绑定设备+覆盖模式+控制显示bug+在线更新

2026-09-01 08:59:20 +08:00
parent 0fa67a127b
commit 61bce2c1cf
49 changed files with 2424 additions and 720 deletions
--- a/lib/core/consts/http_api_consts.dart
+++ b/lib/core/consts/http_api_consts.dart
@@ -1,123 +1,125 @@
+import '../env/env_config.dart';
+
 class HttpApiConsts {
-  // static const String baseUrl = "http://8.159.134.0:8012"; // 旧地址
-  // static const String baseUrl = "http://1.95.137.212:59015"; // 测试地址
-  // static const String baseUrl = "http://1.95.137.212:8081"; // 生产地址（暂时切到测试服 59003，回退时恢复此行）
-  static const String baseUrl = "http://1.95.137.212:59003"; // 测试服地址
+  static String get baseUrl => EnvConfig.baseUrl;

  /// 账号相关
  // 登录
-  static const String loginUrl = "$baseUrl/login";
+  static String get loginUrl => "$baseUrl/login";

  ///设备相关
  // 获取设备列表
-  static const String getUserDevicesList = "$baseUrl/iot/device/list";
+  static String get getUserDevicesList => "$baseUrl/iot/device/list";
  // 绑定设备
-  static const String bindDevice = "$baseUrl/iot/device/bind";
+  static String get bindDevice => "$baseUrl/iot/device/bind";
  // 解绑设备
-  static const String unbindDevice = "$baseUrl/forward/device/unbind";
+  static String get unbindDevice => "$baseUrl/forward/device/unbind";
  // 切换设备
-  static const String switchDevice = "$baseUrl/forward/device/switchDevice";
+  static String get switchDevice => "$baseUrl/forward/device/switchDevice";

  // 获取光伏电站列表
-  static const String getSiteList = "$baseUrl/system/site/selectByUserId";
+  static String get getSiteList => "$baseUrl/system/site/selectByUserId";

  // 获取场站下的设备列表
-  static const String getSiteDeviceList = "$baseUrl/iot/device/getSiteList";
+  static String get getSiteDeviceList => "$baseUrl/iot/device/getSiteList";

  // 获取场站下的无人机机场列表
-  static const String getSiteUAVList = "$baseUrl/iot/UAV/getSiteUAVList";
+  static String get getSiteUAVList => "$baseUrl/iot/UAV/getSiteUAVList";

  // 获取UAV状态详情
-  static const String getUAVState = "$baseUrl/iot/UAV/getUAVState";
+  static String get getUAVState => "$baseUrl/iot/UAV/getUAVState";

  // 切换摄像头获取视频流
-  static const String changeCamera = "$baseUrl/iot/UAV/changeCamera";
+  static String get changeCamera => "$baseUrl/iot/UAV/changeCamera";

  // 获取设备位置
-  static const String getDeviceLocation = "$baseUrl/iot/device/userDevice";
+  static String get getDeviceLocation => "$baseUrl/iot/device/userDevice";
+
+  // 获取全部设备列表（用于蓝牙绑定匹配）
+  static String get getDeviceList => "$baseUrl/iot/device/getDeviceList";

  // 获取机器人列表
-  static const String getRobotList = "$baseUrl/iot/device/getSiteList";
+  static String get getRobotList => "$baseUrl/iot/device/getSiteList";

  // 获取飞行任务列表
-  static const String getFlightTask = "$baseUrl/iot/UAV/getFlightTask";
+  static String get getFlightTask => "$baseUrl/iot/UAV/getFlightTask";

  // 获取飞行任务详情
-  static const String getFlightTaskDetail =
+  static String get getFlightTaskDetail =>
      "$baseUrl/iot/UAV/getFlightTaskDetail";

  // 获取航线列表
-  static const String getWayline = "$baseUrl/iot/UAV/getWayline";
+  static String get getWayline => "$baseUrl/iot/UAV/getWayline";

  // 创建飞行任务
-  static const String createFlightTask = "$baseUrl/iot/UAV/createFlightTask";
+  static String get createFlightTask => "$baseUrl/iot/UAV/createFlightTask";

  // 更新飞行任务状态
-  static const String updateFlightTaskStatus =
+  static String get updateFlightTaskStatus =>
      "$baseUrl/iot/UAV/updateFlightTaskStatus";

  // 切换无人机镜头获取视频流
-  static const String changeUAVLens = "$baseUrl/iot/UAV/changeLens";
+  static String get changeUAVLens => "$baseUrl/iot/UAV/changeLens";

  // 获取无人机详情
-  static const String getUAVDetail = "$baseUrl/iot/UAV/getUAVDetail";
+  static String get getUAVDetail => "$baseUrl/iot/UAV/getUAVDetail";

  // 飞行任务命令控制（暂停、返航等）
-  static const String flightTaskCommand = "$baseUrl/iot/UAV/flightTaskCommand";
+  static String get flightTaskCommand => "$baseUrl/iot/UAV/flightTaskCommand";

  /// 告警相关
-  static const String alarmBaseUrl = baseUrl;
+  static String get alarmBaseUrl => baseUrl;
  // 获取告警工单配置列表
-  static const String alarmOrderConfigList =
+  static String get alarmOrderConfigList =>
      "$alarmBaseUrl/iot/alarmOrderConfig/list";
  // 获取告警列表
-  static const String alarmList = "$baseUrl/iot/alarm/list";
+  static String get alarmList => "$baseUrl/iot/alarm/list";
  // 获取告警详情
-  static const String alarmDetail = "$baseUrl/iot/alarm";
+  static String get alarmDetail => "$baseUrl/iot/alarm";
  // 处理告警（确认/关闭等）
-  static const String alarmHandle = "$baseUrl/iot/alarm/handle";
+  static String get alarmHandle => "$baseUrl/iot/alarm/handle";

  /// 工单相关
  // 获取工单模型配置列表
-  static const String orderModelList = "$baseUrl/iot/orderModel/list";
+  static String get orderModelList => "$baseUrl/iot/orderModel/list";
  // 添加工单（上报）
-  static const String workOrderAdd = "$baseUrl/iot/ioTworkOrder/add";
+  static String get workOrderAdd => "$baseUrl/iot/ioTworkOrder/add";
  // 获取工单列表
-  static const String workOrderList = "$baseUrl/iot/ioTworkOrder/list";
+  static String get workOrderList => "$baseUrl/iot/ioTworkOrder/list";
  // 获取工单详情
-  static const String workOrderDetail = "$baseUrl/iot/ioTworkOrder";
+  static String get workOrderDetail => "$baseUrl/iot/ioTworkOrder";
  // 派发工单
-  static const String workOrderDispat = "$baseUrl/iot/ioTworkOrder/dispatch";
+  static String get workOrderDispat => "$baseUrl/iot/ioTworkOrder/dispatch";
  // 挂起工单
-  static const String workOrderSuspend = "$baseUrl/iot/ioTworkOrder/suspend";
+  static String get workOrderSuspend => "$baseUrl/iot/ioTworkOrder/suspend";
  // 完成工单
-  static const String workOrderComplete = "$baseUrl/iot/ioTworkOrder/complete";
+  static String get workOrderComplete => "$baseUrl/iot/ioTworkOrder/complete";
  // 开始执行工单
-  static const String workOrderStart = "$baseUrl/iot/ioTworkOrder/start";
+  static String get workOrderStart => "$baseUrl/iot/ioTworkOrder/start";
  // 获取工单统计
-  static const String workOrderCount = "$baseUrl/iot/ioTworkOrder/count";
+  static String get workOrderCount => "$baseUrl/iot/ioTworkOrder/count";
  // 设备运行参数查询
-  static const String deviceRunParamSelect =
+  static String get deviceRunParamSelect =>
      "$baseUrl/iot/deviceRunParam/selectByDeviceId";
  // 设备运行参数保存
-  static const String deviceRunParamSave = "$baseUrl/iot/deviceRunParam/save";
+  static String get deviceRunParamSave => "$baseUrl/iot/deviceRunParam/save";

  // 设备操作权限校验
-  static const String hasPermission = "$baseUrl/iot/device/hasPermission";
+  static String get hasPermission => "$baseUrl/iot/device/hasPermission";

  // 释放远程控制权限（请求体：platform/type/deviceId/token）
-  static const String releaseControlUrl =
+  static String get releaseControlUrl =>
      "$baseUrl/forward/device/releaseControl";

  /// 用户相关
  // 获取用户列表
-  static const String systemUserList = "$baseUrl/system/user/list";
+  static String get systemUserList => "$baseUrl/system/user/list";

  /// 组织与场站相关
  // 获取组织列表
-  static const String orgList = "$baseUrl/system/org/list";
+  static String get orgList => "$baseUrl/system/org/list";
  // 根据组织ID获取场站列表
-  static const String siteListByOrgId = "$baseUrl/system/site/selectByOrgId";
+  static String get siteListByOrgId => "$baseUrl/system/site/selectByOrgId";
  // 根据场站ID获取用户列表
-  static const String userListBySiteId = "$baseUrl/system/user/list";
+  static String get userListBySiteId => "$baseUrl/system/user/list";
 }
--- a/lib/core/di/injection.dart
+++ b/lib/core/di/injection.dart
@@ -78,6 +78,7 @@ import '../../features/v2/device_list/domain/repositories/device_repository.dart
    as device_v2_domain;
 import '../../features/v2/device_list/domain/usecases/get_device_status_data_usecase.dart'
    as device_v2_usecase;
+import '../../features/v2/device_list/domain/usecases/get_all_devices_usecase.dart';
 import '../../features/v2/device_list/presentation/bloc/device_status_bloc.dart'
    as device_v2_bloc;
 import '../../features/v2/device_list/data/datasources/drone_station_datasource.dart';
@@ -151,10 +152,13 @@ import '../network/mqtt/domain/interfaces/mqtt_client.dart';
 import '../network/mqtt/data/infrastructure/mqtt_client_impl.dart';
 import '../network/mqtt/data/datasources/drone_osd_datasource.dart';
 import '../network/mqtt/data/datasources/task_message_datasource.dart';
+import '../network/mqtt/data/datasources/mower_realtime_datasource.dart';
 import '../network/mqtt/domain/repositories/drone_osd_repository.dart';
 import '../network/mqtt/domain/repositories/task_message_repository.dart';
+import '../network/mqtt/domain/repositories/mower_realtime_repository.dart';
 import '../network/mqtt/data/repositories/drone_osd_repository_impl.dart';
 import '../network/mqtt/data/repositories/task_message_repository_impl.dart';
+import '../network/mqtt/data/repositories/mower_realtime_repository_impl.dart';
 import '../router/app_router.dart';
 import '../storage/impl/user_storage_impl.dart';
 import '../storage/user_storage.dart';
@@ -177,15 +181,20 @@ Future<void> init() async {
  );
  sl.registerLazySingleton(() => PathPlanningService());

-  /// 1.1.3 MQTT Clients - 两个独立的 MQTT 客户端实例
+  /// 1.1.3 MQTT Clients - 三个独立的 MQTT 客户端实例
  sl.registerLazySingleton<MqttClient>(
-    () => MqttClientImpl(),
+    () => MqttClientImpl(clientName: 'droneOsdClient'),
    instanceName: 'droneOsdClient',
  );
  sl.registerLazySingleton<MqttClient>(
-    () => MqttClientImpl(),
+    () => MqttClientImpl(clientName: 'taskMessageClient'),
    instanceName: 'taskMessageClient',
  );
+  // 🔥 割草机机器状态专用 MQTT 客户端（1.95.137.212:59007）
+  sl.registerLazySingleton<MqttClient>(
+    () => MqttClientImpl(clientName: 'mowerRealtimeClient'),
+    instanceName: 'mowerRealtimeClient',
+  );

  /// 1.1.4 NetMessageDispatcher:消息调度器,并将 TcpClient 注入给它
  sl.registerLazySingleton(
@@ -228,6 +237,14 @@ Future<void> init() async {
    ),
  );

+  /// 割草机机器状态（MQTT）：车辆实时+定位，LazySingleton 跨页面共享同一订阅
+  /// 🔥 使用独立 MQTT 连接 mowerRealtimeClient（1.95.137.212:59007）
+  sl.registerLazySingleton<MowerRealtimeDataSource>(
+    () => MowerRealtimeDataSourceImpl(
+      sl<MqttClient>(instanceName: 'mowerRealtimeClient'),
+    ),
+  );
+
  /// 1.5 --- MQTT Repositories ---
  sl.registerLazySingleton<DroneOsdRepository>(
    () => DroneOsdRepositoryImpl(sl<DroneOsdDataSource>()),
@@ -235,6 +252,9 @@ Future<void> init() async {
  sl.registerLazySingleton<TaskMessageRepository>(
    () => TaskMessageRepositoryImpl(sl<TaskMessageDataSource>()),
  );
+  sl.registerLazySingleton<MowerRealtimeRepository>(
+    () => MowerRealtimeRepositoryImpl(sl<MowerRealtimeDataSource>()),
+  );

  /// 2. 数据源 (DataSource)
  sl.registerLazySingleton<AuthHttpDataSource>(
@@ -357,6 +377,9 @@ Future<void> init() async {
  sl.registerLazySingleton<device_v2_usecase.GetDeviceStatusDataUseCase>(
    () => device_v2_usecase.GetDeviceStatusDataUseCase(repository: sl()),
  );
+  sl.registerLazySingleton<GetAllDevicesUseCase>(
+    () => GetAllDevicesUseCase(repository: sl()),
+  );
  sl.registerFactory<device_v2_bloc.DeviceStatusBloc>(
    () => device_v2_bloc.DeviceStatusBloc(sl()),
  );
--- a/lib/core/env/env_config.dart
+++ b/lib/core/env/env_config.dart
@@ -14,14 +14,14 @@ 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（目前暂时都走测试服 59004，回退时改回 9001）
-    if (environment == 'prod') {
-      return 59004;
-    }
-    return 59004; // TCP 端口
-  }
+  // ─── 服务器 IP（测试/生产共用同一台机器） ───
+  static const String serverHost = '1.95.137.212';
+
+  // ─── TCP 控制长连接 ───
+  static String get tcpIp => serverHost;
+  static int get tcpPort => isProduction ? 9001 : 59004;
+
+  // ─── HTTP 接口 ───
+  static int get httpPort => isProduction ? 8081 : 59003;
+  static String get baseUrl => 'http://$serverHost:$httpPort';
 }
--- a/lib/core/logging/log_time.dart
+++ b/lib/core/logging/log_time.dart
@@ -0,0 +1,14 @@
+/// 链路日志统一时间戳工具
+///
+/// 用于打印"什么时间做了什么"的全链路日志，格式：[HH:mm:ss.SSS]
+class LogTime {
+  LogTime._();
+
+  static String now() {
+    final now = DateTime.now();
+    return '[${now.hour.toString().padLeft(2, '0')}:'
+        '${now.minute.toString().padLeft(2, '0')}:'
+        '${now.second.toString().padLeft(2, '0')}.'
+        '${now.millisecond.toString().padLeft(3, '0')}]';
+  }
+}
--- a/lib/core/network/mqtt/data/datasources/mower_realtime_datasource.dart
+++ b/lib/core/network/mqtt/data/datasources/mower_realtime_datasource.dart
@@ -0,0 +1,178 @@
+import 'dart:async';
+import 'dart:convert';
+import 'package:flutter/foundation.dart';
+
+import '../../../../logging/log_time.dart';
+import '../../domain/interfaces/mqtt_client.dart';
+import '../../domain/models/mqtt_message.dart';
+import '../../domain/entities/mower_location_entity.dart';
+import '../../domain/entities/real_time_message_entity.dart';
+import '../../domain/entities/route_status_entity.dart';
+
+/// 割草机实时状态 MQTT 数据源（替代原 TCP 0x02 机器状态推送）
+///
+/// 订阅主题：
+/// - 车辆实时状态 mower/{sn}/property/realtime/post（1Hz，不含定位）
+/// - 高频定位     mower/{sn}/property/location/post（5-10Hz）
+/// - 路径规划     device/{deviceId}/route/post（任务执行后推送覆盖清扫路线）
+abstract class MowerRealtimeDataSource {
+  Stream<RealTimeMessageEntity> get vehicleStream;
+  Stream<MowerLocationEntity> get locationStream;
+  Stream<RouteStatusEntity> get routeStatusStream;
+
+  /// 按设备 SN 启动订阅：自动退订旧设备主题、同 SN 去重
+  Future<void> startListening({required String deviceSn});
+
+  Future<void> stopListening();
+}
+
+class MowerRealtimeDataSourceImpl implements MowerRealtimeDataSource {
+  final MqttClient mqttClient;
+
+  static const String _realtimeSuffix = 'property/realtime/post';
+  static const String _locationSuffix = 'property/location/post';
+  static const String _routeSuffix = 'route/post';
+
+  final _vehicleController =
+      StreamController<RealTimeMessageEntity>.broadcast();
+  final _locationController = StreamController<MowerLocationEntity>.broadcast();
+  final _routeController = StreamController<RouteStatusEntity>.broadcast();
+
+  StreamSubscription<MqttMessage>? _subscription;
+
+  /// 当前监听的设备 SN
+  String? _deviceSn;
+
+  /// 收帧计数（用于标记首帧）
+  int _vehicleMsgCount = 0;
+  int _locationMsgCount = 0;
+  int _routeMsgCount = 0;
+
+  MowerRealtimeDataSourceImpl(this.mqttClient);
+
+  @override
+  Stream<RealTimeMessageEntity> get vehicleStream => _vehicleController.stream;
+
+  @override
+  Stream<MowerLocationEntity> get locationStream => _locationController.stream;
+
+  @override
+  Stream<RouteStatusEntity> get routeStatusStream => _routeController.stream;
+
+  String _realtimeTopic(String sn) => 'mower/$sn/$_realtimeSuffix';
+  String _locationTopic(String sn) => 'mower/$sn/$_locationSuffix';
+  String _routeTopic(String sn) => 'device/$sn/$_routeSuffix';
+
+  @override
+  Future<void> startListening({required String deviceSn}) async {
+    if (deviceSn.isEmpty) {
+      debugPrint('${LogTime.now()} ⚠️ [MowerRealtimeDataSource] 订阅跳过：设备SN为空');
+      return;
+    }
+
+    // 🔥 同一设备重复调用：去重，不重复订阅（参照 DroneOsdDataSource 已验证的模式）
+    if (_deviceSn == deviceSn && _subscription != null) {
+      debugPrint('${LogTime.now()} [MowerRealtimeDataSource] 已在监听该设备，跳过: $deviceSn');
+      return;
+    }
+
+    // 🔥 切换设备：先退订旧设备的主题，防止数据串台
+    if (_deviceSn != null && _deviceSn!.isNotEmpty) {
+      await mqttClient.unsubscribe(_realtimeTopic(_deviceSn!));
+      await mqttClient.unsubscribe(_locationTopic(_deviceSn!));
+      await mqttClient.unsubscribe(_routeTopic(_deviceSn!));
+      debugPrint('${LogTime.now()} 🔕 [MowerRealtimeDataSource] 已退订旧设备: $_deviceSn');
+    }
+
+    _deviceSn = deviceSn;
+    _vehicleMsgCount = 0;
+    _locationMsgCount = 0;
+    _routeMsgCount = 0;
+
+    await mqttClient.subscribe(_realtimeTopic(deviceSn));
+    await mqttClient.subscribe(_locationTopic(deviceSn));
+    await mqttClient.subscribe(_routeTopic(deviceSn));
+
+    // 消息流监听只建立一次，按 _deviceSn 过滤
+    _subscription ??= mqttClient.messageStream?.listen(_handleMessage);
+
+    debugPrint('${LogTime.now()} ✅ [MowerRealtimeDataSource] 开始监听设备: $deviceSn');
+    debugPrint('   车辆实时: ${_realtimeTopic(deviceSn)}');
+    debugPrint('   定位:     ${_locationTopic(deviceSn)}');
+    debugPrint('   路径规划: ${_routeTopic(deviceSn)}');
+  }
+
+  @override
+  Future<void> stopListening() async {
+    if (_deviceSn == null || _deviceSn!.isEmpty) return;
+
+    await mqttClient.unsubscribe(_realtimeTopic(_deviceSn!));
+    await mqttClient.unsubscribe(_locationTopic(_deviceSn!));
+    await mqttClient.unsubscribe(_routeTopic(_deviceSn!));
+    debugPrint('${LogTime.now()} 🔕 [MowerRealtimeDataSource] 停止监听设备: $_deviceSn');
+    _deviceSn = null;
+  }
+
+  void _handleMessage(MqttMessage message) {
+    final sn = _deviceSn;
+    if (sn == null || sn.isEmpty) return;
+
+    // 🔥 防串台：只处理当前监听设备的主题（mower/ 和 device/ 前缀都要匹配）
+    if (!message.topic.contains('mower/$sn/') &&
+        !message.topic.contains('device/$sn/')) return;
+
+    // 🔥 第一阶段：打印原始报文，确认格式后再完善解析
+    debugPrint('${LogTime.now()} 📥 [MQTT-机器状态] ──────── 收到消息 ────────');
+    debugPrint('${LogTime.now()} 📥 [MQTT-机器状态] topic: ${message.topic}');
+    debugPrint('${LogTime.now()} 📥 [MQTT-机器状态] payload: ${message.payload}');
+
+    try {
+      final jsonData = jsonDecode(message.payload) as Map<String, dynamic>;
+
+      if (message.topic.endsWith(_realtimeSuffix)) {
+        // {name, value, unit} 数据点格式与 RealTimeMessageEntity 吻合，防御性解析
+        final vehicle = RealTimeMessageEntity.fromJson(jsonData);
+        if (vehicle.data.isNotEmpty) {
+          _vehicleMsgCount++;
+          if (_vehicleMsgCount == 1) {
+            debugPrint('${LogTime.now()} 🎉 [MQTT-机器状态] 车辆实时首帧到达: $sn');
+          }
+          debugPrint('${LogTime.now()} 📊 [MQTT-机器状态] 车辆实时第$_vehicleMsgCount帧 解析后: type=${vehicle.type}, 数据点=${vehicle.data.length}个');
+          for (final dp in vehicle.data) {
+            debugPrint('${LogTime.now()}    ├ ${dp.name} = ${dp.value}${dp.unit}');
+          }
+          _vehicleController.add(vehicle);
+        }
+      } else if (message.topic.endsWith(_locationSuffix)) {
+        _locationMsgCount++;
+        if (_locationMsgCount == 1) {
+          debugPrint('${LogTime.now()} 🎉 [MQTT-机器状态] 定位首帧到达: $sn');
+        }
+        // 🔥 关键修复：坐标在 data 子对象中，不是顶层
+        final dataObj = jsonData['data'] as Map<String, dynamic>? ?? jsonData;
+        final location = MowerLocationEntity.fromJson(dataObj);
+        debugPrint('${LogTime.now()} 📍 [MQTT-机器状态] 定位第$_locationMsgCount帧 解析后: lat=${location.latitude}, lng=${location.longitude}, alt=${location.altitude}, heading=${location.heading}, speed=${location.speed}');
+        _locationController.add(location);
+      } else if (message.topic.endsWith(_routeSuffix)) {
+        _routeMsgCount++;
+        if (_routeMsgCount == 1) {
+          debugPrint('${LogTime.now()} 🎉 [MQTT-机器状态] 路径规划首帧到达: $sn');
+        }
+        final routeMsg = RouteStatusEntity.fromJson(jsonData);
+        debugPrint('${LogTime.now()} 🛤️ [MQTT-机器状态] 路径规划第$_routeMsgCount帧 - 设备: ${routeMsg.deviceId}, 任务: ${routeMsg.taskId}, 点数: ${routeMsg.data.length}');
+        _routeController.add(routeMsg);
+      }
+    } catch (e) {
+      debugPrint('${LogTime.now()} ❌ [MowerRealtimeDataSource] 解析消息失败: $e');
+    }
+  }
+
+  void dispose() {
+    stopListening();
+    _subscription?.cancel();
+    _subscription = null;
+    _vehicleController.close();
+    _locationController.close();
+    _routeController.close();
+  }
+}
--- a/lib/core/network/mqtt/data/infrastructure/mqtt_client_impl.dart
+++ b/lib/core/network/mqtt/data/infrastructure/mqtt_client_impl.dart
@@ -4,6 +4,7 @@ import 'package:flutter/foundation.dart';
 import 'package:mqtt_client/mqtt_client.dart' as mqtt;
 import 'package:mqtt_client/mqtt_server_client.dart' as mqtt_server;

+import '../../../../logging/log_time.dart';
 import '../../domain/interfaces/mqtt_client.dart';
 import '../../domain/models/mqtt_config.dart';
 import '../../domain/models/mqtt_message.dart';
@@ -13,6 +14,9 @@ class MqttClientImpl implements MqttClient {
  final _messageController = StreamController<MqttMessage>.broadcast();
  final Map<String, int> _subscriptionRefs = <String, int>{};

+  /// 客户端名称，用于日志区分（如 droneOsdClient / taskMessageClient / mowerRealtimeClient）
+  final String clientName;
+
  MqttConfig? _currentConfig;
  StreamSubscription? _updatesSubscription;
  Timer? _reconnectTimer;
@@ -20,6 +24,8 @@ class MqttClientImpl implements MqttClient {
  bool _isConnecting = false;
  bool _manualDisconnect = false;

+  MqttClientImpl({this.clientName = 'MqttClient'});
+
  @override
  Stream<MqttMessage>? get messageStream => _messageController.stream;

@@ -50,13 +56,13 @@ class MqttClientImpl implements MqttClient {
      _client = _createClient(config);
      _configureClient(_client!, config);

-      debugPrint('[MqttClient] connecting to ${config.connectionAddress}');
+      debugPrint('${LogTime.now()} 🔌 [$clientName] 正在连接 ${config.connectionAddress}:${config.port} (clientId=${config.clientId})');
      await _client!.connect(config.username, config.password);

      if (_client!.connectionStatus?.state ==
          mqtt.MqttConnectionState.connected) {
        _isConnected = true;
-        debugPrint('[MqttClient] connected');
+        debugPrint('${LogTime.now()} ✅ [$clientName] 连接成功 ${config.connectionAddress}:${config.port}');
        _listenToMessages();
        _resubscribeAll();
      } else {
@@ -65,7 +71,7 @@ class MqttClientImpl implements MqttClient {
        );
      }
    } catch (e) {
-      debugPrint('[MqttClient] connect error: $e');
+      debugPrint('${LogTime.now()} ❌ [$clientName] 连接失败: $e');
      _isConnected = false;
      _isConnecting = false;
      _scheduleReconnect();
@@ -153,7 +159,7 @@ class MqttClientImpl implements MqttClient {
      return;
    }

-    debugPrint('[MqttClient] subscribe: $topic');
+    debugPrint('${LogTime.now()} 📮 [$clientName] 发起订阅: $topic');
    _client!.subscribe(topic, mqtt.MqttQos.atLeastOnce);
  }

@@ -173,7 +179,7 @@ class MqttClientImpl implements MqttClient {
      return;
    }

-    debugPrint('[MqttClient] unsubscribe: $topic');
+    debugPrint('${LogTime.now()} 🔕 [$clientName] 退订: $topic');
    _client!.unsubscribe(topic);
  }

@@ -198,7 +204,7 @@ class MqttClientImpl implements MqttClient {
            (msg.payload as mqtt.MqttPublishMessage).payload.message,
          );

-          debugPrint('[MqttClient] received [$topic]: $payload');
+          debugPrint('${LogTime.now()} 📥 [$clientName] 收到消息 [$topic]: $payload');
          _messageController.add(MqttMessage(topic: topic, payload: payload));
        }
      },
@@ -215,7 +221,7 @@ class MqttClientImpl implements MqttClient {
    if (_subscriptionRefs.isEmpty || _client == null) return;

    for (final topic in _subscriptionRefs.keys) {
-      debugPrint('[MqttClient] resubscribe: $topic');
+      debugPrint('${LogTime.now()} 📮 [$clientName] 重连后重新订阅: $topic');
      _client!.subscribe(topic, mqtt.MqttQos.atLeastOnce);
    }
  }
@@ -226,7 +232,7 @@ class MqttClientImpl implements MqttClient {
  }

  void _onDisconnected() {
-    debugPrint('[MqttClient] disconnected callback');
+    debugPrint('${LogTime.now()} ⚠️ [$clientName] 连接断开');
    _isConnected = false;
    if (!_manualDisconnect) {
      _scheduleReconnect();
@@ -234,7 +240,7 @@ class MqttClientImpl implements MqttClient {
  }

  void _onSubscribed(String topic) {
-    debugPrint('[MqttClient] subscribed: $topic');
+    debugPrint('${LogTime.now()} ✅ [$clientName] 订阅确认成功: $topic');
  }

  void _scheduleReconnect() {
@@ -246,12 +252,12 @@ class MqttClientImpl implements MqttClient {
    if (_reconnectTimer?.isActive ?? false) return;

    final delay = Duration(milliseconds: config.reconnectDelayMs);
-    debugPrint('[MqttClient] reconnect scheduled in ${delay.inMilliseconds}ms');
+    debugPrint('${LogTime.now()} ⏳ [$clientName] ${delay.inMilliseconds}ms 后尝试重连');
    _reconnectTimer = Timer(delay, () async {
      if (_manualDisconnect || _isConnected || _isConnecting) return;

      try {
-        debugPrint('[MqttClient] reconnecting...');
+        debugPrint('${LogTime.now()} 🔄 [$clientName] 开始重连...');
        await connect(config);
      } catch (e) {
        debugPrint('[MqttClient] reconnect failed: $e');
--- a/lib/core/network/mqtt/data/repositories/mower_realtime_repository_impl.dart
+++ b/lib/core/network/mqtt/data/repositories/mower_realtime_repository_impl.dart
@@ -0,0 +1,42 @@
+import 'dart:async';
+import 'package:fpdart/fpdart.dart';
+
+import '../../../../../core/error/failure.dart';
+import '../datasources/mower_realtime_datasource.dart';
+import '../../domain/repositories/mower_realtime_repository.dart';
+import '../../domain/entities/mower_location_entity.dart';
+import '../../domain/entities/real_time_message_entity.dart';
+import '../../domain/entities/route_status_entity.dart';
+
+class MowerRealtimeRepositoryImpl implements MowerRealtimeRepository {
+  final MowerRealtimeDataSource dataSource;
+
+  MowerRealtimeRepositoryImpl(this.dataSource);
+
+  @override
+  Stream<RealTimeMessageEntity> get vehicleStream => dataSource.vehicleStream;
+
+  @override
+  Stream<MowerLocationEntity> get locationStream => dataSource.locationStream;
+
+  @override
+  Stream<RouteStatusEntity> get routeStatusStream =>
+      dataSource.routeStatusStream;
+
+  @override
+  Future<Either<Failure, void>> startListening({
+    required String deviceSn,
+  }) async {
+    try {
+      await dataSource.startListening(deviceSn: deviceSn);
+      return right(null);
+    } catch (e) {
+      return left(Failure(e.toString()));
+    }
+  }
+
+  @override
+  Future<void> stopListening() async {
+    await dataSource.stopListening();
+  }
+}
--- a/lib/core/network/mqtt/domain/entities/mower_location_entity.dart
+++ b/lib/core/network/mqtt/domain/entities/mower_location_entity.dart
@@ -0,0 +1,54 @@
+import 'package:equatable/equatable.dart';
+
+/// 割草机定位消息实体（MQTT 主题 mower/{sn}/property/location/post，5-10Hz）
+///
+/// 报文格式尚未最终确认（第一阶段仅打印），fromLen 对常见字段名做宽容解析，
+/// 确认后如与实际不符在此调整即可，不影响上层。
+class MowerLocationEntity extends Equatable {
+  final double? latitude;
+  final double? longitude;
+  final double? altitude;
+
+  /// 航向角
+  final double? heading;
+
+  /// 速度
+  final double? speed;
+  final String? timestamp;
+
+  /// 原始报文，便于解析格式确认后补充字段
+  final Map<String, dynamic> rawData;
+
+  const MowerLocationEntity({
+    this.latitude,
+    this.longitude,
+    this.altitude,
+    this.heading,
+    this.speed,
+    this.timestamp,
+    this.rawData = const {},
+  });
+
+  bool get isValid => latitude != null && longitude != null;
+
+  factory MowerLocationEntity.fromJson(Map<String, dynamic> json) {
+    return MowerLocationEntity(
+      latitude: _toDouble(json['latitude'] ?? json['lat']),
+      longitude: _toDouble(json['longitude'] ?? json['lng'] ?? json['lon']),
+      altitude: _toDouble(json['altitude'] ?? json['height']),
+      heading: _toDouble(json['heading'] ?? json['yaw']),
+      speed: _toDouble(json['speed']),
+      timestamp: json['timestamp']?.toString(),
+      rawData: json,
+    );
+  }
+
+  static double? _toDouble(dynamic value) {
+    if (value == null) return null;
+    if (value is num) return value.toDouble();
+    return double.tryParse(value.toString());
+  }
+
+  @override
+  List<Object?> get props => [latitude, longitude, altitude, heading, speed, timestamp];
+}
--- a/lib/core/network/mqtt/domain/entities/route_status_entity.dart
+++ b/lib/core/network/mqtt/domain/entities/route_status_entity.dart
@@ -0,0 +1,50 @@
+import 'package:equatable/equatable.dart';
+
+/// MQTT 路径规划消息实体
+/// 对应后端 Java DTO: WebRouteStatusMessageDTO
+/// Topic: device/{deviceId}/route/post
+class RouteStatusEntity extends Equatable {
+  final List<LatAndLngEntity> data;
+  final String deviceId;
+  final int taskId;
+  final String type;
+
+  const RouteStatusEntity({
+    required this.data,
+    required this.deviceId,
+    required this.taskId,
+    required this.type,
+  });
+
+  factory RouteStatusEntity.fromJson(Map<String, dynamic> json) {
+    final dataList = json['data'] as List<dynamic>? ?? [];
+    return RouteStatusEntity(
+      data: dataList.map((item) => LatAndLngEntity.fromJson(item)).toList(),
+      deviceId: json['deviceId'] as String? ?? '',
+      taskId: (json['taskId'] as num?)?.toInt() ?? 0,
+      type: json['type'] as String? ?? '',
+    );
+  }
+
+  @override
+  List<Object?> get props => [data, deviceId, taskId, type];
+}
+
+/// 经纬度坐标实体
+/// 对应后端 Java DTO: LatAndLngEntity
+class LatAndLngEntity extends Equatable {
+  final double lat;
+  final double lng;
+
+  const LatAndLngEntity({required this.lat, required this.lng});
+
+  factory LatAndLngEntity.fromJson(Map<String, dynamic> json) {
+    return LatAndLngEntity(
+      lat: (json['lat'] as num?)?.toDouble() ?? 0.0,
+      lng: (json['lng'] as num?)?.toDouble() ?? 0.0,
+    );
+  }
+
+  @override
+  List<Object?> get props => [lat, lng];
+}
--- a/lib/core/network/mqtt/domain/models/mqtt_config.dart
+++ b/lib/core/network/mqtt/domain/models/mqtt_config.dart
@@ -81,6 +81,21 @@ class MqttConfig extends Equatable {
    );
  }

+  /// 🔥 割草机机器状态（TCP MQTT）——独立连接，地址 1.95.137.212:59007
+  /// 仅用于 mower/{sn}/property/realtime/post 和 mower/{sn}/property/location/post
+  factory MqttConfig.mowerRealtime() {
+    return const MqttConfig(
+      host: '1.95.137.212',
+      port: 59007,
+      username: 'maibu',
+      password: 'jsmbzn520',
+      protocol: MqttProtocol.tcp,
+      clientId: 'mower_realtime_client',
+      cleanSession: true,
+      reconnectDelayMs: 3000,
+    );
+  }
+
  MqttConfig copyWith({
    String? host,
    int? port,
--- a/lib/core/network/mqtt/domain/repositories/mower_realtime_repository.dart
+++ b/lib/core/network/mqtt/domain/repositories/mower_realtime_repository.dart
@@ -0,0 +1,19 @@
+import 'dart:async';
+import 'package:fpdart/fpdart.dart';
+
+import '../../../../../core/error/failure.dart';
+import '../entities/mower_location_entity.dart';
+import '../entities/real_time_message_entity.dart';
+import '../entities/route_status_entity.dart';
+
+abstract class MowerRealtimeRepository {
+  Stream<RealTimeMessageEntity> get vehicleStream;
+  Stream<MowerLocationEntity> get locationStream;
+  Stream<RouteStatusEntity> get routeStatusStream;
+
+  Future<Either<Failure, void>> startListening({
+    required String deviceSn,
+  });
+
+  Future<void> stopListening();
+}
--- a/lib/core/network/mqtt/mqtt_manager.dart
+++ b/lib/core/network/mqtt/mqtt_manager.dart
@@ -24,10 +24,12 @@ class MqttManager {

    final droneOsdClient = sl<MqttClient>(instanceName: 'droneOsdClient');
    final taskMessageClient = sl<MqttClient>(instanceName: 'taskMessageClient');
+    final mowerRealtimeClient = sl<MqttClient>(instanceName: 'mowerRealtimeClient');

-    // 独立连接两个 MQTT 客户端，互不影响
+    // 独立连接三个 MQTT 客户端，互不影响
    await _connectClient(droneOsdClient, MqttConfig.droneOsd(), 'droneOsdClient');
    await _connectClient(taskMessageClient, MqttConfig.taskMessage(), 'taskMessageClient');
+    await _connectClient(mowerRealtimeClient, MqttConfig.mowerRealtime(), 'mowerRealtimeClient');

    _isInitialized = true;
    debugPrint('✅ [MqttManager] MQTT 初始化完成');
@@ -53,9 +55,11 @@ class MqttManager {

    final droneOsdClient = sl<MqttClient>(instanceName: 'droneOsdClient');
    final taskMessageClient = sl<MqttClient>(instanceName: 'taskMessageClient');
+    final mowerRealtimeClient = sl<MqttClient>(instanceName: 'mowerRealtimeClient');

    await droneOsdClient.disconnect();
    await taskMessageClient.disconnect();
+    await mowerRealtimeClient.disconnect();

    _isInitialized = false;
    debugPrint('✅ [MqttManager] 所有 MQTT 连接已断开');
--- a/lib/core/update/version_check_service.dart
+++ b/lib/core/update/version_check_service.dart
@@ -1,4 +1,5 @@
 import 'package:dio/dio.dart';
+import 'package:flutter/foundation.dart';
 import 'package:flutter_patcher/flutter_patcher.dart';
 import 'package:logger/logger.dart';
 import 'package:path_provider/path_provider.dart';
@@ -56,6 +57,7 @@ class VersionCheckService {
  final Dio _dio = Dio(BaseOptions(
    connectTimeout: const Duration(seconds: 10),
    receiveTimeout: const Duration(seconds: 10),
+    validateStatus: (status) => true,
  ));

  static const String apiUrl = 'http://8.159.134.0:8012/api/update/check';
@@ -67,29 +69,26 @@ class VersionCheckService {
    required int currentVersionCode,
  }) async {
    try {
-      _logger.i('🔍 检查版本更新');
-      _logger.i('📱 APK 自带版本: $currentVersion ($currentVersionCode)');
+      debugPrint('');
+      debugPrint('========================================');
+      debugPrint('  UPDATE CHECK START');
+      debugPrint('========================================');
+      debugPrint('[1] APK version: $currentVersion ($currentVersionCode)');
  
      // 从文件读取已应用的补丁版本
      final patchInfo = await _loadPatchVersionInfo();
      final appliedPatchVersion = patchInfo['version'] as String?;
      final appliedPatchVersionCode = patchInfo['versionCode'] as int?;
      
-      _logger.i('📂 读取到的补丁版本: $appliedPatchVersion ($appliedPatchVersionCode)');
+      debugPrint('[2] Patch file version: $appliedPatchVersion ($appliedPatchVersionCode)');
        
-      // 如果打过补丁，使用补丁的版本；否则使用 APK 自带版本
-      final requestVersion = appliedPatchVersion ?? currentVersion;
-      final requestVersionCode = appliedPatchVersionCode ?? currentVersionCode;
+      // 始终用 APK 基础版本请求服务端，让服务端返回最新版本
+      // 客户端自己判断本地是否已经是最新
+      final requestVersion = currentVersion;
+      final requestVersionCode = currentVersionCode;
        
-      _logger.i('🚀 请求后端版本: $requestVersion ($requestVersionCode)');
-  
-      // 🔥 打印完整的请求参数
-      _logger.i('━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━');
-      _logger.i('📤 App 发送的请求参数:');
-      _logger.i('   URL: $apiUrl');
-      _logger.i('   version: $requestVersion');
-      _logger.i('   versionCode: $requestVersionCode');
-      _logger.i('━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━');
+      debugPrint('[3] Request to server: version=$requestVersion, versionCode=$requestVersionCode');
+      debugPrint('[4] URL: $apiUrl?version=$requestVersion&versionCode=$requestVersionCode');
  
      final response = await _dio.get(
        apiUrl,
@@ -99,47 +98,67 @@ class VersionCheckService {
        },
      );
  
-      // 🔥 打印完整的后端返回数据
-      _logger.i('━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━');
-      _logger.i('📥 后端返回的完整数据:');
-      _logger.i('   statusCode: ${response.statusCode}');
-      _logger.i('   原始响应: ${response.data}');
-      _logger.i('━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━');
+      debugPrint('[5] HTTP status: ${response.statusCode}');
+      debugPrint('[6] Response body: ${response.data}');
  
-      if (response.statusCode == 200) {
-        final data = response.data['data'];
+      final respCode = response.data['code'];
+      final data = response.data['data'];
+      final message = response.data['message'] ?? '';
  
-        if (data['hasUpdate'] == false) {
-          _logger.i('✅ 已是最新版本');
-          return null;
-        }
-  
-        final versionInfo = AppVersionInfo.fromJson(data);
-  
-        // 🔥 关键修复：无论更新类型是什么，只要本地已应用此版本，就跳过
-        if (appliedPatchVersion != null && appliedPatchVersion == versionInfo.version) {
-          _logger.i('✅ 本地已应用版本 ${versionInfo.version}，跳过更新（updateType: ${versionInfo.updateType}）');
-          return null;
-        }
-        
-        // 🔥 额外检查：如果本地补丁版本code >= 服务端返回的versionCode，也跳过
-        if (appliedPatchVersionCode != null && appliedPatchVersionCode >= versionInfo.versionCode) {
-          _logger.i('✅ 本地补丁版本code ($appliedPatchVersionCode) >= 服务端versionCode (${versionInfo.versionCode})，跳过更新');
-          return null;
-        }
-  
-        _logger.i('✅ 发现新版本: ${versionInfo.version}');
-        _logger.i('🔄 更新类型: ${versionInfo.updateType}');
-        _logger.i('⚠️ 强制更新: ${versionInfo.forceUpdate}');
-  
-        return versionInfo;
+      debugPrint('[7] respCode=$respCode, data=$data, message=$message');
+
+      if (respCode != 200 || data == null) {
+        debugPrint('[RESULT] No update - server returned code=$respCode, data=${data == null ? "NULL" : "NOT_NULL"}, message=$message');
+        debugPrint('========================================');
+        debugPrint('');
+        return null;
      }
+
+      debugPrint('[7.1] data type: ${data.runtimeType}');
+      debugPrint('[7.2] data keys: ${data is Map ? data.keys.toList() : "NOT A MAP"}');
+      debugPrint('[7.3] hasUpdate = ${data['hasUpdate']} (type: ${data['hasUpdate']?.runtimeType})');
+      debugPrint('[7.4] version = ${data['version']}');
+      debugPrint('[7.5] versionCode = ${data['versionCode']}');
+      debugPrint('[7.6] updateType = ${data['updateType']}');
+      debugPrint('[7.7] patch = ${data['patch']}');
+      debugPrint('[7.8] fullApk = ${data['fullApk']}');
+
+      if (data['hasUpdate'] == false) {
+        debugPrint('[RESULT] No update - hasUpdate=false');
+        debugPrint('========================================');
+        debugPrint('');
+        return null;
+      }
+
+      final versionInfo = AppVersionInfo.fromJson(data);
+      debugPrint('[8] Server version: ${versionInfo.version} (${versionInfo.versionCode})');
+      debugPrint('[9] Update type: ${versionInfo.updateType}, force: ${versionInfo.forceUpdate}');
+      debugPrint('[10] patchUrl: ${versionInfo.patchUrl}');
+      debugPrint('[11] patchMd5: ${versionInfo.patchMd5}');
+      debugPrint('[12] apkUrl: ${versionInfo.apkUrl}');
  
+      // 只用版本字符串判断是否已更新：服务端 hasUpdate=true 说了算
+      if (appliedPatchVersion != null && appliedPatchVersion == versionInfo.version) {
+        debugPrint('[RESULT] No update - already at version ${versionInfo.version}');
+        debugPrint('========================================');
+        debugPrint('');
+        return null;
+      }
+      
+      debugPrint('[8.1] Local patch version: ${appliedPatchVersion ?? "none"}');
+      debugPrint('[8.2] Server version: ${versionInfo.version}');
+      debugPrint('[8.3] Version different: ${appliedPatchVersion != versionInfo.version}');
+  
+      debugPrint('[RESULT] NEW VERSION FOUND: ${versionInfo.version} (${versionInfo.versionCode})');
+      debugPrint('========================================');
+      debugPrint('');
+  
+      return versionInfo;
+    } catch (e) {
+      debugPrint('[RESULT] ERROR: $e');
+      debugPrint('========================================');
+      debugPrint('');
      return null;
-    } catch (e, stack) {
-      _logger.e('❌ 版本检查失败: $e');
-      _logger.e('❌ 堆栈信息: $stack');
-      throw Exception('网络请求失败: $e');
    }
  }