#连接库初步完成

lib/core/protocol/machine_protocol_codec.dart

@@ -1,28 +0,0 @@
-import 'dart:typed_data';
-
-/// 极简化的 Codec：只负责中间那段变化的“负载数据”
-class MachineProtocolCodec {
-  /// 仅封装 0x00 指令的数据部分 (Byte 3 到 Byte 10，共 8 字节)
-  static Uint8List encodeRemoteControlPayload({
-    required int left,
-    required int right,
-    int lift = 0,
-    int mower = 0,
-    int ignition = 0,
-    int emergency = 0,
-  }) {
-    final bd = ByteData(8); // 只分配 8 字节
-    int pos = 0;
-
-    bd.setInt16(pos, left, Endian.little);
-    pos += 2;
-    bd.setInt16(pos, right, Endian.little);
-    pos += 2;
-    bd.setUint8(pos++, lift);
-    bd.setUint8(pos++, mower);
-    bd.setUint8(pos++, ignition);
-    bd.setUint8(pos++, emergency);
-
-    return bd.buffer.asUint8List();
-  }
-}

lib/core/protocol/packet_entity.dart

@@ -0,0 +1,12 @@
+import 'package:equatable/equatable.dart';
+
+class PacketEntity extends Equatable{
+  final int cmdType;
+  final List<int> payload;
+  final List<int>? crc; // 心跳包可能为 null
+
+  const PacketEntity({required this.cmdType, required this.payload, this.crc});
+
+  @override
+  List<Object?> get props => [cmdType, payload, crc];
+}

lib/core/protocol/packet_parser_transformer.dart

@@ -0,0 +1,83 @@
+import 'dart:async';
+import 'dart:typed_data';  // 引入 Uint8List
+
+import 'protocol_constants.dart';
+import 'packet_entity.dart';
+
+class PacketParserTransformer extends StreamTransformerBase<Uint8List, PacketEntity> {
+  @override
+  Stream<PacketEntity> bind(Stream<Uint8List> stream) {
+    final List<int> buffer = [];
+    final StreamController<PacketEntity> controller = StreamController<PacketEntity>();
+
+    stream.listen(
+          (data) {
+        // 将接收到的数据追加到 buffer
+        buffer.addAll(data);
+
+        while (buffer.length >= 5) { // 最小包长(心跳) AB AA FF AA AB
+          // 找 Header
+          int headIdx = -1;
+          for (int i = 0; i < buffer.length - 1; i++) {
+            if (buffer[i] == ProtocolConstants.header1 &&
+                buffer[i + 1] == ProtocolConstants.header2) {
+              headIdx = i;
+              break;
+            }
+          }
+
+          if (headIdx == -1) {
+            // 如果没有找到包头，丢弃已接收的数据，继续等待数据
+            buffer.clear();  // 直接清空缓冲区，可以避免部分无效数据的积累
+            break;
+          }
+
+          if (headIdx > 0) {
+            // 如果包头不是从缓冲区的开头开始，移除头部无效数据
+            buffer.removeRange(0, headIdx);
+          }
+
+          // 找 Footer
+          int footIdx = -1;
+          for (int i = 2; i < buffer.length - 1; i++) {
+            if (buffer[i] == ProtocolConstants.endFlag1 &&
+                buffer[i + 1] == ProtocolConstants.endFlag2) {
+              footIdx = i;
+              break;
+            }
+          }
+
+          if (footIdx != -1) {
+            final packetBytes = buffer.sublist(0, footIdx + 2); // 处理数据包
+
+            final cmd = packetBytes[2]; // 获取命令字节
+
+            if (cmd == ProtocolConstants.cmdHeartbeat) {
+              controller.add(PacketEntity(cmdType: cmd, payload: [])); // 心跳包没有负载
+            } else if (packetBytes.length >= 7) {
+              // 带 CRC 的包
+              final payload = packetBytes.sublist(3, packetBytes.length - 4);
+              final crc = packetBytes.sublist(packetBytes.length - 4, packetBytes.length - 2);
+              controller.add(PacketEntity(cmdType: cmd, payload: payload, crc: crc)); // 解析命令和负载
+            }
+
+            // 完成当前数据包的解析，移除已处理的包
+            buffer.removeRange(0, footIdx + 2);
+          } else {
+            break; // 数据不完整，等待更多数据
+          }
+        }
+      },
+      onError: (error) {
+        print("Stream error: $error");
+        controller.addError(error); // 如果发生错误，报告错误
+      },
+      onDone: () {
+        print("Stream closed.");
+        controller.close(); // 流关闭时，关闭控制器
+      },
+    );
+
+    return controller.stream;
+  }
+}

lib/core/protocol/protocol_constants.dart

@@ -1,4 +1,4 @@
-class MachineProtocolConstants {
+class ProtocolConstants {
   // 固定字节
   static const int header1 = 0xAB;
   static const int header2 = 0xAA;