1166 lines
44 KiB
Dart
1166 lines
44 KiB
Dart
import 'dart:async';
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import 'dart:convert';
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import 'dart:math';
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import 'package:flutter/material.dart';
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import 'package:flutter_bloc/flutter_bloc.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/components/confrim_dialog.dart';
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import 'package:maibu_satabot_v2/core/app/app_user_cubit.dart';
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import 'package:maibu_satabot_v2/core/di/injection.dart';
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import 'package:maibu_satabot_v2/core/network/net_message_dispatcher.dart';
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import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/usecases/get_work_record_usecase.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_cubit.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_state.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/common/tracepoint.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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// 定义轨迹点类型（经纬度）
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typedef PlotPoint = LatLng;
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// 保持 PlotData 类不变
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class PlotData {
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final String id;
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final String plotName;
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final String imageUrl; // 图片URL（本地/assets/网络都可）
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final String? jsonData; // 原始数据的JSON字符串（可选，便于调试或后续使用）
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PlotData({
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required this.id,
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required this.plotName,
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required this.imageUrl,
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this.jsonData,
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});
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}
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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 _dispatcher = sl<NetMessageDispatcher>();
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late StreamSubscription<RawPacket> _sub;
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final MapController _mapController = MapController();
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final TextEditingController _plotNameController = TextEditingController();
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// 初始化轨迹管理器（泛型指定为LatLng）
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late final TracePoint<PlotPoint> _traceManager;
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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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final bool _saveBoxOpen = true; //保存按钮显示/隐藏
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bool _isListBoxOpen = false; //列表面板显示/隐藏
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// 新增：存储选中的地块（null表示未选中）
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PlotData? _selectedPlot;
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// 新增：控制底部作业面板显示
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bool _isWorkPanelOpen = false;
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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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final List<LatLng> _markedPoints = []; // 存储所有打点坐标
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LatLng _mapCenter = const LatLng(39.9042, 116.4074);
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final double _headingAngle = 0.0; // 当前机器航向角（单位：度）
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List<LatLng>? _currentTracePoints; //收到机器的点坐标
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//打点
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double _workDistance = 0.0; // 作业行距（单位：米）
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double _angle = 0.0; // 航线方向角（单位：度）
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// =================================
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// 🔥 改动1：删除硬编码的 _plotList，改为从Bloc读取
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// final List<PlotData> _plotList = [...];
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@override
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void initState() {
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super.initState();
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_traceManager = TracePoint<PlotPoint>();
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_initLocationEnterprise();
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_sub = _dispatcher.onCommand(0x12).listen(_onDeviceData);
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// 设置事件回调（更新UI）
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_traceManager.onCurrentPointUpdated = (point) {
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setState(() {
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_currentTracePoints = _traceManager.getTracePoint();
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});
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};
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_traceManager.onCompletePointAdded = (point) {
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setState(() {
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_currentTracePoints = _traceManager.getTracePoint();
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});
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};
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// 示例：切换到导航模式
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_traceManager.setMode(TPMode.LOCATION);
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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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if (mounted && _mapController.camera != null) {
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// 核心：直接获取原始经纬度，不做任何截断，保留最大精度
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final originalCenter = _mapController.camera!.center;
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// 显式创建新的 LatLng 对象，确保精度不丢失（避免引用传递导致的隐式截断）
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final highPrecisionCenter = LatLng(
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originalCenter.latitude, // 原始纬度（保留全部小数位）
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originalCenter.longitude, // 原始经度（保留全部小数位）
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);
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setState(() {
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_mapCenter = highPrecisionCenter;
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});
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// 可选：打印验证精度（保留15位小数）
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debugPrint(
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'地图中心更新（高精度）：纬度=${_mapCenter.latitude.toStringAsFixed(15)}, 经度=${_mapCenter.longitude.toStringAsFixed(15)}',
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);
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}
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}
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});
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}
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void _onDeviceData(RawPacket packet) {
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try {
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debugPrint('>>> 收到0x12设备数据: ${packet}');
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debugPrint('>>> 收到设备数据: ${utf8.decode(packet.payload)}');
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final csv = utf8.decode(packet.payload);
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final fields = csv.split(',');
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// 至少需 16 个字段（索引 10=航向角, 13=卫星数, 14=定位质量）
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if (fields.length >= 16) {
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//setState(() {
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// _voltage = fields[0]; // 电压
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// _leftSpeed = fields[1]; // 左轮目标速度
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// _rightSpeed = fields[2]; // 右轮目标速度
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// _pitch = fields[11]; // 俯仰角
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// _roll = fields[12]; // 翻滚角
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// _latitude = fields[16]; // 纬度
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// _longitude = fields[17]; // 经度
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// _timeStamp = '${fields[16]} ${fields[17]}'; // 时间戳（合并字段）
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// _knifeCuttingSpeed = fields[19]; // 割刀速度
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// _controlMode = fields[20]; // 控制模式
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// _workingArea = fields[21]; // 作业面积
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// _battery = fields[22]; // 电量
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// _obstacleFlag = fields[23]; // 障碍物标志
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// _yaw = fields[10]; // 航向角
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// _satelliteCnt = fields[13]; // 卫星数
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// _qual = fields[14]; // 定位质量
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//});
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}
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} catch (_) {
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// 解析失败时忽略，避免崩溃
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}
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}
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void _showSavePlotDialog() {
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// 清空上次的输入内容
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_plotNameController.clear();
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// 显示弹窗
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showDialog(
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context: context,
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builder: (BuildContext context) {
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return AlertDialog(
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title: const Text('保存地块'),
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content: TextField(
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controller: _plotNameController,
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decoration: const InputDecoration(
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hintText: '请输入地块名称（如：北地块、一号田）',
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border: OutlineInputBorder(),
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labelText: '地块名称',
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),
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),
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actions: [
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// 取消按钮
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TextButton(
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onPressed: () {
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Navigator.of(context).pop(); // 关闭弹窗
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},
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child: const Text('取消'),
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),
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// 确认保存按钮
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TextButton(
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onPressed: () {
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// 获取输入的地块名称并去除首尾空格
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String plotName = _plotNameController.text.trim();
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// 验证输入是否为空
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if (plotName.isEmpty) {
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ScaffoldMessenger.of(context).showSnackBar(
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const SnackBar(
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content: Text('地块名称不能为空！'),
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backgroundColor: Colors.red,
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),
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);
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return;
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}
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// 执行保存逻辑
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_savePlotData(plotName);
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// 关闭弹窗
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Navigator.of(context).pop();
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// 保存成功提示
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ScaffoldMessenger.of(context).showSnackBar(
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SnackBar(
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content: Text('地块「$plotName」保存成功！'),
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backgroundColor: Colors.green,
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),
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);
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},
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child: const Text('保存'),
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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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// 3. 保存地块数据的核心方法（这里写你的实际保存逻辑）
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void _savePlotData(String plotName) {
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// 示例：打印保存的信息（实际开发中替换为存数据库/本地存储/接口调用）
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debugPrint('===== 保存地块数据 =====');
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debugPrint('地块名称：$plotName');
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debugPrint('打点数量：${_markedPoints.length}');
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debugPrint('打点坐标：$_markedPoints');
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debugPrint('作业模式：$_currentWorkMode');
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}
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List<LatLng> _getPolygonPoints() {
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if (_markedPoints.isEmpty || _mapController.camera == null) return [];
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List<LatLng> polygonPoints = List.from(_markedPoints);
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polygonPoints.add(_mapCenter);
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return polygonPoints;
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}
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void _undoLastPoint() {
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if (_markedPoints.isNotEmpty) {
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setState(() {
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_markedPoints.removeLast(); // 删除最后一个打点
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});
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debugPrint('撤回成功，剩余打点数量：${_markedPoints.length}');
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} else {
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debugPrint('无打点可撤回');
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// 可选：提示用户
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ScaffoldMessenger.of(
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context,
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).showSnackBar(const SnackBar(content: Text('暂无打点可撤回')));
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}
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}
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// ========== 核心：清空所有打点和轨迹 ==========
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void _deleteAllPoints() {
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if (_markedPoints.isNotEmpty) {
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setState(() {
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_markedPoints.clear(); // 清空所有打点
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});
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debugPrint('删除成功，已清空所有打点和轨迹');
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// 可选：提示用户
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ScaffoldMessenger.of(
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context,
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).showSnackBar(const SnackBar(content: Text('已清空所有打点和轨迹')));
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} else {
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debugPrint('无打点可删除');
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ScaffoldMessenger.of(
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context,
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).showSnackBar(const SnackBar(content: Text('暂无打点可删除')));
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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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'$_markedPoints,新增打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude.toStringAsFixed(20)}, ${_mapCenter.longitude.toStringAsFixed(20)}',
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);
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}
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// ========== 新增：返回上一级页面的方法 ==========
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void _navigateBack() {
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// 关闭当前页面，返回上一级
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Navigator.of(context).pop();
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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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_traceManager.reset();
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_mapController.dispose();
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// 修复：_sub 是 non-null 类型，直接 cancel 无需 ?
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_sub.cancel();
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_plotNameController.dispose(); // 新增：释放文本控制器资源
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super.dispose();
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}
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// 模拟添加完成点
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void _addCompletePoint() {
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final newPoint = LatLng(
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39.9042 + (DateTime.now().millisecond / 10000),
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116.4074 + (DateTime.now().millisecond / 10000),
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);
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_traceManager.upsert(newPoint, TPAction.ADD);
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}
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// 模拟更新当前点
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void _updateCurrentPoint() {
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final newPoint = LatLng(
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39.9042 + (DateTime.now().millisecond / 10000),
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116.4074 + (DateTime.now().millisecond / 10000),
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);
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_traceManager.upsert(newPoint);
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}
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// 🔥 改动2：修改 _buildPlotListItem 方法，增加删除时调用Bloc的逻辑
|
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Widget _buildPlotListItem(PlotData plot, Function(PlotData) onDelete) {
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return GestureDetector(
|
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// 核心：点击列表项触发选中逻辑
|
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onTap: () async {
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await context.read<DevicesCubit>().deleteWorkRecord(plot.plotName);
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setState(() {
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// 1. 选中当前地块
|
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_selectedPlot = plot;
|
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// 2. 关闭列表抽屉
|
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_isListBoxOpen = false;
|
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// 3. 打开底部作业面板
|
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_isWorkPanelOpen = true;
|
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});
|
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},
|
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child: Container(
|
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margin: const EdgeInsets.symmetric(horizontal: 16, vertical: 4),
|
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padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 4),
|
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decoration: BoxDecoration(
|
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color: Colors.white,
|
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borderRadius: BorderRadius.circular(8),
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border: Border.all(
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color: _selectedPlot?.id == plot.id
|
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? Colors.blue
|
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: Colors.grey[100]!,
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width: _selectedPlot?.id == plot.id ? 2 : 1, // 选中项高亮边框
|
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),
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),
|
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child: Row(
|
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children: [
|
||
// 1. 地块图片（原有代码）
|
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ClipRRect(
|
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borderRadius: BorderRadius.circular(8),
|
||
child: Image.network(
|
||
plot.imageUrl,
|
||
width: 30,
|
||
height: 30,
|
||
fit: BoxFit.cover,
|
||
errorBuilder: (context, error, stackTrace) {
|
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return Container(
|
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width: 30,
|
||
height: 30,
|
||
color: Colors.grey[200],
|
||
child: const Icon(Icons.image_outlined, color: Colors.grey),
|
||
);
|
||
},
|
||
),
|
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),
|
||
|
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const SizedBox(width: 10),
|
||
|
||
// 2. 地块名称（原有代码）
|
||
Expanded(
|
||
child: Text(
|
||
plot.plotName,
|
||
style: const TextStyle(fontSize: 16, color: Colors.black87),
|
||
maxLines: 1,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
),
|
||
|
||
// 3. 删除按钮（修改：调用外部传入的删除方法）
|
||
IconButton(
|
||
onPressed: () => _showDeleteConfirmDialog(plot, onDelete),
|
||
icon: const Icon(
|
||
Icons.delete_outline,
|
||
color: Colors.redAccent,
|
||
size: 20,
|
||
),
|
||
padding: EdgeInsets.zero,
|
||
constraints: const BoxConstraints(),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
}
|
||
|
||
void _showDeleteConfirmDialog(PlotData plot, Function(PlotData) onDelete) {
|
||
ConfirmDialog.show(
|
||
context: context,
|
||
title: '确认删除',
|
||
content: '是否删除地块「${plot.plotName}」？删除后不可恢复。',
|
||
confirmText: '删除',
|
||
confirmTextColor: Colors.red,
|
||
onConfirm: () {
|
||
onDelete(plot);
|
||
if (context.mounted) {
|
||
ScaffoldMessenger.of(
|
||
context,
|
||
).showSnackBar(SnackBar(content: Text('已删除地块「${plot.plotName}」')));
|
||
}
|
||
},
|
||
);
|
||
}
|
||
|
||
// 注意：方法名改为 _buildWorkPanel（因为实际是作业面板，不是列表，避免混淆）
|
||
Widget _buildWorkPanel() {
|
||
// 核心修复1：空安全判断 - 无选中地块时返回空容器
|
||
if (_selectedPlot == null) {
|
||
return const SizedBox.shrink();
|
||
}
|
||
|
||
return Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
bottom: 0,
|
||
child: Container(
|
||
padding: const EdgeInsets.all(16),
|
||
decoration: const BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.vertical(top: Radius.circular(16)),
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 10,
|
||
offset: Offset(0, -2),
|
||
),
|
||
],
|
||
),
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min, // 关键：只占用内容高度，不挤压其他组件
|
||
children: [
|
||
// 1. 选中地块信息行
|
||
Row(
|
||
crossAxisAlignment: CrossAxisAlignment.center, // 修复：垂直居中对齐
|
||
children: [
|
||
// 地块图片
|
||
ClipRRect(
|
||
borderRadius: BorderRadius.circular(8),
|
||
child: Image.network(
|
||
_selectedPlot!.imageUrl,
|
||
width: 80,
|
||
height: 80,
|
||
fit: BoxFit.cover,
|
||
// 核心修复2：图片加载错误占位优化
|
||
errorBuilder: (context, error, stackTrace) {
|
||
return Container(
|
||
width: 80,
|
||
height: 80,
|
||
color: Colors.grey[200],
|
||
child: const Icon(
|
||
Icons.image_outlined,
|
||
color: Colors.grey,
|
||
size: 32,
|
||
),
|
||
);
|
||
},
|
||
),
|
||
),
|
||
|
||
const SizedBox(width: 16),
|
||
|
||
// 地块名称（修复：占满剩余空间）
|
||
Expanded(
|
||
child: Text(
|
||
_selectedPlot!.plotName,
|
||
style: const TextStyle(
|
||
fontSize: 18,
|
||
fontWeight: FontWeight.bold,
|
||
color: Colors.black87,
|
||
),
|
||
maxLines: 2,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
),
|
||
|
||
// 关闭按钮（修复：减少点击区域，避免误触）
|
||
Padding(
|
||
padding: const EdgeInsets.only(left: 8),
|
||
child: IconButton(
|
||
onPressed: () {
|
||
setState(() {
|
||
_isWorkPanelOpen = false;
|
||
_selectedPlot = null; // 清空选中状态
|
||
});
|
||
},
|
||
icon: const Icon(Icons.close, color: Colors.grey, size: 20),
|
||
padding: EdgeInsets.zero,
|
||
constraints: const BoxConstraints(
|
||
minWidth: 24,
|
||
minHeight: 24,
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
|
||
const SizedBox(height: 16),
|
||
SizedBox(
|
||
width: double.infinity,
|
||
height: 48,
|
||
child: ElevatedButton(
|
||
onPressed: () {
|
||
// 核心修复3：再次空安全校验（双重保险）
|
||
if (_selectedPlot != null) {
|
||
//_startWork(_selectedPlot!);
|
||
}
|
||
},
|
||
style: ElevatedButton.styleFrom(
|
||
backgroundColor: const Color(0xFF00C853), // 绿色主题
|
||
foregroundColor: Colors.white, // 文字颜色（Flutter 3.0+ 推荐）
|
||
shape: RoundedRectangleBorder(
|
||
borderRadius: BorderRadius.circular(8),
|
||
),
|
||
elevation: 2,
|
||
shadowColor: Colors.black12,
|
||
padding: const EdgeInsets.symmetric(
|
||
vertical: 0,
|
||
horizontal: 16,
|
||
),
|
||
minimumSize: const Size(double.infinity, 48),
|
||
),
|
||
child: const Text(
|
||
'开始作业',
|
||
style: TextStyle(
|
||
fontSize: 16,
|
||
fontWeight: FontWeight.bold,
|
||
height: 1.0,
|
||
),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
}
|
||
|
||
// 🔥 改动4：新增方法 - 将Bloc的workRecords转换为PlotData列表
|
||
List<PlotData> _convertWorkRecordsToPlotData(
|
||
List<Map<String, dynamic>> records,
|
||
) {
|
||
return records.map((record) {
|
||
return PlotData(
|
||
id:
|
||
record['id']?.toString() ??
|
||
DateTime.now().microsecondsSinceEpoch.toString(), // 唯一ID
|
||
plotName: record['workName'] ?? '未命名地块', // 地块名称（从接口字段取）
|
||
imageUrl: record['imgUrl'] ?? '', // 图片URL（从接口字段取，无则为空）
|
||
jsonData: record['jsonData'], // 原始数据的JSON字符串（可选，便于调试或后续使用）
|
||
);
|
||
}).toList();
|
||
}
|
||
|
||
@override
|
||
Widget build(BuildContext context) {
|
||
final screenHeight = MediaQuery.of(context).size.height;
|
||
final menuHeight = 16 * 6; // 假设 VerticalFloatMenu 有 6 个选项，每个高度为 56
|
||
final maxTop = screenHeight - menuHeight;
|
||
|
||
return Scaffold(
|
||
body: SafeArea(
|
||
child: Stack(
|
||
children: [
|
||
// 地图核心组件
|
||
FlutterMap(
|
||
mapController: _mapController,
|
||
options: MapOptions(
|
||
initialCenter:
|
||
_currentLatLng ?? const LatLng(39.9042, 116.4074),
|
||
initialZoom: 15,
|
||
maxZoom: 18,
|
||
// 禁止地图点击事件（避免和中心标冲突）
|
||
onTap: (_, __) {}, // 空实现，禁用地图点击响应
|
||
),
|
||
children: [
|
||
/// 高德瓦片（GCJ-02）
|
||
TileLayer(
|
||
urlTemplate:
|
||
'https://webrd02.is.autonavi.com/appmaptile'
|
||
'?style=8&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=1'
|
||
'&key=bbb1f0f20eed6bf679eddf2625630aba',
|
||
),
|
||
|
||
/// ========== 新增：中心标与历史打点的虚线连线 ==========
|
||
PolylineLayer(
|
||
polylines: [
|
||
for (int i = 0; i < _markedPoints.length - 1; i++)
|
||
Polyline(
|
||
points: [_markedPoints[i], _markedPoints[i + 1]],
|
||
color: Colors.orange.withOpacity(0.5),
|
||
strokeWidth: 1.5,
|
||
),
|
||
],
|
||
),
|
||
if (_markedPoints.isNotEmpty)
|
||
PolylineLayer(
|
||
polylines: [
|
||
Polyline(
|
||
points: [_mapCenter, _markedPoints.last],
|
||
color: Colors.blue.withOpacity(0.5),
|
||
strokeWidth: 1.5,
|
||
),
|
||
],
|
||
),
|
||
|
||
/// 当前定位 Marker
|
||
if (_currentLatLng != null)
|
||
MarkerLayer(
|
||
markers: [
|
||
Marker(
|
||
point: _currentLatLng!,
|
||
width: 40,
|
||
height: 40,
|
||
child: CustomPaint(
|
||
size: const Size(40, 40),
|
||
painter: HeadingMarkerPainter(
|
||
headingAngle: _headingAngle,
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
if (_currentWorkMode == WorkMode.bow &&
|
||
_markedPoints.isNotEmpty)
|
||
PolygonLayer(
|
||
polygons: [
|
||
Polygon(
|
||
points: _getPolygonPoints(),
|
||
color: Colors.green.withOpacity(0.2),
|
||
borderColor: Colors.green.withOpacity(0.5),
|
||
borderStrokeWidth: 1,
|
||
isFilled: true,
|
||
),
|
||
],
|
||
),
|
||
|
||
/// ========== 新增：历史打点的绿色标记 ==========
|
||
MarkerLayer(
|
||
markers: _markedPoints.asMap().entries.map((entry) {
|
||
int index = entry.key + 1; // 打点序号（从1开始）
|
||
LatLng point = entry.value;
|
||
|
||
return Marker(
|
||
point: point,
|
||
width: 80,
|
||
height: 40,
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min,
|
||
children: [
|
||
const SizedBox(height: 8), // 向下偏移8px（抵消默认的顶部对齐）
|
||
// 绿色打点标记
|
||
Container(
|
||
width: 16,
|
||
height: 16,
|
||
decoration: const BoxDecoration(
|
||
color: Color(0xFF00C853), // 绿色主题色
|
||
shape: BoxShape.circle,
|
||
boxShadow: [
|
||
BoxShadow(color: Colors.black12, blurRadius: 2),
|
||
],
|
||
),
|
||
child: Center(
|
||
child: Text(
|
||
'$index',
|
||
style: const TextStyle(
|
||
color: Colors.white,
|
||
fontSize: 10,
|
||
fontWeight: FontWeight.bold,
|
||
),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
}).toList(),
|
||
),
|
||
],
|
||
),
|
||
|
||
// ========== 悬浮返回按钮（核心修改） ==========
|
||
Positioned(
|
||
top: 10,
|
||
left: 10,
|
||
child: GestureDetector(
|
||
// 自定义点击事件
|
||
onTap: _navigateBack,
|
||
// 自定义点击反馈（替代 IconButton 的高亮/水波纹）
|
||
child: Container(
|
||
width: 40,
|
||
height: 40,
|
||
decoration: BoxDecoration(
|
||
color: Colors.white.withOpacity(0.8),
|
||
borderRadius: BorderRadius.circular(20),
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 3,
|
||
offset: const Offset(0, 2),
|
||
),
|
||
],
|
||
),
|
||
// 核心：用 Stack 实现点击高亮层 + 图标层
|
||
child: Stack(
|
||
alignment: Alignment.center, // 所有子组件居中
|
||
children: [
|
||
// 1. 点击高亮层（默认隐藏，点击时显示）
|
||
Positioned.fill(
|
||
child: Container(
|
||
decoration: BoxDecoration(
|
||
color: Colors.transparent, // 默认透明
|
||
borderRadius: BorderRadius.circular(20),
|
||
),
|
||
),
|
||
),
|
||
// 2. 图标层（绝对居中）
|
||
const Icon(
|
||
Icons.arrow_back_ios,
|
||
color: Colors.black87,
|
||
size: 20,
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
),
|
||
|
||
/// ========== 核心：地图正中心固定定位标 ==========
|
||
Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
top: 0,
|
||
bottom: 0,
|
||
child: Center(
|
||
// 自定义十字标（中心精准对齐地图中心）
|
||
child: SizedBox(
|
||
width: 16, // 十字整体宽度
|
||
height: 16, // 十字整体高度
|
||
child: CustomPaint(
|
||
painter: CrosshairPainter(), // 自定义十字画笔
|
||
),
|
||
),
|
||
),
|
||
),
|
||
|
||
//保存按钮
|
||
if (_saveBoxOpen)
|
||
Positioned(
|
||
right: 80,
|
||
top: maxTop > 10 ? 11 : maxTop,
|
||
child: Container(
|
||
width: 40,
|
||
height: 40,
|
||
decoration: BoxDecoration(
|
||
color: const Color(0xFF00C853),
|
||
shape: BoxShape.circle,
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 4,
|
||
offset: const Offset(0, 2),
|
||
),
|
||
],
|
||
),
|
||
child: IconButton(
|
||
onPressed: () {
|
||
_showSavePlotDialog();
|
||
},
|
||
icon: const Icon(Icons.save, color: Colors.white, size: 18),
|
||
padding: EdgeInsets.zero,
|
||
constraints: const BoxConstraints(),
|
||
),
|
||
),
|
||
),
|
||
|
||
// 右侧悬浮菜单
|
||
Positioned(
|
||
height: 336,
|
||
right: 16,
|
||
top: maxTop > 10 ? 11 : maxTop,
|
||
child: FloatingActionButton(
|
||
onPressed: _moveToCurrentLocation,
|
||
child: new VerticalFloatMenu(
|
||
onEditTap: (bool isOpen) {
|
||
setState(() {
|
||
_isPanelOpen = isOpen;
|
||
});
|
||
},
|
||
onListBox: (bool isOpen) {
|
||
// 🔥 改动5：加载作业记录（原有逻辑保留）
|
||
final userId =
|
||
context.read<AppUserCubit>().state.user?.userId ?? "";
|
||
print('加载作业记录，当前用户ID：$userId');
|
||
context.read<DevicesCubit>().loadWorkRecords(userId);
|
||
|
||
setState(() {
|
||
_isListBoxOpen = isOpen;
|
||
});
|
||
},
|
||
onWorkModeSelected: (mode) {
|
||
_currentWorkMode = mode;
|
||
debugPrint('外部收到作业模式：$mode');
|
||
},
|
||
),
|
||
),
|
||
),
|
||
|
||
// 底部操作面板
|
||
if (_isPanelOpen)
|
||
Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
bottom: 0,
|
||
child: BottomOperationPanel(
|
||
initialRobotMode: RobotMode.point,
|
||
initialAreaMode: AreaMode.work,
|
||
onComplete: () {
|
||
debugPrint(
|
||
'操作完成回调：当前机器人模式=$_currentRobotMode,当前区域模式=$_currentAreaMode,当前作业模式:$_currentWorkMode,作业区域点:$_markedPoints,作业行距=$_workDistance,航线方向角=$_angle',
|
||
);
|
||
setState(() => _isPanelOpen = false);
|
||
},
|
||
onUndoTap: _undoLastPoint,
|
||
onDeleteTap: _deleteAllPoints,
|
||
onRobotModeChanged: (mode) {
|
||
setState(() => _currentRobotMode = mode);
|
||
debugPrint('外部收到机器人模式：$mode');
|
||
},
|
||
onAreaModeChanged: (mode) {
|
||
setState(() => _currentAreaMode = mode);
|
||
debugPrint('外部收到区域模式：$mode');
|
||
},
|
||
onAddTap: () {
|
||
_addMarkedPoint();
|
||
debugPrint('外部处理加号按钮点击，已添加打点');
|
||
},
|
||
onDistanceTap: (distance) {
|
||
_workDistance = distance;
|
||
debugPrint(
|
||
'外部处理作业行距距离设置，当前距离：${distance.toStringAsFixed(1)}米',
|
||
);
|
||
},
|
||
onSettingTap: () {
|
||
setState(() {
|
||
_directionBoxOpen = true;
|
||
});
|
||
debugPrint('外部处理设置按钮点击');
|
||
},
|
||
onLandTap: () {
|
||
debugPrint('外部处理地块标签点击');
|
||
},
|
||
onRouteTap: () {
|
||
debugPrint('外部处理航线标签点击');
|
||
},
|
||
),
|
||
),
|
||
|
||
// 航线方向面板
|
||
if (_directionBoxOpen)
|
||
Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
bottom: 0,
|
||
child: RouteDirectionPanel(
|
||
initialOptimalHeading: true,
|
||
initialDirection: 0.0,
|
||
onConfirm: (result) {
|
||
debugPrint(
|
||
'最优航向：${result['optimalHeading']}，角度：${result['direction']}',
|
||
);
|
||
_angle = result['optimalHeading'] == true
|
||
? -1
|
||
: result['direction'];
|
||
debugPrint('外部处理航线方向设置，当前角度：${_angle}');
|
||
setState(() => _directionBoxOpen = false);
|
||
},
|
||
onCancel: () {
|
||
setState(() => _directionBoxOpen = false);
|
||
},
|
||
),
|
||
),
|
||
|
||
// 🔥 改动6：列表面板 - 使用BlocBuilder监听DevicesCubit状态
|
||
if (_isListBoxOpen)
|
||
BlocBuilder<DevicesCubit, DevicesState>(
|
||
builder: (context, state) {
|
||
final plotList = _convertWorkRecordsToPlotData(
|
||
state.workRecords ?? [],
|
||
);
|
||
|
||
return Positioned.fill(
|
||
child: Column(
|
||
mainAxisAlignment: MainAxisAlignment.end,
|
||
children: [
|
||
Expanded(
|
||
child: GestureDetector(
|
||
onTap: () {
|
||
setState(() {
|
||
_isListBoxOpen = false;
|
||
});
|
||
},
|
||
child: Container(
|
||
color: Colors.black.withOpacity(0.3),
|
||
),
|
||
),
|
||
),
|
||
Container(
|
||
width: double.infinity,
|
||
decoration: const BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.vertical(
|
||
top: Radius.circular(16),
|
||
),
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 10,
|
||
offset: Offset(0, -2),
|
||
),
|
||
],
|
||
),
|
||
constraints: const BoxConstraints(
|
||
maxHeight: 600,
|
||
minHeight: 200,
|
||
),
|
||
child: Column(
|
||
children: [
|
||
Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 16,
|
||
vertical: 12,
|
||
),
|
||
child: Row(
|
||
mainAxisAlignment:
|
||
MainAxisAlignment.spaceBetween,
|
||
children: [
|
||
Text(
|
||
'地块列表（共${plotList.length}条）',
|
||
style: const TextStyle(
|
||
fontSize: 18,
|
||
fontWeight: FontWeight.bold,
|
||
color: Colors.black87,
|
||
),
|
||
),
|
||
IconButton(
|
||
onPressed: () {
|
||
setState(() {
|
||
_isListBoxOpen = false;
|
||
});
|
||
},
|
||
icon: const Icon(
|
||
Icons.close,
|
||
color: Colors.grey,
|
||
size: 20,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
const Divider(height: 1, color: Colors.grey),
|
||
Expanded(
|
||
child: plotList.isEmpty
|
||
? const Center(
|
||
child: Column(
|
||
mainAxisAlignment:
|
||
MainAxisAlignment.center,
|
||
children: [
|
||
Icon(
|
||
Icons.inbox_outlined,
|
||
color: Colors.grey,
|
||
size: 48,
|
||
),
|
||
SizedBox(height: 16),
|
||
Text(
|
||
'暂无地块数据',
|
||
style: TextStyle(
|
||
color: Colors.grey,
|
||
fontSize: 16,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
)
|
||
: ListView.builder(
|
||
padding: const EdgeInsets.symmetric(
|
||
vertical: 8,
|
||
),
|
||
itemCount: plotList.length,
|
||
itemBuilder: (context, index) {
|
||
final plot = plotList[index];
|
||
// 传入删除回调（调用Bloc的删除方法）
|
||
return _buildPlotListItem(plot, (
|
||
deletedPlot,
|
||
) async {
|
||
await context
|
||
.read<DevicesCubit>()
|
||
.deleteWorkRecord(
|
||
deletedPlot.plotName,
|
||
);
|
||
final userId =
|
||
context
|
||
.read<AppUserCubit>()
|
||
.state
|
||
.user
|
||
?.userId ??
|
||
"";
|
||
await context
|
||
.read<DevicesCubit>()
|
||
.loadWorkRecords(userId);
|
||
|
||
setState(() {
|
||
// 因为Bloc数据更新后会自动重建，这里可省略
|
||
});
|
||
});
|
||
},
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
},
|
||
),
|
||
|
||
if (_isWorkPanelOpen) _buildWorkPanel(),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
}
|
||
}
|
||
|
||
/// =======================================================
|
||
/// 坐标转换：WGS84 -> GCJ02（国内高德/腾讯通用）
|
||
/// =======================================================
|
||
const double _pi = 3.14159265358979324;
|
||
const double _a = 6378245.0;
|
||
const double _ee = 0.00669342162296594323;
|
||
|
||
LatLng wgs84ToGcj02(double lat, double lon) {
|
||
if (_outOfChina(lat, lon)) {
|
||
return LatLng(lat, lon);
|
||
}
|
||
double dLat = _transformLat(lon - 105.0, lat - 35.0);
|
||
double dLon = _transformLon(lon - 105.0, lat - 35.0);
|
||
double radLat = lat / 180.0 * _pi;
|
||
double magic = sin(radLat);
|
||
magic = 1 - _ee * magic * magic;
|
||
double sqrtMagic = sqrt(magic);
|
||
dLat = (dLat * 180.0) / ((_a * (1 - _ee)) / (magic * sqrtMagic) * _pi);
|
||
dLon = (dLon * 180.0) / (_a / sqrtMagic * cos(radLat) * _pi);
|
||
double mgLat = lat + dLat;
|
||
double mgLon = lon + dLon;
|
||
return LatLng(mgLat, mgLon);
|
||
}
|
||
|
||
bool _outOfChina(double lat, double lon) {
|
||
return lon < 72.004 || lon > 137.8347 || lat < 0.8293 || lat > 55.8271;
|
||
}
|
||
|
||
double _transformLat(double x, double y) {
|
||
double ret =
|
||
-100.0 +
|
||
2.0 * x +
|
||
3.0 * y +
|
||
0.2 * y * y +
|
||
0.1 * x * y +
|
||
0.2 * sqrt(x.abs());
|
||
ret += (20.0 * sin(6.0 * x * _pi) + 20.0 * sin(2.0 * x * _pi)) * 2.0 / 3.0;
|
||
ret += (20.0 * sin(y * _pi) + 40.0 * sin(y / 3.0 * _pi)) * 2.0 / 3.0;
|
||
ret += (160.0 * sin(y / 12.0 * _pi) + 320 * sin(y * _pi / 30.0)) * 2.0 / 3.0;
|
||
return ret;
|
||
}
|
||
|
||
double _transformLon(double x, double y) {
|
||
double ret =
|
||
300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(x.abs());
|
||
ret += (20.0 * sin(6.0 * x * _pi) + 20.0 * sin(2.0 * x * _pi)) * 2.0 / 3.0;
|
||
ret += (20.0 * sin(x * _pi) + 40.0 * sin(x / 3.0 * _pi)) * 2.0 / 3.0;
|
||
ret +=
|
||
(150.0 * sin(x / 12.0 * _pi) + 300.0 * sin(x / 30.0 * _pi)) * 2.0 / 3.0;
|
||
return ret;
|
||
}
|