#连接库初步完成

2026-01-27 18:44:49 +08:00
parent 8c39f0daf8
commit 949743972c
82 changed files with 1187 additions and 650 deletions
--- a/lib/features/remote_control/data/models/machine_control_model.dart
+++ b/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();
+  }
+
+}