#连接库初步完成

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

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

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

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

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

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

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

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