2609 lines
108 KiB
Dart
2609 lines
108 KiB
Dart
import 'dart:async';
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import 'dart:collection';
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import 'dart:convert';
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import 'dart:math';
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import 'dart:math' as math;
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import 'dart:typed_data';
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import 'package:flutter/material.dart';
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import 'package:flutter/rendering.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:go_router/go_router.dart';
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import 'package:http/http.dart' as http;
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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/components/toast.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/consts/tcp_consts.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/core/router/route_paths.dart';
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import 'package:maibu_satabot_v2/features/devices/data/models/device_add_path_point_model.dart' as work_area_model;
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import 'package:maibu_satabot_v2/features/devices/data/models/device_work_area_param_model.dart' as work_area_model;
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import 'package:maibu_satabot_v2/features/devices/data/repositories/generate_path_repository_Impl.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/domain/usecases/select_work_record_usecase.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_bloc.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_event.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_state.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/commonFn.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/components/input_confirm_dialog.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/map/dji_tile_layer.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/obsToast.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/startpoint_area.dart';
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import 'package:image/image.dart' as _image; // 注意命名空间冲突，使用 as img
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/video.dart';
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import 'package:shared_preferences/shared_preferences.dart';
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import 'dart:ui' as ui;
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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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// 本地存储Key常量
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const String kSavedPlotData = 'saved_plot_data';
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const String kSavedGcjPathPoints = 'saved_gcj_path_points';
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const String kSavedGcjOuterPoints = 'saved_gcj_outer_points';
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const String kSavedMarkedPoints = 'saved_marked_points';
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const String kSavedObstacleHoles = 'saved_obstacle_holes';
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const String kSavedIsWorkAreaCompleted = 'saved_is_work_area_completed';
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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({required this.id, required this.plotName, required this.imageUrl, this.jsonData});
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}
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class PlotDataPath {
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final dynamic? 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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PlotDataPath({this.jsonData});
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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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bool _isRefreshing = false; // 新增：页面刷新状态标志
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bool _isVideoDialogOpen = false; // 控制视频弹窗显示
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String _videoStreamUrl = "";
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Offset _videoPopupPos = const Offset(0, 100); // 弹窗初始位置
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// 🔥 关键修复：添加截图全局Key
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final GlobalKey _mapRepaintKey = GlobalKey();
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// 4. 标记点集合（flutter_map需要Set类型）
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Set<Marker> _markers = {};
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final MapController _mapController = MapController();
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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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late String workMode = "弓字模式"; // 作业模式：默认值为"弓字模式"
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WorkStatus _workStatus = WorkStatus.idle;
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bool isStartWork = false; //是否开始作业
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LatLng? _currentLatLng; //gc格式
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LatLng? _currentWgsLatLng;
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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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bool _saveBoxOpen = false; //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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bool _showHeadingWarn = false; // 航向角未初始化提示
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bool _showControlModeWarn = false; // 远程模式提示
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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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PlotDataPath? _selectedPlotPath; // 存储选中地块的路径数据（可选）
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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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bool _isWorkAreaCompleted = false;
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RobotMode _currentRobotMode = RobotMode.robot; //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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// 新增：存储转换后的path和outer坐标
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List<LatLng> gcjPathPoints = [];
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List<LatLng> gcjOuterPoints = [];
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List<dynamic> startWorkList = [];
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List<PlotPoint>? tracePoint = []; //从tracepoint中获取的经纬度坐标
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List<PlotPoint>? gctracePoint = [];
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// ========== 核心新增状态 ==========
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List<LatLng> _markedPoints = []; // 存储所有s十字准星打点坐标
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List<LatLng> _robotModeWgsPoints = []; // Robot模式下从设备获取的wgs打点
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List<LatLng> _robotModeObsWgsPoints = []; // Robot模式下从设备获取的wgs打点 障碍物
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LatLng _mapCenter = const LatLng(39.9042, 116.4074);
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double _headingAngle = 0.0; // 当前机器航向角（单位：度）
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List typedPathList = <work_area_model.DeviceAddPathPointModel>[]; // 存储生成路径的坐标列表（已转换为LatLng）
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// ========== 障碍物模式核心状态 ==========
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List<List<LatLng>> _obstacleHoles = []; // 存储多组障碍物打点（嵌套数组：每组是一个障碍物）
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List<List<LatLng>> _obstacleWgsHoles = []; // 存储多组障碍物打点（嵌套数组：每组是一个障碍物）
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List<LatLng> _currentObstaclePoints = []; // 当前正在绘制的障碍物打点
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bool _isObstacleEditing = false; // 是否处于障碍物编辑状态
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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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// 大疆地图
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bool isDjMapShow = false;
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late DJIStation _currentStation;
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// 所有可用的场站列表（根据你的实际瓦片目录配置）
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final List<DJIStation> _stationList = [
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const DJIStation(name: 'liaoning', displayName: '一号场站'),
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const DJIStation(name: 'station_b', displayName: '二号场站'),
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const DJIStation(name: 'station_c', displayName: '三号场站'),
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// 新增场站只需在这里添加，无需修改其他逻辑
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];
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// 其他
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StreamSubscription? _pathPlanningSub;
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@override
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void initState() {
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super.initState();
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_currentStation = _stationList.first;
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_traceManager = TracePoint<PlotPoint>();
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_initLocationEnterprise();
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// 新增：加载本地存储的绘制数据
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_loadSavedData();
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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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// 🔥 核心修复：使用 addPostFrameCallback 延迟获取地图中心（渲染完成后执行）
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WidgetsBinding.instance.addPostFrameCallback((_) {
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if (mounted && _mapController.camera != null) {
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final originalCenter = _mapController.camera!.center;
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final highPrecisionCenter = LatLng(originalCenter.latitude, originalCenter.longitude);
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setState(() {
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_mapCenter = highPrecisionCenter;
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});
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} else {
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// 兜底：使用默认坐标初始化地图中心
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final defaultCenter = _getDefaultValidCenter();
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setState(() {
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_mapCenter = defaultCenter;
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});
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}
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});
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// 🔥 关键修复：开始监听路径规划指令应答
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_setupPathPlanningListener();
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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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final originalCenter = _mapController.camera!.center;
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final highPrecisionCenter = LatLng(originalCenter.latitude, originalCenter.longitude);
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setState(() {
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_mapCenter = highPrecisionCenter;
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});
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}
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}
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});
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}
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// 🔥 核心修复：监听路径规划应答流
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void _setupPathPlanningListener() {
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debugPrint('🔗 [MapPage] 开始监听路径规划指令应答 (CMD: 0x01)');
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_pathPlanningSub = _dispatcher.onPathPlanningResponse().listen(
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(packet) {
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debugPrint('✅ [MapPage] 收到路径规划应答，准备发送下一个点');
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// 这里不需要做任何事情，因为 NetMessageDispatcher 内部已经处理了
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// 它会自动从队列中移除已发送的点并触发下一个点
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},
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onDone: () => debugPrint('⚠️ [MapPage] 路径规划流已结束'),
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onError: (e) => debugPrint('❌ [MapPage] 路径规划流错误：$e'),
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);
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}
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// 新增：手动清除本地存储数据
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Future<void> _clearLocalData() async {
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try {
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await LocationUtils.clearCache(LocationUtils.kSavedGcjPathPoints);
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await LocationUtils.clearCache(LocationUtils.kSavedGcjOuterPoints);
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await LocationUtils.clearCache(LocationUtils.kSavedMarkedPoints);
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await LocationUtils.clearCache(LocationUtils.kSavedObstacleHoles);
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await LocationUtils.clearCache(LocationUtils.kSavedIsWorkAreaCompleted);
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debugPrint('本地存储的绘制数据已清空');
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} catch (e) {
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debugPrint('清空本地数据失败：$e');
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}
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}
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// 新增：加载本地存储数据方法
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Future<void> _loadSavedData() async {
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try {
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final prefs = await SharedPreferences.getInstance();
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// 加载路径点
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final pathJson = prefs.getString(kSavedGcjPathPoints);
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if (pathJson != null) {
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final List<dynamic> pathList = jsonDecode(pathJson);
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gcjPathPoints = pathList.map((item) => LatLng(double.parse(item['lat'].toString()), double.parse(item['lng'].toString()))).toList();
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}
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// 加载外边界点
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final outerJson = prefs.getString(kSavedGcjOuterPoints);
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if (outerJson != null) {
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final List<dynamic> outerList = jsonDecode(outerJson);
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gcjOuterPoints = outerList.map((item) => LatLng(double.parse(item['lat'].toString()), double.parse(item['lng'].toString()))).toList();
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}
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// 加载打点数据
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final markedJson = prefs.getString(kSavedMarkedPoints);
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if (markedJson != null) {
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final List<dynamic> markedList = jsonDecode(markedJson);
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_markedPoints = markedList.map((item) => LatLng(double.parse(item['lat'].toString()), double.parse(item['lng'].toString()))).toList().toList();
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}
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// 加载障碍物数据
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final obstacleJson = prefs.getString(kSavedObstacleHoles);
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if (obstacleJson != null) {
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final List<dynamic> obstacleList = jsonDecode(obstacleJson);
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_obstacleHoles = obstacleList.map((hole) {
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return (hole as List<dynamic>).map((item) => LatLng(double.parse(item['lat'].toString()), double.parse(item['lng'].toString()))).toList();
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}).toList();
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}
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// 加载作业区域完成状态
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_isWorkAreaCompleted = prefs.getBool(kSavedIsWorkAreaCompleted) ?? false;
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_saveBoxOpen = _isWorkAreaCompleted;
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if (mounted) {
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setState(() {});
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// 移动地图到绘制内容中心
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List<LatLng> allPoints = [];
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allPoints.addAll(gcjPathPoints);
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allPoints.addAll(gcjOuterPoints);
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if (allPoints.isNotEmpty) {
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moveMapToPointsCenter(allPoints);
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}
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}
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} catch (e) {
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debugPrint('加载本地数据失败：$e');
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}
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}
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// 新增：保存绘制数据到本地
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Future<void> _saveDataToLocal() async {
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try {
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final prefs = await SharedPreferences.getInstance();
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// 保存路径点
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final pathList = gcjPathPoints.map((point) => {'lat': point.latitude, 'lng': point.longitude}).toList();
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prefs.setString(kSavedGcjPathPoints, jsonEncode(pathList));
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// 保存外边界点
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final outerList = gcjOuterPoints.map((point) => {'lat': point.latitude, 'lng': point.longitude}).toList();
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prefs.setString(kSavedGcjOuterPoints, jsonEncode(outerList));
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// 保存打点数据
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final markedList = _markedPoints.map((point) => {'lat': point.latitude, 'lng': point.longitude}).toList();
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prefs.setString(kSavedMarkedPoints, jsonEncode(markedList));
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// 保存障碍物数据
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final obstacleList = _obstacleHoles.map((hole) {
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return hole.map((point) => {'lat': point.latitude, 'lng': point.longitude}).toList();
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}).toList();
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prefs.setString(kSavedObstacleHoles, jsonEncode(obstacleList));
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// 保存作业区域完成状态
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prefs.setBool(kSavedIsWorkAreaCompleted, _isWorkAreaCompleted);
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} catch (e) {
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debugPrint('保存本地数据失败：$e');
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}
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}
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// ========== 新增：计算坐标列表的边界范围 ==========
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LatLngBounds? calculateBounds(List<LatLng> points) {
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if (points.isEmpty) return null;
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// 使用静态方法 fromPoints 创建边界（所有latlong2版本都支持）
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return LatLngBounds.fromPoints(points);
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}
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// ========== 新增：移动地图到坐标中心 ==========
|
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// ========== 移动地图到坐标中心（无需修改） ==========
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void moveMapToPointsCenter(List<LatLng> points) {
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if (points.isEmpty || !mounted) return;
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// 计算边界
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final bounds = calculateBounds(points);
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if (bounds == null) return;
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final currentZoom = _mapController.camera?.zoom ?? 18.0;
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_mapController.move(
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bounds.center, // 边界中心点
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currentZoom, // 保留当前缩放比例
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);
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print('地图已移动到绘制内容中心，边界范围：$bounds');
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}
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// ========== 新增：安全转换任意类型为double ==========
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double? safeToDouble(dynamic value) {
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if (value == null) return null;
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if (value is double) return value;
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if (value is int) return value.toDouble();
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if (value is String) {
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return double.tryParse(value); // 字符串转数字（失败返回null）
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}
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return null;
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}
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bool __isValidLatLng(LatLng? latLng) {
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if (latLng == null) return false;
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// 排除赤道0,0坐标，同时校验经纬度范围（避免非法值）
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return latLng.latitude != 0.0 &&
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latLng.longitude != 0.0 &&
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latLng.latitude >= -90 &&
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latLng.latitude <= 90 &&
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latLng.longitude >= -180 &&
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latLng.longitude <= 180;
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}
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bool _isValidLatLng(double lat, double lng) {
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return lat != 0 && lng != 0 && lat >= -90 && lat <= 90 && lng >= -180 && lng <= 180;
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}
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void _onDeviceData(double lng, double lat, bool obfFlag, int headingStatus, controlMode) {
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try {
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// 1. 校验坐标有效性
|
||
if (!_isValidLatLng(lat, lng)) {
|
||
debugPrint('坐标无效：纬度=$lat, 经度=$lng，跳过处理');
|
||
return;
|
||
}
|
||
|
||
if (isStartWork && headingStatus == 0) {
|
||
if (!_showHeadingWarn) {
|
||
// 仅状态变化时更新，避免重复刷新
|
||
setState(() => _showHeadingWarn = true);
|
||
}
|
||
return;
|
||
} else if (isStartWork && headingStatus == 1 && _showHeadingWarn) {
|
||
// 条件不满足时隐藏提示
|
||
setState(() => _showHeadingWarn = false);
|
||
}
|
||
|
||
if (isStartWork && controlMode != "3") {
|
||
if (!_showControlModeWarn) {
|
||
// 仅状态变化时更新
|
||
setState(() => _showControlModeWarn = true);
|
||
}
|
||
} else if (isStartWork && controlMode == "3" && _showControlModeWarn) {
|
||
// 条件不满足时隐藏提示
|
||
setState(() => _showControlModeWarn = false);
|
||
}
|
||
|
||
//if (isStartWork && obfFlag) {
|
||
// ObsToastWidget.show(context: context, message: "小迈提醒您前方有障碍物哦！");
|
||
//} else {
|
||
// ObsToastWidget.dismiss();
|
||
//}
|
||
|
||
final wgsPoint = LatLng(lat, lng);
|
||
|
||
// 2. 转换为高德GCJ02坐标系
|
||
|
||
// 可选：更新航向角（如果有角度数据）
|
||
// _headingAngle = updatedState.status.heading ?? 0.0;
|
||
// 可选：插入队列
|
||
_traceManager.upsert(wgsPoint, TPAction.UPDATE);
|
||
tracePoint = _traceManager.getTracePoint();
|
||
gctracePoint = batchWgs84ToGcj02(tracePoint!);
|
||
|
||
debugPrint("$gctracePoint gctracePoint");
|
||
} catch (e) {
|
||
debugPrint('处理经纬度数据失败：$e');
|
||
}
|
||
}
|
||
|
||
void _showSavePlotDialog() {
|
||
showInputConfirmDialog(
|
||
context: context,
|
||
title: '保存地块', // 自定义标题
|
||
hintText: '请输入地块名称（如：北地块、一号田）', // 自定义输入提示
|
||
labelText: '地块名称', // 自定义输入框标签
|
||
confirmText: '保存', // 确认按钮文字
|
||
cancelText: '取消', // 取消按钮文字
|
||
// 输入校验器（可选）
|
||
inputValidator: (inputText) {
|
||
if (inputText.isEmpty) {
|
||
return '地块名称不能为空！';
|
||
}
|
||
if (inputText.length > 20) {
|
||
return '地块名称不能超过20个字符！';
|
||
}
|
||
return null; // 校验通过
|
||
},
|
||
onConfirm: (plotName) async {
|
||
// 1. 关闭输入弹窗，显示截图加载中
|
||
Navigator.pop(context);
|
||
showDialog(
|
||
context: context,
|
||
barrierDismissible: false, // 禁止点击外部关闭
|
||
builder: (ctx) => const Center(
|
||
child: SizedBox(width: 60, height: 60, child: CircularProgressIndicator(strokeWidth: 3, color: Colors.white)),
|
||
),
|
||
);
|
||
|
||
// 2. 执行截图（核心调用）
|
||
String? imgBase64 = await _captureMapToJpgBase64(quality: 80);
|
||
|
||
// 4. 处理截图结果并保存
|
||
if (mounted) {
|
||
if (imgBase64 != null) {
|
||
_savePlotData(plotName, imgBase64); // 传入 Base64
|
||
} else {
|
||
// 截图失败时，允许空图片保存（可根据业务调整为强制失败）
|
||
_savePlotData(plotName, null);
|
||
ToastUtils.showWarn(context, '地块保存成功，但地图截图生成失败！');
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('地块保存成功，但地图截图生成失败！'), backgroundColor: Colors.amber));
|
||
}
|
||
}
|
||
},
|
||
);
|
||
}
|
||
|
||
void _debugPrintMultipartRequest(http.MultipartRequest request) {
|
||
debugPrint('====================================');
|
||
debugPrint('📡 请求 URL: ${request.url}');
|
||
debugPrint('📡 请求方法: ${request.method}');
|
||
|
||
// 1. 打印请求头（包含自动生成的 boundary）
|
||
debugPrint('📡 请求头: ${request.headers}');
|
||
|
||
// 2. 打印普通字段 (虽然我们现在没有普通字段，但保留以防万一)
|
||
if (request.fields.isNotEmpty) {
|
||
debugPrint('📝 普通字段:');
|
||
request.fields.forEach((key, value) {
|
||
debugPrint(' - $key: $value');
|
||
});
|
||
} else {
|
||
debugPrint('📝 普通字段: 无');
|
||
}
|
||
|
||
// 3. 打印文件/Blob 字段 (核心：这里包含 file 和 workRecord)
|
||
debugPrint('📁 上传文件/Blob 数量: ${request.files.length}');
|
||
for (var file in request.files) {
|
||
debugPrint('------------------------------------');
|
||
debugPrint(' 字段名 (name): ${file.field}');
|
||
debugPrint(' 文件名 (filename): ${file.filename}');
|
||
debugPrint(' 内容类型 (contentType): ${file.contentType}');
|
||
|
||
// 特殊处理：如果是 workRecord，打印其内容
|
||
if (file.field == 'workRecord' && file is http.MultipartFile) {
|
||
// 将 ByteStream 转为 Uint8List 以查看内容
|
||
file.finalize().first.then((bytes) {
|
||
String content = utf8.decode(bytes);
|
||
// 格式化 JSON 打印，更易读
|
||
try {
|
||
dynamic jsonObj = jsonDecode(content);
|
||
debugPrint(' 内容 (content): ${const JsonEncoder.withIndent(' ').convert(jsonObj)}');
|
||
} catch (e) {
|
||
debugPrint(' 内容 (content): $content');
|
||
}
|
||
});
|
||
} else {
|
||
// 对于图片文件，打印大小即可，避免打印海量 Base64
|
||
file.finalize().first.then((bytes) {
|
||
debugPrint(' 文件大小: ${bytes.length} 字节 (约 ${(bytes.length / 1024).toStringAsFixed(1)} KB)');
|
||
});
|
||
}
|
||
}
|
||
debugPrint('====================================');
|
||
}
|
||
|
||
// 3. 保存地块数据的核心方法（这里写你的实际保存逻辑）
|
||
// 🔥 关键修改：增加 imgBase64 参数
|
||
// 🔥 新的保存方法，严格匹配后端结构
|
||
Future<void> _savePlotData(String plotName, String? imgBase64) async {
|
||
// 1. 获取用户ID
|
||
final userId = context.read<AppUserCubit>().state.user?.userId ?? "";
|
||
if (userId.isEmpty) {
|
||
ToastUtils.showError(context, '用户ID为空，无法保存！');
|
||
return;
|
||
}
|
||
debugPrint("===打印生成的路径开始 ");
|
||
for (var i = 0; i < typedPathList.length; i++) {
|
||
debugPrint(typedPathList[i].toString());
|
||
}
|
||
debugPrint("===打印生成的路径结束");
|
||
// 2. 构造 SavePath 数据 (严格对应你的 JS 结构)
|
||
final Map<String, dynamic> savePath = {
|
||
//'img': imgBase64 ?? '', // 截图的 Base64 字符串
|
||
'name': plotName, // 地块名称
|
||
'path': _currentWorkMode == WorkMode.custom
|
||
? [] // 自定义模式 path 为空数组
|
||
: typedPathList
|
||
.map(
|
||
(point) => {
|
||
// 路径点数组
|
||
'lon': point.longitude,
|
||
'lat': point.latitude,
|
||
},
|
||
)
|
||
.toList(),
|
||
|
||
'outer':
|
||
// 核心修改：根据机器人模式选择不同的坐标源
|
||
(_currentRobotMode == RobotMode.robot ? _robotModeWgsPoints : gcjOuterPoints).map((point) {
|
||
final wgs84 = _currentRobotMode == RobotMode.robot
|
||
? point // Robot模式直接使用原始WGS84坐标
|
||
: gcj02ToWgs84(point.latitude, point.longitude); // Point模式转换
|
||
|
||
return {'lng': wgs84.longitude, 'lat': wgs84.latitude};
|
||
}).toList(),
|
||
|
||
'planModel': _currentWorkMode == WorkMode.bow ? 0 : 2, // 作业模式值
|
||
};
|
||
|
||
// 3. 构造 workRecord (包裹一层)
|
||
final Map<String, dynamic> workRecord = {
|
||
'workName': plotName,
|
||
'userId': userId,
|
||
'jsonData': jsonEncode(savePath), // 将 savePath 转为 JSON 字符串
|
||
};
|
||
final String workRecordJson = jsonEncode(workRecord);
|
||
final http.MultipartRequest request = http.MultipartRequest('POST', Uri.parse('https://serviceri.satabot.com/iot/workRecord/add'));
|
||
|
||
// 5. 处理文件：将 Base64 转为 MultipartFile (对应 JS 的 dataURLtoFile)
|
||
if (imgBase64 != null && imgBase64.isNotEmpty) {
|
||
// 移除 Base64 头部 (如果有的话)
|
||
String base64String = imgBase64;
|
||
if (base64String.startsWith('data:image/jpeg;base64,')) {
|
||
base64String = base64String.split(',').last;
|
||
}
|
||
Uint8List bytes = base64Decode(base64String);
|
||
|
||
// 添加文件 (对应 formData.append("file", file))
|
||
request.files.add(http.MultipartFile.fromBytes('file', bytes, filename: 'image.jpg', contentType: http.MediaType('image', 'jpeg')));
|
||
}
|
||
|
||
// 6. 添加 workRecord (对应 formData.append("workRecord", Blob))
|
||
request.files.add(
|
||
http.MultipartFile.fromString(
|
||
'workRecord', // 键名必须是 workRecord
|
||
workRecordJson,
|
||
filename: 'workRecord.json', // 后端可能需要这个文件名来识别
|
||
contentType: http.MediaType('application', 'json'), // 关键：指定 JSON 类型
|
||
),
|
||
);
|
||
|
||
//_debugPrintMultipartRequest(request);
|
||
|
||
// 7. 发送请求
|
||
try {
|
||
ToastUtils.showLoading(context, '正在保存地块「$plotName」...');
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('正在保存地块...'), backgroundColor: Colors.blue));
|
||
|
||
final http.StreamedResponse response = await request.send();
|
||
final String responseBody = await response.stream.bytesToString();
|
||
debugPrint('保存地块响应体: $responseBody');
|
||
|
||
if (response.statusCode == 200) {
|
||
ToastUtils.showSuccess(context, '地块「$plotName」保存成功！');
|
||
_clearLocalData();
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('地块「$plotName」保存成功！'), backgroundColor: Colors.green));
|
||
// 保存成功
|
||
setState(() {
|
||
_markedPoints.clear(); // 清空打点
|
||
gcjPathPoints.clear(); // 清空路径
|
||
gcjOuterPoints.clear(); // 清空外边界
|
||
_robotModeWgsPoints.clear();
|
||
|
||
_isPanelOpen = false; // 关闭操作面板
|
||
_isWorkAreaCompleted = false; // 重置作业区域完成状态
|
||
});
|
||
} else {
|
||
throw Exception('服务器错误: ${response.statusCode}, $responseBody');
|
||
}
|
||
} catch (e) {
|
||
debugPrint('保存失败: $e');
|
||
ToastUtils.showError(context, '保存失败: ${e.toString()}');
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('保存失败: ${e.toString()}'), backgroundColor: Colors.red));
|
||
}
|
||
}
|
||
|
||
List<LatLng> _getPolygonPoints() {
|
||
if (_markedPoints.isEmpty || _mapController.camera == null) return [];
|
||
|
||
List<LatLng> polygonPoints = List.from(_markedPoints);
|
||
polygonPoints.add(_mapCenter);
|
||
return polygonPoints;
|
||
}
|
||
|
||
// ========== 统一撤回方法（适配完成后状态） ==========
|
||
void _undoAction() {
|
||
setState(() {
|
||
// 1. 作业区域模式
|
||
if (_currentAreaMode == AreaMode.work) {
|
||
if (_markedPoints.isNotEmpty) {
|
||
_robotModeWgsPoints.removeLast();
|
||
_markedPoints.removeLast();
|
||
// 作业点撤回后，若路径已生成，重新生成路径（保持同步）
|
||
if (_isWorkAreaCompleted && _markedPoints.length >= 3) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
ToastUtils.showInfo(context, '已撤回作业区域最后一个点，剩余${_markedPoints.length}个点');
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('已撤回作业区域最后一个点，剩余${_markedPoints.length}个点')));
|
||
} else {
|
||
ToastUtils.showInfo(context, '暂无作业区域点可撤回');
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('暂无作业区域点可撤回')));
|
||
}
|
||
return;
|
||
}
|
||
|
||
// 2. 空洞模式（完成后优先撤回已完成的空洞）
|
||
if (_currentAreaMode == AreaMode.obstacle) {
|
||
if (_currentObstaclePoints.isNotEmpty) {
|
||
_currentObstaclePoints.removeLast();
|
||
_robotModeObsWgsPoints.removeLast();
|
||
if (_currentObstaclePoints.isEmpty) {
|
||
_isObstacleEditing = false;
|
||
}
|
||
ToastUtils.showInfo(context, '已撤回当前空洞最后一个点，剩余${_currentObstaclePoints.length}个点');
|
||
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('已撤回当前空洞最后1个点，剩余${_currentObstaclePoints.length}个点')));
|
||
return; // 撤完点就结束，不执行后面的逻辑
|
||
}
|
||
|
||
// 第二步：当前空洞无点可撤 → 再撤回「上一个完整空洞」
|
||
if (_obstacleHoles.isNotEmpty) {
|
||
_obstacleHoles.removeLast();
|
||
// 撤完空洞后重新生成路径（排除该空洞）
|
||
if (_isWorkAreaCompleted) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
ToastUtils.showInfo(context, '已撤回上一个完整空洞，剩余${_obstacleHoles.length}个空洞');
|
||
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('已撤回上一个完整空洞，剩余${_obstacleHoles.length}个空洞')));
|
||
return;
|
||
}
|
||
|
||
// 第三步：无任何可撤内容
|
||
ToastUtils.showInfo(context, '暂无空洞可撤回');
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('暂无空洞可撤回')));
|
||
}
|
||
});
|
||
_saveDataToLocal();
|
||
}
|
||
|
||
// ========== 统一删除方法（适配完成后状态） ==========
|
||
void _deleteAllAction() {
|
||
setState(() {
|
||
// 1. 作业区域模式：清空作业点 + 重置路径
|
||
if (_currentAreaMode == AreaMode.work) {
|
||
if (_markedPoints.isEmpty) {
|
||
ToastUtils.showInfo(context, '暂无作业区域点可删除');
|
||
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('暂无作业区域点可删除')));
|
||
return;
|
||
}
|
||
_markedPoints.clear();
|
||
gcjPathPoints.clear();
|
||
gcjOuterPoints.clear();
|
||
_robotModeWgsPoints.clear();
|
||
_isWorkAreaCompleted = false;
|
||
_saveBoxOpen = false;
|
||
typedPathList.clear();
|
||
ToastUtils.showSuccess(context, '已清空所有作业区域点和路径');
|
||
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('已清空所有作业区域点和路径')));
|
||
}
|
||
// 2. 空洞模式：清空所有空洞 + 恢复UI + 重新生成路径
|
||
else if (_currentAreaMode == AreaMode.obstacle) {
|
||
if (_obstacleHoles.isEmpty && _currentObstaclePoints.isEmpty) {
|
||
ToastUtils.showInfo(context, '暂无障碍物可删除');
|
||
return;
|
||
}
|
||
_obstacleHoles.clear();
|
||
_currentObstaclePoints.clear();
|
||
_robotModeObsWgsPoints.clear();
|
||
_isObstacleEditing = false;
|
||
// 清空后重新生成路径（无空洞）
|
||
if (_isWorkAreaCompleted) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
ToastUtils.showSuccess(context, '已清空所有障碍物');
|
||
}
|
||
});
|
||
_saveDataToLocal();
|
||
}
|
||
|
||
void _handleGotoLocation() {
|
||
_mapController.move(_currentLatLng!, 18);
|
||
}
|
||
|
||
/// ===============================
|
||
/// 企业级定位初始化（已修复坐标系）
|
||
Future<void> _initLocationEnterprise() async {
|
||
// 1. 设置轨迹模式为 LOCATION（核心：确保模式正确）
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
}
|
||
|
||
// ========== 新增：页面刷新初始化方法 ==========
|
||
Future<void> _handleRefresh() async {
|
||
// 防止重复刷新
|
||
if (_isRefreshing) return;
|
||
// 🔥 修复1：保存当前有效的地图中心和缩放级别（而非定位坐标）
|
||
final savedZoom = _mapController.camera?.zoom ?? 17.0;
|
||
setState(() {
|
||
_isRefreshing = true; // 标记开始刷新
|
||
});
|
||
|
||
try {
|
||
if (_currentLatLng != null && _isValidLatLng(_currentLatLng!.latitude, _currentLatLng!.longitude)) {
|
||
_mapController.move(_currentLatLng!, 18);
|
||
} else {
|
||
_mapController.move(_currentLatLng!, 18);
|
||
}
|
||
// 2. 重置所有页面状态（恢复初始值）
|
||
setState(() {
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
|
||
// 2. 清空打点和轨迹数据
|
||
_markedPoints.clear();
|
||
gcjPathPoints.clear();
|
||
_robotModeObsWgsPoints.clear();
|
||
gcjOuterPoints.clear();
|
||
_robotModeWgsPoints.clear();
|
||
|
||
// 3. 重置作业区域状态
|
||
_isWorkAreaCompleted = false;
|
||
_saveBoxOpen = false;
|
||
_showControlModeWarn = false;
|
||
_showHeadingWarn = false;
|
||
|
||
// 4. 重置面板状态
|
||
_isPanelOpen = false;
|
||
_directionBoxOpen = false;
|
||
_isListBoxOpen = false;
|
||
_isWorkPanelOpen = false;
|
||
|
||
// 5. 重置障碍物数据
|
||
_obstacleHoles.clear();
|
||
_currentObstaclePoints.clear();
|
||
_isObstacleEditing = false;
|
||
|
||
// 6. 重置选中状态
|
||
_selectedPlot = null;
|
||
_selectedPlotPath = null;
|
||
|
||
// 7. 重置作业模式
|
||
_currentRobotMode = RobotMode.robot;
|
||
_currentAreaMode = AreaMode.work;
|
||
_currentWorkMode = WorkMode.bow;
|
||
|
||
// 8. 重置作业参数
|
||
_workDistance = 0.0;
|
||
_angle = 0.0;
|
||
|
||
// 9. 重置地图与定位状态（关键修复）
|
||
_currentLatLng = null;
|
||
_currentWgsLatLng = null;
|
||
_mapCenter = _getDefaultValidCenter(); // 仅用兜底坐标初始化地图中心
|
||
|
||
// 10. 重置作业状态
|
||
isDjMapShow = false;
|
||
_workStatus = WorkStatus.idle;
|
||
isStartWork = false;
|
||
});
|
||
_clearLocalData();
|
||
|
||
// 4. 重置轨迹管理器
|
||
_traceManager.reset();
|
||
|
||
// 5. 重新加载作业记录（保持数据最新）
|
||
// final userId = context.read<AppUserCubit>().state.user?.userId ?? "";
|
||
// if (userId.isNotEmpty) {
|
||
// await context.read<DevicesCubit>().loadWorkRecords(userId);
|
||
// }
|
||
|
||
// 刷新成功提示
|
||
if (mounted) {
|
||
ToastUtils.showSuccess(context, '页面已刷新完成');
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('页面已刷新完成'), backgroundColor: Colors.green, duration: Duration(seconds: 2)));
|
||
}
|
||
} catch (e) {
|
||
// 错误处理
|
||
if (mounted) {
|
||
ToastUtils.showError(context, '刷新失败：${e.toString().substring(0, 50)}');
|
||
//ScaffoldMessenger.of(
|
||
// context,
|
||
//).showSnackBar(SnackBar(content: Text('刷新失败：${e.toString().substring(0, 50)}'), backgroundColor: Colors.red, duration: Duration(seconds: 3)));
|
||
}
|
||
} finally {
|
||
// 标记刷新结束
|
||
if (mounted) {
|
||
setState(() {
|
||
_isRefreshing = false;
|
||
});
|
||
}
|
||
}
|
||
}
|
||
|
||
/// 手动回到当前位置
|
||
void _moveToCurrentLocation() {
|
||
if (_currentLatLng == null) return;
|
||
_mapController.move(_currentLatLng!, 17);
|
||
}
|
||
|
||
// ========== 障碍物模式：完成当前障碍物绘制 ==========
|
||
void _completeObstacle() {
|
||
if (_currentObstaclePoints.length < 3) {
|
||
ToastUtils.showError(context, '障碍物区域至少需要3个打点！');
|
||
return;
|
||
}
|
||
|
||
setState(() {
|
||
// 保存当前障碍物组（Robot模式下直接用WGS84坐标）
|
||
if (_currentRobotMode == RobotMode.robot && _robotModeObsWgsPoints.isNotEmpty) {
|
||
final gcjPoints = _robotModeObsWgsPoints.map((wgs) => wgs84ToGcj02(wgs.latitude, wgs.longitude)).toList();
|
||
_obstacleHoles.add(gcjPoints);
|
||
_obstacleWgsHoles.add(List.from(_robotModeObsWgsPoints));
|
||
} else {
|
||
_obstacleHoles.add(List.from(_currentObstaclePoints));
|
||
}
|
||
_currentObstaclePoints.clear(); // 清空当前绘制的障碍物点
|
||
_robotModeObsWgsPoints.clear(); // 清空Robot模式下的障碍物WGS84坐标
|
||
_isObstacleEditing = false; // 退出编辑状态
|
||
});
|
||
_saveDataToLocal();
|
||
|
||
ToastUtils.showSuccess(context, '已添加第${_obstacleHoles.length}个障碍物区域');
|
||
}
|
||
|
||
// ========== 核心方法：打点逻辑 ==========
|
||
void _addMarkedPoint() {
|
||
if (_currentAreaMode == AreaMode.work && _isWorkAreaCompleted) {
|
||
ToastUtils.showError(context, '作业区域已完成，无法继续添加打点！');
|
||
return;
|
||
}
|
||
setState(() {
|
||
if (_currentRobotMode == RobotMode.point) {
|
||
if (_currentAreaMode == AreaMode.work) {
|
||
_markedPoints.add(_mapCenter);
|
||
debugPrint('新增作业区域打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude}, ${_mapCenter.longitude}');
|
||
} else {
|
||
// 障碍物模式：添加到当前障碍物打点
|
||
_currentObstaclePoints.add(_mapCenter);
|
||
_isObstacleEditing = true; // 标记进入障碍物编辑状态
|
||
debugPrint('新增障碍物打点：第${_currentObstaclePoints.length}个点，经纬度：${_mapCenter.latitude}, ${_mapCenter.longitude}');
|
||
}
|
||
} else {
|
||
if (_currentLatLng == null || !_isValidLatLng(_currentLatLng!.latitude, _currentLatLng!.longitude)) {
|
||
ToastUtils.showError(context, '设备坐标无效，无法添加打点！');
|
||
return;
|
||
}
|
||
|
||
// 2. Robot模式-作业区域打点
|
||
if (_currentAreaMode == AreaMode.work) {
|
||
_markedPoints.add(_currentLatLng!); // 从设备实时坐标取最后一个值
|
||
_robotModeWgsPoints.add(_currentWgsLatLng!);
|
||
debugPrint('Robot模式新增作业打点：第${_markedPoints.length}个点，经纬度：${_currentLatLng!.latitude}, ${_currentLatLng!.longitude}');
|
||
} else {
|
||
// 3. Robot模式-障碍物打点
|
||
_currentObstaclePoints.add(_currentLatLng!);
|
||
_robotModeObsWgsPoints.add(_currentWgsLatLng!);
|
||
_isObstacleEditing = true;
|
||
debugPrint('Robot模式新增障碍物打点：第${_currentObstaclePoints.length}个点，经纬度：${_currentLatLng!.latitude}, ${_currentLatLng!.longitude}');
|
||
}
|
||
}
|
||
});
|
||
_saveDataToLocal();
|
||
debugPrint('$_markedPoints,新增打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude.toStringAsFixed(20)}, ${_mapCenter.longitude.toStringAsFixed(20)}');
|
||
}
|
||
|
||
// ========== 新增：返回上一级页面的方法 ==========
|
||
void _navigateBack() {
|
||
// 关闭当前页面，返回上一级
|
||
Navigator.of(context).pop();
|
||
}
|
||
|
||
@override
|
||
void dispose() {
|
||
_traceManager.reset();
|
||
_mapController.dispose();
|
||
_pathPlanningSub?.cancel(); // 🔥 取消订阅
|
||
super.dispose();
|
||
}
|
||
|
||
void _handleVideo() {
|
||
setState(() {
|
||
_isVideoDialogOpen = true; // 打开视频弹窗
|
||
});
|
||
}
|
||
|
||
Widget _buildVideoPopup() {
|
||
return Positioned(
|
||
left: _videoPopupPos.dx,
|
||
top: _videoPopupPos.dy,
|
||
child: GestureDetector(
|
||
// 拖拽区域（整个弹窗可拖拽）
|
||
onPanUpdate: (details) {
|
||
setState(() {
|
||
_videoPopupPos = Offset(_videoPopupPos.dx + details.delta.dx, _videoPopupPos.dy + details.delta.dy);
|
||
});
|
||
},
|
||
child: WebRTCMapPlayer(
|
||
streamUrl: _videoStreamUrl,
|
||
width: 320,
|
||
height: 180,
|
||
showLeftPip: false,
|
||
showRightPip: false,
|
||
onClose: _closeVideoDialog, // 关闭回调
|
||
),
|
||
),
|
||
);
|
||
}
|
||
|
||
void _closeVideoDialog() {
|
||
setState(() {
|
||
_isVideoDialogOpen = false;
|
||
});
|
||
}
|
||
|
||
// 🔥 改动2：修改 _buildPlotListItem 方法，增加删除时调用Bloc的逻辑
|
||
Widget _buildPlotListItem(PlotData plot, Function(PlotData) onDelete) {
|
||
return GestureDetector(
|
||
// 核心：点击列表项触发选中逻辑
|
||
onTap: () async {
|
||
// 1. 清空之前的轨迹数据
|
||
setState(() {
|
||
gcjPathPoints = [];
|
||
gcjOuterPoints = [];
|
||
});
|
||
|
||
await context.read<DevicesCubit>().loadSelectedPath(plot.plotName);
|
||
final cubitState = context.read<DevicesCubit>().state;
|
||
final _loadedPlot = cubitState.pathData;
|
||
print('加载地块「${plot.plotName}」的路径数据: $_loadedPlot');
|
||
if (_loadedPlot is List) {
|
||
final List<dynamic> rawList = _loadedPlot as List<dynamic>;
|
||
final pathRecords = rawList.where((item) => item is Map<String, dynamic>).cast<Map<String, dynamic>>().toList();
|
||
if (pathRecords.isNotEmpty) {
|
||
final selectedPlotPath = PlotDataPath(jsonData: pathRecords.first);
|
||
try {
|
||
final dynamic nestedJsonRaw = selectedPlotPath.jsonData['jsonData'];
|
||
if (nestedJsonRaw != null && nestedJsonRaw is String) {
|
||
final String nestedJsonStr = nestedJsonRaw;
|
||
final dynamic parsedJson = jsonDecode(nestedJsonStr);
|
||
workMode = parsedJson['planModel'] == WorkMode.bow.value ? "弓字模式" : "自定义模式";
|
||
debugPrint('解析出的作业模式: ${parsedJson['planModel']},WorkMode.bow.value=${WorkMode.bow.value}, 解析结果: $workMode');
|
||
if (parsedJson is Map<String, dynamic>) {
|
||
final Map<String, dynamic> nestedJson = parsedJson;
|
||
// 替换你原来的 rawPath/rawOuter 解析部分
|
||
final dynamic rawPath = nestedJson['path'];
|
||
final dynamic rawOuter = nestedJson['outer'];
|
||
|
||
debugPrint('解析后的路径数据11: pathList=$rawPath,');
|
||
debugPrint('解析后的外边界数据22: outerList=$rawOuter,');
|
||
|
||
// ========== 修复核心：先解码字符串，再处理类型 ==========
|
||
List<dynamic> pathList = [];
|
||
if (rawPath is String) {
|
||
try {
|
||
pathList = jsonDecode(rawPath) as List<dynamic>;
|
||
} catch (e) {
|
||
debugPrint('path 字符串解码失败: $e, rawPath=$rawPath');
|
||
pathList = [];
|
||
}
|
||
} else if (rawPath is List) {
|
||
pathList = rawPath;
|
||
} else {
|
||
pathList = [];
|
||
}
|
||
|
||
List<dynamic> outerList = [];
|
||
if (rawOuter is String) {
|
||
try {
|
||
outerList = jsonDecode(rawOuter) as List<dynamic>;
|
||
} catch (e) {
|
||
debugPrint('outer 字符串解码失败: $e, rawOuter=$rawOuter');
|
||
outerList = [];
|
||
}
|
||
} else if (rawOuter is List) {
|
||
outerList = rawOuter;
|
||
} else {
|
||
outerList = [];
|
||
}
|
||
if (workMode == "弓字模式") {
|
||
startWorkList = pathList;
|
||
} else {
|
||
startWorkList = outerList;
|
||
}
|
||
|
||
List<LatLng> newPathPoints = [];
|
||
List<LatLng> newOuterPoints = [];
|
||
for (var item in pathList) {
|
||
double? lat = safeToDouble(item['lat']);
|
||
double? lon = safeToDouble(item['lon']);
|
||
if (lat != null && lon != null) {
|
||
newPathPoints.add(convertWGS84ToGCJ02(lat, lon));
|
||
}
|
||
}
|
||
for (var item in outerList) {
|
||
double? lng = safeToDouble(item['lng']);
|
||
double? lat = safeToDouble(item['lat']);
|
||
if (lng != null && lat != null) {
|
||
newOuterPoints.add(convertWGS84ToGCJ02(lat, lng));
|
||
}
|
||
}
|
||
// 在这里更新状态（安全，因为在事件回调中）
|
||
setState(() {
|
||
gcjPathPoints = newPathPoints;
|
||
gcjOuterPoints = newOuterPoints;
|
||
if (_currentWorkMode == WorkMode.custom) gcjPathPoints = newOuterPoints; // 自定义模式不显示路径
|
||
_selectedPlot = plot;
|
||
_isListBoxOpen = false;
|
||
_isWorkPanelOpen = true;
|
||
_isPanelOpen = false; // 关闭操作面板，专注作业界面
|
||
});
|
||
// 移动地图到中心
|
||
List<LatLng> allPoints = [];
|
||
allPoints.addAll(gcjPathPoints);
|
||
allPoints.addAll(gcjOuterPoints);
|
||
if (allPoints.isNotEmpty) {
|
||
moveMapToPointsCenter(allPoints);
|
||
}
|
||
}
|
||
}
|
||
} catch (e) {
|
||
print('解析/转换坐标失败：$e');
|
||
setState(() {
|
||
gcjPathPoints = [];
|
||
gcjOuterPoints = [];
|
||
_selectedPlot = plot;
|
||
_isListBoxOpen = false;
|
||
_isWorkPanelOpen = true;
|
||
_isPanelOpen = false; // 关闭操作面板，专注作业界面
|
||
});
|
||
}
|
||
} else {
|
||
setState(() {
|
||
gcjPathPoints = [];
|
||
gcjOuterPoints = [];
|
||
_selectedPlot = plot;
|
||
_isListBoxOpen = false;
|
||
_isWorkPanelOpen = true;
|
||
_isPanelOpen = false; // 关闭操作面板，专注作业界面
|
||
});
|
||
}
|
||
} else {
|
||
setState(() {
|
||
gcjPathPoints = [];
|
||
gcjOuterPoints = [];
|
||
_selectedPlot = plot;
|
||
_isListBoxOpen = false;
|
||
_isWorkPanelOpen = true;
|
||
});
|
||
}
|
||
},
|
||
child: Container(
|
||
margin: const EdgeInsets.symmetric(horizontal: 16, vertical: 4),
|
||
padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 4),
|
||
decoration: BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.circular(8),
|
||
border: Border.all(
|
||
color: _selectedPlot?.id == plot.id ? Colors.blue : Colors.grey[100]!,
|
||
width: _selectedPlot?.id == plot.id ? 2 : 1, // 选中项高亮边框
|
||
),
|
||
),
|
||
child: Row(
|
||
children: [
|
||
ClipRRect(
|
||
borderRadius: BorderRadius.circular(8),
|
||
child: Image.network(
|
||
plot.imageUrl,
|
||
width: 30,
|
||
height: 30,
|
||
fit: BoxFit.cover,
|
||
errorBuilder: (context, error, stackTrace) {
|
||
return Container(
|
||
width: 30,
|
||
height: 30,
|
||
color: Colors.grey[200],
|
||
child: const Icon(Icons.image_outlined, color: Colors.grey),
|
||
);
|
||
},
|
||
),
|
||
),
|
||
|
||
const SizedBox(width: 10),
|
||
|
||
Expanded(
|
||
child: Text(
|
||
plot.plotName,
|
||
style: const TextStyle(fontSize: 16, color: Colors.black87),
|
||
maxLines: 1,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
),
|
||
|
||
IconButton(
|
||
onPressed: () => _showDeleteConfirmDialog(plot, onDelete),
|
||
icon: const Icon(Icons.delete_outline, color: Colors.redAccent, size: 20),
|
||
padding: EdgeInsets.zero,
|
||
constraints: const BoxConstraints(),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
}
|
||
|
||
LatLng _getDefaultValidCenter() {
|
||
return const LatLng(30.279651, 120.154871);
|
||
}
|
||
|
||
Widget _buildMap(double lat, double lng, bool obfFlag, int headingStatus, String controlMode) {
|
||
_onDeviceData(lng, lat, obfFlag, headingStatus, controlMode);
|
||
final gcjPoint = wgs84ToGcj02(lat, lng);
|
||
|
||
//final initCenter = bd09ToGcj02(
|
||
// '120.81992468426961', // 经度
|
||
// '32.04532826114155',
|
||
//);
|
||
|
||
// 🔥 修复1：初始化坐标改为直接使用有效GCJ02坐标，避免BD09转换风险
|
||
final initCenter = _getDefaultValidCenter();
|
||
_currentWgsLatLng = LatLng(lat, lng);
|
||
|
||
//_currentLatLng = gcjPoint; // ✅ 状态变量在setState内更新
|
||
if (_isValidLatLng(gcjPoint.latitude, gcjPoint.longitude)) {
|
||
_currentLatLng = gcjPoint;
|
||
} else {
|
||
_currentLatLng = null;
|
||
}
|
||
|
||
return FlutterMap(
|
||
mapController: _mapController,
|
||
options: MapOptions(
|
||
initialCenter: __isValidLatLng(_currentLatLng) ? _currentLatLng! : initCenter,
|
||
initialZoom: 18,
|
||
maxZoom: 22,
|
||
minZoom: 3,
|
||
enableScrollWheel: true,
|
||
// 🔥 视觉放大：通过缩放系数实现"伪20级"显示（无空白）
|
||
onTap: (_, __) {}, // 空实现，禁用地图点击响应
|
||
),
|
||
children: [
|
||
/// 高德瓦片（GCJ-02）
|
||
TileLayer(
|
||
//urlTemplate:
|
||
// "https://webst02.is.autonavi.com/appmaptile?style=6&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=2&style=7&key=bbb1f0f20eed6bf679eddf2625630aba",
|
||
urlTemplate:
|
||
'https://webrd02.is.autonavi.com/appmaptile'
|
||
'?style=8&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=1'
|
||
'&key=bbb1f0f20eed6bf679eddf2625630aba',
|
||
// 🔥 修复：适配高DPI（替代pixelRatio）
|
||
// tileSize: 512, // 高清瓦片尺寸（默认256，改为512适配scale=2）
|
||
tileProvider: NetworkTileProvider(
|
||
// 自定义瓦片请求头（可选，提升兼容性）
|
||
headers: {
|
||
'Referer': 'https://www.amap.com', // 高德要求的Referer
|
||
},
|
||
),
|
||
maxZoom: 18,
|
||
),
|
||
//if (isDjMapShow) DJITileLayer(stationName: _currentStation.name, mapController: _mapController),
|
||
|
||
// 绘制path折线（Line模式）
|
||
if (gcjPathPoints.isNotEmpty)
|
||
PolylineLayer(
|
||
polylines: [
|
||
Polyline(
|
||
points: gcjPathPoints, // 转换后的GCJ02坐标
|
||
color: const Color.fromARGB(255, 255, 204, 0), // 金黄色（更醒目）
|
||
strokeWidth: 1.0, // 折线宽度
|
||
isDotted: false, // 非虚线（Line模式）
|
||
borderColor: Colors.white, // 可选：添加白色描边，提升辨识度
|
||
borderStrokeWidth: 0.5,
|
||
),
|
||
],
|
||
),
|
||
|
||
// 绘制outer边框（Polygon模式）
|
||
if (gcjOuterPoints.isNotEmpty && _currentWorkMode == WorkMode.bow)
|
||
PolygonLayer(
|
||
polygons: [
|
||
Polygon(
|
||
points: gcjOuterPoints, // 转换后的GCJ02坐标
|
||
color: Colors.green.withOpacity(0.1), // 内部填充色（透明）
|
||
borderColor: Colors.green, // 边框颜色
|
||
borderStrokeWidth: 1.0, // 边框宽度
|
||
isFilled: true, // 开启填充（即使透明，也需要开启才能显示边框）
|
||
),
|
||
],
|
||
),
|
||
if (gcjPathPoints.isNotEmpty && _currentWorkMode == WorkMode.custom)
|
||
PolylineLayer(
|
||
polylines: [
|
||
Polyline(
|
||
points: gcjPathPoints, // 转换后的GCJ02坐标
|
||
color: Colors.green, // 内部填充色（透明）
|
||
strokeWidth: 3.0, // 折线宽度
|
||
isDotted: false, // 非虚线（Line模式）
|
||
borderColor: Colors.white, // 可选：添加白色描边，提升辨识度
|
||
borderStrokeWidth: 0.5,
|
||
),
|
||
],
|
||
),
|
||
|
||
/// 中心标与历史打点的虚线连线
|
||
if (!_isWorkAreaCompleted)
|
||
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 && !_isWorkAreaCompleted && _currentRobotMode == RobotMode.point)
|
||
Stack(
|
||
// 核心：替换Column为Stack
|
||
children: [
|
||
// 1. 蓝色连线
|
||
PolylineLayer(
|
||
polylines: [
|
||
Polyline(points: [_mapCenter, _markedPoints.last], color: Colors.blue.withOpacity(0.5), strokeWidth: 1.5),
|
||
],
|
||
),
|
||
// 2. 距离文本Marker
|
||
MarkerLayer(
|
||
markers: [
|
||
Marker(
|
||
point: _getMiddleLatLng(_mapCenter, _markedPoints.last),
|
||
width: 100,
|
||
height: 30,
|
||
child: Container(
|
||
padding: const EdgeInsets.symmetric(horizontal: 8, vertical: 4),
|
||
child: Text(
|
||
_calculateLatLngDistance(_mapCenter, _markedPoints.last),
|
||
style: const TextStyle(color: Colors.red, fontSize: 12, fontWeight: FontWeight.bold),
|
||
textAlign: TextAlign.center,
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
],
|
||
),
|
||
|
||
/// 当前定位 Marker
|
||
if (_currentLatLng != null && __isValidLatLng(_currentLatLng))
|
||
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 && !_isWorkAreaCompleted && _currentRobotMode == RobotMode.point)
|
||
PolygonLayer(
|
||
polygons: [
|
||
Polygon(
|
||
points: _getPolygonPoints(),
|
||
color: Colors.green.withOpacity(0.2),
|
||
borderColor: Colors.green.withOpacity(0.5),
|
||
borderStrokeWidth: 1,
|
||
isFilled: true,
|
||
),
|
||
],
|
||
),
|
||
if (_obstacleHoles.isNotEmpty && _isObstacleEditing)
|
||
PolygonLayer(
|
||
polygons: _obstacleHoles.map((holePoints) {
|
||
return Polygon(
|
||
points: holePoints,
|
||
color: Colors.red.withOpacity(0.2), // 红色半透明填充
|
||
borderColor: Colors.red, // 红色边框
|
||
borderStrokeWidth: 1.5,
|
||
isFilled: true,
|
||
);
|
||
}).toList(),
|
||
),
|
||
//开始作业之后
|
||
|
||
// 2. 正在绘制的障碍物打点连线（红色虚线）
|
||
if (_isObstacleEditing && _currentObstaclePoints.isNotEmpty)
|
||
PolylineLayer(
|
||
polylines: [
|
||
// 已绘制的障碍物点连线
|
||
for (int i = 0; i < _currentObstaclePoints.length - 1; i++)
|
||
Polyline(
|
||
points: [_currentObstaclePoints[i], _currentObstaclePoints[i + 1]],
|
||
color: Colors.red.withOpacity(0.8),
|
||
strokeWidth: 1.5,
|
||
isDotted: true, // 虚线区分作业区域
|
||
),
|
||
// 最后一个点到地图中心的连线
|
||
Polyline(points: [_mapCenter, _currentObstaclePoints.last], color: Colors.red.withOpacity(0.5), strokeWidth: 1.5, isDotted: true),
|
||
],
|
||
),
|
||
|
||
// 3. 障碍物打点标记（红色）
|
||
if (_currentAreaMode == AreaMode.obstacle && _isObstacleEditing)
|
||
MarkerLayer(
|
||
markers: [
|
||
// 已完成的障碍物打点
|
||
for (var holeIndex = 0; holeIndex < _obstacleHoles.length; holeIndex++)
|
||
for (var pointIndex = 0; pointIndex < _obstacleHoles[holeIndex].length; pointIndex++)
|
||
Marker(
|
||
point: _obstacleHoles[holeIndex][pointIndex],
|
||
width: 80,
|
||
height: 40,
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min,
|
||
children: [
|
||
const SizedBox(height: 8),
|
||
Container(
|
||
width: 16,
|
||
height: 16,
|
||
decoration: const BoxDecoration(
|
||
color: Colors.red, // 红色标记区分作业区域
|
||
shape: BoxShape.circle,
|
||
boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 2)],
|
||
),
|
||
child: Center(
|
||
child: Text(
|
||
'${holeIndex + 1}-${pointIndex + 1}', // 格式：组号-点号
|
||
style: const TextStyle(color: Colors.white, fontSize: 8, fontWeight: FontWeight.bold),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
// 正在绘制的障碍物打点
|
||
for (var pointIndex = 0; pointIndex < _currentObstaclePoints.length; pointIndex++)
|
||
Marker(
|
||
point: _currentObstaclePoints[pointIndex],
|
||
width: 80,
|
||
height: 40,
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min,
|
||
children: [
|
||
const SizedBox(height: 8),
|
||
Container(
|
||
width: 16,
|
||
height: 16,
|
||
decoration: const BoxDecoration(
|
||
color: Colors.orange, // 橙色标记区分正在绘制
|
||
shape: BoxShape.circle,
|
||
boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 2)],
|
||
),
|
||
child: Center(
|
||
child: Text(
|
||
'${pointIndex + 1}',
|
||
style: const TextStyle(color: Colors.white, fontSize: 10, fontWeight: FontWeight.bold),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
],
|
||
),
|
||
if (!_isWorkAreaCompleted)
|
||
/// 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(),
|
||
),
|
||
if (gctracePoint!.isNotEmpty && isStartWork)
|
||
PolylineLayer(
|
||
polylines: [
|
||
for (int i = 0; i < gctracePoint!.length - 1; i++)
|
||
Polyline(
|
||
points: [gctracePoint![i], gctracePoint![i + 1]],
|
||
color: Colors.white,
|
||
strokeWidth: 1.5,
|
||
isDotted: true, // 虚线区分作业区域
|
||
),
|
||
],
|
||
),
|
||
],
|
||
);
|
||
}
|
||
|
||
/// 开始作业
|
||
void _startWork() async {
|
||
if (startWorkList.isEmpty) {
|
||
ToastUtils.showInfo(context, '作业列表为空,请重新选择路径');
|
||
return;
|
||
}
|
||
isStartWork = true;
|
||
_traceManager.setMode(TPMode.NAVIGATION);
|
||
|
||
setState(() {
|
||
isStartWork = true; // 🔥 关键：停止作业标志
|
||
_workStatus = WorkStatus.working;
|
||
});
|
||
|
||
// 🔥 核心修复：先更新 AppState 为 routePlanning
|
||
context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
|
||
// 🔥 延迟一下，确保状态已更新
|
||
await Future.delayed(const Duration(milliseconds: 100));
|
||
|
||
|
||
//// 步骤1：将 List<LatLng> 转换为 List<DeviceAddPathPointModel>
|
||
//final List<work_area_model.DeviceAddPathPointModel> pathModels = gcjPathPoints.map((latLng) {
|
||
// return work_area_model.DeviceAddPathPointModel(
|
||
// latitude: latLng.latitude, // 纬度
|
||
// longitude: latLng.longitude, // 经度
|
||
// );
|
||
//}).toList();
|
||
|
||
// 步骤2：将 List 转换为 Queue（队列）
|
||
final List<work_area_model.DeviceAddPathPointModel> typedList = startWorkList.whereType<Map<String, dynamic>>().map((item) {
|
||
return work_area_model.DeviceAddPathPointModel(latitude: (item['lat'] as num).toDouble(), longitude: (item['lon'] ?? item["lng"] as num).toDouble());
|
||
}).toList();
|
||
|
||
final Queue<work_area_model.DeviceAddPathPointModel> pathQueue = Queue.from(typedList);
|
||
|
||
// 步骤 3：调用 Cubit 方法（类型匹配）
|
||
await context.read<DevicesCubit>().startRoutePlanning(pathQueue);
|
||
///context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
|
||
// 可选：显示作业提示
|
||
ToastUtils.showSuccess(context, '作业已开始');
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('作业已开始'), backgroundColor: Colors.green));
|
||
}
|
||
|
||
/// 暂停作业
|
||
void _pauseWork() async {
|
||
setState(() {
|
||
isStartWork = false; // 🔥 关键：停止作业标志
|
||
_workStatus = WorkStatus.paused;
|
||
});
|
||
context.read<DevicesCubit>().updateAppState(AppState.none);
|
||
await context.read<DevicesCubit>().pauseRoutePlanning();
|
||
}
|
||
|
||
void _stopWork() async {
|
||
setState(() {
|
||
isStartWork = false; // 🔥 关键：停止作业标志
|
||
_workStatus = WorkStatus.idle;
|
||
_showHeadingWarn = false;
|
||
_showControlModeWarn = false;
|
||
});
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
context.read<DevicesCubit>().updateAppState(AppState.none);
|
||
await context.read<DevicesCubit>().stopRoutePlanning();
|
||
|
||
ToastUtils.showError(context, '作业已停止');
|
||
}
|
||
|
||
/// 继续作业
|
||
void _resumeWork() async {
|
||
setState(() {
|
||
_workStatus = WorkStatus.working;
|
||
});
|
||
context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
|
||
await context.read<DevicesCubit>().resumeRoutePlanning();
|
||
}
|
||
|
||
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);
|
||
},
|
||
);
|
||
}
|
||
|
||
Widget _buildWorkPanel() {
|
||
return BlocBuilder<DevicesCubit, DevicesState>(
|
||
builder: (context, state) {
|
||
if (_selectedPlot == null || state.pathData == 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,
|
||
children: [
|
||
// 1. 地块基础信息
|
||
Row(
|
||
crossAxisAlignment: CrossAxisAlignment.center,
|
||
children: [
|
||
ClipRRect(
|
||
borderRadius: BorderRadius.circular(8),
|
||
child: Image.network(
|
||
_selectedPlot!.imageUrl,
|
||
width: 80,
|
||
height: 80,
|
||
fit: BoxFit.cover,
|
||
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),
|
||
Expanded(
|
||
child: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text(
|
||
_selectedPlot!.plotName,
|
||
style: const TextStyle(fontSize: 18, fontWeight: FontWeight.bold, color: Colors.black87),
|
||
maxLines: 2,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
const SizedBox(height: 4),
|
||
Text('作业模式：$workMode', style: const TextStyle(fontSize: 14, color: Colors.grey)),
|
||
],
|
||
),
|
||
),
|
||
IconButton(
|
||
onPressed: () {
|
||
setState(() {
|
||
_isWorkPanelOpen = false;
|
||
_selectedPlot = null;
|
||
gcjPathPoints = [];
|
||
gcjOuterPoints = [];
|
||
_workStatus = WorkStatus.idle;
|
||
_showHeadingWarn = false;
|
||
_showControlModeWarn = false;
|
||
isStartWork = false;
|
||
});
|
||
_stopWork();
|
||
},
|
||
icon: const Icon(Icons.close, color: Colors.grey, size: 20),
|
||
padding: EdgeInsets.zero,
|
||
constraints: const BoxConstraints(minWidth: 24, minHeight: 24),
|
||
),
|
||
],
|
||
),
|
||
|
||
const SizedBox(height: 16),
|
||
|
||
// 2. 错误提示（如果加载失败）
|
||
if (state.errorMessage != null)
|
||
Container(
|
||
padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 8),
|
||
margin: const EdgeInsets.only(bottom: 12),
|
||
decoration: BoxDecoration(
|
||
color: Colors.red[50],
|
||
borderRadius: BorderRadius.circular(6),
|
||
border: Border.all(color: Colors.red[200]!),
|
||
),
|
||
child: Row(
|
||
children: [
|
||
const Icon(Icons.error_outline, color: Colors.redAccent, size: 16),
|
||
const SizedBox(width: 8),
|
||
Expanded(
|
||
child: Text(
|
||
state.errorMessage!,
|
||
style: const TextStyle(fontSize: 14, color: Colors.redAccent),
|
||
maxLines: 2,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
|
||
// 3. 开始作业按钮（加载中禁用）
|
||
// 放在 Column/Row 的 children: [ ... ] 内部
|
||
_workStatus == WorkStatus.idle
|
||
? SizedBox(
|
||
width: double.infinity,
|
||
height: 50,
|
||
child: ElevatedButton(
|
||
onPressed: state.isLoading || startWorkList.isEmpty
|
||
? null
|
||
: () {
|
||
// 开始作业逻辑
|
||
_startWork();
|
||
},
|
||
style: ElevatedButton.styleFrom(
|
||
backgroundColor: const Color(0xFF00C853),
|
||
foregroundColor: Colors.white,
|
||
shape: RoundedRectangleBorder(borderRadius: BorderRadius.circular(8)),
|
||
elevation: 2,
|
||
disabledBackgroundColor: Colors.grey[300],
|
||
disabledForegroundColor: Colors.grey[600],
|
||
),
|
||
child: state.isLoading
|
||
? const SizedBox(width: 20, height: 20, child: CircularProgressIndicator(strokeWidth: 2, color: Colors.white))
|
||
: const Text('开始作业', style: TextStyle(fontSize: 14, fontWeight: FontWeight.bold)),
|
||
),
|
||
)
|
||
: Row(
|
||
children: [
|
||
// 暂停/继续图标按钮
|
||
Expanded(
|
||
child: SizedBox(
|
||
width: 50,
|
||
height: 50,
|
||
child: ElevatedButton(
|
||
onPressed: () => _workStatus == WorkStatus.working ? _pauseWork() : _resumeWork(),
|
||
style: ElevatedButton.styleFrom(
|
||
backgroundColor: _workStatus == WorkStatus.working ? Colors.amber : const Color(0xFF00C853),
|
||
foregroundColor: Colors.white,
|
||
shape: const CircleBorder(),
|
||
elevation: 2,
|
||
// 调整内边距，让图标居中更协调
|
||
padding: const EdgeInsets.symmetric(horizontal: 8),
|
||
),
|
||
child: Icon(
|
||
// 作业中显示暂停图标，暂停中显示播放（继续）图标
|
||
_workStatus == WorkStatus.working ? Icons.pause : Icons.play_arrow,
|
||
size: 24, // 图标尺寸
|
||
),
|
||
),
|
||
),
|
||
),
|
||
const SizedBox(width: 12),
|
||
// 停止图标按钮
|
||
Expanded(
|
||
child: SizedBox(
|
||
width: 50,
|
||
height: 50,
|
||
child: ElevatedButton(
|
||
onPressed: () => _stopWork(),
|
||
style: ElevatedButton.styleFrom(
|
||
backgroundColor: Colors.redAccent,
|
||
foregroundColor: Colors.white,
|
||
shape: const CircleBorder(),
|
||
elevation: 2,
|
||
padding: const EdgeInsets.symmetric(horizontal: 8),
|
||
),
|
||
child: const Icon(
|
||
Icons.stop, // 停止图标（也可以用 Icons.close）
|
||
size: 24,
|
||
),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
//SizedBox(
|
||
// width: double.infinity,
|
||
// height: 50,
|
||
// child: ElevatedButton(
|
||
// onPressed: state.isLoading || gcjPathPoints.isEmpty
|
||
// ? null
|
||
// : () {
|
||
// // 作业逻辑：使用加载的pathData
|
||
// debugPrint('开始作业：${_selectedPlot!.plotName}，路径数据：$gcjPathPoints');
|
||
// },
|
||
// style: ElevatedButton.styleFrom(
|
||
// backgroundColor: const Color(0xFF00C853),
|
||
// foregroundColor: Colors.white,
|
||
// shape: RoundedRectangleBorder(borderRadius: BorderRadius.circular(8)),
|
||
// elevation: 2,
|
||
// disabledBackgroundColor: Colors.grey[300],
|
||
// disabledForegroundColor: Colors.grey[600],
|
||
// ),
|
||
// child: state.isLoading
|
||
// ? const SizedBox(width: 20, height: 20, child: CircularProgressIndicator(strokeWidth: 2, color: Colors.white))
|
||
// : const Text('开始作业', style: TextStyle(fontSize: 14, fontWeight: FontWeight.bold)),
|
||
// ),
|
||
//),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
},
|
||
);
|
||
}
|
||
|
||
Future<String?> _captureMapToJpgBase64({int quality = 80}) async {
|
||
try {
|
||
// 1. 第一步：截取 PNG (Flutter 唯一支持的格式)
|
||
RenderRepaintBoundary? boundary = _mapRepaintKey.currentContext?.findRenderObject() as RenderRepaintBoundary?;
|
||
if (boundary == null) {
|
||
debugPrint('截图失败：渲染对象未找到');
|
||
return null;
|
||
}
|
||
|
||
// 🔥 注意：这里是 dart:ui 的 Image，需显式指定 ui.Image
|
||
ui.Image image = await boundary.toImage(pixelRatio: 2.0);
|
||
ByteData? byteData = await image.toByteData(format: ui.ImageByteFormat.png);
|
||
if (byteData == null) {
|
||
debugPrint('截图失败：字节数据为空');
|
||
return null;
|
||
}
|
||
Uint8List pngBytes = byteData.buffer.asUint8List();
|
||
|
||
// 2. 第二步：使用 image 库解码
|
||
// 🚨 核心修复：变量类型必须显式写为 _image.Image?
|
||
_image.Image? decodedImage = _image.decodeImage(pngBytes);
|
||
if (decodedImage == null) {
|
||
debugPrint('转换失败：无法解码 PNG');
|
||
return null;
|
||
}
|
||
|
||
// 3. 第三步：编码为 JPG
|
||
List<int> jpgBytes = _image.encodeJpg(decodedImage, quality: quality);
|
||
Uint8List finalBytes = Uint8List.fromList(jpgBytes);
|
||
|
||
// 4. 第四步：转换为 Base64
|
||
String base64Str = base64Encode(finalBytes);
|
||
debugPrint('JPG Base64 长度：${base64Str.length} (体积更小)');
|
||
return base64Str;
|
||
} catch (e) {
|
||
debugPrint('生成 JPG Base64 异常：$e');
|
||
return null;
|
||
}
|
||
}
|
||
|
||
// 🔥 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();
|
||
}
|
||
|
||
// ========== 抽象：生成路径的核心函数 ==========
|
||
Future<void> _generatePath({bool showTips = true}) async {
|
||
if (_currentWorkMode == WorkMode.custom) {
|
||
setState(() {
|
||
_saveBoxOpen = true; // 显示保存按钮
|
||
_isWorkAreaCompleted = true; // 标记为完成，允许保存
|
||
gcjPathPoints = List.from(_markedPoints); // outer直接使用打点坐标
|
||
gcjOuterPoints = List.from(_markedPoints);
|
||
typedPathList = []; // 路径列表置空
|
||
});
|
||
return;
|
||
}
|
||
|
||
// 1. 校验必要条件
|
||
if (_currentAreaMode == AreaMode.work && _markedPoints.isEmpty) {
|
||
if (showTips) {
|
||
ToastUtils.showError(context, '请先添加作业区域打点！');
|
||
}
|
||
return;
|
||
}
|
||
if (_currentAreaMode == AreaMode.work && _markedPoints.length < 3) {
|
||
if (showTips) {
|
||
ToastUtils.showError(context, '作业区域至少需要3个打点才能生成路径！');
|
||
}
|
||
return;
|
||
}
|
||
if (_currentWorkMode == null) {
|
||
if (showTips) {
|
||
ToastUtils.showError(context, '请先选择作业模式！');
|
||
}
|
||
return;
|
||
}
|
||
|
||
try {
|
||
// 2. 转换页面数据为 generatePath 所需的参数格式
|
||
// 2.1 参考点（区分Robot/Point模式）
|
||
LatLng firstPointWgs; // 最终传给接口的WGS84格式参考点
|
||
if (_currentRobotMode == RobotMode.robot && _robotModeWgsPoints.isNotEmpty) {
|
||
// Robot模式：直接使用原始WGS84坐标（无需转换）
|
||
firstPointWgs = _robotModeWgsPoints.first;
|
||
} else if (_currentRobotMode == RobotMode.point && _markedPoints.isNotEmpty) {
|
||
// Point模式：先取十字准星的GCJ02坐标 → 转换为WGS84
|
||
LatLng firstPointGcj = _markedPoints.first;
|
||
firstPointWgs = gcj02ToWgs84(firstPointGcj.latitude, firstPointGcj.longitude);
|
||
} else {
|
||
if (showTips) {
|
||
ToastUtils.showError(context, '参考点坐标为空，请先添加作业区域打点！');
|
||
}
|
||
return; // 终止方法执行，避免后续错误
|
||
}
|
||
|
||
// 参考点使用转换后的WGS84坐标
|
||
final referencePoint = work_area_model.ReferencePoint(lat: firstPointWgs.latitude, lon: firstPointWgs.longitude);
|
||
|
||
// 2.2 航向角
|
||
final heading = _angle == -1 ? -1 : _angle.toInt();
|
||
|
||
// 2.3 外边界（作业区域）- 核心区分Robot/Point模式
|
||
List<work_area_model.Position> outerPositions = [];
|
||
if (_currentRobotMode == RobotMode.robot && _robotModeWgsPoints.isNotEmpty) {
|
||
// Robot模式：直接使用原始WGS84坐标，跳过GCJ02→WGS84转换
|
||
outerPositions = _robotModeWgsPoints.map((latLng) {
|
||
return work_area_model.Position(lat: latLng.latitude, lon: latLng.longitude);
|
||
}).toList();
|
||
} else if (_currentRobotMode == RobotMode.point && _markedPoints.isNotEmpty) {
|
||
// Point模式：十字准星的GCJ02坐标 → 转换为WGS84
|
||
outerPositions = _markedPoints.map((latLng) {
|
||
final wgs84Point = gcj02ToWgs84(latLng.latitude, latLng.longitude);
|
||
return work_area_model.Position(lat: wgs84Point.latitude, lon: wgs84Point.longitude);
|
||
}).toList();
|
||
}
|
||
gcjOuterPoints = outerPositions.map((point) {
|
||
double wgs84Lat = point.lat;
|
||
double wgs84Lon = point.lon;
|
||
final gcjPoint = wgs84ToGcj02(wgs84Lat, wgs84Lon);
|
||
return LatLng(gcjPoint.latitude, gcjPoint.longitude);
|
||
}).toList();
|
||
|
||
final outerBoundary = work_area_model.OuterBoundary(position: outerPositions, sideWidth: _workDistance);
|
||
|
||
work_area_model.HoleBoundary? holeBoundary;
|
||
|
||
if (_obstacleHoles.isNotEmpty) {
|
||
// 1. 构造二维 Position 数组
|
||
List<List<work_area_model.Position>> positionList = [];
|
||
|
||
if (_currentRobotMode == RobotMode.robot && _robotModeObsWgsPoints.isNotEmpty) {
|
||
for (var holePoints in _obstacleWgsHoles) {
|
||
List<work_area_model.Position> innerPositionList = [];
|
||
|
||
innerPositionList = holePoints.map((latLng) {
|
||
return work_area_model.Position(lat: latLng.latitude, lon: latLng.longitude);
|
||
}).toList();
|
||
positionList.add(innerPositionList);
|
||
}
|
||
} else if (_currentRobotMode == RobotMode.point && _obstacleHoles.isNotEmpty) {
|
||
for (var holePoints in _obstacleHoles) {
|
||
List<work_area_model.Position> innerPositionList = [];
|
||
|
||
// Point模式：GCJ02→WGS84转换
|
||
innerPositionList = holePoints.map((latLng) {
|
||
final wgs84Point = gcj02ToWgs84(latLng.latitude, latLng.longitude);
|
||
return work_area_model.Position(lat: wgs84Point.latitude, lon: wgs84Point.longitude);
|
||
}).toList();
|
||
positionList.add(innerPositionList);
|
||
}
|
||
}
|
||
|
||
//for (var holePoints in _obstacleHoles) {
|
||
// List<work_area_model.Position> innerPositionList = [];
|
||
|
||
// if (_currentRobotMode == RobotMode.robot && _robotModeObsWgsPoints.isNotEmpty) {
|
||
// // Robot模式：使用障碍物原始WGS84坐标
|
||
// innerPositionList = holePoints.map((latLng) {
|
||
// return work_area_model.Position(lat: latLng.latitude, lon: latLng.longitude);
|
||
// }).toList();
|
||
// } else {
|
||
// // Point模式：GCJ02→WGS84转换
|
||
// innerPositionList = holePoints.map((latLng) {
|
||
// final wgs84Point = gcj02ToWgs84(latLng.latitude, latLng.longitude);
|
||
// return work_area_model.Position(lat: wgs84Point.latitude, lon: wgs84Point.longitude);
|
||
// }).toList();
|
||
// }
|
||
// positionList.add(innerPositionList);
|
||
//}
|
||
|
||
// 2. 创建 HoleBoundary 对象（无外层 Map）
|
||
holeBoundary = work_area_model.HoleBoundary(position: positionList, sideWidth: 0.0);
|
||
}
|
||
|
||
// 🔥 第二步：构造符合方法参数要求的 Map<String, HoleBoundary>
|
||
// 用一个临时 Map 来满足类型要求，后续在 Cubit 中取值即可
|
||
Map<String, work_area_model.HoleBoundary> holes = {};
|
||
if (holeBoundary != null) {
|
||
holes = {'tempKey': holeBoundary}; // 键名任意，仅为满足类型要求
|
||
}
|
||
final workType = _currentWorkMode == WorkMode.bow ? 0 : 2;
|
||
|
||
// 3. 调用 Cubit 的 generatePath 方法（传入holes参数）
|
||
await context.read<DevicesCubit>().generatePath(
|
||
reference: referencePoint,
|
||
heading: heading,
|
||
outer: outerBoundary,
|
||
holes: holes.isNotEmpty ? holes : {}, // 无障碍物时传空对象
|
||
workType: workType,
|
||
);
|
||
|
||
// 4. 处理生成结果（原有逻辑不变）
|
||
final cubitState = context.read<DevicesCubit>().state;
|
||
|
||
if (cubitState.errorMessage != null) {
|
||
if (showTips) {
|
||
ToastUtils.showError(context, '路径生成失败：${cubitState.errorMessage}');
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('路径生成失败：${cubitState.errorMessage}'), backgroundColor: Colors.red));
|
||
}
|
||
} else if (cubitState.generatedPath != null) {
|
||
if (showTips) {
|
||
ToastUtils.showSuccess(context, '路径生成成功！');
|
||
}
|
||
if (cubitState.generatedPath is List) {
|
||
setState(() {
|
||
_isWorkAreaCompleted = true;
|
||
_saveBoxOpen = true;
|
||
final pathList = cubitState.generatedPath as List;
|
||
typedPathList = pathList.whereType<work_area_model.DeviceAddPathPointModel>().toList();
|
||
gcjPathPoints = typedPathList.map((point) {
|
||
double wgs84Lat = point.latitude;
|
||
double wgs84Lon = point.longitude;
|
||
final gcjPoint = wgs84ToGcj02(wgs84Lat, wgs84Lon);
|
||
return LatLng(gcjPoint.latitude, gcjPoint.longitude);
|
||
}).toList();
|
||
// 外边界保持原有逻辑
|
||
//gcjOuterPoints = List.from(_markedPoints);
|
||
});
|
||
_saveDataToLocal();
|
||
moveMapToPointsCenter(gcjPathPoints);
|
||
}
|
||
}
|
||
} catch (e) {
|
||
debugPrint('路径生成异常：$e');
|
||
if (showTips) {
|
||
ToastUtils.showError(context, '路径生成异常：${e.toString().substring(0, 50)}');
|
||
}
|
||
}
|
||
}
|
||
|
||
@override
|
||
Widget build(BuildContext context) {
|
||
final screenHeight = MediaQuery.of(context).size.height;
|
||
final menuHeight = 16 * 6; // 假设 VerticalFloatMenu 有 6 个选项，每个高度为 56
|
||
final maxTop = screenHeight - menuHeight;
|
||
final userState = context.watch<AppUserCubit>().state;
|
||
final deviceId = context.watch<DevicesCubit>().state.selectedDevice?.deviceName;
|
||
|
||
if (deviceId != null && userState.user != null && userState.user!.token != null) {
|
||
_videoStreamUrl = "webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId?token=${userState.user!.token}";
|
||
} else {
|
||
_videoStreamUrl = '';
|
||
}
|
||
return BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
|
||
builder: (context, state) {
|
||
final devicesState = context.watch<DevicesCubit>().state;
|
||
// 2. 读取 isFinishWork 数据（修正拼写，设置默认值）
|
||
bool isFinishWork = devicesState.isFinshWork ?? false;
|
||
double? arriLatitude = devicesState.arriLatitude;
|
||
double? arriLongitude = devicesState.arriLongitude;
|
||
LatLng? targetLatLng;
|
||
if (arriLatitude != null && arriLongitude != null) {
|
||
targetLatLng = LatLng(arriLatitude, arriLongitude);
|
||
_traceManager.upsert(targetLatLng, TPAction.ADD);
|
||
}
|
||
|
||
double currentLat = 0.0;
|
||
double currentLng = 0.0;
|
||
bool obfFlag = false; //障碍物标志位
|
||
int headingStatus = 0;
|
||
String controlMode = "0";
|
||
DeviceStatusUpdated? updatedState;
|
||
if (isFinishWork) {
|
||
_workStatus = WorkStatus.idle;
|
||
ToastUtils.showError(context, '作业已停止');
|
||
isStartWork = false;
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
}
|
||
|
||
if (state is DeviceStatusUpdated) {
|
||
// 强转获取具体的状态数据
|
||
updatedState = state as DeviceStatusUpdated;
|
||
obfFlag = updatedState.status.obstacleFlag.toString() == 1;
|
||
headingStatus = updatedState.status.headingStatus;
|
||
controlMode = updatedState.status.controlMode;
|
||
_headingAngle = updatedState.status.yaw;
|
||
|
||
//debugPrint("路径规划四十数据 - 经纬度：");
|
||
//debugPrint(" RunningStatus纬度：${updatedState.status.latitude}");
|
||
//debugPrint(" RunningStatus经度：${updatedState.status.longitude}");
|
||
// debugPrint("障碍物${updatedState.status.obstacleFlag}");
|
||
// debugPrint("初始化${updatedState.status.headingStatus}");
|
||
|
||
// 提取经纬度并更新本地变量
|
||
currentLat = updatedState.status.latitude;
|
||
currentLng = updatedState.status.longitude;
|
||
} else {}
|
||
return Scaffold(
|
||
body: SafeArea(
|
||
child: Stack(
|
||
children: [
|
||
RepaintBoundary(key: _mapRepaintKey, child: _buildMap(currentLat, currentLng, obfFlag, headingStatus, controlMode)),
|
||
|
||
// 地图核心组件
|
||
if (_isRefreshing)
|
||
Positioned.fill(
|
||
child: Container(
|
||
color: Colors.black.withOpacity(0.3),
|
||
child: const Center(
|
||
child: Column(
|
||
mainAxisAlignment: MainAxisAlignment.center,
|
||
children: [CircularProgressIndicator(color: Colors.white, strokeWidth: 3)],
|
||
),
|
||
),
|
||
),
|
||
),
|
||
|
||
// 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
|
||
if (_currentRobotMode == RobotMode.point)
|
||
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: 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：$userId');
|
||
context.read<DevicesCubit>().loadWorkRecords(userId);
|
||
|
||
setState(() {
|
||
_isListBoxOpen = isOpen;
|
||
_isWorkPanelOpen = false;
|
||
});
|
||
},
|
||
onDjShow: (bool isOpen) {
|
||
if (isOpen) context.go(RoutePaths.djMap);
|
||
setState(() {
|
||
isDjMapShow = isOpen;
|
||
});
|
||
},
|
||
|
||
onWorkModeSelected: (mode) {
|
||
_currentWorkMode = mode;
|
||
debugPrint('外部收到作业模式：$mode');
|
||
},
|
||
handleGotoLocation: _handleGotoLocation,
|
||
onRefreshTap: _handleRefresh, // 推荐用局部刷新
|
||
onVideoTap: _handleVideo,
|
||
),
|
||
),
|
||
),
|
||
|
||
// 底部操作面板
|
||
if (_isPanelOpen)
|
||
Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
bottom: 0,
|
||
child: BottomOperationPanel(
|
||
initialRobotMode: _currentRobotMode,
|
||
initialAreaMode: _currentAreaMode,
|
||
initialWorkMode: _currentWorkMode!,
|
||
canUndo: _isWorkAreaCompleted && _currentAreaMode == AreaMode.work ? false : true,
|
||
onComplete: () async {
|
||
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',
|
||
);
|
||
if (_currentAreaMode == AreaMode.obstacle) {
|
||
// 障碍物模式：完成当前障碍物绘制
|
||
_completeObstacle();
|
||
await _generatePath(showTips: true);
|
||
} else {
|
||
// 作业区域模式：生成路径
|
||
await _generatePath(showTips: true);
|
||
}
|
||
// 5. 关闭操作面板
|
||
setState(() {
|
||
//_isPanelOpen = false; // 关闭操作面板
|
||
});
|
||
},
|
||
onUndoTap: () {
|
||
_undoAction();
|
||
},
|
||
onDeleteTap: () {
|
||
_deleteAllAction();
|
||
},
|
||
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：${distance.toStringAsFixed(1)}米');
|
||
if (_markedPoints.length >= 3 && _currentWorkMode != null) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
},
|
||
onSettingTap: () {
|
||
setState(() {
|
||
_directionBoxOpen = true;
|
||
});
|
||
debugPrint('外部处理设置按钮点击');
|
||
},
|
||
onLandTap: () {
|
||
debugPrint('外部处理地块标签点击');
|
||
},
|
||
onRouteTap: () {
|
||
debugPrint('外部处理航线标签点击');
|
||
},
|
||
),
|
||
),
|
||
|
||
// 航线方向面板
|
||
if (_directionBoxOpen)
|
||
Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
bottom: 0,
|
||
child: RouteDirectionPanel(
|
||
initialOptimalHeading: true,
|
||
initialDirection: 0.0,
|
||
onValueChanged: (result) {
|
||
debugPrint('最优航向：${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}');
|
||
if (_markedPoints.length >= 3 && _currentWorkMode != null) {
|
||
debugPrint('外部处理航线方向设置11222：${_angle}');
|
||
_generatePath(showTips: false);
|
||
}
|
||
},
|
||
onCancel: () {
|
||
setState(() => _directionBoxOpen = false);
|
||
},
|
||
),
|
||
),
|
||
|
||
// 列表面板 - 使用BlocBuilder监听DevicesCubit状态
|
||
if (_isListBoxOpen)
|
||
BlocBuilder<DevicesCubit, DevicesState>(
|
||
builder: (context, state) {
|
||
final plotList = _convertWorkRecordsToPlotData(state.workRecords ?? []);
|
||
|
||
return Positioned.fill(
|
||
child: Column(
|
||
mainAxisAlignment: MainAxisAlignment.end,
|
||
children: [
|
||
Expanded(
|
||
child: GestureDetector(
|
||
onTap: () {
|
||
setState(() {
|
||
_isListBoxOpen = false;
|
||
});
|
||
},
|
||
child: Container(color: Colors.black.withOpacity(0.3)),
|
||
),
|
||
),
|
||
Container(
|
||
width: double.infinity,
|
||
decoration: const BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.vertical(top: Radius.circular(16)),
|
||
boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 10, offset: Offset(0, -2))],
|
||
),
|
||
constraints: const BoxConstraints(maxHeight: 600, minHeight: 200),
|
||
child: Column(
|
||
children: [
|
||
Container(
|
||
padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 12),
|
||
child: Row(
|
||
mainAxisAlignment: MainAxisAlignment.spaceBetween,
|
||
children: [
|
||
Text(
|
||
'地块列表（共${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(() {});
|
||
});
|
||
},
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
},
|
||
),
|
||
if (_showHeadingWarn)
|
||
Positioned(
|
||
top: 100, // 调整位置，避免遮挡核心内容
|
||
left: 20,
|
||
right: 20,
|
||
child: Container(
|
||
padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 12),
|
||
decoration: BoxDecoration(
|
||
color: Colors.orange.withOpacity(0.9),
|
||
borderRadius: BorderRadius.circular(8),
|
||
boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 4, offset: const Offset(0, 2))],
|
||
),
|
||
child: const Row(
|
||
children: [
|
||
Icon(Icons.warning_amber_rounded, color: Colors.white, size: 20),
|
||
SizedBox(width: 8),
|
||
Expanded(
|
||
child: Text('航向角未初始化，无法开始作业', style: TextStyle(color: Colors.white, fontSize: 14)),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
|
||
// 2. 远程模式提示
|
||
if (_showControlModeWarn)
|
||
Positioned(
|
||
top: 160, // 与上一个提示错开位置
|
||
left: 20,
|
||
right: 20,
|
||
child: Container(
|
||
padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 12),
|
||
decoration: BoxDecoration(
|
||
color: Colors.red.withOpacity(0.9),
|
||
borderRadius: BorderRadius.circular(8),
|
||
boxShadow: [BoxShadow(color: Colors.black12, blurRadius: 4, offset: const Offset(0, 2))],
|
||
),
|
||
child: const Row(
|
||
children: [
|
||
Icon(Icons.error_rounded, color: Colors.white, size: 20),
|
||
SizedBox(width: 8),
|
||
Expanded(
|
||
child: Text('请切换到远程模式后再开始作业', style: TextStyle(color: Colors.white, fontSize: 14)),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
|
||
if (_isWorkPanelOpen) _buildWorkPanel(),
|
||
if (_isVideoDialogOpen) _buildVideoPopup(),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
},
|
||
);
|
||
}
|
||
}
|
||
|
||
// 转换单个WGS84坐标到GCJ02
|
||
LatLng convertWGS84ToGCJ02(double lat, double lon) {
|
||
return wgs84ToGcj02(lat, lon);
|
||
}
|
||
|
||
/// =======================================================
|
||
/// 坐标转换：WGS84 -> GCJ02（国内高德/腾讯通用）
|
||
/// =======================================================
|
||
const double _pi = 3.1415926535897932384626;
|
||
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);
|
||
}
|
||
|
||
List<LatLng> batchWgs84ToGcj02(List<LatLng> wgs84Points) {
|
||
// 遍历每个点，调用你已有的单个转换方法
|
||
return wgs84Points.map((point) {
|
||
return wgs84ToGcj02(point.latitude, point.longitude);
|
||
}).toList();
|
||
}
|
||
|
||
LatLng bd09ToGcj02(dynamic bdLng, dynamic bdLat) {
|
||
// 1. 先将字符串转为double（兼容你的初始值格式）
|
||
double lng = _safeToDouble(bdLng);
|
||
double lat = _safeToDouble(bdLat);
|
||
|
||
// 2. BD09转GCJ02核心公式
|
||
double x = lng - 0.0065;
|
||
double y = lat - 0.006;
|
||
double z = math.sqrt(x * x + y * y) - 0.00002 * math.sin(y * _pi);
|
||
double theta = math.atan2(y, x) - 0.000003 * math.cos(x * _pi);
|
||
double gcjLng = z * math.cos(theta);
|
||
double gcjLat = z * math.sin(theta);
|
||
|
||
return LatLng(gcjLat, gcjLng);
|
||
}
|
||
|
||
double _safeToDouble(dynamic value) {
|
||
if (value == null) return 0.0;
|
||
if (value is double) return value;
|
||
if (value is int) return value.toDouble();
|
||
if (value is String) {
|
||
// 字符串转数字，失败返回0.0
|
||
return double.tryParse(value) ?? 0.0;
|
||
}
|
||
return 0.0;
|
||
}
|
||
|
||
LatLng gcj02ToWgs84(double lat, double lon, {int iterations = 10}) {
|
||
//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);
|
||
if (_outOfChina(lat, lon)) {
|
||
return LatLng(lat, lon);
|
||
}
|
||
|
||
double initLat = lat;
|
||
double initLon = lon;
|
||
double delta = 1e-6; // 迭代精度（约0.1米）
|
||
|
||
for (int i = 0; i < iterations; i++) {
|
||
// 1. 用当前猜测值计算GCJ02坐标
|
||
LatLng gcjGuess = wgs84ToGcj02(initLat, initLon);
|
||
// 2. 计算与原始GCJ02的差值
|
||
double dLat = gcjGuess.latitude - lat;
|
||
double dLon = gcjGuess.longitude - lon;
|
||
// 3. 修正猜测值
|
||
initLat -= dLat;
|
||
initLon -= dLon;
|
||
// 4. 精度达标则提前退出
|
||
if (sqrt(dLat * dLat + dLon * dLon) < delta) {
|
||
break;
|
||
}
|
||
}
|
||
|
||
return LatLng(initLat, initLon);
|
||
}
|
||
|
||
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;
|
||
}
|
||
|
||
/// 计算两个经纬度点之间的地面距离（单位：米，GCJ02/WGS84通用）
|
||
String _calculateLatLngDistance(LatLng point1, LatLng point2) {
|
||
const double earthRadius = 6371000; // 地球半径（米）
|
||
|
||
// 经纬度转弧度
|
||
double lat1Rad = point1.latitude * pi / 180;
|
||
double lat2Rad = point2.latitude * pi / 180;
|
||
double lng1Rad = point1.longitude * pi / 180;
|
||
double lng2Rad = point2.longitude * pi / 180;
|
||
|
||
// 哈维正弦公式（Haversine）计算地球表面两点实际距离
|
||
double dLat = lat2Rad - lat1Rad;
|
||
double dLng = lng2Rad - lng1Rad;
|
||
double a = sin(dLat / 2) * sin(dLat / 2) + cos(lat1Rad) * cos(lat2Rad) * sin(dLng / 2) * sin(dLng / 2);
|
||
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
|
||
double distance = earthRadius * c;
|
||
|
||
// 格式化显示：短距离显示米，长距离显示千米
|
||
if (distance < 1000) {
|
||
return '${distance.toStringAsFixed(1)} 米';
|
||
} else {
|
||
return '${(distance / 1000).toStringAsFixed(2)} 千米';
|
||
}
|
||
}
|
||
|
||
/// 获取两个坐标点的中点坐标（用于显示距离文本）
|
||
LatLng _getMiddleLatLng(LatLng point1, LatLng point2) {
|
||
double middleLat = (point1.latitude + point2.latitude) / 2;
|
||
double middleLng = (point1.longitude + point2.longitude) / 2;
|
||
return LatLng(middleLat, middleLng);
|
||
}
|