#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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Reference in New Issue
Block a user