完成路及规划的作业的开始工作成功.

完成路径规划的暂停功能的对接
完成路径规划的继续功能的对接
完成路径规划的停止功能的对接

lib/core/di/injection.dart

@@ -82,6 +82,7 @@ Future<void> init() async {
     sl<TcpClient>(),
     sl<RoutePlanningRepository>(),
     sl<PathPlanningService>(),
+    getAppState: () => sl<DevicesCubit>().state.appState,
   ));
 
   /// 1.2 --- 本地存储 (LocalStorage) ---

lib/core/network/net_message_dispatcher.dart

@@ -13,13 +13,17 @@ class NetMessageDispatcher {
   final TcpClient tcpClient;
   final PathPlanningService _pathPlanningService;
   final RoutePlanningRepository routePlanningRepository;
+  // 🔥 修改：使用回调函数获取 AppState
+  final Function? getAppState;
 
-  NetMessageDispatcher(this.tcpClient, this.routePlanningRepository, this._pathPlanningService);
+
+  NetMessageDispatcher(this.tcpClient, this.routePlanningRepository, this._pathPlanningService, {this.getAppState});
 
 
   /// 过滤特定指令的流
   Stream<RawPacket> onCommand(int commandCode) {
     return tcpClient.packetStream.where((p) => p.command == commandCode);
+
   }
 
   /// 示例解析方法：将 0x02 指令解析为 String
@@ -59,9 +63,19 @@ class NetMessageDispatcher {
   /// 验证头部：data[0]=0xAB, data[1]=0xAA, data[2]=0x01
   /// 检查状态位：data[5] == 0x01 表示回复成功
   Stream<RawPacket> onPathPlanningResponse() {
+
+
     debugPrint('[Dispatcher] 开始监听路径规划指令应答 (CMD: 0x01)');
 
     return onCommand(0x01).where((packet) {
+      // 🔥 修改：使用回调检查 AppState
+      if (getAppState != null) {
+        final currentState = getAppState!();
+        if (currentState.toString() == 'AppState.none') {
+          debugPrint('⚠️ [Dispatcher] 当前 AppState 为 none，停止处理路径规划指令');
+          return false;
+        }
+      }
       // 构造完整数据包用于验证
       final fullData = <int>[
         0xAB, 0xAA, 0x01,
@@ -76,7 +90,6 @@ class NetMessageDispatcher {
           fullData[2] == 0x01) {
 
         debugPrint('[Dispatcher] 下位机回复成功 - 完整数据包：${fullData.join(" ")}');
-
         // 检查状态位 (索引 5 对应 payload 的第 2 个字节)
         if (fullData.length > 5 && fullData[5] == 0x01) {
           debugPrint('✅ [Dispatcher] 状态位验证通过：0x01 - 可以发送下一个指令');

lib/core/network/tcp/tcp_client.dart

@@ -267,16 +267,22 @@ class TcpClient {
   void sendPathPoint(RoutePlanSendEntity routePlanSendEntity) {
     if (_socket == null) return;
     final payload = routePlanSendEntity.toBytes();
-    final packet = sendRaw(0x01, payload); //  第1种的测试 声明指令结构和类型0x01 为命令类型
-    //_socket!.add(payload);//第二种的测试
+    print("sendPathPoint-0x01开始发送路径点数据");
+    sendRaw(0x01, payload); //  第1种的测试 声明指令结构和类型0x01 为命令类型
+   // _socket!.add(payload);//第二种的测试
+    print("底层发送指令完成");
    }
 
 
   void sendDeviceStateChange(RoutePlanSendEntity routePlanSendEntity) {
     if (_socket == null) return;
     final payload = routePlanSendEntity.toBytes();
-    _socket!.add(payload);
-    // final packet = sendRaw(0x02, payload);
+    //_socket!.add(payload);
+    sendRaw(0x02, payload);
+    var counts = routePlanSendEntity.pointCounts;
+    var string = routePlanSendEntity.toString();
+    print("sendDeviceStateChange 底层发送指令完成，数据：$counts");
+
   }
 
 

lib/features/devices/data/repositories/route_planning_repository_impl.dart

@@ -8,6 +8,8 @@ import '../models/route_plan_send_entity.dart';
 class RoutePlanningRepositoryImpl implements RoutePlanningRepository {
   final TcpClient tcp;
   late PathPlanner _planner;
+  // 🔥 新增：存储 AppState 的引用
+  dynamic _appState;
 
   RoutePlanningRepositoryImpl({required this.tcp}) { // ✅ 加 {required} 和类型注解
     _planner = PathPlanner(tcp);
@@ -15,6 +17,7 @@ class RoutePlanningRepositoryImpl implements RoutePlanningRepository {
   @override
   Future<void> startRoutePlanning(Queue<DeviceAddPathPointModel> locationQueue) async {
     //  直接传入 DeviceAddPathPointModel 列表（无需转换）
+    print("[底层开始发送指令了]");
     final List<DeviceAddPathPointModel> locations = locationQueue.toList();
     _planner.startRoutePlanning(locations);
   }
@@ -36,6 +39,15 @@ class RoutePlanningRepositoryImpl implements RoutePlanningRepository {
     // TODO: implement stopRoutePlanning
     _planner.stopRoutePlanning();
   }
+
+  @override
+  getCurrentAppState() {
+    // TODO: implement getCurrentAppState
+    return _appState;
+  }
+  void setAppState(dynamic state) {
+    _appState = state;
+  }
 }
 
 //  PathPlanner
@@ -47,6 +59,7 @@ class PathPlanner {
   PathPlanner(this.tcpClient);
 
   void sendNextLocation() {
+    print("[在发送指令sendNextLocation方法中]");
     if (isStart && locationQueue.isEmpty) {
       isStart = false;
       print("[track]");
@@ -71,7 +84,9 @@ class PathPlanner {
   void startRoutePlanning(List<DeviceAddPathPointModel> locations) {
     locationQueue.addAll(locations);
     isStart = true;
+    print("[发送指令要转换类型了完成]");
     sendNextLocation();
+
   }
   /// 暂停
   void pauseRPWork() {

lib/features/devices/domain/repositories/route_planning_repository.dart

@@ -15,4 +15,6 @@ abstract class RoutePlanningRepository {
   Future<void> pauseRPWork();
   /// Resume
   Future<void> resumeRPWork();
+ /// Get current app state
+  getCurrentAppState() {}
 }

lib/features/devices/presentation/bloc/devices_cubit.dart

@@ -351,13 +351,20 @@ class DevicesCubit extends Cubit<DevicesState> {
 
   // 开始路径规划
   Future<void> startRoutePlanning(Queue<DeviceAddPathPointModel> locationQueue) async {
+    print("cubit层开始路径规划");
     // 清空全局 Service 中的队列
     // _routePlanningUseCase.clearLocationQueue();
-    _pathPlanningService.updateQueue(locationQueue as List<DeviceAddPathPointModel>);
+    final List<DeviceAddPathPointModel> pathList = locationQueue.toList();
+    print('✅ 队列转换为 List，长度：${pathList.length}');
+
+    _pathPlanningService.updateQueue(pathList);
+    print('✅ 队列更新成功');
+
     // 开始路径规划
     emit(state.copyWith(isLoading: true));
     //传入全局的Service 中路径规划队列
     Queue<DeviceAddPathPointModel> queue = _pathPlanningService.getQueue() ;
+    print('📦 从 Service 获取的队列长度：${queue.length}');
     final result = await _routePlanningUseCase.startRoutePlanning(queue);
     result.fold(
       (failure) => emit(state.copyWith(isLoading: false, errorMessage: failure.message ?? '路径规划启动失败')),
@@ -386,4 +393,9 @@ class DevicesCubit extends Cubit<DevicesState> {
     final result = await _routePlanningUseCase.stopRoutePlanning();
     result.fold((failure) => emit(state.copyWith(isLoading: false, errorMessage: failure.message ?? '停止失败')), (_) => emit(state.copyWith(isLoading: false)));
   }
+
+  void updateAppState(AppState appState) {
+    emit(state.copyWith(appState: appState));
+    (_routePlanningUseCase as dynamic).repository.setAppState(appState);
+  }
 }

lib/features/devices/presentation/bloc/devices_state.dart

@@ -56,6 +56,7 @@ class DevicesState extends Equatable {
     DeviceOperationType? operationType,
     List<Map<String, dynamic>>? pathData,
     List<DeviceAddPathPointModel>? generatedPath,
+    AppState? appState,
   }) {
     return DevicesState(
       devices: devices ?? this.devices,
@@ -68,6 +69,7 @@ class DevicesState extends Equatable {
       workRecords: workRecords ?? this.workRecords,
       operationType: operationType ?? this.operationType, // 更新操作类型
       generatedPath: generatedPath ?? this.generatedPath, // 更新生成的路径数据
+      appState: appState ?? this.appState, // 更新应用状态
     );
   }
 
@@ -80,5 +82,6 @@ class DevicesState extends Equatable {
     pathData,
     operationType,
     generatedPath,
+    appState,
   ];
 }

lib/features/devices/services/path_planning_service.dart

@@ -17,6 +17,7 @@ class PathPlanningService {
 
   /// 🔥 存：生成路径后立即存储
   void updateQueue(List<DeviceAddPathPointModel> locations) {
+    debugPrint('进入[PathPlanningService]updateQueue方法尝试更新空队列');
     if (locations.isEmpty) {
       debugPrint('⚠️ [PathPlanningService] 尝试更新空队列');
       return;

lib/features/home/presentation/widgets/map/testmap_pages.dart

@@ -1421,11 +1421,12 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
     // 步骤2：将 List 转换为 Queue（队列）
     final Queue<work_area_model.DeviceAddPathPointModel> pathQueue = Queue.from(startWorkList);
 
-    // 步骤3：调用 Cubit 方法（类型匹配）
+    debugPrint('🚀 开始作业：${_selectedPlot?.plotName ?? "未命名"}，路径点数量：${pathQueue.length}');
+    debugPrint('第一个点 WGS84: ${pathQueue.first.latitude}, ${pathQueue.first.longitude}');
+
+    // 步骤 3：调用 Cubit 方法（类型匹配）
     await context.read<DevicesCubit>().startRoutePlanning(pathQueue);
-
-    debugPrint('开始作业：${_selectedPlot!.plotName}，路径数据：$gcjPathPoints');
-
+    context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
     // 可选：显示作业提示
     ToastUtils.showSuccess(context, '作业已开始');
     //ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('作业已开始'), backgroundColor: Colors.green));
@@ -1436,8 +1437,8 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
     setState(() {
       _workStatus = WorkStatus.paused;
     });
+    context.read<DevicesCubit>().updateAppState(AppState.none);
     await context.read<DevicesCubit>().pauseRoutePlanning();
-
     debugPrint('暂停作业：${_selectedPlot!.plotName}');
   }
 
@@ -1445,9 +1446,11 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
     setState(() {
       _workStatus = WorkStatus.idle;
     });
+    context.read<DevicesCubit>().updateAppState(AppState.none);
     await context.read<DevicesCubit>().stopRoutePlanning();
+    //修改App的状态
     debugPrint('停止作业：${_selectedPlot!.plotName}');
-    ToastUtils.showError(context, '作业已停止');
+    ///ToastUtils.showError(context, '作业已停止');
   }
 
   /// 继续作业
@@ -1455,7 +1458,9 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
     setState(() {
       _workStatus = WorkStatus.working;
     });
+    context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
     await context.read<DevicesCubit>().resumeRoutePlanning();
+
   }
 
   void _showDeleteConfirmDialog(PlotData plot, Function(PlotData) onDelete) {