#连接库初步完成
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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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