1.测试和修改了无人机在线实时信息的展示数据集的展示。使其能够全面展示。

2.添加了在无人机设备摄像头的为空时候，通过新增的接口获取无人机的摄像头的列表。 3.替换原先依照tcp推送消息绘制机器运动作业的轨迹过程，先用订阅mqtt特定话题推送的信息做动画过程的绘制。
2026-06-24 14:44:16 +08:00
parent b7ea788298
commit d5a83c1221
7 changed files with 689 additions and 185 deletions
--- a/lib/core/network/mqtt/domain/entities/task_arrive_entity.dart
+++ b/lib/core/network/mqtt/domain/entities/task_arrive_entity.dart
@@ -3,25 +3,26 @@ import 'package:equatable/equatable.dart';
 class TaskArriveEntity extends Equatable {
  final String type;
  final String deviceId;
-  final int taskId;
+  final int? taskId;
  final dynamic status;
-  final ArriveLocation entity;
+  final ArriveLocation? entity;

  const TaskArriveEntity({
    required this.type,
    required this.deviceId,
-    required this.taskId,
+    this.taskId,
    this.status,
-    required this.entity,
+    this.entity,
  });

  factory TaskArriveEntity.fromJson(Map<String, dynamic> json) {
+    final entityJson = json['entity'] as Map<String, dynamic>?;
    return TaskArriveEntity(
      type: json['type'] as String? ?? '',
      deviceId: json['deviceId'] as String? ?? '',
-      taskId: json['taskId'] as int? ?? 0,
+      taskId: json['taskId'] as int?,
      status: json['status'],
-      entity: ArriveLocation.fromJson(json['entity'] as Map<String, dynamic>? ?? {}),
+      entity: entityJson != null ? ArriveLocation.fromJson(entityJson) : null,
    );
  }

@@ -31,7 +32,7 @@ class TaskArriveEntity extends Equatable {
      'deviceId': deviceId,
      'taskId': taskId,
      'status': status,
-      'entity': entity.toJson(),
+      'entity': entity?.toJson(),
    };
  }

@@ -43,10 +44,7 @@ class ArriveLocation extends Equatable {
  final double lat;
  final double lng;

-  const ArriveLocation({
-    required this.lat,
-    required this.lng,
-  });
+  const ArriveLocation({required this.lat, required this.lng});

  factory ArriveLocation.fromJson(Map<String, dynamic> json) {
    return ArriveLocation(
@@ -56,10 +54,7 @@ class ArriveLocation extends Equatable {
  }

  Map<String, dynamic> toJson() {
-    return {
-      'lat': lat,
-      'lng': lng,
-    };
+    return {'lat': lat, 'lng': lng};
  }

  @override
--- a/lib/features/devices/presentation/bloc/device_status_bloc.dart
+++ b/lib/features/devices/presentation/bloc/device_status_bloc.dart
@@ -6,12 +6,18 @@ import 'package:get_it/get_it.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/entities/running_status_entity.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/entities/gps_entity.dart';
 import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
+import 'package:maibu_satabot_v2/core/network/mqtt/domain/repositories/task_message_repository.dart';
+import 'package:maibu_satabot_v2/core/network/mqtt/domain/entities/task_arrive_entity.dart';

 import '../../../../core/logging/i_logger_service.dart';
 import '../../../../core/network/net_message_dispatcher.dart';
 import '../../../../core/network/tcp/tcp_client.dart';
 import 'device_status_event.dart';
 import 'device_status_state.dart';
+import 'devices_cubit.dart';
+
+// 定义全局的TaskMessageRepository获取方式
+TaskMessageRepository get _taskMessageRepo => GetIt.I<TaskMessageRepository>();

 class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
  final NetMessageDispatcher _dispatcher;
@@ -20,6 +26,7 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {

  // 🔥 保存订阅引用,用于管理生命周期
  StreamSubscription? _tcpSubscription;
+  StreamSubscription? _mqttArriveSubscription;

  // 🔥 节流相关：500ms节流控制0x02数据推送频率
  Timer? _throttleTimer;
@@ -27,16 +34,23 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
  RunningStatusEntity? _cachedStatus;
  GPSEntity? _cachedGps;

+  // 🔥 当前监听的设备ID
+  String? _currentDeviceId;
+
  DeviceStatusBloc(this._dispatcher, {TcpClient? client})
    : tcpClient = client ?? GetIt.I<TcpClient>(),
      super(DeviceStatusInitial()) {
    // 🔥 核心改动:直接在构造函数中建立TCP监听,类似RemoteControlCubit
    _initDirectTcpListener();

+    // 🔥 初始化MQTT到达点监听
+    _initMqttArriveListener();
+
    // 保留事件处理(用于手动重置等场景)
    on<DeviceStatusReset>(_handleReset);
    on<DeviceStatusLoaded>(_handleDeviceStatusLoaded);
    on<PushMessageReceived>(_handlePushMessageReceived);
+    on<DeviceTaskArrivePointEvent>(_handleDeviceTaskArrivePointEvent);
  }

  // 🔥 已废弃:重新初始化TCP监听器会导致数据流中断
@@ -162,6 +176,62 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
    _logger.log('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
  }

+  // 🔥 初始化MQTT到达点监听
+  void _initMqttArriveListener() {
+    debugPrint('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');
+    _logger.log('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');
+
+    _mqttArriveSubscription = _taskMessageRepo.taskArriveStream.listen(
+      (TaskArriveEntity arrive) {
+        debugPrint(
+          '📍 [DeviceStatusBloc] 收到MQTT到达点消息: type=${arrive.type}, deviceId=${arrive.deviceId}',
+        );
+        _logger.log(
+          '📍 [DeviceStatusBloc] 收到MQTT到达点消息: type=${arrive.type}, deviceId=${arrive.deviceId}',
+        );
+
+        // 过滤出路径规划到达点消息
+        if (arrive.type == 'device_task_arrive_point') {
+          // 检查设备ID是否匹配当前监听的设备
+          if (_currentDeviceId != null && arrive.deviceId != _currentDeviceId) {
+            debugPrint(
+              '⚠️ [DeviceStatusBloc] 设备ID不匹配，跳过 - 当前:$_currentDeviceId, 收到:${arrive.deviceId}',
+            );
+            return;
+          }
+
+          // 提取坐标（支持空entity场景）
+          double? lat = arrive.entity?.lat;
+          double? lng = arrive.entity?.lng;
+
+          // 发送事件到Bloc
+          add(
+            DeviceTaskArrivePointEvent(
+              deviceId: arrive.deviceId,
+              taskId: arrive.taskId,
+              lat: lat,
+              lng: lng,
+            ),
+          );
+        }
+      },
+      onError: (e) {
+        debugPrint('❌ [DeviceStatusBloc] MQTT到达点监听错误: $e');
+        _logger.log('❌ [DeviceStatusBloc] MQTT到达点监听错误: $e');
+      },
+    );
+
+    debugPrint('✅ [DeviceStatusBloc] MQTT到达点监听器已建立完成');
+    _logger.log('✅ [DeviceStatusBloc] MQTT到达点监听器已建立完成');
+  }
+
+  // 🔥 设置当前监听的设备ID（用于过滤MQTT消息）
+  void setListeningDeviceId(String deviceId) {
+    debugPrint('📱 [DeviceStatusBloc] 设置监听设备ID: $deviceId');
+    _logger.log('📱 [DeviceStatusBloc] 设置监听设备ID: $deviceId');
+    _currentDeviceId = deviceId;
+  }
+
  // 🔥 节流发射：500ms到期后发射缓存的最新数据
  void _emitCachedStatus() {
    if (_cachedStatus != null && _cachedGps != null && !isClosed) {
@@ -228,17 +298,59 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
    }
  }

+  // 🔥 处理MQTT到达点事件
+  Future<void> _handleDeviceTaskArrivePointEvent(
+    DeviceTaskArrivePointEvent event,
+    Emitter<DeviceStatusState> emit,
+  ) async {
+    debugPrint(
+      '📍 [DeviceStatusBloc] 处理到达点事件: deviceId=${event.deviceId}, taskId=${event.taskId}, lat=${event.lat}, lng=${event.lng}',
+    );
+    _logger.log(
+      '📍 [DeviceStatusBloc] 处理到达点事件: deviceId=${event.deviceId}, taskId=${event.taskId}, lat=${event.lat}, lng=${event.lng}',
+    );
+
+    if (event.lat != null && event.lng != null && event.lat != 0.0) {
+      // ✅ 收到有效到达点 - 更新位置状态
+      final gps = GPSEntity(event.lat!, event.lng!);
+
+      // 发送到DevicesCubit更新到达位置（触发地图轨迹更新）
+      final devicesCubit = GetIt.I<DevicesCubit>();
+      devicesCubit.setArrivedLocation(event.lat!, event.lng!);
+
+      // 同时更新DeviceStatusBloc的状态
+      emit(DeviceStatusUpdated(_cachedStatus ?? RunningStatusEntity(), gps));
+    } else {
+      // ❌ entity为空或坐标无效 - 表示任务停止
+      debugPrint('🛑 [DeviceStatusBloc] 收到任务停止信号');
+      _logger.log('🛑 [DeviceStatusBloc] 收到任务停止信号');
+
+      final devicesCubit = GetIt.I<DevicesCubit>();
+      devicesCubit.finishWork();
+      Future.delayed(Duration(seconds: 1), () {
+        devicesCubit.resetWorkStatus();
+      });
+    }
+  }
+
  @override
  Future<void> close() {
-    debugPrint('🚫 [DeviceStatusBloc] 页面退出,仅取消TCP订阅(不关闭BLoC)');
-    _logger.log('🚫 [DeviceStatusBloc] 页面退出,仅取消TCP订阅(不关闭BLoC)');
-    //_tcpSubscription?.cancel();
+    debugPrint('🚫 [DeviceStatusBloc] 页面退出,清理资源');
+    _logger.log('🚫 [DeviceStatusBloc] 页面退出,清理资源');
+
+    // 🔥 清理MQTT订阅
+    _mqttArriveSubscription?.cancel();
+    _mqttArriveSubscription = null;
+
    // 🔥 清理节流timer和缓存
    _throttleTimer?.cancel();
    _throttleTimer = null;
    _cachedStatus = null;
    _cachedGps = null;
-    // 🔥 关键修复:不调用 super.close(),保持 BLoC 活跃
+
+    // 🔥 重置设备ID
+    _currentDeviceId = null;
+
    return Future.value();
  }
 }
--- a/lib/features/devices/presentation/bloc/device_status_event.dart
+++ b/lib/features/devices/presentation/bloc/device_status_event.dart
@@ -24,6 +24,22 @@ class PushMessageReceived extends DeviceStatusEvent {

 class DeviceStatusReset extends DeviceStatusEvent {
  @override
-  // TODO: implement props
-  List<Object?> get props => throw UnimplementedError();
+  List<Object?> get props => [];
+}
+
+class DeviceTaskArrivePointEvent extends DeviceStatusEvent {
+  final String deviceId;
+  final int? taskId;
+  final double? lat;
+  final double? lng;
+
+  const DeviceTaskArrivePointEvent({
+    required this.deviceId,
+    this.taskId,
+    this.lat,
+    this.lng,
+  });
+
+  @override
+  List<Object?> get props => [deviceId, taskId, lat, lng];
 }
--- a/lib/features/devices/presentation/bloc/devices_cubit.dart
+++ b/lib/features/devices/presentation/bloc/devices_cubit.dart
@@ -17,6 +17,7 @@ import 'package:maibu_satabot_v2/features/devices/domain/usecases/update_devicen
 import '../../../../core/consts/tcp_consts.dart';
 import '../../../../core/logging/i_logger_service.dart';
 import '../../../../core/network/tcp/tcp_client.dart';
+import '../../../../core/network/mqtt/domain/repositories/task_message_repository.dart';
 import '../../data/models/device_add_path_point_model.dart';
 import '../../data/models/device_work_area_param_model.dart';
 import '../../domain/usecases/bind_device_usecase.dart';
@@ -30,6 +31,9 @@ import 'device_status_bloc.dart';
 import 'device_status_event.dart';
 import 'devices_state.dart';

+// 定义全局的TaskMessageRepository获取方式
+TaskMessageRepository get _taskMessageRepo => GetIt.I<TaskMessageRepository>();
+
 class DevicesCubit extends Cubit<DevicesState> {
  final GetUserDeviceUseCase _getUserDeviceUseCase;
  final GetDeviceLocationUseCase _getDeviceLocationUseCase;
@@ -672,4 +676,42 @@ class DevicesCubit extends Cubit<DevicesState> {
      return null;
    }
  }
+
+  /// 🔥 启动MQTT到达点监听（用于路径规划动画）
+  /// [deviceId] - 目标设备ID，即targetDevice的deviceId
+  Future<void> startListeningMqttArrive({required String deviceId}) async {
+    debugPrint('📡 [DevicesCubit] 启动MQTT到达点监听 - deviceId: $deviceId');
+    _logger.logWithLevel('📡 [DevicesCubit] 启动MQTT到达点监听 - deviceId: $deviceId');
+
+    try {
+      // 启动MQTT订阅
+      await _taskMessageRepo.startListening(deviceId: deviceId);
+
+      // 设置DeviceStatusBloc监听的设备ID
+      _deviceStatusBloc.setListeningDeviceId(deviceId);
+
+      debugPrint('✅ [DevicesCubit] MQTT到达点监听已启动');
+      _logger.logWithLevel('✅ [DevicesCubit] MQTT到达点监听已启动');
+    } catch (e) {
+      debugPrint('❌ [DevicesCubit] 启动MQTT监听失败: $e');
+      _logger.logWithLevel('❌ [DevicesCubit] 启动MQTT监听失败: $e');
+      rethrow;
+    }
+  }
+
+  /// 🔥 停止MQTT到达点监听
+  Future<void> stopListeningMqttArrive() async {
+    debugPrint('🛑 [DevicesCubit] 停止MQTT到达点监听');
+    _logger.logWithLevel('🛑 [DevicesCubit] 停止MQTT到达点监听');
+
+    try {
+      await _taskMessageRepo.stopListening();
+      _deviceStatusBloc.setListeningDeviceId('');
+      debugPrint('✅ [DevicesCubit] MQTT到达点监听已停止');
+      _logger.logWithLevel('✅ [DevicesCubit] MQTT到达点监听已停止');
+    } catch (e) {
+      debugPrint('❌ [DevicesCubit] 停止MQTT监听失败: $e');
+      _logger.logWithLevel('❌ [DevicesCubit] 停止MQTT监听失败: $e');
+    }
+  }
 }
--- a/lib/features/v2/device_list/presentation/pages/drone_station_detail_page.dart
+++ b/lib/features/v2/device_list/presentation/pages/drone_station_detail_page.dart
@@ -409,8 +409,11 @@ class _DroneStationDetailPageState extends State<DroneStationDetailPage> {
          MaterialPageRoute(
            builder: (context) => DroneVideoControlPage(
              droneSn: detail.deviceSn,
+              gatewaySn: detail.gatewaySn,
              // 使用无人机摄像头列表，如果为null则传空列表
              cameraList: detail.droneCameraList ?? [],
+              // 传入网关摄像头列表作为备选视频源
+              gatewayCameraList: detail.gatewayCameraList ?? [],
            ),
          ),
        );
--- a/lib/features/v2/device_list/presentation/pages/drone_video_control_page.dart
+++ b/lib/features/v2/device_list/presentation/pages/drone_video_control_page.dart
@@ -11,12 +11,16 @@ import '../bloc/drone_station_state.dart';
 /// 无人机视频回传/远程控制页面
 class DroneVideoControlPage extends StatefulWidget {
  final String droneSn; // 无人机设备序列号
-  final List<CameraInfo>? cameraList; // 摄像头列表
+  final String gatewaySn; // 网关（机场）设备序列号
+  final List<CameraInfo>? cameraList; // 无人机摄像头列表
+  final List<CameraInfo>? gatewayCameraList; // 网关摄像头列表（备选）

  const DroneVideoControlPage({
    super.key,
    required this.droneSn,
+    required this.gatewaySn,
    this.cameraList,
+    this.gatewayCameraList,
  });

  @override
@@ -31,43 +35,73 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
  String? _errorMessage;
  UavLensType? _currentLensType;
  CameraInfo? _currentCamera; // 当前选中的摄像头
-  
+
+  // 备选视频源相关
+  bool _useBackupSource = false; // 是否使用备选视频源
+  List<CameraInfo> _effectiveCameraList = []; // 实际使用的摄像头列表
+  List<CameraInfo>? _backupCameraList; // 备选摄像头列表（网关摄像头）
+
  // 火山引擎 RTC
  volc.RTCEngine? _rtcEngine;
  volc.RTCRoom? _rtcRoom;
  volc.RTCViewContext? _remoteRenderContext;
  String? _remoteUserId;
-  
+
  // 事件处理器（注意：使用 I 前缀的接口）
-  final volc.IRTCEngineEventHandler _engineEventHandler = volc.IRTCEngineEventHandler();
-  final volc.IRTCRoomEventHandler _roomEventHandler = volc.IRTCRoomEventHandler();
+  final volc.IRTCEngineEventHandler _engineEventHandler =
+      volc.IRTCEngineEventHandler();
+  final volc.IRTCRoomEventHandler _roomEventHandler =
+      volc.IRTCRoomEventHandler();

  @override
  void initState() {
    super.initState();
    _bloc = sl<DroneStationBloc>();
-    
+
    // 初始化事件处理器
    _initVolcEventHandlers();
-    
+
    // 打印接收到的参数
    debugPrint('=== 视频控制页面接收参数 ===');
    debugPrint('droneSn: ${widget.droneSn}');
+    debugPrint('gatewaySn: ${widget.gatewaySn}');
    debugPrint('cameraList: ${widget.cameraList}');
+    debugPrint('gatewayCameraList: ${widget.gatewayCameraList}');
    if (widget.cameraList != null) {
      for (var camera in widget.cameraList!) {
-        debugPrint('  - cameraIndex: ${camera.cameraIndex}');
+        debugPrint('  - 无人机摄像头: ${camera.cameraIndex}');
+      }
+    }
+    if (widget.gatewayCameraList != null) {
+      for (var camera in widget.gatewayCameraList!) {
+        debugPrint('  - 网关摄像头: ${camera.cameraIndex}');
      }
    }
    debugPrint('===========================\n');
-    
+
+    // 保存备选摄像头列表
+    _backupCameraList = widget.gatewayCameraList;
+
+    // 确定实际使用的摄像头列表
+    _effectiveCameraList = widget.cameraList ?? [];
+
+    // 检查是否需要使用备选视频源
+    if (_effectiveCameraList.isEmpty &&
+        widget.gatewayCameraList != null &&
+        widget.gatewayCameraList!.isNotEmpty) {
+      debugPrint('⚠️ 无人机摄像头列表为空，自动切换到备选视频源（网关摄像头）');
+      _useBackupSource = true;
+      _effectiveCameraList = widget.gatewayCameraList!;
+    }
+
    // 默认选择第一个摄像头
-    _currentCamera = widget.cameraList?.isNotEmpty == true 
-        ? widget.cameraList!.first 
+    _currentCamera = _effectiveCameraList.isNotEmpty
+        ? _effectiveCameraList.first
        : null;
-    
+
    debugPrint('默认选择的摄像头: ${_currentCamera?.cameraIndex}');
-    
+    debugPrint('当前视频源: ${_useBackupSource ? "备选（网关）" : "主视频源（无人机）"}');
+
    // 默认加载广角镜头
    if (_currentCamera != null) {
      _loadVideoStream(UavLensType.wide);
@@ -113,6 +147,7 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
    debugPrint('当前摄像头: ${_currentCamera!.cameraIndex}');
    debugPrint('新镜头类型: ${lensType.name} (${_getLensTypeName(lensType)})');
    debugPrint('旧镜头类型: ${_currentLensType?.name ?? "none"}');
+    debugPrint('视频源: ${_useBackupSource ? "备选（网关）" : "主视频源（无人机）"}');
    debugPrint('==================\n');

    setState(() {
@@ -121,9 +156,14 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
      _currentLensType = lensType;
    });

+    // 根据是否使用备选视频源决定使用哪个 SN
+    final effectiveSn = _useBackupSource ? widget.gatewaySn : widget.droneSn;
+    
+    debugPrint('📤 请求视频流 - SN: $effectiveSn, 摄像头: ${_currentCamera!.cameraIndex}');
+
    _bloc.add(
      UavVideoStreamLoad(
-        sn: widget.droneSn,
+        sn: effectiveSn,
        cameraIndex: _currentCamera!.cameraIndex,
        lensType: lensType,
        qualityType: VideoQualityType.adaptive,
@@ -137,21 +177,50 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
    if (camera.cameraIndex == _currentCamera?.cameraIndex) {
      return; // 如果选择的摄像头与当前相同，不执行操作
    }
-    
+
    setState(() {
      _currentCamera = camera;
    });
-    
+
    // 重新加载视频流
    _loadVideoStream(_currentLensType ?? UavLensType.wide);
  }

+  /// 切换备选视频源
+  void _toggleBackupSource(bool useBackup) {
+    debugPrint('=== 🔄 切换视频源 ===');
+    debugPrint('切换到: ${useBackup ? "备选（网关）" : "主视频源（无人机）"}');
+    
+    setState(() {
+      _useBackupSource = useBackup;
+      // 更新实际使用的摄像头列表
+      _effectiveCameraList = useBackup 
+          ? (_backupCameraList ?? [])
+          : (widget.cameraList ?? []);
+      // 选择新列表的第一个摄像头
+      _currentCamera = _effectiveCameraList.isNotEmpty ? _effectiveCameraList.first : null;
+    });
+    
+    debugPrint('新摄像头列表长度: ${_effectiveCameraList.length}');
+    debugPrint('选中的摄像头: ${_currentCamera?.cameraIndex}');
+    
+    // 重新加载视频流
+    if (_currentCamera != null) {
+      _loadVideoStream(_currentLensType ?? UavLensType.wide);
+    } else {
+      setState(() {
+        _errorMessage = useBackup ? '备选视频源没有可用摄像头' : '没有可用的摄像头';
+        _isLoading = false;
+      });
+    }
+  }
+
  // 初始化火山引擎事件处理器
  void _initVolcEventHandlers() {
    _engineEventHandler.onWarning = (volc.WarningCode code) {
      debugPrint('⚠️ Volc Warning: $code');
    };
-    
+
    _engineEventHandler.onError = (volc.ErrorCode code) {
      debugPrint('❌ Volc Error: $code');
      if (mounted) {
@@ -162,37 +231,35 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
      }
    };

-    _engineEventHandler.onFirstRemoteVideoFrameDecoded = (
-      String streamId,
-      volc.StreamInfo streamInfo,
-      volc.VideoFrameInfo frameInfo,
-    ) {
-      debugPrint('✅✅✅ Volc 第一帧视频解码完成!');
-      debugPrint('   streamId: $streamId, userId: ${streamInfo.userId}');
-      
-      if (streamInfo.userId.isNotEmpty && mounted) {
-        setState(() {
-          _remoteUserId = streamInfo.userId;
-          _remoteRenderContext = volc.RTCViewContext.remoteContext(
-            roomId: _videoStream?.roomId ?? '',
-            userId: streamInfo.userId,
-            streamId: streamId,
-          );
-          _isLoading = false;
-        });
-      }
-    };
+    _engineEventHandler.onFirstRemoteVideoFrameDecoded =
+        (
+          String streamId,
+          volc.StreamInfo streamInfo,
+          volc.VideoFrameInfo frameInfo,
+        ) {
+          debugPrint('✅✅✅ Volc 第一帧视频解码完成!');
+          debugPrint('   streamId: $streamId, userId: ${streamInfo.userId}');

-    _roomEventHandler.onUserPublishStreamVideo = (
-      String userId,
-      volc.StreamInfo streamInfo,
-      bool isPublish,
-    ) {
-      debugPrint('📹 Volc 远端用户 $userId 视频流状态: $isPublish');
-      if (isPublish && mounted && _remoteUserId == null) {
-        debugPrint('⏳ 检测到 Volc 视频流推送，等待第一帧解码...');
-      }
-    };
+          if (streamInfo.userId.isNotEmpty && mounted) {
+            setState(() {
+              _remoteUserId = streamInfo.userId;
+              _remoteRenderContext = volc.RTCViewContext.remoteContext(
+                roomId: _videoStream?.roomId ?? '',
+                userId: streamInfo.userId,
+                streamId: streamId,
+              );
+              _isLoading = false;
+            });
+          }
+        };
+
+    _roomEventHandler.onUserPublishStreamVideo =
+        (String userId, volc.StreamInfo streamInfo, bool isPublish) {
+          debugPrint('📹 Volc 远端用户 $userId 视频流状态: $isPublish');
+          if (isPublish && mounted && _remoteUserId == null) {
+            debugPrint('⏳ 检测到 Volc 视频流推送，等待第一帧解码...');
+          }
+        };

    _roomEventHandler.onUserLeave = (String userId, int reason) {
      debugPrint('👋 Volc 用户离开: $userId');
@@ -305,36 +372,100 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
                  color: Color(0xFF1D2129),
                ),
              ),
-              if (widget.cameraList != null && widget.cameraList!.isNotEmpty)
+              if (_effectiveCameraList.isNotEmpty || _backupCameraList?.isNotEmpty == true)
                Padding(
                  padding: const EdgeInsets.only(top: 4),
-                  child: DropdownButtonHideUnderline(
-                    child: DropdownButton<CameraInfo>(
-                      value: _currentCamera,
-                      hint: const Text(
-                        '选择摄像头',
-                        style: TextStyle(fontSize: 12, color: Color(0xFF86909C)),
-                      ),
-                      items: widget.cameraList!.map((camera) {
-                        return DropdownMenuItem<CameraInfo>(
-                          value: camera,
-                          child: Text(
-                            camera.cameraIndex,
-                            style: const TextStyle(fontSize: 12),
+                  child: Row(
+                    mainAxisSize: MainAxisSize.min,
+                    children: [
+                      // 备选视频源切换按钮
+                      if (_backupCameraList?.isNotEmpty == true)
+                        Container(
+                          margin: const EdgeInsets.only(right: 8),
+                          child: DropdownButtonHideUnderline(
+                            child: DropdownButton<bool>(
+                              value: _useBackupSource,
+                              items: [
+                                DropdownMenuItem<bool>(
+                                  value: false,
+                                  child: Row(
+                                    mainAxisSize: MainAxisSize.min,
+                                    children: const [
+                                      Icon(Icons.flight, size: 16, color: Color(0xFF165DFF)),
+                                      SizedBox(width: 4),
+                                      Text('无人机', style: TextStyle(fontSize: 12)),
+                                    ],
+                                  ),
+                                ),
+                                DropdownMenuItem<bool>(
+                                  value: true,
+                                  child: Row(
+                                    mainAxisSize: MainAxisSize.min,
+                                    children: const [
+                                      Icon(Icons.home_work, size: 16, color: Color(0xFFFF7D00)),
+                                      SizedBox(width: 4),
+                                      Text('备选', style: TextStyle(fontSize: 12)),
+                                    ],
+                                  ),
+                                ),
+                              ],
+                              onChanged: (bool? useBackup) {
+                                if (useBackup != null && useBackup != _useBackupSource) {
+                                  _toggleBackupSource(useBackup);
+                                }
+                              },
+                              isDense: true,
+                              style: const TextStyle(
+                                fontSize: 12,
+                                color: Color(0xFF165DFF),
+                              ),
+                            ),
                          ),
-                        );
-                      }).toList(),
-                      onChanged: (CameraInfo? newCamera) {
-                        if (newCamera != null) {
-                          _switchCamera(newCamera);
-                        }
-                      },
-                      isDense: true,
-                      style: const TextStyle(
-                        fontSize: 12,
-                        color: Color(0xFF165DFF),
+                        ),
+                      // 摄像头选择下拉框
+                      DropdownButtonHideUnderline(
+                        child: DropdownButton<CameraInfo>(
+                          value: _currentCamera,
+                          hint: const Text(
+                            '选择摄像头',
+                            style: TextStyle(
+                              fontSize: 12,
+                              color: Color(0xFF86909C),
+                            ),
+                          ),
+                          items: _effectiveCameraList.map((camera) {
+                            return DropdownMenuItem<CameraInfo>(
+                              value: camera,
+                              child: Row(
+                                mainAxisSize: MainAxisSize.min,
+                                children: [
+                                  Icon(
+                                    _useBackupSource ? Icons.home_work : Icons.videocam,
+                                    size: 16,
+                                    color: _useBackupSource ? const Color(0xFFFF7D00) : const Color(0xFF165DFF),
+                                  ),
+                                  const SizedBox(width: 4),
+                                  Text(
+                                    camera.cameraIndex,
+                                    style: const TextStyle(fontSize: 12),
+                                  ),
+                                ],
+                              ),
+                            );
+                          }).toList(),
+                          onChanged: (CameraInfo? newCamera) {
+                            if (newCamera != null) {
+                              _switchCamera(newCamera);
+                            }
+                          },
+                          isDense: true,
+                          style: const TextStyle(
+                            fontSize: 12,
+                            color: Color(0xFF165DFF),
+                          ),
+                        ),
                      ),
-                    ),
+                    ],
                  ),
                ),
            ],
@@ -355,7 +486,7 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
              });
              debugPrint('=== 视频流加载成功 ===');
              debugPrint('URL Type: ${state.videoStream.urlType}');
-              
+
              if (state.videoStream.urlType == 'volc') {
                _destroyRtcEngine();
                _initRtcEngine(state.videoStream);
@@ -439,7 +570,9 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
        child: Container(
          padding: const EdgeInsets.symmetric(vertical: 8),
          decoration: BoxDecoration(
-            color: isSelected ? const Color(0xFF165DFF) : const Color(0xFFF2F3F5),
+            color: isSelected
+                ? const Color(0xFF165DFF)
+                : const Color(0xFFF2F3F5),
            borderRadius: BorderRadius.circular(8),
          ),
          child: Text(
@@ -473,7 +606,9 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
                      mainAxisAlignment: MainAxisAlignment.center,
                      children: [
                        const CircularProgressIndicator(
-                          valueColor: AlwaysStoppedAnimation<Color>(Colors.white),
+                          valueColor: AlwaysStoppedAnimation<Color>(
+                            Colors.white,
+                          ),
                        ),
                        const SizedBox(height: 12),
                        const Text(
@@ -484,46 +619,68 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
                    ),
                  )
                : _errorMessage != null
-                    ? Center(
-                        child: Column(
-                          mainAxisAlignment: MainAxisAlignment.center,
-                          children: [
-                            const Icon(Icons.error_outline, color: Colors.white, size: 48),
-                            const SizedBox(height: 12),
-                            Padding(
-                              padding: const EdgeInsets.symmetric(horizontal: 32),
-                              child: Text(
-                                _errorMessage!,
-                                textAlign: TextAlign.center,
-                                style: const TextStyle(fontSize: 14, color: Colors.white),
-                              ),
-                            ),
-                            const SizedBox(height: 16),
-                            ElevatedButton(
-                              onPressed: () => _loadVideoStream(_currentLensType ?? UavLensType.wide),
-                              style: ElevatedButton.styleFrom(backgroundColor: const Color(0xFF165DFF)),
-                              child: const Text('重试'),
-                            ),
-                          ],
+                ? Center(
+                    child: Column(
+                      mainAxisAlignment: MainAxisAlignment.center,
+                      children: [
+                        const Icon(
+                          Icons.error_outline,
+                          color: Colors.white,
+                          size: 48,
                        ),
-                      )
-                    : _videoStream != null && _remoteRenderContext != null
-                        ? volc.RTCSurfaceView(
-                            context: _remoteRenderContext!,
-                            renderMode: volc.VideoRenderMode.fit,
-                          )
-                        : _videoStream != null
-                            ? Center(
-                                child: Column(
-                                  mainAxisAlignment: MainAxisAlignment.center,
-                                  children: [
-                                    const Icon(Icons.videocam_off, size: 48, color: Colors.grey),
-                                    const SizedBox(height: 12),
-                                    const Text('等待视频流推送...', style: TextStyle(fontSize: 14, color: Colors.white)),
-                                  ],
-                                ),
-                              )
-                            : Image.asset('assets/images/xunjian.png', fit: BoxFit.cover, width: double.infinity),
+                        const SizedBox(height: 12),
+                        Padding(
+                          padding: const EdgeInsets.symmetric(horizontal: 32),
+                          child: Text(
+                            _errorMessage!,
+                            textAlign: TextAlign.center,
+                            style: const TextStyle(
+                              fontSize: 14,
+                              color: Colors.white,
+                            ),
+                          ),
+                        ),
+                        const SizedBox(height: 16),
+                        ElevatedButton(
+                          onPressed: () => _loadVideoStream(
+                            _currentLensType ?? UavLensType.wide,
+                          ),
+                          style: ElevatedButton.styleFrom(
+                            backgroundColor: const Color(0xFF165DFF),
+                          ),
+                          child: const Text('重试'),
+                        ),
+                      ],
+                    ),
+                  )
+                : _videoStream != null && _remoteRenderContext != null
+                ? volc.RTCSurfaceView(
+                    context: _remoteRenderContext!,
+                    renderMode: volc.VideoRenderMode.fit,
+                  )
+                : _videoStream != null
+                ? Center(
+                    child: Column(
+                      mainAxisAlignment: MainAxisAlignment.center,
+                      children: [
+                        const Icon(
+                          Icons.videocam_off,
+                          size: 48,
+                          color: Colors.grey,
+                        ),
+                        const SizedBox(height: 12),
+                        const Text(
+                          '等待视频流推送...',
+                          style: TextStyle(fontSize: 14, color: Colors.white),
+                        ),
+                      ],
+                    ),
+                  )
+                : Image.asset(
+                    'assets/images/xunjian.png',
+                    fit: BoxFit.cover,
+                    width: double.infinity,
+                  ),
          ),
        ),
        Positioned(
@@ -531,9 +688,23 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
          left: 12,
          child: Row(
            children: [
-              Container(width: 8, height: 8, decoration: const BoxDecoration(color: Color(0xFFF53F3F), shape: BoxShape.circle)),
+              Container(
+                width: 8,
+                height: 8,
+                decoration: const BoxDecoration(
+                  color: Color(0xFFF53F3F),
+                  shape: BoxShape.circle,
+                ),
+              ),
              const SizedBox(width: 6),
-              const Text('REC 00:12:36', style: TextStyle(fontSize: 12, color: Colors.white, fontWeight: FontWeight.w500)),
+              const Text(
+                'REC 00:12:36',
+                style: TextStyle(
+                  fontSize: 12,
+                  color: Colors.white,
+                  fontWeight: FontWeight.w500,
+                ),
+              ),
            ],
          ),
        ),
@@ -550,9 +721,16 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
              child: Row(
                mainAxisSize: MainAxisSize.min,
                children: [
-                  Text(_getLensTypeName(_currentLensType ?? UavLensType.wide), style: const TextStyle(fontSize: 12, color: Colors.white)),
+                  Text(
+                    _getLensTypeName(_currentLensType ?? UavLensType.wide),
+                    style: const TextStyle(fontSize: 12, color: Colors.white),
+                  ),
                  const SizedBox(width: 4),
-                  const Icon(Icons.arrow_drop_down, color: Colors.white, size: 16),
+                  const Icon(
+                    Icons.arrow_drop_down,
+                    color: Colors.white,
+                    size: 16,
+                  ),
                ],
              ),
            ),
@@ -565,11 +743,21 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
                debugPrint('⚠️ 镜头类型相同，忽略操作');
              }
            },
-            itemBuilder: (BuildContext context) => <PopupMenuEntry<UavLensType>>[
-              const PopupMenuItem<UavLensType>(value: UavLensType.wide, child: Text('广角')),
-              const PopupMenuItem<UavLensType>(value: UavLensType.zoom, child: Text('变焦')),
-              const PopupMenuItem<UavLensType>(value: UavLensType.ir, child: Text('红外')),
-            ],
+            itemBuilder: (BuildContext context) =>
+                <PopupMenuEntry<UavLensType>>[
+                  const PopupMenuItem<UavLensType>(
+                    value: UavLensType.wide,
+                    child: Text('广角'),
+                  ),
+                  const PopupMenuItem<UavLensType>(
+                    value: UavLensType.zoom,
+                    child: Text('变焦'),
+                  ),
+                  const PopupMenuItem<UavLensType>(
+                    value: UavLensType.ir,
+                    child: Text('红外'),
+                  ),
+                ],
          ),
        ),
      ],
@@ -582,7 +770,13 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
      decoration: BoxDecoration(
        color: Colors.white,
        borderRadius: BorderRadius.circular(12),
-        boxShadow: const [BoxShadow(color: Color(0x0D000000), blurRadius: 8, offset: Offset(0, 2))],
+        boxShadow: const [
+          BoxShadow(
+            color: Color(0x0D000000),
+            blurRadius: 8,
+            offset: Offset(0, 2),
+          ),
+        ],
      ),
      child: Row(
        children: [
@@ -603,9 +797,19 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
      child: Column(
        crossAxisAlignment: CrossAxisAlignment.start,
        children: [
-          Text(label, style: const TextStyle(fontSize: 12, color: Color(0xFF86909C))),
+          Text(
+            label,
+            style: const TextStyle(fontSize: 12, color: Color(0xFF86909C)),
+          ),
          const SizedBox(height: 4),
-          Text(value, style: const TextStyle(fontSize: 14, fontWeight: FontWeight.bold, color: Color(0xFF1D2129))),
+          Text(
+            value,
+            style: const TextStyle(
+              fontSize: 14,
+              fontWeight: FontWeight.bold,
+              color: Color(0xFF1D2129),
+            ),
+          ),
        ],
      ),
    );
@@ -617,12 +821,25 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
      decoration: BoxDecoration(
        color: Colors.white,
        borderRadius: BorderRadius.circular(12),
-        boxShadow: const [BoxShadow(color: Color(0x0D000000), blurRadius: 8, offset: Offset(0, 2))],
+        boxShadow: const [
+          BoxShadow(
+            color: Color(0x0D000000),
+            blurRadius: 8,
+            offset: Offset(0, 2),
+          ),
+        ],
      ),
      child: Column(
        crossAxisAlignment: CrossAxisAlignment.start,
        children: [
-          const Text('AI 识别结果', style: TextStyle(fontSize: 16, fontWeight: FontWeight.bold, color: Color(0xFF1D2129))),
+          const Text(
+            'AI 识别结果',
+            style: TextStyle(
+              fontSize: 16,
+              fontWeight: FontWeight.bold,
+              color: Color(0xFF1D2129),
+            ),
+          ),
          const SizedBox(height: 12),
          _buildAIResultItem('热斑疑似', '3 处'),
          const SizedBox(height: 8),
@@ -637,10 +854,22 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
      onTap: () {},
      child: Row(
        children: [
-          const Icon(Icons.warning_amber_rounded, color: Color(0xFFFF7D00), size: 20),
+          const Icon(
+            Icons.warning_amber_rounded,
+            color: Color(0xFFFF7D00),
+            size: 20,
+          ),
          const SizedBox(width: 8),
-          Expanded(child: Text(label, style: const TextStyle(fontSize: 14, color: Color(0xFF1D2129)))),
-          Text(count, style: const TextStyle(fontSize: 14, color: Color(0xFF4E5969))),
+          Expanded(
+            child: Text(
+              label,
+              style: const TextStyle(fontSize: 14, color: Color(0xFF1D2129)),
+            ),
+          ),
+          Text(
+            count,
+            style: const TextStyle(fontSize: 14, color: Color(0xFF4E5969)),
+          ),
          const SizedBox(width: 4),
          const Icon(Icons.chevron_right, color: Color(0xFF86909C), size: 20),
        ],
@@ -657,11 +886,21 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
            decoration: BoxDecoration(
              color: Colors.white,
              borderRadius: BorderRadius.circular(12),
-              boxShadow: const [BoxShadow(color: Color(0x0D000000), blurRadius: 8, offset: Offset(0, 2))],
+              boxShadow: const [
+                BoxShadow(
+                  color: Color(0x0D000000),
+                  blurRadius: 8,
+                  offset: Offset(0, 2),
+                ),
+              ],
            ),
            child: ClipRRect(
              borderRadius: BorderRadius.circular(12),
-              child: Image.asset('assets/images/xunjian.png', fit: BoxFit.cover, width: double.infinity),
+              child: Image.asset(
+                'assets/images/xunjian.png',
+                fit: BoxFit.cover,
+                width: double.infinity,
+              ),
            ),
          ),
        ),
@@ -672,16 +911,69 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
            decoration: BoxDecoration(
              color: Colors.white,
              borderRadius: BorderRadius.circular(12),
-              boxShadow: const [BoxShadow(color: Color(0x0D000000), blurRadius: 8, offset: Offset(0, 2))],
+              boxShadow: const [
+                BoxShadow(
+                  color: Color(0x0D000000),
+                  blurRadius: 8,
+                  offset: Offset(0, 2),
+                ),
+              ],
            ),
            child: Stack(
              alignment: Alignment.center,
              children: [
-                Container(width: 40, height: 40, decoration: BoxDecoration(color: const Color(0xFFC9CDD4), shape: BoxShape.circle)),
-                Positioned(top: 16, child: IconButton(icon: const Icon(Icons.arrow_drop_up, size: 32, color: Color(0xFF4E5969)), onPressed: () {})),
-                Positioned(bottom: 16, child: IconButton(icon: const Icon(Icons.arrow_drop_down, size: 32, color: Color(0xFF4E5969)), onPressed: () {})),
-                Positioned(left: 16, child: IconButton(icon: const Icon(Icons.arrow_left, size: 32, color: Color(0xFF4E5969)), onPressed: () {})),
-                Positioned(right: 16, child: IconButton(icon: const Icon(Icons.arrow_right, size: 32, color: Color(0xFF4E5969)), onPressed: () {})),
+                Container(
+                  width: 40,
+                  height: 40,
+                  decoration: BoxDecoration(
+                    color: const Color(0xFFC9CDD4),
+                    shape: BoxShape.circle,
+                  ),
+                ),
+                Positioned(
+                  top: 16,
+                  child: IconButton(
+                    icon: const Icon(
+                      Icons.arrow_drop_up,
+                      size: 32,
+                      color: Color(0xFF4E5969),
+                    ),
+                    onPressed: () {},
+                  ),
+                ),
+                Positioned(
+                  bottom: 16,
+                  child: IconButton(
+                    icon: const Icon(
+                      Icons.arrow_drop_down,
+                      size: 32,
+                      color: Color(0xFF4E5969),
+                    ),
+                    onPressed: () {},
+                  ),
+                ),
+                Positioned(
+                  left: 16,
+                  child: IconButton(
+                    icon: const Icon(
+                      Icons.arrow_left,
+                      size: 32,
+                      color: Color(0xFF4E5969),
+                    ),
+                    onPressed: () {},
+                  ),
+                ),
+                Positioned(
+                  right: 16,
+                  child: IconButton(
+                    icon: const Icon(
+                      Icons.arrow_right,
+                      size: 32,
+                      color: Color(0xFF4E5969),
+                    ),
+                    onPressed: () {},
+                  ),
+                ),
              ],
            ),
          ),
@@ -696,7 +988,13 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
      decoration: BoxDecoration(
        color: Colors.white,
        borderRadius: BorderRadius.circular(12),
-        boxShadow: const [BoxShadow(color: Color(0x0D000000), blurRadius: 8, offset: Offset(0, 2))],
+        boxShadow: const [
+          BoxShadow(
+            color: Color(0x0D000000),
+            blurRadius: 8,
+            offset: Offset(0, 2),
+          ),
+        ],
      ),
      child: Row(
        mainAxisAlignment: MainAxisAlignment.spaceAround,
@@ -717,10 +1015,12 @@ class _DroneVideoControlPageState extends State<DroneVideoControlPage> {
        children: [
          Icon(icon, size: 28, color: const Color(0xFF4E5969)),
          const SizedBox(height: 4),
-          Text(label, style: const TextStyle(fontSize: 12, color: Color(0xFF4E5969))),
+          Text(
+            label,
+            style: const TextStyle(fontSize: 12, color: Color(0xFF4E5969)),
+          ),
        ],
      ),
    );
  }
 }
-
--- a/lib/features/v2/device_list/presentation/widgets/drone_osd_card.dart
+++ b/lib/features/v2/device_list/presentation/widgets/drone_osd_card.dart
@@ -93,19 +93,35 @@ class _DroneOsdCardState extends State<DroneOsdCard> {
    final data = osd.rawData;

    // 解析嵌套的 JSON 结构
-    final droneData = data['data'] is Map
-        ? (data['data'] as Map)['drone']
-        : null;
-    if (droneData == null || droneData is! Map) {
-      debugPrint('⚠️ [DroneOsdCard] 无法解析 drone 数据');
+    // 优先级：先尝试 drone 字段，如果不存在则使用 host 字段
+    final dataMap = data['data'] is Map ? data['data'] as Map : null;
+    Map? droneData;
+    if (dataMap != null) {
+      // 优先使用 drone 字段
+      if (dataMap['drone'] is Map) {
+        droneData = dataMap['drone'] as Map;
+      } else if (dataMap['host'] is Map) {
+        // 如果没有 drone 字段，尝试 host 字段（机场设备的数据结构）
+        droneData = dataMap['host'] as Map;
+      }
+    }
+
+    if (droneData == null) {
+      debugPrint('⚠️ [DroneOsdCard] 无法解析 drone 或 host 数据');
+      debugPrint('📋 [DroneOsdCard] 原始数据结构: ${data.keys.toList()}');
+      if (dataMap != null) {
+        debugPrint('📋 [DroneOsdCard] data 结构: ${dataMap.keys.toList()}');
+      }
      return;
    }

-    debugPrint('📊 [DroneOsdCard] drone 数据键: ${droneData.keys.toList()}');
+    debugPrint('📊 [DroneOsdCard] 数据键: ${droneData.keys.toList()}');

    // ========== 1. 基础飞行信息 ==========
-    // 无人机高度（height）
-    double? height = (droneData['height'] as num?)?.toDouble();
+    // 无人机高度（height / altitude）
+    double? height =
+        (droneData['height'] as num?)?.toDouble() ??
+        (droneData['altitude'] as num?)?.toDouble();

    // 飞行速度（ground_speed）
    double? groundSpeed = (droneData['ground_speed'] as num?)?.toDouble();
@@ -117,18 +133,32 @@ class _DroneOsdCardState extends State<DroneOsdCard> {
    int? flightTime = droneData['flight_time'] as int?;

    // ========== 2. 电池信息 ==========
-    // 电量百分比（battery_percent）
-    int? batteryPercent = droneData['battery_percent'] as int?;
+    // 电量百分比 - 支持两种结构：battery_percent 或 battery.capacity_percent
+    final batteryMap = droneData['battery'] as Map?;
+    int? batteryPercent =
+        droneData['battery_percent'] as int? ??
+        batteryMap?['capacity_percent'] as int?;

-    // 电池电压（battery_voltage）
+    // 电池电压（battery_voltage 或 battery.batteries[0].voltage）
    double? batteryVoltage = (droneData['battery_voltage'] as num?)?.toDouble();
+    if (batteryVoltage == null && batteryMap != null) {
+      final batteries = batteryMap['batteries'] as List?;
+      if (batteries != null && batteries.isNotEmpty) {
+        final firstBattery = batteries[0] as Map?;
+        batteryVoltage = (firstBattery?['voltage'] as num?)?.toDouble();
+      }
+    }

-    // 电池电流（battery_current）
-    double? batteryCurrent = (droneData['battery_current'] as num?)?.toDouble();
-
-    // 电池温度（battery_temperature）
+    // 电池温度（battery_temperature 或 battery.batteries[0].temperature）
    double? batteryTemp = (droneData['battery_temperature'] as num?)
        ?.toDouble();
+    if (batteryTemp == null && batteryMap != null) {
+      final batteries = batteryMap['batteries'] as List?;
+      if (batteries != null && batteries.isNotEmpty) {
+        final firstBattery = batteries[0] as Map?;
+        batteryTemp = (firstBattery?['temperature'] as num?)?.toDouble();
+      }
+    }

    // ========== 3. 位置与姿态 ==========
    // 纬度（latitude）
@@ -137,14 +167,20 @@ class _DroneOsdCardState extends State<DroneOsdCard> {
    // 经度（longitude）
    double? longitude = (droneData['longitude'] as num?)?.toDouble();

-    // 航向角（heading）
-    double? heading = (droneData['heading'] as num?)?.toDouble();
+    // 航向角（heading / attitude_head）
+    double? heading =
+        (droneData['heading'] as num?)?.toDouble() ??
+        (droneData['attitude_head'] as num?)?.toDouble();

-    // 俯仰角（pitch）
-    double? pitch = (droneData['pitch'] as num?)?.toDouble();
+    // 俯仰角（pitch / attitude_pitch）
+    double? pitch =
+        (droneData['pitch'] as num?)?.toDouble() ??
+        (droneData['attitude_pitch'] as num?)?.toDouble();

-    // 横滚角（roll）
-    double? roll = (droneData['roll'] as num?)?.toDouble();
+    // 横滚角（roll / attitude_roll）
+    double? roll =
+        (droneData['roll'] as num?)?.toDouble() ??
+        (droneData['attitude_roll'] as num?)?.toDouble();

    // ========== 4. GPS 状态 ==========
    // GPS卫星数（gps_satellites）