生成路径 对接
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@@ -28,6 +28,7 @@ class PathRepositoryImpl implements PathRepository {
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'holes': holes.map((hole) => hole.toJson()).toList(),
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'workType': workType,
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});
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print('请求体: $body'); // 调试输出请求体
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try {
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final response = await http.post(url, headers: headers, body: body);
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@@ -134,14 +135,12 @@ class PathRepositoryImpl implements PathRepository {
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required String workName,
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}) async {
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final timestamp = DateTime.now().millisecondsSinceEpoch;
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final url = Uri.parse(
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'https://serviceri.satabot.com/iot/workRecord/selectByWorkName',
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).replace(
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queryParameters: {
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'workName': workName,
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'_t': timestamp.toString(),
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},
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);
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final url =
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Uri.parse(
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'https://serviceri.satabot.com/iot/workRecord/selectByWorkName',
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).replace(
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queryParameters: {'workName': workName, '_t': timestamp.toString()},
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);
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print('请求URL: $url');
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try {
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@@ -167,20 +166,22 @@ class PathRepositoryImpl implements PathRepository {
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} else if (rawData is Map) {
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records = [Map<String, dynamic>.from(rawData)];
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} else {
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throw Exception('Unexpected data type for "data": ${rawData.runtimeType}');
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throw Exception(
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'Unexpected data type for "data": ${rawData.runtimeType}',
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);
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}
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return records;
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} else {
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throw Exception('API error: ${data['msg'] ?? 'Unknown'}');
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}
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} else {
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throw Exception('HTTP ${response.statusCode}: ${response.reasonPhrase}');
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throw Exception(
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'HTTP ${response.statusCode}: ${response.reasonPhrase}',
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);
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}
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} catch (e) {
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throw Exception('Network error in selectWorkRecordByName: $e');
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}
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}
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}
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@@ -11,6 +11,8 @@ import 'package:maibu_satabot_v2/core/app/app_user_cubit.dart';
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import 'package:maibu_satabot_v2/core/di/injection.dart';
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import 'package:maibu_satabot_v2/core/network/net_message_dispatcher.dart';
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import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
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import 'package:maibu_satabot_v2/features/devices/data/models/device_work_area_param_model.dart'
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as work_area_model;
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import 'package:maibu_satabot_v2/features/devices/data/repositories/generate_path_repository_Impl.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/usecases/get_work_record_usecase.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/usecases/select_work_record_usecase.dart';
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@@ -1235,10 +1237,151 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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child: BottomOperationPanel(
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initialRobotMode: RobotMode.point,
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initialAreaMode: AreaMode.work,
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onComplete: () {
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onComplete: () async {
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debugPrint(
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'操作完成回调：当前机器人模式=$_currentRobotMode,当前区域模式=$_currentAreaMode,当前作业模式:$_currentWorkMode,作业区域点:$_markedPoints,作业行距=$_workDistance,航线方向角=$_angle',
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);
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// 1. 校验必要条件（至少需要3个打点才能形成闭合区域）
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if (_markedPoints.isEmpty) {
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ScaffoldMessenger.of(context).showSnackBar(
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const SnackBar(
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content: Text('请先添加作业区域打点！'),
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backgroundColor: Colors.red,
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),
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);
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return;
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}
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if (_markedPoints.length < 3) {
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ScaffoldMessenger.of(context).showSnackBar(
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const SnackBar(
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content: Text('作业区域至少需要3个打点才能生成路径！'),
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backgroundColor: Colors.red,
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),
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);
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return;
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}
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if (_currentWorkMode == null) {
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ScaffoldMessenger.of(context).showSnackBar(
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const SnackBar(
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content: Text('请先选择作业模式！'),
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backgroundColor: Colors.red,
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),
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);
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return;
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}
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try {
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// 2. 转换页面数据为 generatePath 所需的参数格式
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// 2.1 参考点（取第一个打点，转换为 WGS84）
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final firstPoint = _markedPoints.first;
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final wgs84FirstPoint = gcj02ToWgs84(
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firstPoint.latitude,
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firstPoint.longitude,
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);
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final referencePoint = work_area_model.ReferencePoint(
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lat: wgs84FirstPoint.latitude,
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lon: wgs84FirstPoint.longitude,
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);
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// 2.2 航向角（转换为整型，-1表示最优航向则取-1）
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final heading = _angle == -1 ? -1 : _angle.toInt();
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// 2.3 外边界（转换为 OuterBoundary 格式，所有点转 WGS84）
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final outerBoundary = work_area_model.OuterBoundary(
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// 将 LatLng 打点转换为 Position 列表（先转 WGS84）
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position: _markedPoints.map((latLng) {
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// 关键：每个点都转换为 WGS84 坐标系
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final wgs84Point = gcj02ToWgs84(
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latLng.latitude,
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latLng.longitude,
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);
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return work_area_model.Position(
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lat: wgs84Point.latitude,
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lon: wgs84Point.longitude,
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);
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}).toList(),
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sideWidth: _workDistance,
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);
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final holes = <work_area_model.HoleBoundary>[];
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final workType = _currentWorkMode == WorkMode.bow
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? 0
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: 2; // 注意：这里弓字模式是0，自定义是2（确认和后端一致）
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// 3. 调用 Cubit 的 generatePath 方法生成路径
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await context.read<DevicesCubit>().generatePath(
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reference: referencePoint,
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heading: heading,
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outer: outerBoundary,
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holes: holes,
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workType: workType,
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);
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// 4. 获取生成结果并处理
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final cubitState = context.read<DevicesCubit>().state;
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if (cubitState.errorMessage != null) {
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// 生成失败
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ScaffoldMessenger.of(context).showSnackBar(
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SnackBar(
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content: Text('路径生成失败：${cubitState.errorMessage}'),
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backgroundColor: Colors.red,
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),
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);
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} else if (cubitState.generatedPath != null) {
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// 生成成功
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ScaffoldMessenger.of(context).showSnackBar(
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const SnackBar(
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content: Text('路径生成成功！'),
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backgroundColor: Colors.green,
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),
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);
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debugPrint('生成的路径数据：${cubitState.generatedPath}');
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// 可选：将生成的路径转换为地图可显示的坐标（WGS84 → GCJ02）
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if (cubitState.generatedPath is List) {
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setState(() {
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// 关键：生成的路径是 WGS84，需转回 GCJ02 才能在高德地图正确显示
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gcjPathPoints = (cubitState.generatedPath as List)
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.map((point) {
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// 先取 WGS84 坐标
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double wgs84Lat =
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safeToDouble(point['lat']) ?? 0.0;
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double wgs84Lon =
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safeToDouble(point['lon']) ?? 0.0;
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// 转换为 GCJ02
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final gcjPoint = wgs84ToGcj02(
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wgs84Lat,
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wgs84Lon,
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);
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return LatLng(
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gcjPoint.latitude,
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gcjPoint.longitude,
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);
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})
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.toList();
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// 外边界也转回 GCJ02 显示（可选，保持和地图坐标系一致）
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gcjOuterPoints = _markedPoints;
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});
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// 移动地图到生成的路径中心
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moveMapToPointsCenter(gcjPathPoints);
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}
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}
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} catch (e) {
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// 异常处理
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debugPrint('路径生成异常：$e');
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ScaffoldMessenger.of(context).showSnackBar(
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SnackBar(
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content: Text(
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'路径生成异常：${e.toString().substring(0, 50)}',
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),
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backgroundColor: Colors.red,
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),
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);
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}
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// 5. 关闭操作面板
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setState(() => _isPanelOpen = false);
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},
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onUndoTap: _undoLastPoint,
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@@ -1480,6 +1623,24 @@ LatLng wgs84ToGcj02(double lat, double lon) {
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return LatLng(mgLat, mgLon);
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}
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LatLng gcj02ToWgs84(double lat, double lon) {
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if (_outOfChina(lat, lon)) {
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return LatLng(lat, lon);
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}
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double dLat = _transformLat(lon - 105.0, lat - 35.0);
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double dLon = _transformLon(lon - 105.0, lat - 35.0);
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double radLat = lat / 180.0 * _pi;
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double magic = sin(radLat);
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magic = 1 - _ee * magic * magic;
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double sqrtMagic = sqrt(magic);
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dLat = (dLat * 180.0) / ((_a * (1 - _ee)) / (magic * sqrtMagic) * _pi);
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dLon = (dLon * 180.0) / (_a / sqrtMagic * cos(radLat) * _pi);
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double mgLat = lat - dLat;
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double mgLon = lon - dLon;
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return LatLng(mgLat, mgLon);
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}
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bool _outOfChina(double lat, double lon) {
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return lon < 72.004 || lon > 137.8347 || lat < 0.8293 || lat > 55.8271;
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}
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