540 lines
22 KiB
Dart
540 lines
22 KiB
Dart
import 'dart:async';
|
||
import 'dart:convert';
|
||
import 'package:flutter/cupertino.dart';
|
||
import 'package:flutter_bloc/flutter_bloc.dart';
|
||
import 'package:get_it/get_it.dart';
|
||
import 'package:maibu_satabot_v2/features/devices/domain/entities/running_status_entity.dart';
|
||
import 'package:maibu_satabot_v2/features/devices/domain/entities/gps_entity.dart';
|
||
import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
|
||
import 'package:maibu_satabot_v2/core/network/mqtt/domain/repositories/task_message_repository.dart';
|
||
import 'package:maibu_satabot_v2/core/network/mqtt/domain/repositories/mower_realtime_repository.dart';
|
||
import 'package:maibu_satabot_v2/core/network/mqtt/domain/entities/task_arrive_entity.dart';
|
||
import 'package:maibu_satabot_v2/core/network/mqtt/domain/entities/task_status_entity.dart';
|
||
|
||
import '../../../../core/logging/i_logger_service.dart';
|
||
import '../../../../core/logging/log_time.dart';
|
||
import '../../../../core/network/net_message_dispatcher.dart';
|
||
import '../../../../core/network/tcp/tcp_client.dart';
|
||
import 'device_status_event.dart';
|
||
import 'device_status_state.dart';
|
||
import 'devices_cubit.dart';
|
||
|
||
// 定义全局的TaskMessageRepository获取方式
|
||
TaskMessageRepository get _taskMessageRepo => GetIt.I<TaskMessageRepository>();
|
||
|
||
// 🔥 MQTT机器状态数据源（替代TCP 0x02）
|
||
MowerRealtimeRepository get _mowerRealtimeRepo =>
|
||
GetIt.I<MowerRealtimeRepository>();
|
||
|
||
class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
|
||
final NetMessageDispatcher _dispatcher;
|
||
final TcpClient tcpClient; // 🔥 新增:直接访问 TcpClient
|
||
final ILoggerService _logger = GetIt.I<ILoggerService>();
|
||
|
||
// 🔥 保存订阅引用,用于管理生命周期
|
||
StreamSubscription? _tcpSubscription;
|
||
StreamSubscription? _mqttArriveSubscription;
|
||
StreamSubscription? _mqttStatusSubscription;
|
||
|
||
// 🔥 MQTT机器状态订阅（车辆实时+定位，替代TCP 0x02）
|
||
StreamSubscription? _mqttVehicleSubscription;
|
||
StreamSubscription? _mqttLocationSubscription;
|
||
|
||
// 🔥 节流相关：500ms节流控制0x02数据推送频率
|
||
Timer? _throttleTimer;
|
||
static const _throttleDuration = Duration(milliseconds: 500);
|
||
RunningStatusEntity? _cachedStatus;
|
||
GPSEntity? _cachedGps;
|
||
|
||
// 🔥 调试计数器：跟踪0x02收包序号，排查断断续续问题
|
||
int _packetSeq = 0;
|
||
|
||
// 🔥 当前监听的设备ID
|
||
String? _currentDeviceId;
|
||
|
||
// 🔥 MQTT机器状态收帧计数（用于链路日志）
|
||
int _mqttVehicleFrameCount = 0;
|
||
int _mqttLocationFrameCount = 0;
|
||
|
||
DeviceStatusBloc(this._dispatcher, {TcpClient? client})
|
||
: tcpClient = client ?? GetIt.I<TcpClient>(),
|
||
super(DeviceStatusInitial()) {
|
||
// 🔥 核心改动:直接在构造函数中建立TCP监听,类似RemoteControlCubit
|
||
// 🔥 已停用:机器状态数据源已改为MQTT（见 startMqttRealtimeListening，
|
||
// 由用户切换设备时触发）。TCP监听逻辑保留，回滚时取消下行注释即可。
|
||
// _initDirectTcpListener();
|
||
|
||
// 🔥 初始化MQTT到达点监听
|
||
_initMqttArriveListener();
|
||
|
||
// 🔥 初始化MQTT任务状态监听（接收完成推送）
|
||
_initMqttStatusListener();
|
||
|
||
// 保留事件处理(用于手动重置等场景)
|
||
on<DeviceStatusReset>(_handleReset);
|
||
on<DeviceStatusLoaded>(_handleDeviceStatusLoaded);
|
||
on<PushMessageReceived>(_handlePushMessageReceived);
|
||
on<DeviceTaskArrivePointEvent>(_handleDeviceTaskArrivePointEvent);
|
||
}
|
||
|
||
// 🔥 已废弃:重新初始化TCP监听器会导致数据流中断
|
||
// DeviceStatusBloc是单例,TCP监听器在构造函数中建立后应始终保持活跃
|
||
// 任何页面只需通过 BlocBuilder 或 stream 订阅状态即可
|
||
/*
|
||
void reinitializeListener() {
|
||
debugPrint('🔄 [DeviceStatusBloc] 重新初始化TCP监听器 - isClosed=$isClosed');
|
||
_logger.log('🔄 [DeviceStatusBloc] 重新初始化TCP监听器 - isClosed=$isClosed');
|
||
|
||
if (isClosed) {
|
||
debugPrint('❌ [DeviceStatusBloc] BLoC已关闭,无法重新初始化!');
|
||
_logger.log('❌ [DeviceStatusBloc] BLoC已关闭,无法重新初始化!');
|
||
return;
|
||
}
|
||
|
||
// ❌ 取消旧的订阅会导致数据流中断!
|
||
debugPrint('📝 [DeviceStatusBloc] 取消旧订阅');
|
||
_tcpSubscription?.cancel();
|
||
|
||
// ❌ 重置状态会清空UI显示的数据!
|
||
debugPrint('📝 [DeviceStatusBloc] emit Initial状态');
|
||
emit(DeviceStatusInitial());
|
||
|
||
// 重新建立监听
|
||
debugPrint('📝 [DeviceStatusBloc] 调用 _initDirectTcpListener');
|
||
_initDirectTcpListener();
|
||
}
|
||
*/
|
||
|
||
// 🔥 新增:直接监听TCP 0x02指令,实时解析并emit状态
|
||
void _initDirectTcpListener() {
|
||
debugPrint('🔗 [DeviceStatusBloc] 初始化直接TCP监听器 - 使用 tcpClient.packetStream');
|
||
_logger.log('🔗 [DeviceStatusBloc] 初始化直接TCP监听器');
|
||
|
||
// 🔥 关键修复:直接监听 tcpClient.packetStream,不经过 dispatcher 的 filtered stream
|
||
// 这样即使没有其他监听者,TCP流也不会暂停
|
||
_tcpSubscription = tcpClient.packetStream
|
||
.where((p) {
|
||
final is02 = p.command == 0x02;
|
||
if (is02) {
|
||
_packetSeq++;
|
||
debugPrint('📥 [0x02] #$_packetSeq 收到原始TCP包 | payload长度=${p.payload.length} | ${DateTime.now().toString().substring(11, 19)}');
|
||
}
|
||
return is02;
|
||
})
|
||
.map((p) {
|
||
try {
|
||
final result = utf8.decode(p.payload, allowMalformed: true);
|
||
return result;
|
||
} catch (e) {
|
||
debugPrint('❌ [0x02] #$_packetSeq 解码失败: $e, payload前20字节=${p.payload.take(20).toList()}');
|
||
return '';
|
||
}
|
||
})
|
||
.listen(
|
||
(message) {
|
||
if (message.isEmpty) {
|
||
debugPrint('⚠️ [0x02] #$_packetSeq 解码后为空,跳过');
|
||
return;
|
||
}
|
||
|
||
try {
|
||
// 🔥 直接解析,不经过事件转换
|
||
final fields = message.trim().split(',');
|
||
|
||
if (fields.length < 18) {
|
||
debugPrint('⚠️ [0x02] #$_packetSeq 字段不足:${fields.length},期望≥18, 原始数据前100字符=${message.substring(0, message.length > 100 ? 100 : message.length)}');
|
||
// 🔥 错误不节流，立即emit以便UI显示错误
|
||
if (!isClosed) {
|
||
emit(DeviceStatusError('字段不足,期望≥18,实际:${fields.length}'));
|
||
}
|
||
return;
|
||
}
|
||
|
||
final status = RunningStatusEntity.fromFields(fields);
|
||
final gps = GPSEntity(status.latitude, status.longitude);
|
||
|
||
debugPrint('✅ [0x02] #$_packetSeq 解析成功 | 字段数=${fields.length} | 电压=${status.voltage}V 电量=${status.battery}% 控制模式=${status.controlMode} | 节流等待${_throttleDuration.inMilliseconds}ms');
|
||
|
||
// 🔥 缓存最新数据用于节流发射
|
||
_cachedStatus = RunningStatusEntity(
|
||
voltage: status.voltage,
|
||
leftTargetSpeed: status.leftTargetSpeed,
|
||
rightTargetSpeed: status.rightTargetSpeed,
|
||
leftMeasureSpeed: status.leftMeasureSpeed,
|
||
rightMeasureSpeed: status.rightMeasureSpeed,
|
||
leftCurrent: status.leftCurrent,
|
||
rightCurrent: status.rightCurrent,
|
||
leftMotorTemp: status.leftMotorTemp,
|
||
rightMotorTemp: status.rightMotorTemp,
|
||
chipTemp: status.chipTemp,
|
||
yaw: status.yaw,
|
||
pitch: status.pitch,
|
||
roll: status.roll,
|
||
satelliteCnt: status.satelliteCnt,
|
||
qual: status.qual,
|
||
headingStatus: status.headingStatus,
|
||
latitude: status.latitude,
|
||
longitude: status.longitude,
|
||
timestamp: status.timestamp,
|
||
knifeCuttingSpeed: status.knifeCuttingSpeed,
|
||
controlMode: status.controlMode,
|
||
battery: status.battery,
|
||
workingArea: status.workingArea,
|
||
obstacleFlag: status.obstacleFlag,
|
||
);
|
||
_cachedGps = GPSEntity(status.latitude, status.longitude);
|
||
|
||
// 🔥 节流：如果定时器已在运行，只更新缓存不重置；否则启动新的500ms节流周期
|
||
if (_throttleTimer == null || !_throttleTimer!.isActive) {
|
||
_throttleTimer = Timer(_throttleDuration, () {
|
||
_emitCachedStatus();
|
||
});
|
||
}
|
||
} catch (e, stack) {
|
||
debugPrint('❌ [0x02] #$_packetSeq 解析异常:$e');
|
||
// _logger.log('❌ [DeviceStatusBloc] 直接解析异常:$e');
|
||
// 🔥 解析错误不节流，立即emit以便UI显示错误
|
||
if (!isClosed) {
|
||
emit(DeviceStatusError('解析失败:$e'));
|
||
}
|
||
}
|
||
},
|
||
onDone: () => debugPrint('⚠️ [DeviceStatusBloc] TCP流已结束(onDone)'),
|
||
onError: (e) => debugPrint('❌ [DeviceStatusBloc] TCP流错误:$e'),
|
||
);
|
||
|
||
debugPrint('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
|
||
_logger.log('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
|
||
}
|
||
|
||
/// 🔥 MQTT机器状态监听（替代TCP 0x02数据源）
|
||
///
|
||
/// [deviceSn] 与TCP时代 switchDevice / connectBySwitch 的设备号获取方式一致
|
||
/// （即 DeviceEntity.deviceName），由用户点击设备列表切换设备时调用。
|
||
///
|
||
/// 第一阶段：订阅并打印原始报文；确认格式后在第二阶段解析为
|
||
/// RunningStatusEntity + GPSEntity，复用现有500ms节流逻辑。
|
||
void startMqttRealtimeListening(String deviceSn) {
|
||
if (deviceSn.isEmpty) {
|
||
debugPrint('${LogTime.now()} ⚠️ [DeviceStatusBloc] MQTT订阅跳过：设备SN为空');
|
||
return;
|
||
}
|
||
|
||
debugPrint('${LogTime.now()} 🚀 [DeviceStatusBloc] 启动MQTT机器状态监听: $deviceSn');
|
||
|
||
// 按SN订阅（数据源内部自动退旧订新、同SN去重）
|
||
_mowerRealtimeRepo.startListening(deviceSn: deviceSn).then((result) {
|
||
result.fold(
|
||
(failure) => debugPrint(
|
||
'${LogTime.now()} ❌ [DeviceStatusBloc] MQTT机器状态订阅失败: ${failure.message}',
|
||
),
|
||
(_) => debugPrint(
|
||
'${LogTime.now()} ✅ [DeviceStatusBloc] MQTT机器状态订阅完成: $deviceSn',
|
||
),
|
||
);
|
||
});
|
||
|
||
// 切换设备时重置收帧计数，便于观察新设备的首帧与频率
|
||
_mqttVehicleFrameCount = 0;
|
||
_mqttLocationFrameCount = 0;
|
||
|
||
// 流监听只建立一次，第一阶段仅打印解析结果验证链路
|
||
_mqttVehicleSubscription ??= _mowerRealtimeRepo.vehicleStream.listen((
|
||
message,
|
||
) {
|
||
_mqttVehicleFrameCount++;
|
||
debugPrint(
|
||
'${LogTime.now()} 📊 [MQTT-机器状态] 车辆实时第$_mqttVehicleFrameCount帧 type=${message.type} 数据点=${message.data.length}',
|
||
);
|
||
// TODO 第二阶段:将数据点映射到 RunningStatusEntity 字段，复用500ms节流emit
|
||
});
|
||
|
||
_mqttLocationSubscription ??= _mowerRealtimeRepo.locationStream.listen((
|
||
location,
|
||
) {
|
||
_mqttLocationFrameCount++;
|
||
debugPrint(
|
||
'${LogTime.now()} 📍 [MQTT-location] 定位第$_mqttLocationFrameCount帧 lat=${location.latitude}, lng=${location.longitude}, heading=${location.heading}',
|
||
);
|
||
|
||
// 🔥 核心：用 MQTT location 数据更新缓存并节流 emit
|
||
if (location.isValid) {
|
||
// 更新 _cachedGps
|
||
_cachedGps = GPSEntity(location.latitude!, location.longitude!);
|
||
|
||
// 更新 _cachedStatus 中的航向角和坐标（复用已有缓存或新建空壳）
|
||
final base = _cachedStatus ?? RunningStatusEntity();
|
||
_cachedStatus = base.copyWith(
|
||
latitude: location.latitude!,
|
||
longitude: location.longitude!,
|
||
yaw: location.heading ?? base.yaw,
|
||
);
|
||
|
||
// 500ms节流：与 TCP 0x02 时代逻辑一致
|
||
if (_throttleTimer == null || !_throttleTimer!.isActive) {
|
||
_throttleTimer = Timer(_throttleDuration, () {
|
||
_emitCachedStatus();
|
||
});
|
||
}
|
||
} else {
|
||
debugPrint(
|
||
'${LogTime.now()} ⚠️ [MQTT-location] 坐标无效，跳过 - lat=${location.latitude}, lng=${location.longitude}',
|
||
);
|
||
}
|
||
});
|
||
|
||
debugPrint('${LogTime.now()} ✅ [DeviceStatusBloc] MQTT机器状态监听已启动: $deviceSn');
|
||
_logger.log('✅ [DeviceStatusBloc] MQTT机器状态监听已启动: $deviceSn');
|
||
}
|
||
|
||
// 🔥 初始化MQTT到达点监听
|
||
void _initMqttArriveListener() {
|
||
debugPrint('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');
|
||
_logger.log('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');
|
||
|
||
_mqttArriveSubscription = _taskMessageRepo.taskArriveStream.listen(
|
||
(TaskArriveEntity arrive) {
|
||
debugPrint(
|
||
'📍 [DeviceStatusBloc] 收到MQTT到达点消息: type=${arrive.type}, deviceId=${arrive.deviceId}',
|
||
);
|
||
_logger.log(
|
||
'📍 [DeviceStatusBloc] 收到MQTT到达点消息: type=${arrive.type}, deviceId=${arrive.deviceId}',
|
||
);
|
||
|
||
// 过滤出路径规划到达点消息
|
||
if (arrive.type == 'device_task_arrive_point') {
|
||
// 检查设备ID是否匹配当前监听的设备
|
||
if (_currentDeviceId != null && arrive.deviceId != _currentDeviceId) {
|
||
debugPrint(
|
||
'⚠️ [DeviceStatusBloc] 设备ID不匹配，跳过 - 当前:$_currentDeviceId, 收到:${arrive.deviceId}',
|
||
);
|
||
return;
|
||
}
|
||
|
||
// 提取坐标（支持空entity场景）
|
||
double? lat = arrive.entity?.lat;
|
||
double? lng = arrive.entity?.lng;
|
||
|
||
// 发送事件到Bloc
|
||
add(
|
||
DeviceTaskArrivePointEvent(
|
||
deviceId: arrive.deviceId,
|
||
taskId: arrive.taskId,
|
||
lat: lat,
|
||
lng: lng,
|
||
),
|
||
);
|
||
}
|
||
},
|
||
onError: (e) {
|
||
debugPrint('❌ [DeviceStatusBloc] MQTT到达点监听错误: $e');
|
||
_logger.log('❌ [DeviceStatusBloc] MQTT到达点监听错误: $e');
|
||
},
|
||
);
|
||
|
||
debugPrint('✅ [DeviceStatusBloc] MQTT到达点监听器已建立完成');
|
||
_logger.log('✅ [DeviceStatusBloc] MQTT到达点监听器已建立完成');
|
||
}
|
||
|
||
// 🔥 初始化MQTT任务状态监听（接收 task/+/status 完成推送）
|
||
void _initMqttStatusListener() {
|
||
debugPrint('🔗 [DeviceStatusBloc] 初始化MQTT任务状态监听器');
|
||
_logger.log('🔗 [DeviceStatusBloc] 初始化MQTT任务状态监听器');
|
||
|
||
_mqttStatusSubscription = _taskMessageRepo.taskStatusStream.listen(
|
||
(TaskStatusEntity status) {
|
||
debugPrint(
|
||
'📋 [DeviceStatusBloc] 收到MQTT任务状态: type=${status.type}, deviceId=${status.deviceId}, status=${status.status}',
|
||
);
|
||
_logger.log(
|
||
'📋 [DeviceStatusBloc] 收到MQTT任务状态: type=${status.type}, deviceId=${status.deviceId}, status=${status.status}',
|
||
);
|
||
|
||
// 检查设备ID是否匹配当前监听的设备
|
||
if (_currentDeviceId != null && status.deviceId != _currentDeviceId) {
|
||
debugPrint(
|
||
'⚠️ [DeviceStatusBloc] 任务状态设备ID不匹配，跳过 - 当前:$_currentDeviceId, 收到:${status.deviceId}',
|
||
);
|
||
return;
|
||
}
|
||
|
||
// 🔥 状态为 FINISH 表示任务完成
|
||
if (status.status == 'FINISH') {
|
||
debugPrint('🏁 [DeviceStatusBloc] 收到任务完成推送，触发完成流程');
|
||
_logger.log('🏁 [DeviceStatusBloc] 收到任务完成推送，触发完成流程');
|
||
|
||
final devicesCubit = GetIt.I<DevicesCubit>();
|
||
devicesCubit.finishWork();
|
||
|
||
// 🔥 无论缓存是否有效，都必须 emit 触发 BlocBuilder 重建
|
||
if (!isClosed) {
|
||
emit(DeviceStatusUpdated(
|
||
_cachedStatus ?? RunningStatusEntity(),
|
||
_cachedGps ?? GPSEntity(0.0, 0.0),
|
||
));
|
||
debugPrint('📤 [DeviceStatusBloc] 已 emit 完成信号，触发 UI 更新');
|
||
}
|
||
|
||
Future.delayed(Duration(seconds: 1), () {
|
||
devicesCubit.resetWorkStatus();
|
||
});
|
||
}
|
||
},
|
||
onError: (e) {
|
||
debugPrint('❌ [DeviceStatusBloc] MQTT任务状态监听错误: $e');
|
||
_logger.log('❌ [DeviceStatusBloc] MQTT任务状态监听错误: $e');
|
||
},
|
||
);
|
||
|
||
debugPrint('✅ [DeviceStatusBloc] MQTT任务状态监听器已建立完成');
|
||
_logger.log('✅ [DeviceStatusBloc] MQTT任务状态监听器已建立完成');
|
||
}
|
||
|
||
// 🔥 设置当前监听的设备ID（用于过滤MQTT消息）
|
||
void setListeningDeviceId(String deviceId) {
|
||
debugPrint('📱 [DeviceStatusBloc] 设置监听设备ID: $deviceId');
|
||
_logger.log('📱 [DeviceStatusBloc] 设置监听设备ID: $deviceId');
|
||
_currentDeviceId = deviceId;
|
||
}
|
||
|
||
// 🔥 节流发射：500ms到期后发射缓存的最新数据
|
||
void _emitCachedStatus() {
|
||
if (_cachedStatus != null && _cachedGps != null && !isClosed) {
|
||
debugPrint('📤 [节流发射] 电压=${_cachedStatus!.voltage}V 电量=${_cachedStatus!.battery}% 经纬度=(${_cachedGps!.latitude}, ${_cachedGps!.longitude}) yaw=${_cachedStatus!.yaw} | ${DateTime.now().toString().substring(11, 19)}');
|
||
emit(DeviceStatusUpdated(_cachedStatus!, _cachedGps!));
|
||
}
|
||
}
|
||
|
||
// 🔥 重置时仅清空状态
|
||
Future<void> _handleReset(
|
||
DeviceStatusReset event,
|
||
Emitter<DeviceStatusState> emit,
|
||
) async {
|
||
debugPrint('🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}');
|
||
_logger.log(
|
||
'🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}',
|
||
);
|
||
|
||
// 只 emit 初始状态，让 UI 清除旧设备的数据
|
||
emit(DeviceStatusInitial());
|
||
debugPrint('⚠️ [DeviceStatusBloc] 已emit DeviceStatusInitial');
|
||
}
|
||
|
||
Future<void> _handleDeviceStatusLoaded(
|
||
DeviceStatusLoaded event,
|
||
Emitter<DeviceStatusState> emit,
|
||
) async {
|
||
try {
|
||
// debugPrint('🔍 开始解析数据：${event.jsonString}');
|
||
_logger.log('🔍 开始解析数据：${event.jsonString}');
|
||
final fields = event.jsonString.trim().split(',');
|
||
|
||
if (fields.length < 18) {
|
||
debugPrint('⚠️ 字段不足：${fields.length}');
|
||
emit(DeviceStatusError('字段不足，期望 ≥18，实际：${fields.length}'));
|
||
return;
|
||
}
|
||
|
||
final status = RunningStatusEntity.fromFields(fields);
|
||
final gps = GPSEntity(status.latitude, status.longitude);
|
||
|
||
//debugPrint('✅ 解析成功，更新状态：Lat=${gps.latitude}, Lng=${gps.longitude}');
|
||
_logger.log('✅ 解析成功，更新状态：Lat=${gps.latitude}, Lng=${gps.longitude}');
|
||
emit(DeviceStatusUpdated(status, gps));
|
||
} catch (e, stack) {
|
||
//debugPrint('❌ 解析异常：$e\n$stack');
|
||
_logger.log('❌ 解析异常：$e\n$stack');
|
||
emit(DeviceStatusError('解析失败：$e'));
|
||
}
|
||
}
|
||
|
||
Future<void> _handlePushMessageReceived(
|
||
PushMessageReceived event,
|
||
Emitter<DeviceStatusState> emit,
|
||
) async {
|
||
try {
|
||
final eventStr = event.jsonData['event'] ?? '';
|
||
final deviceId = event.jsonData['deviceId'] ?? '未知';
|
||
// debugPrint('收到推送事件：$eventStr, 设备：$deviceId');
|
||
_logger.log('收到推送事件：$eventStr, 设备：$deviceId');
|
||
// 这里可以根据需要 emit 新状态
|
||
} catch (e) {
|
||
emit(DeviceStatusError('解析推送消息失败：$e'));
|
||
}
|
||
}
|
||
|
||
// 🔥 处理MQTT到达点事件
|
||
Future<void> _handleDeviceTaskArrivePointEvent(
|
||
DeviceTaskArrivePointEvent event,
|
||
Emitter<DeviceStatusState> emit,
|
||
) async {
|
||
debugPrint(
|
||
'📍 [DeviceStatusBloc] 处理到达点事件: deviceId=${event.deviceId}, taskId=${event.taskId}, lat=${event.lat}, lng=${event.lng}',
|
||
);
|
||
_logger.log(
|
||
'📍 [DeviceStatusBloc] 处理到达点事件: deviceId=${event.deviceId}, taskId=${event.taskId}, lat=${event.lat}, lng=${event.lng}',
|
||
);
|
||
|
||
if (event.lat != null && event.lng != null && event.lat != 0.0) {
|
||
// ✅ 收到有效到达点 - 更新位置状态
|
||
final gps = GPSEntity(event.lat!, event.lng!);
|
||
|
||
// 发送到DevicesCubit更新到达位置（触发地图轨迹更新）
|
||
final devicesCubit = GetIt.I<DevicesCubit>();
|
||
devicesCubit.setArrivedLocation(event.lat!, event.lng!);
|
||
|
||
// 同时更新DeviceStatusBloc的状态
|
||
emit(DeviceStatusUpdated(_cachedStatus ?? RunningStatusEntity(), gps));
|
||
} else {
|
||
// ❌ entity为空或坐标无效 - 表示任务停止
|
||
debugPrint('🛑 [DeviceStatusBloc] 收到任务停止信号');
|
||
_logger.log('🛑 [DeviceStatusBloc] 收到任务停止信号');
|
||
|
||
final devicesCubit = GetIt.I<DevicesCubit>();
|
||
devicesCubit.finishWork();
|
||
|
||
// 🔥 关键：无论缓存是否有效，都必须 emit 触发 BlocBuilder 重建
|
||
if (!isClosed) {
|
||
emit(DeviceStatusUpdated(
|
||
_cachedStatus ?? RunningStatusEntity(),
|
||
_cachedGps ?? GPSEntity(0.0, 0.0),
|
||
));
|
||
debugPrint('📤 [DeviceStatusBloc] 已 emit 停止信号，触发 UI 更新');
|
||
}
|
||
|
||
Future.delayed(Duration(seconds: 1), () {
|
||
devicesCubit.resetWorkStatus();
|
||
});
|
||
}
|
||
}
|
||
|
||
@override
|
||
Future<void> close() {
|
||
debugPrint('🚫 [DeviceStatusBloc] 页面退出,清理资源');
|
||
_logger.log('🚫 [DeviceStatusBloc] 页面退出,清理资源');
|
||
|
||
// 🔥 清理MQTT订阅
|
||
_mqttArriveSubscription?.cancel();
|
||
_mqttArriveSubscription = null;
|
||
_mqttStatusSubscription?.cancel();
|
||
_mqttStatusSubscription = null;
|
||
|
||
// 🔥 清理MQTT机器状态订阅
|
||
_mqttVehicleSubscription?.cancel();
|
||
_mqttVehicleSubscription = null;
|
||
_mqttLocationSubscription?.cancel();
|
||
_mqttLocationSubscription = null;
|
||
|
||
// 🔥 清理节流timer和缓存
|
||
_throttleTimer?.cancel();
|
||
_throttleTimer = null;
|
||
_cachedStatus = null;
|
||
_cachedGps = null;
|
||
|
||
// 🔥 重置设备ID
|
||
_currentDeviceId = null;
|
||
|
||
return Future.value();
|
||
}
|
||
}
|