590 lines
25 KiB
Dart
590 lines
25 KiB
Dart
import 'dart:async';
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import 'package:maibu_satabot_v2/features/device_control_mode/domain/entities/device_control_mode.dart';
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import 'package:maibu_satabot_v2/features/device_control_mode/presentation/widgets/control_mode_entry_gate.dart';
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import 'package:flutter/material.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:get_it/get_it.dart';
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import 'package:go_router/go_router.dart';
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import 'package:maibu_satabot_v2/components/capsule_toast.dart';
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import 'package:maibu_satabot_v2/core/consts/tcp_consts.dart';
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import 'package:maibu_satabot_v2/core/localization/app_localizations.dart';
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import '../../../../core/app/app_user_cubit.dart';
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import '../../../../core/router/route_paths.dart';
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import '../../../auth/presentation/bloc/auth_cubit.dart'; // 🔥 导入 AuthCubit
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import '../../../devices/presentation/bloc/devices_cubit.dart';
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import '../bloc/remote_control_cubit.dart';
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import '../bloc/remote_control_state.dart';
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import '../widgets/center_control_area.dart';
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import '../widgets/emergency_overlay.dart';
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import '../widgets/left_joystick_area.dart';
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import '../widgets/right_joystick_area.dart';
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import '../widgets/driving_guide_overlay.dart';
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import '../widgets/top_status_bar.dart';
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import '../widgets/webrtc/webrtc_local_player.dart';
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class RemoteControlPage extends StatefulWidget {
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const RemoteControlPage({super.key});
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@override
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State<RemoteControlPage> createState() => _RemoteControlPageState();
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}
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class _RemoteControlPageState extends State<RemoteControlPage> {
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String _videoStreamUrl = "";
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late RemoteControlCubit _cubit;
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DevicesCubit? _devicesCubit;
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StreamSubscription? _permissionSubscription; // 🔥 权限监听订阅
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bool _isShowingPermissionDialog = false; // 🔥 防止弹窗重复显示
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bool? _lastPermissionDialogState; // 🔥 记录上次弹窗状态，检测状态变化
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bool _controlSessionStarted = false;
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late final String _modeDeviceId = _cubit.state.targetDevice?.deviceName ?? '';
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bool _isLoadingPermission = true; // 🔥 标记是否正在加载权限状态
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/// 缓存本地化实例：dispose 阶段 context 已失效 / 弹窗中需提前拼文案，
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/// 不能依赖 `AppLocalizations.of(context)`。
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late AppLocalizations _l10n;
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@override
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void didChangeDependencies() {
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super.didChangeDependencies();
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_l10n = AppLocalizations.of(context);
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_cubit = context.read<RemoteControlCubit>();
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_devicesCubit = context.read<DevicesCubit>();
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// 🔥 监听权限弹窗状态变化 (只订阅一次)
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if (_permissionSubscription == null) {
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_permissionSubscription = _cubit.stream.listen((state) {
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// 🔥 关键修复：只有当状态更新类型是弹窗更新时才处理弹窗逻辑
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// 设备状态更新（500ms）不会触发弹窗显示
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if (state.updateType != 'permission_dialog') {
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// 如果是设备状态更新，只重置状态记录，不显示弹窗
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if (!state.showPermissionRequestDialog) {
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_lastPermissionDialogState = false;
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}
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return; // 跳过设备状态更新
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}
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// 🔥 只有当状态从 false 变为 true 时才显示弹窗
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// 使用三个条件确保不会重复显示
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final wasFalseBefore =
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_lastPermissionDialogState == null ||
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_lastPermissionDialogState == false;
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final shouldShow =
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state.showPermissionRequestDialog &&
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!_isShowingPermissionDialog &&
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wasFalseBefore;
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if (mounted && shouldShow) {
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_lastPermissionDialogState = true; // 记录当前状态
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_isShowingPermissionDialog = true;
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debugPrint('🔔 [权限弹窗] 检测到 showPermissionRequestDialog=true，准备显示弹窗');
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// 使用微任务确保标志位已设置
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Future.microtask(() {
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_showPermissionDialog(state).then((_) {
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debugPrint('🔔 [权限弹窗] 弹窗已关闭，重置标志位');
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_isShowingPermissionDialog = false; // 弹窗关闭后重置标志
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_lastPermissionDialogState = false; // 重置状态记录
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});
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});
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} else if (!state.showPermissionRequestDialog) {
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// 状态变为 false 时，重置记录
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_lastPermissionDialogState = false;
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}
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});
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} else {
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// 🔥 如果已经订阅，重置状态记录，确保下次能正确检测状态变化
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_lastPermissionDialogState = _cubit.state.showPermissionRequestDialog;
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}
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}
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@override
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void initState() {
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super.initState();
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// 🔥 进入安全模式：防止异地登录推送导致控制中断
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GetIt.I<AuthCubit>().enterSafeMode();
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// 1. 锁定横屏
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SystemChrome.setPreferredOrientations([
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DeviceOrientation.landscapeLeft,
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DeviceOrientation.landscapeRight,
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]);
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// 2. 隐藏状态栏和虚拟按键
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SystemChrome.setEnabledSystemUIMode(SystemUiMode.immersiveSticky);
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}
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@override
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void dispose() {
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// 🔥 离开安全模式：启动 90 秒倒计时
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GetIt.I<AuthCubit>().exitSafeMode();
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// 释放远程控制权限（type=2：退出远程遥控页面释放）
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final deviceId = _cubit.state.targetDevice?.deviceName;
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if (_controlSessionStarted && deviceId != null && deviceId.isNotEmpty) {
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_cubit.releasePermission(deviceId: deviceId, type: 2).then((success) {
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CapsuleToast.show(
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success
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? _l10n.translate('remote_control.toast_released')
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: _l10n.translate('remote_control.toast_release_failed'),
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showCheck: success,
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);
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});
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}
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_permissionSubscription?.cancel(); // 🔥 取消订阅
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SystemChrome.setPreferredOrientations([DeviceOrientation.portraitUp]);
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SystemChrome.setEnabledSystemUIMode(SystemUiMode.edgeToEdge);
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// 🔥 退页先把车真正停下：归零双轴 + 连发 30 帧停止指令。
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// 只靠 stopControlLoop() 断掉 200ms 循环是不够的：设备只认“最后收到的
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// 运动帧”，若手指还压在摇杆上就退出（没走松手归零），已下发的高速帧会
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// 让车继续跑到它自己的失联保护为止。与新版 HUD 折叠/退出的 deactivate()
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// 同一口径。
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// 必须放在 stopControlLoop() 之前：stopAllMovement 末尾会按 _controlWanted
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// 决定是否重启循环，这里同步把意图关掉，就不会在退页后留下无主定时器。
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if (_controlSessionStarted) {
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unawaited(_cubit.stopAllMovement());
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_cubit.stopControlLoop();
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}
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_cubit.stopReverseCameraMock(); // 🔥 停止倒车影像 Mock，避免定时器空转
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// 🔥 重置权限状态，避免单例 hasPermission 残留导致下次进入不再查询接口
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_cubit.resetPermissionState();
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super.dispose();
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}
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@override
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Widget build(BuildContext context) => ControlModeEntryGate(
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deviceId: _modeDeviceId,
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target: ControlModeTarget.remote,
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onReady: () {
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if (_cubit.state.targetDevice?.deviceName != _modeDeviceId) return;
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_controlSessionStarted = true;
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_cubit.startControlLoop();
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},
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child: _buildPage(context),
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);
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Widget _buildPage(BuildContext context) {
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// 🔥 只监听 RemoteControlCubit，避免其他状态变化导致频繁 rebuild
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final remoteCubit = context.read<RemoteControlCubit>();
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final targetDevice = remoteCubit.state.targetDevice;
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// 🔥 调试日志：检查设备状态
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debugPrint(
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'🔍 [RemoteControlPage] build - targetDevice: ${targetDevice?.deviceName}',
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);
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if (targetDevice == null) {
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debugPrint('❌ [RemoteControlPage] targetDevice 为空，显示离线页面');
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return _buildOfflineScaffold();
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}
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// 🔥 进入页面只查询一次真实权限状态（不抢占），按接口 remoteControl 如实展示
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if (_isLoadingPermission) {
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// 直接置标志位，不在 build 期间调用 setState
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_isLoadingPermission = false;
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final deviceName = targetDevice.deviceName;
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WidgetsBinding.instance.addPostFrameCallback((_) {
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if (mounted && deviceName.isNotEmpty) {
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debugPrint(
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'🔑 [RemoteControlPage] 进入页面，仅查询权限状态 - deviceName: $deviceName',
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);
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remoteCubit.requestControlPermissionS(
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deviceName,
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'app',
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source: '进入页面查询',
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grabControl: false,
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);
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}
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});
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}
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return Scaffold(
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backgroundColor: Colors.black,
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body: Stack(
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children: [
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// 在 Stack 的最底层替换：
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Positioned.fill(
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child: BlocBuilder<RemoteControlCubit, RemoteControlState>(
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// 只有当显示隐藏状态改变时才重构，内部的拖拽由组件自身 State 处理，不影响这里
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// 🔥 倒车引导线放在单独嵌套 BlocBuilder 里实时刷新，不带着整块视频重建
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buildWhen: (p, c) =>
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p.showLeftPip != c.showLeftPip ||
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p.showRightPip != c.showRightPip,
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builder: (context, state) {
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// 🔥 从 targetDevice 获取 deviceId
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final targetDevice = context
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.watch<RemoteControlCubit>()
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.state
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.targetDevice;
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final deviceId = targetDevice?.deviceName;
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// 🔥 从 AppUserCubit 获取登录 token：SRS on_play 会校验，缺失会被拒绝拉流
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final token = context.read<AppUserCubit>().state.user?.token;
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if (deviceId != null &&
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deviceId.isNotEmpty &&
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token != null &&
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token.isNotEmpty) {
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_videoStreamUrl =
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"webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId?token=$token";
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debugPrint('🎬 [WebRTC] URL构建成功: $_videoStreamUrl');
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} else {
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_videoStreamUrl = '';
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debugPrint(
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'❌ [WebRTC] URL构建失败 - deviceId: $deviceId, hasToken: ${token != null}',
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);
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}
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final int originY = context
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.watch<RemoteControlCubit>()
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.state
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.controlEntity
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.originY;
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// debugPrint("${originY},originY");
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return Stack(
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children: [
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WebRTCLocalPlayer(
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streamUrl: _videoStreamUrl,
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showLeftPip: state.showLeftPip,
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showRightPip: state.showRightPip,
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isFrontMain: originY >= 0,
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onDoubleTap: () {
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debugPrint('👆 [RemoteControlPage] 双击屏幕，切换前后视角');
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// 🔥 通过 TCP 发送切换视角指令
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// 这里需要调用 RemoteControlCubit 的方法来切换视角
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context.read<RemoteControlCubit>().toggleCameraView();
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},
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),
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// 🔥 倒车影像引导线动画层：由摇杆（滑块）数据实时驱动。
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// 嵌套 BlocBuilder 监听完整 reverseCamera，转向/挡位一变就重绘，确保跟手。
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// IgnorePointer 不阻挡双击切视角等手势
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BlocBuilder<RemoteControlCubit, RemoteControlState>(
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buildWhen: (p, c) => p.reverseCamera != c.reverseCamera,
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builder: (context, rs) => rs.reverseCamera.isReversing
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? Positioned.fill(
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child: IgnorePointer(
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child: DrivingGuideOverlay(
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steering: rs.reverseCamera.steeringAngle,
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),
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),
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)
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: const SizedBox.shrink(),
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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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BlocBuilder<RemoteControlCubit, RemoteControlState>(
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buildWhen: (p, c) => p.isEmergency != c.isEmergency,
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builder: (context, state) {
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return state.isEmergency
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? const Positioned.fill(child: EmergencyOverlay())
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: const SizedBox.shrink();
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},
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),
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SafeArea(
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child: Column(
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children: [
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// 🔥 用 BlocConsumer 包裹,确保 hasPermission 变化时重建
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BlocConsumer<RemoteControlCubit, RemoteControlState>(
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listenWhen: (p, c) => p.hasPermission != c.hasPermission,
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listener: (context, state) {
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debugPrint(
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'🔍 [RemoteControlPage] BlocConsumer listener - hasPermission=${state.hasPermission}',
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);
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},
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buildWhen: (p, c) =>
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p.hasPermission != c.hasPermission ||
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p.isLocked != c.isLocked ||
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p.topRightIsExpanded != c.topRightIsExpanded ||
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p.obstacleRecognitionFlag != c.obstacleRecognitionFlag ||
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p.showLeftPip != c.showLeftPip ||
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p.showRightPip != c.showRightPip ||
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p.ping != c.ping ||
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p.runningStatusModel.voltage !=
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c.runningStatusModel.voltage ||
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p.runningStatusModel.controlMode !=
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c.runningStatusModel.controlMode ||
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p.battery != c.battery,
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builder: (context, state) {
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// 🔥 调试日志：确认 BlocBuilder 接收到的状态值
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/* debugPrint(
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'🔍 [RemoteControlPage] BlocConsumer builder - hasPermission=${state.hasPermission}',
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);*/
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return TopStatusBar(remoteState: state);
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},
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),
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Expanded(
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child: LayoutBuilder(
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builder: (context, constraints) {
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final double sideAreaWidth = constraints.maxWidth * 0.25;
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final double centerAreaWidth = constraints.maxWidth * 0.5;
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// 关键：使用 BlocBuilder 局部刷新摇杆，不要 watch 整个 Page
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return BlocBuilder<
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RemoteControlCubit,
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RemoteControlState
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>(
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// 只有 isLocked 改变时才重构摇杆区域，摇杆坐标改变由内部处理
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buildWhen: (p, c) => p.isLocked != c.isLocked,
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builder: (context, remoteState) {
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return Padding(
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padding: const EdgeInsets.symmetric(vertical: 10),
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child: Row(
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mainAxisAlignment: MainAxisAlignment.end,
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crossAxisAlignment: CrossAxisAlignment.end,
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children: [
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// 左摇杆
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SizedBox(
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width: sideAreaWidth,
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child: Align(
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alignment: Alignment.bottomCenter,
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child: LeftJoystickArea(
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isLocked: remoteState.isLocked,
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width: sideAreaWidth * 0.45,
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),
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),
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),
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// 中间区
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SizedBox(
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width: centerAreaWidth,
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child: Align(
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alignment: Alignment.bottomCenter,
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child: CenterControlArea(
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totalWidth: centerAreaWidth,
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),
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),
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),
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// 右摇杆
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SizedBox(
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width: sideAreaWidth,
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child: Align(
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alignment: Alignment.bottomCenter,
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child: RightJoystickArea(
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isLocked: remoteState.isLocked,
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width: sideAreaWidth * 0.45,
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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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},
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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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),
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],
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),
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);
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}
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// 🔥 显示权限请求弹窗 (使用 showDialog 替代 Overlay)
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Future<void> _showPermissionDialog(RemoteControlState state) async {
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debugPrint('🔔 [权限弹窗] _showPermissionDialog 被调用');
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final requestingDeviceId =
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state.requestingDeviceId ??
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_l10n.translate('remote_control.perm_unknown_device');
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final requestingPlatform =
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state.requestingPlatform ??
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_l10n.translate('remote_control.perm_unknown_platform');
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final dialogContent = _l10n
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.translate('remote_control.permission_request_body')
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.replaceAll('{platform}', requestingPlatform)
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.replaceAll('{deviceId}', requestingDeviceId);
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debugPrint(
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'🔔 [权限弹窗] 准备显示弹窗 - requestingPlatform=$requestingPlatform, requestingDeviceId=$requestingDeviceId',
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);
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showDialog(
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context: context,
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barrierDismissible: false, // 禁止点击外部关闭
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builder: (dialogContext) => AlertDialog(
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title: Text(
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AppLocalizations.of(
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dialogContext,
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).translate('remote_control.permission_request_title'),
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),
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content: Text(dialogContent),
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actions: [
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TextButton(
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onPressed: () async {
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// debugPrint('👆 [权限弹窗] 用户点击了拒绝按钮');
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final deviceId =
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context
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.read<DevicesCubit>()
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.state
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.selectedDevice
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?.deviceName ??
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"";
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final remoteCubit = context.read<RemoteControlCubit>();
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// 🔥 添加详细状态日志 - 检查为什么TCP指令发不出去
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// debugPrint('👆 [权限弹窗] ====================状态检查====================');
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// debugPrint('👆 [权限弹窗] showPermissionRequestDialog: ${remoteCubit.state.showPermissionRequestDialog}');
|
||
// debugPrint('👆 [权限弹窗] targetDevice: ${remoteCubit.state.targetDevice}');
|
||
// debugPrint('👆 [权限弹窗] requestingDeviceId: ${remoteCubit.state.requestingDeviceId}');
|
||
// debugPrint('👆 [权限弹窗] hasPermission: ${remoteCubit.state.hasPermission}');
|
||
// debugPrint('👆 [权限弹窗] ==============================================');
|
||
|
||
/* debugPrint(
|
||
'📋 [权限弹窗] targetDevice=${remoteCubit.state.targetDevice}',
|
||
);*/
|
||
|
||
// 🔥 先发送 TCP 响应，等完成后再关闭弹窗
|
||
// debugPrint('🔑 [权限弹窗] 用户拒绝,调用 confirmPermissionResponse');
|
||
final targetDevice = remoteCubit.state.targetDevice;
|
||
if (targetDevice != null) {
|
||
debugPrint(
|
||
'✅ [权限弹窗] targetDevice 不为空,开始调用 confirmPermissionResponse',
|
||
);
|
||
await remoteCubit.confirmPermissionResponse(
|
||
targetDevice.deviceName,
|
||
'app',
|
||
false,
|
||
);
|
||
// debugPrint('✅ [权限弹窗] TCP响应已发送，准备关闭弹窗');
|
||
} else {
|
||
debugPrint(
|
||
'❌ [权限弹窗] targetDevice 为空,无法调用 confirmPermissionResponse',
|
||
);
|
||
}
|
||
|
||
// 🔥 关键修复：先重置弹窗标志位，再关闭弹窗
|
||
// 避免 Navigator.pop() 后上下文失效导致后续代码不执行
|
||
// 🔥 一律用 await 之前就捕获的 remoteCubit，不再 context.read：
|
||
// 异步回来后页面可能已销毁，在失效 Element 上 context.read 会抛。
|
||
remoteCubit.resetPermissionCoolDown();
|
||
remoteCubit.togglePermissionDialog(false);
|
||
|
||
// 🔥 关闭弹窗（在状态重置之后）：弹窗可能已被上一点击关闭，
|
||
// 不守卫就会在 defunct context 上 pop 抛异常。
|
||
if (dialogContext.mounted && Navigator.canPop(dialogContext)) {
|
||
Navigator.pop(dialogContext);
|
||
}
|
||
debugPrint('🔔 [权限弹窗] 弹窗已关闭，重置标志位');
|
||
},
|
||
child: Text(
|
||
AppLocalizations.of(
|
||
dialogContext,
|
||
).translate('remote_control.refuse'),
|
||
),
|
||
),
|
||
TextButton(
|
||
onPressed: () async {
|
||
debugPrint('👆 [权限弹窗] 用户点击了同意按钮');
|
||
final deviceId =
|
||
context
|
||
.read<DevicesCubit>()
|
||
.state
|
||
.selectedDevice
|
||
?.deviceName ??
|
||
"";
|
||
final remoteCubit = context.read<RemoteControlCubit>();
|
||
|
||
// 🔥 添加详细状态日志 - 检查为什么TCP指令发不出去
|
||
/* debugPrint(
|
||
'👆 [权限弹窗] ====================状态检查====================',
|
||
);
|
||
debugPrint(
|
||
'👆 [权限弹窗] showPermissionRequestDialog: ${remoteCubit.state.showPermissionRequestDialog}',
|
||
);
|
||
debugPrint(
|
||
'👆 [权限弹窗] targetDevice: ${remoteCubit.state.targetDevice}',
|
||
);
|
||
debugPrint(
|
||
'👆 [权限弹窗] requestingDeviceId: ${remoteCubit.state.requestingDeviceId}',
|
||
);
|
||
debugPrint(
|
||
'👆 [权限弹窗] hasPermission: ${remoteCubit.state.hasPermission}',
|
||
);
|
||
debugPrint(
|
||
'👆 [权限弹窗] ==============================================',
|
||
);
|
||
|
||
debugPrint(
|
||
'📋 [权限弹窗] targetDevice=${remoteCubit.state.targetDevice}',
|
||
);*/
|
||
|
||
// 🔥 先发送 TCP 响应，等完成后再关闭弹窗
|
||
debugPrint('🔑 [权限弹窗] 用户同意,调用 confirmPermissionResponse');
|
||
final targetDevice = remoteCubit.state.targetDevice;
|
||
if (targetDevice != null) {
|
||
debugPrint('✅ [权限弹窗] targetDevice 不为空');
|
||
await remoteCubit.confirmPermissionResponse(
|
||
targetDevice.deviceName,
|
||
'app',
|
||
true,
|
||
);
|
||
debugPrint('✅ [权限弹窗] TCP响应已发送，准备关闭弹窗');
|
||
} else {
|
||
debugPrint(
|
||
'❌ [权限弹窗] targetDevice 为空,无法调用 confirmPermissionResponse',
|
||
);
|
||
}
|
||
|
||
// 🔥 关键修复：先重置弹窗标志位，再关闭弹窗
|
||
// 避免 Navigator.pop() 后上下文失效导致后续代码不执行
|
||
// 🔥 同拒绝分支：用 await 前就捕获的 remoteCubit，不跨 await 用 context.read。
|
||
remoteCubit.resetPermissionCoolDown();
|
||
remoteCubit.togglePermissionDialog(false);
|
||
|
||
// 🔥 关闭弹窗（在状态重置之后）：同样防重复点击后的 defunct pop。
|
||
if (dialogContext.mounted && Navigator.canPop(dialogContext)) {
|
||
Navigator.pop(dialogContext);
|
||
}
|
||
debugPrint('🔔 [权限弹窗] 弹窗已关闭，重置标志位');
|
||
},
|
||
child: Text(
|
||
AppLocalizations.of(
|
||
dialogContext,
|
||
).translate('remote_control.agree'),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
}
|
||
|
||
Widget _buildOfflineScaffold() {
|
||
return Scaffold(
|
||
backgroundColor: Colors.black,
|
||
body: Center(
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min,
|
||
children: [
|
||
const Icon(Icons.signal_wifi_off, color: Colors.white, size: 60),
|
||
const SizedBox(height: 20),
|
||
Text(
|
||
AppLocalizations.of(
|
||
context,
|
||
).translate('remote_control.device_disconnected'),
|
||
style: const TextStyle(color: Colors.white, fontSize: 18),
|
||
),
|
||
const SizedBox(height: 20),
|
||
ElevatedButton(
|
||
onPressed: () => context.pop(),
|
||
child: Text(
|
||
AppLocalizations.of(context).translate('remote_control.back'),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
}
|
||
|
||
/// 🔥 显示当前控制设备的弹窗 - 已移除：进入远程遥控页不再弹出设备确认弹窗
|
||
}
|