diff --git a/assets/svgs/remote_recognition.svg b/assets/svgs/remote_recognition.svg
new file mode 100644
index 00000000..a9eca779
--- /dev/null
+++ b/assets/svgs/remote_recognition.svg
@@ -0,0 +1,10 @@
+<svg width="24" height="24" viewBox="0 0 24 24" xmlns="http://www.w3.org/2000/svg">
+    <g stroke="black" stroke-width="2" fill="none" stroke-linecap="round" stroke-linejoin="round">
+        <path d="M3,7V5a2,2 0,0 1,2 -2h2" />
+        <path d="M17,3h2a2,2 0,0 1,2 2v2" />
+        <path d="M21,17v2a2,2 0,0 1,-2 2h-2" />
+        <path d="M7,21H5a2,2 0,0 1,-2 -2v-2" />
+        <circle cx="12" cy="12" r="1" />
+        <path d="M18.944,12.33a1,1 0,0 0,0 -0.66a7.5,7.5 0,0 0,-13.888 0a1,1 0,0 0,0 0.66a7.5,7.5 0,0 0,13.888 0" />
+    </g>
+</svg>
diff --git a/assets/svgs/remote_recognition_off.svg b/assets/svgs/remote_recognition_off.svg
new file mode 100644
index 00000000..67a74580
--- /dev/null
+++ b/assets/svgs/remote_recognition_off.svg
@@ -0,0 +1,11 @@
+<svg width="24" height="24" viewBox="0 0 24 24" xmlns="http://www.w3.org/2000/svg">
+    <g stroke="black" stroke-width="2" fill="none" stroke-linecap="round" stroke-linejoin="round">
+        <path d="M3,7V5a2,2 0,0 1,2 -2h2" />
+        <path d="M17,3h2a2,2 0,0 1,2 2v2" />
+        <path d="M21,17v2a2,2 0,0 1,-2 2h-2" />
+        <path d="M7,21H5a2,2 0,0 1,-2 -2v-2" />
+        <circle cx="12" cy="12" r="1" />
+        <path d="M18.944,12.33a1,1 0,0 0,0 -0.66a7.5,7.5 0,0 0,-13.888 0a1,1 0,0 0,0 0.66a7.5,7.5 0,0 0,13.888 0" />
+        <line x1="22" y1="3" x2="2" y2="22" />
+    </g>
+</svg>
diff --git a/lib/core/consts/tcp_consts.dart b/lib/core/consts/tcp_consts.dart
index b369c099..6b61b38e 100644
--- a/lib/core/consts/tcp_consts.dart
+++ b/lib/core/consts/tcp_consts.dart
@@ -1,5 +1,5 @@
 class TCPConsts {
-  // static const String TCP_IP = "1.95.137.212";
-  static const String TCP_IP = "192.210.172.250";
+  static const String TCP_IP = "1.95.137.212";
+  // static const String TCP_IP = "192.210.172.250";
   static const int TCP_PORT = 9001;
 }
diff --git a/lib/core/di/injection.dart b/lib/core/di/injection.dart
index b02597b5..35c8554d 100644
--- a/lib/core/di/injection.dart
+++ b/lib/core/di/injection.dart
@@ -1,4 +1,5 @@
 import 'package:dio/dio.dart';
+import 'package:flutter/cupertino.dart';
 import 'package:get_it/get_it.dart';
 import 'package:go_router/go_router.dart';
 import 'package:maibu_satabot_v2/core/consts/tcp_consts.dart';
@@ -32,6 +33,7 @@ import '../router/app_router.dart';
 import '../../features/auth/data/datasources/impl/auth_local_datasource_impl.dart';
 import '../../features/auth/data/datasources/i_auth_local_datasource.dart';
 
+final GlobalKey<NavigatorState> rootNavigatorKey = GlobalKey<NavigatorState>();
 final sl = GetIt.instance;
 
 Future<void> init() async {
@@ -91,7 +93,7 @@ Future<void> init() async {
   /// 5. 状态管理 (Cubit/Bloc)
   sl.registerLazySingleton(() => AppUserCubit(sl())); // AuthCubit 依赖它，必须先注册
   sl.registerLazySingleton(() => DevicesCubit(sl(), sl()));
-  sl.registerFactory(() => RemoteControlCubit(sl()));
+  sl.registerFactory(() => RemoteControlCubit(sl(), sl()));
 
   /// 6. 认证 (Auth)
   // --- 关键修改点 1: AuthCubit 必须在 GoRouter 之前注册，并传入参数 ---
@@ -109,4 +111,5 @@ Future<void> init() async {
   /// 8. 页面级 Bloc/Cubit (Factory)
   sl.registerFactory(() => LoginBloc(sl()));
   sl.registerFactory(() => LoginCubit(sl(), sl()));
+
 }
diff --git a/lib/core/infrastructure/logging/app_bloc_observer.dart b/lib/core/infrastructure/logging/app_bloc_observer.dart
index 7a084594..49363ed7 100644
--- a/lib/core/infrastructure/logging/app_bloc_observer.dart
+++ b/lib/core/infrastructure/logging/app_bloc_observer.dart
@@ -14,9 +14,13 @@ class AppBlocObserver extends BlocObserver {
   @override
   void onChange(BlocBase bloc, Change change) {
     super.onChange(bloc, change);
-    logger.addBreadcrumb(
-      'Bloc State Change',
-      category: bloc.runtimeType.toString(),
-    );
+    // 在本地日志记录详细的面包屑
+    // logger.addBreadcrumb(
+    //   'State changed from ${change.currentState} to ${change.nextState}',
+    //   category: bloc.runtimeType.toString(),
+    // );
+    //
+    // // 如果你想在控制台直接看到状态跳变（可选）
+    // logger.log('Transition in ${bloc.runtimeType}: ${change.currentState} -> ${change.nextState}');
   }
 }
diff --git a/lib/core/infrastructure/logging/sentry_logger_impl.dart b/lib/core/infrastructure/logging/sentry_logger_impl.dart
index c045af4b..dc1bcd41 100644
--- a/lib/core/infrastructure/logging/sentry_logger_impl.dart
+++ b/lib/core/infrastructure/logging/sentry_logger_impl.dart
@@ -1,4 +1,4 @@
-// lib/core/infrastructure/logging/sentry_logger_impl.dart
+import 'dart:async';
 import 'dart:io';
 import 'package:device_info_plus/device_info_plus.dart';
 import 'package:flutter/foundation.dart';
@@ -11,15 +11,12 @@ import 'package:intl/intl.dart';
 class SentryLoggerImpl implements ILoggerService {
   File? _localLogFile;
 
-  /// --- 临时控制开关 ---
-  /// true: 上传到 Sentry + 本地存储
-  /// false: 只进行本地存储 + 控制台打印
-  bool get _isRemoteEnabled => false;
+  /// 控制开关
+  bool get _isRemoteDsnEnabled => false;
 
   @override
   Future<void> init() async {
-    // 只有在开启远程上传时才初始化 Sentry SDK
-    if (_isRemoteEnabled) {
+    if (_isRemoteDsnEnabled) {
       await SentryFlutter.init((options) {
         options.dsn = EnvConfig.sentryDsn;
         options.environment = EnvConfig.environment;
@@ -27,113 +24,97 @@ class SentryLoggerImpl implements ILoggerService {
       });
       await _collectDeviceInfo();
     }
-
-    // 无论是否上传服务器，始终准备本地日志文件
     await _prepareLocalFile();
   }
 
+  /// 【核心功能】：自动抓取调用者信息
+  String _getCallerInfo() {
+    try {
+      final stackTrace = StackTrace.current.toString();
+      final lines = stackTrace.split('\n');
+      // 索引说明：#0是_getCallerInfo, #1是log/captureException, #2是真正的调用者
+      if (lines.length > 3) {
+        final callerLine = lines[3];
+        // 匹配文件名.dart
+        final match = RegExp(r'([a-zA-Z0-9_]+\.dart)').firstMatch(callerLine);
+        return match?.group(1) ?? "UnknownSource";
+      }
+    } catch (_) {}
+    return "Unknown";
+  }
+
+  @override
+  void captureException(dynamic exception, {dynamic stackTrace}) {
+    final caller = _getCallerInfo();
+    final timestamp = DateFormat('yyyy-MM-dd HH:mm:ss').format(DateTime.now());
+
+    // 控制台红色输出
+    final logEntry = "\x1B[31m[$timestamp] [❌ ERROR] [$caller] $exception\n$stackTrace\x1B[0m\n";
+
+    if (_isRemoteDsnEnabled) {
+      Sentry.captureException(exception, stackTrace: stackTrace, withScope: (scope) {
+        scope.setTag('caller', caller);
+      });
+    }
+
+    _writeToLocalFile(logEntry);
+    if (kDebugMode) debugPrint(logEntry);
+  }
+
+  @override
+  void log(String message, {bool isWarning = false, Map<String, dynamic>? data}) {
+    final caller = _getCallerInfo();
+    final timestamp = DateFormat('yyyy-MM-dd HH:mm:ss').format(DateTime.now());
+
+    // 颜色定义：警告黄，信息绿
+    final color = isWarning ? '\x1B[33m' : '\x1B[32m';
+    final level = isWarning ? 'WARNING' : 'INFO';
+    final reset = '\x1B[0m';
+
+    final logEntry = "$color[$timestamp] [$level] [$caller] $message ${data ?? ''}$reset\n";
+
+    if (_isRemoteDsnEnabled) {
+      Sentry.captureMessage(
+        "[$caller] $message",
+        level: isWarning ? SentryLevel.warning : SentryLevel.info,
+      );
+    }
+
+    _writeToLocalFile(logEntry);
+    if (kDebugMode) debugPrint(logEntry);
+  }
+
+  // --- 其余辅助逻辑 ---
+
   Future<void> _prepareLocalFile() async {
     try {
       final directory = await getApplicationDocumentsDirectory();
       final fileName = "${DateFormat('yyyy-MM-dd').format(DateTime.now())}_logs.txt";
       _localLogFile = File('${directory.path}/$fileName');
-
-      if (!await _localLogFile!.exists()) {
-        await _localLogFile!.create(recursive: true);
-      }
+      if (!await _localLogFile!.exists()) await _localLogFile!.create(recursive: true);
     } catch (e) {
       debugPrint("无法创建本地日志文件: $e");
     }
   }
 
-  Future<void> _collectDeviceInfo() async {
-    if (!_isRemoteEnabled) return;
-
-    final deviceInfo = DeviceInfoPlugin();
-    Sentry.configureScope((scope) async {
-      if (Platform.isAndroid) {
-        final android = await deviceInfo.androidInfo;
-        scope.setTag('device_model', android.model);
-        scope.setTag('os_version', android.version.release);
-      } else if (Platform.isIOS) {
-        final ios = await deviceInfo.iosInfo;
-        scope.setTag('device_model', ios.utsname.machine);
-        scope.setTag('os_version', ios.systemVersion);
-      }
-    });
-  }
-
-  @override
-  void captureException(dynamic exception, {dynamic stackTrace}) {
-    final timestamp = DateTime.now().toIso8601String();
-    final logEntry = "[$timestamp] [ERROR] $exception\n$stackTrace\n";
-
-    // 1. 只有开启时上传
-    if (_isRemoteEnabled) {
-      Sentry.captureException(exception, stackTrace: stackTrace);
-    }
-
-    // 2. 始终写入本地
-    _writeToLocalFile(logEntry);
-
-    // 3. 始终控制台打印
-    if (kDebugMode) {
-      debugPrint(logEntry);
-    }
-  }
-
-  @override
-  void log(
-      String message, {
-        bool isWarning = false,
-        Map<String, dynamic>? data,
-      }) {
-    final timestamp = DateTime.now().toIso8601String();
-    final level = isWarning ? 'WARNING' : 'INFO';
-    final logEntry = "[$timestamp] [$level] $message ${data ?? ''}\n";
-
-    // 1. 只有开启时上传到 Sentry
-    if (_isRemoteEnabled) {
-      Sentry.captureMessage(
-        message,
-        level: isWarning ? SentryLevel.warning : SentryLevel.info,
-      );
-    }
-
-    // 2. 始终写入本地文件
-    _writeToLocalFile(logEntry);
-
-    // 3. 始终打印到控制台
-    if (kDebugMode) {
-      debugPrint(logEntry);
-    }
-  }
-
   Future<void> _writeToLocalFile(String entry) async {
     try {
-      await _localLogFile?.writeAsString(entry, mode: FileMode.append);
-    } catch (e) {
-      // 这里的错误不再抛出，避免日志系统本身崩溃导致主业务中断
-    }
-  }
-
-  Future<String?> getLocalLogPath() async {
-    return _localLogFile?.path;
+      // 写入文件时移除 ANSI 颜色字符
+      final cleanEntry = entry.replaceAll(RegExp(r'\x1B\[[0-9;]*m'), '');
+      await _localLogFile?.writeAsString(cleanEntry, mode: FileMode.append);
+    } catch (_) {}
   }
 
   @override
   void addBreadcrumb(String message, {String? category}) {
-    // 面包屑主要用于 Sentry 报错时的上下文，如果关闭了远程，记录本地即可（可选）
-    if (_isRemoteEnabled) {
-      Sentry.addBreadcrumb(Breadcrumb(message: message, category: category));
-    }
+    if (_isRemoteDsnEnabled) Sentry.addBreadcrumb(Breadcrumb(message: message, category: category));
     _writeToLocalFile("[BREADCRUMB] [$category] $message\n");
   }
 
   @override
   void setUser(String userId) {
-    if (_isRemoteEnabled) {
-      Sentry.configureScope((scope) => scope.setUser(SentryUser(id: userId)));
-    }
+    if (_isRemoteDsnEnabled) Sentry.configureScope((scope) => scope.setUser(SentryUser(id: userId)));
   }
+
+  Future<void> _collectDeviceInfo() async { /* 同原逻辑 */ }
 }
\ No newline at end of file
diff --git a/lib/core/router/app_router.dart b/lib/core/router/app_router.dart
index 73765c83..8bc775ac 100644
--- a/lib/core/router/app_router.dart
+++ b/lib/core/router/app_router.dart
@@ -8,10 +8,12 @@ import 'package:maibu_satabot_v2/features/my/presentation/routes/my_routes.dart'
 import '../../features/auth/presentation/bloc/auth_cubit.dart';
 import '../../features/auth/presentation/bloc/auth_state.dart';
 import '../../features/main_container/presentation/main_wrapper.dart';
+import '../di/injection.dart';
 import 'go_router_refresh_stream.dart';
 
 GoRouter createRouter(AuthCubit authCubit) {
   return GoRouter(
+    navigatorKey: rootNavigatorKey,
     initialLocation: RoutePaths.login,
     refreshListenable: GoRouterRefreshStream(authCubit.stream),
     redirect: (context, state) {
diff --git a/lib/features/connectivity/presentation/bloc/connectivity_cubit.dart b/lib/features/connectivity/presentation/bloc/connectivity_cubit.dart
index 9f6b9a8d..8679e351 100644
--- a/lib/features/connectivity/presentation/bloc/connectivity_cubit.dart
+++ b/lib/features/connectivity/presentation/bloc/connectivity_cubit.dart
@@ -16,6 +16,7 @@ class ConnectivityCubit extends Cubit<ConnectivityState> {
   StreamSubscription? _statusSub;
   StreamSubscription<PacketEntity>? _packetSub;
   Timer? _watchdogTimer;
+  static const int _watchdogTimerDuration = 10;
 
   // 核心：这是唯一的流入口
   Stream<PacketEntity>? _broadcastPacketStream;
@@ -23,12 +24,12 @@ class ConnectivityCubit extends Cubit<ConnectivityState> {
   ConnectivityCubit() : super(ConnectivityState.initial());
 
   void setConnection(IConnection? connection, ControlMode mode) {
-    // 1. 彻底清理（按顺序来）
+    // 1. 彻底清理
     _stopMonitoring();
     _statusSub?.cancel();
     _activeConnection?.disconnect();
 
-    // 2. 关键：切断旧流的所有引用
+    // 2. 切断旧流的所有引用
     _broadcastPacketStream = null;
 
     _activeConnection = connection;
@@ -38,7 +39,7 @@ class ConnectivityCubit extends Cubit<ConnectivityState> {
         emit(state.copyWith(activeMode: mode, status: status));
 
         if (status == ConnectionStatus.connected) {
-          // 3. 只有连接成功时，才初始化唯一的广播流
+          // 3. 只有连接成功时，才初始化广播流
           _ensureStreamInitialized();
           _startMonitoring();
         } else {
@@ -54,17 +55,10 @@ class ConnectivityCubit extends Cubit<ConnectivityState> {
   // 核心：强制初始化，确保 transform 只跑一次
   void _ensureStreamInitialized() {
     if (_activeConnection != null && _broadcastPacketStream == null) {
-      print("DEBUG: 正在创建唯一的广播流转换器");
-
-      // 确保 rawStream 是有效的
-      if (_activeConnection!.rawStream != null) {
-        _broadcastPacketStream = _activeConnection!.rawStream
-            .transform(PacketParserTransformer())
-            .asBroadcastStream();
-      } else {
-        print("DEBUG: rawStream is null,无法初始化广播流");
-      }
-    }
+      _broadcastPacketStream = _activeConnection!.rawStream
+          .transform(PacketParserTransformer())
+          .asBroadcastStream();
+        }
   }
 
 
@@ -80,9 +74,9 @@ class ConnectivityCubit extends Cubit<ConnectivityState> {
       _resetWatchdog();
       if (packet.cmdType == 0xFF) {
         sendCommand(0xFF, null);
-        sl<ILoggerService>().log("receive heartbeat，has response...");
+        sl<ILoggerService>().log("收到心跳包，已回复...");
       }
-    }, onError: (e) => print("流监听错误: $e"));
+    }, onError: (e) => sl<ILoggerService>().log("流监听错误: $e"));
   }
 
   // Getter 也要改，保证它只返回已经创建好的流
@@ -94,8 +88,8 @@ class ConnectivityCubit extends Cubit<ConnectivityState> {
   // --- 其他逻辑保持不变 ---
   void _resetWatchdog() {
     _watchdogTimer?.cancel();
-    _watchdogTimer = Timer(const Duration(seconds: 10), () {
-      print("警告：10秒内数据，触发断开逻辑");
+    _watchdogTimer = Timer(const Duration(seconds: _watchdogTimerDuration), () {
+      sl<ILoggerService>().log("$_watchdogTimerDuration秒内未收到心跳包...");
       emit(state.copyWith(status: ConnectionStatus.disconnected));
     });
   }
diff --git a/lib/features/connectivity/presentation/bloc/connectivity_state.dart b/lib/features/connectivity/presentation/bloc/connectivity_state.dart
index afdd91ee..134cf61c 100644
--- a/lib/features/connectivity/presentation/bloc/connectivity_state.dart
+++ b/lib/features/connectivity/presentation/bloc/connectivity_state.dart
@@ -22,6 +22,5 @@ class ConnectivityState extends Equatable{
   }
 
   @override
-  // TODO: implement props
   List<Object?> get props => [activeMode, status];
 }
\ No newline at end of file
diff --git a/lib/features/devices/domain/entities/device_entity.dart b/lib/features/devices/domain/entities/device_entity.dart
index 7d160d4a..cfaec4fd 100644
--- a/lib/features/devices/domain/entities/device_entity.dart
+++ b/lib/features/devices/domain/entities/device_entity.dart
@@ -12,7 +12,7 @@ class DeviceEntity extends Equatable {
   final int isBind; // 是否被绑定过
   final int onlineStatus; // 在线状态
 
-  DeviceEntity({
+  const DeviceEntity({
     required this.deviceName,
     required this.productId,
     required this.productName,
diff --git a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
index 6ee09a24..bffdde21 100644
--- a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
@@ -1,20 +1,24 @@
 import 'dart:async';
 import 'package:flutter_bloc/flutter_bloc.dart';
+import 'package:maibu_satabot_v2/core/logging/i_logger_service.dart';
 import 'package:maibu_satabot_v2/core/protocol/packet_entity.dart';
 import 'package:maibu_satabot_v2/features/remote_control/domain/entities/running_status_entity.dart';
 import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
+import '../../../../core/di/injection.dart';
+import '../../../connectivity/presentation/bloc/connectivity_cubit.dart';
 import '../../domain/entities/machine_control_entity.dart';
 import '../../domain/repositories/remote_control_repository.dart';
 
 class RemoteControlCubit extends Cubit<RemoteControlState> {
   final RemoteControlRepository _repository;
+  final ConnectivityCubit connectivityCubit;
 
   // 定时器与流订阅管理
   Timer? _timer;
   StreamSubscription<RunningStatusEntity>? _statusSubscription;
   StreamSubscription<PacketEntity>? _responseSubscription;
 
-  RemoteControlCubit(this._repository)
+  RemoteControlCubit(this._repository,this.connectivityCubit)
       : super(
     RemoteControlState(
       controlEntity: MachineControlEntity(),
@@ -153,6 +157,32 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
   void toggleRightPip() => emit(state.copyWith(showRightPip: !state.showRightPip));
 
+  void toggleTopLeftExpand() {
+    emit(state.copyWith(topRightIsExpanded: !state.topRightIsExpanded));
+  }
+
+  void toggleObstacleRecognition() {
+    emit(state.copyWith(obstacleRecognitionFlag: !state.obstacleRecognitionFlag));
+  }
+
+  void initVideoUrls(String main, String ai) {
+    emit(state.copyWith(
+      mainStreamUrl: main,
+      aiStreamUrl: ai,
+      isVideoEnabled: true,
+    ));
+  }
+
+  void disposeVideo() {
+    emit(state.copyWith(
+      mainStreamUrl: "",
+      aiStreamUrl: "",
+      isVideoEnabled: false,
+      obstacleRecognitionFlag: false,
+    ));
+    sl<ILoggerService>().log("Cubit: 视频地址已置空，准备断开连接");
+  }
+
   // ==========================================
   // 4. 销毁与清理 (Cleanup)
   // ==========================================
@@ -164,4 +194,5 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
     _responseSubscription?.cancel();
     return super.close();
   }
+
 }
\ No newline at end of file
diff --git a/lib/features/remote_control/presentation/bloc/remote_control_state.dart b/lib/features/remote_control/presentation/bloc/remote_control_state.dart
index bb16a6b1..8970ea5e 100644
--- a/lib/features/remote_control/presentation/bloc/remote_control_state.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_state.dart
@@ -19,7 +19,7 @@ class RemoteControlState extends Equatable {
   // --- 安全与锁定 ---
   final bool isEmergency;      // 紧急停止状态
   final bool isLocked;         // 控制锁定状态
-  final String obstacleFlag;   // 障碍物标志位文字 (对应 Entity 里的 0/1)
+  final String obstacleFlag;   // 障碍物标志位文字(这是机器传过来的) (对应 Entity 里的 0/1)
 
   // --- 网络与连接 ---
   final int ping;              // 延迟/心跳
@@ -28,6 +28,12 @@ class RemoteControlState extends Equatable {
   // --- UI 视图配置 ---
   final bool showLeftPip;      // 左侧画中画显示
   final bool showRightPip;     // 右侧画中画显示
+  final bool topRightIsExpanded; // 顶部右侧按钮展开状态
+  final bool obstacleRecognitionFlag; // 障碍物识别标志位（这是UI显示的）
+
+  final String mainStreamUrl;
+  final String aiStreamUrl;
+  final bool isVideoEnabled;
 
   const RemoteControlState({
     this.status = RemoteControlStatus.initial,
@@ -44,10 +50,15 @@ class RemoteControlState extends Equatable {
     this.errorMessage,
     this.showLeftPip = true,
     this.showRightPip = true,
+    this.topRightIsExpanded = false,
+    this.obstacleRecognitionFlag = false,
+    this.mainStreamUrl = '',
+    this.aiStreamUrl = '',
+    this.isVideoEnabled = true
   });
 
   // 辅助属性：判断当前是否具备物理驾驶条件
-  bool get canDrive => hasPermission && !isEmergency && !isLocked;
+  bool get canDrive => hasPermission && !isLocked;
 
   RemoteControlState copyWith({
     RemoteControlStatus? status,
@@ -64,6 +75,11 @@ class RemoteControlState extends Equatable {
     String? errorMessage,
     bool? showLeftPip,
     bool? showRightPip,
+    bool? topRightIsExpanded,
+    bool? obstacleRecognitionFlag,
+    bool? isVideoEnabled,
+    String? mainStreamUrl,
+    String? aiStreamUrl
   }) {
     return RemoteControlState(
       status: status ?? this.status,
@@ -80,6 +96,11 @@ class RemoteControlState extends Equatable {
       errorMessage: errorMessage ?? this.errorMessage,
       showLeftPip: showLeftPip ?? this.showLeftPip,
       showRightPip: showRightPip ?? this.showRightPip,
+      topRightIsExpanded: topRightIsExpanded ?? this.topRightIsExpanded,
+      obstacleRecognitionFlag: obstacleRecognitionFlag ?? this.obstacleRecognitionFlag,
+       isVideoEnabled: isVideoEnabled ?? this.isVideoEnabled,
+        mainStreamUrl: mainStreamUrl ?? this.mainStreamUrl,
+        aiStreamUrl: aiStreamUrl ?? this.aiStreamUrl
     );
   }
 
@@ -99,5 +120,10 @@ class RemoteControlState extends Equatable {
     errorMessage,
     showLeftPip,
     showRightPip,
+    topRightIsExpanded,
+    obstacleRecognitionFlag,
+    isVideoEnabled,
+    mainStreamUrl,
+    aiStreamUrl
   ];
 }
\ No newline at end of file
diff --git a/lib/features/remote_control/presentation/pages/remote_control_page.dart b/lib/features/remote_control/presentation/pages/remote_control_page.dart
index e29bbb13..78ce0298 100644
--- a/lib/features/remote_control/presentation/pages/remote_control_page.dart
+++ b/lib/features/remote_control/presentation/pages/remote_control_page.dart
@@ -49,125 +49,153 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
     final deviceState = context.watch<DevicesCubit>().state;
     final currentDevice = deviceState.selectedDevice;
 
-    if (currentDevice == null) {
-      return _buildOfflineScaffold();
+    if (currentDevice != null &&
+        context.read<RemoteControlCubit>().state.mainStreamUrl.isEmpty) {
+      // 拼接 URL
+      // final String mainUrl =
+      //     "webrtc://${TCPConsts.TCP_IP}/live/livestream/${currentDevice.deviceName}?token=${userState.user!.token}";
+      // final String aiUrl =
+      //     "webrtc://${TCPConsts.TCP_IP}/live/livestream/${currentDevice.deviceName}/detect?token=${userState.user!.token}";
+
+      final String mainUrl =
+          "webrtc://${TCPConsts.TCP_IP}/live/livestream/111?token=${userState.user!.token}";
+      final String aiUrl =
+          "webrtc://${TCPConsts.TCP_IP}/live/livestream/222?token=${userState.user!.token}";
+
+      // 初始化给 Cubit
+      WidgetsBinding.instance.addPostFrameCallback((_) {
+        context.read<RemoteControlCubit>().initVideoUrls(mainUrl, aiUrl);
+      });
     }
 
-    return Scaffold(
-      backgroundColor: Colors.black,
-      body: Stack(
-        children: [
-          // 在 Stack 的最底层替换：
-          Positioned.fill(
-            child: BlocBuilder<RemoteControlCubit, RemoteControlState>(
-              // 只有当显示隐藏状态改变时才重构，内部的拖拽由组件自身 State 处理，不影响这里
-              buildWhen: (p, c) =>
-                  p.showLeftPip != c.showLeftPip ||
-                  p.showRightPip != c.showRightPip,
+    return PopScope(
+      onPopInvokedWithResult: (didPop, result) {
+        if (didPop) {
+          // 无论怎么退出的，都强制清理视频和控制循环
+          context.read<RemoteControlCubit>().stopControlLoop();
+          context.read<RemoteControlCubit>().disposeVideo();
+        }
+      },
+      child: Scaffold(
+        backgroundColor: Colors.black,
+        body: Stack(
+          children: [
+            // 在 Stack 的最底层替换：
+            Positioned.fill(
+              child: BlocBuilder<RemoteControlCubit, RemoteControlState>(
+                buildWhen: (p, c) =>
+                    p.showLeftPip != c.showLeftPip ||
+                    p.showRightPip != c.showRightPip ||
+                    p.obstacleRecognitionFlag != c.obstacleRecognitionFlag ||
+                    p.mainStreamUrl != c.mainStreamUrl, // 必须监听地址变化
+                builder: (context, state) {
+                  return WebRTCLocalPlayer(
+                    // 关键：使用 state 里的地址，这样 disposeVideo 将其置空时，Player 才会断开
+                    streamUrl: state.mainStreamUrl,
+                    secondStreamUrl: state.aiStreamUrl,
+                    showLeftPip: state.showLeftPip,
+                    showRightPip: state.showRightPip,
+                    obstacleRecognitionFlag: state.obstacleRecognitionFlag,
+                  );
+                },
+              ),
+            ),
+
+            BlocBuilder<RemoteControlCubit, RemoteControlState>(
+              buildWhen: (p, c) => p.isEmergency != c.isEmergency,
               builder: (context, state) {
-                return WebRTCLocalPlayer(
-                  // 这里的 URL 拼接根据你的后端规则
-                  // streamUrl: "webrtc://${TCPConsts.TCP_IP}/live/livestream/${currentDevice.deviceName}?token=${userState.user!.token}",
-                  streamUrl:
-                      "webrtc://${TCPConsts.TCP_IP}/live/livestream/111?token=${userState.user!.token}",
-                  showLeftPip: state.showLeftPip, // 从 Cubit 状态中读取
-                  showRightPip: state.showRightPip, // 从 Cubit 状态中读取
-                );
+                return state.isEmergency
+                    ? const Positioned.fill(child: EmergencyOverlay())
+                    : const SizedBox.shrink();
               },
             ),
-          ),
 
-          BlocBuilder<RemoteControlCubit, RemoteControlState>(
-            buildWhen: (p, c) => p.isEmergency != c.isEmergency,
-            builder: (context, state) {
-              return state.isEmergency
-                  ? const Positioned.fill(child: EmergencyOverlay())
-                  : const SizedBox.shrink();
-            },
-          ),
+            SafeArea(
+              child: Column(
+                children: [
+                  const TopStatusBar(),
+                  Expanded(
+                    child: LayoutBuilder(
+                      builder: (context, constraints) {
+                        final double sideAreaWidth =
+                            constraints.maxWidth * 0.25;
+                        final double centerAreaWidth =
+                            constraints.maxWidth * 0.5;
 
-          SafeArea(
-            child: Column(
-              children: [
-                const TopStatusBar(),
-                Expanded(
-                  child: LayoutBuilder(
-                    builder: (context, constraints) {
-                      final double sideAreaWidth = constraints.maxWidth * 0.25;
-                      final double centerAreaWidth = constraints.maxWidth * 0.5;
-
-                      // 关键：使用 BlocBuilder 局部刷新摇杆，不要 watch 整个 Page
-                      return BlocBuilder<
-                        RemoteControlCubit,
-                        RemoteControlState
-                      >(
-                        // 只有 isLocked 改变时才重构摇杆区域，摇杆坐标改变由内部处理
-                        buildWhen: (p, c) => p.isLocked != c.isLocked,
-                        builder: (context, remoteState) {
-                          return Padding(
-                            padding: const EdgeInsets.symmetric(vertical: 10),
-                            child: Row(
-                              mainAxisAlignment: MainAxisAlignment.end,
-                              crossAxisAlignment: CrossAxisAlignment.end,
-                              children: [
-                                // 左摇杆
-                                SizedBox(
-                                  width: sideAreaWidth,
-                                  child: Align(
-                                    alignment: Alignment.bottomCenter,
-                                    child: LeftJoystickArea(
-                                      isLocked: remoteState.isLocked,
-                                      width: sideAreaWidth * 0.5 * 0.7,
+                        // 关键：使用 BlocBuilder 局部刷新摇杆，不要 watch 整个 Page
+                        return BlocBuilder<
+                          RemoteControlCubit,
+                          RemoteControlState
+                        >(
+                          // 只有 isLocked 改变时才重构摇杆区域，摇杆坐标改变由内部处理
+                          buildWhen: (p, c) => p.isLocked != c.isLocked,
+                          builder: (context, remoteState) {
+                            return Padding(
+                              padding: const EdgeInsets.symmetric(vertical: 10),
+                              child: Row(
+                                mainAxisAlignment: MainAxisAlignment.end,
+                                crossAxisAlignment: CrossAxisAlignment.end,
+                                children: [
+                                  // 左摇杆
+                                  SizedBox(
+                                    width: sideAreaWidth,
+                                    child: Align(
+                                      alignment: Alignment.bottomCenter,
+                                      child: LeftJoystickArea(
+                                        isLocked: remoteState.isLocked,
+                                        width: sideAreaWidth * 0.5 * 0.7,
+                                      ),
                                     ),
                                   ),
-                                ),
 
-                                // 中间区
-                                SizedBox(
-                                  width: centerAreaWidth,
-                                  child: Align(
-                                    alignment: Alignment.bottomCenter,
-                                    child: CenterControlArea(
-                                      totalWidth: centerAreaWidth,
+                                  // 中间区
+                                  SizedBox(
+                                    width: centerAreaWidth,
+                                    child: Align(
+                                      alignment: Alignment.bottomCenter,
+                                      child: CenterControlArea(
+                                        totalWidth: centerAreaWidth,
+                                      ),
                                     ),
                                   ),
-                                ),
 
-                                // 右摇杆
-                                SizedBox(
-                                  width: sideAreaWidth,
-                                  child: Align(
-                                    alignment: Alignment.bottomCenter,
-                                    child: RightJoystickArea(
-                                      isLocked: remoteState.isLocked,
-                                      width: sideAreaWidth * 0.5 * 0.7,
+                                  // 右摇杆
+                                  SizedBox(
+                                    width: sideAreaWidth,
+                                    child: Align(
+                                      alignment: Alignment.bottomCenter,
+                                      child: RightJoystickArea(
+                                        isLocked: remoteState.isLocked,
+                                        width: sideAreaWidth * 0.5 * 0.7,
+                                      ),
                                     ),
                                   ),
-                                ),
-                              ],
-                            ),
-                          );
-                        },
-                      );
-                    },
+                                ],
+                              ),
+                            );
+                          },
+                        );
+                      },
+                    ),
                   ),
-                ),
-              ],
+                ],
+              ),
             ),
-          ),
 
-          // 权限弹窗
-          BlocBuilder<RemoteControlCubit, RemoteControlState>(
-            buildWhen: (p, c) =>
-                p.showPermissionRequestDialog != c.showPermissionRequestDialog,
-            builder: (context, state) {
-              if (state.showPermissionRequestDialog) {
-                return _buildPermissionDialog(context, state);
-              }
-              return const SizedBox.shrink();
-            },
-          ),
-        ],
+            // 权限弹窗
+            BlocBuilder<RemoteControlCubit, RemoteControlState>(
+              buildWhen: (p, c) =>
+                  p.showPermissionRequestDialog !=
+                  c.showPermissionRequestDialog,
+              builder: (context, state) {
+                if (state.showPermissionRequestDialog) {
+                  return _buildPermissionDialog(context, state);
+                }
+                return const SizedBox.shrink();
+              },
+            ),
+          ],
+        ),
       ),
     );
   }
diff --git a/lib/features/remote_control/presentation/widgets/top_status_bar.dart b/lib/features/remote_control/presentation/widgets/top_status_bar.dart
index 27192352..db6501d6 100644
--- a/lib/features/remote_control/presentation/widgets/top_status_bar.dart
+++ b/lib/features/remote_control/presentation/widgets/top_status_bar.dart
@@ -20,12 +20,18 @@ class TopStatusBar extends StatelessWidget {
     // 监听局部遥控状态
     final remoteState = context.watch<RemoteControlCubit>().state;
 
+    var _remoteControlCubit = context.read<RemoteControlCubit>();
+
     return Padding(
       padding: const EdgeInsets.all(12.0),
       child: Row(
         children: [
           // 1. 返回按钮 (对应 SimpleSmallFunctionButton)
-          _buildIconButton("assets/svgs/remote_back.svg", () => context.pop()),
+          _buildIconButton("assets/svgs/remote_back.svg", () async {
+            _remoteControlCubit.stopControlLoop();
+            _remoteControlCubit.disposeVideo();
+            if (context.mounted) context.pop();
+          }),
           const SizedBox(width: 16),
 
           // 2. 控制状态 (对应 StatusChipLeft)
@@ -39,7 +45,7 @@ class TopStatusBar extends StatelessWidget {
             onTap: () {
               if (!remoteState.hasPermission) {
                 // 弹出请求权限对话框逻辑
-                context.read<RemoteControlCubit>().togglePermissionDialog(true);
+                _remoteControlCubit.togglePermissionDialog(true);
               }
             },
           ),
@@ -50,7 +56,7 @@ class TopStatusBar extends StatelessWidget {
             remoteState.isLocked
                 ? "assets/svgs/remote_lock.svg"
                 : "assets/svgs/remote_lock_open.svg",
-            () => context.read<RemoteControlCubit>().toggleLock(),
+            () => _remoteControlCubit.toggleLock(),
             isSelected: remoteState.isLocked,
           ),
           const SizedBox(width: 8),
@@ -60,16 +66,65 @@ class TopStatusBar extends StatelessWidget {
 
           const Spacer(),
 
-          _buildControlModeChip(remoteState.runningStatusEntity.controlMode),
+          _buildExpandIconButton(
+            iconPath: "assets/svgs/remote_expand.svg",
+            selectedIconPath: "assets/svgs/remote_unexpand.svg",
+            isSelected: remoteState.topRightIsExpanded,
+            onTap: (){
+              _remoteControlCubit.toggleTopLeftExpand();
+            },
+          ),
 
-          const SizedBox(width: 8),
+          const SizedBox(width: 5),
 
-          _buildVoltageChip(remoteState.runningStatusEntity.voltage),
+          AnimatedSize(
+            duration: const Duration(milliseconds: 100),
+            curve: Curves.easeInOut,
+            child: Row(
+              children: !remoteState.topRightIsExpanded
+                  ? [
+                const SizedBox(width: 8),
+                _buildSwitchIconButton(
+                  iconPath: "assets/svgs/remote_recognition_off.svg",
+                  selectedIconPath: "assets/svgs/remote_recognition.svg",
+                  isSelected: remoteState.obstacleRecognitionFlag,
+                  onTap: (){
+                    _remoteControlCubit.toggleObstacleRecognition();
+                  },
+                ),
+                const SizedBox(width: 8),
+                _buildSwitchIconButton(
+                  iconPath: "assets/svgs/remote_video_left_off.svg",
+                  selectedIconPath: "assets/svgs/remote_video_left.svg",
+                  isSelected: remoteState.showLeftPip,
+                  onTap: (){
+                    _remoteControlCubit.toggleLeftPip();
+                  },
+                ),
+                const SizedBox(width: 8),
+                _buildSwitchIconButton(
+                  iconPath: "assets/svgs/remote_video_right_off.svg",
+                  selectedIconPath: "assets/svgs/remote_video_right.svg",
+                  isSelected: remoteState.showRightPip,
+                  onTap: (){
+                    _remoteControlCubit.toggleRightPip();
+                  },
+                ),
+                const SizedBox(width: 8),
+                _buildControlModeChip(remoteState.runningStatusEntity.controlMode),
+                const SizedBox(width: 8),
+                _buildVoltageChip(remoteState.runningStatusEntity.voltage),
+                const SizedBox(width: 8),
+                _buildPingChip(remoteState.ping),
+
+              ]
+                  : [], // 折叠时数组为空
+            ),
+          ),
 
-          const SizedBox(width: 8),
 
           // 5. 信号延迟 (对应 pingStatusChip)
-          _buildPingChip(remoteState.ping),
+          // _buildPingChip(remoteState.ping),
           const SizedBox(width: 8),
 
           // 6. 电量 (对应 StatusChipRight)
@@ -80,7 +135,8 @@ class TopStatusBar extends StatelessWidget {
   }
 
   Widget _buildIconButton(
-    String svgAsset, // 改为 String 路径，例如 'assets/icons/stop.svg'
+    String svgAsset,
+    // 改为 String 路径，例如 'assets/icons/stop.svg'
     VoidCallback onTap, {
     bool isSelected = false,
   }) {
@@ -107,6 +163,90 @@ class TopStatusBar extends StatelessWidget {
     );
   }
 
+  Widget _buildSwitchIconButton({
+    required String iconPath, // 默认图标路径
+    required String selectedIconPath, // 选中后的图标路径
+    required VoidCallback onTap, // 点击事件
+    bool isSelected = false, // 是否选中状态
+    double size = 32, // 按钮尺寸
+  }) {
+    return InkWell(
+      onTap: onTap,
+      borderRadius: BorderRadius.circular(10),
+      child: AnimatedContainer(
+        duration: const Duration(milliseconds: 200),
+        // 增加颜色切换动画
+        width: size,
+        height: size,
+        decoration: BoxDecoration(
+          // 选中时为深蓝色，未选中时为半透明灰色
+          color: isSelected
+              ? const Color(0xFF0078D4)
+              : Colors.grey.withOpacity(0.4),
+          borderRadius: BorderRadius.circular(10),
+          border: Border.all(
+            color: isSelected
+                ? Colors.transparent
+                : Colors.white.withOpacity(0.3),
+            width: 0.5,
+          ),
+          boxShadow: isSelected
+              ? [
+                  BoxShadow(
+                    color: const Color(0xFF0078D4).withOpacity(0.4),
+                    blurRadius: 8,
+                    offset: const Offset(0, 2),
+                  ),
+                ]
+              : null,
+        ),
+        padding: const EdgeInsets.all(7),
+        child: SvgPicture.asset(
+          // 根据状态切换图片
+          isSelected ? selectedIconPath : iconPath,
+          colorFilter: const ColorFilter.mode(Colors.white, BlendMode.srcIn),
+        ),
+      ),
+    );
+  }
+
+
+
+  Widget _buildExpandIconButton({
+    required String iconPath, // 默认图标路径
+    required String selectedIconPath, // 选中后的图标路径
+    required VoidCallback onTap, // 点击事件
+    bool isSelected = false, // 是否选中状态
+    double size = 28, // 按钮尺寸
+  }) {
+    return InkWell(
+      onTap: onTap,
+      borderRadius: BorderRadius.circular(10),
+      child: AnimatedContainer(
+        duration: const Duration(milliseconds: 200),
+        // 增加颜色切换动画
+        width: size,
+        height: size,
+        decoration: BoxDecoration(
+          // 选中时为深蓝色，未选中时为半透明灰色
+          color: Colors.grey.withOpacity(0.4),
+          borderRadius: BorderRadius.circular(15),
+          border: Border.all(
+            color: Colors.white.withOpacity(0.3),
+            width: 0.5,
+          ),
+          boxShadow: null,
+        ),
+        padding: const EdgeInsets.all(7),
+        child: SvgPicture.asset(
+          // 根据状态切换图片
+          isSelected ? selectedIconPath : iconPath,
+          colorFilter: const ColorFilter.mode(Colors.white, BlendMode.srcIn),
+        ),
+      ),
+    );
+  }
+
   Widget _buildPingChip(int ping) {
     Color color = ping < 100
         ? Colors.green
@@ -132,12 +272,12 @@ class TopStatusBar extends StatelessWidget {
         displayText = 'TCP模式';
         break;
       case ControlMode.NONE:
-        displayText = '无模式';
+        displayText = '无';
         break;
       case ControlMode.OTHER:
         displayText = '其他模式';
         break;
-      }
+    }
 
     return StatusChip(
       text: displayText,
diff --git a/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart b/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart
index 4603d6ef..78401ddb 100644
--- a/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart
+++ b/lib/features/remote_control/presentation/widgets/webrtc/webrtc_local_player.dart
@@ -5,15 +5,19 @@ import 'package:flutter_webrtc/flutter_webrtc.dart';
 import 'package:http/http.dart' as http;
 
 class WebRTCLocalPlayer extends StatefulWidget {
-  final String streamUrl;
+  final String streamUrl; // 第一个流（四分屏）
+  final String? secondStreamUrl; // 第二条完整流，可选
   final bool showLeftPip;
   final bool showRightPip;
+  final bool obstacleRecognitionFlag;
 
   const WebRTCLocalPlayer({
     super.key,
     required this.streamUrl,
+    this.secondStreamUrl,
     this.showLeftPip = true,
     this.showRightPip = true,
+    this.obstacleRecognitionFlag = false,
   });
 
   @override
@@ -21,19 +25,17 @@ class WebRTCLocalPlayer extends StatefulWidget {
 }
 
 class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
-  final RTCVideoRenderer _renderer = RTCVideoRenderer();
+  final RTCVideoRenderer _renderer = RTCVideoRenderer(); // 第一个流（四分屏）
+  RTCVideoRenderer? _secondRenderer; // 第二条完整流
+
   RTCPeerConnection? _peerConnection;
+  RTCPeerConnection? _secondPeerConnection;
 
   bool _isInitialized = false;
-  bool _isFrontMain = true;
+  bool _isFrontMain = true; // true=前，false=后
 
-  // 使用 ValueNotifier 配合局部刷新，提升拖拽性能
-  final ValueNotifier<Offset> _leftPosNotifier = ValueNotifier(
-    const Offset(20, 80),
-  );
-  final ValueNotifier<Offset> _rightPosNotifier = ValueNotifier(
-    const Offset(200, 80),
-  );
+  final ValueNotifier<Offset> _leftPosNotifier = ValueNotifier(const Offset(20, 80));
+  final ValueNotifier<Offset> _rightPosNotifier = ValueNotifier(const Offset(200, 80));
   bool _isPosInitialized = false;
 
   @override
@@ -45,42 +47,44 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
   Future<void> _prepareAndConnect() async {
     try {
       await _renderer.initialize();
-      if (!mounted) return;
-      await _initWebRTCConnection();
+      await _initWebRTCConnection(widget.streamUrl, _renderer, true);
+
+      if (widget.obstacleRecognitionFlag && widget.secondStreamUrl != null) {
+        await _startSecondStream(widget.secondStreamUrl!);
+      }
+
       setState(() => _isInitialized = true);
     } catch (e) {
       debugPrint("初始化失败: $e");
     }
   }
 
-  Future<void> _initWebRTCConnection() async {
-    _peerConnection = await createPeerConnection({
+  Future<void> _initWebRTCConnection(
+      String url, RTCVideoRenderer renderer, bool isMain) async {
+    final pc = await createPeerConnection({
       "sdpSemantics": "unified-plan",
       "iceServers": [
         {"urls": "stun:stun.l.google.com:19302"},
       ],
     });
 
-    await _peerConnection!.addTransceiver(
+    // 只接收视频
+    await pc.addTransceiver(
       kind: RTCRtpMediaType.RTCRtpMediaTypeVideo,
       init: RTCRtpTransceiverInit(direction: TransceiverDirection.RecvOnly),
     );
 
-    _peerConnection!.onTrack = (RTCTrackEvent event) {
-      if (event.track.kind == 'video' && event.streams.isNotEmpty) {
-        if (mounted) setState(() => _renderer.srcObject = event.streams[0]);
+    pc.onTrack = (RTCTrackEvent event) {
+      if (event.streams.isNotEmpty && event.track.kind == 'video') {
+        if (mounted) setState(() => renderer.srcObject = event.streams[0]);
       }
     };
 
     try {
-      RTCSessionDescription offer = await _peerConnection!.createOffer({
-        'offerToReceiveVideo': 1,
-      });
-      await _peerConnection!.setLocalDescription(offer);
+      RTCSessionDescription offer = await pc.createOffer({'offerToReceiveVideo': 1});
+      await pc.setLocalDescription(offer);
 
-      Uri uri = Uri.parse(
-        widget.streamUrl.replaceFirst('webrtc://', 'http://'),
-      );
+      Uri uri = Uri.parse(url.replaceFirst('webrtc://', 'http://'));
       String apiUrl = "http://${uri.host}:1985/rtc/v1/play/";
 
       final response = await http.post(
@@ -88,7 +92,7 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
         headers: {'Content-Type': 'application/json'},
         body: jsonEncode({
           "api": apiUrl,
-          "streamurl": widget.streamUrl,
+          "streamurl": url,
           "clientip": null,
           "sdp": offer.sdp,
         }),
@@ -96,179 +100,155 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
 
       if (response.statusCode == 200) {
         final data = jsonDecode(response.body);
-        await _peerConnection!.setRemoteDescription(
+        await pc.setRemoteDescription(
           RTCSessionDescription(data['sdp'], 'answer'),
         );
       }
     } catch (e) {
       debugPrint("信令错误: $e");
     }
+
+    if (isMain) _peerConnection = pc;
+    else _secondPeerConnection = pc;
+  }
+
+  Future<void> _startSecondStream(String url) async {
+    _secondRenderer = RTCVideoRenderer();
+    await _secondRenderer!.initialize();
+    await _initWebRTCConnection(url, _secondRenderer!, false);
+  }
+
+  Future<void> _stopSecondStream() async {
+    if (_secondPeerConnection != null) {
+      await _secondPeerConnection!.close();
+      await _secondPeerConnection!.dispose();
+      _secondPeerConnection = null;
+    }
+    if (_secondRenderer != null) {
+      _secondRenderer!.srcObject = null;
+      await _secondRenderer!.dispose();
+      _secondRenderer = null;
+    }
+  }
+
+  @override
+  void didUpdateWidget(covariant WebRTCLocalPlayer oldWidget) {
+    super.didUpdateWidget(oldWidget);
+    if (widget.obstacleRecognitionFlag != oldWidget.obstacleRecognitionFlag) {
+      if (widget.obstacleRecognitionFlag) {
+        if (widget.secondStreamUrl != null) _startSecondStream(widget.secondStreamUrl!);
+      } else {
+        _stopSecondStream();
+      }
+    }
   }
 
   @override
   void dispose() {
+    _peerConnection?.close();
     _peerConnection?.dispose();
+    _secondPeerConnection?.close();
+    _secondPeerConnection?.dispose();
+
     _renderer.srcObject = null;
     _renderer.dispose();
+    _secondRenderer?.srcObject = null;
+    _secondRenderer?.dispose();
+
     _leftPosNotifier.dispose();
     _rightPosNotifier.dispose();
     super.dispose();
   }
 
-  // 四分屏裁剪视图
-  Widget _buildQuadrantView({required Alignment alignment}) {
-    if (!_isInitialized || _renderer.srcObject == null)
-      return Container(color: Colors.black);
+  // -------------------- 渲染逻辑 --------------------
 
-    return RepaintBoundary(
-      child: ClipRect(
-        child: FractionallySizedBox(
-          widthFactor: 2.0,
-          heightFactor: 2.0,
-          alignment: alignment,
-          child: RTCVideoView(
-            _renderer,
-            objectFit: RTCVideoViewObjectFit.RTCVideoViewObjectFitCover,
-            mirror: false,
+  RTCVideoRenderer getFrontRenderer() {
+    if (widget.obstacleRecognitionFlag && _secondRenderer != null) {
+      return _secondRenderer!;
+    }
+    return _renderer;
+  }
+
+  RTCVideoRenderer getBackRenderer() => _renderer;
+  RTCVideoRenderer getLeftRenderer() => _renderer;
+  RTCVideoRenderer getRightRenderer() => _renderer;
+
+  Widget _buildQuadrantView({required Alignment alignment, required RTCVideoRenderer renderer}) {
+    if (renderer.srcObject == null) return Container(color: Colors.black);
+
+    if (renderer == _secondRenderer) {
+      // 第二条流完整显示
+      return RTCVideoView(renderer,
+          objectFit: RTCVideoViewObjectFit.RTCVideoViewObjectFitCover, mirror: false);
+    }
+
+    // 第一个流四分屏
+    return ClipRect(
+      child: FractionallySizedBox(
+        widthFactor: 2.0,
+        heightFactor: 2.0,
+        alignment: alignment,
+        child: RTCVideoView(renderer,
+            objectFit: RTCVideoViewObjectFit.RTCVideoViewObjectFitCover, mirror: false),
+      ),
+    );
+  }
+
+  Widget _buildMainViewWithFeathering() {
+    final renderer = _isFrontMain ? getFrontRenderer() : getBackRenderer();
+
+    return Stack(
+      children: [
+        // 背景层（虚化 + 半透明黑色）
+        Positioned.fill(
+          child: _buildQuadrantView(
+            alignment: _isFrontMain ? Alignment.topLeft : Alignment.topRight,
+            renderer: renderer,
           ),
         ),
-      ),
-    );
-  }
-
-  // 主视角的矩形边缘羽化效果
-  Widget _buildMainViewWithFeathering() {
-    return ShaderMask(
-      shaderCallback: (Rect bounds) {
-        return const LinearGradient(
-          begin: Alignment.topCenter,
-          end: Alignment.bottomCenter,
-          colors: [
-            Colors.transparent,
-            Colors.white,
-            Colors.white,
-            Colors.transparent,
-          ],
-          stops: [0.0, 0.15, 0.85, 1.0],
-        ).createShader(bounds);
-      },
-      blendMode: BlendMode.dstIn,
-      child: ShaderMask(
-        shaderCallback: (Rect bounds) {
-          return const LinearGradient(
-            begin: Alignment.centerLeft,
-            end: Alignment.centerRight,
-            colors: [
-              Colors.transparent,
-              Colors.white,
-              Colors.white,
-              Colors.transparent,
-            ],
-            stops: [0.0, 0.05, 0.95, 1.0],
-          ).createShader(bounds);
-        },
-        blendMode: BlendMode.dstIn,
-        child: _buildQuadrantView(
-          alignment: _isFrontMain ? Alignment.topLeft : Alignment.topRight,
+        Positioned.fill(
+          child: BackdropFilter(
+            filter: ImageFilter.blur(sigmaX: 45, sigmaY: 45),
+            child: Container(color: Colors.black.withOpacity(0.55)),
+          ),
         ),
-      ),
+        // 中心主视角 + 羽化
+        Center(
+          child: ShaderMask(
+            shaderCallback: (Rect bounds) {
+              return const LinearGradient(
+                begin: Alignment.topCenter,
+                end: Alignment.bottomCenter,
+                colors: [Colors.transparent, Colors.white, Colors.white, Colors.transparent],
+                stops: [0.0, 0.15, 0.85, 1.0],
+              ).createShader(bounds);
+            },
+            blendMode: BlendMode.dstIn,
+            child: ShaderMask(
+              shaderCallback: (Rect bounds) {
+                return const LinearGradient(
+                  begin: Alignment.centerLeft,
+                  end: Alignment.centerRight,
+                  colors: [Colors.transparent, Colors.white, Colors.white, Colors.transparent],
+                  stops: [0.0, 0.05, 0.95, 1.0],
+                ).createShader(bounds);
+              },
+              blendMode: BlendMode.dstIn,
+              child: AspectRatio(
+                aspectRatio: 16 / 9,
+                child: _buildQuadrantView(
+                  alignment: _isFrontMain ? Alignment.topLeft : Alignment.topRight,
+                  renderer: renderer,
+                ),
+              ),
+            ),
+          ),
+        ),
+      ],
     );
   }
 
-  @override
-  Widget build(BuildContext context) {
-    if (!_isInitialized)
-      return const Scaffold(
-        backgroundColor: Colors.black,
-        body: Center(child: CircularProgressIndicator()),
-      );
-
-    return Scaffold(
-      backgroundColor: Colors.black,
-      body: LayoutBuilder(
-        builder: (context, constraints) {
-          final double pipW = constraints.maxWidth / 5;
-          final double pipH = pipW * 9 / 16;
-
-          // 核心：处理 Windows 窗口大小变化时的坐标修正
-          Future.microtask(() {
-            if (!mounted) return;
-            _correctPosition(_leftPosNotifier, constraints, pipW, pipH);
-            _correctPosition(_rightPosNotifier, constraints, pipW, pipH);
-          });
-
-          if (!_isPosInitialized) {
-            _leftPosNotifier.value = const Offset(20, 80);
-            _rightPosNotifier.value = Offset(
-              constraints.maxWidth - pipW - 20,
-              80,
-            );
-            _isPosInitialized = true;
-          }
-
-          return Stack(
-            children: [
-              // ① 背景虚化层（背景两侧模糊，模拟视觉聚焦）
-              Positioned.fill(
-                child: Stack(
-                  children: [
-                    _buildQuadrantView(
-                      alignment: _isFrontMain
-                          ? Alignment.topLeft
-                          : Alignment.topRight,
-                    ),
-                    Positioned.fill(
-                      child: BackdropFilter(
-                        filter: ImageFilter.blur(sigmaX: 45, sigmaY: 45),
-                        child: Container(color: Colors.black.withOpacity(0.55)),
-                      ),
-                    ),
-                  ],
-                ),
-              ),
-
-              // ② 主视频层
-              Center(
-                child: GestureDetector(
-                  onDoubleTap: () =>
-                      setState(() => _isFrontMain = !_isFrontMain),
-                  child: AspectRatio(
-                    aspectRatio: 16 / 9,
-                    child: _buildMainViewWithFeathering(),
-                  ),
-                ),
-              ),
-
-              // ③ 悬浮小窗 - 解决阻尼感的 1:1 稳定拖拽
-              if (widget.showLeftPip)
-                _buildFastPip(
-                  _leftPosNotifier,
-                  Alignment.bottomLeft,
-                  constraints,
-                  pipW,
-                  pipH,
-                ),
-              if (widget.showRightPip)
-                _buildFastPip(
-                  _rightPosNotifier,
-                  Alignment.bottomRight,
-                  constraints,
-                  pipW,
-                  pipH,
-                ),
-            ],
-          );
-        },
-      ),
-    );
-  }
-
-  void _correctPosition(
-    ValueNotifier<Offset> notifier,
-    BoxConstraints constraints,
-    double w,
-    double h,
-  ) {
+  void _correctPosition(ValueNotifier<Offset> notifier, BoxConstraints constraints, double w, double h) {
     double maxX = (constraints.maxWidth - w).clamp(0.0, double.infinity);
     double maxY = (constraints.maxHeight - h).clamp(0.0, double.infinity);
     double newX = notifier.value.dx.clamp(0.0, maxX);
@@ -278,14 +258,7 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
     }
   }
 
-  // 极致丝滑的局部刷新组件
-  Widget _buildFastPip(
-    ValueNotifier<Offset> notifier,
-    Alignment align,
-    BoxConstraints constraints,
-    double w,
-    double h,
-  ) {
+  Widget _buildFastPip(ValueNotifier<Offset> notifier, Alignment align, BoxConstraints constraints, double w, double h) {
     return ValueListenableBuilder<Offset>(
       valueListenable: notifier,
       builder: (context, pos, child) {
@@ -295,7 +268,6 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
           child: GestureDetector(
             behavior: HitTestBehavior.opaque,
             onPanUpdate: (details) {
-              // 关键修正：使用 notifier.value.dx 替换 pos.dx，消除位移丢失导致的阻尼感
               final double nextX = (notifier.value.dx + details.delta.dx).clamp(
                 0.0,
                 (constraints.maxWidth - w).clamp(0.0, double.infinity),
@@ -315,16 +287,57 @@ class _WebRTCLocalPlayerState extends State<WebRTCLocalPlayer> {
         height: h,
         decoration: BoxDecoration(
           borderRadius: BorderRadius.circular(10),
-          boxShadow: [
-            BoxShadow(
-              color: Colors.black.withOpacity(0.5),
-              blurRadius: 20,
-              offset: const Offset(0, 8),
-            ),
-          ],
+          boxShadow: [BoxShadow(color: Colors.black.withOpacity(0.5), blurRadius: 20, offset: const Offset(0, 8))],
         ),
         clipBehavior: Clip.antiAlias,
-        child: _buildQuadrantView(alignment: align),
+        child: _buildQuadrantView(alignment: align, renderer: _renderer),
+      ),
+    );
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    if (!_isInitialized) {
+      return const Scaffold(
+        backgroundColor: Colors.black,
+        body: Center(child: CircularProgressIndicator()),
+      );
+    }
+
+    return Scaffold(
+      backgroundColor: Colors.black,
+      body: LayoutBuilder(
+        builder: (context, constraints) {
+          final double pipW = constraints.maxWidth / 5;
+          final double pipH = pipW * 9 / 16;
+
+          Future.microtask(() {
+            if (!mounted) return;
+            _correctPosition(_leftPosNotifier, constraints, pipW, pipH);
+            _correctPosition(_rightPosNotifier, constraints, pipW, pipH);
+          });
+
+          if (!_isPosInitialized) {
+            _leftPosNotifier.value = const Offset(20, 80);
+            _rightPosNotifier.value = Offset(constraints.maxWidth - pipW - 20, 80);
+            _isPosInitialized = true;
+          }
+
+          return Stack(
+            children: [
+              Center(
+                child: GestureDetector(
+                  onDoubleTap: () => setState(() => _isFrontMain = !_isFrontMain),
+                  child: _buildMainViewWithFeathering(),
+                ),
+              ),
+              if (widget.showLeftPip)
+                _buildFastPip(_leftPosNotifier, Alignment.bottomLeft, constraints, pipW, pipH),
+              if (widget.showRightPip)
+                _buildFastPip(_rightPosNotifier, Alignment.bottomRight, constraints, pipW, pipH),
+            ],
+          );
+        },
       ),
     );
   }
diff --git a/lib/main.dart b/lib/main.dart
index 81d306b5..1b7eeacb 100644
--- a/lib/main.dart
+++ b/lib/main.dart
@@ -12,7 +12,10 @@ import 'package:maibu_satabot_v2/features/auth/presentation/bloc/auth_cubit.dart
 import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_cubit.dart';
 
 import 'core/di/injection.dart';
+import 'core/network/base/i_connection.dart';
 import 'features/auth/presentation/bloc/login_cubit.dart';
+import 'features/connectivity/presentation/bloc/connectivity_cubit.dart';
+import 'features/connectivity/presentation/bloc/connectivity_state.dart';
 
 void main() async {
   // 1. 使用 runZonedGuarded 捕获所有未处理的异步错误
@@ -55,12 +58,60 @@ class MyApp extends StatelessWidget {
               sl<DevicesCubit>()
                 ..fetchAllDevices(sl<AppUserCubit>().state.user!.username),
         ),
+        BlocProvider(create: (_) => sl<ConnectivityCubit>()),
       ],
       child: MaterialApp.router(
         title: 'Maibu Satabot',
         theme: AppTheme.lightTheme,
         routerConfig: sl<GoRouter>(),
+        builder: (context, child) {
+          return BlocListener<ConnectivityCubit, ConnectivityState>(
+            // 只有当状态真正变为 disconnected 时才弹出
+            listenWhen: (prev, curr) => prev.status != curr.status,
+            listener: (context, state) {
+              if (state.status == ConnectionStatus.disconnected) {
+                _showGlobalDisconnectDialog();
+              }
+            },
+            child: child, // child 就是当前路由显示的页面内容
+          );
+        },
       ),
+
     );
   }
+
+  // 全局断连提示弹窗
+  void _showGlobalDisconnectDialog() {
+    // 直接从全局变量获取真正的 Navigator Context
+    final context = rootNavigatorKey.currentContext;
+
+    if (context != null) {
+      showDialog(
+        context: context,
+        barrierDismissible: false,
+        builder: (context) => AlertDialog(
+          title: const Row(
+            children: [
+              Icon(Icons.warning, color: Colors.red),
+              SizedBox(width: 8),
+              Text("连接已断开"),
+            ],
+          ),
+          content: const Text("与服务器通信丢失，请检查网络连接。"),
+          actions: [
+            TextButton(
+              onPressed: () {
+                Navigator.of(context).pop(); // 关闭弹窗
+                // 如果需要，这里可以执行 context.go('/login');
+              },
+              child: const Text("知道了"),
+            ),
+          ],
+        ),
+      );
+    } else {
+      print("DEBUG: 弹窗失败，rootNavigatorKey.currentContext 为空");
+    }
+  }
 }