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

2026-04-17 10:00:47 +08:00
parent e3026f61bb 976c5fca2f
commit fb3591bd59
10 changed files with 397 additions and 128 deletions
--- a/lib/core/network/tcp/tcp_client.dart
+++ b/lib/core/network/tcp/tcp_client.dart
@@ -74,6 +74,8 @@ class TcpClient {
        port,
        timeout: const Duration(seconds: 5),
      );
+      // 🔥 关键修复：禁用Nagle算法，确保小包立即发送
+      _socket!.setOption(SocketOption.tcpNoDelay, true);
      debugPrint('✅ [TCP] 连接成功！'); // ✅ 必须看到这条
      _logger.logWithLevel('✅ [TCP] 连接成功！');
    // 开始认证tcp
@@ -222,6 +224,8 @@ class TcpClient {
      ..addByte(0xAB);

    _socket!.add(builder.takeBytes());
+    // 🔥 关键修复：强制flush，确保数据立即发送
+    _socket!.flush();
  }

     void sendHeartbeat() {
@@ -449,6 +453,8 @@ _logger.logWithLevel('📱 [AuthTcp] 准备切换至默认设备：${targetDevic
        port,
        timeout: const Duration(seconds: 5),
      );
+      // 🔥 关键修复：禁用Nagle算法，确保小包立即发送
+      _socket!.setOption(SocketOption.tcpNoDelay, true);
     // debugPrint('✅ 被动[TCP] 连接成功！'); // ✅ 必须看到这条
      _logger.logWithLevel('✅ 被动[TCP] 连接成功！');

--- a/lib/features/remote_control/data/datasources/remote_http_datasource.dart
+++ b/lib/features/remote_control/data/datasources/remote_http_datasource.dart
@@ -70,4 +70,39 @@ class RemoteHttpDatasource {
      return false;
    }
  }
+
+  ///app退出远程控制后释放权限
+  Future<bool> releaseRemoteControlViaHttp( String platform) async {
+  //  _logger.logWithLevel("app退出远程控制后释放权限 开始");
+    final user = await _userStorage.getUser();
+    if (user == null) {
+      return false;
+    }
+    final token = user.token;
+    final response = await _dio.post(
+        '/forward/device/releaseControl',
+        options: Options(
+          headers: {
+            'Content-Type': 'application/json',
+            'Authorization': 'Bearer ${token}',
+          },
+        ),
+        data: {'platform': "app"});
+    try {
+      final responseData = response.data as Map<String, dynamic>;
+      //debugPrint("📊 [HTTP 响应] 完整数据：$responseData");
+      //_logger.log("releaseRemoteControlViaHttp 响应] 完整数据：$responseData");
+     if(responseData['code']==200){
+     // _logger.logWithLevel("app退出远程控制后释放权限 成功");
+      return true;
+    }
+    return false;
+    } catch (e) {
+      //  debugPrint('❌ [RemoteHttp] 解析响应失败：$e');
+      _logger.log('❌ [RemoteHttp] 解析响应失败：$e');
+      return false;
+    }
+
+  }
+
 }
--- a/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
+++ b/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
@@ -35,17 +35,9 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
  void sendControlMachineCmd(MachineControlStatusEntity status) {
    // 1. 调用算法：将摇杆坐标 (x, y) 转换为左右轮电机转速
    final speeds = _diffSteer.calculate(status.originX, status.originY);
-
-
-    //debugPrint('🎮 [摇杆数据] originX: ${status.originX}, originY: ${status.originY}');
    _logger.logWithLevel('⚙️ [电机速度] left: ${speeds['left']}, right: ${speeds['right']}');

-    //debugPrint('⚙️ [电机速度] left: ${speeds['left']}, right: ${speeds['right']}');
-    _logger.logWithLevel('⚙️ [电机速度] left: ${speeds['left']}, right: ${speeds['right']}');
-    //debugPrint('🚨 [急停状态] emergency: ${status.isEmergency ? 1 : 0}');
-    _logger.logWithLevel('🚨 [急停状态] emergency: ${status.isEmergency ? 1 : 0}');
-
-    // 2. 调用 Codec：仅生成协议要求的 8 字节 Payload 负载数据
+    // 2. 调用 Codec：生成协议要求的 8 字节 Payload
    final payload = MachineProtocolCodec.encodeRemoteControlPayload(
      left: speeds['left']!,
      right: speeds['right']!,
@@ -54,15 +46,12 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
      ignition: status.ignitionStatus,
      emergency: status.isEmergency ? 1 : 0,
    );
-    debugPrint('📦 [发送数据] payload: ${payload}');
-    debugPrint('📦 [发送数据] emergency 字节值：${payload[7]}');
-    // 3. 调用 TcpClient：发送指令。
-    // TcpClient.sendRaw 会自动帮你加上 [0xAB, 0xAA] 头和 [0xAA, 0xAB] 尾
+    
+    // 3. 调用 TcpClient 发送指令
    _tcpClient.sendRaw(
-      MachineProtocolConstants.cmdRemoteControl, // 这里通常是 0x00
+      MachineProtocolConstants.cmdRemoteControl,
      payload,
    );
-    debugPrint('✅ [TCP] 指令已发送');
  }

  @override
@@ -91,4 +80,9 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
      _remoteTcp.sendSwitchControlResponse(false, deviceId);
    }
  }
+///app退出远程控制后释放权限
+  @override
+  Future<bool> releasePermission(String platform) async {
+    return await _remoteHttp.releaseRemoteControlViaHttp(platform);
+  }
 }
--- a/lib/features/remote_control/domain/entities/machine_control_status_entity.dart
+++ b/lib/features/remote_control/domain/entities/machine_control_status_entity.dart
@@ -1,4 +1,6 @@
-class MachineControlStatusEntity {
+import 'package:equatable/equatable.dart';
+
+class MachineControlStatusEntity extends Equatable {
  final int originX;
  final int originY;
  final int chassisLift; // 0:停, 1:上, 2:下
@@ -32,4 +34,14 @@ class MachineControlStatusEntity {
      isEmergency: emergency ?? isEmergency,
    );
  }
+
+  @override
+  List<Object?> get props => [
+    originX,
+    originY,
+    chassisLift,
+    mowerSpeed,
+    ignitionStatus,
+    isEmergency,
+  ];
 }
--- a/lib/features/remote_control/domain/repositories/remote_control_repository.dart
+++ b/lib/features/remote_control/domain/repositories/remote_control_repository.dart
@@ -20,4 +20,7 @@ abstract class RemoteControlRepository {

  /// 新增：响应控制权限 同意和拒绝(发送 0x05 指令)
  void respondPermission(bool bool, String deviceId);
+
+  ///APP 推出远程控制页面后释放权限
+  Future<bool> releasePermission(String platform);
 }
--- a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
@@ -28,6 +28,8 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  static const platform = MethodChannel('com.maibu.satabot/ping');
  int _currentPing = 50;
  final ILoggerService _logger = GetIt.I<ILoggerService>();
+  DateTime? _lastStopTime; // 🔥 记录最后一次停止时间
+  Timer? _clearStopTimeTimer; // 🔥 用于管理 _lastStopTime 的清除



@@ -226,13 +228,66 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {


  // 2. 开启 100ms 控制循环 (在进入遥控页面或点击“开始”时调用)
+/*  void startControlLoop() {
+    _timer?.cancel();
+    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
+      // 🔥 关键修复：每次循环都重新读取最新的 state
+      final currentEntity = state.controlEntity;
+      
+      // 🔥 安全检查：无权限或急停时不发送
+      if (!state.hasPermission || state.isEmergency) {
+        debugPrint('⚠️ [定时器] 跳过发送 - hasPermission=${state.hasPermission}, isEmergency=${state.isEmergency}');
+        return;
+      }
+
+      
+      debugPrint('⏰ [定时器] 发送控制指令 - originX=${currentEntity.originX}, originY=${currentEntity.originY}');
+      _logger.logWithLevel('真实的发送的实体 - originX: ${currentEntity.originX}, originY: ${currentEntity.originY}');
+      _repository.sendControlMachineCmd(currentEntity);
+    });
+    emit(state.copyWith(status: RemoteControlStatus.controlling));
+  }*/
  void startControlLoop() {
    _timer?.cancel();
    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
-      // 核心调用：直接把 state 里的实体丢给 repository
-      _repository.sendControlMachineCmd(state.controlEntity);
+      if (isClosed) {
+        timer.cancel();
+        return;
+      }
+
+      // ✅ 必须通过方法拿最新 state，不能直接读！
+      final entity = _getCurrentControlEntity();
+      
+      // 🔥 关键日志：检查权限状态
+      if (!state.hasPermission) {
+        debugPrint('⚠️ [定时器] 无权限，跳过发送 - hasPermission=${state.hasPermission}, isEmergency=${state.isEmergency}');
+        return;
+      }
+      
+      if (state.isEmergency) {
+        debugPrint('🚨 [定时器] 急停状态，跳过发送');
+        return;
+      }
+      
+      // 🔥 新增：如果刚停止5000ms内，暂停所有发送（包括零值）- 与_lastStopTime清除时间一致
+      if (_lastStopTime != null) {
+        final elapsed = DateTime.now().difference(_lastStopTime!).inMilliseconds;
+        if (elapsed < 5000) {
+          debugPrint('⚠️ [定时器] 停止保护期内，暂停所有发送 - 已过${elapsed}ms');
+          return; // 保护期内不发送任何指令，让_sendStopCommandRepeatedly独占通道
+        }
+        // 🔥 关键修复：不在这里清空 _lastStopTime，让它继续生效以拦截 updateOriginX/Y
+      }
+      
+      _logger.logWithLevel('[定时器] 发送控制指令 - originX=${entity.originX}, originY=${entity.originY}');
+      debugPrint('📤 [定时器] 准备发送 - originX=${entity.originX}, originY=${entity.originY}, hasPermission=${state.hasPermission}, _lastStopTime=$_lastStopTime');
+      _repository.sendControlMachineCmd(entity);
    });
-    emit(state.copyWith(status: RemoteControlStatus.controlling));
+  }
+//通过方法拿最新 state
+  MachineControlStatusEntity _getCurrentControlEntity() {
+    _logger.logWithLevel('真实的发送的实体 - originX: ${state.controlEntity.originX}, originY: ${state.controlEntity.originY}');
+    return state.controlEntity;
  }

  // 3. 更新摇杆数据
@@ -264,16 +319,109 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  }

  void updateOriginY(int y) {
-    final updatedEntity = state.controlEntity.copyWith(
-      y: y,
-    );
+    debugPrint('📥 [updateOriginY] 被调用 - y=$y, _lastStopTime=$_lastStopTime');
+    // 🔥 关键修复：如果刚停止5000ms内，拒绝非零值的更新 - 与定时器保护期一致
+    if (_lastStopTime != null) {
+      final elapsed = DateTime.now().difference(_lastStopTime!).inMilliseconds;
+      debugPrint('📥 [updateOriginY] 检查保护期 - elapsed=${elapsed}ms, y=$y');
+      if (elapsed < 5000 && y != 0) {
+        debugPrint('⚠️ [updateOriginY] 保护期内拒绝非零值 - y=$y, 已过${elapsed}ms');
+        return; // 拒绝更新
+      }
+    } else {
+      debugPrint('📥 [updateOriginY] _lastStopTime为null，跳过保护期检查');
+    }
+    
+    final updatedEntity = state.controlEntity.copyWith(y: y);
    emit(state.copyWith(controlEntity: updatedEntity));
+    debugPrint('📝 [updateOriginY] state已更新 - originY=$y');
  }
+  
  void updateOriginX(int x) {
-    final updatedEntity = state.controlEntity.copyWith(
-      x: x,
-    );
+    debugPrint('📥 [updateOriginX] 被调用 - x=$x, _lastStopTime=$_lastStopTime');
+    // 🔥 关键修复：如果刚停止5000ms内，拒绝非零值的更新 - 与定时器保护期一致
+    if (_lastStopTime != null) {
+      final elapsed = DateTime.now().difference(_lastStopTime!).inMilliseconds;
+      debugPrint('📥 [updateOriginX] 检查保护期 - elapsed=${elapsed}ms, x=$x');
+      if (elapsed < 5000 && x != 0) {
+        debugPrint('⚠️ [updateOriginX] 保护期内拒绝非零值 - x=$x, 已过${elapsed}ms');
+        return; // 拒绝更新
+      }
+    } else {
+      debugPrint('📥 [updateOriginX] _lastStopTime为null，跳过保护期检查');
+    }
+    
+    final updatedEntity = state.controlEntity.copyWith(x: x);
    emit(state.copyWith(controlEntity: updatedEntity));
+    debugPrint('📝 [updateOriginX] state已更新 - originX=$x');
+  }
+  
+  /// 🔥 安全方法：同时清零双轴，确保只发送一次完全停止指令
+  Future<void> stopAllMovement() async {
+    debugPrint('🛑 [stopAllMovement] 开始执行 - 当前state: originX=${state.controlEntity.originX}, originY=${state.controlEntity.originY}');
+    
+    // 🔥 关键修复1：取消旧的清除定时器，防止多个定时器竞争
+    _clearStopTimeTimer?.cancel();
+    
+    // 🔥 关键修复2：立即设置 _lastStopTime，防止在 stopAllMovement 执行期间 state 被更新
+    _lastStopTime = DateTime.now();
+    debugPrint('🛑 [stopAllMovement] _lastStopTime 已设置为 $_lastStopTime');
+    
+    // 🔥 关键修复3：先暂停定时器，防止定时器在停止期间发送旧的运动指令
+    _timer?.cancel();
+    _timer = null; // 🔥 彻底清空，防止重复启动
+    
+    final updatedEntity = state.controlEntity.copyWith(x: 0, y: 0);
+    
+    // 一次性更新双轴（即使无权限也要更新本地state）
+    emit(state.copyWith(controlEntity: updatedEntity));
+    
+    // 🔥 安全底线：停止指令必须无视权限强制发送！
+    debugPrint('🛑 [stopAllMovement] 双轴归零,发送停止指令 - originX=0, originY=0');
+    await _sendStopCommandRepeatedly(updatedEntity); // ✅ 等待所有指令发送完成
+    
+    // 🔥 恢复定时器（但保护期内不会发送任何指令）
+    await Future.delayed(const Duration(milliseconds: 500)); // 🔥 等待500ms让下位机执行停止
+    startControlLoop();
+    
+    // 🔥 关键修复4：使用 Timer 而不是 Future.delayed，确保只有一个定时器在运行
+    _clearStopTimeTimer = Timer(const Duration(seconds: 5), () {
+      _lastStopTime = null;
+      debugPrint('✅ [保护期] 5秒后自动清除标记');
+    });
+    
+    debugPrint('✅ [stopAllMovement] 执行完成');
+  }
+  
+  /// 🔥 统一方法：连续发送30次停止指令，彻底清空TCP缓冲区
+  Future<void> _sendStopCommandRepeatedly(MachineControlStatusEntity stopEntity) async {
+    debugPrint('🛑 [紧急停止] 开始连续发送30次停止指令 - originX=${stopEntity.originX}, originY=${stopEntity.originY}');
+    // 🔥 注意：_lastStopTime 已经在 stopAllMovement() 中设置了，这里不需要再设置
+    
+    int sentCount = 0;
+    // 🔥 关键修复：每次发送间隔5ms，避免TCP合并/丢弃
+    for (int i = 0; i < 20; i++) {
+      _repository.sendControlMachineCmd(stopEntity);
+      sentCount++;
+      if (i % 5 == 0) {
+        debugPrint('🛑 [紧急停止] 已发送第${i + 1}次');
+      }
+      if (i < 19) {
+        await Future.delayed(const Duration(milliseconds: 5));
+      }
+    }
+    
+    // 🔥 延迟后再发送10次（双重保险，对抗网络抖动）
+    await Future.delayed(const Duration(milliseconds: 100));
+    for (int i = 0; i < 10; i++) {
+      _repository.sendControlMachineCmd(stopEntity);
+      sentCount++;
+      if (i < 9) {
+        await Future.delayed(const Duration(milliseconds: 5));
+      }
+    }
+    
+    debugPrint('✅ [紧急停止] 所有30次停止指令已发出');
  }

  // 5. 停止控制循环
@@ -302,6 +450,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  @override
  Future<void> close() {
    _timer?.cancel(); // 退出页面时务必销毁定时器
+    _clearStopTimeTimer?.cancel(); // 🔥 清除保护期定时器
    _kickOutSub?.cancel();
    _stringMessageSub?.cancel();
    return super.close();
@@ -416,6 +565,10 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
      return 9999;
    }
  }
+//app退出远程遥控界面释放权限
+  Future<bool> releasePermission(String platform) async {
+    return await _repository.releasePermission(platform);
+  }



--- a/lib/features/remote_control/presentation/pages/remote_control_page.dart
+++ b/lib/features/remote_control/presentation/pages/remote_control_page.dart
@@ -28,11 +28,13 @@ class RemoteControlPage extends StatefulWidget {
 class _RemoteControlPageState extends State<RemoteControlPage> {
  String _videoStreamUrl = "";
  late RemoteControlCubit _cubit;
+  DevicesCubit? _devicesCubit;

  @override
  void didChangeDependencies() {
    super.didChangeDependencies();
    _cubit = context.read<RemoteControlCubit>();
+    _devicesCubit = context.read<DevicesCubit>();
  }
  @override
  void initState() {
@@ -53,9 +55,16 @@ class _RemoteControlPageState extends State<RemoteControlPage> {

  @override
  void dispose() {
+    // 释放远程控制权限
+    // _cubit.releasePermission("app");
+    //print("远程控制要推出啦");
+    final deviceState = _devicesCubit?.state;
+    if (deviceState?.selectedDevice != null) {
+      _cubit.releasePermission("app");
+    }
+
    SystemChrome.setPreferredOrientations([DeviceOrientation.portraitUp]);
    SystemChrome.setEnabledSystemUIMode(SystemUiMode.edgeToEdge);
-    // context.read<RemoteControlCubit>().stopControlLoop();
    _cubit.stopControlLoop();
    super.dispose();
  }
@@ -138,7 +147,7 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
                                  width: sideAreaWidth,
                                  child: Align(
                                    alignment: Alignment.bottomCenter,
-                                    child: LeftJoystickArea(isLocked: remoteState.isLocked, width: sideAreaWidth * 0.5 * 0.7),
+                                    child: LeftJoystickArea(isLocked: remoteState.isLocked, width: sideAreaWidth * 0.45),
                                  ),
                                ),

@@ -156,7 +165,7 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
                                  width: sideAreaWidth,
                                  child: Align(
                                    alignment: Alignment.bottomCenter,
-                                    child: RightJoystickArea(isLocked: remoteState.isLocked, width: sideAreaWidth * 0.5 * 0.7),
+                                    child: RightJoystickArea(isLocked: remoteState.isLocked, width: sideAreaWidth * 0.45),
                                  ),
                                ),
                              ],
--- a/lib/features/remote_control/presentation/widgets/left_joystick_area.dart
+++ b/lib/features/remote_control/presentation/widgets/left_joystick_area.dart
@@ -1,69 +1,92 @@
+import 'dart:async';
 import 'package:cc_ui_kit/cc_ui_kit.dart';
 import 'package:flutter/material.dart';
-import 'package:flutter/services.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:vibration/vibration.dart';

 import '../bloc/remote_control_cubit.dart';

-class LeftJoystickArea extends StatelessWidget {
+class LeftJoystickArea extends StatefulWidget {
  final bool isLocked;
  final double width;

-  const LeftJoystickArea({Key? key, required this.isLocked, required this.width}) : super(key: key);
+  const LeftJoystickArea({
+    Key? key,
+    required this.isLocked,
+    required this.width,
+  }) : super(key: key);
+
+  @override
+  State<LeftJoystickArea> createState() => _LeftJoystickAreaState();
+}
+
+class _LeftJoystickAreaState extends State<LeftJoystickArea> {
+  int _lastSentY = 0;
+  bool _isTouching = false;

  @override
  Widget build(BuildContext context) {
    return Column(
-      mainAxisSize: MainAxisSize.min, // 紧凑布局
+      mainAxisSize: MainAxisSize.min,
      children: [
-        // 使用 IgnorePointer 处理锁定逻辑，对应 Android 的 isLocked 判断
        IgnorePointer(
-          ignoring: isLocked,
+          ignoring: widget.isLocked,
          child: AnimatedOpacity(
            duration: const Duration(milliseconds: 300),
-            opacity: isLocked ? 0.3 : 1.0, // 锁定后变透明
+            opacity: widget.isLocked ? 0.3 : 1.0,
            child: CCJoystick(
-              radius: width, // 对应 size(200.dp)
+              radius: widget.width,
              axisHint: AxisHint.forwardBackward,
              onValueChanged: (value) {
-                debugPrint('🎮 [左摇杆] value: ${value.y},${value.x}');
-                // 对应 viewModel.updateOriginY(y)
-                context.read<RemoteControlCubit>().updateOriginY(value.y);
-                Future.delayed(const Duration(milliseconds: 50), () {
-                  _triggerVibration();
-                });
+                // 标记：正在触摸
+                _isTouching = true;
+
+                int currentY = value.y.toInt();
+                if (currentY != _lastSentY) {
+                  _lastSentY = currentY;
+                  debugPrint('左摇杆的数据- x: 0, y: $currentY');
+                  context.read<RemoteControlCubit>().updateOriginY(currentY);
+                }
              },
              onPress: () {
-                // 对应 VibrateOnce(current, 100)
-                //HapticFeedback.mediumImpact();
+                _isTouching = true;
+                debugPrint('onPress');
                _triggerVibration();
              },
+              onPanEnd: () async {
+                // 🔥 松手 100% 归零
+                debugPrint('onPanEnd');
+                await _stopJoystick();
+              },
            ),
          ),
        ),
        const SizedBox(height: 18),
        Text(
          "前后控制",
-          style: TextStyle(color: Colors.white.withValues(alpha: 0.5), fontSize: 12, fontWeight: FontWeight.w500),
+          style: TextStyle(
+            color: Colors.white.withOpacity(0.5),
+            fontSize: 12,
+            fontWeight: FontWeight.w500,
+          ),
        ),
-        const SizedBox(height: 2),
      ],
    );
  }

-  void _triggerVibration() {
-    Vibration.hasVibrator()
-        .then((hasVibrator) {
-          if (hasVibrator ?? false) {
-            Vibration.vibrate(duration: 12);
-            debugPrint('📳 [右摇杆] 震动执行 - 10ms');
-          } else {
-            debugPrint('⚠️ [右摇杆] 设备不支持震动');
-          }
-        })
-        .catchError((e) {
-          debugPrint('❌ [右摇杆] 震动失败：$e');
-        });
+  // 统一停车方法（万能保险）
+  Future<void> _stopJoystick() async {
+    _isTouching = false;
+    _lastSentY = 0;
+    debugPrint('✅ 摇杆已停止 -> 强制 X=0, Y=0 停车');
+    
+    // 🔥 使用安全方法，一次性清零双轴，确保只发送 (X=0, Y=0)
+    await context.read<RemoteControlCubit>().stopAllMovement();
  }
-}
+
+  void _triggerVibration() {
+    Vibration.hasVibrator().then((has) {
+      if (has ?? false) Vibration.vibrate(duration: 12);
+    });
+  }
+}
--- a/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
+++ b/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
@@ -1,74 +1,77 @@
-import 'package:cc_ui_kit/cc_ui_kit.dart';
+  import 'package:cc_ui_kit/cc_ui_kit.dart';
 import 'package:flutter/material.dart';
-import 'package:flutter/services.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:vibration/vibration.dart';

 import '../bloc/remote_control_cubit.dart';

-class RightJoystickArea extends StatelessWidget {
+class RightJoystickArea extends StatefulWidget {
  final bool isLocked;
  final double width;

+  // 修复：删除重复的 key 定义
  const RightJoystickArea({
-    Key? key,
+    super.key,
    required this.isLocked,
    required this.width,
-  }) : super(key: key);
+  });
+
+  @override
+  State<RightJoystickArea> createState() => _RightJoystickAreaState();
+}
+
+class _RightJoystickAreaState extends State<RightJoystickArea> {
+  int _lastX = 0;

  @override
  Widget build(BuildContext context) {
    return Column(
-      mainAxisSize: MainAxisSize.min, // 垂直方向紧凑布局
+      mainAxisSize: MainAxisSize.min,
      children: [
-        // 1. 交互锁定逻辑：对应 Compose 的 isLocked 判断
        IgnorePointer(
-          ignoring: isLocked,
+          ignoring: widget.isLocked,
          child: AnimatedOpacity(
            duration: const Duration(milliseconds: 300),
-            opacity: isLocked ? 0.3 : 1.0, // 锁定后变透明/灰色
+            opacity: widget.isLocked ? 0.3 : 1.0,
            child: CCJoystick(
-              radius: width, // 对应 size(200.dp)
-              axisHint: AxisHint.leftRight, // 关键：指定为左右控制
+              radius: widget.width,
+              axisHint: AxisHint.leftRight,
              onValueChanged: (value) {
-                // 对应 viewModel.updateOriginX(x)
-               /// context.read<RemoteControlCubit>().updateOriginY(value.x);
-                context.read<RemoteControlCubit>().updateOriginX(value.x);
-                Future.delayed(const Duration(milliseconds: 50), () {
-                  _triggerVibration();
-                });
+                int currentX = value.x.toInt();
+                if (currentX == _lastX) return;
+                _lastX = currentX;
+
+                int finalX = currentX.abs() < 1 ? 0 : currentX;
+                debugPrint('右摇杆的数据- x: $finalX, y: 0');
+                context.read<RemoteControlCubit>().updateOriginX(finalX);
+              },
+              onPress: _triggerVibration,
+              onPanEnd: () async {
+                debugPrint('🕹️ [右摇杆] 松手，强制 X=0, Y=0');
+                _lastX = 0;
+                
+                // 🔥 使用安全方法，一次性清零双轴，确保只发送 (X=0, Y=0)
+                await context.read<RemoteControlCubit>().stopAllMovement();
              },
-              onPress: ()  {
-                _triggerVibration();
-              }
-              ,
            ),
          ),
        ),
        const SizedBox(height: 18),
-        // 2. 底部文字：对应 Text("左右控制", color = Color.Gray)
        Text(
          "左右控制",
          style: TextStyle(
-            color: Colors.white.withValues(alpha: 0.5),
+            color: Colors.white.withOpacity(0.5),
            fontSize: 12,
            fontWeight: FontWeight.w500,
          ),
        ),
-        const SizedBox(height: 2),
      ],
    );
  }
+
  void _triggerVibration() {
-    Vibration.hasVibrator().then((hasVibrator) {
-      if (hasVibrator ?? false) {
-        Vibration.vibrate(duration: 12);
-        debugPrint('📳 [右摇杆] 震动执行 - 100ms');
-      } else {
-        debugPrint('⚠️ [右摇杆] 设备不支持震动');
-      }
-    }).catchError((e) {
-      debugPrint('❌ [右摇杆] 震动失败：$e');
+    Vibration.hasVibrator().then((has) {
+      if (has ?? false) Vibration.vibrate(duration: 12);
    });
  }
-}
+}
--- a/packages/cc_ui_kit/lib/src/cc_joystick.dart
+++ b/packages/cc_ui_kit/lib/src/cc_joystick.dart
@@ -14,6 +14,7 @@ class CCJoystick extends StatefulWidget {
  final AxisHint axisHint;
  final Function(JoystickValue) onValueChanged;
  final VoidCallback? onPress;
+  final Future<void> Function()? onPanEnd; // 🔥 修复：改为异步回调
  final double radius;

  const CCJoystick({
@@ -21,6 +22,7 @@ class CCJoystick extends StatefulWidget {
    required this.axisHint,
    required this.onValueChanged,
    this.onPress,
+    this.onPanEnd, // 🔥 新增
    this.radius = 80,
  });

@@ -32,6 +34,7 @@ class _CustomJoystickState extends State<CCJoystick>
    with SingleTickerProviderStateMixin {
  Offset _offset = Offset.zero;
  late AnimationController _floatController;
+  bool _isPanning = false; // 🔥 跟踪是否正在拖拽

  @override
  void initState() {
@@ -69,45 +72,73 @@ class _CustomJoystickState extends State<CCJoystick>

  @override
  Widget build(BuildContext context) {
-    return GestureDetector(
-      onPanStart: (_) => widget.onPress?.call(),
-      onPanUpdate: (details) {
-        setState(() {
-          Offset newOffset = _offset + details.delta;
-          double distance = newOffset.distance;
-          // 限制在圆圈内
-          if (distance <= widget.radius) {
-            _offset = newOffset;
-          } else {
-            double angle = atan2(newOffset.dy, newOffset.dx);
-            _offset = Offset(
-              cos(angle) * widget.radius,
-              sin(angle) * widget.radius,
-            );
-          }
-        });
-        _updateValue();
+    return Listener(
+      // 🔥 兜底：监听全局指针抬起事件，防止 onPanEnd 丢失
+      onPointerUp: (_) async {
+        if (_isPanning) {
+          debugPrint('🛡️ [兜底] 全局指针抬起，强制归零');
+          await _handlePanEnd();
+        }
      },
-      onPanEnd: (_) {
-        setState(() => _offset = Offset.zero); // 归位
-        _updateValue();
-      },
-      child: AnimatedBuilder(
-        animation: _floatController,
-        builder: (context, child) {
-          return CustomPaint(
-            size: Size(widget.radius * 2, widget.radius * 2),
-            painter: JoystickPainter(
-              offset: _offset,
-              radius: widget.radius,
-              axisHint: widget.axisHint,
-              floatValue: _floatController.value * 10 - 5, // -5f 到 5f
-            ),
-          );
+      child: GestureDetector(
+        behavior: HitTestBehavior.opaque,
+        onPanStart: (_) {
+          _isPanning = true;
+          widget.onPress?.call();
        },
+        onPanUpdate: (details) {
+          setState(() {
+            Offset newOffset = _offset + details.delta;
+            double distance = newOffset.distance;
+            // 限制在圆圈内
+            if (distance <= widget.radius) {
+              _offset = newOffset;
+            } else {
+              double angle = atan2(newOffset.dy, newOffset.dx);
+              _offset = Offset(
+                cos(angle) * widget.radius,
+                sin(angle) * widget.radius,
+              );
+            }
+          });
+          _updateValue();
+        },
+        onPanEnd: (_) async {
+          debugPrint('✋ [正常] onPanEnd 触发');
+          await _handlePanEnd();
+        },
+        onPanCancel: () async {
+          // 🔥 新增：处理手势取消（如来电中断）
+          debugPrint('⚠️ [异常] onPanCancel 触发');
+          await _handlePanEnd();
+        },
+        child: AnimatedBuilder(
+          animation: _floatController,
+          builder: (context, child) {
+            return CustomPaint(
+              size: Size(widget.radius * 2, widget.radius * 2),
+              painter: JoystickPainter(
+                offset: _offset,
+                radius: widget.radius,
+                axisHint: widget.axisHint,
+                floatValue: _floatController.value * 10 - 5, // -5f 到 5f
+              ),
+            );
+          },
+        ),
      ),
    );
  }
+
+  // 🔥 统一的松手处理逻辑
+  Future<void> _handlePanEnd() async {
+    if (!_isPanning) return;
+    _isPanning = false;
+    setState(() => _offset = Offset.zero); // 归位
+    // 🔥 关键修复：不调用 _updateValue()，避免触发 onValueChanged 导致重复发送
+    // _updateValue(); // ❌ 注释掉，防止发送错误的停止指令
+    await widget.onPanEnd?.call(); // 🔥 等待异步回调完成
+  }
 }

 class JoystickPainter extends CustomPainter {