#连接库初步完成
This commit is contained in:
CC
@@ -1,9 +1,9 @@
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import 'package:dio/dio.dart';
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class RemoteHttpDatasource {
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class IRemoteHttpDatasource {
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final Dio _dio;
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RemoteHttpDatasource(this._dio);
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IRemoteHttpDatasource(this._dio);
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/// 示例：获取控制授权 (对应之前逻辑中的权限申请)
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Future<Map<String, dynamic>> requestControlAuth(String robotId) async {
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@@ -1,30 +0,0 @@
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import 'dart:typed_data';
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import '../../../../core/protocol/machine_protocol_codec.dart';
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class LawnMoverProtocolModel {
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final int left;
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final int right;
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final int lift;
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final int mower;
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final int ignition;
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final int emergency;
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LawnMoverProtocolModel({
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required this.left,
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required this.right,
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this.lift = 0,
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this.mower = 0,
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this.ignition = 0,
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this.emergency = 0,
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});
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Uint8List toBytes() => MachineProtocolCodec.encodeRemoteControlPayload(
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left: left,
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right: right,
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lift: lift,
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mower: mower,
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ignition: ignition,
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emergency: emergency,
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);
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}
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@@ -0,0 +1,89 @@
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import 'dart:typed_data';
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import 'package:maibu_satabot_v2/core/data/base_model.dart';
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import 'package:maibu_satabot_v2/features/remote_control/domain/entities/machine_control_entity.dart';
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class MachineControlModel extends MachineControlEntity implements BaseModel<MachineControlEntity>{
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MachineControlModel({
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required super.leftSpeed,
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required super.rightSpeed,
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required super.chassisLift,
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required super.mowerSpeed,
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required super.ignitionStatus,
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required super.isEmergency,
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});
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factory MachineControlModel.fromEntity(MachineControlEntity entity) {
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return MachineControlModel(
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leftSpeed: entity.leftSpeed,
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rightSpeed: entity.rightSpeed,
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chassisLift: entity.chassisLift,
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mowerSpeed: entity.mowerSpeed,
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ignitionStatus: entity.ignitionStatus,
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isEmergency: entity.isEmergency,
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);
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}
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/// 需要传入计算好的左右轮速度
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Uint8List toRawPacket(Map<String, int> speeds) {
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// 1. 调用 Codec：生成协议定义的 8 字节 Payload
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final payload = encodeRemoteControlPayload(
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left: speeds['left'] ?? 0,
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right: speeds['right'] ?? 0,
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lift: chassisLift,
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mower: mowerSpeed,
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ignition: ignitionStatus,
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emergency: isEmergency ? 1 : 0,
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);
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// 2. 调用 Builder：封装帧头、指令、CRC、帧尾
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return payload;
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}
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@override
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MachineControlEntity toEntity() {
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return MachineControlEntity(
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leftSpeed: leftSpeed,
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rightSpeed: rightSpeed,
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chassisLift: chassisLift,
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mowerSpeed: mowerSpeed,
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ignitionStatus: ignitionStatus,
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isEmergency: isEmergency,
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);
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}
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@override
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Map<String, dynamic> toJson() {
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return {
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'leftSpeed': leftSpeed,
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'rightSpeed': rightSpeed,
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'chassisLift': chassisLift,
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'mowerSpeed': mowerSpeed,
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'ignitionStatus': ignitionStatus,
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'isEmergency': isEmergency,
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};
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}
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Uint8List encodeRemoteControlPayload({
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required int left,
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required int right,
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int lift = 0,
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int mower = 0,
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int ignition = 0,
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int emergency = 0,
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}) {
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final bd = ByteData(8); // 只分配 8 字节
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int pos = 0;
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bd.setInt16(pos, left, Endian.little);
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pos += 2;
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bd.setInt16(pos, right, Endian.little);
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pos += 2;
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bd.setUint8(pos++, lift);
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bd.setUint8(pos++, mower);
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bd.setUint8(pos++, ignition);
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bd.setUint8(pos++, emergency);
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return bd.buffer.asUint8List();
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}
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}
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@@ -1,103 +1,132 @@
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class RunningStatusModel {
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final String voltage;
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final String leftTargetSpeed;
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final String rightTargetSpeed;
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final String leftMeasureSpeed;
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final String rightMeasureSpeed;
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final String leftCurrent;
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final String rightCurrent;
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final String leftMotorTemp;
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final String rightMotorTemp;
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final String chipTemp;
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final String yaw;
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final String pitch;
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final String roll;
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final String satelliteCnt;
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final String qual;
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final String headingStatus;
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final String latitude;
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final String longitude;
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final String time;
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final String knifeCuttingSpeed;
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final String controlMode;
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final String workingArea;
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final String battery;
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import 'dart:convert';
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import 'dart:typed_data';
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import 'package:maibu_satabot_v2/core/data/base_model.dart';
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import 'package:maibu_satabot_v2/features/remote_control/domain/entities/running_status_entity.dart';
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import '../../../../core/network/enums/control_mode.dart';
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class RunningStatusModel extends RunningStatusEntity
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implements BaseModel<RunningStatusEntity> {
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RunningStatusModel({
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this.voltage = '',
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this.leftTargetSpeed = '',
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this.rightTargetSpeed = '',
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this.leftMeasureSpeed = '',
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this.rightMeasureSpeed = '',
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this.leftCurrent = '',
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this.rightCurrent = '',
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this.leftMotorTemp = '',
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this.rightMotorTemp = '',
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this.chipTemp = '',
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this.yaw = '',
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this.pitch = '',
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this.roll = '',
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this.satelliteCnt = '',
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this.qual = '',
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this.headingStatus = '',
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this.latitude = '',
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this.longitude = '',
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this.time = '',
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this.knifeCuttingSpeed = '',
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this.controlMode = '',
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this.workingArea = '',
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this.battery = '',
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required super.voltage,
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required super.leftTargetSpeed,
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required super.rightTargetSpeed,
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required super.leftMeasureSpeed,
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required super.rightMeasureSpeed,
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required super.leftCurrent,
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required super.rightCurrent,
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required super.leftMotorTemp,
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required super.rightMotorTemp,
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required super.chipTemp,
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required super.yaw,
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required super.pitch,
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required super.roll,
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required super.satelliteCnt,
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required super.qual,
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required super.headingStatus,
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required super.latitude,
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required super.longitude,
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required super.time,
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required super.knifeCuttingSpeed,
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required super.controlMode,
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required super.workingArea,
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required super.battery,
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required super.obstacleFlag,
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});
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RunningStatusModel copyWith({
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String? voltage,
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String? leftTargetSpeed,
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String? rightTargetSpeed,
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String? leftMeasureSpeed,
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String? rightMeasureSpeed,
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String? leftCurrent,
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String? rightCurrent,
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String? leftMotorTemp,
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String? rightMotorTemp,
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String? chipTemp,
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String? yaw,
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String? pitch,
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String? roll,
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String? satelliteCnt,
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String? qual,
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String? headingStatus,
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String? latitude,
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String? longitude,
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String? time,
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String? knifeCuttingSpeed,
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String? controlMode,
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String? workingArea,
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String? battery,
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}) {
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@override
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RunningStatusEntity toEntity() => this;
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@override
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Map<String, dynamic> toJson() {
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return {
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'voltage': voltage,
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'leftTargetSpeed': leftTargetSpeed,
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'rightTargetSpeed': rightTargetSpeed,
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'leftMeasureSpeed': leftMeasureSpeed,
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'rightMeasureSpeed': rightMeasureSpeed,
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'leftCurrent': leftCurrent,
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'rightCurrent': rightCurrent,
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'leftMotorTemp': leftMotorTemp,
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'rightMotorTemp': rightMotorTemp,
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'chipTemp': chipTemp,
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'yaw': yaw,
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'pitch': pitch,
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'roll': roll,
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'satelliteCnt': satelliteCnt,
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'qual': qual,
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'headingStatus': headingStatus,
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'latitude': latitude,
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'longitude': longitude,
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'time': time,
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'knifeCuttingSpeed': knifeCuttingSpeed,
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'controlMode': controlMode,
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'workingArea': workingArea,
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'battery': battery,
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'obstacleFlag': obstacleFlag,
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};
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}
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factory RunningStatusModel.fromBytes(Uint8List payload) {
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// 将 Uint8List 转换为字符串 (通常是 utf8 或 ascii)
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final rawString = utf8.decode(payload);
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// 按逗号分割成数组
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final parts = rawString.split(',');
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// 辅助函数：安全转换数字，防止硬件发空字符串导致崩溃
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double parseD(int index) =>
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(index < parts.length && parts[index].isNotEmpty)
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? double.tryParse(parts[index]) ?? 0.0
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: 0.0;
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int parseI(int index) => (index < parts.length && parts[index].isNotEmpty)
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? int.tryParse(parts[index]) ?? 0
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: 0;
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String parseS(int index) => (index < parts.length) ? parts[index] : "";
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ControlMode mapMode(int val) {
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switch (val) {
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case 1:
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return ControlMode.LOCAL;
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case 2:
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return ControlMode.BLE;
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case 3:
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return ControlMode.TCP;
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case 4:
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return ControlMode.OTHER;
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default:
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return ControlMode.NONE; // 0 或其他异常值
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}
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}
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return RunningStatusModel(
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voltage: voltage ?? this.voltage,
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leftTargetSpeed: leftTargetSpeed ?? this.leftTargetSpeed,
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rightTargetSpeed: rightTargetSpeed ?? this.rightTargetSpeed,
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leftMeasureSpeed: leftMeasureSpeed ?? this.leftMeasureSpeed,
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rightMeasureSpeed: rightMeasureSpeed ?? this.rightMeasureSpeed,
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leftCurrent: leftCurrent ?? this.leftCurrent,
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rightCurrent: rightCurrent ?? this.rightCurrent,
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leftMotorTemp: leftMotorTemp ?? this.leftMotorTemp,
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rightMotorTemp: rightMotorTemp ?? this.rightMotorTemp,
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chipTemp: chipTemp ?? this.chipTemp,
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yaw: yaw ?? this.yaw,
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pitch: pitch ?? this.pitch,
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roll: roll ?? this.roll,
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satelliteCnt: satelliteCnt ?? this.satelliteCnt,
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qual: qual ?? this.qual,
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headingStatus: headingStatus ?? this.headingStatus,
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latitude: latitude ?? this.latitude,
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longitude: longitude ?? this.longitude,
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time: time ?? this.time,
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knifeCuttingSpeed: knifeCuttingSpeed ?? this.knifeCuttingSpeed,
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controlMode: controlMode ?? this.controlMode,
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workingArea: workingArea ?? this.workingArea,
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battery: battery ?? this.battery,
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voltage: parseD(0), // 电压
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leftTargetSpeed: parseI(1), // 左轮目标速度
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rightTargetSpeed: parseI(2), // 右轮目标速度
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leftMeasureSpeed: parseI(3), // 左轮测量速度
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rightMeasureSpeed: parseI(4), // 右轮测量速度
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leftCurrent: parseD(5), // 左轮电流
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rightCurrent: parseD(6), // 右轮电流
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leftMotorTemp: parseD(7), // 左轮温度
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rightMotorTemp: parseD(8), // 右轮温度
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chipTemp: parseD(9), // 芯片温度
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yaw: parseD(10), // 偏航角
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pitch: parseD(11), // 仰俯角
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roll: parseD(12), // 翻滚角
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satelliteCnt: parseI(13), // 卫星数
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qual: parseI(14), // 定位质量 (0-7)
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headingStatus: parseI(15), // 航向角状态
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latitude: parseD(16), // 纬度
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longitude: parseD(17), // 经度
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time: parseS(18), // 时间字符串
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knifeCuttingSpeed: parseI(19), // 割刀速度
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controlMode: mapMode(20), // 控制模式 (0-4)
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battery: parseD(21), // 电池电量 (0-100)
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workingArea: parseD(22), // 作业面积
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obstacleFlag: parseI(23), // 障碍物标志 (0/1)
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);
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}
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}
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@@ -1,47 +1,65 @@
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import 'dart:async';
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import 'dart:typed_data';
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import 'package:maibu_satabot_v2/core/protocol/protocol_constants.dart';
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import 'package:maibu_satabot_v2/core/protocol/packet_entity.dart';
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import 'package:maibu_satabot_v2/features/remote_control/data/models/machine_control_model.dart';
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import 'package:maibu_satabot_v2/features/remote_control/domain/entities/running_status_entity.dart';
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import '../../../../core/network/protocol_decoder.dart';
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import '../../../../core/network/tcp/tcp_client.dart';
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import '../../../../core/protocol/machine_protocol_codec.dart';
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import '../../../../core/protocol/machine_protocol_constants.dart';
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import '../../domain/entities/machine_control_status_entity.dart';
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import '../../../connectivity/presentation/bloc/connectivity_cubit.dart';
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import '../../domain/entities/machine_control_entity.dart';
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import '../../domain/repositories/remote_control_repository.dart';
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import '../../domain/usecase/diff_steer_usecase.dart';
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import '../models/running_status_model.dart';
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class RemoteControlRepositoryImpl implements RemoteControlRepository {
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final TcpClient _tcpClient;
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final ConnectivityCubit _connectivityCubit;
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final DiffSteerUseCase _diffSteer;
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RemoteControlRepositoryImpl(this._tcpClient, this._diffSteer);
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RemoteControlRepositoryImpl(
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this._connectivityCubit, // 现在统一通过 Cubit 管理连接和分发
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this._diffSteer,
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);
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@override
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void changeWebViewDirection(String direction) {
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// TODO: implement changeWebViewDirection
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// 逻辑保持不变
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}
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@override
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void sendControlMachineCmd(MachineControlStatusEntity status) {
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// 1. 调用算法：将摇杆坐标 (x, y) 转换为左右轮电机转速
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final speeds = _diffSteer.calculate(status.originX, status.originY);
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Future<void> sendControlMachineCmd(MachineControlEntity entity) async {
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// 1. 调用差速算法计算左右轮速度
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final speeds = _diffSteer.calculate(entity.rightSpeed, entity.leftSpeed);
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// 2. 调用 Codec：仅生成协议要求的 8 字节 Payload 负载数据
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final payload = MachineProtocolCodec.encodeRemoteControlPayload(
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left: speeds['left']!,
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right: speeds['right']!,
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lift: status.chassisLift,
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mower: status.mowerSpeed,
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ignition: status.ignitionStatus,
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emergency: status.isEmergency ? 1 : 0,
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);
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var model = MachineControlModel.fromEntity(entity);
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// 3. 调用 TcpClient：发送指令。
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// TcpClient.sendRaw 会自动帮你加上 [0xAB, 0xAA] 头和 [0xAA, 0xAB] 尾
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_tcpClient.sendRaw(
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MachineProtocolConstants.cmdRemoteControl, // 这里通常是 0x00
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payload,
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var rawPacket = model.toRawPacket(speeds);
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// 3. 通过连接管理器发出，内部会自动处理 [AB AA] ... [CRC] [AA AB]
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// 并且会执行 flush() 确保 100ms 实时性
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await _connectivityCubit.sendCommand(
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ProtocolConstants.cmdRemoteControl, // 0x00
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rawPacket,
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);
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}
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/// 过滤出 0x02 状态包并转换为业务 Entity
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@override
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Stream<RawPacket> get responseStream => _tcpClient.packetStream;
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}
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Stream<RunningStatusEntity> get runningStatusStream {
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return _connectivityCubit.activePacketStream
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.where((p) => p.cmdType == ProtocolConstants.cmdStatusInfo) // 0x02
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.map((packet) {
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// 第一步：由 Model 负责处理“脏活”（字符串拆分、类型转换）
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final model = RunningStatusModel.fromBytes(Uint8List.fromList(packet.payload));
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// 第二步：转换为 Entity 交付给 UI 或 UseCase
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return model.toEntity();
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});
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}
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/// 暴露原始解析流 (RawPacket 在我们这里对应 Packet 类)
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/// UI 或其他 Cubit 监听此流来处理机器人主动推送的消息
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@override
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Stream<PacketEntity> get responseStream => _connectivityCubit.activePacketStream;
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}
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@@ -1,21 +1,23 @@
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class MachineControlStatusEntity {
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final int originX;
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final int originY;
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import 'package:equatable/equatable.dart';
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class MachineControlEntity extends Equatable{
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final int leftSpeed;
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||||
final int rightSpeed;
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||||
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,
|
||||
];
|
||||
}
|
||||
@@ -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,
|
||||
];
|
||||
}
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
|
||||
@@ -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) {}
|
||||
}
|
||||
}
|
||||
@@ -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,
|
||||
];
|
||||
}
|
||||
}
|
||||
@@ -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';
|
||||
|
||||
@@ -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;
|
||||
|
||||
Reference in New Issue
Block a user