diff --git a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
index c1df35d2..9975a957 100644
--- a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
@@ -35,7 +35,8 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   StreamSubscription? _kickOutSub; // 新增：用于管理监听生命周期
   final NetMessageDispatcher dispatcher;
   final DeviceStatusBloc deviceStatusBloc; // 🔥 注入 DeviceStatusBloc
-  StreamSubscription? _deviceStatusSub; // 🔥 订阅 DeviceStatusBloc 的状态流
+  StreamSubscription? _deviceStatusSub; // 🔥 订阅 DeviceStatusBloc 的状态流（MQTT，已停用）
+  StreamSubscription? _tcpStatusSub; // 🔥 订阅 TCP 0x02 机器状态推送（门槛 + 电压/电量/控制模式）
   static const platform = MethodChannel('com.maibu.satabot/ping');
   int _currentPing = 50;
   final ILoggerService _logger = GetIt.I<ILoggerService>();
@@ -70,7 +71,11 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
         ),
       ) {
     _initPacketListener();
-    _initDeviceStatusListener(); // 🔥 改为订阅 DeviceStatusBloc
+    // 🔥 门槛(hasReceivedStatusPush)与电压/电量/控制模式改由 TCP 0x02 驱动，
+    //    与 MQTT 定位链路解耦；MQTT(DeviceStatusBloc) 仅继续负责定位。
+    //    回滚：注释下行、改回 _initDeviceStatusListener() 即可。
+    _initTcpStatusListener();
+    // _initDeviceStatusListener(); // 🔥 旧：订阅 DeviceStatusBloc(MQTT)，已停用
   }
 
   // 🔥 新增:订阅 DeviceStatusBloc 的状态流,而不是直接监听TCP
@@ -82,6 +87,9 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   int? _cachePing;
   DateTime? _lastStatusPushTime; // 最后一次收到设备状态推送的时间
 
+  // 🔥 已停用：门槛与电压/电量/控制模式改由 TCP 0x02 驱动（见 _initTcpStatusListener）。
+  //    保留本方法用于回滚——恢复构造函数中的调用即可重新走 MQTT(DeviceStatusUpdated)。
+  // ignore: unused_element
   void _initDeviceStatusListener() {
     _deviceStatusSub?.cancel();
 
@@ -129,6 +137,77 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
     });
   }
 
+  /// 🔥 门槛 + 运行状态专用监听：直接监听 TCP 0x02 机器状态推送。
+  ///
+  /// 与 MQTT 定位链路彻底解耦：
+  ///  - 门槛 hasReceivedStatusPush / _lastStatusPushTime 由 TCP 0x02 驱动；
+  ///  - 电压/电量/控制模式 直接由 0x02 报文的 fromFields 解析（fields[0]/[21]/[20]）；
+  ///  - MQTT(DeviceStatusBloc) 仅继续负责定位，不再影响本页门槛与三个值。
+  void _initTcpStatusListener() {
+    _tcpStatusSub?.cancel();
+
+    _tcpStatusSub = tcpClient.packetStream
+        .where((p) => p.command == 0x02)
+        .listen((packet) async {
+      try {
+        final message = utf8.decode(packet.payload, allowMalformed: true);
+        if (message.trim().isEmpty) return;
+
+        final fields = message.trim().split(',');
+        if (fields.length < 18) {
+          debugPrint('⚠️ [TCP-0x02门槛] 字段不足:${fields.length}，期望≥18，跳过');
+          return;
+        }
+
+        final status = RunningStatusEntity.fromFields(fields);
+        final controlMode = status.controlMode == '3' ? '远程模式' : '本地模式';
+
+        // 🔥 门槛：收到 TCP 0x02 即视为推送活跃（节流前刷新，轻量无阻塞）
+        _lastStatusPushTime = DateTime.now();
+
+        _cacheVoltage = status.voltage.toString();
+        _cacheBattery = status.battery;
+        _cacheCtrlMode = controlMode;
+
+        // 500ms节流，不到时间不刷新UI
+        final now = DateTime.now();
+        if (_lastUiUpdateTime != null &&
+            now.difference(_lastUiUpdateTime!) <
+                const Duration(milliseconds: 500)) {
+          // 节流期间仍需保证门槛标志已置位（否则首帧恰逢节流会导致门槛漏置）
+          if (!state.hasReceivedStatusPush && !isClosed) {
+            emit(state.copyWith(hasReceivedStatusPush: true));
+          }
+          return;
+        }
+        _lastUiUpdateTime = now;
+
+        // 🔥 ping 只在真正刷新UI时测（≤2Hz）：0x02 原始推送可能高频，
+        //    若每帧 await getNetworkDelay 会造成大量并发 ping，移到节流后规避。
+        final c = await getNetworkDelay();
+        _cachePing = c;
+
+        if (!isClosed) {
+          emit(
+            state.copyWith(
+              runningStatusModel: state.runningStatusModel.copyWith(
+                voltage: _cacheVoltage,
+                battery: _cacheBattery,
+                controlMode: _cacheCtrlMode,
+              ),
+              battery: int.tryParse(_cacheBattery ?? '') ?? 0,
+              ping: _cachePing,
+              hasReceivedStatusPush: true, // 🔥 门槛：TCP 0x02 到达即置位
+              updateType: 'device_status',
+            ),
+          );
+        }
+      } catch (e) {
+        debugPrint('❌ [TCP-0x02门槛] 解析异常:$e');
+      }
+    });
+  }
+
   // 🔥 超简单方法：传入 IP，得到 ping 值
 
   // 🔥 模拟设备状态更新 - 用于测试
@@ -701,6 +780,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   Future<void> close() {
     _timer?.cancel();
     _deviceStatusSub?.cancel(); // 🔥 取消订阅 DeviceStatusBloc
+    _tcpStatusSub?.cancel(); // 🔥 取消订阅 TCP 0x02 门槛监听
     return super.close();
   }
 
diff --git a/lib/features/remote_control/presentation/pages/remote_control_page.dart b/lib/features/remote_control/presentation/pages/remote_control_page.dart
index 20df0847..457a9601 100644
--- a/lib/features/remote_control/presentation/pages/remote_control_page.dart
+++ b/lib/features/remote_control/presentation/pages/remote_control_page.dart
@@ -198,16 +198,20 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
                     .targetDevice;
                 final deviceId = targetDevice?.deviceName;
 
-                // 🔥 从 RemoteControlCubit 获取 token（如果有的话）
-                // 注意：如果 token 不在 RemoteControlCubit 中，需要从其他地方获取
-                // 这里假设 token 是有效的，直接构建 URL
-                if (deviceId != null && deviceId.isNotEmpty) {
+                // 🔥 从 AppUserCubit 获取登录 token：SRS on_play 会校验，缺失会被拒绝拉流
+                final token = context.read<AppUserCubit>().state.user?.token;
+                if (deviceId != null &&
+                    deviceId.isNotEmpty &&
+                    token != null &&
+                    token.isNotEmpty) {
                   _videoStreamUrl =
-                      "webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId";
+                      "webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId?token=$token";
                   debugPrint('🎬 [WebRTC] URL构建成功: $_videoStreamUrl');
                 } else {
                   _videoStreamUrl = '';
-                  debugPrint('❌ [WebRTC] URL构建失败 - deviceId: $deviceId');
+                  debugPrint(
+                    '❌ [WebRTC] URL构建失败 - deviceId: $deviceId, hasToken: ${token != null}',
+                  );
                 }
                 final int originY = context
                     .watch<RemoteControlCubit>()
diff --git a/lib/features/remote_control/presentation/widgets/center_control_area.dart b/lib/features/remote_control/presentation/widgets/center_control_area.dart
index 86fff675..57d4c226 100644
--- a/lib/features/remote_control/presentation/widgets/center_control_area.dart
+++ b/lib/features/remote_control/presentation/widgets/center_control_area.dart
@@ -2,6 +2,7 @@ import 'package:cc_ui_kit/cc_ui_kit.dart';
 import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
+import 'package:maibu_satabot_v2/components/capsule_toast.dart';
 import 'package:maibu_satabot_v2/core/localization/app_localizations.dart';
 
 import '../bloc/remote_control_cubit.dart';
@@ -115,6 +116,13 @@ class CenterControlArea extends StatelessWidget {
   void _handleSliderAction(String deviceKey, String action, BuildContext context) {
     debugPrint('🎯 [Slider 业务] deviceKey: $deviceKey, action: $action');
 
+    // 🔥 门槛检查：与摇杆一致，未收到 TCP 0x02 推送时禁止操作并提示。
+    //    胶囊 Toast 全局去重、自动消失，适配 StatelessWidget 无实例状态。
+    if (!context.read<RemoteControlCubit>().isStatusPushActive()) {
+      CapsuleToast.show('暂未收到该机器的推送，不能控制', showCheck: false);
+      return;
+    }
+
     // 🔥 使用deviceKey进行判断，不依赖显示文本
     switch (deviceKey) {
       case 'chassis':
diff --git a/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart b/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart
index 52c43a77..9e68c911 100644
--- a/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart
+++ b/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart
@@ -71,6 +71,11 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
   void _updateLoadState(WebRTCLoadState state) {
     if (_loadState == state) return;
     _loadState = state;
+    // 🔥 自身状态变化必须触发重建：未传 onLoadingStateChanged 的调用方
+    // （如远程遥控页）否则无法从"视频加载中"切到 playing/error 界面
+    if (mounted) {
+      setState(() {});
+    }
     widget.onLoadingStateChanged?.call(state);
   }
 
@@ -404,19 +409,34 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
     // 🔥 在真正渲染出视频帧（playing 态）之前，始终显示加载指示器
     // 避免出现"track 已收到但画面是黑的"黑屏情况
     if (_loadState != WebRTCLoadState.playing) {
+      // 🔥 区分 loading 与 error：error 态显示明确失败提示，不再一直转圈
+      final bool isError = _loadState == WebRTCLoadState.error;
       return Container(
         color: Colors.black,
         child: Center(
           child: Column(
             mainAxisAlignment: MainAxisAlignment.center,
-            children: [
-              const CircularProgressIndicator(color: Colors.white),
-              const SizedBox(height: 12),
-              Text(
-                '视频加载中...',
-                style: TextStyle(color: Colors.white70, fontSize: 14),
-              ),
-            ],
+            children: isError
+                ? [
+                    const Icon(
+                      Icons.videocam_off,
+                      size: 48,
+                      color: Colors.white38,
+                    ),
+                    const SizedBox(height: 12),
+                    const Text(
+                      '视频加载失败，请检查设备是否在线或重试',
+                      style: TextStyle(color: Colors.white70, fontSize: 14),
+                    ),
+                  ]
+                : [
+                    const CircularProgressIndicator(color: Colors.white),
+                    const SizedBox(height: 12),
+                    const Text(
+                      '视频加载中...',
+                      style: TextStyle(color: Colors.white70, fontSize: 14),
+                    ),
+                  ],
           ),
         ),
       );