397 lines
13 KiB
Dart
397 lines
13 KiB
Dart
import 'dart:async';
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import 'dart:convert';
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import 'dart:ffi';
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import 'package:flutter/cupertino.dart';
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import 'package:flutter/services.dart';
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import 'package:flutter_bloc/flutter_bloc.dart';
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import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
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import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
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import '../../../../core/network/net_message_dispatcher.dart';
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import '../../../devices/domain/entities/running_status_entity.dart';
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import '../../domain/entities/machine_control_status_entity.dart';
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import '../../domain/repositories/remote_control_repository.dart';
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import '../../domain/usecase/remote_control_usecase.dart';
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class RemoteControlCubit extends Cubit<RemoteControlState> {
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final RemoteControlRepository _repository;
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final RequestControlPermissionUseCase _requestControlPermissionUseCase;
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Timer? _timer;
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StreamSubscription? _kickOutSub; // 新增：用于管理监听生命周期
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final NetMessageDispatcher dispatcher;
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StreamSubscription? _stringMessageSub; //
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static const platform = MethodChannel('com.maibu.satabot/ping');
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int _currentPing = 50;
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RemoteControlCubit(this._repository, this._requestControlPermissionUseCase, this.dispatcher)
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: super(
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RemoteControlState(
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controlEntity: MachineControlStatusEntity(),
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runningStatusModel: RunningStatusModel(),
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),
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) {
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_initPacketListener();
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_initStringMessageListener(); // 🔥 新增
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}
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void _initStringMessageListener() {
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print('>>> [RemoteControl] begin 初始化 0x02 字符串监听器');
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_stringMessageSub?.cancel();
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_stringMessageSub = dispatcher.onStringMessage().listen((message) async {
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print('>>> [RemoteControl] 收到 0x02 字符串推送：$message');
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if (message.isEmpty) {
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print('⚠️ [RemoteControl] 消息为空，跳过解析');
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return;
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}
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try {
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// 🔥 关键：使用与 DeviceStatusBloc 相同的解析方法
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print('>>> [RemoteControl] 🔍 开始解析数据（使用 fromFields）...');
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final fields = message.trim().split(',');
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print('>>> [RemoteControl] 字段数量：${fields.length}');
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if (fields.length < 18) {
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print('⚠️ [RemoteControl] 字段不足：${fields.length}，期望 ≥18');
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return;
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}
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// 🔥 使用 RunningStatusEntity.fromFields() 解析
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final status = RunningStatusEntity.fromFields(fields);
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// 🔥 只提取电压、电量、控制模式
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final voltage = status.voltage;
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final battery = status.battery;
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final controlMode = status.controlMode == '3' ? '远程模式' : '本地模式';
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// final c = getPing('1.95.137.212'); // ⚠️ 替换为你的服务器 IP
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emit(state.copyWith(
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runningStatusModel: state.runningStatusModel.copyWith(
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voltage: voltage.toString(), // 更新电压
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battery: battery.toString(), // 更新电量
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controlMode: controlMode, // 更新控制模式
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),
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battery: int.tryParse(battery) ?? 0,
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//ping: c, // 这里直接使用异步返回的数值
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));
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} catch (e, stackTrace) {
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print('>>> [RemoteControl] ❌ 解析失败：$e');
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// print('>>> [RemoteControl] ❌ 堆栈跟踪：$stackTrace');
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// print('>>> [RemoteControl] ❌ 原始消息：$message');
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}
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});
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print('>>> [RemoteControl] ✅ 0x02 字符串监听器已建立完成');
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}
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// 🔥 超简单方法：传入 IP，得到 ping 值
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// 🔥 辅助方法：更新运行状态
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void _updateStatusFromDevice(RunningStatusModel newStatus) {
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debugPrint('✅ [_updateStatusFromDevice] 收到运行状态更新：$newStatus');
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if (!isClosed) {
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emit(state.copyWith(
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runningStatusModel: newStatus,
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voltage: int.tryParse(newStatus.voltage) ?? 0,
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battery: int.tryParse(newStatus.battery) ?? 0,
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));
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debugPrint('✅ [更新运行状态] 电压：${newStatus.voltage}V, 电量：${newStatus.battery}%');
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}
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}
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// 🔥 辅助方法：更新运行状态
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// 1. 初始化回包监听 (如 0x12 权限)
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// void _initPacketListener() {
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// _repository.responseStream.listen((packet) {
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// if (packet.command == 0x12) {
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// // 根据负载判断是否有权限，更新状态
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// emit(state.copyWith(hasPermission: true));
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// }
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// });
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// }
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void _initPacketListener() {
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print('>>> [RemoteControl] begin 初始化 0x12 监听器');
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_kickOutSub?.cancel(); // 防止重复监听
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_kickOutSub = dispatcher.onCommand(0x12).listen((packet) {
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print('>>> [RemoteControl] 收到 0x12 原始包，payload 长度=${packet.payload.length}');
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try {
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// 🔥 关键：手动去掉最后 2 个 CRC 字节
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String jsonString;
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if (packet.payload.length > 2) {
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jsonString = utf8.decode(packet.payload.sublist(0, packet.payload.length - 2));
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} else {
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jsonString = utf8.decode(packet.payload);
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}
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print('>>> [RemoteControl] 去除 CRC 后的 JSON: $jsonString');
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final jsonMap = jsonDecode(jsonString);
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// 🔥 区分两种数据格式
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final requestType = jsonMap['request'];
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final platform = jsonMap['platform'];
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final respondData = jsonMap['respond'];
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print('>>> [RemoteControl] 📋 requestType=$requestType, platform=$platform');
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// 情况 1: 响应格式 - {"respond":{"switchResult":true,"deviceId":"...","holder":"you"}}
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if (respondData != null && respondData is Map) {
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final switchResult = respondData['switchResult'];
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print('>>> [RemoteControl] 📊 收到切换结果响应：switchResult = $switchResult');
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if (!isClosed) {
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if (switchResult == true) {
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// 切换成功，当前 APP 失去控制权
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emit(state.copyWith(hasPermission: true, showPermissionRequestDialog: false));
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print('>>> [RemoteControl] ✅ 权限已切');
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} else {
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// 切换失败或拒绝，保持当前状态
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emit(state.copyWith(showPermissionRequestDialog: false));
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print('>>> [RemoteControl] ❌ 权限切换失败/被拒绝');
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}
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}
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}
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// 情况 2: 请求格式 - {"request":"switch_control","deviceId":"...","platform":"web",...}
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else if (requestType == 'switch_control') {
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// 🔥 关键判断：只有当是其他平台（web）请求时才弹窗
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if (platform != null && platform.toString().toLowerCase() != 'app') {
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print('>>> [RemoteControl] 🚨 $platform 端请求控制权，打开弹窗询问用户');
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if (!isClosed) {
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emit(state.copyWith(showPermissionRequestDialog: true));
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}
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} else {
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print('>>> [RemoteControl] ℹ️ APP 自己的请求回显，忽略不弹窗');
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}
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}
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// 情况 3: 异地登录通知 - {"request":"have_logged_in",...}
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else if (requestType == 'have_logged_in') {
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print('>>> [RemoteControl] ⚠️ 检测到异地登录，打开弹窗提示');
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if (!isClosed) {
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emit(state.copyWith(showPermissionRequestDialog: true));
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}
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}
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else {
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print('>>> [RemoteControl] ℹ️ 未知类型的 0x12 包，忽略');
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}
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} catch (e) {
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print('>>> [RemoteControl] ❌ 解析失败：$e');
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}
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});
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print('>>> [RemoteControl] ✅ 0x12 监听器已建立完成');
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}
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// 2. 开启 100ms 控制循环 (在进入遥控页面或点击“开始”时调用)
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void startControlLoop() {
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_timer?.cancel();
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_timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
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// 核心调用：直接把 state 里的实体丢给 repository
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_repository.sendControlMachineCmd(state.controlEntity);
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});
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emit(state.copyWith(status: RemoteControlStatus.controlling));
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}
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// 3. 更新摇杆数据
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void updateJoystick(double x, double y) {
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final updatedEntity = state.controlEntity.copyWith(
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x: x.toInt(),
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y: y.toInt(),
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);
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emit(state.copyWith(controlEntity: updatedEntity));
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}
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// 4. 更新功能开关 (比如割刀速度、灯光、点火等)
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void updateFunction({int? mower, int? lift, int? ignition, bool? emergency}) {
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debugPrint('🔧 [updateFunction] 调用 - mower: $mower, lift: $lift, ignition: $ignition, emergency: $emergency');
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final updatedEntity = state.controlEntity.copyWith(
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mower: mower,
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lift: lift,
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ignition: ignition,
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emergency: emergency,
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);
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//emit(state.copyWith(controlEntity: updatedEntity));
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emit(state.copyWith(
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controlEntity: updatedEntity,
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isEmergency: emergency ?? state.isEmergency,
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));
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debugPrint('✅ [updateFunction] 状态已更新并 emit');
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}
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void updateOriginY(int y) {
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final updatedEntity = state.controlEntity.copyWith(
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y: y,
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);
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emit(state.copyWith(controlEntity: updatedEntity));
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}
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void updateOriginX(int x) {
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final updatedEntity = state.controlEntity.copyWith(
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x: x,
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);
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emit(state.copyWith(controlEntity: updatedEntity));
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}
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// 5. 停止控制循环
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void stopControlLoop() {
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_timer?.cancel();
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_timer = null;
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emit(state.copyWith(status: RemoteControlStatus.initial));
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}
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void toggleLock() {
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emit(state.copyWith(isLocked: !state.isLocked));
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}
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void togglePermissionDialog(bool show) {
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emit(state.copyWith(showPermissionRequestDialog: show));
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}
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void requestControlPermission() {
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// 1. 关闭弹窗
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emit(state.copyWith(showPermissionRequestDialog: false));
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}
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void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
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void toggleRightPip() => emit(state.copyWith(showRightPip: !state.showRightPip));
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@override
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Future<void> close() {
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_timer?.cancel(); // 退出页面时务必销毁定时器
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_kickOutSub?.cancel();
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_stringMessageSub?.cancel();
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return super.close();
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}
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void updateChassisLift(int i) {}
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void updateEmergency(bool bool) {
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debugPrint('🚨 [急停] ${bool ? "触发急停!" : "解除急停"}');
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updateFunction(emergency: bool);
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}
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void respondPermission(bool bool, String deviceId) {
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emit(state.copyWith(showPermissionRequestDialog: false));
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// 2. 发送响应到服务端
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_repository.respondPermission(bool, deviceId);
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// 3. 根据用户选择更新控制状态
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if (bool) {
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// 用户同意 → APP 失去控制权，Web 端获得控制权
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emit(state.copyWith(hasPermission: false));
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//路由到首页home
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} else {
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// 用户拒绝 → APP 继续保持控制权
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emit(state.copyWith(hasPermission: true));
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}
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}
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void requestControlPermissionS(String deviceName, String deviceId) async {
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// 1. 关闭弹窗
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emit(state.copyWith(showPermissionRequestDialog: false));
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// 2. 调用 UseCase
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final result = await _requestControlPermissionUseCase(
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RequestControlPermissionParams(
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deviceName: deviceName,
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deviceId: deviceId,
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),
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);
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// 3. 处理结果
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result.fold(
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(failure) {
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print('❌ [RemoteControl] 请求控制权限失败：${failure.message}');
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// 可以在这里显示错误提示或重新打开弹窗
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emit(state.copyWith(showPermissionRequestDialog: true));
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},
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(success) {
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// 更新状态
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print('✅ [RemoteControl] 请求控制权限成功：$success');
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///处理result
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if(success){
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emit(state.copyWith(hasPermission: true));
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}else{
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emit(state.copyWith(hasPermission: false));
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}
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print('✅ c：$success');
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// 权限申请已发送，等待 0x12 回包更新状态
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},
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);
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}
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/// 发送底盘指令
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void sendChassisCommand(int i) {
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debugPrint(' [底盘指令] ${i}');
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updateFunction(lift: i);
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}
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/// 发送割刀指令
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void sendMowerCommand(int i) {
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debugPrint(' [割刀指令] ${i}');
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updateFunction(mower: i);
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}
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/// 发送点火指令
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void sendFireCommand(int i) {
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//void updateFunction({int? mower, int? lift, int? ignition, bool? emergency})
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// updateFunction(mower:0, lift: 0, ignition: i, emergency: false);
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debugPrint(' [点火指令] ${i}');
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updateFunction(ignition: i);
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}
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// 发送障碍物识别指令
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void toggleObstacleRecognition() {
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emit(state.copyWith(obstacleRecognitionFlag: !state.obstacleRecognitionFlag));
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}
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void toggleTopLeftExpand() {
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emit(state.copyWith(topRightIsExpanded: !state.topRightIsExpanded));
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}
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int getPing(String host) {
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print('>>> [RemoteControl] 📡 开始 ping $host...');
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// 后台异步获取，不阻塞
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platform.invokeMethod('ping', {
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'host': host,
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'count': 1,
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'timeout': 2,
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}).then((result) {
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final success = result['success'] as bool? ?? false;
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final delay = (result['delayMs'] as num?)?.toInt() ?? 100;
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_currentPing = success ? delay.clamp(0, 100) : 100;
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print('📶 [Ping 结果] $host - $_currentPing ms');
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// 获取到新值后，再次 emit 更新 state
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if (!isClosed) {
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emit(state.copyWith(ping: _currentPing));
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}
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}).catchError((e) {
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print('⚠️ [Ping 错误] $e');
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_currentPing = 100;
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});
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return _currentPing; // 立即返回当前值
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}
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}
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