#连接库初步完成

lib/features/auth/data/datasources/i_auth_http_datasource.dart

@@ -1,5 +1,5 @@
 import '../models/user_model.dart';
 
-abstract class AuthHttpDataSource {
+abstract class IAuthHttpDataSource {
   Future<UserModel> login(String username, String password, int sourceType);
 }

lib/features/auth/data/datasources/i_auth_local_datasource.dart

@@ -0,0 +1,8 @@
+import '../../domain/entities/user_entity.dart';
+
+abstract class IAuthLocalDataSource {
+  Future<void> saveUser(UserEntity user);
+  Future<UserEntity?> getUser();
+  Future<void> deleteUser();
+  Future<bool> hasUser();
+}

lib/features/auth/data/datasources/impl/auth_http_datasource_impl.dart

@@ -2,9 +2,9 @@ import 'package:dio/dio.dart';
 import 'package:maibu_satabot_v2/core/consts/http_api_consts.dart';
 
 import '../../models/user_model.dart';
-import '../auth_http_datasource.dart';
+import '../i_auth_http_datasource.dart';
 
-class AuthHttpDataSourceImpl implements AuthHttpDataSource {
+class AuthHttpDataSourceImpl implements IAuthHttpDataSource {
   final Dio dio;
 
   AuthHttpDataSourceImpl(this.dio);

lib/features/auth/data/datasources/impl/auth_local_datasource_impl.dart

@@ -0,0 +1,41 @@
+import 'dart:convert';
+
+import 'package:shared_preferences/shared_preferences.dart';
+
+import '../../models/user_model.dart';
+import '../../../domain/entities/user_entity.dart';
+import '../i_auth_local_datasource.dart';
+
+class AuthLocalDatasourceImpl implements IAuthLocalDataSource {
+  final SharedPreferences _prefs;
+  static const _userKey = 'auth_user';
+
+  AuthLocalDatasourceImpl(this._prefs);
+
+  @override
+  Future<void> saveUser(UserEntity user) async {
+    // 1. 将对象转为 Map -> 2. 将 Map 转为 JSON 字符串
+    final model = UserModel.fromEntity(user);
+    await _prefs.setString(_userKey, json.encode(model.toJson()));
+  }
+
+  @override
+  Future<UserEntity?> getUser() async {
+    final jsonString = _prefs.getString(_userKey);
+    if (jsonString == null) return null;
+
+    // 将 JSON 转回 Model，再转成 Entity 返回给业务层
+    final model = UserModel.fromJson(json.decode(jsonString));
+    return model.toEntity();
+  }
+
+  @override
+  Future<void> deleteUser() async {
+    await _prefs.remove(_userKey);
+  }
+
+  @override
+  Future<bool> hasUser() async {
+    return _prefs.containsKey(_userKey);
+  }
+}

lib/features/auth/data/models/user_model.dart

@@ -1,8 +1,9 @@
 import 'package:maibu_satabot_v2/core/data/base_model.dart';
 
-import '../../../../core/domain/entities/user_entity.dart';
+import '../../domain/entities/user_entity.dart';
 
-class UserModel extends UserEntity implements BaseModel {
+
+class UserModel extends UserEntity implements BaseModel<UserEntity> {
   UserModel({
     required super.userId,
     required super.username,
@@ -26,6 +27,7 @@ class UserModel extends UserEntity implements BaseModel {
     );
   }
 
+  @override
   Map<String, dynamic> toJson() {
     return {
       'userId': userId,
@@ -38,17 +40,7 @@ class UserModel extends UserEntity implements BaseModel {
     };
   }
 
-  toEntity() {
-    return UserEntity(
-      userId: userId,
-      username: username,
-      nickname: nickname,
-      token: token,
-      avatar: avatar,
-      email: email,
-      phone: phone,
-    );
-  }
+
 
   factory UserModel.fromEntity(UserEntity entity) {
     return UserModel(
@@ -61,4 +53,17 @@ class UserModel extends UserEntity implements BaseModel {
       phone: entity.phone,
     );
   }
+
+  @override
+  UserEntity toEntity() {
+    return UserEntity(
+      userId: userId,
+      username: username,
+      nickname: nickname,
+      token: token,
+      avatar: avatar,
+      email: email,
+      phone: phone,
+    );
+  }
 }

lib/features/auth/data/repositories/auth_repository_impl.dart

@@ -1,15 +1,15 @@
 import 'package:dio/dio.dart';
 import 'package:fpdart/fpdart.dart';
-import 'package:maibu_satabot_v2/core/storage/user_storage.dart';
+import 'package:maibu_satabot_v2/features/auth/data/datasources/i_auth_local_datasource.dart';
 
-import '../../../../core/domain/entities/user_entity.dart';
+import '../../domain/entities/user_entity.dart';
 import '../../domain/errors/auth_failure.dart';
 import '../../domain/repositories/auth_repository.dart';
-import '../datasources/auth_http_datasource.dart';
+import '../datasources/i_auth_http_datasource.dart';
 
 class AuthRepositoryImpl implements AuthRepository {
-  final AuthHttpDataSource httpRemote;
-  final UserStorage localTokenStorage;
+  final IAuthHttpDataSource httpRemote;
+  final IAuthLocalDataSource localTokenStorage;
 
   AuthRepositoryImpl({
     required this.httpRemote,

lib/features/auth/domain/entities/user_entity.dart

@@ -0,0 +1,32 @@
+import 'package:equatable/equatable.dart';
+
+class UserEntity extends Equatable {
+  final String userId;
+  final String username;
+  final String nickname;
+  final String token;
+  final String? avatar;
+  final String? email;
+  final String? phone;
+
+  UserEntity({
+    required this.userId,
+    required this.username,
+    required this.nickname,
+    required this.token,
+    this.avatar,
+    this.email,
+    this.phone,
+  });
+
+  @override
+  List<Object?> get props => [
+    userId,
+    username,
+    nickname,
+    avatar,
+    token,
+    email,
+    phone,
+  ];
+}

lib/features/auth/domain/repositories/auth_repository.dart

@@ -1,6 +1,6 @@
 import 'package:fpdart/fpdart.dart';
 
-import '../../../../core/domain/entities/user_entity.dart';
+import '../entities/user_entity.dart';
 import '../errors/auth_failure.dart';
 
 abstract class AuthRepository {

lib/features/auth/domain/usecases/login_usecase.dart

@@ -1,7 +1,7 @@
 import 'package:fpdart/fpdart.dart';
 
-import '../../../../core/domain/entities/user_entity.dart';
 import '../../../../core/domain/usecases/base_usecase.dart';
+import '../entities/user_entity.dart';
 import '../errors/auth_failure.dart';
 import '../repositories/auth_repository.dart';
 

lib/features/auth/presentation/bloc/app_user_cubit.dart

@@ -0,0 +1,30 @@
+import 'package:flutter_bloc/flutter_bloc.dart';
+
+import '../../data/datasources/i_auth_local_datasource.dart';
+import '../../domain/entities/user_entity.dart';
+import 'app_user_state.dart';
+
+class AppUserCubit extends Cubit<AppUserState> {
+  // 注入你的 UserStorage (之前在 core/storage 里的那个)
+  final IAuthLocalDataSource _storage;
+
+  AppUserCubit(this._storage) : super(const AppUserState()) {
+    // 初始化时尝试从本地加载
+    _loadFromStorage();
+  }
+
+  Future<void> _loadFromStorage() async {
+    final savedUser = await _storage.getUser();
+    if (savedUser != null) emit(AppUserState(user: savedUser));
+  }
+
+  void setAuth(UserEntity user) {
+    _storage.saveUser(user); // 持久化
+    emit(AppUserState(user: user));
+  }
+
+  void clearAuth() {
+    _storage.deleteUser(); // 清除本地数据
+    emit(const AppUserState());
+  }
+}

lib/features/auth/presentation/bloc/app_user_state.dart

@@ -0,0 +1,21 @@
+import 'package:equatable/equatable.dart';
+
+import '../../domain/entities/user_entity.dart';
+
+
+class AppUserState extends Equatable {
+  final UserEntity? user;
+
+  const AppUserState({this.user});
+
+  bool get isLoggedIn => user != null;
+
+  AppUserState copyWith({UserEntity? user, bool clearUser = false}) {
+    return AppUserState(
+      user: clearUser ? null : (user ?? this.user),
+    );
+  }
+
+  @override
+  List<Object?> get props => [user];
+}

lib/features/auth/presentation/bloc/auth_cubit.dart

@@ -1,77 +1,77 @@
 import 'dart:async';
-
 import 'package:flutter_bloc/flutter_bloc.dart';
-import 'package:maibu_satabot_v2/core/consts/tcp_consts.dart';
-import 'package:maibu_satabot_v2/core/domain/entities/user_entity.dart';
-import 'package:maibu_satabot_v2/core/network/net_message_dispatcher.dart';
-
-import '../../../../core/app/app_user_cubit.dart';
-import '../../../../core/network/tcp/tcp_client.dart';
-import '../../../../core/storage/user_storage.dart';
+import 'package:maibu_satabot_v2/core/network/enums/control_mode.dart'; // 引入
+import 'package:maibu_satabot_v2/core/network/tcp/tcp_connection.dart';
+import '../../../../core/di/injection.dart';
+import '../../../../core/protocol/protocol_constants.dart';
+import '../../../connectivity/presentation/bloc/connectivity_cubit.dart';
+import '../../domain/entities/user_entity.dart';
+import 'app_user_cubit.dart';
+import '../../data/datasources/i_auth_local_datasource.dart';
 import 'auth_state.dart';
 
-/// emit做的事情：
-/// 1.修改状态标志：通过改变类的类型（从 Initial 变成 Authenticated）
-/// 2.携带数据：把 user 对象塞进了状态里，让外部能拿到
-/// 3.发送通知：自动触发监听（如 GoRouter 的刷新）。
 class AuthCubit extends Cubit<AuthState> {
-  final UserStorage storage;
-  final TcpClient tcp;
+  final IAuthLocalDataSource storage;
   final AppUserCubit appCubit;
-  final NetMessageDispatcher dispatcher;
-  StreamSubscription? _kickOutSub; // 新增：用于管理监听生命周期
+  final ConnectivityCubit connectivityCubit;
+  StreamSubscription? _eventSub;
 
-  AuthCubit(this.storage, this.tcp, this.appCubit, this.dispatcher)
-    : super(AuthInitial()) {
-    // Cubit 一启动就开始监听 TCP 的“自动逻辑”
+  AuthCubit({
+    required this.storage,
+    required this.appCubit,
+    required this.connectivityCubit,
+  }) : super(AuthInitial()) {
     _listenToAuthResponse();
   }
 
-  /// App 启动时检查本地缓存
   Future<void> appStarted() async {
     final user = await storage.getUser();
     if (user != null) {
-      // 1. 建立 TCP 连接 (远程控制)
-      tcp.connect(host: TCPConsts.TCP_IP, port: TCPConsts.TCP_PORT);
-      // 2. 同步全局 App 状态
+      _connectTcp();
       appCubit.setAuth(user);
-      // 3. 进入已登录状态
       emit(AuthAuthenticated(user));
     } else {
       emit(AuthUnauthenticated());
     }
   }
 
-  /// 当 HTTP 登录/注册成功后调用
   Future<void> loginSuccess(UserEntity user) async {
     await storage.saveUser(user);
-    tcp.connect(host: TCPConsts.TCP_IP, port: TCPConsts.TCP_PORT);
+    _connectTcp();
     appCubit.setAuth(user);
     emit(AuthAuthenticated(user));
   }
 
-  /// 退出登录 (主动或被动)
+  void _connectTcp() {
+    // 动态注入 TCP 连接
+    final tcp = sl<TcpConnection>();
+
+    connectivityCubit.setConnection(tcp, ControlMode.TCP);
+  }
+
   Future<void> logout() async {
     await storage.deleteUser();
-    tcp.disconnect();
+    // 现在 setConnection 接受 null 了，不会再爆红
+    connectivityCubit.setConnection(null, ControlMode.NONE);
     appCubit.clearAuth();
     emit(AuthUnauthenticated());
   }
 
-  /// TCP 指令监听
   void _listenToAuthResponse() {
-    _kickOutSub?.cancel(); // 防止重复监听
+    _eventSub?.cancel();
 
-    // 假设 0x12 是踢下线或多设备登录提醒
-    _kickOutSub = dispatcher.onJsonMessage(0x12).listen((json) {
-      // 如果后端发来指令确认需要退出
-      logout();
+    // 监听全局解析后的 Packet 流
+    _eventSub = connectivityCubit.activePacketStream
+        .where((packet) => packet.cmdType == ProtocolConstants.cmdGetAuth)
+        .listen((packet) {
+      // 这里处理 0x04 授权逻辑
+      print("Auth Response Received: ${packet.payload}");
     });
   }
 
   @override
   Future<void> close() {
-    _kickOutSub?.cancel(); // 销毁 Cubit 时关闭监听
+    _eventSub?.cancel();
     return super.close();
   }
-}
+}

lib/features/auth/presentation/bloc/auth_state.dart

@@ -1,4 +1,4 @@
-import 'package:maibu_satabot_v2/core/domain/entities/user_entity.dart';
+import '../../domain/entities/user_entity.dart';
 
 abstract class AuthState {}
 

lib/features/auth/presentation/bloc/login_state.dart

@@ -1,4 +1,4 @@
-import '../../../../core/domain/entities/user_entity.dart';
+import '../../domain/entities/user_entity.dart';
 
 abstract class LoginState {}
 

lib/features/connectivity/domain/control_mode.dart

@@ -0,0 +1 @@
+enum ControlMode { TCP, BLE, LOCAL, NONE, OTHER }

lib/features/connectivity/presentation/bloc/connectivity_cubit.dart

@@ -0,0 +1,133 @@
+import 'dart:async';
+import 'package:flutter_bloc/flutter_bloc.dart';
+import 'package:fpdart/fpdart.dart';
+import '../../../../core/di/injection.dart';
+import '../../../../core/error/failure.dart';
+import '../../../../core/logging/i_logger_service.dart';
+import '../../../../core/network/base/i_connection.dart';
+import '../../../../core/network/enums/control_mode.dart';
+import '../../../../core/protocol/packet_entity.dart';
+import '../../../../core/protocol/packet_parser_transformer.dart';
+import '../../../../core/protocol/protocol_constants.dart';
+import 'connectivity_state.dart';
+
+class ConnectivityCubit extends Cubit<ConnectivityState> {
+  IConnection? _activeConnection;
+  StreamSubscription? _statusSub;
+  StreamSubscription<PacketEntity>? _packetSub;
+  Timer? _watchdogTimer;
+
+  // 核心：这是唯一的流入口
+  Stream<PacketEntity>? _broadcastPacketStream;
+
+  ConnectivityCubit() : super(ConnectivityState.initial());
+
+  void setConnection(IConnection? connection, ControlMode mode) {
+    // 1. 彻底清理（按顺序来）
+    _stopMonitoring();
+    _statusSub?.cancel();
+    _activeConnection?.disconnect();
+
+    // 2. 关键：切断旧流的所有引用
+    _broadcastPacketStream = null;
+
+    _activeConnection = connection;
+
+    if (connection != null) {
+      _statusSub = connection.statusStream.listen((status) {
+        emit(state.copyWith(activeMode: mode, status: status));
+
+        if (status == ConnectionStatus.connected) {
+          // 3. 只有连接成功时，才初始化唯一的广播流
+          _ensureStreamInitialized();
+          _startMonitoring();
+        } else {
+          _stopMonitoring();
+        }
+      });
+      connection.connect();
+    } else {
+      emit(state.copyWith(activeMode: ControlMode.NONE, status: ConnectionStatus.disconnected));
+    }
+  }
+
+  // 核心：强制初始化，确保 transform 只跑一次
+  void _ensureStreamInitialized() {
+    if (_activeConnection != null && _broadcastPacketStream == null) {
+      print("DEBUG: 正在创建唯一的广播流转换器");
+
+      // 确保 rawStream 是有效的
+      if (_activeConnection!.rawStream != null) {
+        _broadcastPacketStream = _activeConnection!.rawStream
+            .transform(PacketParserTransformer())
+            .asBroadcastStream();
+      } else {
+        print("DEBUG: rawStream is null,无法初始化广播流");
+      }
+    }
+  }
+
+
+  void _startMonitoring() {
+    _stopMonitoring();
+    _resetWatchdog();
+
+    // 确保流已存在
+    _ensureStreamInitialized();
+
+    // 此时 listen 的是已经转换好的广播流，绝对不会触发 rawStream.transform
+    _packetSub = _broadcastPacketStream?.listen((packet) {
+      _resetWatchdog();
+      if (packet.cmdType == 0xFF) {
+        sendCommand(0xFF, null);
+        sl<ILoggerService>().log("receive heartbeat，has response...");
+      }
+    }, onError: (e) => print("流监听错误: $e"));
+  }
+
+  // Getter 也要改，保证它只返回已经创建好的流
+  Stream<PacketEntity> get activePacketStream {
+    _ensureStreamInitialized();
+    return _broadcastPacketStream ?? const Stream.empty();
+  }
+
+  // --- 其他逻辑保持不变 ---
+  void _resetWatchdog() {
+    _watchdogTimer?.cancel();
+    _watchdogTimer = Timer(const Duration(seconds: 10), () {
+      print("警告：10秒内数据，触发断开逻辑");
+      emit(state.copyWith(status: ConnectionStatus.disconnected));
+    });
+  }
+
+  void _stopMonitoring() {
+    _packetSub?.cancel();
+    _packetSub = null;
+    _watchdogTimer?.cancel();
+    _watchdogTimer = null;
+  }
+
+  Future<Either<Failure, Unit>> sendCommand(int cmd, List<int>? payload) async {
+    if (_activeConnection == null) return left(NetworkFailure("无连接"));
+
+    final frame = <int>[
+      ProtocolConstants.header1,
+      ProtocolConstants.header2,
+      cmd,
+      ...?payload,
+      if (payload != null && payload.isNotEmpty) ...[0x00, 0x00],
+      ProtocolConstants.endFlag1,
+      ProtocolConstants.endFlag2
+    ];
+
+    return await _activeConnection!.send(frame);
+  }
+
+  @override
+  Future<void> close() {
+    _stopMonitoring();
+    _statusSub?.cancel();
+    _activeConnection?.disconnect();
+    return super.close();
+  }
+}

lib/features/connectivity/presentation/bloc/connectivity_state.dart

@@ -0,0 +1,27 @@
+import 'package:equatable/equatable.dart';
+
+import '../../../../core/network/base/i_connection.dart';
+import '../../../../core/network/enums/control_mode.dart';
+
+class ConnectivityState extends Equatable{
+  final ControlMode activeMode;
+  final ConnectionStatus status;
+
+  const ConnectivityState({required this.activeMode, required this.status});
+
+  factory ConnectivityState.initial() => ConnectivityState(
+    activeMode: ControlMode.NONE,
+    status: ConnectionStatus.disconnected,
+  );
+
+  ConnectivityState copyWith({ControlMode? activeMode, ConnectionStatus? status}) {
+    return ConnectivityState(
+      activeMode: activeMode ?? this.activeMode,
+      status: status ?? this.status,
+    );
+  }
+
+  @override
+  // TODO: implement props
+  List<Object?> get props => [activeMode, status];
+}

lib/features/devices/data/datasources/i_device_http_datasource.dart

@@ -1,6 +1,6 @@
 import 'package:maibu_satabot_v2/features/devices/domain/entities/device_entity.dart';
 
-abstract class DeviceHttpDatasource {
+abstract class IDeviceHttpDatasource {
   Future<List<DeviceEntity>> getUserDevices(String username);
   Future<int> bindDevice(String deviceId, String deviceAlias);
   Future<int> unbindDevice(String deviceId);

lib/features/devices/data/datasources/impl/device_http_datasource_impl.dart

@@ -1,9 +1,9 @@
 import 'package:dio/dio.dart';
 import 'package:maibu_satabot_v2/core/consts/http_api_consts.dart';
-import 'package:maibu_satabot_v2/features/devices/data/datasources/device_http_datasource.dart';
+import 'package:maibu_satabot_v2/features/devices/data/datasources/i_device_http_datasource.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/entities/device_entity.dart';
 
-class DeviceHttpDatasourceImpl implements DeviceHttpDatasource {
+class DeviceHttpDatasourceImpl implements IDeviceHttpDatasource {
   final Dio dio;
 
   DeviceHttpDatasourceImpl(this.dio);

lib/features/devices/data/models/device_model.dart

@@ -1,7 +1,7 @@
 import 'package:maibu_satabot_v2/core/data/base_model.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/entities/device_entity.dart';
 
-class DeviceModel extends DeviceEntity implements BaseModel {
+class DeviceModel extends DeviceEntity implements BaseModel<DeviceEntity> {
   DeviceModel({
     required super.deviceName,
     required super.productId,
@@ -30,6 +30,7 @@ class DeviceModel extends DeviceEntity implements BaseModel {
     );
   }
 
+  @override
   Map<String, dynamic> toJson() {
     return {
       'deviceName': deviceName,
@@ -45,7 +46,8 @@ class DeviceModel extends DeviceEntity implements BaseModel {
     };
   }
 
-  toEntity() {
+  @override
+  DeviceEntity toEntity() {
     return DeviceEntity(
       deviceName: deviceName,
       productId: productId,

lib/features/devices/data/repositories/device_repository_impl.dart

@@ -1,13 +1,13 @@
 import 'package:dio/dio.dart';
 import 'package:fpdart/src/either.dart';
-import 'package:maibu_satabot_v2/features/devices/data/datasources/device_http_datasource.dart';
+import 'package:maibu_satabot_v2/features/devices/data/datasources/i_device_http_datasource.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/entities/device_entity.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/errors/device_failure.dart';
 
 import '../../domain/repositories/device_repository.dart';
 
 class DeviceRepositoryImpl implements DeviceRepository {
-  DeviceHttpDatasource _deviceHttpDatasource;
+  IDeviceHttpDatasource _deviceHttpDatasource;
 
   DeviceRepositoryImpl(this._deviceHttpDatasource);
 

lib/features/home/presentation/pages/home_page.dart

@@ -1,6 +1,6 @@
 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/features/auth/presentation/bloc/app_user_cubit.dart';
 import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_cubit.dart';
 
 import '../widgets/ImmersionHeader.dart';

lib/features/home/presentation/pages/route_plan_page.dart

@@ -1,7 +1,7 @@
 import 'package:flutter/material.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 
-import '../../../../core/app/app_user_cubit.dart';
+import '../../../auth/presentation/bloc/app_user_cubit.dart';
 import '../../../devices/presentation/bloc/devices_cubit.dart';
 
 class RoutePlanPage extends StatelessWidget {

lib/features/home/presentation/pages/running_status_page.dart

@@ -1,7 +1,7 @@
 import 'package:flutter/material.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 
-import '../../../../core/app/app_user_cubit.dart';
+import '../../../auth/presentation/bloc/app_user_cubit.dart';
 import '../../../devices/presentation/bloc/devices_cubit.dart';
 
 class RunningStatusPage extends StatelessWidget {

lib/features/home/presentation/widgets/ImmersionHeader.dart

@@ -4,7 +4,7 @@ import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:google_fonts/google_fonts.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/entities/device_entity.dart';
 
-import '../../../../core/app/app_user_cubit.dart';
+import '../../../auth/presentation/bloc/app_user_cubit.dart';
 import '../../../devices/presentation/bloc/devices_cubit.dart';
 import '../../../devices/presentation/bloc/devices_state.dart';
 // 导入你的主题文件以获取 offWhite

lib/features/remote_control/data/datasources/i_remote_http_datasource.dart

@@ -1,9 +1,9 @@
 import 'package:dio/dio.dart';
 
-class RemoteHttpDatasource {
+class IRemoteHttpDatasource {
   final Dio _dio;
 
-  RemoteHttpDatasource(this._dio);
+  IRemoteHttpDatasource(this._dio);
 
   /// 示例：获取控制授权 (对应之前逻辑中的权限申请)
   Future<Map<String, dynamic>> requestControlAuth(String robotId) async {

lib/features/remote_control/data/models/lawn_mover_protocol_model.dart

@@ -1,30 +0,0 @@
-import 'dart:typed_data';
-
-import '../../../../core/protocol/machine_protocol_codec.dart';
-
-class LawnMoverProtocolModel {
-  final int left;
-  final int right;
-  final int lift;
-  final int mower;
-  final int ignition;
-  final int emergency;
-
-  LawnMoverProtocolModel({
-    required this.left,
-    required this.right,
-    this.lift = 0,
-    this.mower = 0,
-    this.ignition = 0,
-    this.emergency = 0,
-  });
-
-  Uint8List toBytes() => MachineProtocolCodec.encodeRemoteControlPayload(
-    left: left,
-    right: right,
-    lift: lift,
-    mower: mower,
-    ignition: ignition,
-    emergency: emergency,
-  );
-}

lib/features/remote_control/data/models/machine_control_model.dart

@@ -0,0 +1,89 @@
+import 'dart:typed_data';
+import 'package:maibu_satabot_v2/core/data/base_model.dart';
+import 'package:maibu_satabot_v2/features/remote_control/domain/entities/machine_control_entity.dart';
+
+class MachineControlModel extends MachineControlEntity implements BaseModel<MachineControlEntity>{
+  MachineControlModel({
+      required super.leftSpeed,
+      required super.rightSpeed,
+      required super.chassisLift,
+      required super.mowerSpeed,
+      required super.ignitionStatus,
+      required super.isEmergency,
+    });
+
+  factory MachineControlModel.fromEntity(MachineControlEntity  entity) {
+    return MachineControlModel(
+      leftSpeed: entity.leftSpeed,
+      rightSpeed: entity.rightSpeed,
+      chassisLift: entity.chassisLift,
+      mowerSpeed: entity.mowerSpeed,
+      ignitionStatus: entity.ignitionStatus,
+      isEmergency: entity.isEmergency,
+    );
+  }
+
+  /// 需要传入计算好的左右轮速度
+  Uint8List toRawPacket(Map<String, int> speeds) {
+    // 1. 调用 Codec：生成协议定义的 8 字节 Payload
+    final payload = encodeRemoteControlPayload(
+      left: speeds['left'] ?? 0,
+      right: speeds['right'] ?? 0,
+      lift: chassisLift,
+      mower: mowerSpeed,
+      ignition: ignitionStatus,
+      emergency: isEmergency ? 1 : 0,
+    );
+
+    // 2. 调用 Builder：封装帧头、指令、CRC、帧尾
+    return payload;
+  }
+
+  @override
+  MachineControlEntity toEntity() {
+    return MachineControlEntity(
+      leftSpeed: leftSpeed,
+      rightSpeed: rightSpeed,
+      chassisLift: chassisLift,
+      mowerSpeed: mowerSpeed,
+      ignitionStatus: ignitionStatus,
+      isEmergency: isEmergency,
+    );
+  }
+
+  @override
+  Map<String, dynamic> toJson() {
+    return {
+      'leftSpeed': leftSpeed,
+      'rightSpeed': rightSpeed,
+      'chassisLift': chassisLift,
+      'mowerSpeed': mowerSpeed,
+      'ignitionStatus': ignitionStatus,
+      'isEmergency': isEmergency,
+    };
+  }
+
+  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/features/remote_control/data/models/running_status_model.dart

@@ -1,103 +1,132 @@
-class RunningStatusModel {
-  final String voltage;
-  final String leftTargetSpeed;
-  final String rightTargetSpeed;
-  final String leftMeasureSpeed;
-  final String rightMeasureSpeed;
-  final String leftCurrent;
-  final String rightCurrent;
-  final String leftMotorTemp;
-  final String rightMotorTemp;
-  final String chipTemp;
-  final String yaw;
-  final String pitch;
-  final String roll;
-  final String satelliteCnt;
-  final String qual;
-  final String headingStatus;
-  final String latitude;
-  final String longitude;
-  final String time;
-  final String knifeCuttingSpeed;
-  final String controlMode;
-  final String workingArea;
-  final String battery;
+import 'dart:convert';
+import 'dart:typed_data';
 
+import 'package:maibu_satabot_v2/core/data/base_model.dart';
+import 'package:maibu_satabot_v2/features/remote_control/domain/entities/running_status_entity.dart';
+
+import '../../../../core/network/enums/control_mode.dart';
+
+class RunningStatusModel extends RunningStatusEntity
+    implements BaseModel<RunningStatusEntity> {
   RunningStatusModel({
-    this.voltage = '',
-    this.leftTargetSpeed = '',
-    this.rightTargetSpeed = '',
-    this.leftMeasureSpeed = '',
-    this.rightMeasureSpeed = '',
-    this.leftCurrent = '',
-    this.rightCurrent = '',
-    this.leftMotorTemp = '',
-    this.rightMotorTemp = '',
-    this.chipTemp = '',
-    this.yaw = '',
-    this.pitch = '',
-    this.roll = '',
-    this.satelliteCnt = '',
-    this.qual = '',
-    this.headingStatus = '',
-    this.latitude = '',
-    this.longitude = '',
-    this.time = '',
-    this.knifeCuttingSpeed = '',
-    this.controlMode = '',
-    this.workingArea = '',
-    this.battery = '',
+    required super.voltage,
+    required super.leftTargetSpeed,
+    required super.rightTargetSpeed,
+    required super.leftMeasureSpeed,
+    required super.rightMeasureSpeed,
+    required super.leftCurrent,
+    required super.rightCurrent,
+    required super.leftMotorTemp,
+    required super.rightMotorTemp,
+    required super.chipTemp,
+    required super.yaw,
+    required super.pitch,
+    required super.roll,
+    required super.satelliteCnt,
+    required super.qual,
+    required super.headingStatus,
+    required super.latitude,
+    required super.longitude,
+    required super.time,
+    required super.knifeCuttingSpeed,
+    required super.controlMode,
+    required super.workingArea,
+    required super.battery,
+    required super.obstacleFlag,
   });
 
-  RunningStatusModel copyWith({
-    String? voltage,
-    String? leftTargetSpeed,
-    String? rightTargetSpeed,
-    String? leftMeasureSpeed,
-    String? rightMeasureSpeed,
-    String? leftCurrent,
-    String? rightCurrent,
-    String? leftMotorTemp,
-    String? rightMotorTemp,
-    String? chipTemp,
-    String? yaw,
-    String? pitch,
-    String? roll,
-    String? satelliteCnt,
-    String? qual,
-    String? headingStatus,
-    String? latitude,
-    String? longitude,
-    String? time,
-    String? knifeCuttingSpeed,
-    String? controlMode,
-    String? workingArea,
-    String? battery,
-  }) {
+  @override
+  RunningStatusEntity toEntity() => this;
+
+  @override
+  Map<String, dynamic> toJson() {
+    return {
+      'voltage': voltage,
+      'leftTargetSpeed': leftTargetSpeed,
+      'rightTargetSpeed': rightTargetSpeed,
+      'leftMeasureSpeed': leftMeasureSpeed,
+      'rightMeasureSpeed': rightMeasureSpeed,
+      'leftCurrent': leftCurrent,
+      'rightCurrent': rightCurrent,
+      'leftMotorTemp': leftMotorTemp,
+      'rightMotorTemp': rightMotorTemp,
+      'chipTemp': chipTemp,
+      'yaw': yaw,
+      'pitch': pitch,
+      'roll': roll,
+      'satelliteCnt': satelliteCnt,
+      'qual': qual,
+      'headingStatus': headingStatus,
+      'latitude': latitude,
+      'longitude': longitude,
+      'time': time,
+      'knifeCuttingSpeed': knifeCuttingSpeed,
+      'controlMode': controlMode,
+      'workingArea': workingArea,
+      'battery': battery,
+      'obstacleFlag': obstacleFlag,
+    };
+  }
+
+  factory RunningStatusModel.fromBytes(Uint8List payload) {
+    // 将 Uint8List 转换为字符串 (通常是 utf8 或 ascii)
+    final rawString = utf8.decode(payload);
+
+    // 按逗号分割成数组
+    final parts = rawString.split(',');
+
+    // 辅助函数：安全转换数字，防止硬件发空字符串导致崩溃
+    double parseD(int index) =>
+        (index < parts.length && parts[index].isNotEmpty)
+        ? double.tryParse(parts[index]) ?? 0.0
+        : 0.0;
+
+    int parseI(int index) => (index < parts.length && parts[index].isNotEmpty)
+        ? int.tryParse(parts[index]) ?? 0
+        : 0;
+
+    String parseS(int index) => (index < parts.length) ? parts[index] : "";
+
+    ControlMode mapMode(int val) {
+      switch (val) {
+        case 1:
+          return ControlMode.LOCAL;
+        case 2:
+          return ControlMode.BLE;
+        case 3:
+          return ControlMode.TCP;
+        case 4:
+          return ControlMode.OTHER;
+        default:
+          return ControlMode.NONE; // 0 或其他异常值
+      }
+    }
+
     return RunningStatusModel(
-      voltage: voltage ?? this.voltage,
-      leftTargetSpeed: leftTargetSpeed ?? this.leftTargetSpeed,
-      rightTargetSpeed: rightTargetSpeed ?? this.rightTargetSpeed,
-      leftMeasureSpeed: leftMeasureSpeed ?? this.leftMeasureSpeed,
-      rightMeasureSpeed: rightMeasureSpeed ?? this.rightMeasureSpeed,
-      leftCurrent: leftCurrent ?? this.leftCurrent,
-      rightCurrent: rightCurrent ?? this.rightCurrent,
-      leftMotorTemp: leftMotorTemp ?? this.leftMotorTemp,
-      rightMotorTemp: rightMotorTemp ?? this.rightMotorTemp,
-      chipTemp: chipTemp ?? this.chipTemp,
-      yaw: yaw ?? this.yaw,
-      pitch: pitch ?? this.pitch,
-      roll: roll ?? this.roll,
-      satelliteCnt: satelliteCnt ?? this.satelliteCnt,
-      qual: qual ?? this.qual,
-      headingStatus: headingStatus ?? this.headingStatus,
-      latitude: latitude ?? this.latitude,
-      longitude: longitude ?? this.longitude,
-      time: time ?? this.time,
-      knifeCuttingSpeed: knifeCuttingSpeed ?? this.knifeCuttingSpeed,
-      controlMode: controlMode ?? this.controlMode,
-      workingArea: workingArea ?? this.workingArea,
-      battery: battery ?? this.battery,
+      voltage: parseD(0), // 电压
+      leftTargetSpeed: parseI(1), // 左轮目标速度
+      rightTargetSpeed: parseI(2), // 右轮目标速度
+      leftMeasureSpeed: parseI(3), // 左轮测量速度
+      rightMeasureSpeed: parseI(4), // 右轮测量速度
+      leftCurrent: parseD(5), // 左轮电流
+      rightCurrent: parseD(6), // 右轮电流
+      leftMotorTemp: parseD(7), // 左轮温度
+      rightMotorTemp: parseD(8), // 右轮温度
+      chipTemp: parseD(9), // 芯片温度
+      yaw: parseD(10), // 偏航角
+      pitch: parseD(11), // 仰俯角
+      roll: parseD(12), // 翻滚角
+      satelliteCnt: parseI(13), // 卫星数
+      qual: parseI(14), // 定位质量 (0-7)
+      headingStatus: parseI(15), // 航向角状态
+      latitude: parseD(16), // 纬度
+      longitude: parseD(17), // 经度
+      time: parseS(18), // 时间字符串
+      knifeCuttingSpeed: parseI(19), // 割刀速度
+      controlMode: mapMode(20), // 控制模式 (0-4)
+      battery: parseD(21), // 电池电量 (0-100)
+      workingArea: parseD(22), // 作业面积
+      obstacleFlag: parseI(23), // 障碍物标志 (0/1)
     );
   }
 }

lib/features/remote_control/data/repositories/remote_control_repository_impl.dart

@@ -1,47 +1,65 @@
 import 'dart:async';
+import 'dart:typed_data';
+import 'package:maibu_satabot_v2/core/protocol/protocol_constants.dart';
+import 'package:maibu_satabot_v2/core/protocol/packet_entity.dart';
+import 'package:maibu_satabot_v2/features/remote_control/data/models/machine_control_model.dart';
+import 'package:maibu_satabot_v2/features/remote_control/domain/entities/running_status_entity.dart';
 
-import '../../../../core/network/protocol_decoder.dart';
-import '../../../../core/network/tcp/tcp_client.dart';
-import '../../../../core/protocol/machine_protocol_codec.dart';
-import '../../../../core/protocol/machine_protocol_constants.dart';
-import '../../domain/entities/machine_control_status_entity.dart';
+import '../../../connectivity/presentation/bloc/connectivity_cubit.dart';
+import '../../domain/entities/machine_control_entity.dart';
 import '../../domain/repositories/remote_control_repository.dart';
 import '../../domain/usecase/diff_steer_usecase.dart';
+import '../models/running_status_model.dart';
 
 class RemoteControlRepositoryImpl implements RemoteControlRepository {
-  final TcpClient _tcpClient;
+  final ConnectivityCubit _connectivityCubit;
   final DiffSteerUseCase _diffSteer;
 
-  RemoteControlRepositoryImpl(this._tcpClient, this._diffSteer);
+  RemoteControlRepositoryImpl(
+      this._connectivityCubit, // 现在统一通过 Cubit 管理连接和分发
+      this._diffSteer,
+      );
 
   @override
   void changeWebViewDirection(String direction) {
-    // TODO: implement changeWebViewDirection
+    // 逻辑保持不变
   }
 
   @override
-  void sendControlMachineCmd(MachineControlStatusEntity status) {
-    // 1. 调用算法：将摇杆坐标 (x, y) 转换为左右轮电机转速
-    final speeds = _diffSteer.calculate(status.originX, status.originY);
+  Future<void> sendControlMachineCmd(MachineControlEntity entity) async {
+    // 1. 调用差速算法计算左右轮速度
+    final speeds = _diffSteer.calculate(entity.rightSpeed, entity.leftSpeed);
 
-    // 2. 调用 Codec：仅生成协议要求的 8 字节 Payload 负载数据
-    final payload = MachineProtocolCodec.encodeRemoteControlPayload(
-      left: speeds['left']!,
-      right: speeds['right']!,
-      lift: status.chassisLift,
-      mower: status.mowerSpeed,
-      ignition: status.ignitionStatus,
-      emergency: status.isEmergency ? 1 : 0,
-    );
+    var model = MachineControlModel.fromEntity(entity);
 
-    // 3. 调用 TcpClient：发送指令。
-    // TcpClient.sendRaw 会自动帮你加上 [0xAB, 0xAA] 头和 [0xAA, 0xAB] 尾
-    _tcpClient.sendRaw(
-      MachineProtocolConstants.cmdRemoteControl, // 这里通常是 0x00
-      payload,
+    var rawPacket = model.toRawPacket(speeds);
+
+    // 3. 通过连接管理器发出，内部会自动处理 [AB AA] ... [CRC] [AA AB]
+    // 并且会执行 flush() 确保 100ms 实时性
+    await _connectivityCubit.sendCommand(
+      ProtocolConstants.cmdRemoteControl, // 0x00
+      rawPacket,
     );
   }
 
+
+
+  /// 过滤出 0x02 状态包并转换为业务 Entity
   @override
-  Stream<RawPacket> get responseStream => _tcpClient.packetStream;
-}
+  Stream<RunningStatusEntity> get runningStatusStream {
+    return _connectivityCubit.activePacketStream
+        .where((p) => p.cmdType == ProtocolConstants.cmdStatusInfo) // 0x02
+        .map((packet) {
+      // 第一步：由 Model 负责处理“脏活”（字符串拆分、类型转换）
+      final model = RunningStatusModel.fromBytes(Uint8List.fromList(packet.payload));
+
+      // 第二步：转换为 Entity 交付给 UI 或 UseCase
+      return model.toEntity();
+    });
+  }
+
+  /// 暴露原始解析流 (RawPacket 在我们这里对应 Packet 类)
+  /// UI 或其他 Cubit 监听此流来处理机器人主动推送的消息
+  @override
+  Stream<PacketEntity> get responseStream => _connectivityCubit.activePacketStream;
+}

lib/features/remote_control/domain/entities/machine_control_entity.dart

@@ -1,21 +1,23 @@
-class MachineControlStatusEntity {
-  final int originX;
-  final int originY;
+import 'package:equatable/equatable.dart';
+
+class MachineControlEntity extends Equatable{
+  final int leftSpeed;
+  final int rightSpeed;
   final int chassisLift; // 0:停, 1:上, 2:下
   final int mowerSpeed; // 0:停, 1:+, 2:-
   final int ignitionStatus; // 0:停, 1:火, 2:熄
   final bool isEmergency;
 
-  MachineControlStatusEntity({
-    this.originX = 0,
-    this.originY = 0,
+  MachineControlEntity({
+    this.leftSpeed = 0,
+    this.rightSpeed = 0,
     this.chassisLift = 0,
     this.mowerSpeed = 0,
     this.ignitionStatus = 0,
     this.isEmergency = false,
   });
 
-  MachineControlStatusEntity copyWith({
+  MachineControlEntity copyWith({
     int? x,
     int? y,
     int? lift,
@@ -23,13 +25,23 @@ class MachineControlStatusEntity {
     int? ignition,
     bool? emergency,
   }) {
-    return MachineControlStatusEntity(
-      originX: x ?? originX,
-      originY: y ?? originY,
+    return MachineControlEntity(
+      leftSpeed: y ?? leftSpeed,
+      rightSpeed: x ?? rightSpeed,
       chassisLift: lift ?? chassisLift,
       mowerSpeed: mower ?? mowerSpeed,
       ignitionStatus: ignition ?? ignitionStatus,
       isEmergency: emergency ?? isEmergency,
     );
   }
+
+  @override
+  List<Object?> get props => [
+    leftSpeed,
+    rightSpeed,
+    chassisLift,
+    mowerSpeed,
+    ignitionStatus,
+    isEmergency,
+  ];
 }

lib/features/remote_control/domain/entities/running_status_entity.dart

@@ -0,0 +1,112 @@
+import 'package:equatable/equatable.dart';
+
+import '../../../../core/network/enums/control_mode.dart';
+import '../../data/models/running_status_model.dart';
+
+class RunningStatusEntity extends Equatable {
+  final double voltage; //电压
+  final int leftTargetSpeed; //左目标速度
+  final int rightTargetSpeed; //右目标速度
+  final int leftMeasureSpeed; //左测速
+  final int rightMeasureSpeed; //右测速
+  final double leftCurrent; //左电流
+  final double rightCurrent; //右电流
+  final double leftMotorTemp; //左电机温度
+  final double rightMotorTemp; //右电机温度
+  final double chipTemp; //芯片温度
+  final double yaw; //偏航角
+  final double pitch; //俯仰角
+  final double roll; //滚转角
+  final int satelliteCnt; //卫星数量
+  final int qual; //定位质量: 0:无效 1：GPS单点定位 2：DGPS 3：RTK固定解 4：RTK浮点解 5.手动输入模式
+  final int headingStatus; //航向角状态:  0:未完成, 1：完成
+  final double latitude; //纬度
+  final double longitude; //经度
+  final String time; //时间
+  final int knifeCuttingSpeed; //割刀速度
+  final ControlMode controlMode; //控制模式: 0.无控制 1.本地控制 2.蓝牙 3.TCP 4.其他接口
+  final double battery; //电池电量
+  final double workingArea; //作业面积
+  final int obstacleFlag; //障碍物标志位 0:无 1:有
+
+  RunningStatusEntity({
+    this.voltage = 0.0,
+    this.leftTargetSpeed = 0,
+    this.rightTargetSpeed = 0,
+    this.leftMeasureSpeed = 0,
+    this.rightMeasureSpeed = 0,
+    this.leftCurrent = 0.0,
+    this.rightCurrent = 0.0,
+    this.leftMotorTemp = 0.0,
+    this.rightMotorTemp = 0.0,
+    this.chipTemp = 0.0,
+    this.yaw = 0.0,
+    this.pitch = 0.0,
+    this.roll = 0.0,
+    this.satelliteCnt = 0,
+    this.qual = 0,
+    this.headingStatus = 0,
+    this.latitude = 0.0,
+    this.longitude = 0.0,
+    this.time = '',
+    this.knifeCuttingSpeed = 0,
+    this.controlMode = ControlMode.NONE,
+    this.workingArea = 0.0,
+    this.battery = 0.0,
+    this.obstacleFlag = 0,
+  });
+
+  factory RunningStatusEntity.fromModel(RunningStatusModel model) {
+    return RunningStatusEntity(
+      voltage: model.voltage,
+      leftTargetSpeed: model.leftTargetSpeed,
+      rightTargetSpeed: model.rightTargetSpeed,
+      leftMeasureSpeed: model.leftMeasureSpeed,
+      rightMeasureSpeed: model.rightMeasureSpeed,
+      leftCurrent: model.leftCurrent,
+      rightCurrent: model.rightCurrent,
+      leftMotorTemp: model.leftMotorTemp,
+      rightMotorTemp: model.rightMotorTemp,
+      chipTemp: model.chipTemp,
+      yaw: model.yaw,
+      pitch: model.pitch,
+      roll: model.roll,
+      satelliteCnt: model.satelliteCnt,
+      qual: model.qual,
+      headingStatus: model.headingStatus,
+      latitude: model.latitude,
+      longitude: model.longitude,
+      time: model.time,
+      knifeCuttingSpeed: model.knifeCuttingSpeed,
+      controlMode: model.controlMode,
+      workingArea: model.workingArea,
+      battery: model.battery,
+      obstacleFlag: model.obstacleFlag,
+    );
+  }
+
+  @override
+  List<Object?> get props => [
+    voltage,
+    leftTargetSpeed,
+    rightTargetSpeed,
+    leftMeasureSpeed,
+    rightMeasureSpeed,
+    leftCurrent,
+    rightCurrent,
+    leftMotorTemp,
+    rightMotorTemp,
+    chipTemp,
+    yaw,
+    pitch,
+    roll,
+    satelliteCnt,
+    qual,
+    headingStatus,
+    latitude,
+    longitude,
+    time,
+    knifeCuttingSpeed,
+    controlMode,
+  ];
+}

lib/features/remote_control/domain/repositories/remote_control_repository.dart

@@ -1,15 +1,20 @@
-import '../../../../core/network/protocol_decoder.dart';
-import '../../domain/entities/machine_control_status_entity.dart';
+import 'package:maibu_satabot_v2/core/protocol/packet_entity.dart';
+import 'package:maibu_satabot_v2/features/remote_control/domain/entities/running_status_entity.dart';
+
+import '../../domain/entities/machine_control_entity.dart';
 
 abstract class RemoteControlRepository {
-  /// 高频发送遥控指令 (被 Cubit 的 100ms 定时器调用)
-  /// 负责将 Entity 转换为底层的 0x00 指令并发出
-  void sendControlMachineCmd(MachineControlStatusEntity status);
+  /// 高频发送遥控指令
+  /// 修改建议：返回 Future<void> 没问题，但内部建议处理错误
+  Future<void> sendControlMachineCmd(MachineControlEntity status);
 
-  /// 暴露解析后的回包流 (如 0x12 权限申请)
-  /// UI 或 Cubit 监听此流来处理机器人主动推送的消息
-  Stream<RawPacket> get responseStream;
+  /// 状态信息流 (过滤后的 0x02)
+  Stream<RunningStatusEntity> get runningStatusStream;
 
-  /// WebView 视角控制 (逻辑层面的切换，不涉及 TCP)
+  /// 暴露解析后的原始包流 (统一改为 Packet)
+  /// 这里的 Packet 已经是去掉了 AB AA 和 AA AB 的清洁包
+  Stream<PacketEntity> get responseStream;
+
+  /// WebView 视角控制 (保持不变)
   void changeWebViewDirection(String direction);
 }

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

@@ -1,47 +1,100 @@
 import 'dart:async';
-
 import 'package:flutter_bloc/flutter_bloc.dart';
-import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
+import 'package:maibu_satabot_v2/core/protocol/packet_entity.dart';
+import 'package:maibu_satabot_v2/features/remote_control/domain/entities/running_status_entity.dart';
 import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
-
-import '../../domain/entities/machine_control_status_entity.dart';
+import '../../domain/entities/machine_control_entity.dart';
 import '../../domain/repositories/remote_control_repository.dart';
 
 class RemoteControlCubit extends Cubit<RemoteControlState> {
   final RemoteControlRepository _repository;
+
+  // 定时器与流订阅管理
   Timer? _timer;
+  StreamSubscription<RunningStatusEntity>? _statusSubscription;
+  StreamSubscription<PacketEntity>? _responseSubscription;
 
   RemoteControlCubit(this._repository)
-    : super(
-        RemoteControlState(
-          controlEntity: MachineControlStatusEntity(),
-          runningStatusModel: RunningStatusModel(),
-        ),
-      ) {
+      : super(
+    RemoteControlState(
+      controlEntity: MachineControlEntity(),
+      runningStatusEntity: RunningStatusEntity(),
+    ),
+  ) {
+    // 构造时立即开启监听
     _initPacketListener();
+    _initRunningStatusListener();
   }
 
-  // 1. 初始化回包监听 (如 0x12 权限)
+  // ==========================================
+  // 1. 数据监听逻辑 (Data Listening)
+  // ==========================================
+
+  /// 监听原始回包 (处理如 0x12 权限申请等指令)
   void _initPacketListener() {
-    _repository.responseStream.listen((packet) {
-      if (packet.command == 0x12) {
-        // 根据负载判断是否有权限，更新状态
-        emit(state.copyWith(hasPermission: true));
+    _responseSubscription?.cancel();
+    _responseSubscription = _repository.responseStream.listen((packet) {
+      // 处理权限申请回包 (假设 0x12)
+      if (packet.cmdType == 0x12) {
+        // 假设 payload[0] == 1 表示获得权限，这里可以解析出平台信息
+        final bool granted = packet.payload.isNotEmpty && packet.payload[0] == 0x01;
+        emit(state.copyWith(
+          hasPermission: granted,
+          // 假设协议中后续字节带有平台名称
+          permissionPlatform: granted ? "Other Device" : "",
+        ));
       }
     });
   }
 
-  // 2. 开启 100ms 控制循环 (在进入遥控页面或点击“开始”时调用)
+  /// 监听运行状态回包 (0x02) 并更新 UI
+  void _initRunningStatusListener() {
+    _statusSubscription?.cancel();
+    _statusSubscription = _repository.runningStatusStream.listen((entity) {
+      // 同步硬件状态到 Bloc State
+      emit(state.copyWith(
+        runningStatusEntity: entity,
+        obstacleFlag: entity.obstacleFlag == 1 ? "检测到障碍物" : "无",
+        // 如果硬件上报了急停或锁定，这里也可以同步更新状态
+        isEmergency: entity.obstacleFlag == 1,
+      ));
+    }, onError: (e) {
+      emit(state.copyWith(errorMessage: "运行状态流监听异常: $e"));
+    });
+  }
+
+  // ==========================================
+  // 2. 控制循环逻辑 (Control Loop)
+  // ==========================================
+
+  /// 启动 100ms 高频控制循环
   void startControlLoop() {
     _timer?.cancel();
-    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
-      // 核心调用：直接把 state 里的实体丢给 repository
-      _repository.sendControlMachineCmd(state.controlEntity);
+    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) async {
+      // 核心：在具备驾驶条件（有权限、未锁定、非急停）时发送指令
+      if (state.canDrive) {
+        try {
+          await _repository.sendControlMachineCmd(state.controlEntity);
+        } catch (e) {
+          print("发送控制指令失败: $e");
+        }
+      }
     });
     emit(state.copyWith(status: RemoteControlStatus.controlling));
   }
 
-  // 3. 更新摇杆数据
+  /// 停止控制循环
+  void stopControlLoop() {
+    _timer?.cancel();
+    _timer = null;
+    emit(state.copyWith(status: RemoteControlStatus.initial));
+  }
+
+  // ==========================================
+  // 3. UI 交互方法 (UI Actions)
+  // ==========================================
+
+  /// 更新摇杆坐标 (x, y 为 -100 到 100)
   void updateJoystick(double x, double y) {
     final updatedEntity = state.controlEntity.copyWith(
       x: x.toInt(),
@@ -50,53 +103,65 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
     emit(state.copyWith(controlEntity: updatedEntity));
   }
 
-  // 4. 更新功能开关 (比如割刀速度、灯光、点火等)
-  void updateFunction({int? mower, int? lift, int? ignition, bool? emergency}) {
-    final updatedEntity = state.controlEntity.copyWith(
-      mower: mower,
-      lift: lift,
-      ignition: ignition,
-      emergency: emergency,
-    );
+  /// 更新原点 Y 轴 (针对特定的 UI 逻辑)
+  void updateOriginY(int y) {
+    final updatedEntity = state.controlEntity.copyWith(y: y);
     emit(state.copyWith(controlEntity: updatedEntity));
   }
 
-  void updateOriginY(int y) {}
-
-  // 5. 停止控制循环
-  void stopControlLoop() {
-    _timer?.cancel();
-    _timer = null;
-    emit(state.copyWith(status: RemoteControlStatus.initial));
+  /// 更新底盘升降
+  void updateChassisLift(int level) {
+    final updatedEntity = state.controlEntity.copyWith(lift: level);
+    emit(state.copyWith(controlEntity: updatedEntity));
   }
 
-  void toggleLock() {}
+  /// 更新急停状态
+  void updateEmergency(bool emergency) {
+    final updatedEntity = state.controlEntity.copyWith(emergency: emergency);
+    emit(state.copyWith(
+      controlEntity: updatedEntity,
+      isEmergency: emergency,
+    ));
+  }
 
+  /// 更新割刀/功能开关
+  void updateMower(int speed) {
+    final updatedEntity = state.controlEntity.copyWith(mower: speed);
+    emit(state.copyWith(controlEntity: updatedEntity));
+  }
+
+  /// 切换控制锁定
+  void toggleLock() {
+    emit(state.copyWith(isLocked: !state.isLocked));
+  }
+
+  /// 权限请求弹窗控制
   void togglePermissionDialog(bool show) {
     emit(state.copyWith(showPermissionRequestDialog: show));
   }
 
-  void requestControlPermission() {
-    // 1. 关闭弹窗
-    emit(state.copyWith(showPermissionRequestDialog: false));
-
-    // 2. 这里执行你发送 0x12 指令的逻辑
-    // _sendProtocolData(0x12, ...);
+  /// 发起/响应权限请求
+  void respondPermission(bool accept) {
+    // 这里可以添加发送 0x12 响应包给硬件的逻辑
+    emit(state.copyWith(
+      hasPermission: accept,
+      showPermissionRequestDialog: false,
+    ));
   }
 
+  /// 切换画中画显示
   void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
-  void toggleRightPip() =>
-      emit(state.copyWith(showRightPip: !state.showRightPip));
+  void toggleRightPip() => emit(state.copyWith(showRightPip: !state.showRightPip));
+
+  // ==========================================
+  // 4. 销毁与清理 (Cleanup)
+  // ==========================================
 
   @override
   Future<void> close() {
-    _timer?.cancel(); // 退出页面时务必销毁定时器
+    _timer?.cancel();
+    _statusSubscription?.cancel();
+    _responseSubscription?.cancel();
     return super.close();
   }
-
-  void updateChassisLift(int i) {}
-
-  void updateEmergency(bool bool) {}
-
-  void respondPermission(bool bool) {}
-}
+}

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

@@ -1,88 +1,85 @@
 import 'package:equatable/equatable.dart';
-import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
-
-import '../../domain/entities/machine_control_status_entity.dart';
+import '../../domain/entities/machine_control_entity.dart';
+import '../../domain/entities/running_status_entity.dart';
 
 enum RemoteControlStatus { initial, controlling, error }
 
-enum ControlMode { TCP, BLE, LOCAL, NONE, OTHER }
-
 class RemoteControlState extends Equatable {
+  // --- 核心业务状态 ---
   final RemoteControlStatus status;
-  final MachineControlStatusEntity controlEntity; // 控制业务实体
-  final RunningStatusModel runningStatusModel;
-  //状态业务实体
-  final String? errorMessage;
-  final bool hasPermission; // 是否获得了 0x12 权限
-  final bool isEmergency;
-  final bool isLocked;
-  final int ping;
-  final int battery;
-  final int voltage;
-  final String permissionPlatform;
-  final String currentPlatform;
-  final bool showPermissionRequestDialog;
-  final bool showLeftPip;
-  final bool showRightPip;
+  final MachineControlEntity controlEntity;   // 发送给机器的控制业务实体
+  final RunningStatusEntity runningStatusEntity; // 机器回传的状态业务实体
 
-  final String obstacleFlag; //障碍物标志位
+  // --- 权限与平台逻辑 ---
+  final bool hasPermission;        // 0x12 权限状态
+  final String permissionPlatform; // 权限来源平台 (如 "Web", "App")
+  final String currentPlatform;    // 当前操作平台
+  final bool showPermissionRequestDialog; // 是否显示权限请求弹窗
+
+  // --- 安全与锁定 ---
+  final bool isEmergency;      // 紧急停止状态
+  final bool isLocked;         // 控制锁定状态
+  final String obstacleFlag;   // 障碍物标志位文字 (对应 Entity 里的 0/1)
+
+  // --- 网络与连接 ---
+  final int ping;              // 延迟/心跳
+  final String? errorMessage;  // 错误提示
+
+  // --- UI 视图配置 ---
+  final bool showLeftPip;      // 左侧画中画显示
+  final bool showRightPip;     // 右侧画中画显示
 
   const RemoteControlState({
     this.status = RemoteControlStatus.initial,
     required this.controlEntity,
-    this.errorMessage,
+    required this.runningStatusEntity,
     this.hasPermission = false,
-    this.isEmergency = false,
-    this.isLocked = false,
-    this.ping = 0,
-    this.battery = 0,
-    this.voltage = 0,
     this.permissionPlatform = '',
     this.currentPlatform = '',
     this.showPermissionRequestDialog = false,
+    this.isEmergency = false,
+    this.isLocked = false,
+    this.obstacleFlag = '无',
+    this.ping = 0,
+    this.errorMessage,
     this.showLeftPip = true,
     this.showRightPip = true,
-    this.obstacleFlag = '',
-    required this.runningStatusModel,
   });
 
-  // 方便 UI 更新部分属性
+  // 辅助属性：判断当前是否具备物理驾驶条件
+  bool get canDrive => hasPermission && !isEmergency && !isLocked;
+
   RemoteControlState copyWith({
     RemoteControlStatus? status,
-    MachineControlStatusEntity? controlEntity,
-    String? errorMessage,
+    MachineControlEntity? controlEntity,
+    RunningStatusEntity? runningStatusEntity,
     bool? hasPermission,
-    bool? isEmergency,
-    bool? isLocked,
-    int? ping,
-    int? battery,
-    int? voltage,
     String? permissionPlatform,
     String? currentPlatform,
     bool? showPermissionRequestDialog,
+    bool? isEmergency,
+    bool? isLocked,
+    String? obstacleFlag,
+    int? ping,
+    String? errorMessage,
     bool? showLeftPip,
     bool? showRightPip,
-    RunningStatusModel? runningStatusModel,
-    String? obstacleFlag,
   }) {
     return RemoteControlState(
       status: status ?? this.status,
       controlEntity: controlEntity ?? this.controlEntity,
-      errorMessage: errorMessage ?? this.errorMessage,
+      runningStatusEntity: runningStatusEntity ?? this.runningStatusEntity,
       hasPermission: hasPermission ?? this.hasPermission,
-      isEmergency: isEmergency ?? this.isEmergency,
-      isLocked: isLocked ?? this.isLocked,
-      ping: ping ?? this.ping,
-      battery: battery ?? this.battery,
-      voltage: voltage ?? this.voltage,
       permissionPlatform: permissionPlatform ?? this.permissionPlatform,
       currentPlatform: currentPlatform ?? this.currentPlatform,
-      showPermissionRequestDialog:
-          showPermissionRequestDialog ?? this.showPermissionRequestDialog,
+      showPermissionRequestDialog: showPermissionRequestDialog ?? this.showPermissionRequestDialog,
+      isEmergency: isEmergency ?? this.isEmergency,
+      isLocked: isLocked ?? this.isLocked,
+      obstacleFlag: obstacleFlag ?? this.obstacleFlag,
+      ping: ping ?? this.ping,
+      errorMessage: errorMessage ?? this.errorMessage,
       showLeftPip: showLeftPip ?? this.showLeftPip,
       showRightPip: showRightPip ?? this.showRightPip,
-      runningStatusModel: runningStatusModel ?? this.runningStatusModel,
-      obstacleFlag: obstacleFlag ?? this.obstacleFlag,
     );
   }
 
@@ -90,19 +87,17 @@ class RemoteControlState extends Equatable {
   List<Object?> get props => [
     status,
     controlEntity,
-    errorMessage,
+    runningStatusEntity,
     hasPermission,
-    isEmergency,
-    isLocked,
-    ping,
-    battery,
-    voltage,
     permissionPlatform,
     currentPlatform,
     showPermissionRequestDialog,
+    isEmergency,
+    isLocked,
+    obstacleFlag,
+    ping,
+    errorMessage,
     showLeftPip,
     showRightPip,
-    runningStatusModel,
-    obstacleFlag,
   ];
-}
+}

lib/features/remote_control/presentation/pages/remote_control_page.dart

@@ -4,7 +4,7 @@ import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:go_router/go_router.dart';
 import 'package:maibu_satabot_v2/core/consts/tcp_consts.dart';
 
-import '../../../../core/app/app_user_cubit.dart';
+import '../../../auth/presentation/bloc/app_user_cubit.dart';
 import '../../../devices/presentation/bloc/devices_cubit.dart';
 import '../bloc/remote_control_cubit.dart';
 import '../bloc/remote_control_state.dart';

lib/features/remote_control/presentation/widgets/top_status_bar.dart

@@ -2,9 +2,9 @@ import 'package:flutter/material.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:flutter_svg/svg.dart';
 import 'package:go_router/go_router.dart';
-import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
 import 'package:maibu_satabot_v2/features/remote_control/presentation/widgets/status_chip.dart';
 
+import '../../../../core/network/enums/control_mode.dart';
 import '../../../devices/presentation/bloc/devices_cubit.dart';
 import '../bloc/remote_control_cubit.dart';
 
@@ -60,12 +60,11 @@ class TopStatusBar extends StatelessWidget {
 
           const Spacer(),
 
-          // TODO
-          _buildControlModeChip(,remoteState.runningStatusModel.controlMode),
+          _buildControlModeChip(remoteState.runningStatusEntity.controlMode),
 
           const SizedBox(width: 8),
 
-          _buildVoltageChip(remoteState.voltage),
+          _buildVoltageChip(remoteState.runningStatusEntity.voltage),
 
           const SizedBox(width: 8),
 
@@ -74,7 +73,7 @@ class TopStatusBar extends StatelessWidget {
           const SizedBox(width: 8),
 
           // 6. 电量 (对应 StatusChipRight)
-          _buildBatteryChip(remoteState.battery),
+          _buildBatteryChip(remoteState.runningStatusEntity.battery),
         ],
       ),
     );
@@ -138,9 +137,7 @@ class TopStatusBar extends StatelessWidget {
       case ControlMode.OTHER:
         displayText = '其他模式';
         break;
-      default:
-        displayText = '未知模式';
-    }
+      }
 
     return StatusChip(
       text: displayText,
@@ -150,7 +147,7 @@ class TopStatusBar extends StatelessWidget {
     );
   }
 
-  Widget _buildVoltageChip(int voltage) {
+  Widget _buildVoltageChip(double voltage) {
     return StatusChip(
       text: "$voltage V",
       color: Color(0xFFFACC15).withValues(alpha: 0.6),
@@ -159,7 +156,7 @@ class TopStatusBar extends StatelessWidget {
     );
   }
 
-  Widget _buildBatteryChip(int level) {
+  Widget _buildBatteryChip(double level) {
     // 1. 根据数值判断图片路径 (逻辑与之前一致)
     String svgPath;
     Color color;