修复emit异步导致的竞态+tcp缓冲取挤压+网络堵塞+定时器恢复的造成归0被吞的情况

完成APP端释放权限的接口的集成和数据返回获取
2026-04-16 17:39:54 +08:00
parent 407bcf026c
commit 976c5fca2f
8 changed files with 260 additions and 108 deletions
--- a/lib/core/network/tcp/tcp_client.dart
+++ b/lib/core/network/tcp/tcp_client.dart
@@ -74,6 +74,8 @@ class TcpClient {
        port,
        timeout: const Duration(seconds: 5),
      );
+      // 🔥 关键修复：禁用Nagle算法，确保小包立即发送
+      _socket!.setOption(SocketOption.tcpNoDelay, true);
      debugPrint('✅ [TCP] 连接成功！'); // ✅ 必须看到这条
      _logger.logWithLevel('✅ [TCP] 连接成功！');
    // 开始认证tcp
@@ -222,6 +224,8 @@ class TcpClient {
      ..addByte(0xAB);

    _socket!.add(builder.takeBytes());
+    // 🔥 关键修复：强制flush，确保数据立即发送
+    _socket!.flush();
  }

     void sendHeartbeat() {
@@ -449,6 +453,8 @@ _logger.logWithLevel('📱 [AuthTcp] 准备切换至默认设备：${targetDevic
        port,
        timeout: const Duration(seconds: 5),
      );
+      // 🔥 关键修复：禁用Nagle算法，确保小包立即发送
+      _socket!.setOption(SocketOption.tcpNoDelay, true);
     // debugPrint('✅ 被动[TCP] 连接成功！'); // ✅ 必须看到这条
      _logger.logWithLevel('✅ 被动[TCP] 连接成功！');

--- a/lib/features/remote_control/data/datasources/remote_http_datasource.dart
+++ b/lib/features/remote_control/data/datasources/remote_http_datasource.dart
@@ -73,7 +73,7 @@ class RemoteHttpDatasource {

  ///app退出远程控制后释放权限
  Future<bool> releaseRemoteControlViaHttp( String platform) async {
-    _logger.logWithLevel("app退出远程控制后释放权限 开始");
+  //  _logger.logWithLevel("app退出远程控制后释放权限 开始");
    final user = await _userStorage.getUser();
    if (user == null) {
      return false;
@@ -91,20 +91,12 @@ class RemoteHttpDatasource {
    try {
      final responseData = response.data as Map<String, dynamic>;
      //debugPrint("📊 [HTTP 响应] 完整数据：$responseData");
-      _logger.log("releaseRemoteControlViaHttp 响应] 完整数据：$responseData");
-      // 🔥 关键：先获取响应的 data 字段，再获取 remoteControl
-      final dataField = responseData['data'] as Map<String, dynamic>?;
-      if (dataField != null) {
-        final bool hasRemoteControl = dataField['remoteControl'] as bool? ?? false;
-        //debugPrint("✅ [HTTP 响应] remoteControl=$hasRemoteControl");
-        _logger.log("releaseRemoteControlViaHttp响应] remoteControl=$hasRemoteControl");
-        // 🔥 直接返回 remoteControl 的布尔值
-        return hasRemoteControl;
-      } else {
-        //debugPrint("❌ [HTTP 响应] 缺少 data 字段");
-        _logger.log("❌ [HTTP 响应] 缺少 data 字段");
-        return false;
-      }
+      //_logger.log("releaseRemoteControlViaHttp 响应] 完整数据：$responseData");
+     if(responseData['code']==200){
+     // _logger.logWithLevel("app退出远程控制后释放权限 成功");
+      return true;
+    }
+    return false;
    } catch (e) {
      //  debugPrint('❌ [RemoteHttp] 解析响应失败：$e');
      _logger.log('❌ [RemoteHttp] 解析响应失败：$e');
--- a/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
+++ b/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
@@ -35,15 +35,9 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
  void sendControlMachineCmd(MachineControlStatusEntity status) {
    // 1. 调用算法：将摇杆坐标 (x, y) 转换为左右轮电机转速
    final speeds = _diffSteer.calculate(status.originX, status.originY);
-    //debugPrint('🎮 [摇杆数据] originX: ${status.originX}, originY: ${status.originY}');
    _logger.logWithLevel('⚙️ [电机速度] left: ${speeds['left']}, right: ${speeds['right']}');

-    //debugPrint('⚙️ [电机速度] left: ${speeds['left']}, right: ${speeds['right']}');
-    _logger.logWithLevel('⚙️ [电机速度] left: ${speeds['left']}, right: ${speeds['right']}');
-    //debugPrint('🚨 [急停状态] emergency: ${status.isEmergency ? 1 : 0}');
-    _logger.logWithLevel('🚨 [急停状态] emergency: ${status.isEmergency ? 1 : 0}');
-
-    // 2. 调用 Codec：仅生成协议要求的 8 字节 Payload 负载数据
+    // 2. 调用 Codec：生成协议要求的 8 字节 Payload
    final payload = MachineProtocolCodec.encodeRemoteControlPayload(
      left: speeds['left']!,
      right: speeds['right']!,
@@ -52,18 +46,12 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
      ignition: status.ignitionStatus,
      emergency: status.isEmergency ? 1 : 0,
    );
-    //debugPrint('📦 [发送数据] payload: ${payload}');
-    _logger.logWithLevel('📦 [发送数据] payload: ${payload}');
-    //debugPrint('📦 [发送数据] emergency 字节值：${payload[7]}');
-    _logger.logWithLevel('📦 [发送数据] emergency 字节值：${payload[7]}');
-    // 3. 调用 TcpClient：发送指令。
-    // TcpClient.sendRaw 会自动帮你加上 [0xAB, 0xAA] 头和 [0xAA, 0xAB] 尾
+    
+    // 3. 调用 TcpClient 发送指令
    _tcpClient.sendRaw(
-      MachineProtocolConstants.cmdRemoteControl, // 这里通常是 0x00
+      MachineProtocolConstants.cmdRemoteControl,
      payload,
    );
-    //debugPrint('✅ [TCP] 指令已发送');
-    _logger.logWithLevel('✅ [TCP] 指令已发送');
  }

  @override
--- a/lib/features/remote_control/domain/entities/machine_control_status_entity.dart
+++ b/lib/features/remote_control/domain/entities/machine_control_status_entity.dart
@@ -1,4 +1,6 @@
-class MachineControlStatusEntity {
+import 'package:equatable/equatable.dart';
+
+class MachineControlStatusEntity extends Equatable {
  final int originX;
  final int originY;
  final int chassisLift; // 0:停, 1:上, 2:下
@@ -32,4 +34,14 @@ class MachineControlStatusEntity {
      isEmergency: emergency ?? isEmergency,
    );
  }
+
+  @override
+  List<Object?> get props => [
+    originX,
+    originY,
+    chassisLift,
+    mowerSpeed,
+    ignitionStatus,
+    isEmergency,
+  ];
 }
--- a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
@@ -28,6 +28,8 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  static const platform = MethodChannel('com.maibu.satabot/ping');
  int _currentPing = 50;
  final ILoggerService _logger = GetIt.I<ILoggerService>();
+  DateTime? _lastStopTime; // 🔥 记录最后一次停止时间
+  Timer? _clearStopTimeTimer; // 🔥 用于管理 _lastStopTime 的清除



@@ -226,9 +228,12 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {


  // 2. 开启 100ms 控制循环 (在进入遥控页面或点击“开始”时调用)
-  void startControlLoop() {
+/*  void startControlLoop() {
    _timer?.cancel();
    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
+      // 🔥 关键修复：每次循环都重新读取最新的 state
+      final currentEntity = state.controlEntity;
+      
      // 🔥 安全检查：无权限或急停时不发送
      if (!state.hasPermission || state.isEmergency) {
        debugPrint('⚠️ [定时器] 跳过发送 - hasPermission=${state.hasPermission}, isEmergency=${state.isEmergency}');
@@ -236,11 +241,53 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
      }

      
-      debugPrint('⏰ [定时器] 发送控制指令 - originX=${state.controlEntity.originX}, originY=${state.controlEntity.originY}');
-      _logger.logWithLevel('真实的发送的实体 - originX: ${state.controlEntity.originX}, originY: ${state.controlEntity.originY}');
-      _repository.sendControlMachineCmd(state.controlEntity);
+      debugPrint('⏰ [定时器] 发送控制指令 - originX=${currentEntity.originX}, originY=${currentEntity.originY}');
+      _logger.logWithLevel('真实的发送的实体 - originX: ${currentEntity.originX}, originY: ${currentEntity.originY}');
+      _repository.sendControlMachineCmd(currentEntity);
    });
    emit(state.copyWith(status: RemoteControlStatus.controlling));
+  }*/
+  void startControlLoop() {
+    _timer?.cancel();
+    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
+      if (isClosed) {
+        timer.cancel();
+        return;
+      }
+
+      // ✅ 必须通过方法拿最新 state，不能直接读！
+      final entity = _getCurrentControlEntity();
+      
+      // 🔥 关键日志：检查权限状态
+      if (!state.hasPermission) {
+        debugPrint('⚠️ [定时器] 无权限，跳过发送 - hasPermission=${state.hasPermission}, isEmergency=${state.isEmergency}');
+        return;
+      }
+      
+      if (state.isEmergency) {
+        debugPrint('🚨 [定时器] 急停状态，跳过发送');
+        return;
+      }
+      
+      // 🔥 新增：如果刚停止5000ms内，暂停所有发送（包括零值）- 与_lastStopTime清除时间一致
+      if (_lastStopTime != null) {
+        final elapsed = DateTime.now().difference(_lastStopTime!).inMilliseconds;
+        if (elapsed < 5000) {
+          debugPrint('⚠️ [定时器] 停止保护期内，暂停所有发送 - 已过${elapsed}ms');
+          return; // 保护期内不发送任何指令，让_sendStopCommandRepeatedly独占通道
+        }
+        // 🔥 关键修复：不在这里清空 _lastStopTime，让它继续生效以拦截 updateOriginX/Y
+      }
+      
+      _logger.logWithLevel('[定时器] 发送控制指令 - originX=${entity.originX}, originY=${entity.originY}');
+      debugPrint('📤 [定时器] 准备发送 - originX=${entity.originX}, originY=${entity.originY}, hasPermission=${state.hasPermission}, _lastStopTime=$_lastStopTime');
+      _repository.sendControlMachineCmd(entity);
+    });
+  }
+//通过方法拿最新 state
+  MachineControlStatusEntity _getCurrentControlEntity() {
+    _logger.logWithLevel('真实的发送的实体 - originX: ${state.controlEntity.originX}, originY: ${state.controlEntity.originY}');
+    return state.controlEntity;
  }

  // 3. 更新摇杆数据
@@ -272,36 +319,109 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  }

  void updateOriginY(int y) {
-    debugPrint('📥 [updateOriginY] 收到参数 y=$y');
-    final updatedEntity = state.controlEntity.copyWith(
-      y: y,
-    );
-    debugPrint('📤 [updateOriginY] 创建 updatedEntity.y=${updatedEntity.originY}');
-    emit(state.copyWith(controlEntity: updatedEntity));
-    debugPrint('✅ [updateOriginY] emit 完成，当前 state.controlEntity.originY=${state.controlEntity.originY}');
-    
-    // 🔥 关键修复：如果归零，立即发送停止指令，使用更新后的实体
-    if (y == 0) {
-      _logger.logWithLevel('🛑 [updateOriginY] 检测到归零，立即发送停止指令');
-      debugPrint('🛑 [updateOriginY] 发送 updatedEntity: originX=${updatedEntity.originX}, originY=${updatedEntity.originY}');
-      _repository.sendControlMachineCmd(updatedEntity);
+    debugPrint('📥 [updateOriginY] 被调用 - y=$y, _lastStopTime=$_lastStopTime');
+    // 🔥 关键修复：如果刚停止5000ms内，拒绝非零值的更新 - 与定时器保护期一致
+    if (_lastStopTime != null) {
+      final elapsed = DateTime.now().difference(_lastStopTime!).inMilliseconds;
+      debugPrint('📥 [updateOriginY] 检查保护期 - elapsed=${elapsed}ms, y=$y');
+      if (elapsed < 5000 && y != 0) {
+        debugPrint('⚠️ [updateOriginY] 保护期内拒绝非零值 - y=$y, 已过${elapsed}ms');
+        return; // 拒绝更新
+      }
+    } else {
+      debugPrint('📥 [updateOriginY] _lastStopTime为null，跳过保护期检查');
    }
+    
+    final updatedEntity = state.controlEntity.copyWith(y: y);
+    emit(state.copyWith(controlEntity: updatedEntity));
+    debugPrint('📝 [updateOriginY] state已更新 - originY=$y');
  }
+  
  void updateOriginX(int x) {
-    debugPrint('📥 [updateOriginX] 收到参数 x=$x');
-    final updatedEntity = state.controlEntity.copyWith(
-      x: x,
-    );
-    debugPrint('📤 [updateOriginX] 创建 updatedEntity.x=${updatedEntity.originX}');
-    emit(state.copyWith(controlEntity: updatedEntity));
-    debugPrint('✅ [updateOriginX] emit 完成，当前 state.controlEntity.originX=${state.controlEntity.originX}');
-    
-    // 🔥 关键修复：如果归零，立即发送停止指令，使用更新后的实体
-    if (x == 0) {
-      _logger.logWithLevel('🛑 [updateOriginX] 检测到归零，立即发送停止指令');
-      debugPrint('🛑 [updateOriginX] 发送 updatedEntity: originX=${updatedEntity.originX}, originY=${updatedEntity.originY}');
-      _repository.sendControlMachineCmd(updatedEntity);
+    debugPrint('📥 [updateOriginX] 被调用 - x=$x, _lastStopTime=$_lastStopTime');
+    // 🔥 关键修复：如果刚停止5000ms内，拒绝非零值的更新 - 与定时器保护期一致
+    if (_lastStopTime != null) {
+      final elapsed = DateTime.now().difference(_lastStopTime!).inMilliseconds;
+      debugPrint('📥 [updateOriginX] 检查保护期 - elapsed=${elapsed}ms, x=$x');
+      if (elapsed < 5000 && x != 0) {
+        debugPrint('⚠️ [updateOriginX] 保护期内拒绝非零值 - x=$x, 已过${elapsed}ms');
+        return; // 拒绝更新
+      }
+    } else {
+      debugPrint('📥 [updateOriginX] _lastStopTime为null，跳过保护期检查');
    }
+    
+    final updatedEntity = state.controlEntity.copyWith(x: x);
+    emit(state.copyWith(controlEntity: updatedEntity));
+    debugPrint('📝 [updateOriginX] state已更新 - originX=$x');
+  }
+  
+  /// 🔥 安全方法：同时清零双轴，确保只发送一次完全停止指令
+  Future<void> stopAllMovement() async {
+    debugPrint('🛑 [stopAllMovement] 开始执行 - 当前state: originX=${state.controlEntity.originX}, originY=${state.controlEntity.originY}');
+    
+    // 🔥 关键修复1：取消旧的清除定时器，防止多个定时器竞争
+    _clearStopTimeTimer?.cancel();
+    
+    // 🔥 关键修复2：立即设置 _lastStopTime，防止在 stopAllMovement 执行期间 state 被更新
+    _lastStopTime = DateTime.now();
+    debugPrint('🛑 [stopAllMovement] _lastStopTime 已设置为 $_lastStopTime');
+    
+    // 🔥 关键修复3：先暂停定时器，防止定时器在停止期间发送旧的运动指令
+    _timer?.cancel();
+    _timer = null; // 🔥 彻底清空，防止重复启动
+    
+    final updatedEntity = state.controlEntity.copyWith(x: 0, y: 0);
+    
+    // 一次性更新双轴（即使无权限也要更新本地state）
+    emit(state.copyWith(controlEntity: updatedEntity));
+    
+    // 🔥 安全底线：停止指令必须无视权限强制发送！
+    debugPrint('🛑 [stopAllMovement] 双轴归零,发送停止指令 - originX=0, originY=0');
+    await _sendStopCommandRepeatedly(updatedEntity); // ✅ 等待所有指令发送完成
+    
+    // 🔥 恢复定时器（但保护期内不会发送任何指令）
+    await Future.delayed(const Duration(milliseconds: 500)); // 🔥 等待500ms让下位机执行停止
+    startControlLoop();
+    
+    // 🔥 关键修复4：使用 Timer 而不是 Future.delayed，确保只有一个定时器在运行
+    _clearStopTimeTimer = Timer(const Duration(seconds: 5), () {
+      _lastStopTime = null;
+      debugPrint('✅ [保护期] 5秒后自动清除标记');
+    });
+    
+    debugPrint('✅ [stopAllMovement] 执行完成');
+  }
+  
+  /// 🔥 统一方法：连续发送30次停止指令，彻底清空TCP缓冲区
+  Future<void> _sendStopCommandRepeatedly(MachineControlStatusEntity stopEntity) async {
+    debugPrint('🛑 [紧急停止] 开始连续发送30次停止指令 - originX=${stopEntity.originX}, originY=${stopEntity.originY}');
+    // 🔥 注意：_lastStopTime 已经在 stopAllMovement() 中设置了，这里不需要再设置
+    
+    int sentCount = 0;
+    // 🔥 关键修复：每次发送间隔5ms，避免TCP合并/丢弃
+    for (int i = 0; i < 20; i++) {
+      _repository.sendControlMachineCmd(stopEntity);
+      sentCount++;
+      if (i % 5 == 0) {
+        debugPrint('🛑 [紧急停止] 已发送第${i + 1}次');
+      }
+      if (i < 19) {
+        await Future.delayed(const Duration(milliseconds: 5));
+      }
+    }
+    
+    // 🔥 延迟后再发送10次（双重保险，对抗网络抖动）
+    await Future.delayed(const Duration(milliseconds: 100));
+    for (int i = 0; i < 10; i++) {
+      _repository.sendControlMachineCmd(stopEntity);
+      sentCount++;
+      if (i < 9) {
+        await Future.delayed(const Duration(milliseconds: 5));
+      }
+    }
+    
+    debugPrint('✅ [紧急停止] 所有30次停止指令已发出');
  }

  // 5. 停止控制循环
@@ -330,6 +450,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  @override
  Future<void> close() {
    _timer?.cancel(); // 退出页面时务必销毁定时器
+    _clearStopTimeTimer?.cancel(); // 🔥 清除保护期定时器
    _kickOutSub?.cancel();
    _stringMessageSub?.cancel();
    return super.close();
--- a/lib/features/remote_control/presentation/widgets/left_joystick_area.dart
+++ b/lib/features/remote_control/presentation/widgets/left_joystick_area.dart
@@ -50,11 +50,13 @@ class _LeftJoystickAreaState extends State<LeftJoystickArea> {
              },
              onPress: () {
                _isTouching = true;
+                debugPrint('onPress');
                _triggerVibration();
              },
-              onPanEnd: () {
+              onPanEnd: () async {
                // 🔥 松手 100% 归零
-                _stopJoystick();
+                debugPrint('onPanEnd');
+                await _stopJoystick();
              },
            ),
          ),
@@ -73,11 +75,13 @@ class _LeftJoystickAreaState extends State<LeftJoystickArea> {
  }

  // 统一停车方法（万能保险）
-  void _stopJoystick() {
+  Future<void> _stopJoystick() async {
    _isTouching = false;
    _lastSentY = 0;
-    debugPrint('✅ 摇杆已停止 -> 强制 Y=0 停车');
-    context.read<RemoteControlCubit>().updateOriginY(0);
+    debugPrint('✅ 摇杆已停止 -> 强制 X=0, Y=0 停车');
+    
+    // 🔥 使用安全方法，一次性清零双轴，确保只发送 (X=0, Y=0)
+    await context.read<RemoteControlCubit>().stopAllMovement();
  }

  void _triggerVibration() {
--- a/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
+++ b/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
@@ -1,4 +1,4 @@
-import 'package:cc_ui_kit/cc_ui_kit.dart';
+  import 'package:cc_ui_kit/cc_ui_kit.dart';
 import 'package:flutter/material.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:vibration/vibration.dart';
@@ -46,10 +46,12 @@ class _RightJoystickAreaState extends State<RightJoystickArea> {
                context.read<RemoteControlCubit>().updateOriginX(finalX);
              },
              onPress: _triggerVibration,
-              onPanEnd: () {
-                debugPrint('🕹️ [右摇杆] 松手，强制X=0');
+              onPanEnd: () async {
+                debugPrint('🕹️ [右摇杆] 松手，强制 X=0, Y=0');
                _lastX = 0;
-                context.read<RemoteControlCubit>().updateOriginX(0);
+                
+                // 🔥 使用安全方法，一次性清零双轴，确保只发送 (X=0, Y=0)
+                await context.read<RemoteControlCubit>().stopAllMovement();
              },
            ),
          ),
--- a/packages/cc_ui_kit/lib/src/cc_joystick.dart
+++ b/packages/cc_ui_kit/lib/src/cc_joystick.dart
@@ -14,7 +14,7 @@ class CCJoystick extends StatefulWidget {
  final AxisHint axisHint;
  final Function(JoystickValue) onValueChanged;
  final VoidCallback? onPress;
-  final VoidCallback? onPanEnd; // 🔥 新增：松手回调
+  final Future<void> Function()? onPanEnd; // 🔥 修复：改为异步回调
  final double radius;

  const CCJoystick({
@@ -34,6 +34,7 @@ class _CustomJoystickState extends State<CCJoystick>
    with SingleTickerProviderStateMixin {
  Offset _offset = Offset.zero;
  late AnimationController _floatController;
+  bool _isPanning = false; // 🔥 跟踪是否正在拖拽

  @override
  void initState() {
@@ -71,47 +72,73 @@ class _CustomJoystickState extends State<CCJoystick>

  @override
  Widget build(BuildContext context) {
-    return GestureDetector(
-      behavior: HitTestBehavior.opaque, // 🔥 改为 opaque，确保所有触摸事件都被捕获
-      onPanStart: (_) => widget.onPress?.call(),
-      onPanUpdate: (details) {
-        setState(() {
-          Offset newOffset = _offset + details.delta;
-          double distance = newOffset.distance;
-          // 限制在圆圈内
-          if (distance <= widget.radius) {
-            _offset = newOffset;
-          } else {
-            double angle = atan2(newOffset.dy, newOffset.dx);
-            _offset = Offset(
-              cos(angle) * widget.radius,
-              sin(angle) * widget.radius,
-            );
-          }
-        });
-        _updateValue();
+    return Listener(
+      // 🔥 兜底：监听全局指针抬起事件，防止 onPanEnd 丢失
+      onPointerUp: (_) async {
+        if (_isPanning) {
+          debugPrint('🛡️ [兜底] 全局指针抬起，强制归零');
+          await _handlePanEnd();
+        }
      },
-      onPanEnd: (_) {
-        setState(() => _offset = Offset.zero); // 归位
-        _updateValue();
-        widget.onPanEnd?.call(); // 🔥 调用松手回调
-      },
-      child: AnimatedBuilder(
-        animation: _floatController,
-        builder: (context, child) {
-          return CustomPaint(
-            size: Size(widget.radius * 2, widget.radius * 2),
-            painter: JoystickPainter(
-              offset: _offset,
-              radius: widget.radius,
-              axisHint: widget.axisHint,
-              floatValue: _floatController.value * 10 - 5, // -5f 到 5f
-            ),
-          );
+      child: GestureDetector(
+        behavior: HitTestBehavior.opaque,
+        onPanStart: (_) {
+          _isPanning = true;
+          widget.onPress?.call();
        },
+        onPanUpdate: (details) {
+          setState(() {
+            Offset newOffset = _offset + details.delta;
+            double distance = newOffset.distance;
+            // 限制在圆圈内
+            if (distance <= widget.radius) {
+              _offset = newOffset;
+            } else {
+              double angle = atan2(newOffset.dy, newOffset.dx);
+              _offset = Offset(
+                cos(angle) * widget.radius,
+                sin(angle) * widget.radius,
+              );
+            }
+          });
+          _updateValue();
+        },
+        onPanEnd: (_) async {
+          debugPrint('✋ [正常] onPanEnd 触发');
+          await _handlePanEnd();
+        },
+        onPanCancel: () async {
+          // 🔥 新增：处理手势取消（如来电中断）
+          debugPrint('⚠️ [异常] onPanCancel 触发');
+          await _handlePanEnd();
+        },
+        child: AnimatedBuilder(
+          animation: _floatController,
+          builder: (context, child) {
+            return CustomPaint(
+              size: Size(widget.radius * 2, widget.radius * 2),
+              painter: JoystickPainter(
+                offset: _offset,
+                radius: widget.radius,
+                axisHint: widget.axisHint,
+                floatValue: _floatController.value * 10 - 5, // -5f 到 5f
+              ),
+            );
+          },
+        ),
      ),
    );
  }
+
+  // 🔥 统一的松手处理逻辑
+  Future<void> _handlePanEnd() async {
+    if (!_isPanning) return;
+    _isPanning = false;
+    setState(() => _offset = Offset.zero); // 归位
+    // 🔥 关键修复：不调用 _updateValue()，避免触发 onValueChanged 导致重复发送
+    // _updateValue(); // ❌ 注释掉，防止发送错误的停止指令
+    await widget.onPanEnd?.call(); // 🔥 等待异步回调完成
+  }
 }

 class JoystickPainter extends CustomPainter {