地图打点
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@@ -30,31 +30,21 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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AreaMode _currentAreaMode = AreaMode.work; //作业区域还是障碍物区域
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WorkMode? _currentWorkMode = WorkMode.bow; // 当前作业模式
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// ========== 新增：打点相关状态 ==========
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List<LatLng> _markedPoints = []; // 存储所有打点的坐标
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int _pointIndex = 1; // 打点序号（用于标记显示）
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void _addMapMarker() {
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// 1. 获取当前地图中心的坐标
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LatLng centerLatLng = _mapController.center;
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// 2. 记录打点坐标（带序号）
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setState(() {
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_markedPoints.add(centerLatLng);
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});
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// 3. 打印打点信息（调试用）
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debugPrint(
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'第$_pointIndex个点：纬度=${centerLatLng.latitude.toStringAsFixed(6)}，经度=${centerLatLng.longitude.toStringAsFixed(6)}',
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);
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// 4. 序号自增
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_pointIndex++;
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}
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// ========== 核心新增状态 ==========
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List<LatLng> _markedPoints = []; // 存储所有打点坐标
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LatLng get _mapCenter => _mapController.center; // 实时获取地图中心坐标
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// =================================
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@override
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void initState() {
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super.initState();
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_initLocationEnterprise();
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// 监听地图移动事件，实时更新连线
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_mapController.mapEventStream.listen((event) {
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if (event is MapEventMove || event is MapEventMoveEnd) {
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setState(() {}); // 触发UI刷新，更新连线
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}
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});
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}
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/// ===============================
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@@ -114,6 +104,16 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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_mapController.move(_currentLatLng!, 17);
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}
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// ========== 核心方法：打点逻辑 ==========
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void _addMarkedPoint() {
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setState(() {
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_markedPoints.add(_mapCenter); // 在地图中心打点
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});
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debugPrint(
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'新增打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude.toStringAsFixed(6)}, ${_mapCenter.longitude.toStringAsFixed(6)}',
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);
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}
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@override
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void dispose() {
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_positionSub?.cancel();
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@@ -129,6 +129,7 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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body: SafeArea(
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child: Stack(
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children: [
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// 地图核心组件
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FlutterMap(
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mapController: _mapController,
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options: MapOptions(
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@@ -136,6 +137,8 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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_currentLatLng ?? const LatLng(39.9042, 116.4074),
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initialZoom: 15,
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maxZoom: 18,
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// 禁止地图点击事件（避免和中心标冲突）
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onTap: (_, __) {}, // 空实现，禁用地图点击响应
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),
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children: [
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/// 高德瓦片（GCJ-02）
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@@ -146,14 +149,30 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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'&key=bbb1f0f20eed6bf679eddf2625630aba',
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),
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/// ========== 新增：中心标与历史打点的虚线连线 ==========
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if (_markedPoints.isNotEmpty)
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PolylineLayer(
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polylines: [
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for (var point in _markedPoints)
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Polyline(
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points: [_mapCenter, point], // 中心标 ↔ 历史打点
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color: Colors.orange.withOpacity(
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0.5,
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), // 降低透明度，模拟虚线视觉效果
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strokeWidth: 1.5, // 调细一点，更接近虚线
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// 去掉 dashArray，直接用实线
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),
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],
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),
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/// 当前定位 Marker
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if (_currentLatLng != null)
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MarkerLayer(
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markers: [
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Marker(
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point: _currentLatLng!,
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width: 40,
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height: 40,
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width: 20,
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height: 20,
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child: const Icon(
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Icons.my_location,
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color: Colors.blue,
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@@ -162,76 +181,128 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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),
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],
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),
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/// ========== 新增：历史打点的绿色标记 ==========
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MarkerLayer(
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markers: _markedPoints.asMap().entries.map((entry) {
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int index = entry.key + 1; // 打点序号（从1开始）
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LatLng point = entry.value;
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return Marker(
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point: point,
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width: 80,
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height: 40,
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child: Column(
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mainAxisSize: MainAxisSize.min,
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children: [
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// 绿色打点标记
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Container(
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width: 16,
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height: 16,
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decoration: const BoxDecoration(
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color: Color(0xFF00C853), // 绿色主题色
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shape: BoxShape.circle,
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boxShadow: [
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BoxShadow(color: Colors.black12, blurRadius: 2),
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],
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),
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child: Center(
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child: Text(
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'$index',
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style: const TextStyle(
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color: Colors.white,
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fontSize: 10,
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fontWeight: FontWeight.bold,
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),
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),
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),
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),
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],
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),
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);
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}).toList(),
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),
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],
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),
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/// ========== 核心：地图正中心固定定位标 ==========
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const Positioned(
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left: 0,
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right: 0,
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top: 0,
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bottom: 0,
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child: Center(
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child: Icon(
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Icons.location_pin, // 定位标图标
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color: Colors.red, // 红色醒目
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size: 30,
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shadows: [BoxShadow(color: Colors.white, blurRadius: 2)],
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),
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),
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),
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// 右侧悬浮菜单
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Positioned(
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height: 336,
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right: 16,
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top: maxTop > 10 ? 11 : maxTop, // 确保不超出屏幕范围
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top: maxTop > 10 ? 11 : maxTop,
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child: FloatingActionButton(
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onPressed: _moveToCurrentLocation,
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child: new VerticalFloatMenu(
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onEditTap: (bool isOpen) {
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// 关键：接收子组件的回调，修改外部的_isPanelOpen
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setState(() {
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_isPanelOpen = isOpen;
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});
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},
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onWorkModeSelected: (mode) {
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// 接收作业模式选择结果
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_currentWorkMode = mode;
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debugPrint('外部收到作业模式：$mode');
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},
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),
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),
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),
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// 底部操作面板
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if (_isPanelOpen)
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Positioned(
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left: 0,
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right: 0,
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bottom: 0,
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child: BottomOperationPanel(
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// 传入初始值
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initialRobotMode: RobotMode.point,
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initialAreaMode: AreaMode.work,
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// 接收面板的事件回调
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onComplete: () {
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// 完成按钮点击：关闭面板
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setState(() => _isPanelOpen = false);
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},
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onRobotModeChanged: (mode) {
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// 接收机器人模式变更
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setState(() => _currentRobotMode = mode);
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debugPrint('外部收到机器人模式：$mode');
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},
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onAreaModeChanged: (mode) {
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// 接收作业区域模式变更
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setState(() => _currentAreaMode = mode);
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debugPrint('外部收到区域模式：$mode');
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},
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// ========== 绑定加号打点事件 ==========
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onAddTap: () {
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// 加号按钮自定义逻辑
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_addMapMarker();
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debugPrint('外部处理加号按钮点击');
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_addMarkedPoint(); // 点击加号打点
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debugPrint('外部处理加号按钮点击，已添加打点');
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},
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onSettingTap: () {
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// 设置按钮自定义逻辑
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debugPrint('外部处理设置按钮点击');
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setState(() {
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_directionBoxOpen = true;
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});
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debugPrint('外部处理设置按钮点击');
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},
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onLandTap: () {
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// 地块标签自定义逻辑
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debugPrint('外部处理地块标签点击');
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},
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onRouteTap: () {
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// 航线标签自定义逻辑
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debugPrint('外部处理航线标签点击');
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},
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),
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),
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// 航线方向面板
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if (_directionBoxOpen)
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Positioned(
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left: 0,
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@@ -241,14 +312,12 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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initialOptimalHeading: true,
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initialDirection: 0.0,
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onConfirm: (result) {
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// 处理确认结果
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debugPrint(
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'最优航向：${result['optimalHeading']}，角度：${result['direction']}',
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);
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setState(() => _directionBoxOpen = false);
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},
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onCancel: () {
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// 关闭面板
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setState(() => _directionBoxOpen = false);
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},
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),
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@@ -263,7 +332,6 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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/// =======================================================
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/// 坐标转换：WGS84 -> GCJ02（国内高德/腾讯通用）
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/// =======================================================
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const double _pi = 3.14159265358979324;
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const double _a = 6378245.0;
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const double _ee = 0.00669342162296594323;
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