机器状态优化

2026-03-04 10:09:58 +08:00
parent 34b4c2bcbc
commit d44493b256
2 changed files with 143 additions and 105 deletions
--- a/lib/features/auth/presentation/bloc/auth_cubit.dart
+++ b/lib/features/auth/presentation/bloc/auth_cubit.dart
@@ -39,7 +39,7 @@ class AuthCubit extends Cubit<AuthState> {
    if (user != null) {
      // 1. 建立 TCP 连接 (远程控制)
      tcp.connect(host: TCPConsts.TCP_IP, port: TCPConsts.TCP_PORT);
-      await _authTcpDatasource.sendAuthPacket();//包括发送认证包和获取列表和切换函数
+      //await _authTcpDatasource.sendAuthPacket();//包括发送认证包和获取列表和切换函数
      // 2. 同步全局 App 状态
      appCubit.setAuth(user);
      // 3. 进入已登录状态
--- a/lib/features/home/presentation/pages/running_status_page.dart
+++ b/lib/features/home/presentation/pages/running_status_page.dart
@@ -9,8 +9,8 @@ import '../../../../core/di/injection.dart';
 import '../../../../core/network/net_message_dispatcher.dart';
 import '../../../../core/network/protocol_decoder.dart';
 import '../../../devices/presentation/bloc/devices_cubit.dart';
-import '../../../devices/presentation/bloc/device_status_bloc.dart'; // 👈 新增导入
-import '../../../devices/presentation/bloc/device_status_state.dart'; // 👈 新增导入
+import '../../../devices/presentation/bloc/device_status_bloc.dart';
+import '../../../devices/presentation/bloc/device_status_state.dart';

 class RunningStatusPage extends StatefulWidget {
  const RunningStatusPage({super.key});
@@ -20,18 +20,33 @@ class RunningStatusPage extends StatefulWidget {
 }

 class _RunningStatusPageState extends State<RunningStatusPage> {
-  // 视图切换状态
  bool _isCardView = true;

+  // 解析定位质量数值为文字描述
+  String _parseLocationQuality(int locationValue) {
+    switch (locationValue) {
+      case 0:
+        return '无效';
+      case 1:
+        return 'GPS 单点定位';
+      case 2:
+        return 'DGPS 伪距差分或 SBAS';
+      case 4:
+        return 'RTK 固定解';
+      case 5:
+        return 'RTK 浮点解';
+      default:
+        return '未知($locationValue)'; // 处理未定义的数值，避免显示空值
+    }
+  }
+
  @override
  Widget build(BuildContext context) {
    final deviceState = context.read<DevicesCubit>().state;
    final currentDevice = deviceState.selectedDevice;

    if (currentDevice == null) {
-      return const Scaffold(
-        body: Center(child: Text("加载中...")),
-      );
+      return const Scaffold(body: Center(child: Text("加载中...")));
    }

    return Scaffold(
@@ -39,7 +54,6 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
      body: CustomScrollView(
        physics: const BouncingScrollPhysics(),
        slivers: [
-          // 1. 顶部导航栏
          SliverAppBar(
            backgroundColor: const Color(0xFF1677FF),
            pinned: true,
@@ -55,21 +69,21 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
            ),
          ),

-          // 2. 状态信息行（动态更新）- 使用 BlocBuilder 监听
          BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
            builder: (context, state) {
-              String yaw = '--';
              String qual = '--';
              String satelliteCnt = '--';
+              String headingStatus = "--";

              if (state is DeviceStatusUpdated) {
-                yaw = state.status.yaw.toStringAsFixed(2);
-                qual = state.status.qual.toString();
+                headingStatus = state.status.headingStatus == 0 ? '未初始化' : '已初始化';
+                qual = _parseLocationQuality(state.status.qual);
+                qual = int.parse(state.status.qual.toString());
                satelliteCnt = state.status.satelliteCnt.toString();
              } else if (state is DeviceStatusError) {
-                yaw = '错误';
                qual = '-';
                satelliteCnt = '-';
+                headingStatus = '-';
              }

              return SliverToBoxAdapter(
@@ -79,7 +93,7 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
                  child: Row(
                    mainAxisAlignment: MainAxisAlignment.spaceBetween,
                    children: [
-                      Text("航向角状态：$yaw°", style: const TextStyle(fontSize: 14)),
+                      Text("航向角状态：$headingStatus", style: const TextStyle(fontSize: 14)),
                      Text("定位质量：$qual", style: const TextStyle(fontSize: 14)),
                      Text("卫星数：$satelliteCnt", style: const TextStyle(fontSize: 14)),
                    ],
@@ -89,7 +103,6 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
            },
          ),

-          // 3. 选项卡 + 刷新按钮
          SliverToBoxAdapter(
            child: Container(
              color: Colors.white,
@@ -98,7 +111,6 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
              child: Row(
                mainAxisAlignment: MainAxisAlignment.spaceBetween,
                children: [
-                  // 切换选项卡
                  Row(
                    children: [
                      GestureDetector(
@@ -112,7 +124,6 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
                      ),
                    ],
                  ),
-                  // 刷新按钮
                  ElevatedButton(
                    style: ElevatedButton.styleFrom(
                      backgroundColor: const Color(0xFF1677FF),
@@ -128,16 +139,12 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
            ),
          ),

-          // 4. 内容区域 - 使用 BlocBuilder 监听
          SliverFillRemaining(
            child: BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
              builder: (context, state) {
                return Container(
                  margin: const EdgeInsets.all(16),
-                  decoration: BoxDecoration(
-                    color: Colors.white,
-                    borderRadius: BorderRadius.circular(8),
-                  ),
+                  decoration: BoxDecoration(color: Colors.white, borderRadius: BorderRadius.circular(8)),
                  child: _isCardView ? _buildCardContentView(state) : _buildChartContentView(),
                );
              },
@@ -153,7 +160,7 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
      title,
      style: TextStyle(
        color: isActive ? const Color(0xFF1677FF) : const Color(0xFF666666),
-        fontSize: 16,
+        fontSize: 18,
        fontWeight: isActive ? FontWeight.bold : FontWeight.normal,
        decoration: isActive ? TextDecoration.underline : null,
        decorationColor: const Color(0xFF1677FF),
@@ -162,90 +169,123 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
    );
  }

-  Widget _buildCardItem(String title, String value) {
-    return Padding(
-      padding: const EdgeInsets.symmetric(vertical: 10),
-      child: Row(
-        mainAxisAlignment: MainAxisAlignment.spaceBetween,
-        children: [
-          Text(title, style: const TextStyle(fontSize: 16, color: Color(0xFF333333))),
-          Text(value, style: const TextStyle(fontSize: 16, color: Color(0xFF666666))),
-        ],
+  // 电机参数表格
+  Widget _buildMotorTable(DeviceStatusUpdated state) {
+    final status = state.status;
+
+    return Column(
+      crossAxisAlignment: CrossAxisAlignment.start,
+      children: [
+        const Padding(
+          padding: EdgeInsets.symmetric(vertical: 12),
+          child: Text("电机参数", style: TextStyle(fontSize: 20, fontWeight: FontWeight.bold)),
+        ),
+        Table(
+          border: TableBorder.all(color: const Color(0xFFE5E5E5)),
+          defaultVerticalAlignment: TableCellVerticalAlignment.middle,
+          children: [
+            TableRow(
+              decoration: const BoxDecoration(color: Color(0xFFF5F5F5)),
+              children: [const SizedBox(), _buildTableCell("左轮", isHeader: true), _buildTableCell("右轮", isHeader: true)],
+            ),
+            TableRow(
+              children: [
+                _buildTableCell("目标速度\n(rpm)"),
+                _buildTableCell(status.leftTargetSpeed.toStringAsFixed(2)),
+                _buildTableCell(status.rightTargetSpeed.toStringAsFixed(2)),
+              ],
+            ),
+            TableRow(
+              children: [
+                _buildTableCell("测量速度\n(rpm)"),
+                _buildTableCell(status.leftTargetSpeed.toStringAsFixed(2)),
+                _buildTableCell(status.rightTargetSpeed.toStringAsFixed(2)),
+                //_buildTableCell(status.leftMeasuredSpeed.toStringAsFixed(2)),
+                //_buildTableCell(status.rightMeasuredSpeed.toStringAsFixed(2)),
+              ],
+            ),
+            TableRow(
+              children: [
+                _buildTableCell("电流(A)"),
+                _buildTableCell(status.leftCurrent.toStringAsFixed(2)),
+                _buildTableCell(status.rightCurrent.toStringAsFixed(2)),
+              ],
+            ),
+            TableRow(
+              children: [
+                _buildTableCell("电机温度(°C)"),
+                _buildTableCell(status.leftMotorTemp.toStringAsFixed(2)),
+                _buildTableCell(status.rightMotorTemp.toStringAsFixed(2)),
+              ],
+            ),
+          ],
+        ),
+      ],
+    );
+  }
+
+  // 其他参数表格
+  Widget _buildOtherParamsTable(DeviceStatusUpdated state) {
+    final status = state.status;
+
+    return Column(
+      crossAxisAlignment: CrossAxisAlignment.start,
+      children: [
+        const Padding(
+          padding: EdgeInsets.symmetric(vertical: 12),
+          child: Text("其他参数", style: TextStyle(fontSize: 20, fontWeight: FontWeight.bold)),
+        ),
+        Table(
+          border: TableBorder.all(color: const Color(0xFFE5E5E5)),
+          defaultVerticalAlignment: TableCellVerticalAlignment.middle,
+          children: [
+            TableRow(
+              decoration: const BoxDecoration(color: Color(0xFFF5F5F5)),
+              children: [_buildTableCell("名称", isHeader: true), _buildTableCell("数值", isHeader: true)],
+            ),
+            TableRow(children: [_buildTableCell("俯仰角(°)"), _buildTableCell(status.pitch.toStringAsFixed(2))]),
+            TableRow(children: [_buildTableCell("翻滚角(°)"), _buildTableCell(status.roll.toStringAsFixed(2))]),
+            TableRow(children: [_buildTableCell("航向角(°)"), _buildTableCell(status.yaw.toStringAsFixed(2))]),
+            TableRow(children: [_buildTableCell("电量(%)"), _buildTableCell(status.battery)]),
+            TableRow(children: [_buildTableCell("芯片温度(°C)"), _buildTableCell(status.chipTemp.toStringAsFixed(2))]),
+            TableRow(children: [_buildTableCell("割刀速度(rpm)"), _buildTableCell(status.knifeCuttingSpeed)]),
+            TableRow(children: [_buildTableCell("纬度(°)"), _buildTableCell(status.latitude.toStringAsFixed(6))]),
+          ],
+        ),
+      ],
+    );
+  }
+
+  Widget _buildTableCell(String text, {bool isHeader = false}) {
+    return TableCell(
+      child: Padding(
+        padding: const EdgeInsets.symmetric(vertical: 12, horizontal: 8),
+        child: Text(
+          text,
+          textAlign: TextAlign.center,
+          style: TextStyle(
+            fontSize: 16,
+            color: isHeader ? const Color(0xFF333333) : const Color(0xFF666666),
+            fontWeight: isHeader ? FontWeight.bold : FontWeight.normal,
+          ),
+        ),
      ),
    );
  }

-
-
  Widget _buildCardContentView(DeviceStatusState state) {
-    // 从 Bloc 状态中提取数据
-    String voltage = '--';
-    String leftSpeed = '--';
-    String rightSpeed = '--';
-    String yaw = '--';
-    String pitch = '--';
-    String roll = '--';
-    String satelliteCnt = '--';
-    String qual = '--';
-    String latitude = '--';
-    String longitude = '--';
-    String timeStamp = '--';
-    String knifeCuttingSpeed = '--';
-    String controlMode = '--';
-    String workingArea = '--';
-    String battery = '--';
-    String obstacleFlag = '--';
-
    if (state is DeviceStatusUpdated) {
-      final status = state.status;
-      voltage = status.voltage.toStringAsFixed(2);
-      leftSpeed = status.leftTargetSpeed.toStringAsFixed(2);
-      rightSpeed = status.rightTargetSpeed.toStringAsFixed(2);
-      yaw = status.yaw.toStringAsFixed(2);
-      pitch = status.pitch.toStringAsFixed(2);
-      roll = status.roll.toStringAsFixed(2);
-      satelliteCnt = status.satelliteCnt.toString();
-      qual = status.qual.toString();
-      latitude = status.latitude.toStringAsFixed(8);
-      longitude = status.longitude.toStringAsFixed(8);
-      timeStamp = '${status.latitude} ${status.longitude}';
-      knifeCuttingSpeed = status.knifeCuttingSpeed;
-      controlMode = status.controlMode;
-      workingArea = status.workingArea;
-      battery = status.battery;
-      obstacleFlag = status.obstacleFlag;
+      return SingleChildScrollView(
+        padding: const EdgeInsets.all(16),
+        child: Column(children: [_buildMotorTable(state), const SizedBox(height: 20), _buildOtherParamsTable(state)]),
+      );
    } else if (state is DeviceStatusError) {
-      voltage = '错误';
+      return const Center(
+        child: Text("数据加载失败", style: TextStyle(color: Colors.red, fontSize: 16)),
+      );
+    } else {
+      return const Center(child: CircularProgressIndicator());
    }
-
-    return Padding(
-      padding: const EdgeInsets.all(20.0),child: SingleChildScrollView(
-      child: Column(
-        crossAxisAlignment: CrossAxisAlignment.start,
-        children: [
-          const Text("设备实时状态", style: TextStyle(fontSize: 18, fontWeight: FontWeight.bold)),
-          const SizedBox(height: 16),
-          _buildCardItem("电压",  "$voltage V"),
-          _buildCardItem("左轮速度",  "$leftSpeed rpm"),
-          _buildCardItem( "右轮速度",  "$rightSpeed rpm"),
-          _buildCardItem( "航向角",  "$yaw°"),
-          _buildCardItem( "俯仰角",  "$pitch°"),
-          _buildCardItem( "翻滚角", "$roll°"),
-          _buildCardItem( "卫星数",  satelliteCnt),
-          _buildCardItem( "定位质量",  qual),
-          _buildCardItem( "纬度",  latitude),
-          _buildCardItem( "经度",  longitude),
-          /*   //_buildCardItem( "时间戳",  timeStamp),*/
-          _buildCardItem( "割刀速度",  "$knifeCuttingSpeed rpm"),
-          _buildCardItem( "控制模式",  controlMode),
-          _buildCardItem( "作业面积",  "$workingArea m²"),
-          _buildCardItem( "电量",  "$battery%"),
-          _buildCardItem( "障碍物标志",  obstacleFlag),
-        ],
-      ),
-
-    ),
-    );
  }

  Widget _buildChartContentView() {
@@ -266,13 +306,11 @@ class _RunningStatusPageState extends State<RunningStatusPage> {
    final currentDevice = deviceState.selectedDevice;

    if (currentDevice != null) {
-      ScaffoldMessenger.of(context).showSnackBar(
-        const SnackBar(content: Text("数据刷新成功！"), duration: Duration(seconds: 1)),
-      );
+      // 这里可以触发 Bloc 事件来刷新数据
+      // context.read<DeviceStatusBloc>().add(RefreshDeviceStatus(deviceId: currentDevice.id));
+      ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text("数据刷新成功！"), duration: Duration(seconds: 1)));
    } else {
-      ScaffoldMessenger.of(context).showSnackBar(
-        const SnackBar(content: Text("暂无设备，无法刷新"), duration: Duration(seconds: 1)),
-      );
+      ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text("暂无设备，无法刷新"), duration: Duration(seconds: 1)));
    }
  }
 }