Songzex
d5a83c1221
2.添加了在无人机设备摄像头的为空时候，通过新增的接口获取无人机的摄像头的列表。 3.替换原先依照tcp推送消息绘制机器运动作业的轨迹过程，先用订阅mqtt特定话题推送的信息做动画过程的绘制。
357 lines
14 KiB
Dart
357 lines
14 KiB
Dart
import 'dart:async';
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import 'dart:convert';
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import 'package:flutter/cupertino.dart';
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import 'package:flutter_bloc/flutter_bloc.dart';
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import 'package:get_it/get_it.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/entities/running_status_entity.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/entities/gps_entity.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/network/mqtt/domain/repositories/task_message_repository.dart';
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import 'package:maibu_satabot_v2/core/network/mqtt/domain/entities/task_arrive_entity.dart';
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import '../../../../core/logging/i_logger_service.dart';
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import '../../../../core/network/net_message_dispatcher.dart';
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import '../../../../core/network/tcp/tcp_client.dart';
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import 'device_status_event.dart';
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import 'device_status_state.dart';
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import 'devices_cubit.dart';
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// 定义全局的TaskMessageRepository获取方式
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TaskMessageRepository get _taskMessageRepo => GetIt.I<TaskMessageRepository>();
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class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
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final NetMessageDispatcher _dispatcher;
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final TcpClient tcpClient; // 🔥 新增:直接访问 TcpClient
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final ILoggerService _logger = GetIt.I<ILoggerService>();
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// 🔥 保存订阅引用,用于管理生命周期
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StreamSubscription? _tcpSubscription;
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StreamSubscription? _mqttArriveSubscription;
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// 🔥 节流相关：500ms节流控制0x02数据推送频率
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Timer? _throttleTimer;
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static const _throttleDuration = Duration(milliseconds: 500);
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RunningStatusEntity? _cachedStatus;
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GPSEntity? _cachedGps;
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// 🔥 当前监听的设备ID
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String? _currentDeviceId;
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DeviceStatusBloc(this._dispatcher, {TcpClient? client})
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: tcpClient = client ?? GetIt.I<TcpClient>(),
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super(DeviceStatusInitial()) {
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// 🔥 核心改动:直接在构造函数中建立TCP监听,类似RemoteControlCubit
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_initDirectTcpListener();
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// 🔥 初始化MQTT到达点监听
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_initMqttArriveListener();
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// 保留事件处理(用于手动重置等场景)
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on<DeviceStatusReset>(_handleReset);
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on<DeviceStatusLoaded>(_handleDeviceStatusLoaded);
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on<PushMessageReceived>(_handlePushMessageReceived);
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on<DeviceTaskArrivePointEvent>(_handleDeviceTaskArrivePointEvent);
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}
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// 🔥 已废弃:重新初始化TCP监听器会导致数据流中断
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// DeviceStatusBloc是单例,TCP监听器在构造函数中建立后应始终保持活跃
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// 任何页面只需通过 BlocBuilder 或 stream 订阅状态即可
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/*
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void reinitializeListener() {
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debugPrint('🔄 [DeviceStatusBloc] 重新初始化TCP监听器 - isClosed=$isClosed');
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_logger.log('🔄 [DeviceStatusBloc] 重新初始化TCP监听器 - isClosed=$isClosed');
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if (isClosed) {
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debugPrint('❌ [DeviceStatusBloc] BLoC已关闭,无法重新初始化!');
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_logger.log('❌ [DeviceStatusBloc] BLoC已关闭,无法重新初始化!');
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return;
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}
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// ❌ 取消旧的订阅会导致数据流中断!
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debugPrint('📝 [DeviceStatusBloc] 取消旧订阅');
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_tcpSubscription?.cancel();
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// ❌ 重置状态会清空UI显示的数据!
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debugPrint('📝 [DeviceStatusBloc] emit Initial状态');
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emit(DeviceStatusInitial());
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// 重新建立监听
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debugPrint('📝 [DeviceStatusBloc] 调用 _initDirectTcpListener');
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_initDirectTcpListener();
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}
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*/
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// 🔥 新增:直接监听TCP 0x02指令,实时解析并emit状态
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void _initDirectTcpListener() {
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debugPrint('🔗 [DeviceStatusBloc] 初始化直接TCP监听器 - 使用 tcpClient.packetStream');
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_logger.log('🔗 [DeviceStatusBloc] 初始化直接TCP监听器');
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// 🔥 关键修复:直接监听 tcpClient.packetStream,不经过 dispatcher 的 filtered stream
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// 这样即使没有其他监听者,TCP流也不会暂停
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_tcpSubscription = tcpClient.packetStream
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.where((p) => p.command == 0x02)
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.map((p) {
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try {
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final result = utf8.decode(p.payload, allowMalformed: true);
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// debugPrint('✅ [DeviceStatusBloc] 收到0x02数据: $result');
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return result;
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} catch (e) {
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// debugPrint('❌ [DeviceStatusBloc] 解码失败: $e');
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return '';
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}
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})
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.listen(
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(message) {
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//debugPrint('📩 [DeviceStatusBloc] 直接收到0x02数据,长度:${message.length}');
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if (message.isEmpty) {
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//debugPrint('⚠️ [DeviceStatusBloc] 消息为空,跳过');
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return;
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}
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try {
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// 🔥 直接解析,不经过事件转换
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final fields = message.trim().split(',');
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if (fields.length < 18) {
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//debugPrint('⚠️ [DeviceStatusBloc] 字段不足:${fields.length},期望≥18');
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// 🔥 错误不节流，立即emit以便UI显示错误
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if (!isClosed) {
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emit(DeviceStatusError('字段不足,期望≥18,实际:${fields.length}'));
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}
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return;
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}
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final status = RunningStatusEntity.fromFields(fields);
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final gps = GPSEntity(status.latitude, status.longitude);
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// 🔥 缓存最新数据用于节流发射
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_cachedStatus = RunningStatusEntity(
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voltage: status.voltage,
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leftTargetSpeed: status.leftTargetSpeed,
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rightTargetSpeed: status.rightTargetSpeed,
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leftMeasureSpeed: status.leftMeasureSpeed,
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rightMeasureSpeed: status.rightMeasureSpeed,
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leftCurrent: status.leftCurrent,
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rightCurrent: status.rightCurrent,
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leftMotorTemp: status.leftMotorTemp,
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rightMotorTemp: status.rightMotorTemp,
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chipTemp: status.chipTemp,
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yaw: status.yaw,
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pitch: status.pitch,
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roll: status.roll,
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satelliteCnt: status.satelliteCnt,
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qual: status.qual,
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headingStatus: status.headingStatus,
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latitude: status.latitude,
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longitude: status.longitude,
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timestamp: status.timestamp,
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knifeCuttingSpeed: status.knifeCuttingSpeed,
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controlMode: status.controlMode,
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battery: status.battery,
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workingArea: status.workingArea,
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obstacleFlag: status.obstacleFlag,
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);
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_cachedGps = GPSEntity(status.latitude, status.longitude);
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// 🔥 节流：取消之前的timer，重新计时500ms
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_throttleTimer?.cancel();
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_throttleTimer = Timer(_throttleDuration, () {
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_emitCachedStatus();
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});
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} catch (e, stack) {
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//debugPrint('❌ [DeviceStatusBloc] 直接解析异常:$e\n$stack');
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// _logger.log('❌ [DeviceStatusBloc] 直接解析异常:$e');
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// 🔥 解析错误不节流，立即emit以便UI显示错误
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if (!isClosed) {
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emit(DeviceStatusError('解析失败:$e'));
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}
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}
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},
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onDone: () => debugPrint('⚠️ [DeviceStatusBloc] TCP流已结束(onDone)'),
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onError: (e) => debugPrint('❌ [DeviceStatusBloc] TCP流错误:$e'),
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);
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debugPrint('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
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_logger.log('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
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}
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// 🔥 初始化MQTT到达点监听
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void _initMqttArriveListener() {
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debugPrint('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');
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_logger.log('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');
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_mqttArriveSubscription = _taskMessageRepo.taskArriveStream.listen(
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(TaskArriveEntity arrive) {
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debugPrint(
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'📍 [DeviceStatusBloc] 收到MQTT到达点消息: type=${arrive.type}, deviceId=${arrive.deviceId}',
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);
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_logger.log(
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'📍 [DeviceStatusBloc] 收到MQTT到达点消息: type=${arrive.type}, deviceId=${arrive.deviceId}',
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);
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// 过滤出路径规划到达点消息
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if (arrive.type == 'device_task_arrive_point') {
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// 检查设备ID是否匹配当前监听的设备
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if (_currentDeviceId != null && arrive.deviceId != _currentDeviceId) {
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debugPrint(
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'⚠️ [DeviceStatusBloc] 设备ID不匹配，跳过 - 当前:$_currentDeviceId, 收到:${arrive.deviceId}',
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);
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return;
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}
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// 提取坐标（支持空entity场景）
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double? lat = arrive.entity?.lat;
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double? lng = arrive.entity?.lng;
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// 发送事件到Bloc
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add(
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DeviceTaskArrivePointEvent(
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deviceId: arrive.deviceId,
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taskId: arrive.taskId,
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lat: lat,
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lng: lng,
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),
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);
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}
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},
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onError: (e) {
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debugPrint('❌ [DeviceStatusBloc] MQTT到达点监听错误: $e');
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_logger.log('❌ [DeviceStatusBloc] MQTT到达点监听错误: $e');
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},
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);
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debugPrint('✅ [DeviceStatusBloc] MQTT到达点监听器已建立完成');
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_logger.log('✅ [DeviceStatusBloc] MQTT到达点监听器已建立完成');
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}
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// 🔥 设置当前监听的设备ID（用于过滤MQTT消息）
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void setListeningDeviceId(String deviceId) {
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debugPrint('📱 [DeviceStatusBloc] 设置监听设备ID: $deviceId');
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_logger.log('📱 [DeviceStatusBloc] 设置监听设备ID: $deviceId');
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_currentDeviceId = deviceId;
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}
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// 🔥 节流发射：500ms到期后发射缓存的最新数据
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void _emitCachedStatus() {
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if (_cachedStatus != null && _cachedGps != null && !isClosed) {
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// debugPrint('📤 [DeviceStatusBloc] 🔥节流发射 - 电压:${_cachedStatus!.voltage}, 电量:${_cachedStatus!.battery}');
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emit(DeviceStatusUpdated(_cachedStatus!, _cachedGps!));
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}
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}
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// 🔥 重置时仅清空状态
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Future<void> _handleReset(
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DeviceStatusReset event,
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Emitter<DeviceStatusState> emit,
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) async {
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debugPrint('🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}');
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_logger.log(
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'🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}',
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);
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// 只 emit 初始状态，让 UI 清除旧设备的数据
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emit(DeviceStatusInitial());
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debugPrint('⚠️ [DeviceStatusBloc] 已emit DeviceStatusInitial');
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}
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Future<void> _handleDeviceStatusLoaded(
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DeviceStatusLoaded event,
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Emitter<DeviceStatusState> emit,
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) async {
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try {
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// debugPrint('🔍 开始解析数据：${event.jsonString}');
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_logger.log('🔍 开始解析数据：${event.jsonString}');
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final fields = event.jsonString.trim().split(',');
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if (fields.length < 18) {
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debugPrint('⚠️ 字段不足：${fields.length}');
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emit(DeviceStatusError('字段不足，期望 ≥18，实际：${fields.length}'));
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return;
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}
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final status = RunningStatusEntity.fromFields(fields);
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final gps = GPSEntity(status.latitude, status.longitude);
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//debugPrint('✅ 解析成功，更新状态：Lat=${gps.latitude}, Lng=${gps.longitude}');
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_logger.log('✅ 解析成功，更新状态：Lat=${gps.latitude}, Lng=${gps.longitude}');
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emit(DeviceStatusUpdated(status, gps));
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} catch (e, stack) {
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//debugPrint('❌ 解析异常：$e\n$stack');
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_logger.log('❌ 解析异常：$e\n$stack');
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emit(DeviceStatusError('解析失败：$e'));
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}
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}
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Future<void> _handlePushMessageReceived(
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PushMessageReceived event,
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Emitter<DeviceStatusState> emit,
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) async {
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try {
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final eventStr = event.jsonData['event'] ?? '';
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final deviceId = event.jsonData['deviceId'] ?? '未知';
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// debugPrint('收到推送事件：$eventStr, 设备：$deviceId');
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_logger.log('收到推送事件：$eventStr, 设备：$deviceId');
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// 这里可以根据需要 emit 新状态
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} catch (e) {
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emit(DeviceStatusError('解析推送消息失败：$e'));
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}
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}
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// 🔥 处理MQTT到达点事件
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Future<void> _handleDeviceTaskArrivePointEvent(
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DeviceTaskArrivePointEvent event,
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Emitter<DeviceStatusState> emit,
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) async {
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debugPrint(
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'📍 [DeviceStatusBloc] 处理到达点事件: deviceId=${event.deviceId}, taskId=${event.taskId}, lat=${event.lat}, lng=${event.lng}',
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);
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_logger.log(
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'📍 [DeviceStatusBloc] 处理到达点事件: deviceId=${event.deviceId}, taskId=${event.taskId}, lat=${event.lat}, lng=${event.lng}',
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);
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if (event.lat != null && event.lng != null && event.lat != 0.0) {
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// ✅ 收到有效到达点 - 更新位置状态
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final gps = GPSEntity(event.lat!, event.lng!);
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// 发送到DevicesCubit更新到达位置（触发地图轨迹更新）
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final devicesCubit = GetIt.I<DevicesCubit>();
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devicesCubit.setArrivedLocation(event.lat!, event.lng!);
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// 同时更新DeviceStatusBloc的状态
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emit(DeviceStatusUpdated(_cachedStatus ?? RunningStatusEntity(), gps));
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} else {
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// ❌ entity为空或坐标无效 - 表示任务停止
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debugPrint('🛑 [DeviceStatusBloc] 收到任务停止信号');
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_logger.log('🛑 [DeviceStatusBloc] 收到任务停止信号');
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final devicesCubit = GetIt.I<DevicesCubit>();
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devicesCubit.finishWork();
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Future.delayed(Duration(seconds: 1), () {
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devicesCubit.resetWorkStatus();
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});
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}
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}
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@override
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Future<void> close() {
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debugPrint('🚫 [DeviceStatusBloc] 页面退出,清理资源');
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_logger.log('🚫 [DeviceStatusBloc] 页面退出,清理资源');
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// 🔥 清理MQTT订阅
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_mqttArriveSubscription?.cancel();
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_mqttArriveSubscription = null;
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// 🔥 清理节流timer和缓存
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_throttleTimer?.cancel();
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_throttleTimer = null;
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_cachedStatus = null;
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_cachedGps = null;
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// 🔥 重置设备ID
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_currentDeviceId = null;
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return Future.value();
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}
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}
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