModel: state.runningStatusModel.copyWith(
+            voltage: '--',
+            battery: '--',
+            controlMode: '--',
+          ),
+          battery: 0,
+          ping: null,
+          hasReceivedStatusPush: false, // 重置推送接收标志
+        ),
+      );
+    }
+    
+    debugPrint('🗑️ [RemoteControl] 缓存已清空 - voltage, battery, controlMode, ping');
+  }
 
 }

lib/features/remote_control/presentation/bloc/remote_control_state.dart

@@ -30,6 +30,7 @@ class RemoteControlState extends Equatable {
   final String obstacleFlag; //障碍物标志位
   final RunningStatusModel runningStatusModel;
   final DeviceEntity? targetDevice;
+  final bool hasReceivedStatusPush; // 是否收到过设备状态推送
 
   // 🔥 状态更新类型标记 - 用于区分是设备状态更新还是弹窗状态更新
   final String? updateType;
@@ -53,6 +54,7 @@ class RemoteControlState extends Equatable {
     this.showRightPip = true,
     this.obstacleFlag = '',
     required this.runningStatusModel,
+    this.hasReceivedStatusPush = false,
     this.topRightIsExpanded = false,
     this.obstacleRecognitionFlag = true,
     this.targetDevice,
@@ -79,6 +81,7 @@ class RemoteControlState extends Equatable {
     bool? showRightPip,
     RunningStatusModel? runningStatusModel,
     String? obstacleFlag,
+    bool? hasReceivedStatusPush,
     bool? topRightIsExpanded,
     bool? obstacleRecognitionFlag,
     DeviceEntity? targetDevice,
@@ -104,6 +107,7 @@ class RemoteControlState extends Equatable {
       showRightPip: showRightPip ?? this.showRightPip,
       runningStatusModel: runningStatusModel ?? this.runningStatusModel,
       obstacleFlag: obstacleFlag ?? this.obstacleFlag,
+      hasReceivedStatusPush: hasReceivedStatusPush ?? this.hasReceivedStatusPush,
       topRightIsExpanded: topRightIsExpanded ?? this.topRightIsExpanded,
       obstacleRecognitionFlag:
           obstacleRecognitionFlag ?? this.obstacleRecognitionFlag,
@@ -132,6 +136,7 @@ class RemoteControlState extends Equatable {
     showRightPip,
     runningStatusModel,
     obstacleFlag,
+    hasReceivedStatusPush,
     topRightIsExpanded,
     obstacleRecognitionFlag,
     targetDevice,