Merge branch 'feature/my' of http://1.95.137.212:57001/APP/FlutterApp into feature/my

lib/core/network/net_message_dispatcher.dart

@@ -39,7 +39,7 @@ class NetMessageDispatcher {
         return ''; // 返回空字符串，避免流中断
       }
     });
-    /*  ///return onCommand(0x02).map((p) => utf8.decode(p.payload));*/
+  /*  ///return onCommand(0x02).map((p) => utf8.decode(p.payload));*/
   }
 
   /// 示例解析方法：将 0x12 指令解析为 JSON 并转为模型
@@ -49,13 +49,13 @@ class NetMessageDispatcher {
 
   //监听路径规划的开始作业的指令的应答
 
-  //   if (data[0] == (byte) 0xAB && data[1] == (byte) 0xAA && data[2] == (byte) 0x01) {
-  //   System.out.println("=====下位机回复成功=====" + data[0] + " " + data[1] + " " + data[2] + " " + data[3] + " " +
-  //   data[4] + " " + data[5] + " " + data[6] + " " + data[7] + " " + data[8] + " " + data[9]);
-  //   if (data[5] == (byte) 0x01) {
-  //   Point point = new Point();
-  // //发送下一个指令
-  //   }
+//   if (data[0] == (byte) 0xAB && data[1] == (byte) 0xAA && data[2] == (byte) 0x01) {
+//   System.out.println("=====下位机回复成功=====" + data[0] + " " + data[1] + " " + data[2] + " " + data[3] + " " +
+//   data[4] + " " + data[5] + " " + data[6] + " " + data[7] + " " + data[8] + " " + data[9]);
+//   if (data[5] == (byte) 0x01) {
+//   Point point = new Point();
+// //发送下一个指令
+//   }
 
   /// 监听路径规划的开始作业指令的应答 (0x01 指令)
   /// 协议格式：AB AA 01 [DATA] CRC(2) AA AB
@@ -80,34 +80,41 @@ class NetMessageDispatcher {
         0xAB, 0xAA, 0x01,
         ...packet.payload,
         0x00, 0x00, // CRC 占位
-        0xAA, 0xAB,
+        0xAA, 0xAB
       ];
 
       // 验证头部协议
-      if (fullData[0] == 0xAB && fullData[1] == 0xAA && fullData[2] == 0x01) {
+      if (fullData[0] == 0xAB &&
+          fullData[1] == 0xAA &&
+          fullData[2] == 0x01) {
+
         debugPrint('[Dispatcher] 下位机回复成功 - 完整数据包：${fullData.join(" ")}');
         // 检查状态位 (索引 5 对应 payload 的第 2 个字节)
         if (fullData.length > 5 && fullData[5] == 0x01) {
           debugPrint('✅ [Dispatcher] 状态位验证通过：0x01 - 可以发送下一个指令');
-
           ///取全局的路径规划发送实体 queue
           /// 发送下一个指令 移除上一条数据
-          var queue = _pathPlanningService.getQueue();
-
+          var queue =  _pathPlanningService.getQueue();
           ///更新完成jwd
           var deviceAddPathPointModel = queue.first;
-          devicesCubit.setArrivedLocation(deviceAddPathPointModel.latitude, deviceAddPathPointModel.longitude);
+          var d = deviceAddPathPointModel.latitude;
+          var e = deviceAddPathPointModel.longitude;
+          devicesCubit.setArrivedLocation(
+              deviceAddPathPointModel.latitude,
+              deviceAddPathPointModel.longitude
+          );
+          debugPrint("准确更新完成的路径点经纬度,$d,$e");
           //去除上一条数据
           queue.removeFirst();
 
+
           /// _pathPlanningService.updateQueue(queue as List<DeviceAddPathPointModel>);
           _pathPlanningService.updateQueue(queue.toList());
           debugPrint('📡 [Dispatcher] 准备触发下一个路径点发送，队列剩余：${queue.length}');
-
           ///如果还剩0个数据 就停止发送
-          if (queue.length == 0) {
+          if (queue.length==0) {
             debugPrint('⚠️ [Dispatcher] 队列已空，停止发送');
-            //  final devicesCubit = sl<DevicesCubit>();
+          //  final devicesCubit = sl<DevicesCubit>();
             devicesCubit.finishWork();
             Future.delayed(Duration(seconds: 1), () {
               devicesCubit.resetWorkStatus();
@@ -132,7 +139,11 @@ class NetMessageDispatcher {
   /// [commandCode] 指令码
   /// [statusIndex] 状态字节在 payload 中的索引
   /// [expectedStatus] 期望的状态值
-  Stream<RawPacket> onStatusResponse({required int commandCode, required int statusIndex, required int expectedStatus}) {
+  Stream<RawPacket> onStatusResponse({
+    required int commandCode,
+    required int statusIndex,
+    required int expectedStatus,
+  }) {
     debugPrint('🔍 [Dispatcher] 监听指令应答 CMD: 0x${commandCode.toRadixString(16)}, 期望状态：0x${expectedStatus.toRadixString(16)}');
 
     return onCommand(commandCode).where((packet) {

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

@@ -411,7 +411,7 @@ class DevicesCubit extends Cubit<DevicesState> {
   }
   void setArrivedLocation(double latitude, double longitude) {
     emit(state.copyWith(arriLatitude: latitude, arriLongitude: longitude));
-    print('✅ [DevicesCubit] 更新已到达位置：Lat=$latitude, Lng=$longitude');
+    print('✅ [DevicesCubit] 监听更新已完成到达位置：Lat=$latitude, Lng=$longitude');
   }
 
   //获取已到达的点的经纬度

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

@@ -1495,12 +1495,16 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
     //}).toList();
 
     // 步骤2：将 List 转换为 Queue（队列）
+    debugPrint('⚙️ 开始类型转换...');
     final List<work_area_model.DeviceAddPathPointModel> typedList = startWorkList.whereType<Map<String, dynamic>>().map((item) {
       return work_area_model.DeviceAddPathPointModel(latitude: (item['lat'] as num).toDouble(), longitude: (item['lon'] ?? item["lng"] as num).toDouble());
     }).toList();
 
     final Queue<work_area_model.DeviceAddPathPointModel> pathQueue = Queue.from(typedList);
 
+    debugPrint('🚀 开始作业：${_selectedPlot?.plotName ?? "未命名"}，路径点数量：${pathQueue.length}');
+    debugPrint('第一个点 WGS84: ${pathQueue.first.latitude}, ${pathQueue.first.longitude}');
+
     // 步骤 3：调用 Cubit 方法（类型匹配）
     await context.read<DevicesCubit>().startRoutePlanning(pathQueue);