flutterApp/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart

import 'dart:async';
import 'dart:convert';
import 'dart:ffi';

import 'package:flutter_bloc/flutter_bloc.dart';
import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';

import '../../../../core/network/net_message_dispatcher.dart';
import '../../domain/entities/machine_control_status_entity.dart';
import '../../domain/repositories/remote_control_repository.dart';
import '../../domain/usecase/remote_control_usecase.dart';

class RemoteControlCubit extends Cubit<RemoteControlState> {
  final RemoteControlRepository _repository;
  final RequestControlPermissionUseCase _requestControlPermissionUseCase;
  Timer? _timer;
  StreamSubscription? _kickOutSub; // 新增：用于管理监听生命周期
  final NetMessageDispatcher dispatcher;

  RemoteControlCubit(this._repository,  this._requestControlPermissionUseCase, this.dispatcher)
    : super(
        RemoteControlState(
          controlEntity: MachineControlStatusEntity(),
          runningStatusModel: RunningStatusModel(),
        ),
      ) {
    _initPacketListener();
  }

  // 1. 初始化回包监听 (如 0x12 权限)
  // void _initPacketListener() {
  //   _repository.responseStream.listen((packet) {
  //     if (packet.command == 0x12) {
  //       // 根据负载判断是否有权限，更新状态
  //       emit(state.copyWith(hasPermission: true));
  //     }
  //   });
  // }
  void _initPacketListener() {
    print('>>> [RemoteControl] begin 初始化 0x12 监听器');
    _kickOutSub?.cancel(); // 防止重复监听

    _kickOutSub = dispatcher.onCommand(0x12).listen((packet) {
      print('>>> [RemoteControl] 收到 0x12 原始包，payload 长度=${packet.payload.length}');

      try {
        // 🔥 关键：手动去掉最后 2 个 CRC 字节
        String jsonString;
        if (packet.payload.length > 2) {
          jsonString = utf8.decode(packet.payload.sublist(0, packet.payload.length - 2));
        } else {
          jsonString = utf8.decode(packet.payload);
        }

        print('>>> [RemoteControl] 去除 CRC 后的 JSON: $jsonString');

        final jsonMap = jsonDecode(jsonString);
        final respond = jsonMap['request'] ?? '';
        print('>>> [RemoteControl] ✅ 响应结果：$respond');
        // 🔥 当 Web 端推送 switch_control 权限时，更新状态触发弹窗
        if (respond == 'switch_control') {
          print('>>> [RemoteControl] ✅ 获得控制权 (respond=switch_control)，准备打开弹窗');
          emit(state.copyWith(hasPermission: true, showPermissionRequestDialog: true));
        } else if (respond == 'have_logged_in') {
          // 如果是异地登录，也显示弹窗提示
          print('>>> [RemoteControl] ⚠️ 检测到异地登录');
          emit(state.copyWith(showPermissionRequestDialog: true));
        }
      } catch (e) {
        print('>>> [RemoteControl] ❌ 解析失败：$e');
      }
    });

    print('>>> [RemoteControl] ✅ 0x12 监听器已建立完成');
  }

  // 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) {
      // 核心调用：直接把 state 里的实体丢给 repository
      _repository.sendControlMachineCmd(state.controlEntity);
    });
    emit(state.copyWith(status: RemoteControlStatus.controlling));
  }

  // 3. 更新摇杆数据
  void updateJoystick(double x, double y) {
    final updatedEntity = state.controlEntity.copyWith(
      x: x.toInt(),
      y: y.toInt(),
    );
    emit(state.copyWith(controlEntity: updatedEntity));
  }

  // 4. 更新功能开关 (比如割刀速度、灯光、点火等)
  void updateFunction({int? mower, int? lift, int? ignition, bool? emergency}) {
    final updatedEntity = state.controlEntity.copyWith(
      mower: mower,
      lift: lift,
      ignition: ignition,
      emergency: emergency,
    );
    emit(state.copyWith(controlEntity: updatedEntity));
  }

  void updateOriginY(int y) {
    final updatedEntity = state.controlEntity.copyWith(
      y: y,
    );
    emit(state.copyWith(controlEntity: updatedEntity));
  }
  void updateOriginX(int x) {
    final updatedEntity = state.controlEntity.copyWith(
      x: x,
    );
    emit(state.copyWith(controlEntity: updatedEntity));
  }

  // 5. 停止控制循环
  void stopControlLoop() {
    _timer?.cancel();
    _timer = null;
    emit(state.copyWith(status: RemoteControlStatus.initial));
  }

  void toggleLock() {}

  void togglePermissionDialog(bool show) {
    emit(state.copyWith(showPermissionRequestDialog: show));
  }

  void requestControlPermission() {
    // 1. 关闭弹窗
    emit(state.copyWith(showPermissionRequestDialog: false));

    // 2. 这里执行你发送 0x12 指令的逻辑
    // _sendProtocolData(0x12, ...);
  }

  void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
  void toggleRightPip() =>
      emit(state.copyWith(showRightPip: !state.showRightPip));

  @override
  Future<void> close() {
    _timer?.cancel(); // 退出页面时务必销毁定时器
    return super.close();
  }

  void updateChassisLift(int i) {}

  void updateEmergency(bool bool) {}

  void respondPermission(bool bool) {}

  void requestControlPermissionS(String deviceName, String deviceId) async {
    // 1. 关闭弹窗
    emit(state.copyWith(showPermissionRequestDialog: false));

    // 2. 调用 UseCase
    final result = await _requestControlPermissionUseCase(
      RequestControlPermissionParams(
        deviceName: deviceName,
        deviceId: deviceId,
      ),
    );

    // 3. 处理结果
    result.fold(
          (failure) {
        print('❌ [RemoteControl] 请求控制权限失败：${failure.message}');
        // 可以在这里显示错误提示或重新打开弹窗
        emit(state.copyWith(showPermissionRequestDialog: true));

      },
          (success) {
            // 更新状态
            print('✅ [RemoteControl] 请求控制权限成功：$success');
            ///处理result
            if(success){
              emit(state.copyWith(hasPermission: true));
            }else{
              emit(state.copyWith(hasPermission: false));
            }
          print('✅ c：$success');
        // 权限申请已发送，等待 0x12 回包更新状态
      },
    );
  }




}