优化和路径规划新适配

2026-07-11 16:46:53 +08:00
parent 2124f3bc02
commit 1a4d0aedfd
43 changed files with 2454 additions and 685 deletions
--- a/lib/core/consts/http_api_consts.dart
+++ b/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";
 }
--- a/lib/core/consts/tcp_consts.dart
+++ b/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;
 }
--- a/lib/core/di/injection.dart
+++ b/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()),
  );
--- a/lib/core/env/env_config.dart
+++ b/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
+  }
 }
--- a/lib/core/network/tcp/tcp_client.dart
+++ b/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');

--- a/lib/features/devices/data/datasources/device_task_datasource.dart
+++ b/lib/features/devices/data/datasources/device_task_datasource.dart
@@ -1,6 +1,7 @@
 import 'dart:convert';
 import 'package:dio/dio.dart';
 import 'package:get_it/get_it.dart';
+import '../../../../core/consts/http_api_consts.dart';
 import '../../../../core/logging/i_logger_service.dart';
 import '../models/device_task_model.dart';

@@ -50,7 +51,7 @@ class DeviceTaskDatasourceImpl implements DeviceTaskDatasource {
    int pageSize = 99999999,
  }) async {
    try {
-      final url = 'http://1.95.137.212:59015/iot/deviceTask/deviceTaskPool';
+      final url = '${HttpApiConsts.baseUrl}/iot/deviceTask/deviceTaskPool';
      final response = await dio.get(
        url,
        queryParameters: {
@@ -89,7 +90,7 @@ class DeviceTaskDatasourceImpl implements DeviceTaskDatasource {
    required int siteId,
  }) async {
    try {
-      final url = 'http://1.95.137.212:59015/iot/deviceTask/cancelTask';
+      final url = '${HttpApiConsts.baseUrl}/iot/deviceTask/cancelTask';
      final response = await dio.post(
        url,
        data: {
@@ -124,7 +125,7 @@ class DeviceTaskDatasourceImpl implements DeviceTaskDatasource {
    required int siteId,
  }) async {
    try {
-      final url = 'http://1.95.137.212:59015/iot/deviceTask/pauseTask';
+      final url = '${HttpApiConsts.baseUrl}/iot/deviceTask/pauseTask';
      final response = await dio.post(
        url,
        data: {
@@ -159,7 +160,7 @@ class DeviceTaskDatasourceImpl implements DeviceTaskDatasource {
    required int siteId,
  }) async {
    try {
-      final url = 'http://1.95.137.212:59015/iot/deviceTask/recoveryTask';
+      final url = '${HttpApiConsts.baseUrl}/iot/deviceTask/recoveryTask';
      final response = await dio.post(
        url,
        data: {
--- a/lib/features/devices/data/datasources/impl/device_http_datasource_impl.dart
+++ b/lib/features/devices/data/datasources/impl/device_http_datasource_impl.dart
@@ -34,7 +34,7 @@ class DeviceHttpDatasourceImpl implements DeviceHttpDatasource {
    logger.logWithLevel(
      '用户点击bindDevice方法API 请求开始',
      level: 'INFO',
-      data: {'url': 'https://serviceri.satabot.com/iot/device/bindDevice'},
+      data: {'url': 'http://1.95.137.212:8081/iot/device/bindDevice'},
    );
    var response = await dio.post(
      HttpApiConsts.bindDevice,
@@ -44,7 +44,7 @@ class DeviceHttpDatasourceImpl implements DeviceHttpDatasource {
      '请求详细参数',
      level: 'DEBUG',
      data: {
-        'url': 'https://serviceri.satabot.com/iot/device/bindDevice',
+        'url': 'http://1.95.137.212:8081/iot/device/bindDevice',
        'deviceId': deviceId,
        'deviceAlias': deviceAlias,
      },
@@ -122,7 +122,7 @@ class DeviceHttpDatasourceImpl implements DeviceHttpDatasource {
    logger.logWithLevel(
      '用户点击switchDevice方法API 请求开始',
      level: 'INFO',
-      data: {'url': 'https://serviceri.satabot.com/iot/device/switchDevice'},
+      data: {'url': 'http://1.95.137.212:8081/iot/device/switchDevice'},
    );
    var response = await dio.post(
      HttpApiConsts.switchDevice,
@@ -138,7 +138,7 @@ class DeviceHttpDatasourceImpl implements DeviceHttpDatasource {
      '请求详细参数',
      level: 'DEBUG',
      data: {
-        'url': 'https://serviceri.satabot.com/iot/device/switchDevice',
+        'url': 'http://1.95.137.212:8081/iot/device/switchDevice',
        'platform': platform,
        'deviceId': deviceId,
      },
@@ -219,12 +219,12 @@ class DeviceHttpDatasourceImpl implements DeviceHttpDatasource {
        '请求详细参数',
        level: 'DEBUG',
        data: {
-          'url': 'https://serviceri.satabot.com/iot/device/userDevice',
+          'url': 'http://1.95.137.212:8081/iot/device/userDevice',
          'tenantName': deviceame,
        },
      );
      final response = await dio.get(
-        'https://serviceri.satabot.com/iot/device/userDevice',
+        'http://1.95.137.212:8081/iot/device/userDevice',
        queryParameters: {'tenantName': deviceame},
        // options: Options(
        //   headers: {
--- a/lib/features/devices/data/datasources/impl/path_http_datasource_impl.dart
+++ b/lib/features/devices/data/datasources/impl/path_http_datasource_impl.dart
@@ -21,66 +21,83 @@ class PathHttpDatasourceImpl implements PathHttpDatasource {
  @override
  Future<List<DeviceAddPathPointModel>> generatePathRaw({required Map<String, dynamic> body}) async {
    try {
-      _logger.logWithLevel( '请求体类型：${body.runtimeType}',level: 'INFO');
+      _logger.logWithLevel( '璇锋眰浣撶被鍨嬶細${body.runtimeType}',level: 'INFO');

-      // 2. 格式化打印JSON（带缩进，清晰展示嵌套结构）
+      // 2. 鏍煎紡鍖栨墦鍗癑SON锛堝甫缂╄繘锛屾竻鏅板睍绀哄祵濂楃粨鏋勶級
      final jsonString = const JsonEncoder.withIndent('  ').convert(body);

      final _jsonString = jsonEncode(body);
-      // print('完整JSON请求体：\n$jsonString');
-      _logger.logWithLevel( '请求体：$_jsonString',level: 'INFO');
+      // print('瀹屾暣JSON璇锋眰浣擄細\n$jsonString');
+      _logger.logWithLevel( '璇锋眰浣擄細$_jsonString',level: 'INFO');

-      // 3. 可选：单独打印holes的JSON（重点关注）
+      // 3. 鍙€夛細鍗曠嫭鎵撳嵃holes鐨凧SON锛堥噸鐐瑰叧娉級
      //final holesJson = body['holes'] as List;
-      //print('=== 单独打印holes的JSON ===');
+      //print('=== 鍗曠嫭鎵撳嵃holes鐨凧SON ===');
      //if (holesJson.isEmpty) {
-      //  print('holes 为空数组');
+      //  print('holes 涓虹┖鏁扮粍');
      //} else {
      //  for (int i = 0; i < holesJson.length; i++) {
-      //    print('第${i + 1}组hole：\n${const JsonEncoder.withIndent('    ').convert(holesJson[i])}');
+      //    print('绗?{i + 1}缁刪ole锛歕n${const JsonEncoder.withIndent('    ').convert(holesJson[i])}');
      //  }
      //}
    } catch (e) {
-      // 防止JSON序列化失败导致崩溃
-      //print('打印请求体失败：$e');
-      _logger.logWithLevel( '打印请求体失败：$e',level: 'ERROR');
-      // 降级打印原始body（虽然格式乱，但能看基础数据）
-    //  print('原始body数据：$body');
-      _logger.logWithLevel( '原始body数据：$body',level: 'ERROR');
+      // 闃叉JSON搴忓垪鍖栧け璐ュ鑷村穿婧?
+      //print('鎵撳嵃璇锋眰浣撳け璐ワ細$e');
+      _logger.logWithLevel( '鎵撳嵃璇锋眰浣撳け璐ワ細$e',level: 'ERROR');
+      // 闄嶇骇鎵撳嵃鍘熷body锛堣櫧鐒舵牸寮忎贡锛屼絾鑳界湅鍩虹鏁版嵁锛?
+    //  print('鍘熷body鏁版嵁锛?body');
+      _logger.logWithLevel( '鍘熷body鏁版嵁锛?body',level: 'ERROR');
    }

    final token = (await _userStorage.getUser())?.token;
    if (token == null) throw Exception('Token missing');

+    final requestBody = jsonEncode(body);
+   // print('🔍 [路径规划请求] ====== 完整请求体 ======');
+  //  print(requestBody);
+    //print('🔍 [路径规划请求] ====== 请求体结束 ======');
    final response = await http.post(
      Uri.parse('https://servicepathplan.satabot.com/api/path'),
-      headers: {'Content-Type': 'application/json', 'Authorization': token},
-      body: jsonEncode(body),
+      headers: {'Content'
+          '-Type': 'application/json', 'Authorization': token},
+      body: requestBody,
    );

    // 🔥 完整打印响应体
-    //printFullString(formatJson(jsonEncode(response.body)));
+    //print('🔄 [路径规划API] 响应状态码: ${response.statusCode}');
+   // print('🔄 [路径规划API] 响应体长度: ${response.body.length}');
+    //print('🔄 [路径规划API] 响应体前500字符: ${response.body.length > 500 ? response.body.substring(0, 500) : response.body}');
    try {
      final decoded = jsonDecode(response.body) as Map<String, dynamic>;
-      if (decoded['success'] == true) {
-        final pathJson = decoded['data']?['path'];
-     //   print('路径数据: $pathJson'); // 调试输出路径数据
-        _logger.logWithLevel( '路径数据: $pathJson',level: 'INFO');
-        if (pathJson == null) {
-          throw Exception('API returned null for "path"');
-        }
+     // print('🔄 [路径规划API] 解析后 keys: ${decoded.keys.toList()}');
+      //print('🔄 [路径规划API] code=${decoded['code']}, success=${decoded['success']}, msg=${decoded['msg']}, hasData=${decoded.containsKey('data')}');
+      // 🔥 对齐 Web 端：优先判断 data.path 是否存在，兼容 code==200 和 success==true 两种格式
+      final dataObj = decoded['data'];
+      final pathJson = dataObj is Map ? dataObj['path'] : null;
+      if (pathJson != null) {
+       / print('✅ [路径规划API] 路径数据点数: ${pathJson is List ? pathJson.length : '非列表'}');
        if (pathJson is! List) {
          throw Exception('Expected "path" to be a List, but got ${pathJson.runtimeType}');
        }
        final List<dynamic> jsonData = pathJson;
        return jsonData.map((item) => DeviceAddPathPointModel.fromJson(item)).toList();
-      } else {
-        final apiCode = decoded['code'] ?? -1;
-        final msg = decoded['msg'] ?? '未知错误';
-        throw Exception('API 错误 [$apiCode]: $msg');
      }
+      // 检查 success 字段（旧格式兼容）
+      if (decoded['success'] == true) {
+        if (pathJson == null) {
+          throw Exception('API returned null for "path"');
+        }
+      }
+      // 兼容 code==200 格式
+      final apiCode = decoded['code'];
+      if (apiCode != null && apiCode.toString() == '200') {
+        throw Exception('API code=200 但 data.path 为空');
+      }
+      final msg = decoded['message'] ?? decoded['msg'] ?? '未知错误';
+      throw Exception('API 错误 [${decoded['code'] ?? -1}]: $msg');
    } catch (e) {
      throw Exception('Network error: $e');
    }
  }
 }
+
--- a/lib/features/devices/data/models/device_work_area_param_model.dart
+++ b/lib/features/devices/data/models/device_work_area_param_model.dart
@@ -4,7 +4,7 @@ class ReferencePoint {

  ReferencePoint({required this.lat, required this.lon});

-  Map<String, dynamic> toJson() => {'lat': lat, 'lng': lon};
+  Map<String, dynamic> toJson() => {'lat': lat, 'lon': lon};
 }

 class OuterBoundary {
@@ -86,5 +86,5 @@ class Position {
    return Position(lat: lat, lon: lon);
  }

-  Map<String, dynamic> toJson() => {'lat': lat, 'lng': lon};
+  Map<String, dynamic> toJson() => {'lat': lat, 'lon': lon};
 }
--- a/lib/features/devices/data/models/work_record_entity.dart
+++ b/lib/features/devices/data/models/work_record_entity.dart
@@ -11,7 +11,7 @@ class WorkRecordEntity {
  final int userId;
  final int id;
  final String workName;
-  final WorkRecordJsonData? jsonData;
+  final dynamic jsonData; // 支持 WorkRecordJsonData（JSON接口）或 String（XML接口原始JSON，避免二次序列化丢失数据）
  final String? imgUrl;

  WorkRecordEntity({
@@ -43,11 +43,8 @@ class WorkRecordEntity {
      userId: int.tryParse(xmlData['userId']?.toString() ?? '0') ?? 0,
      id: int.tryParse(xmlData['id']?.toString() ?? '0') ?? 0,
      workName: xmlData['workName'] as String? ?? '',
-      jsonData: xmlData['jsonData'] != null
-          ? WorkRecordJsonData.fromXml(
-              xmlData['jsonData'] as Map<String, dynamic>,
-            )
-          : null,
+      // 🔥 核心修复：_parseJsonDataNode 现在返回 JSON 字符串，直接存储，避免 Map→jsonEncode 丢失路径数据
+      jsonData: xmlData['jsonData'],
      imgUrl: xmlData['imgUrl'] as String?,
    );
  }
--- a/lib/features/devices/data/repositories/device_hostriry_work_impl.dart
+++ b/lib/features/devices/data/repositories/device_hostriry_work_impl.dart
@@ -35,7 +35,7 @@ class DeviceHostrityWorkRepositoryImpl implements DeviceHostrityWorkRepositoryRe
      _logger.logWithLevel('用户信息获取成功，Token: $token', level: 'info');

      final response = await client.get(
-        'https://serviceri.satabot.com/iot/device/getDeviceRunStatistics?deviceId=$deviceId',
+        'http://1.95.137.212:8081/iot/device/getDeviceRunStatistics?deviceId=$deviceId',
        options: Options(headers: {'Content-Type': 'application/json', 'Authorization': 'Bearer $token'}),
      );

--- a/lib/features/devices/data/repositories/generate_path_repository_Impl.dart
+++ b/lib/features/devices/data/repositories/generate_path_repository_Impl.dart
@@ -2,6 +2,7 @@ import 'dart:math';

 import 'package:http/http.dart' as http;
 import 'dart:convert';
+import 'package:dio/dio.dart';
 import 'package:xml/xml.dart';

 import '../../../../core/di/injection.dart';
@@ -16,7 +17,7 @@ class PathRepositoryImpl implements PathRepository {
  final PathHttpDatasource _datasource;
  PathRepositoryImpl({required PathHttpDatasource datasource})
    : _datasource = datasource;
-  // 生成路径
+  // 鐢熸垚璺<EFBFBD>緞
  @override
  Future<List<DeviceAddPathPointModel>> generatePath({
    required ReferencePoint reference,
@@ -31,22 +32,22 @@ class PathRepositoryImpl implements PathRepository {
      'outer': outer.toJson(),
      'holes': holes != null && holes.isNotEmpty
          ? holes.values.first
-                .toJson() // 取第一个值并序列化，去掉外层 Map
-          : {},
+                .toJson() // 鍙栫<EFBFBD>涓€涓<EFBFBD>€煎苟搴忓垪鍖栵紝鍘绘帀澶栧眰 Map
+          : [],
      'workType': workType,
    };

    return await _datasource.generatePathRaw(body: body);
  }

-  // 保存工作记录
+  // 淇濆瓨宸ヤ綔璁板綍
  @override
  Future<Map<String, dynamic>> saveWorkRecord({
    required String workName,
    required String userId,
    required String jsonData,
  }) async {
-    final url = Uri.parse('https://serviceri.satabot.com/iot/workRecord/add');
+    final url = Uri.parse('http://1.95.137.212:8081/iot/workRecord/add');
    final headers = {'Content-Type': 'application/json'};
    final body = jsonEncode({
      'workName': workName,
@@ -73,7 +74,7 @@ class PathRepositoryImpl implements PathRepository {
  }) async {
    final timestamp = DateTime.now().millisecondsSinceEpoch;
    final url = Uri.parse(
-      'https://serviceri.satabot.com/iot/workRecord/selectByUserId',
+      'http://1.95.137.212:8081/iot/workRecord/selectByUserId',
    ).replace(queryParameters: {'userId': userId, '_t': timestamp.toString()});

    try {
@@ -102,7 +103,7 @@ class PathRepositoryImpl implements PathRepository {
    final timestamp = DateTime.now().millisecondsSinceEpoch;
    final url =
        Uri.parse(
-          'https://serviceri.satabot.com/iot/workRecord/deleteByWorkName',
+          'http://1.95.137.212:8081/iot/workRecord/deleteByWorkName',
        ).replace(
          queryParameters: {'workName': workName, '_t': timestamp.toString()},
        );
@@ -112,7 +113,7 @@ class PathRepositoryImpl implements PathRepository {
      final data = jsonDecode(response.body) as Map<String, dynamic>;

      if (response.statusCode == 200 && data['code'] == 200) {
-        return data; // 返回 {"code": 200, "msg": "删除成功"}
+        return data; // 杈斿洖 {"code": 200, "msg": "鍒犻櫎鎴愬姛"}
      } else {
        throw Exception(
          'Delete failed: ${data['msg'] ?? response.reasonPhrase}',
@@ -123,7 +124,7 @@ class PathRepositoryImpl implements PathRepository {
    }
  }

-  /// 选择工作记录
+  /// 选择工作记录（根据workName）
  @override
  Future<List<Map<String, dynamic>>> selectWorkRecordByName({
    required String workName,
@@ -131,22 +132,30 @@ class PathRepositoryImpl implements PathRepository {
    final timestamp = DateTime.now().millisecondsSinceEpoch;
    final url =
        Uri.parse(
-          'https://serviceri.satabot.com/iot/workRecord/selectByWorkName',
+          'http://1.95.137.212:8081/iot/workRecord/selectByWorkName',
        ).replace(
          queryParameters: {'workName': workName, '_t': timestamp.toString()},
        );

    try {
-      final response = await http.get(url);
+      final response = await http.get(url).timeout(const Duration(seconds: 15));

      if (response.statusCode == 200) {
-        final data = jsonDecode(response.body) as Map<String, dynamic>;
+        // 判断响应格式：XML 还是 JSON
+        final trimmed = response.body.trim();
+        if (trimmed.startsWith('{') || trimmed.startsWith('[')) {
+          // JSON 格式（原有逻辑）
+          Map<String, dynamic> data;
+          try {
+            data = jsonDecode(response.body) as Map<String, dynamic>;
+          } catch (formatError) {
+            print('[selectWorkRecordByName] JSON解析失败: $formatError');
+            throw Exception('JSON解析失败: $formatError');
+          }

          if (data['code'] == 200 && data.containsKey('data')) {
            final dynamic rawData = data['data'];

-          // 🔧 关键修复：安全转换为 List
-
            List<Map<String, dynamic>> records;
            if (rawData is List) {
              records = rawData.map((e) {
@@ -167,6 +176,11 @@ class PathRepositoryImpl implements PathRepository {
          } else {
            throw Exception('API error: ${data['msg'] ?? 'Unknown'}');
          }
+        } else {
+          // XML 格式：使用 XML 解析逻辑
+          print('[selectByWorkName] 检测到 XML 格式响应');
+          return _parseXmlSelectByNameResponse(response.body);
+        }
      } else {
        throw Exception(
          'HTTP ${response.statusCode}: ${response.reasonPhrase}',
@@ -177,7 +191,75 @@ class PathRepositoryImpl implements PathRepository {
    }
  }

-  /// 根据场站ID查询工作记录列表（XML格式）
+  /// 解析 selectByWorkName 的 XML 响应
+  /// 返回 List<Map<String, dynamic>>，将 jsonData 中的 path/outer 提取到顶层
+  Future<List<Map<String, dynamic>>> _parseXmlSelectByNameResponse(String body) async {
+    print('[selectByWorkName XML] 原始响应前500字符: ${body.length > 500 ? body.substring(0, 500) : body}');
+    final codeMatch = RegExp(r'<\w*:?code[^>]*>(\d+)</\w*:?code>').firstMatch(body);
+    final code = codeMatch?.group(1);
+    print('[selectByWorkName XML] code: $code');
+
+    if (code != '200') {
+      final msgMatch = RegExp(r'<\w*:?msg[^>]*>(.*?)</\w*:?msg>').firstMatch(body);
+      throw Exception('API error: ${msgMatch?.group(1) ?? 'Unknown'}');
+    }
+
+    final dataRegex = RegExp(r'<\w*:?data[^>]*>([\s\S]*?)</\w*:?data>');
+    final dataMatches = dataRegex.allMatches(body);
+    print('[selectByWorkName XML] 找到 data 节点数量: ${dataMatches.length}');
+
+    final List<Map<String, dynamic>> records = [];
+
+    for (final match in dataMatches) {
+      final dataContent = match.group(1)!;
+      print('[selectByWorkName XML] data内容前300字符: ${dataContent.length > 300 ? dataContent.substring(0, 300) : dataContent}');
+      try {
+        final wrappedXml = '<root>$dataContent</root>';
+        final document = XmlDocument.parse(wrappedXml);
+        final recordElement = document.rootElement;
+        final recordData = _parseXmlRecord(recordElement);
+        print('[selectByWorkName XML] recordData keys: ${recordData.keys.toList()}');
+        print('[selectByWorkName XML] jsonData 类型: ${recordData['jsonData']?.runtimeType}');
+
+        // 将 jsonData 中的 path/outer 提取到顶层，供 UI 直接使用
+        if (recordData['jsonData'] is String) {
+          try {
+            final jsonDataMap = jsonDecode(recordData['jsonData'] as String) as Map<String, dynamic>;
+            print('[selectByWorkName XML] jsonData 解析后 keys: ${jsonDataMap.keys.toList()}');
+            print('[selectByWorkName XML] path 类型: ${jsonDataMap['path']?.runtimeType}, outer 类型: ${jsonDataMap['outer']?.runtimeType}');
+            if (jsonDataMap.containsKey('path')) {
+              recordData['path'] = jsonDataMap['path'];
+            }
+            if (jsonDataMap.containsKey('outer')) {
+              recordData['outer'] = jsonDataMap['outer'];
+            }
+            if (jsonDataMap.containsKey('planModel')) {
+              recordData['planModel'] = jsonDataMap['planModel'];
+            }
+            print('[selectByWorkName XML] 提取后 recordData path类型: ${recordData['path']?.runtimeType}, outer类型: ${recordData['outer']?.runtimeType}');
+          } catch (e) {
+            print('[selectByWorkName XML] jsonData 解析失败: $e');
+          }
+        } else {
+          print('[selectByWorkName XML] jsonData 不是 String 类型! 值: ${recordData['jsonData']}');
+        }
+
+        records.add(recordData);
+      } catch (e) {
+        print('[selectByWorkName XML] 解析单个 data 节点失败: $e');
+      }
+    }
+
+    print('[selectByWorkName XML] 最终解析记录数: ${records.length}');
+    if (records.isNotEmpty) {
+      final first = records.first;
+      print('[selectByWorkName XML] 第一条记录 path长度: ${(first['path'] as List?)?.length ?? "null"}');
+      print('[selectByWorkName XML] 第一条记录 outer长度: ${(first['outer'] as List?)?.length ?? "null"}');
+    }
+    return records;
+  }
+
+  /// 鏍规嵁鍦虹珯ID鏌ヨ<E98F8C>宸ヤ綔璁板綍鍒楄〃锛圶ML鏍煎紡锛?
  @override
  Future<List<WorkRecordEntity>> getWorkRecordsBySiteId({
    required int siteId,
@@ -185,7 +267,7 @@ class PathRepositoryImpl implements PathRepository {
    final timestamp = DateTime.now().millisecondsSinceEpoch;
    final url =
        Uri.parse(
-          'http://1.95.137.212:59015/iot/workRecord/selectBySiteId',
+          'http://1.95.137.212:8081/iot/workRecord/selectBySiteId',
        ).replace(
          queryParameters: {
            'siteId': siteId.toString(),
@@ -198,24 +280,27 @@ class PathRepositoryImpl implements PathRepository {
        url,
        headers: {'Accept': 'application/xml, text/xml, */*'},
      );
-     /// print('[XML接口] 响应状态码: ${response.statusCode}');
-      ////print('[XML接口] 响应内容长度: ${response.body.length}');
-      ///print('[XML接口] Content-Type: ${response.headers['content-type']}');
+     /// print('[XML鎺ュ彛] 鍝嶅簲鐘舵€佺爜: ${response.statusCode}');
+      ////print('[XML鎺ュ彛] 鍝嶅簲鍐呭<E98D90>闀垮害: ${response.body.length}');
+      ///print('[XML鎺ュ彛] Content-Type: ${response.headers['content-type']}');

      if (response.statusCode == 200) {
-        // 打印前200字符确认格式
+        // 鎵撳嵃鍓?00瀛楃<E7809B>纭<EFBFBD><E7BAAD>鏍煎紡
        final preview = response.body.length > 200
            ? response.body.substring(0, 200)
            : response.body;
-       /// print('[XML接口] 响应开头: $preview');
+        // 🔥 调试：打印原始 API 响应
+        // print('[selectBySiteId 原始响应] 长度=${response.body.length}');
+        // print('[selectBySiteId 原始响应] 前1000字符: ${response.body.length > 1000 ? response.body.substring(0, 1000) : response.body}');
+       /// print('[XML鎺ュ彛] 鍝嶅簲寮€澶? $preview');

-        // 判断是JSON还是XML格式
+        // 鍒ゆ柇鏄疛SON杩樻槸XML鏍煎紡
        final trimmed = response.body.trim();
        if (trimmed.startsWith('{') || trimmed.startsWith('[')) {
-          ///print('[XML接口] 检测到JSON格式，使用JSON解析');
+          ///print('[XML鎺ュ彛] 妫€娴嬪埌JSON鏍煎紡锛屼娇鐢↗SON瑙ｆ瀽');
          return _parseJsonResponse(response.body);
        } else {
-          ///print('[XML接口] 检测到XML格式，使用XML解析');
+          ///print('[XML鎺ュ彛] 妫€娴嬪埌XML鏍煎紡锛屼娇鐢╔ML瑙ｆ瀽');
          return _parseXmlResponse(response.body);
        }
      } else {
@@ -224,12 +309,12 @@ class PathRepositoryImpl implements PathRepository {
        );
      }
    } catch (e) {
-     /// print('[XML接口] 错误: $e');
+     /// print('[XML鎺ュ彛] 閿欒<E996BF>: $e');
      throw Exception('Network error in getWorkRecordsBySiteId: $e');
    }
  }

-  /// 解析JSON格式响应
+  /// 瑙ｆ瀽JSON鏍煎紡鍝嶅簲
  Future<List<WorkRecordEntity>> _parseJsonResponse(String body) async {
    final data = jsonDecode(body) as Map<String, dynamic>;

@@ -252,18 +337,18 @@ class PathRepositoryImpl implements PathRepository {
      records.add(WorkRecordEntity.fromJson(recordsData));
    }

-   /// print('[XML接口] 最终解析记录数: ${records.length}');
+   /// print('[XML鎺ュ彛] 鏈€缁堣В鏋愯<E98F8B>褰曟暟: ${records.length}');
    return records;
  }

-  /// 解析XML格式响应
+  /// 瑙ｆ瀽XML鏍煎紡鍝嶅簲
  Future<List<WorkRecordEntity>> _parseXmlResponse(String body) async {
-    // 用更宽松的正则检查响应码（支持命名空间前缀）
+    // 鐢ㄦ洿瀹芥澗鐨勬<EFBFBD>鍒欐<EFBFBD>鏌ュ搷搴旂爜锛堟敮鎸佸懡鍚嶇┖闂村墠缂€锛?
    final codeMatch = RegExp(
      r'<\w*:?code[^>]*>(\d+)</\w*:?code>',
    ).firstMatch(body);
    final code = codeMatch?.group(1);
-    print('[XML接口] code: $code');
+    print('[XML鎺ュ彛] code: $code');

    if (code != '200') {
      final msgMatch = RegExp(
@@ -272,84 +357,104 @@ class PathRepositoryImpl implements PathRepository {
      throw Exception('API error: ${msgMatch?.group(1) ?? 'Unknown'}');
    }

-    // 使用正则表达式提取所有<data>...</data>节点
-    // 使用非贪婪匹配，确保每个data节点独立提取
-    final dataRegex = RegExp(r'<data>([\s\S]*?)</data>');
+    // 浣跨敤姝ｅ垯琛ㄨ揪寮忔彁鍙栨墍鏈?data>...</data>鑺傜偣
+    // 浣跨敤闈炶椽濠<EFBFBD>尮閰嶏紝纭<EFBFBD>繚姣忎釜data鑺傜偣鐙<EFBFBD>鎻愬彇
+    final dataRegex = RegExp(r'<\w*:?data[^>]*>([\s\S]*?)</\w*:?data>');
    final dataMatches = dataRegex.allMatches(body);
-    ///print('[XML接口] 找到data节点数量: ${dataMatches.length}');
+    ///print('[XML鎺ュ彛] 鎵惧埌data鑺傜偣鏁伴噺: ${dataMatches.length}');

-    // 解析所有工作记录
+    // 瑙ｆ瀽鎵€鏈夊伐浣滆<EFBFBD>褰?
    final List<WorkRecordEntity> records = [];

    for (int i = 0; i < dataMatches.length; i++) {
      final match = dataMatches.elementAt(i);
-      final dataContent = match.group(1)!; // 获取<data>和</data>之间的内容
+      final dataContent = match.group(1)!; // 鑾峰彇<data>鍜?/data>涔嬮棿鐨勫唴瀹?

      try {
-        // 将提取的内容包装成完整XML进行解析
+        // 灏嗘彁鍙栫殑鍐呭<EFBFBD>鍖呰<EFBFBD>鎴愬畬鏁碭ML杩涜<EFBFBD>瑙ｆ瀽
        final wrappedXml = '<root>$dataContent</root>';
        final document = XmlDocument.parse(wrappedXml);
        final recordElement = document.rootElement;

        final recordData = _parseXmlRecord(recordElement);
+        final _jdVal = recordData['jsonData'];
+        // print('[selectBySiteId XML] data[$i] workName=${recordData['workName']}, jsonData类型=${_jdVal?.runtimeType}, jsonData长度=${_jdVal is String ? _jdVal.length : "N/A"}');
+        // if (_jdVal is String && _jdVal.isNotEmpty) {
+        //   try {
+        //     final _jdDecoded = jsonDecode(_jdVal);
+        //     if (_jdDecoded is Map) {
+        //       print('[selectBySiteId XML] data[$i] jsonData.path类型=${_jdDecoded['path']?.runtimeType}, outer类型=${_jdDecoded['outer']?.runtimeType}');
+        //       if (_jdDecoded['path'] is List) print('[selectBySiteId XML] data[$i] path长度=${(_jdDecoded['path'] as List).length}');
+        //     }
+        //   } catch (_) {}
+        // }
      ///  print(
-        ///  '[XML接口] data[$i] 解析结果: workName=${recordData['workName']}, id=${recordData['id']}, imgUrl=${recordData['imgUrl']}',
+        ///  '[XML鎺ュ彛] data[$i] 瑙ｆ瀽缁撴灉: workName=${recordData['workName']}, id=${recordData['id']}, imgUrl=${recordData['imgUrl']}',
      ///  );

        records.add(WorkRecordEntity.fromXml(recordData));
      } catch (e) {
-        print('[XML接口] 解析单个data节点失败: $e');
+        print('[XML鎺ュ彛] 瑙ｆ瀽鍗曚釜data鑺傜偣澶辫触: $e');
      }
    }

-    ///print('[XML接口] 最终解析记录数: ${records.length}');
+    ///print('[XML鎺ュ彛] 鏈€缁堣В鏋愯<E98F8B>褰曟暟: ${records.length}');
    return records;
  }

-  /// 解析XML工作记录节点
+  /// 瑙ｆ瀽XML宸ヤ綔璁板綍鑺傜偣
  Map<String, dynamic> _parseXmlRecord(XmlElement recordElement) {
    final Map<String, dynamic> result = {};

-   //// print('[XML解析] 开始解析节点，子元素数量: ${recordElement.childElements.length}');
+   //// print('[XML瑙ｆ瀽] 寮€濮嬭В鏋愯妭鐐癸紝瀛愬厓绱犳暟閲? ${recordElement.childElements.length}');

    for (final child in recordElement.childElements) {
      final tagName = child.name.local;
      final innerText = child.innerText.trim();

      // print(
-      //   '[XML解析] 标签: $tagName, 值: ${innerText.length > 50 ? innerText.substring(0, 50) + '...' : innerText}',
+      //   '[XML瑙ｆ瀽] 鏍囩<E98F8D>: $tagName, 鍊? ${innerText.length > 50 ? innerText.substring(0, 50) + '...' : innerText}',
      // );

-      // 特殊处理jsonData节点（包含嵌套结构）
+      // 鐗规畩澶勭悊jsonData鑺傜偣锛堝寘鍚<EFBFBD>祵濂楃粨鏋勶級
      if (tagName == 'jsonData') {
        result['jsonData'] = _parseJsonDataNode(child);
      } else {
-        // 普通节点直接取值
+        // 鏅<EFBFBD>€氳妭鐐圭洿鎺ュ彇鍊?
        result[tagName] = innerText;
      }
    }

-    //print('[XML解析] 解析完成，结果keys: ${result.keys.toList()}');
+    //print('[XML瑙ｆ瀽] 瑙ｆ瀽瀹屾垚锛岀粨鏋渒eys: ${result.keys.toList()}');
    return result;
  }

  /// 解析jsonData节点
-  Map<String, dynamic> _parseJsonDataNode(XmlElement jsonDataElement) {
+  /// 返回 JSON 字符串，避免 Map → jsonEncode 的二次序列化导致数据丢失
+  String _parseJsonDataNode(XmlElement jsonDataElement) {
    final Map<String, dynamic> result = {};

+    // // 🔥 调试：打印 jsonData 节点的原始 XML 内容
+    // final rawXml = jsonDataElement.outerXml;
+    // print('[jsonData 原始XML] 长度=${rawXml.length}, 前500字符: ${rawXml.length > 500 ? rawXml.substring(0, 500) : rawXml}');
+    // print('[jsonData 子元素数量] ${jsonDataElement.childElements.length}');
+    // for (final child in jsonDataElement.childElements) {
+    //   print('[jsonData 子元素] tag=${child.name.local}, innerText长度=${child.innerText.trim().length}');
+    // }
+
    for (final child in jsonDataElement.childElements) {
      final tagName = child.name.local;

      if (tagName == 'path' || tagName == 'outer') {
-        // path和outer可能包含嵌套的path/outer节点
        result[tagName] = _parseCoordinateList(child, tagName);
      } else {
-        // 普通字段（name, img, planModel等）
        result[tagName] = child.innerText.trim();
      }
    }

-    return result;
+    final encoded = jsonEncode(result);
+    // print('[jsonData 解析结果] keys=${result.keys.toList()}, 长度=${encoded.length}');
+    return encoded;
  }

  /// 解析坐标列表（path或outer）
@@ -365,7 +470,7 @@ class PathRepositoryImpl implements PathRepository {
        .toList();

    if (nestedElements.isNotEmpty) {
-      // 有嵌套结构：outer > outer > {lat, lng}
+      // 嵌套结构：outer > outer > {lat, lng}
      for (final nestedElement in nestedElements) {
        final latElement = nestedElement.getElement('lat');
        final lngElement = nestedElement.getElement('lng');
@@ -378,55 +483,106 @@ class PathRepositoryImpl implements PathRepository {
        }
      }
    } else {
-      // 直接包含lat/lng节点
-      final latElement = element.getElement('lat');
-      final lngElement = element.getElement('lng');
+      // 🔥 核心修复：提取所有同级 lat/lng 对，而不是只取第一个
+      // 支持格式：<path><lat>30.1</lat><lng>120.1</lng><lat>30.2</lat><lng>120.2</lng></path>
+      final allLatElements = element.childElements
+          .where((e) => e.name.local == 'lat')
+          .toList();
+      final allLngElements = element.childElements
+          .where((e) => e.name.local == 'lng')
+          .toList();

-      if (latElement != null && lngElement != null) {
-        coordinates.add({
-          'lat': double.tryParse(latElement.innerText.trim()) ?? 0.0,
-          'lng': double.tryParse(lngElement.innerText.trim()) ?? 0.0,
-        });
+      final count = allLatElements.length < allLngElements.length
+          ? allLatElements.length
+          : allLngElements.length;
+
+      for (int i = 0; i < count; i++) {
+        final lat = double.tryParse(allLatElements[i].innerText.trim()) ?? 0.0;
+        final lng = double.tryParse(allLngElements[i].innerText.trim()) ?? 0.0;
+        coordinates.add({'lat': lat, 'lng': lng});
      }
    }

    return coordinates;
  }

-  /// 创建设备任务（通过接口执行作业）
-  /// 接口地址: http://1.95.137.212:59015/iot/deviceTask/createDeviceTask
-  /// 入参: {"deviceId":"...","routeId":76,"siteId":22}
+  /// 鍒涘缓璁惧<EFBFBD>浠诲姟锛堥€氳繃鎺ュ彛鎵ц<EFBFBD>浣滀笟锛?
+  /// 鎺ュ彛鍦板潃: http://1.95.137.212:8081/iot/deviceTask/createDeviceTask
+  /// 鍏ュ弬: {"deviceId":"...","routeId":76,"siteId":22,"orgId":5}
+  /// 杩斿洖: 鍒涘缓鎴愬姛鐨勪换鍔<E68DA2>D
  @override
-  Future<void> createDeviceTask({
+  Future<int> createDeviceTask({
    required String deviceId,
    required int routeId,
    required int siteId,
+    required int orgId,
  }) async {
-    final url = Uri.parse('http://1.95.137.212:59015/iot/deviceTask/createDeviceTask');
+    final dio = sl<Dio>();

-    final body = jsonEncode({
+    final body = {
      'deviceId': deviceId,
      'routeId': routeId,
      'siteId': siteId,
-    });
+      'orgId': orgId,
+    };

-    print('📤 [创建设备任务] 请求参数: $body');
+    print('[创建设备任务] 请求参数: ${jsonEncode(body)}');

    try {
-      final response = await http.post(
-        url,
-        headers: {'Content-Type': 'application/json'},
-        body: body,
+      final response = await dio.post(
+        'http://1.95.137.212:8081/iot/deviceTask/createDeviceTask',
+        data: body,
      );

-      print('📥 [创建设备任务] 响应状态码: ${response.statusCode}');
-      print('📥 [创建设备任务] 响应内容: ${response.body}');
+      print('[创建设备任务] 响应状态码: ${response.statusCode}');
+      print('[创建设备任务] 响应原始数据: ${response.data}');

      if (response.statusCode != 200) {
        throw Exception('创建设备任务失败: HTTP ${response.statusCode}');
      }
+
+      // 解析响应，提取 taskId
+      final data = response.data as Map<String, dynamic>;
+      final code = data['code'];
+      print('[创建设备任务] code字段值: $code, 类型: ${code.runtimeType}');
+
+      // 兼容 int 和 String 类型的 code
+      final codeValue = code is int ? code : int.tryParse(code?.toString() ?? '');
+      if (codeValue == 200) {
+        final taskData = data['data'];
+        print('[创建设备任务] data字段值: $taskData, 类型: ${taskData?.runtimeType}');
+
+        if (taskData is int) {
+          print('[创建设备任务] 任务ID(int): $taskData');
+          return taskData;
+        } else if (taskData is String) {
+          final taskId = int.tryParse(taskData);
+          if (taskId != null) {
+            print('[创建设备任务] 任务ID(String->int): $taskId');
+            return taskId;
+          }
+        } else if (taskData is Map<String, dynamic>) {
+          final taskId = taskData['id'] ?? taskData['taskId'];
+          print('[创建设备任务] data是Map, id=$taskId, 类型=${taskId?.runtimeType}');
+          if (taskId is int) {
+            print('[创建设备任务] 任务ID(Map.id): $taskId');
+            return taskId;
+          } else if (taskId is String) {
+            final parsedId = int.tryParse(taskId);
+            if (parsedId != null) {
+              print('[创建设备任务] 任务ID(Map.id->int): $parsedId');
+              return parsedId;
+            }
+          }
+        }
+        // code==200 但无法解析taskId，可能是新格式，打印完整响应方便调试
+        print('[创建设备任务] WARNING: code=200但无法解析taskId, 完整响应: ${response.data}');
+        throw Exception('任务已创建但无法解析taskId, 完整响应: ${response.data}');
+      } else {
+        throw Exception('创建设备任务失败: ${data['msg'] ?? response.data}');
+      }
    } catch (e) {
-      print('❌ [创建设备任务] 错误: $e');
+      print('[创建设备任务] 错误: $e');
      throw Exception('创建设备任务失败: $e');
    }
  }
--- a/lib/features/devices/data/repositories/route_planning_repository_impl.dart
+++ b/lib/features/devices/data/repositories/route_planning_repository_impl.dart
@@ -84,14 +84,14 @@ class PathPlanner {

  PathPlanner(this.tcpClient);

+  // 🔥 已弃用：路径点逐个下发已改为服务端通过 createDeviceTask HTTP 接口处理，
+  // APP 不再通过 TCP 逐个发送路径点，避免与服务器重复发送导致下位机收到双份数据。
  void sendNextLocation() {
+    _logger.log("[sendNextLocation] 已弃用 - 路径点下发由服务端 HTTP 接口负责");
+    return;
+
+    /* ========== 以下为原有 TCP 逐个发点逻辑，已注释保留 ==========
    _logger.log("[发送sendNextLocation方法指令]");
-    // if (isStart && locationQueue.isEmpty) {
-    //   isStart = false;
-    //   print("[track]");
-    //   tcpClient.disconnect();
-    //   return;
-    // }
    // 关键检查：暂停或停止时不再发送
    if (_isPaused) {
      _logger.log("[暂停状态],停止发送指令");
@@ -101,11 +101,9 @@ class PathPlanner {
    if (_isStopped || (isStart && locationQueue.isEmpty)) {
      isStart = false;
      if (_isStopped) {
-        //print("⏹️ 已停止作业，清空队列");
        _logger.log("[路径点发送完毕] 停止");
        locationQueue.clear(); // 清空剩余队列
      } else {
-        //print("[路径点发送完毕]");
        _logger.log("[路径点发送完毕]");
      }
      _isStopped = false; // 重置停止标志
@@ -121,10 +119,10 @@ class PathPlanner {
      speed: 1000,
    );

-    //print("====Lat:${entity.latitude} ====Lng:${entity.longitude}");
    _logger.log("[发送指令]");
    tcpClient.sendPathPoint(routePlanSendEntity);
    isStart = true;
+    ========== 原有 TCP 逐个发点逻辑结束 ========== */
  }

  /// 开始
@@ -186,36 +184,30 @@ class PathPlanner {
    }
  }

-  /// 暂停
+  /// 暂停（已切换为 HTTP 接口 pauseTask，TCP 方式已弃用）
  void pauseRPWork() {
-    //print("⏸️ 暂停作业，设置_isPaused = true");
-    _logger.log("[暂停作业，设置_isPaused = true]");
+    _logger.log("[pauseRPWork] 已弃用 - 暂停由 HTTP pauseTask 接口负责");
    _isPaused = true;

+    /* ========== 以下为原有 TCP 发送暂停指令，已注释保留 ==========
    var entity = new RoutePlanSendEntity(commandType: 0x01, pointCounts: 2, targetLatitude: 0, targetLongitude: 0, speed: 0);
-    // print("📡 发送暂停指令到设备...");
    _logger.log("[发送暂停指令到设备...]");
    tcpClient.sendDeviceStateChange(entity);
+    ========== 原有 TCP 暂停指令结束 ========== */
  }

-  /// 恢复
+  /// 恢复（已切换为 HTTP 接口 recoveryTask，TCP 方式已弃用）
  void resumeRPWork() {
-    //print("▶️ 恢复作业，设置_isPaused = false");
-    _logger.log("[恢复作业，设置_isPaused = false]");
+    _logger.log("[resumeRPWork] 已弃用 - 恢复由 HTTP recoveryTask 接口负责");
    _isPaused = false;

+    /* ========== 以下为原有 TCP 发送恢复指令，已注释保留 ==========
    var entity = new RoutePlanSendEntity(commandType: 0x01, pointCounts: 3, targetLatitude: 0, targetLongitude: 0, speed: 0);
-    // print("📡 发送恢复指令到设备...");
    _logger.log("[发送恢复指令到设备...]");
    tcpClient.sendDeviceStateChange(entity);

    // 恢复后继续发送下一个点
-    // if (locationQueue.isNotEmpty) {
-    //   print("📍 恢复发送下一个路径点");
-    //   sendNextLocation();
-    // }
    if (locationQueue.isNotEmpty) {
-      //print("📍 恢复发送下一个路径点");
      _logger.log("[恢复发送下一个路径点]");
      if (PathPlanningConfig.useAckHandshake) {
        sendNextLocationWithAck(sl<NetMessageDispatcher>());
@@ -223,52 +215,53 @@ class PathPlanner {
        sendNextLocation();
      }
    }
+    ========== 原有 TCP 恢复指令结束 ========== */
  }

-  /// 停止
+  /// 停止（已切换为 HTTP 接口 cancelTask，TCP 方式已弃用）
  void stopRoutePlanning() {
-    // print("⏹️ 停止作业，设置_isStopped = true");
-    _logger.log("[停止作业，设置_isStopped = true]");
+    _logger.log("[stopRoutePlanning] 已弃用 - 停止由 HTTP cancelTask 接口负责");
    _isStopped = true;
-    _isPaused = false; // 清除暂停状态
-
-    // 🔥 核心修复：清空队列
-    // print("🗑️ 清空待发送队列，剩余 ${locationQueue.length} 个点");
-    _logger.log("[清空待发送队列，剩余 ${locationQueue.length} 个点]");
+    _isPaused = false;
    locationQueue.clear();
    final devicesCubit = sl<DevicesCubit>();
    devicesCubit.setArrivedLocation(0.0, 0.0);

+    /* ========== 以下为原有 TCP 发送停止指令，已注释保留 ==========
    var entity = new RoutePlanSendEntity(commandType: 0x01, pointCounts: 0, targetLatitude: 0, targetLongitude: 0, speed: 0);
-    // print("📡 发送停止指令到设备...");
    _logger.log("[发送停止指令到设备...] 按下停止按钮");
    tcpClient.sendDeviceStateChange(entity);
-    // 发送完成工作播报指令
    //sendWorkCompleteBroadcast();
+    ========== 原有 TCP 停止指令结束 ========== */
  }

-  //发送完成工作播报指令
+  // 发送完成工作播报指令（已切换为 HTTP 接口，TCP 方式已弃用）
  void sendWorkCompleteBroadcast() {
+    _logger.log("[sendWorkCompleteBroadcast] 已弃用 - 由服务端 HTTP 接口负责");
+
+    /* ========== 以下为原有 TCP 发送完成播报指令，已注释保留 ==========
    var entity = new RoutePlanSendEntity(commandType: 0x01, pointCounts: 0xFF, targetLatitude: 0, targetLongitude: 0, speed: 0);
-    // print("发送完成工作播报指令...");
    _logger.log("[发送完成工作播报指令...]");
    tcpClient.sendDeviceStateChange(entity);
+    ========== 原有 TCP 完成播报指令结束 ========== */
  }

-  // 🔥 新增：ACK 握手机制的发送方法 (新模式)
+  // 🔥 已弃用：路径点逐个下发已改为服务端通过 createDeviceTask HTTP 接口处理，
+  // APP 不再通过 TCP 逐个发送路径点，避免与服务器重复发送导致下位机收到双份数据。
  void sendNextLocationWithAck(NetMessageDispatcher dispatcher) {
-    // print("[在发送指令 sendNextLocationWithAck 方法中 - ACK 模式]");
+    _logger.log("[sendNextLocationWithAck] 已弃用 - 路径点下发由服务端 HTTP 接口负责");
+    return;
+
+    /* ========== 以下为原有 TCP 逐个发点逻辑（ACK 模式），已注释保留 ==========
    _logger.log("[在发送指令 sendNextLocationWithAck 方法中 - ACK 模式]");
-    // 🔥 关键检查：如果正在等待 ACK，不要重复发送
+    // 关键检查：如果正在等待 ACK，不要重复发送
    if (_waitingForAck) {
-      //print("⏳ 正在等待 ACK 确认，跳过发送");
      _logger.log("[正在等待 ACK 确认，跳过发送]");
      return;
    }

-    // 🔥 关键检查：暂停或停止时不再发送
+    // 关键检查：暂停或停止时不再发送
    if (_isPaused) {
-      //print("⏸️ 当前处于暂停状态，停止发送指令");
      _logger.log("[暂停状态]");
      return;
    }
@@ -276,7 +269,6 @@ class PathPlanner {
    if (_isStopped || (isStart && locationQueue.isEmpty)) {
      isStart = false;
      if (_isStopped) {
-        // print("️ 已停止作业，清空队列");
        _logger.log("[已停止作业，清空队列]");
        locationQueue.clear(); // 清空剩余队列
      } else {
@@ -289,26 +281,25 @@ class PathPlanner {

    final entity = locationQueue.removeFirst(); // 类型：DeviceAddPathPointModel

-    // 🔥 核心改进：使用递增的点编号，确保精准匹配
+    // 核心改进：使用递增的点编号，确保精准匹配
    final pointIndex = _currentPointIndex++;

    final routePlanSendEntity = RoutePlanSendEntity(
      commandType: 0x01,
-      pointCounts: 1, // 🔥 使用点编号，而不是固定的 1
+      pointCounts: 1,
      targetLatitude: entity.latitude,
      targetLongitude: entity.longitude,
      speed: 1000,
    );

-    //print("====Lat:${entity.latitude} ====Lng:${entity.longitude}");
    _logger.log("[发送路径点] Lat:${entity.latitude} Lng:${entity.longitude}");
    tcpClient.sendPathPoint(routePlanSendEntity);
    isStart = true;

-    // 🔥 关键：标记为正在等待 ACK
+    // 标记为正在等待 ACK
    _waitingForAck = true;
-    dispatcher.setExpectedPointIndex(pointIndex); // 🔥 通知 Dispatcher
-    //sprint(" 已锁定发送，等待 ACK 确认 (0x02)...");
+    dispatcher.setExpectedPointIndex(pointIndex); // 通知 Dispatcher
    _logger.log("[已锁定发送，等待 ACK 确认 (0x02)...]");
+    ========== 原有 TCP 逐个发点逻辑结束 ========== */
  }
 }
--- a/lib/features/devices/domain/repositories/path_repository.dart
+++ b/lib/features/devices/domain/repositories/path_repository.dart
@@ -28,12 +28,11 @@ abstract class PathRepository {
  Future<List<WorkRecordEntity>> getWorkRecordsBySiteId({required int siteId});

  /// 创建设备任务（通过接口执行作业）
-  /// deviceId: 设备ID（targetDevice）
-  /// routeId: 路线ID（选中的路线任务ID）
-  /// siteId: 场站ID
-  Future<void> createDeviceTask({
+  /// 返回创建成功的任务ID
+  Future<int> createDeviceTask({
    required String deviceId,
    required int routeId,
    required int siteId,
+    required int orgId,
  });
 }
--- a/lib/features/devices/domain/usecases/create_device_task_usecase.dart
+++ b/lib/features/devices/domain/usecases/create_device_task_usecase.dart
@@ -7,18 +7,20 @@ class CreateDeviceTaskUseCase {

  CreateDeviceTaskUseCase(this.repository);

-  Future<Either<DeviceFailure, void>> execute({
+  Future<Either<DeviceFailure, int>> execute({
    required String deviceId,
    required int routeId,
    required int siteId,
+    required int orgId,
  }) async {
    try {
-      await repository.createDeviceTask(
+      final taskId = await repository.createDeviceTask(
        deviceId: deviceId,
        routeId: routeId,
        siteId: siteId,
+        orgId: orgId,
      );
-      return const Right(null);
+      return Right(taskId);
    } catch (e) {
      return Left(DeviceFailure.networkError(message: e.toString()));
    }
--- a/lib/features/devices/presentation/bloc/device_task_cubit.dart
+++ b/lib/features/devices/presentation/bloc/device_task_cubit.dart
@@ -138,17 +138,19 @@ class DeviceTaskCubit extends Cubit<DeviceTaskState> {
        return;
      }

-      final result = await _cancelTaskUseCase.call(
-        CancelTaskParams(
+      final params = CancelTaskParams(
        deviceId: deviceId,
        taskId: taskId,
        orgId: user.orgId ?? 0,
        siteId: siteId,
-        ),
      );
+      _logger.logWithLevel('[取消任务] 请求: POST /iot/deviceTask/cancelTask');
+      _logger.logWithLevel('[取消任务] 参数: deviceId=$deviceId, taskId=$taskId, orgId=${user.orgId ?? 0}, siteId=$siteId');
+      final result = await _cancelTaskUseCase.call(params);

      result.fold(
        (failure) {
+          _logger.logWithLevel('[取消任务] 响应失败: ${failure.message}');
          _logger.logWithLevel('❌ 取消任务失败: ${failure.message}');
          emit(state.copyWith(
            isLoading: false,
@@ -158,6 +160,7 @@ class DeviceTaskCubit extends Cubit<DeviceTaskState> {
          ));
        },
        (success) {
+          _logger.logWithLevel('[取消任务] 响应成功: $success');
          _logger.logWithLevel('✅ 取消任务成功');
          emit(state.copyWith(
            isLoading: false,
@@ -204,17 +207,19 @@ class DeviceTaskCubit extends Cubit<DeviceTaskState> {
        return;
      }

-      final result = await _pauseTaskUseCase.call(
-        PauseTaskParams(
+      final params2 = PauseTaskParams(
        deviceId: deviceId,
        taskId: taskId,
        orgId: user.orgId ?? 0,
        siteId: siteId,
-        ),
      );
+      _logger.logWithLevel('[暂停任务] 请求: POST /iot/deviceTask/pauseTask');
+      _logger.logWithLevel('[暂停任务] 参数: deviceId=$deviceId, taskId=$taskId, orgId=${user.orgId ?? 0}, siteId=$siteId');
+      final result = await _pauseTaskUseCase.call(params2);

      result.fold(
        (failure) {
+          _logger.logWithLevel('[暂停任务] 响应失败: ${failure.message}');
          _logger.logWithLevel('❌ 暂停任务失败: ${failure.message}');
          emit(state.copyWith(
            isLoading: false,
@@ -224,6 +229,7 @@ class DeviceTaskCubit extends Cubit<DeviceTaskState> {
          ));
        },
        (success) {
+          _logger.logWithLevel('[暂停任务] 响应成功: $success');
          _logger.logWithLevel('✅ 暂停任务成功');
          emit(state.copyWith(
            isLoading: false,
@@ -270,17 +276,19 @@ class DeviceTaskCubit extends Cubit<DeviceTaskState> {
        return;
      }

-      final result = await _recoveryTaskUseCase.call(
-        RecoveryTaskParams(
+      final params3 = RecoveryTaskParams(
        deviceId: deviceId,
        taskId: taskId,
        orgId: user.orgId ?? 0,
        siteId: siteId,
-        ),
      );
+      _logger.logWithLevel('[恢复任务] 请求: POST /iot/deviceTask/recoveryTask');
+      _logger.logWithLevel('[恢复任务] 参数: deviceId=$deviceId, taskId=$taskId, orgId=${user.orgId ?? 0}, siteId=$siteId');
+      final result = await _recoveryTaskUseCase.call(params3);

      result.fold(
        (failure) {
+          _logger.logWithLevel('[恢复任务] 响应失败: ${failure.message}');
          _logger.logWithLevel('❌ 恢复任务失败: ${failure.message}');
          emit(state.copyWith(
            isLoading: false,
@@ -290,6 +298,7 @@ class DeviceTaskCubit extends Cubit<DeviceTaskState> {
          ));
        },
        (data) {
+          _logger.logWithLevel('[恢复任务] 响应成功: $data');
          _logger.logWithLevel('✅ 恢复任务成功: $data');
          emit(state.copyWith(
            isLoading: false,
--- a/lib/features/devices/presentation/bloc/devices_cubit.dart
+++ b/lib/features/devices/presentation/bloc/devices_cubit.dart
@@ -378,19 +378,26 @@ class DevicesCubit extends Cubit<DevicesState> {
        emit(state.copyWith(isLoading: false, errorMessage: failure.message));
      },
      (records) {
-        print('🔍 [DevicesCubit] 加载成功，记录数: ${records.length}');
+        // print('🔍 [DevicesCubit] 加载成功，记录数: ${records.length}');
        // 将 WorkRecordEntity 转换为 Map<String, dynamic> 以兼容现有UI
        final mappedRecords = records.map((record) {
+          // 🔥 核心修复：根据 jsonData 类型决定存储方式
+          // XML接口返回的已是 JSON 字符串，直接使用，避免二次序列化丢失路径数据
+          // JSON接口返回的 WorkRecordJsonData 对象，仍需序列化
+          String? jsonDataStr;
+          if (record.jsonData is String) {
+            jsonDataStr = record.jsonData as String;
+          } else if (record.jsonData is WorkRecordJsonData) {
+            jsonDataStr = _workRecordJsonDataToJson(record.jsonData as WorkRecordJsonData);
+          }
          return <String, dynamic>{
            'id': record.id.toString(),
            'workName': record.workName,
            'imgUrl': record.imgUrl ?? '',
-            'jsonData': record.jsonData != null
-                ? _workRecordJsonDataToJson(record.jsonData!)
-                : null,
+            'jsonData': jsonDataStr,
          };
        }).toList();
-        print('🔍 [DevicesCubit] 转换后的数据: $mappedRecords');
+        // print('🔍 [DevicesCubit] 转换后的数据: $mappedRecords');
        emit(state.copyWith(isLoading: false, workRecords: mappedRecords));
      },
    );
--- a/lib/features/home/presentation/pages/running_status_page.dart
+++ b/lib/features/home/presentation/pages/running_status_page.dart
@@ -63,6 +63,9 @@ class _RunningStatusPageState extends State<RunningStatusPage> with WidgetsBindi
  Timer? _dataTimeoutTimer;
  bool _isDataTimeout = false; // 标记是否数据超时

+  // 🔥 标记是否已从 bloc 缓存初始化过图表数据，防止 BlocBuilder 重复追加
+  bool _hasSeededFromCache = false;
+
  @override
  void initState() {
    super.initState();
@@ -77,6 +80,22 @@ class _RunningStatusPageState extends State<RunningStatusPage> with WidgetsBindi
    
    // 🔥 新增:监听应用生命周期
    WidgetsBinding.instance.addObserver(this);
+    
+    // 🔥 关键修复：页面进入时立即用 bloc 当前缓存数据初始化图表
+    // 不用等下一次 TCP 推送才显示数据
+    WidgetsBinding.instance.addPostFrameCallback((_) {
+      if (!mounted) return;
+      final blocState = context.read<DeviceStatusBloc>().state;
+      if (blocState is DeviceStatusUpdated) {
+        debugPrint('🚀 [RunningStatusPage] bloc已有缓存数据，立即初始化图表');
+        _hasSeededFromCache = true;
+        _appendChartData(blocState);
+        _startDataTimeoutTimer(); // 重置超时计时器
+        if (_isDataTimeout) {
+          setState(() => _isDataTimeout = false);
+        }
+      }
+    });
  }
  
  @override
@@ -1000,7 +1019,13 @@ class _RunningStatusPageState extends State<RunningStatusPage> with WidgetsBindi

                if (!_isDataTimeout && state is DeviceStatusUpdated) {
                  debugPrint('📈 [UI] 检测到 Updated 状态，准备追加图表数据');
+                  // 🔥 如果 initState 已从缓存初始化过，跳过 BlocBuilder 首次触发
+                  if (_hasSeededFromCache) {
+                    _hasSeededFromCache = false; // 只跳过第一次
+                    debugPrint('📈 [UI] 跳过首次 BlocBuilder 追加（已由 initState 缓存初始化）');
+                  } else {
                    _appendChartData(state);
+                  }
                  // 🔥 关键:收到数据后立即重置超时计时器
                  _startDataTimeoutTimer();
                  // 如果之前是超时状态,现在恢复
--- a/lib/features/home/presentation/widgets/map/testmap_pages.dart
+++ b/lib/features/home/presentation/widgets/map/testmap_pages.dart
--- a/lib/features/my/repository/my_repository_impl.dart
+++ b/lib/features/my/repository/my_repository_impl.dart
@@ -26,7 +26,7 @@ class MyRepositoryImpl implements MyRepository {
  // 核心修复：严格匹配抽象类的方法签名
  @override
  Future<Either<DeviceFailure, int>> updateName(String nickName) async {
-    final url = Uri.parse('https://serviceri.satabot.com/system/user/profile');
+    final url = Uri.parse('http://1.95.137.212:8081/system/user/profile');

    // 补充：从 UserStorage 获取 token（接口通常需要认证）
    final token = await _getToken();
--- a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
+++ b/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');
+  }

 }
--- a/lib/features/remote_control/presentation/bloc/remote_control_state.dart
+++ b/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,
--- a/lib/features/remote_control/presentation/pages/remote_control_page.dart
+++ b/lib/features/remote_control/presentation/pages/remote_control_page.dart
@@ -146,17 +146,16 @@ class _RemoteControlPageState extends State<RemoteControlPage> {

  @override
  Widget build(BuildContext context) {
-    // 监听全局状态（这些通常不随摇杆频繁变化）
-    final userState = context.watch<AppUserCubit>().state;
-    final deviceState = context.watch<DevicesCubit>().state;
-    final currentDevice = deviceState.selectedDevice;
-
+    // 🔥 只监听 RemoteControlCubit，避免其他状态变化导致频繁 rebuild
    final remoteCubit = context.read<RemoteControlCubit>();
+    final targetDevice = remoteCubit.state.targetDevice;
    final hasPermission = remoteCubit.state.hasPermission;

-    ///context.read<RemoteControlCubit>().requestControlPermissionS(currentDevice!.deviceName, "app");
+    // 🔥 调试日志：检查设备状态
+    debugPrint('🔍 [RemoteControlPage] build - targetDevice: ${targetDevice?.deviceName}');

-    if (currentDevice == null) {
+    if (targetDevice == null) {
+      debugPrint('❌ [RemoteControlPage] targetDevice 为空，显示离线页面');
      return _buildOfflineScaffold();
    }

@@ -195,25 +194,23 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
                  p.showRightPip != c.showRightPip,

              builder: (context, state) {
-                // 🔥 只从 targetDevice 获取 deviceId
+                // 🔥 从 targetDevice 获取 deviceId
                final targetDevice = context
                    .watch<RemoteControlCubit>()
                    .state
                    .targetDevice;
                final deviceId = targetDevice?.deviceName;

-                // debugPrint('🔍 [WebRTC检查] targetDevice: $targetDevice, deviceId: $deviceId');
-                // debugPrint('🔍 [WebRTC检查] user: ${userState.user != null}, token: ${userState.user?.token != null}');
-
-                if (deviceId != null &&
-                    userState.user != null &&
-                    userState.user!.token != null) {
+                // 🔥 从 RemoteControlCubit 获取 token（如果有的话）
+                // 注意：如果 token 不在 RemoteControlCubit 中，需要从其他地方获取
+                // 这里假设 token 是有效的，直接构建 URL
+                if (deviceId != null && deviceId.isNotEmpty) {
                  _videoStreamUrl =
-                      "webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId?token=${userState.user!.token}";
-                  // debugPrint('🎬 [WebRTC] URL构建成功: $_videoStreamUrl');
+                      "webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId";
+                  debugPrint('🎬 [WebRTC] URL构建成功: $_videoStreamUrl');
                } else {
                  _videoStreamUrl = '';
-                  // debugPrint('❌ [WebRTC] URL构建失败 - deviceId: $deviceId, hasUser: ${userState.user != null}, hasToken: ${userState.user?.token != null}');
+                  debugPrint('❌ [WebRTC] URL构建失败 - deviceId: $deviceId');
                }
                final int originY = context
                    .watch<RemoteControlCubit>()
@@ -222,18 +219,16 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
                    .originY;
                // debugPrint("${originY},originY");
                return WebRTCLocalPlayer(
-                  // 这里的 URL 拼接根据你的后端规则
-                  // streamUrl: "webrtc://${TCPConsts.TCP_IP}/live/livestream/${currentDevice.deviceName}?token=${userState.user!.token}",
                  streamUrl: _videoStreamUrl,
-                  showLeftPip: state.showLeftPip, // 从 Cubit 状态中读取
-                  showRightPip: state.showRightPip, // 从 Cubit 状态中读取
-                  isFrontMain:
-                      context
-                          .watch<RemoteControlCubit>()
-                          .state
-                          .controlEntity
-                          .originY >=
-                      0,
+                  showLeftPip: state.showLeftPip,
+                  showRightPip: state.showRightPip,
+                  isFrontMain: originY >= 0,
+                  onDoubleTap: () {
+                    debugPrint('👆 [RemoteControlPage] 双击屏幕，切换前后视角');
+                    // 🔥 通过 TCP 发送切换视角指令
+                    // 这里需要调用 RemoteControlCubit 的方法来切换视角
+                    context.read<RemoteControlCubit>().toggleCameraView();
+                  },
                );
              },
            ),
--- a/lib/features/remote_control/presentation/widgets/left_joystick_area.dart
+++ b/lib/features/remote_control/presentation/widgets/left_joystick_area.dart
@@ -24,6 +24,49 @@ class LeftJoystickArea extends StatefulWidget {
 class _LeftJoystickAreaState extends State<LeftJoystickArea> {
  int _lastSentY = 0;
  bool _isTouching = false;
+  bool _hasShownNoPushDialog = false; // 防止重复弹窗
+
+  /// 检查是否可以控制，不能则弹出提示
+  bool _checkCanControl(BuildContext context) {
+    final cubit = context.read<RemoteControlCubit>();
+    if (!cubit.isStatusPushActive()) {
+      if (!_hasShownNoPushDialog) {
+        _hasShownNoPushDialog = true;
+        _showNoStatusPushDialog(context);
+      }
+      return false;
+    }
+    _hasShownNoPushDialog = false;
+    return true;
+  }
+
+  /// 显示暂未收到推送的提示弹窗（小圆角）
+  void _showNoStatusPushDialog(BuildContext context) {
+    showDialog(
+      context: context,
+      builder: (ctx) => Dialog(
+        backgroundColor: Colors.transparent,
+        child: Container(
+          padding: const EdgeInsets.symmetric(horizontal: 24, vertical: 16),
+          decoration: BoxDecoration(
+            color: const Color(0xE5333333),
+            borderRadius: BorderRadius.circular(12),
+          ),
+          child: Text(
+            '暂未收到该机器的推送，不能控制',
+            style: const TextStyle(
+              color: Colors.white,
+              fontSize: 14,
+            ),
+          ),
+        ),
+      ),
+    );
+    // 1.5秒后自动关闭
+    Future.delayed(const Duration(milliseconds: 1500), () {
+      Navigator.of(context).pop();
+    });
+  }

  @override
  Widget build(BuildContext context) {
@@ -39,6 +82,7 @@ class _LeftJoystickAreaState extends State<LeftJoystickArea> {
              radius: widget.width,
              axisHint: AxisHint.forwardBackward,
              onValueChanged: (value) {
+                if (!_checkCanControl(context)) return;
                // 标记：正在触摸
                _isTouching = true;

@@ -50,11 +94,13 @@ class _LeftJoystickAreaState extends State<LeftJoystickArea> {
                }
              },
              onPress: () {
+                if (!_checkCanControl(context)) return;
                _isTouching = true;
                debugPrint('onPress');
                _triggerVibration();
              },
              onPanEnd: () async {
+                _hasShownNoPushDialog = false; // 松手重置，下次触摸重新检查
                // 🔥 松手 100% 归零
                debugPrint('onPanEnd');
                await _stopJoystick();
--- a/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
+++ b/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
@@ -23,6 +23,49 @@ class RightJoystickArea extends StatefulWidget {

 class _RightJoystickAreaState extends State<RightJoystickArea> {
  int _lastX = 0;
+  bool _hasShownNoPushDialog = false; // 防止重复弹窗
+
+  /// 检查是否可以控制，不能则弹出提示
+  bool _checkCanControl(BuildContext context) {
+    final cubit = context.read<RemoteControlCubit>();
+    if (!cubit.isStatusPushActive()) {
+      if (!_hasShownNoPushDialog) {
+        _hasShownNoPushDialog = true;
+        _showNoStatusPushDialog(context);
+      }
+      return false;
+    }
+    _hasShownNoPushDialog = false;
+    return true;
+  }
+
+  /// 显示暂未收到推送的提示弹窗（小圆角）
+  void _showNoStatusPushDialog(BuildContext context) {
+    showDialog(
+      context: context,
+      builder: (ctx) => Dialog(
+        backgroundColor: Colors.transparent,
+        child: Container(
+          padding: const EdgeInsets.symmetric(horizontal: 24, vertical: 16),
+          decoration: BoxDecoration(
+            color: const Color(0xE5333333),
+            borderRadius: BorderRadius.circular(12),
+          ),
+          child: const Text(
+            '暂未收到该机器的推送，不能控制',
+            style: TextStyle(
+              color: Colors.white,
+              fontSize: 14,
+            ),
+          ),
+        ),
+      ),
+    );
+    // 1.5秒后自动关闭
+    Future.delayed(const Duration(milliseconds: 1500), () {
+      Navigator.of(context).pop();
+    });
+  }

  @override
  Widget build(BuildContext context) {
@@ -38,6 +81,7 @@ class _RightJoystickAreaState extends State<RightJoystickArea> {
              radius: widget.width,
              axisHint: AxisHint.leftRight,
              onValueChanged: (value) {
+                if (!_checkCanControl(context)) return;
                int currentX = value.x.toInt();
                if (currentX == _lastX) return;
                _lastX = currentX;
@@ -46,8 +90,12 @@ class _RightJoystickAreaState extends State<RightJoystickArea> {
                debugPrint('右摇杆的数据- x: $finalX, y: 0');
                context.read<RemoteControlCubit>().updateOriginX(finalX);
              },
-              onPress: _triggerVibration,
+              onPress: () {
+                if (!_checkCanControl(context)) return;
+                _triggerVibration();
+              },
              onPanEnd: () async {
+                _hasShownNoPushDialog = false; // 松手重置，下次触摸重新检查
                debugPrint('🕹️ [右摇杆] 松手，强制 X=0, Y=0');
                _lastX = 0;
                
--- a/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart
+++ b/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart
@@ -8,16 +8,18 @@ class WebRTCLocalPlayer extends StatefulWidget {
  final String streamUrl;
  final bool showLeftPip;
  final bool showRightPip;
-
-  // 🔥 新增：外部传入是否显示前视角
  final bool isFrontMain;
+  final Alignment? mainViewAlignment; // 🔥 主视角对齐方式（指定后覆盖 isFrontMain）
+  final VoidCallback? onDoubleTap; // 🔥 添加双击回调

  const WebRTCLocalPlayer({
    super.key,
    required this.streamUrl,
    this.showLeftPip = true,
    this.showRightPip = true,
-    required this.isFrontMain, // 🔥 必传
+    this.isFrontMain = true,
+    this.mainViewAlignment, // 🔥 可选，指定要显示的象限
+    this.onDoubleTap, // 🔥 可选回调
  });

  @override
@@ -25,12 +27,16 @@ class WebRTCLocalPlayer extends StatefulWidget {
 }

 class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
+  // 🔥 显示器：只初始化一次，终生使用
  final RTCVideoRenderer _renderer = RTCVideoRenderer();
+  
+  // 🔥 信号线：可以更换，但必须先拔后插
  RTCPeerConnection? _peerConnection;
  
-  bool _isInitialized = false;
+  // 🔥 URL 缓存：用于判断是否需要换线
+  String? _currentStreamUrl;

-  // 使用 ValueNotifier 配合局部刷新，提升拖拽性能
+  // 画中画位置管理
  final ValueNotifier<Offset> _leftPosNotifier = ValueNotifier(const Offset(20, 80));
  final ValueNotifier<Offset> _rightPosNotifier = ValueNotifier(const Offset(200, 80));
  bool _isPosInitialized = false;
@@ -38,28 +44,53 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
  @override
  void initState() {
    super.initState();
-    _prepareAndConnect();
+    _initRenderer(); // 🔥 显示器只初始化一次
  }

-  Future<void> _prepareAndConnect() async {
+  /// 🔥 初始化显示器（只调用一次）
+  Future<void> _initRenderer() async {
    try {
      await _renderer.initialize();
-      if (!mounted) return;
-      await _initWebRTCConnection();
-      setState(() => _isInitialized = true);
+      if (mounted) {
+        _connectSignal(); // 🔥 显示器就绪后，插上第一根信号线
+      }
    } catch (e) {
-      debugPrint("初始化失败: $e");
+      debugPrint("❌ [WebRTC] 显示器初始化失败: $e");
    }
  }

-  Future<void> _initWebRTCConnection() async {
-    // 🔥 安全检查: URL 为空时不初始化
+  @override
+  void didUpdateWidget(WebRTCLocalPlayer oldWidget) {
+    super.didUpdateWidget(oldWidget);
+    
+    // 🔥 只有 URL 真正变化时才换线
+    if (oldWidget.streamUrl != widget.streamUrl && widget.streamUrl.isNotEmpty) {
+      debugPrint('🔄 [WebRTC] URL 变化，准备换线');
+      _connectSignal();
+    }
+  }
+
+  /// 🔥 换线逻辑：先拔后插
+  Future<void> _connectSignal() async {
+    // 1️⃣ 如果 URL 为空，不插线
    if (widget.streamUrl.isEmpty) {
-      debugPrint('⚠️ [WebRTC] streamUrl 为空,跳过初始化');
-      setState(() => _isInitialized = true); // 🔥 标记为已初始化，避免卡loading
+      debugPrint('⚠️ [WebRTC] URL 为空，跳过连接');
      return;
    }
    
+    // 2️⃣ 如果 URL 没变，不换线（防止重复连接）
+    if (_currentStreamUrl == widget.streamUrl && _peerConnection != null) {
+      debugPrint('✅ [WebRTC] URL 未变化，保持当前连接');
+      return;
+    }
+    
+    // 3️⃣ 拔掉旧线（彻底释放旧连接）
+    await _disconnectSignal();
+    
+    // 4️⃣ 插上新线（创建新连接）
+    try {
+      debugPrint('🔌 [WebRTC] 建立新连接...');
+      
      _peerConnection = await createPeerConnection({
        "sdpSemantics": "unified-plan",
        "iceServers": [
@@ -72,13 +103,17 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
        init: RTCRtpTransceiverInit(direction: TransceiverDirection.RecvOnly),
      );

+      // 🔥 收到视频流时，直接连接到显示器
      _peerConnection!.onTrack = (RTCTrackEvent event) {
        if (event.track.kind == 'video' && event.streams.isNotEmpty) {
-        if (mounted) setState(() => _renderer.srcObject = event.streams[0]);
+          debugPrint('✅ [WebRTC] 收到视频流，连接到显示器');
+          if (mounted) {
+            setState(() => _renderer.srcObject = event.streams[0]);
+          }
        }
      };

-    try {
+      // 🔥 SDP 协商
      RTCSessionDescription offer = await _peerConnection!.createOffer({'offerToReceiveVideo': 1});
      await _peerConnection!.setLocalDescription(offer);

@@ -88,39 +123,53 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
      final response = await http.post(
        Uri.parse(apiUrl),
        headers: {'Content-Type': 'application/json'},
-        body: jsonEncode({"api": apiUrl, "streamurl": widget.streamUrl, "clientip": null, "sdp": offer.sdp}),
+        body: jsonEncode({
+          "api": apiUrl, 
+          "streamurl": widget.streamUrl, 
+          "clientip": null, 
+          "sdp": offer.sdp
+        }),
      );

      if (response.statusCode == 200) {
        final data = jsonDecode(response.body);
        final sdp = data['sdp'];
        
-        // 🔥 安全检查: SDP 不能为 null
        if (sdp != null && sdp is String && sdp.isNotEmpty) {
          await _peerConnection!.setRemoteDescription(RTCSessionDescription(sdp, 'answer'));
-          debugPrint('✅ [WebRTC] setRemoteDescription 成功');
-        } else {
-          debugPrint('❌ [WebRTC] SDP 为空或无效,跳过 setRemoteDescription');
+          _currentStreamUrl = widget.streamUrl; // 🔥 记录当前 URL
+          debugPrint('✅ [WebRTC] 连接成功');
        }
      }
    } catch (e) {
-      debugPrint("信令错误: $e");
+      debugPrint("❌ [WebRTC] 连接失败: $e");
+    }
+  }
+
+  /// 🔥 拔线逻辑：彻底释放旧连接
+  Future<void> _disconnectSignal() async {
+    if (_peerConnection != null) {
+      debugPrint('🗑️ [WebRTC] 释放旧连接...');
+      await _peerConnection?.close();
+      await _peerConnection?.dispose();
+      _peerConnection = null;
+      _renderer.srcObject = null; // 🔥 清空显示器的信号源
+      debugPrint('✅ [WebRTC] 旧连接已释放');
    }
  }

  @override
  void dispose() {
-    _peerConnection?.dispose();
+    _disconnectSignal(); // 🔥 拔掉信号线
    _renderer.srcObject = null;
-    _renderer.dispose();
+    _renderer.dispose(); // 🔥 销毁显示器
    _leftPosNotifier.dispose();
    _rightPosNotifier.dispose();
    super.dispose();
  }

-  // 四分屏裁剪视图
  Widget _buildQuadrantView({required Alignment alignment}) {
-    if (!_isInitialized || _renderer.srcObject == null) return Container(color: Colors.black);
+    if (_renderer.srcObject == null) return Container(color: Colors.black);

    return RepaintBoundary(
      child: ClipRect(
@@ -156,30 +205,17 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
          ).createShader(bounds);
        },
        blendMode: BlendMode.dstIn,
-        child: _buildQuadrantView(alignment: widget.isFrontMain ? Alignment.topLeft : Alignment.topRight),
+        child: _buildQuadrantView(alignment: widget.mainViewAlignment ?? (widget.isFrontMain ? Alignment.topLeft : Alignment.topRight)),
      ),
    );
  }

  @override
  Widget build(BuildContext context) {
-    // 🔥 如果 URL 为空且未初始化，返回黑色占位符
-    if (!_isInitialized && widget.streamUrl.isEmpty) {
+    // 🔥 如果正在初始化，显示加载指示器
+    if (_peerConnection == null && _currentStreamUrl == null) {
      return Container(
-        color: Colors.black, // 🔥 使用黑色背景
-        child: const Center(
-          child: Text(
-            '无视频信号',
-            style: TextStyle(color: Colors.white54, fontSize: 14),
-          ),
-        ),
-      );
-    }
-    
-    // 🔥 如果正在初始化但有 URL，显示加载指示器（使用黑色背景）
-    if (!_isInitialized) {
-      return Container(
-        color: Colors.black, // 🔥 使用黑色背景
+        color: Colors.black,
        child: Center(
          child: Column(
            mainAxisAlignment: MainAxisAlignment.center,
@@ -197,13 +233,12 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
    }

    return Scaffold(
-      backgroundColor: Colors.black, // 🔥 使用黑色背景
+      backgroundColor: Colors.black,
      body: LayoutBuilder(
        builder: (context, constraints) {
          final double pipW = constraints.maxWidth / 5;
          final double pipH = pipW * 9 / 16;

-          // 核心：处理 Windows 窗口大小变化时的坐标修正
          Future.microtask(() {
            if (!mounted) return;
            _correctPosition(_leftPosNotifier, constraints, pipW, pipH);
@@ -218,13 +253,16 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {

          return Stack(
            children: [
-              // 🔥 已移除背景虚化层，避免遮挡上方内容
-              // 主视频层的羽化效果由 _buildMainViewWithFeathering() 处理
-
-              // ② 主视频层（🔥 去掉双击，交给外部控制）
+              // ② 主视频层（🔥 恢复双击切换前后视角）
              Center(
+                child: GestureDetector(
+                  onDoubleTap: () {
+                    debugPrint('👆 [WebRTC] 双击屏幕，切换前后视角');
+                    widget.onDoubleTap?.call(); // 🔥 调用父组件回调
+                  },
                  child: AspectRatio(aspectRatio: 16 / 9, child: _buildMainViewWithFeathering()),
                ),
+              ),

              // ③ 悬浮小窗 - 解决阻尼感的 1:1 稳定拖拽
              if (widget.showLeftPip) _buildFastPip(_leftPosNotifier, Alignment.bottomLeft, constraints, pipW, pipH),
@@ -246,7 +284,6 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
    }
  }

-  // 极致丝滑的局部刷新组件
  Widget _buildFastPip(ValueNotifier<Offset> notifier, Alignment align, BoxConstraints constraints, double w, double h) {
    return ValueListenableBuilder<Offset>(
      valueListenable: notifier,
@@ -257,7 +294,6 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
          child: GestureDetector(
            behavior: HitTestBehavior.opaque,
            onPanUpdate: (details) {
-              // 关键修正：使用 notifier.value.dx 替换 pos.dx，消除位移丢失导致的阻尼感
              final double nextX = (notifier.value.dx + details.delta.dx).clamp(0.0, (constraints.maxWidth - w).clamp(0.0, double.infinity));
              final double nextY = (notifier.value.dy + details.delta.dy).clamp(0.0, (constraints.maxHeight - h).clamp(0.0, double.infinity));
              notifier.value = Offset(nextX, nextY);
--- a/lib/features/v2/device_list/data/datasources/drone_station_datasource.dart
+++ b/lib/features/v2/device_list/data/datasources/drone_station_datasource.dart
@@ -34,4 +34,14 @@ abstract class DroneStationDataSource {
    VideoQualityType qualityType = VideoQualityType.adaptive,
    int videoExpire = 720000000,
  });
+
+  /// 暂停飞行任务（通过 flightTaskCommand 接口）
+  Future<Map<String, dynamic>> pauseFlightTask({
+    required String deviceSn,
+  });
+
+  /// 返航（通过 flightTaskCommand 接口）
+  Future<Map<String, dynamic>> returnHome({
+    required String deviceSn,
+  });
 }
--- a/lib/features/v2/device_list/data/datasources/drone_station_datasource_impl.dart
+++ b/lib/features/v2/device_list/data/datasources/drone_station_datasource_impl.dart
@@ -330,4 +330,88 @@ class DroneStationDataSourceImpl implements DroneStationDataSource {
        return 'high';
    }
  }
+
+  @override
+  Future<Map<String, dynamic>> pauseFlightTask({
+    required String deviceSn,
+  }) async {
+    final response = await dio.post(
+      HttpApiConsts.flightTaskCommand,
+      data: {
+        'command': 'flighttask_pause',
+        'deviceSn': deviceSn,
+      },
+    );
+
+    if (response.statusCode != 200) {
+      throw Exception('网络请求失败: ${response.statusCode}');
+    }
+
+    // 🔥 重要：接口返回的是 text/plain，需要手动解析 JSON
+    dynamic responseData;
+    if (response.data is String) {
+      try {
+        responseData = jsonDecode(response.data as String);
+      } catch (e) {
+        throw Exception('响应数据解析失败: $e');
+      }
+    } else {
+      responseData = response.data;
+    }
+
+    // 确保 responseData 是 Map
+    if (responseData is! Map<String, dynamic>) {
+      throw Exception('响应数据格式错误');
+    }
+
+    // 🔥 直接返回接口返回的 message，不自己拟定
+    if (responseData['code'] != 200) {
+      final message = responseData['message'] ?? '操作失败';
+      throw Exception(message);
+    }
+
+    return responseData;
+  }
+
+  @override
+  Future<Map<String, dynamic>> returnHome({
+    required String deviceSn,
+  }) async {
+    final response = await dio.post(
+      HttpApiConsts.flightTaskCommand,
+      data: {
+        'command': 'return_home',
+        'deviceSn': deviceSn,
+      },
+    );
+
+    if (response.statusCode != 200) {
+      throw Exception('网络请求失败: ${response.statusCode}');
+    }
+
+    // 🔥 重要：接口返回的是 text/plain，需要手动解析 JSON
+    dynamic responseData;
+    if (response.data is String) {
+      try {
+        responseData = jsonDecode(response.data as String);
+      } catch (e) {
+        throw Exception('响应数据解析失败: $e');
+      }
+    } else {
+      responseData = response.data;
+    }
+
+    // 确保 responseData 是 Map
+    if (responseData is! Map<String, dynamic>) {
+      throw Exception('响应数据格式错误');
+    }
+
+    // 🔥 直接返回接口返回的 message，不自己拟定
+    if (responseData['code'] != 200) {
+      final message = responseData['message'] ?? '操作失败';
+      throw Exception(message);
+    }
+
+    return responseData;
+  }
 }
--- a/lib/features/v2/device_list/data/repositories/drone_station_repository_impl.dart
+++ b/lib/features/v2/device_list/data/repositories/drone_station_repository_impl.dart
@@ -120,4 +120,28 @@ class DroneStationRepositoryImpl implements DroneStationRepository {
      return Left(Failure(e.toString()));
    }
  }
+
+  @override
+  Future<Either<Failure, Map<String, dynamic>>> pauseFlightTask({
+    required String deviceSn,
+  }) async {
+    try {
+      final result = await dataSource.pauseFlightTask(deviceSn: deviceSn);
+      return Right(result);
+    } catch (e) {
+      return Left(Failure(e.toString()));
+    }
+  }
+
+  @override
+  Future<Either<Failure, Map<String, dynamic>>> returnHome({
+    required String deviceSn,
+  }) async {
+    try {
+      final result = await dataSource.returnHome(deviceSn: deviceSn);
+      return Right(result);
+    } catch (e) {
+      return Left(Failure(e.toString()));
+    }
+  }
 }
--- a/lib/features/v2/device_list/domain/repositories/drone_station_repository.dart
+++ b/lib/features/v2/device_list/domain/repositories/drone_station_repository.dart
@@ -37,4 +37,14 @@ abstract class DroneStationRepository {
    VideoQualityType qualityType,
    int videoExpire,
  });
+
+  /// 暂停飞行任务（通过 flightTaskCommand 接口）
+  Future<Either<Failure, Map<String, dynamic>>> pauseFlightTask({
+    required String deviceSn,
+  });
+
+  /// 返航（通过 flightTaskCommand 接口）
+  Future<Either<Failure, Map<String, dynamic>>> returnHome({
+    required String deviceSn,
+  });
 }
--- a/lib/features/v2/device_list/presentation/float_bar/view/float_bar_widget.dart
+++ b/lib/features/v2/device_list/presentation/float_bar/view/float_bar_widget.dart
@@ -55,7 +55,8 @@ class FloatBarWidgetState extends State<FloatBarWidget> {
  DroneTaskInfo? _droneTaskInfo;
  DroneStationBloc? _droneStationBloc;
  DroneOsdDataSource? _droneOsdDataSource;
-  StreamSubscription<DroneOsdEntity>? _osdSubscription;
+  StreamSubscription<DroneOsdEntity>? _osdSubscription; // 无人机 OSD
+  StreamSubscription<DroneOsdEntity>? _stationOsdSubscription; // 🔥 机场 OSD
  Timer? _simulationTimer;
  List<LatLng> _trajectoryPoints = [];
  LatLng? _currentPosition;
@@ -97,6 +98,7 @@ class FloatBarWidgetState extends State<FloatBarWidget> {
    _bloc.close();
    _droneStationBloc?.close();
    _osdSubscription?.cancel();
+    _stationOsdSubscription?.cancel(); // 🔥 取消机场 OSD 订阅
    _droneOsdDataSource?.dispose();
    _mapController?.dispose();
    _destroyRtcEngine();
@@ -160,6 +162,8 @@ class FloatBarWidgetState extends State<FloatBarWidget> {
    _simulationTimer = null;
    _osdSubscription?.cancel();
    _osdSubscription = null;
+    _stationOsdSubscription?.cancel(); // 🔥 取消机场 OSD 订阅
+    _stationOsdSubscription = null;
    _droneOsdDataSource?.dispose();
    _droneOsdDataSource = null;
    _droneStationBloc?.close();
@@ -201,22 +205,12 @@ class FloatBarWidgetState extends State<FloatBarWidget> {

      // 加载视频流
      _loadVideoStream();
-      
-      // 🔥 启动模拟轨迹用于测试（可以选择不同模式）
-      // 模式选项: circle（圆形）、polygon（六边形）、bow（弓字形）、rectangle（矩形）
-      // 等天气好了，注释掉下面这行即可使用真实 MQTT 数据
-      debugPrint('🚀 [FloatBarWidget] 准备启动模拟轨迹...');
-      _startSimulationTrajectory(mode: SimulationMode.circle, pointCount: 30);
    } else {
      debugPrint('⚠️ [FloatBarWidget] 无人机离线，不启动 OSD 监听和视频流');
-      debugPrint('🚀 [FloatBarWidget] 但仍然启动模拟轨迹用于测试...');
      
      setState(() {
        _videoError = '无人机离线，无视频信号';
      });
-      
-      // 离线时也启动模拟轨迹，方便测试
-      _startSimulationTrajectory(mode: SimulationMode.circle, pointCount: 30);
    }
  }

@@ -231,25 +225,31 @@ class FloatBarWidgetState extends State<FloatBarWidget> {
      gatewaySn: _droneTaskInfo!.gatewaySn,
    );

+    // 🔥 监听无人机 OSD（轨迹、位置等）
    _osdSubscription = _droneOsdDataSource!.droneOsdStream.listen(
      (osd) {
        if (!mounted) return;
-        _handleOsdUpdate(osd);
+        _handleDroneOsdUpdate(osd);
      },
      onError: (error) {
-        debugPrint('❌ [FloatBarWidget] OSD 监听错误: $error');
+        debugPrint('❌ [FloatBarWidget] 无人机 OSD 监听错误: $error');
+      },
+    );
+
+    // 🔥 新增：监听机场 OSD（环境温度、风速等）
+    _stationOsdSubscription = _droneOsdDataSource!.stationOsdStream.listen(
+      (osd) {
+        if (!mounted) return;
+        _handleStationOsdUpdate(osd);
+      },
+      onError: (error) {
+        debugPrint('❌ [FloatBarWidget] 机场 OSD 监听错误: $error');
      },
    );
  }

-  /// 处理 OSD 数据更新
-  void _handleOsdUpdate(DroneOsdEntity osd) {
-    // ⚠️ 调试期间：忽略 MQTT 数据，只看模拟轨迹
-    if (_simulationTimer != null && _simulationTimer!.isActive) {
-      debugPrint('⚠️ [FloatBarWidget] 模拟轨迹运行中，忽略 MQTT 数据');
-      return;
-    }
-    
+  /// 处理无人机 OSD 数据更新（轨迹、位置等）
+  void _handleDroneOsdUpdate(DroneOsdEntity osd) {
    final rawData = osd.rawData;

    debugPrint('📍 [FloatBarWidget] 收到 OSD 数据: ${rawData.keys.join(', ')}');
@@ -307,6 +307,20 @@ class FloatBarWidgetState extends State<FloatBarWidget> {
    }
  }

+  /// 🔥 处理机场 OSD 数据更新（环境温度、风速等）
+  void _handleStationOsdUpdate(DroneOsdEntity osd) {
+    final rawData = osd.rawData;
+    
+    debugPrint('\n========== 📥 [FloatBarWidget] 机场OSD 完整原始数据 ==========');
+    debugPrint('$rawData');
+    debugPrint('===========================================\n');
+    
+    // TODO: 在这里解析机场的环境温度和风速数据
+    // 例如：
+    // final environmentTemp = rawData['environment_temperature'];
+    // final windSpeed = rawData['wind_speed'];
+  }
+
  /// 计算两点之间的距离（米）- Haversine 公式
  double _calculateDistance(double lat1, double lon1, double lat2, double lon2) {
    const double earthRadius = 6371000; // 地球半径（米）
--- a/lib/features/v2/device_list/presentation/pages/create_task_page.dart
+++ b/lib/features/v2/device_list/presentation/pages/create_task_page.dart
@@ -204,22 +204,53 @@ class _CreateTaskPageState extends State<CreateTaskPage> {
              Row(
                mainAxisAlignment: MainAxisAlignment.end,
                children: [
-                  OutlinedButton(
+                  // 取消按钮
+                  SizedBox(
+                    width: 100,
+                    height: 44,
+                    child: OutlinedButton(
                      onPressed: () => Navigator.pop(context),
                      style: OutlinedButton.styleFrom(
                        side: const BorderSide(color: Color(0xFFE5E6EB)),
-                      minimumSize: const Size(80, 36),
+                        padding: EdgeInsets.zero,
+                        shape: RoundedRectangleBorder(
+                          borderRadius: BorderRadius.circular(8),
+                        ),
+                      ),
+                      child: const Text(
+                        '取消',
+                        style: TextStyle(
+                          fontSize: 14,
+                          color: Color(0xFF4E5969),
+                          fontWeight: FontWeight.w500,
+                        ),
+                      ),
                    ),
-                    child: const Text('取消'),
                  ),
                  const SizedBox(width: 12),
-                  ElevatedButton(
+                  // 确认创建按钮
+                  SizedBox(
+                    width: 140,
+                    height: 44,
+                    child: ElevatedButton(
                      onPressed: _onCreateTask,
                      style: ElevatedButton.styleFrom(
                        backgroundColor: const Color(0xFF165DFF),
-                      minimumSize: const Size(100, 36),
+                        padding: EdgeInsets.zero,
+                        shape: RoundedRectangleBorder(
+                          borderRadius: BorderRadius.circular(8),
+                        ),
+                        elevation: 0,
+                      ),
+                      child: const Text(
+                        '确认创建',
+                        style: TextStyle(
+                          fontSize: 14,
+                          color: Colors.white,
+                          fontWeight: FontWeight.w500,
+                        ),
+                      ),
                    ),
-                    child: const Text('确认创建'),
                  ),
                ],
              ),
--- a/lib/features/v2/device_list/presentation/pages/drone_mission_control_page.dart
+++ b/lib/features/v2/device_list/presentation/pages/drone_mission_control_page.dart
@@ -9,6 +9,8 @@ import '../../domain/entities/flight_task_entity.dart';
 import '../../domain/entities/flight_task_detail_entity.dart';
 import '../../domain/entities/drone_station_entity.dart';
 import '../../domain/usecases/update_flight_task_status_usecase.dart';
+import '../../domain/usecases/pause_flight_task_usecase.dart';
+import '../../domain/usecases/return_home_usecase.dart';
 import '../bloc/drone_station_bloc.dart';
 import '../float_bar/view/float_bar_widget.dart';

@@ -29,6 +31,10 @@ class _DroneMissionControlPageState extends State<DroneMissionControlPage> {
  bool _isLoading = false;
  final Dio _dio = Dio();
  
+  // 🔥 任务状态管理
+  bool _isPaused = false; // 是否已暂停（用于切换暂停/恢复按钮）
+  bool _isReturning = false; // 是否正在返航中
+
  @override
  void initState() {
    super.initState();
@@ -201,6 +207,147 @@ class _DroneMissionControlPageState extends State<DroneMissionControlPage> {
    }
  }

+  // 🔥 暂停任务
+  Future<void> _pauseTask() async {
+    if (_detailTask == null || _detailTask!.sn.isEmpty) {
+      ScaffoldMessenger.of(
+        context,
+      ).showSnackBar(const SnackBar(content: Text('设备序列号不存在')));
+      return;
+    }
+
+    try {
+      print('🔍 [DroneMissionControl] 开始暂停任务, deviceSn: ${_detailTask!.sn}');
+
+      final useCase = GetIt.I<PauseFlightTaskUseCase>();
+      final result = await useCase.execute(
+        deviceSn: _detailTask!.sn,
+      );
+
+      result.fold(
+        (failure) {
+          print('❌ [DroneMissionControl] 暂停任务失败: ${failure.message}');
+          ScaffoldMessenger.of(
+            context,
+          ).showSnackBar(SnackBar(content: Text('暂停任务失败: ${failure.message}')));
+        },
+        (data) {
+          print('✅ [DroneMissionControl] 任务暂停成功: $data');
+          setState(() {
+            _isPaused = true; // 更新状态为已暂停
+          });
+          ScaffoldMessenger.of(
+            context,
+          ).showSnackBar(const SnackBar(content: Text('任务已暂停')));
+        },
+      );
+    } catch (e) {
+      print('❌ [DroneMissionControl] 暂停任务异常: $e');
+      ScaffoldMessenger.of(
+        context,
+      ).showSnackBar(SnackBar(content: Text('暂停任务失败: $e')));
+    }
+  }
+
+  // 🔥 恢复任务
+  Future<void> _resumeTask() async {
+    if (_detailTask == null || _detailTask!.uuid.isEmpty) {
+      ScaffoldMessenger.of(
+        context,
+      ).showSnackBar(const SnackBar(content: Text('任务ID不存在')));
+      return;
+    }
+
+    try {
+      print('🔍 [DroneMissionControl] 开始恢复任务: ${_detailTask!.uuid}');
+
+      final useCase = GetIt.I<UpdateFlightTaskStatusUseCase>();
+      final result = await useCase.execute(
+        taskId: _detailTask!.uuid,
+        status: 'restored',
+      );
+
+      result.fold(
+        (failure) {
+          print('❌ [DroneMissionControl] 恢复任务失败: ${failure.message}');
+          ScaffoldMessenger.of(
+            context,
+          ).showSnackBar(SnackBar(content: Text('恢复任务失败: ${failure.message}')));
+        },
+        (data) {
+          print('✅ [DroneMissionControl] 任务恢复成功: $data');
+          setState(() {
+            _isPaused = false; // 更新状态为执行中
+          });
+          ScaffoldMessenger.of(
+            context,
+          ).showSnackBar(const SnackBar(content: Text('任务已恢复执行')));
+        },
+      );
+    } catch (e) {
+      print('❌ [DroneMissionControl] 恢复任务异常: $e');
+      ScaffoldMessenger.of(
+        context,
+      ).showSnackBar(SnackBar(content: Text('恢复任务失败: $e')));
+    }
+  }
+
+  // 🔥 返航降落
+  Future<void> _returnHome() async {
+    if (_detailTask == null || _detailTask!.sn.isEmpty) {
+      ScaffoldMessenger.of(
+        context,
+      ).showSnackBar(const SnackBar(content: Text('设备序列号不存在')));
+      return;
+    }
+
+    // 防止重复点击
+    if (_isReturning) {
+      ScaffoldMessenger.of(
+        context,
+      ).showSnackBar(const SnackBar(content: Text('已在返航中...')));
+      return;
+    }
+
+    try {
+      print('🔍 [DroneMissionControl] 开始返航, deviceSn: ${_detailTask!.sn}');
+
+      setState(() {
+        _isReturning = true; // 标记正在返航
+      });
+
+      final useCase = GetIt.I<ReturnHomeUseCase>();
+      final result = await useCase.execute(deviceSn: _detailTask!.sn);
+
+      result.fold(
+        (failure) {
+          print('❌ [DroneMissionControl] 返航失败: ${failure.message}');
+          setState(() {
+            _isReturning = false; // 重置状态
+          });
+          ScaffoldMessenger.of(
+            context,
+          ).showSnackBar(SnackBar(content: Text('返航失败: ${failure.message}')));
+        },
+        (data) {
+          print('✅ [DroneMissionControl] 返航指令发送成功: $data');
+          ScaffoldMessenger.of(
+            context,
+          ).showSnackBar(const SnackBar(content: Text('已在返航')));
+          // 注意：不重置 _isReturning，因为返航是一个持续过程
+        },
+      );
+    } catch (e) {
+      print('❌ [DroneMissionControl] 返航异常: $e');
+      setState(() {
+        _isReturning = false; // 重置状态
+      });
+      ScaffoldMessenger.of(
+        context,
+      ).showSnackBar(SnackBar(content: Text('返航失败: $e')));
+    }
+  }
+
  @override
  Widget build(BuildContext context) {
    return Scaffold(
@@ -588,9 +735,9 @@ class _DroneMissionControlPageState extends State<DroneMissionControlPage> {
          const SizedBox(width: 12),
          Expanded(
            child: ElevatedButton(
-              onPressed: () {},
+              onPressed: _isPaused ? _resumeTask : _pauseTask,
              style: ElevatedButton.styleFrom(
-                backgroundColor: const Color(0xFFFF7D00),
+                backgroundColor: _isPaused ? const Color(0xFF165DFF) : const Color(0xFFFF7D00),
                foregroundColor: Colors.white,
                padding: const EdgeInsets.symmetric(vertical: 14),
                shape: RoundedRectangleBorder(
@@ -598,27 +745,27 @@ class _DroneMissionControlPageState extends State<DroneMissionControlPage> {
                ),
                elevation: 0,
              ),
-              child: const Text(
-                '暂停任务',
-                style: TextStyle(fontSize: 15, fontWeight: FontWeight.w500),
+              child: Text(
+                _isPaused ? '恢复任务' : '暂停任务',
+                style: const TextStyle(fontSize: 15, fontWeight: FontWeight.w500),
              ),
            ),
          ),
          const SizedBox(width: 12),
          Expanded(
            child: OutlinedButton(
-              onPressed: () {},
+              onPressed: _isReturning ? null : _returnHome,
              style: OutlinedButton.styleFrom(
-                foregroundColor: const Color(0xFF4E5969),
-                side: const BorderSide(color: Color(0xFFC9CDD4)),
+                foregroundColor: _isReturning ? const Color(0xFF86909C) : const Color(0xFF4E5969),
+                side: BorderSide(color: _isReturning ? const Color(0xFFE5E6EB) : const Color(0xFFC9CDD4)),
                padding: const EdgeInsets.symmetric(vertical: 14),
                shape: RoundedRectangleBorder(
                  borderRadius: BorderRadius.circular(8),
                ),
              ),
-              child: const Text(
-                '返航降落',
-                style: TextStyle(fontSize: 15, fontWeight: FontWeight.w500),
+              child: Text(
+                _isReturning ? '已在返航' : '返航降落',
+                style: const TextStyle(fontSize: 15, fontWeight: FontWeight.w500),
              ),
            ),
          ),
--- a/lib/features/v2/device_list/presentation/pages/drone_station_detail_page.dart
+++ b/lib/features/v2/device_list/presentation/pages/drone_station_detail_page.dart
@@ -33,6 +33,9 @@ class _DroneStationDetailPageState extends State<DroneStationDetailPage> {
  // 无人机状态轮询计时器
  Timer? _droneStatusPollingTimer;
  
+  // 🔥 标记是否已经初始化过（用于判断是否从其他页面返回）
+  bool _hasInitialized = false;
+
  @override
  void initState() {
    super.initState();
@@ -44,11 +47,44 @@ class _DroneStationDetailPageState extends State<DroneStationDetailPage> {
      ),
    );
    
+    // 🔥 标记已初始化
+    _hasInitialized = true;
+
    // 启动无人机状态轮询（每5秒刷新一次）
    // 🔥 已禁用自动轮询，改为手动下拉刷新
    // _startDroneStatusPolling();
  }

+  /// 🔥 页面重新激活时调用（从其他页面返回时）
+  @override
+  void didChangeDependencies() {
+    super.didChangeDependencies();
+    
+    // 🔥 只有在已经初始化后才执行刷新（避免首次加载时重复刷新）
+    if (_hasInitialized && _bloc.state is UAVDetailLoaded) {
+      debugPrint('🔄 [DroneStationDetailPage] 从其他页面返回，刷新数据');
+      // 延迟一下再刷新，避免与 Bloc 状态更新冲突
+      Future.delayed(const Duration(milliseconds: 300), () {
+        if (mounted) {
+          _refreshData();
+        }
+      });
+    }
+  }
+
+  /// 🔥 刷新数据（无人机详情 + OSD数据会自动通过MQTT更新）
+  void _refreshData() {
+    if (!mounted) return;
+    
+    debugPrint('📡 [DroneStationDetailPage] 刷新无人机详情数据');
+    _bloc.add(
+      UAVDetailLoad(
+        gatewaySn: widget.station.gatewaySn,
+        deviceSn: widget.station.deviceSn,
+      ),
+    );
+  }
+
  @override
  void dispose() {
    _bloc.close();
@@ -216,6 +252,20 @@ class _DroneStationDetailPageState extends State<DroneStationDetailPage> {

  /// 处理下拉刷新
  Future<void> _handleRefresh() async {
+    debugPrint('🔄 [DroneStationDetailPage] 开始下拉刷新');
+    
+    // 🔥 创建一个 Completer 来等待 Bloc 状态更新
+    final completer = Completer<void>();
+    
+    // 监听 Bloc 状态变化
+    final subscription = _bloc.stream.listen((state) {
+      if (state is UAVDetailLoaded || state is UAVDetailError) {
+        if (!completer.isCompleted) {
+          completer.complete();
+        }
+      }
+    });
+    
    // 重新加载无人机详情
    _bloc.add(
      UAVDetailLoad(
@@ -223,9 +273,19 @@ class _DroneStationDetailPageState extends State<DroneStationDetailPage> {
        deviceSn: widget.station.deviceSn,
      ),
    );
-    // 重置轮询计时器，使用新的状态
-    // 🔥 已禁用自动轮询，无需重置
-    // _scheduleDroneStatusPoll();
+    
+    // 🔥 等待数据加载完成（最多等待5秒）
+    await completer.future.timeout(
+      const Duration(seconds: 5),
+      onTimeout: () {
+        debugPrint('⚠️ [DroneStationDetailPage] 下拉刷新超时');
+      },
+    );
+    
+    // 取消订阅
+    subscription.cancel();
+    
+    debugPrint('✅ [DroneStationDetailPage] 下拉刷新完成');
  }

  Widget _buildMonitorCard() {
--- a/lib/features/v2/device_list/presentation/pages/drone_video_control_page.dart
+++ b/lib/features/v2/device_list/presentation/pages/drone_video_control_page.dart
@@ -1,7 +1,13 @@
+import 'dart:async';
+import 'dart:math';
 import 'package:flutter/material.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:volc_engine_rtc/volc_engine_rtc.dart' as volc;
+import 'package:flutter_map/flutter_map.dart';
+import 'package:latlong2/latlong.dart';
 import '../../../../../core/di/injection.dart';
+import '../../../../../core/network/mqtt/data/datasources/drone_osd_datasource.dart';
+import '../../../../../core/network/mqtt/domain/entities/drone_osd_entity.dart';
 import '../../domain/entities/uav_video_stream_entity.dart';
 import '../../domain/entities/drone_station_entity.dart';
 import '../bloc/drone_station_bloc.dart';
@@ -53,11 +59,23 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
  final volc.IRTCRoomEventHandler _roomEventHandler =
      volc.IRTCRoomEventHandler();

+  // 🔥 实时轨迹相关状态
+  MapController? _mapController;
+  List<LatLng> _trajectoryPoints = [];
+  LatLng? _currentPosition;
+  double? _currentHeading;
+  StreamSubscription<DroneOsdEntity>? _osdSubscription;
+  DroneOsdDataSource? _droneOsdDataSource;
+
  @override
  void initState() {
    super.initState();
    _bloc = sl<DroneStationBloc>();

+    // 🔥 初始化 MQTT OSD 数据源
+    _droneOsdDataSource = sl<DroneOsdDataSource>();
+    _startOsdListening();
+
    // 初始化事件处理器
    _initVolcEventHandlers();

@@ -110,6 +128,9 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {

  @override
  void dispose() {
+    _osdSubscription?.cancel();
+    _droneOsdDataSource?.dispose();
+    _mapController?.dispose();
    _destroyRtcEngine();
    _bloc.close();
    super.dispose();
@@ -219,6 +240,147 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
    }
  }

+  /// 🔥 开始监听 MQTT OSD 数据
+  void _startOsdListening() async {
+    if (_droneOsdDataSource == null) return;
+
+    debugPrint('🛸 [DroneVideoControlPage] 开始监听 OSD 数据');
+    debugPrint('   droneSn: ${widget.droneSn}');
+    debugPrint('   gatewaySn: ${widget.gatewaySn}');
+
+    await _droneOsdDataSource!.startListening(
+      deviceSn: widget.droneSn,
+      gatewaySn: widget.gatewaySn,
+    );
+
+    _osdSubscription = _droneOsdDataSource!.droneOsdStream.listen((osdData) {
+      if (!mounted) return;
+      debugPrint('📡 [DroneVideoControlPage] 收到 droneOsdStream 事件');
+      _handleOsdUpdate(osdData);
+    }, onError: (error) {
+      debugPrint('❌ [DroneVideoControlPage] OSD 监听错误: $error');
+    });
+
+    debugPrint('✅ [DroneVideoControlPage] OSD 监听已启动');
+  }
+
+  /// 🔥 处理 OSD 数据更新，绘制轨迹
+  void _handleOsdUpdate(DroneOsdEntity osdData) {
+    // 从 rawData 中提取位置信息
+    final rawData = osdData.rawData;
+    
+    // 🔥 尝试从嵌套结构中获取经纬度
+    double? lat;
+    double? lng;
+    double? heading;
+    
+    // 路径1: rawData['data']['host']['99-0-0']['measure_target_latitude'] (无人机)
+    if (rawData['data'] is Map && 
+        (rawData['data'] as Map)['host'] is Map) {
+      final host = (rawData['data'] as Map)['host'] as Map;
+      
+      // 尝试从 99-0-0 载荷获取（无人机）
+      if (host.containsKey('99-0-0') && host['99-0-0'] is Map) {
+        final payload = host['99-0-0'] as Map;
+        lat = (payload['measure_target_latitude'] as num?)?.toDouble();
+        lng = (payload['measure_target_longitude'] as num?)?.toDouble();
+        debugPrint('✅ [DroneVideoControlPage] 从 99-0-0 获取位置: lat=$lat, lng=$lng');
+      }
+      
+      // 如果 99-0-0 中没有，尝试从 host 直接获取（机场）
+      if (lat == null || lng == null) {
+        lat = (host['latitude'] as num?)?.toDouble();
+        lng = (host['longitude'] as num?)?.toDouble();
+        if (lat != null && lng != null) {
+          debugPrint('✅ [DroneVideoControlPage] 从 host 获取位置: lat=$lat, lng=$lng');
+        }
+      }
+      
+      // 获取航向角
+      heading = (host['attitude_head'] as num?)?.toDouble() ??
+                (host['heading'] as num?)?.toDouble();
+    }
+    
+    // 兼容旧格式：直接从 rawData 获取
+    if (lat == null || lng == null) {
+      lat = lat ?? (rawData['latitude'] as num?)?.toDouble() ?? 
+                  (rawData['lat'] as num?)?.toDouble();
+      lng = lng ?? (rawData['longitude'] as num?)?.toDouble() ?? 
+                  (rawData['lng'] as num?)?.toDouble() ?? 
+                  (rawData['lon'] as num?)?.toDouble();
+      heading = heading ?? (rawData['heading'] as num?)?.toDouble() ??
+                           (rawData['attitudeHeading'] as num?)?.toDouble();
+    }
+  
+    debugPrint('🛰️ [DroneVideoControlPage] 收到 OSD 数据');
+    debugPrint('   lat=$lat, lng=$lng, heading=$heading');
+    debugPrint('   当前轨迹点数: ${_trajectoryPoints.length}');
+    debugPrint('   当前位置: $_currentPosition');
+  
+    // 验证位置有效性
+    if (lat != null && lng != null && lat.abs() <= 90 && lng.abs() <= 180) {
+      final newPos = LatLng(lat, lng);
+      
+      setState(() {
+        // 更新当前位置（驱动飞机 Marker）
+        _currentPosition = newPos;
+        _currentHeading = heading;
+  
+        // 轨迹"拉烟"逻辑：距离过滤（防止 GPS 抖动导致轨迹像乱麻）
+        if (_trajectoryPoints.isEmpty) {
+          _trajectoryPoints.add(newPos);
+          debugPrint('✅ [DroneVideoControlPage] 添加第一个轨迹点: $newPos');
+          
+          // 🔥 重要：第一个点添加后，等待 UI 构建完成再移动地图
+          WidgetsBinding.instance.addPostFrameCallback((_) {
+            if (_mapController != null && mounted) {
+              _mapController!.move(newPos, 18);  // 缩放到 18 级
+              debugPrint('🗺️ [DroneVideoControlPage] 首次定位到: $newPos');
+            }
+          });
+        } else {
+          final distance = _calculateDistance(
+            _trajectoryPoints.last.latitude,
+            _trajectoryPoints.last.longitude,
+            lat!,  // ✅ 空安全：已经通过 if 检查，使用 ! 断言
+            lng!,  // ✅ 空安全：已经通过 if 检查，使用 ! 断言
+          );
+          debugPrint('   📏 距离上一个点: ${distance.toStringAsFixed(2)} 米');
+          // 只有移动超过 0.5 米才画线，否则认为是原地漂移
+          if (distance > 0.5) {
+            _trajectoryPoints.add(newPos);
+            debugPrint('✅ [DroneVideoControlPage] 添加新轨迹点，当前总数: ${_trajectoryPoints.length}');
+            // 性能优化：只保留最近 1000 个点
+            if (_trajectoryPoints.length > 1000) {
+              _trajectoryPoints.removeAt(0);
+            }
+          } else {
+            debugPrint('⚠️ [DroneVideoControlPage] 距离不足0.5米（${distance.toStringAsFixed(2)}m），跳过此点');
+          }
+        }
+      });
+  
+      // 地图跟随：后续点也移动地图（保持飞机在视野中）
+      WidgetsBinding.instance.addPostFrameCallback((_) {
+        if (_mapController != null && mounted) {
+          _mapController!.move(newPos, _mapController!.camera.zoom);
+          debugPrint('🗺️ [DroneVideoControlPage] 地图已移动到: $newPos');
+        }
+      });
+    } else {
+      debugPrint('⚠️ [DroneVideoControlPage] 位置数据无效: lat=$lat, lng=$lng');
+    }
+  }
+
+  /// 🔥 计算两点之间的距离（米）
+  double _calculateDistance(double lat1, double lon1, double lat2, double lon2) {
+    const p = 0.017453292519943295; // Math.PI / 180
+    final a = 0.5 -
+        cos((lat2 - lat1) * p) / 2 +
+        cos(lat1 * p) * cos(lat2 * p) * (1 - cos((lon2 - lon1) * p)) / 2;
+    return 12742 * asin(sqrt(a)) * 1000; // 2 * R * asin(sqrt(a)) * 1000 (R = 6371km)
+  }
+
  // 初始化火山引擎事件处理器
  void _initVolcEventHandlers() {
    _engineEventHandler.onWarning = (volc.WarningCode code) {
@@ -522,7 +684,7 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
              }
            } else if (state is UavVideoStreamError) {
              setState(() {
-                _errorMessage = state.message;
+                _errorMessage = '暂无视频';
                _isLoading = false;
              });
            }
@@ -537,11 +699,15 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
                    children: [
                      _buildVideoPlayer(),
                      const SizedBox(height: 12),
+                      // 🔥 实时轨迹地图（放在视频和飞行数据之间）
+                      _buildTrajectoryMap(),
+                      const SizedBox(height: 12),
                      _buildFlightData(),
                      const SizedBox(height: 12),
                      _buildAIResults(),
                      const SizedBox(height: 12),
-                      _buildMapAndJoystick(),
+                      // 🔥 摇杆控制（单独一行）
+                      _buildJoystickControl(),
                      const SizedBox(height: 16),
                      _buildBottomToolbar(),
                    ],
@@ -901,12 +1067,149 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
    );
  }

-  Widget _buildMapAndJoystick() {
-    return Row(
+  /// 🔥 实时轨迹地图（放在视频和飞行数据之间）
+  Widget _buildTrajectoryMap() {
+    debugPrint('🗺️ [DroneVideoControlPage] 构建地图轨迹组件');
+    debugPrint('   currentPosition: $_currentPosition');
+    debugPrint('   currentHeading: $_currentHeading');
+    debugPrint('   trajectoryPoints.length: ${_trajectoryPoints.length}');
+    
+    return Container(
+      height: 200,
+      decoration: BoxDecoration(
+        color: const Color(0xFFF7F8FA),
+        borderRadius: BorderRadius.circular(12),
+        border: Border.all(color: Colors.grey.withOpacity(0.2)),
+      ),
+      child: ClipRRect(
+        borderRadius: BorderRadius.circular(12),
+        child: Stack(
          children: [
-        Expanded(
+            // 🔥 地图
+            FlutterMap(
+              mapController: _mapController ??= MapController(),  // ✅ 懒加载初始化
+              options: MapOptions(
+                initialCenter: _currentPosition ?? const LatLng(39.9042, 116.4074),
+                initialZoom: 18,
+                interactionOptions: const InteractionOptions(
+                  flags: InteractiveFlag.all & ~InteractiveFlag.rotate,
+                ),
+              ),
+              children: [
+                // 高德地图瓦片（最底层）
+                TileLayer(
+                  urlTemplate: 'https://webst0{s}.is.autonavi.com/appmaptile?style=6&x={x}&y={y}&z={z}',
+                  subdomains: ['1', '2', '3', '4'],
+                  userAgentPackageName: 'com.example.app',
+                ),
+
+                // 🔥 轨迹线（中间层）
+                if (_trajectoryPoints.length >= 1)
+                  PolylineLayer(
+                    polylines: [
+                      Polyline(
+                        points: _trajectoryPoints,
+                        color: const Color(0xFF00B42A).withOpacity(0.9),
+                        strokeWidth: 4,
+                        borderColor: Colors.white,
+                        borderStrokeWidth: 2,
+                      ),
+                    ],
+                  ),
+
+                // 🔥 无人机当前位置标记（最上层）
+                if (_currentPosition != null)
+                  MarkerLayer(
+                    markers: [
+                      Marker(
+                        key: const ValueKey('drone_marker'),
+                        point: _currentPosition!,
+                        width: 40,
+                        height: 40,
+                        child: Transform.rotate(
+                          angle: (_currentHeading ?? 0) * pi / 180,
+                          alignment: Alignment.center,
+                          child: const Icon(
+                            Icons.flight,
+                            color: Color(0xFF165DFF),
+                            size: 32,
+                          ),
+                        ),
+                      ),
+                    ],
+                  ),
+              ],
+            ),
+
+            // 🔥 GPS定位标签
+            Positioned(
+              top: 8,
+              left: 8,
              child: Container(
-            height: 160,
+                padding: const EdgeInsets.symmetric(horizontal: 8, vertical: 4),
+                decoration: BoxDecoration(
+                  color: Colors.green,
+                  borderRadius: BorderRadius.circular(4),
+                ),
+                child: Row(
+                  mainAxisSize: MainAxisSize.min,
+                  children: [
+                    Container(
+                      width: 6,
+                      height: 6,
+                      decoration: const BoxDecoration(
+                        color: Colors.white,
+                        shape: BoxShape.circle,
+                      ),
+                    ),
+                    const SizedBox(width: 4),
+                    const Text(
+                      'GPS定位',
+                      style: TextStyle(fontSize: 10, color: Colors.white),
+                    ),
+                  ],
+                ),
+              ),
+            ),
+
+            // 🔥 轨迹点数
+            if (_trajectoryPoints.isNotEmpty)
+              Positioned(
+                top: 8,
+                right: 8,
+                child: Container(
+                  padding: const EdgeInsets.symmetric(horizontal: 8, vertical: 4),
+                  decoration: BoxDecoration(
+                    color: Colors.black54,
+                    borderRadius: BorderRadius.circular(4),
+                  ),
+                  child: Text(
+                    '轨迹点: ${_trajectoryPoints.length}',
+                    style: const TextStyle(fontSize: 10, color: Colors.white),
+                  ),
+                ),
+              ),
+
+            // 🔥 等待定位提示
+            if (_currentPosition == null)
+              const Positioned(
+                bottom: 8,
+                right: 8,
+                child: Text(
+                  '等待定位...',
+                  style: TextStyle(fontSize: 10, color: Colors.black54),
+                ),
+              ),
+          ],
+        ),
+      ),
+    );
+  }
+
+  /// 🔥 摇杆控制（单独一行）
+  Widget _buildJoystickControl() {
+    return Container(
+      height: 200,
      decoration: BoxDecoration(
        color: Colors.white,
        borderRadius: BorderRadius.circular(12),
@@ -918,12 +1221,197 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
          ),
        ],
      ),
+      child: Stack(
+        alignment: Alignment.center,
+        children: [
+          Container(
+            width: 40,
+            height: 40,
+            decoration: BoxDecoration(
+              color: const Color(0xFFC9CDD4),
+              shape: BoxShape.circle,
+            ),
+          ),
+          Positioned(
+            top: 16,
+            child: IconButton(
+              icon: const Icon(
+                Icons.arrow_drop_up,
+                size: 32,
+                color: Color(0xFF4E5969),
+              ),
+              onPressed: () {},
+            ),
+          ),
+          Positioned(
+            bottom: 16,
+            child: IconButton(
+              icon: const Icon(
+                Icons.arrow_drop_down,
+                size: 32,
+                color: Color(0xFF4E5969),
+              ),
+              onPressed: () {},
+            ),
+          ),
+          Positioned(
+            left: 16,
+            child: IconButton(
+              icon: const Icon(
+                Icons.arrow_left,
+                size: 32,
+                color: Color(0xFF4E5969),
+              ),
+              onPressed: () {},
+            ),
+          ),
+          Positioned(
+            right: 16,
+            child: IconButton(
+              icon: const Icon(
+                Icons.arrow_right,
+                size: 32,
+                color: Color(0xFF4E5969),
+              ),
+              onPressed: () {},
+            ),
+          ),
+        ],
+      ),
+    );
+  }
+
+  Widget _buildMapAndJoystick() {
+    return Row(
+      children: [
+        Expanded(
+          child: Container(
+            height: 200,
+            decoration: BoxDecoration(
+              color: const Color(0xFFF7F8FA),
+              borderRadius: BorderRadius.circular(12),
+              border: Border.all(color: Colors.grey.withOpacity(0.2)),
+            ),
            child: ClipRRect(
              borderRadius: BorderRadius.circular(12),
-              child: Image.asset(
-                'assets/images/xunjian.png',
-                fit: BoxFit.cover,
-                width: double.infinity,
+              child: Stack(
+                children: [
+                  // 🔥 地图
+                  FlutterMap(
+                    mapController: _mapController,
+                    options: MapOptions(
+                      initialCenter: _currentPosition ?? const LatLng(39.9042, 116.4074),
+                      initialZoom: 18,
+                      interactionOptions: const InteractionOptions(
+                        flags: InteractiveFlag.all & ~InteractiveFlag.rotate,
+                      ),
+                    ),
+                    children: [
+                      // 高德地图瓦片（最底层）
+                      TileLayer(
+                        urlTemplate: 'https://webst0{s}.is.autonavi.com/appmaptile?style=6&x={x}&y={y}&z={z}',
+                        subdomains: ['1', '2', '3', '4'],
+                        userAgentPackageName: 'com.example.app',
+                      ),
+
+                      // 🔥 轨迹线（中间层）
+                      if (_trajectoryPoints.length >= 1)
+                        PolylineLayer(
+                          polylines: [
+                            Polyline(
+                              points: _trajectoryPoints,
+                              color: const Color(0xFF00B42A).withOpacity(0.9),
+                              strokeWidth: 4,
+                              borderColor: Colors.white,
+                              borderStrokeWidth: 2,
+                            ),
+                          ],
+                        ),
+
+                      // 🔥 无人机当前位置标记（最上层）
+                      if (_currentPosition != null)
+                        MarkerLayer(
+                          markers: [
+                            Marker(
+                              key: const ValueKey('drone_marker'),
+                              point: _currentPosition!,
+                              width: 40,
+                              height: 40,
+                              child: Transform.rotate(
+                                angle: (_currentHeading ?? 0) * pi / 180,
+                                alignment: Alignment.center,
+                                child: const Icon(
+                                  Icons.flight,
+                                  color: Color(0xFF165DFF),
+                                  size: 32,
+                                ),
+                              ),
+                            ),
+                          ],
+                        ),
+                    ],
+                  ),
+
+                  // 🔥 GPS定位标签
+                  Positioned(
+                    top: 8,
+                    left: 8,
+                    child: Container(
+                      padding: const EdgeInsets.symmetric(horizontal: 8, vertical: 4),
+                      decoration: BoxDecoration(
+                        color: Colors.green,
+                        borderRadius: BorderRadius.circular(4),
+                      ),
+                      child: Row(
+                        mainAxisSize: MainAxisSize.min,
+                        children: [
+                          Container(
+                            width: 6,
+                            height: 6,
+                            decoration: const BoxDecoration(
+                              color: Colors.white,
+                              shape: BoxShape.circle,
+                            ),
+                          ),
+                          const SizedBox(width: 4),
+                          const Text(
+                            'GPS定位',
+                            style: TextStyle(fontSize: 10, color: Colors.white),
+                          ),
+                        ],
+                      ),
+                    ),
+                  ),
+
+                  // 🔥 轨迹点数
+                  if (_trajectoryPoints.isNotEmpty)
+                    Positioned(
+                      top: 8,
+                      right: 8,
+                      child: Container(
+                        padding: const EdgeInsets.symmetric(horizontal: 8, vertical: 4),
+                        decoration: BoxDecoration(
+                          color: Colors.black54,
+                          borderRadius: BorderRadius.circular(4),
+                        ),
+                        child: Text(
+                          '轨迹点: ${_trajectoryPoints.length}',
+                          style: const TextStyle(fontSize: 10, color: Colors.white),
+                        ),
+                      ),
+                    ),
+
+                  // 🔥 等待定位提示
+                  if (_currentPosition == null)
+                    const Positioned(
+                      bottom: 8,
+                      right: 8,
+                      child: Text(
+                        '等待定位...',
+                        style: TextStyle(fontSize: 10, color: Colors.black54),
+                      ),
+                    ),
+                ],
              ),
            ),
          ),
@@ -931,7 +1419,7 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
        const SizedBox(width: 12),
        Expanded(
          child: Container(
-            height: 160,
+            height: 200,
            decoration: BoxDecoration(
              color: Colors.white,
              borderRadius: BorderRadius.circular(12),
--- a/lib/features/v2/device_list/presentation/pages/robot_control_page.dart
+++ b/lib/features/v2/device_list/presentation/pages/robot_control_page.dart
@@ -25,13 +25,32 @@ class RobotControlPage extends StatelessWidget {
          icon: const Icon(Icons.arrow_back, color: Color(0xFF1D2129)),
          onPressed: () => Navigator.pop(context),
        ),
-        title: Text(
-          '${robot['type']}控制',
+        title: Column(
+          mainAxisSize: MainAxisSize.min,
+          children: [
+            Text(
+              robot['alias'] != null && (robot['alias'] as String).isNotEmpty
+                  ? robot['alias']
+                  : '暂无别名',
              style: const TextStyle(
-            fontSize: 18,
+                fontSize: 16,
                fontWeight: FontWeight.bold,
                color: Color(0xFF1D2129),
              ),
+              textAlign: TextAlign.center,
+            ),
+            const SizedBox(height: 2),
+            Text(
+              robot['name'] ?? '', // 🔥 使用 name 字段（长序列号 deviceName）
+              style: const TextStyle(
+                fontSize: 11,
+                color: Color(0xFF86909C),
+              ),
+              textAlign: TextAlign.center,
+              maxLines: 2,
+              softWrap: true,
+            ),
+          ],
        ),
        centerTitle: true,
        actions: [
--- a/lib/features/v2/device_list/presentation/pages/robot_list_page.dart
+++ b/lib/features/v2/device_list/presentation/pages/robot_list_page.dart
@@ -112,7 +112,8 @@ class _RobotListViewState extends State<RobotListView> {
        .where((r) => r.status == '在线')
        .length;
    final onlineCleaning = cleaningRobots.where((r) => r.status == '在线').length;
-    final onlineWeeding = weedingRobots.where((r) => r.status == '在线').length;
+    // 暂且所有设备都视为除草机器人，在线数使用总数
+    final onlineWeeding = allRobots.where((r) => r.status == '在线').length;
    return Container(
      margin: const EdgeInsets.fromLTRB(16, 16, 16, 12),
      padding: const EdgeInsets.symmetric(vertical: 16),
@@ -351,7 +352,7 @@ class _RobotListViewState extends State<RobotListView> {
                      ),
                      const SizedBox(width: 8),
                      Text(
-                        '${weedingRobots.length}',
+                        '${allRobots.length}',
                        style: TextStyle(
                          fontSize: 28,
                          fontWeight: FontWeight.bold,
--- a/lib/features/v2/device_list/presentation/widgets/drone_osd_card.dart
+++ b/lib/features/v2/device_list/presentation/widgets/drone_osd_card.dart
@@ -70,7 +70,10 @@ class _DroneOsdCardState extends State<DroneOsdCard> {
    _subscription = _dataSource.droneOsdStream.listen((osd) {
      if (!mounted) return;

-      debugPrint('📥 [DroneOsdCard] 收到无人机 OSD 数据');
+      // 🔥 打印完整的 MQTT 原始数据（不做任何解析）
+      debugPrint('\n========== 📥 [无人机OSD] 完整原始数据 ==========');
+      debugPrint('${osd.rawData}');
+      debugPrint('===========================================\n');

      setState(() {
        _currentOsd = osd;
@@ -115,7 +118,9 @@ class _DroneOsdCardState extends State<DroneOsdCard> {
      return;
    }

-    debugPrint('📊 [DroneOsdCard] 数据键: ${droneData.keys.toList()}');
+    // 🔥 打印完整原始数据（用于调试）
+    debugPrint('📊 [DroneOsdCard] drone/host 数据键: ${droneData.keys.toList()}');
+    debugPrint('📊 [DroneOsdCard] 完整原始数据: $droneData');

    // ========== 1. 基础飞行信息 ==========
    // 无人机高度（height / altitude）
@@ -321,28 +326,28 @@ class _DroneOsdCardState extends State<DroneOsdCard> {
            ? const Color(0xFF00B42A)
            : const Color(0xFFFF7D00),
      },
-      {
-        'icon': Icons.signal_cellular_alt,
-        'label': '遥控信号',
-        'key': 'rcSignal',
-        'newValue': rcSignal != null ? '$rcSignal%' : null,
-        'color': rcSignal != null && rcSignal > 80
-            ? const Color(0xFF00B42A)
-            : rcSignal != null && rcSignal > 50
-            ? const Color(0xFFFF7D00)
-            : const Color(0xFFF53F3F),
-      },
-      {
-        'icon': Icons.video_label,
-        'label': '图传信号',
-        'key': 'videoSignal',
-        'newValue': videoSignal != null ? '$videoSignal%' : null,
-        'color': videoSignal != null && videoSignal > 80
-            ? const Color(0xFF00B42A)
-            : videoSignal != null && videoSignal > 50
-            ? const Color(0xFFFF7D00)
-            : const Color(0xFFF53F3F),
-      },
+      // {
+      //   'icon': Icons.signal_cellular_alt,
+      //   'label': '遥控信号',
+      //   'key': 'rcSignal',
+      //   'newValue': rcSignal != null ? '$rcSignal%' : null,
+      //   'color': rcSignal != null && rcSignal > 80
+      //       ? const Color(0xFF00B42A)
+      //       : rcSignal != null && rcSignal > 50
+      //       ? const Color(0xFFFF7D00)
+      //       : const Color(0xFFF53F3F),
+      // },
+      // {
+      //   'icon': Icons.video_label,
+      //   'label': '图传信号',
+      //   'key': 'videoSignal',
+      //   'newValue': videoSignal != null ? '$videoSignal%' : null,
+      //   'color': videoSignal != null && videoSignal > 80
+      //       ? const Color(0xFF00B42A)
+      //       : videoSignal != null && videoSignal > 50
+      //       ? const Color(0xFFFF7D00)
+      //       : const Color(0xFFF53F3F),
+      // },
      {
        'icon': Icons.flight,
        'label': '飞行模式',
@@ -350,22 +355,22 @@ class _DroneOsdCardState extends State<DroneOsdCard> {
        'newValue': flightMode,
        'color': const Color(0xFF165DFF),
      },
-      {
-        'icon': Icons.radio_button_checked,
-        'label': '任务进度',
-        'key': 'mission',
-        'newValue': missionProgress != null ? '$missionProgress%' : null,
-        'color': const Color(0xFF00B42A),
-      },
-      {
-        'icon': Icons.map,
-        'label': '航点',
-        'key': 'waypoint',
-        'newValue': (currentWaypoint != null && waypointCount != null)
-            ? '$currentWaypoint/$waypointCount'
-            : null,
-        'color': const Color(0xFF722ED1),
-      },
+      // {
+      //   'icon': Icons.radio_button_checked,
+      //   'label': '任务进度',
+      //   'key': 'mission',
+      //   'newValue': missionProgress != null ? '$missionProgress%' : null,
+      //   'color': const Color(0xFF00B42A),
+      // },
+      // {
+      //   'icon': Icons.map,
+      //   'label': '航点',
+      //   'key': 'waypoint',
+      //   'newValue': (currentWaypoint != null && waypointCount != null)
+      //       ? '$currentWaypoint/$waypointCount'
+      //       : null,
+      //   'color': const Color(0xFF722ED1),
+      // },
    ];

    // 应用缓存逻辑：有新值则更新缓存，否则使用旧值
--- a/lib/features/v2/device_list/presentation/widgets/drone_station_item_card.dart
+++ b/lib/features/v2/device_list/presentation/widgets/drone_station_item_card.dart
@@ -135,10 +135,9 @@ class DroneStationItemCard extends StatelessWidget {
                      // ],
                    ],
                  ),
-                  //
-                  // const SizedBox(height: 12),
-                  //
-                  // // 电量卡片
+                  const SizedBox(height: 12),
+
+                  // 🔥 电量状态 - 已隐藏
                  // _buildInfoCard(
                  //   title: '电量状态',
                  //   icon: Icons.battery_full_rounded,
@@ -146,10 +145,10 @@ class DroneStationItemCard extends StatelessWidget {
                  //   value: station.capacityPercent != null ? '${station.capacityPercent}%' : '未知',
                  //   progressValue: station.capacityPercent,
                  // ),
-                  //
+
                  // const SizedBox(height: 12),
-                  //
-                  // // 环境信息卡片
+
+                  // 🔥 环境监测 - 已隐藏
                  // _buildSectionCard(
                  //   title: '环境监测',
                  //   icon: Icons.thermostat_rounded,
--- a/lib/features/v2/device_list/presentation/widgets/drone_station_osd_card.dart
+++ b/lib/features/v2/device_list/presentation/widgets/drone_station_osd_card.dart
@@ -66,7 +66,10 @@ class _DroneStationOsdCardState extends State<DroneStationOsdCard> {
    _subscription = _dataSource.stationOsdStream.listen((osd) {
      if (!mounted) return;
      
-      //debugPrint('📥 [DroneStationOsdCard] 收到机场 OSD 原始数据');
+      // 🔥 打印完整的 MQTT 原始数据（不做任何解析）
+      debugPrint('\n========== 📥 [机场OSD] 完整原始数据 ==========');
+      debugPrint('${osd.rawData}');
+      debugPrint('===========================================\n');
      
      setState(() {
        _currentOsd = osd;
@@ -95,8 +98,11 @@ class _DroneStationOsdCardState extends State<DroneStationOsdCard> {
      return;
    }
    
-   // debugPrint('📊 [DroneStationOsdCard] 开始解析 OSD 数据...');
-    //debugPrint('📊 [DroneStationOsdCard] host 数据键: ${hostData.keys.toList()}');
+    // 🔥 打印完整的 host 数据键，查看所有可用字段
+    debugPrint('📊 [DroneStationOsdCard] host 数据键: ${hostData.keys.toList()}');
+    
+    // 🔥 打印完整原始数据（用于调试）
+    debugPrint('📊 [DroneStationOsdCard] 完整原始数据: $hostData');
    
    // ========== 1. 电池相关 ==========
    // 提取无人机电量（从 drone_battery_maintenance_info.batteries[0].capacity_percent）
--- a/lib/features/v2/device_list/presentation/widgets/robot_header_card.dart
+++ b/lib/features/v2/device_list/presentation/widgets/robot_header_card.dart
@@ -1,6 +1,7 @@
 import 'package:flutter/material.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:maibu_satabot_v2/core/app/app_user_cubit.dart';
+import 'package:maibu_satabot_v2/core/app/app_user_state.dart'; // 🔥 导入 AppUserState
 import 'package:maibu_satabot_v2/core/consts/tcp_consts.dart';
 import 'package:maibu_satabot_v2/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart';

@@ -15,7 +16,6 @@ class RobotHeaderCard extends StatefulWidget {
 }

 class _RobotHeaderCardState extends State<RobotHeaderCard> {
-  String _videoStreamUrl = '';
  int _currentViewIndex = 0; // 0=前, 1=后, 2=左, 3=右, 4=上

  // 视角配置
@@ -30,30 +30,7 @@ class _RobotHeaderCardState extends State<RobotHeaderCard> {
  @override
  void initState() {
    super.initState();
-    _initVideoUrl();
-  }
-
-  /// 初始化视频流 URL
-  void _initVideoUrl() {
-    final userState = context.read<AppUserCubit>().state;
-    final deviceId = widget.robot['id'] as String?;
-    
-    debugPrint(' [RobotHeaderCard] 开始初始化视频URL');
-    debugPrint('🎬 [RobotHeaderCard] deviceId: $deviceId');
-    debugPrint('🎬 [RobotHeaderCard] user: ${userState.user}');
-    debugPrint('🎬 [RobotHeaderCard] token: ${userState.user?.token}');
-    
-    if (deviceId != null && deviceId.isNotEmpty && userState.user != null && userState.user!.token != null) {
-      setState(() {
-        _videoStreamUrl = "webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId?token=${userState.user!.token}";
-      });
-      debugPrint('✅ [RobotHeaderCard] 视频URL初始化成功: $_videoStreamUrl');
-    } else {
-      debugPrint('❌ [RobotHeaderCard] 视频URL初始化失败');
-      debugPrint('   - deviceId.isEmpty: ${deviceId == null || deviceId.isEmpty}');
-      debugPrint('   - user == null: ${userState.user == null}');
-      debugPrint('   - token == null: ${userState.user?.token == null}');
-    }
+    debugPrint('🎬 [RobotHeaderCard] 初始化 - robot: ${widget.robot}');
  }

  @override
@@ -147,12 +124,43 @@ class _RobotHeaderCardState extends State<RobotHeaderCard> {
            aspectRatio: 16 / 9,
            child: Container(
              color: Colors.black, // 🔥 强制整个视频区域为黑色背景
-              child: _videoStreamUrl.isNotEmpty
+              child: BlocBuilder<AppUserCubit, AppUserState>(
+                builder: (context, userState) {
+                  final deviceId = widget.robot['name'] as String?; // 🔥 使用 name 字段（长序列号）
+                  String videoStreamUrl = '';
+                  
+                  debugPrint('🎬 [RobotHeaderCard] BlocBuilder 重建');
+                  debugPrint('   - deviceId (name): $deviceId');
+                  debugPrint('   - user != null: ${userState.user != null}');
+                  debugPrint('   - token != null: ${userState.user?.token != null}');
+                  debugPrint('   - TCP_IP: ${TCPConsts.TCP_IP}');
+                  
+                  if (deviceId != null && 
+                      deviceId.isNotEmpty && 
+                      userState.user != null && 
+                      userState.user!.token != null) {
+                    videoStreamUrl = "webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId?token=${userState.user!.token}";
+                    debugPrint('✅ [RobotHeaderCard] 视频URL构建成功: $videoStreamUrl');
+                  } else {
+                    debugPrint('❌ [RobotHeaderCard] 视频URL构建失败');
+                    if (deviceId == null || deviceId.isEmpty) {
+                      debugPrint('   - 原因: deviceId 为空');
+                    }
+                    if (userState.user == null) {
+                      debugPrint('   - 原因: user 为 null');
+                    }
+                    if (userState.user?.token == null) {
+                      debugPrint('   - 原因: token 为 null');
+                    }
+                  }
+                  
+                  return videoStreamUrl.isNotEmpty
                      ? WebRTCLocalPlayer(
-                      streamUrl: _videoStreamUrl,
-                      showLeftPip: false, // 不显示悬浮小窗
+                          key: ValueKey(videoStreamUrl),
+                          streamUrl: videoStreamUrl,
+                          showLeftPip: false,
                          showRightPip: false,
-                      isFrontMain: _currentViewIndex == 0, // 根据当前视角决定主画面
+                          mainViewAlignment: _viewConfigs[_currentViewIndex]['alignment'] as Alignment,
                        )
                      : Center(
                          child: Column(
@@ -161,11 +169,13 @@ class _RobotHeaderCardState extends State<RobotHeaderCard> {
                              Icon(Icons.videocam_off, size: 48, color: Colors.white54),
                              const SizedBox(height: 12),
                              Text(
-                            '无视频信号',
+                                '暂无视频',
                                style: TextStyle(color: Colors.white70, fontSize: 14, fontWeight: FontWeight.w500),
                              ),
                            ],
                          ),
+                        );
+                },
              ),
            ),
          ),
@@ -224,3 +234,5 @@ class _RobotHeaderCardState extends State<RobotHeaderCard> {
    );
  }
 }
+
+
--- a/lib/features/v2/device_list/presentation/widgets/robot_item_card.dart
+++ b/lib/features/v2/device_list/presentation/widgets/robot_item_card.dart
@@ -73,7 +73,7 @@ class RobotItemCard extends StatelessWidget {
                    crossAxisAlignment: CrossAxisAlignment.start,
                    children: [
                      Text(
-                        name,
+                        alias != null && alias!.isNotEmpty ? alias! : '暂无别名',
                        style: const TextStyle(
                          fontSize: 14,
                          fontWeight: FontWeight.bold,
@@ -84,13 +84,13 @@ class RobotItemCard extends StatelessWidget {
                      ),
                      const SizedBox(height: 4),
                      Text(
-                        alias != null && alias!.isNotEmpty
-                            ? '别名: $alias'
-                            : 'ID: $id',
+                        name, // 🔥 显示完整的长序列号 (deviceName)
                        style: const TextStyle(
-                          fontSize: 12,
+                          fontSize: 11,
                          color: Color(0xFF86909C),
                        ),
+                        maxLines: 2,
+                        softWrap: true,
                      ),
                    ],
                  ),
--- a/lib/main.dart
+++ b/lib/main.dart
@@ -199,9 +199,10 @@ class _UpdateCheckerState extends State<_UpdateChecker> {
  @override
  void initState() {
    super.initState();
-    Future.delayed(const Duration(seconds: 2), () {
-      if (mounted) context.read<UpdateCubit>().checkUpdate();
-    });
+    // TODO: 暂时注释掉应用启动时的自动更新检查
+    // Future.delayed(const Duration(seconds: 2), () {
+    //   if (mounted) context.read<UpdateCubit>().checkUpdate();
+    // });
  }

  @override