204 lines
6.8 KiB
Dart
204 lines
6.8 KiB
Dart
// lib/features/devices/domain/entities/running_status_entity.dart
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import 'package:equatable/equatable.dart';
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class RunningStatusEntity extends Equatable {
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// === 基础电气信息 (字段 0-6) ===
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final double voltage; // [0] 电压 (V)
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final double leftTargetSpeed; // [1] 左轮目标速度
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final double rightTargetSpeed; // [2] 右轮目标速度
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final double leftMeasureSpeed; // [3] 左轮实测速度
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final double rightMeasureSpeed; // [4] 右轮实测速度
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final double leftCurrent; // [5] 左轮电流 (A)
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final double rightCurrent; // [6] 右轮电流 (A)
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// === 温度信息 (字段 7-9) ===
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final double leftMotorTemp; // [7] 左电机温度 (℃)
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final double rightMotorTemp; // [8] 右电机温度 (℃)
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final double chipTemp; // [9] 芯片温度 (℃)
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// === 姿态信息 (字段 10-12) ===
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final double yaw; // [10] 偏航角 (°)
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final double pitch; // [11] 俯仰角 (°)
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final double roll; // [12] 翻滚角 (°)
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// === GPS 信号质量 (字段 13-15) ===
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final int satelliteCnt; // [13] 卫星数量
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final int qual; // [14] 定位质量
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final int headingStatus; // [15] 航向状态
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// === GPS 位置信息 (字段 16-17) ===
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final double latitude; // [16] 纬度
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final double longitude; // [17] 经度
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// === 扩展信息 (字段 18-23) ===
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final String timestamp; // [18] 时间戳 (格式：20-1-11-31 08:00:00)
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final String knifeCuttingSpeed; // [19] 割刀速度
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final String controlMode; // [20] 控制模式
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final String battery; // [21] 电量百分比
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final String workingArea; // [22] 工作面积
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final String obstacleFlag; // [23] 障碍物标志
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const RunningStatusEntity({
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this.voltage = 0.0,
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this.leftTargetSpeed = 0.0,
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this.rightTargetSpeed = 0.0,
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this.leftMeasureSpeed = 0.0,
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this.rightMeasureSpeed = 0.0,
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this.leftCurrent = 0.0,
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this.rightCurrent = 0.0,
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this.leftMotorTemp = 0.0,
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this.rightMotorTemp = 0.0,
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this.chipTemp = 0.0,
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this.yaw = 0.0,
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this.pitch = 0.0,
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this.roll = 0.0,
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this.satelliteCnt = 0,
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this.qual = 0,
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this.headingStatus = 0,
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this.latitude = 0.0,
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this.longitude = 0.0,
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this.timestamp = '',
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this.knifeCuttingSpeed = '0',
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this.controlMode = '0',
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this.battery = '0',
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this.workingArea = '0',
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this.obstacleFlag = '0',
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});
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/// 从字段数组创建实体 (核心解析方法)
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factory RunningStatusEntity.fromFields(List<String> fields) {
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// 确保至少有 24 个字段，不足的用默认值填充
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while (fields.length < 24) {
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fields.add('');
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}
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return RunningStatusEntity(
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// 基础电气信息
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voltage: double.tryParse(fields[0]) ?? 0.0,
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leftTargetSpeed: double.tryParse(fields[1]) ?? 0.0,
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rightTargetSpeed: double.tryParse(fields[2]) ?? 0.0,
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leftMeasureSpeed: double.tryParse(fields[3]) ?? 0.0,
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rightMeasureSpeed: double.tryParse(fields[4]) ?? 0.0,
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leftCurrent: double.tryParse(fields[5]) ?? 0.0,
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rightCurrent: double.tryParse(fields[6]) ?? 0.0,
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// 温度信息
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leftMotorTemp: double.tryParse(fields[7]) ?? 0.0,
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rightMotorTemp: double.tryParse(fields[8]) ?? 0.0,
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chipTemp: double.tryParse(fields[9]) ?? 0.0,
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// 姿态信息
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yaw: double.tryParse(fields[10]) ?? 0.0,
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pitch: double.tryParse(fields[11]) ?? 0.0,
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roll: double.tryParse(fields[12]) ?? 0.0,
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// GPS 信号质量
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satelliteCnt: int.tryParse(fields[13]) ?? 0,
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qual: int.tryParse(fields[14]) ?? 0,
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headingStatus: int.tryParse(fields[15]) ?? 0,
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// GPS 位置信息
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latitude: double.tryParse(fields[16]) ?? 0.0,
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longitude: double.tryParse(fields[17]) ?? 0.0,
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// 扩展信息 (保持原始字符串，由调用方决定如何解析)
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timestamp: fields[18].trim(),
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knifeCuttingSpeed: fields[19].trim().isNotEmpty ? fields[19].trim() : '0',
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controlMode: fields[20].trim().isNotEmpty ? fields[20].trim() : '0',
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battery: fields[21].trim().isNotEmpty ? fields[21].trim() : '0',
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workingArea: fields[22].trim().isNotEmpty ? fields[22].trim() : '0',
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obstacleFlag: fields[23].trim().isNotEmpty ? fields[23].trim() : '0',
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);
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}
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/// copyWith 方法 (用于局部更新)
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RunningStatusEntity copyWith({
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double? voltage,
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double? leftTargetSpeed,
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double? rightTargetSpeed,
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double? leftMeasureSpeed,
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double? rightMeasureSpeed,
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double? leftCurrent,
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double? rightCurrent,
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double? leftMotorTemp,
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double? rightMotorTemp,
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double? chipTemp,
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double? yaw,
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double? pitch,
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double? roll,
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int? satelliteCnt,
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int? qual,
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int? headingStatus,
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double? latitude,
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double? longitude,
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String? timestamp,
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String? knifeCuttingSpeed,
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String? controlMode,
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String? battery,
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String? workingArea,
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String? obstacleFlag,
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}) {
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return RunningStatusEntity(
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voltage: voltage ?? this.voltage,
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leftTargetSpeed: leftTargetSpeed ?? this.leftTargetSpeed,
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rightTargetSpeed: rightTargetSpeed ?? this.rightTargetSpeed,
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leftMeasureSpeed: leftMeasureSpeed ?? this.leftMeasureSpeed,
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rightMeasureSpeed: rightMeasureSpeed ?? this.rightMeasureSpeed,
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leftCurrent: leftCurrent ?? this.leftCurrent,
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rightCurrent: rightCurrent ?? this.rightCurrent,
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leftMotorTemp: leftMotorTemp ?? this.leftMotorTemp,
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rightMotorTemp: rightMotorTemp ?? this.rightMotorTemp,
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chipTemp: chipTemp ?? this.chipTemp,
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yaw: yaw ?? this.yaw,
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pitch: pitch ?? this.pitch,
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roll: roll ?? this.roll,
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satelliteCnt: satelliteCnt ?? this.satelliteCnt,
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qual: qual ?? this.qual,
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headingStatus: headingStatus ?? this.headingStatus,
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latitude: latitude ?? this.latitude,
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longitude: longitude ?? this.longitude,
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timestamp: timestamp ?? this.timestamp,
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knifeCuttingSpeed: knifeCuttingSpeed ?? this.knifeCuttingSpeed,
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controlMode: controlMode ?? this.controlMode,
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battery: battery ?? this.battery,
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workingArea: workingArea ?? this.workingArea,
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obstacleFlag: obstacleFlag ?? this.obstacleFlag,
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);
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}
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@override
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List<Object?> get props => [
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voltage,
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leftTargetSpeed,
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rightTargetSpeed,
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leftMeasureSpeed,
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rightMeasureSpeed,
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leftCurrent,
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rightCurrent,
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leftMotorTemp,
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rightMotorTemp,
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chipTemp,
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yaw,
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pitch,
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roll,
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satelliteCnt,
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qual,
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headingStatus,
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latitude,
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longitude,
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timestamp,
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knifeCuttingSpeed,
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controlMode,
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battery,
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workingArea,
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obstacleFlag,
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];
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@override
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String toString() {
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return 'RunningStatusEntity(voltage: $voltage, chipTemp: $chipTemp, '
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'latitude: $latitude, longitude: $longitude, timestamp: $timestamp)';
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}
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}
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