397 lines
14 KiB
Dart
397 lines
14 KiB
Dart
import 'dart:async';
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import 'dart:math';
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import 'package:flutter/material.dart';
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import 'package:flutter_map/flutter_map.dart';
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import 'package:geolocator/geolocator.dart';
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import 'package:latlong2/latlong.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/BottomDirectionLine.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/common/enum.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/map/CenterLocation.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/map/HeadingPointer.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/startpoint_area.dart';
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import '../path_list_pages.dart';
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class MapPageEnterprise extends StatefulWidget {
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const MapPageEnterprise({Key? key}) : super(key: key);
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@override
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State<MapPageEnterprise> createState() => _MapPageEnterpriseState();
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}
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class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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final MapController _mapController = MapController();
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LatLng? _currentLatLng;
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StreamSubscription<Position>? _positionSub;
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bool _hasMovedOnce = false;
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bool _isPanelOpen = false; // 控制面板显示/隐藏
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bool _directionBoxOpen = false; //航线面板显示/隐藏
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RobotMode _currentRobotMode = RobotMode.point; //打点模式
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AreaMode _currentAreaMode = AreaMode.work; //作业区域还是障碍物区域
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WorkMode? _currentWorkMode = WorkMode.bow; // 当前作业模式
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// ========== 核心新增状态 ==========
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List<LatLng> _markedPoints = []; // 存储所有打点坐标
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LatLng get _mapCenter => _mapController.center; // 实时获取地图中心坐标
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double _headingAngle = 0.0; // 航向角（单位：度）
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// =================================
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@override
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void initState() {
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super.initState();
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_initLocationEnterprise();
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// 监听地图移动事件，实时更新连线
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_mapController.mapEventStream.listen((event) {
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if (event is MapEventMove || event is MapEventMoveEnd) {
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setState(() {}); // 触发UI刷新，更新连线
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}
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});
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}
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/// ===============================
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/// 企业级定位初始化（已修复坐标系）
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/// ===============================
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Future<void> _initLocationEnterprise() async {
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final serviceEnabled = await Geolocator.isLocationServiceEnabled();
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if (!serviceEnabled) return;
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LocationPermission permission = await Geolocator.checkPermission();
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if (permission == LocationPermission.denied) {
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permission = await Geolocator.requestPermission();
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}
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if (permission != LocationPermission.whileInUse &&
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permission != LocationPermission.always) {
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return;
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}
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// 1️⃣ 首次强制获取定位
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final position = await Geolocator.getCurrentPosition(
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desiredAccuracy: LocationAccuracy.bestForNavigation,
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);
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final gcj = wgs84ToGcj02(position.latitude, position.longitude);
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_updateLocation(gcj, moveMap: true);
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// 2️⃣ 实时监听（不再强制移动地图）
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_positionSub =
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Geolocator.getPositionStream(
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locationSettings: const LocationSettings(
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accuracy: LocationAccuracy.bestForNavigation,
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distanceFilter: 2,
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),
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).listen((pos) {
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final gcj = wgs84ToGcj02(pos.latitude, pos.longitude);
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_updateLocation(gcj, moveMap: false);
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});
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}
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/// ===============================
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/// 更新位置
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/// ===============================
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void _updateLocation(LatLng latLng, {bool moveMap = false}) {
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setState(() {
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_currentLatLng = latLng;
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});
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if (moveMap && !_hasMovedOnce) {
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_hasMovedOnce = true;
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_mapController.move(latLng, 17);
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}
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}
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/// 手动回到当前位置
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void _moveToCurrentLocation() {
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if (_currentLatLng == null) return;
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_mapController.move(_currentLatLng!, 17);
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}
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// ========== 核心方法：打点逻辑 ==========
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void _addMarkedPoint() {
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setState(() {
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_markedPoints.add(_mapCenter); // 在地图中心打点
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});
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debugPrint(
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'新增打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude.toStringAsFixed(6)}, ${_mapCenter.longitude.toStringAsFixed(6)}',
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);
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}
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@override
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void dispose() {
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_positionSub?.cancel();
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super.dispose();
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}
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@override
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Widget build(BuildContext context) {
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final screenHeight = MediaQuery.of(context).size.height;
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final menuHeight = 16 * 6; // 假设 VerticalFloatMenu 有 6 个选项，每个高度为 56
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final maxTop = screenHeight - menuHeight;
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return Scaffold(
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body: SafeArea(
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child: Stack(
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children: [
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// 地图核心组件
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FlutterMap(
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mapController: _mapController,
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options: MapOptions(
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initialCenter:
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_currentLatLng ?? const LatLng(39.9042, 116.4074),
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initialZoom: 15,
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maxZoom: 18,
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// 禁止地图点击事件（避免和中心标冲突）
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onTap: (_, __) {}, // 空实现，禁用地图点击响应
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),
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children: [
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/// 高德瓦片（GCJ-02）
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TileLayer(
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urlTemplate:
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'https://webrd02.is.autonavi.com/appmaptile'
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'?style=8&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=1'
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'&key=bbb1f0f20eed6bf679eddf2625630aba',
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),
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/// ========== 新增：中心标与历史打点的虚线连线 ==========
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///
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/// if (_markedPoints.length >= 2)
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PolylineLayer(
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polylines: [
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for (int i = 0; i < _markedPoints.length - 1; i++)
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Polyline(
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points: [_markedPoints[i], _markedPoints[i + 1]],
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color: Colors.orange.withOpacity(0.5),
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strokeWidth: 1.5,
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),
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],
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),
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if (_markedPoints.isNotEmpty)
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PolylineLayer(
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polylines: [
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Polyline(
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points: [_mapCenter, _markedPoints.last],
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color: Colors.blue.withOpacity(0.5),
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strokeWidth: 1.5,
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),
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],
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),
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/// 当前定位 Marker
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if (_currentLatLng != null)
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MarkerLayer(
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markers: [
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Marker(
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point: _currentLatLng!,
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width: 40,
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height: 40,
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child: CustomPaint(
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size: const Size(40, 40),
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painter: HeadingMarkerPainter(
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headingAngle: _headingAngle,
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),
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),
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),
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],
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),
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/// ========== 新增：历史打点的绿色标记 ==========
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MarkerLayer(
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markers: _markedPoints.asMap().entries.map((entry) {
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int index = entry.key + 1; // 打点序号（从1开始）
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LatLng point = entry.value;
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return Marker(
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point: point,
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width: 80,
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height: 40,
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child: Column(
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mainAxisSize: MainAxisSize.min,
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children: [
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const SizedBox(height: 8), // 向下偏移8px（抵消默认的顶部对齐）
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// 绿色打点标记
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Container(
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width: 16,
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height: 16,
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decoration: const BoxDecoration(
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color: Color(0xFF00C853), // 绿色主题色
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shape: BoxShape.circle,
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boxShadow: [
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BoxShadow(color: Colors.black12, blurRadius: 2),
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],
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),
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child: Center(
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child: Text(
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'$index',
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style: const TextStyle(
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color: Colors.white,
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fontSize: 10,
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fontWeight: FontWeight.bold,
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),
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),
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),
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),
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],
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),
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);
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}).toList(),
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),
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],
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),
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/// ========== 核心：地图正中心固定定位标 ==========
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Positioned(
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left: 0,
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right: 0,
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top: 0,
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bottom: 0,
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child: Center(
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// 自定义十字标（中心精准对齐地图中心）
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child: SizedBox(
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width: 16, // 十字整体宽度
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height: 16, // 十字整体高度
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child: CustomPaint(
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painter: CrosshairPainter(), // 自定义十字画笔
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),
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),
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),
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),
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// 右侧悬浮菜单
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Positioned(
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height: 336,
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right: 16,
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top: maxTop > 10 ? 11 : maxTop,
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child: FloatingActionButton(
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onPressed: _moveToCurrentLocation,
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child: new VerticalFloatMenu(
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onEditTap: (bool isOpen) {
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setState(() {
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_isPanelOpen = isOpen;
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});
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},
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onWorkModeSelected: (mode) {
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_currentWorkMode = mode;
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debugPrint('外部收到作业模式：$mode');
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},
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),
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),
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),
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// 底部操作面板
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if (_isPanelOpen)
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Positioned(
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left: 0,
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right: 0,
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bottom: 0,
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child: BottomOperationPanel(
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initialRobotMode: RobotMode.point,
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initialAreaMode: AreaMode.work,
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onComplete: () {
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setState(() => _isPanelOpen = false);
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},
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onRobotModeChanged: (mode) {
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setState(() => _currentRobotMode = mode);
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debugPrint('外部收到机器人模式：$mode');
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},
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onAreaModeChanged: (mode) {
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setState(() => _currentAreaMode = mode);
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debugPrint('外部收到区域模式：$mode');
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},
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// ========== 绑定加号打点事件 ==========
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onAddTap: () {
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_addMarkedPoint(); // 点击加号打点
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debugPrint('外部处理加号按钮点击，已添加打点');
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},
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onSettingTap: () {
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setState(() {
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_directionBoxOpen = true;
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});
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debugPrint('外部处理设置按钮点击');
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},
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onLandTap: () {
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debugPrint('外部处理地块标签点击');
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},
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onRouteTap: () {
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debugPrint('外部处理航线标签点击');
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},
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),
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),
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// 航线方向面板
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if (_directionBoxOpen)
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Positioned(
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left: 0,
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right: 0,
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bottom: 0,
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child: RouteDirectionPanel(
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initialOptimalHeading: true,
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initialDirection: 0.0,
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onConfirm: (result) {
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debugPrint(
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'最优航向：${result['optimalHeading']}，角度：${result['direction']}',
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);
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setState(() => _directionBoxOpen = false);
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},
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onCancel: () {
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setState(() => _directionBoxOpen = false);
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},
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),
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),
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],
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),
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),
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);
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}
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}
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/// =======================================================
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/// 坐标转换：WGS84 -> GCJ02（国内高德/腾讯通用）
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/// =======================================================
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const double _pi = 3.14159265358979324;
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const double _a = 6378245.0;
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const double _ee = 0.00669342162296594323;
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LatLng wgs84ToGcj02(double lat, double lon) {
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if (_outOfChina(lat, lon)) {
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return LatLng(lat, lon);
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}
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double dLat = _transformLat(lon - 105.0, lat - 35.0);
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double dLon = _transformLon(lon - 105.0, lat - 35.0);
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double radLat = lat / 180.0 * _pi;
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double magic = sin(radLat);
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magic = 1 - _ee * magic * magic;
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double sqrtMagic = sqrt(magic);
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dLat = (dLat * 180.0) / ((_a * (1 - _ee)) / (magic * sqrtMagic) * _pi);
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dLon = (dLon * 180.0) / (_a / sqrtMagic * cos(radLat) * _pi);
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double mgLat = lat + dLat;
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double mgLon = lon + dLon;
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return LatLng(mgLat, mgLon);
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}
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bool _outOfChina(double lat, double lon) {
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return lon < 72.004 || lon > 137.8347 || lat < 0.8293 || lat > 55.8271;
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}
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double _transformLat(double x, double y) {
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double ret =
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-100.0 +
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2.0 * x +
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3.0 * y +
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0.2 * y * y +
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0.1 * x * y +
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0.2 * sqrt(x.abs());
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ret += (20.0 * sin(6.0 * x * _pi) + 20.0 * sin(2.0 * x * _pi)) * 2.0 / 3.0;
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ret += (20.0 * sin(y * _pi) + 40.0 * sin(y / 3.0 * _pi)) * 2.0 / 3.0;
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ret += (160.0 * sin(y / 12.0 * _pi) + 320 * sin(y * _pi / 30.0)) * 2.0 / 3.0;
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return ret;
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}
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double _transformLon(double x, double y) {
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double ret =
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300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(x.abs());
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ret += (20.0 * sin(6.0 * x * _pi) + 20.0 * sin(2.0 * x * _pi)) * 2.0 / 3.0;
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ret += (20.0 * sin(x * _pi) + 40.0 * sin(x / 3.0 * _pi)) * 2.0 / 3.0;
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ret +=
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(150.0 * sin(x / 12.0 * _pi) + 300.0 * sin(x / 30.0 * _pi)) * 2.0 / 3.0;
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return ret;
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}
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