90 lines
2.4 KiB
Dart
90 lines
2.4 KiB
Dart
import 'dart:typed_data';
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import 'package:maibu_satabot_v2/core/data/base_model.dart';
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import 'package:maibu_satabot_v2/features/remote_control/domain/entities/machine_control_entity.dart';
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class MachineControlModel extends MachineControlEntity implements BaseModel<MachineControlEntity>{
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MachineControlModel({
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required super.leftSpeed,
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required super.rightSpeed,
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required super.chassisLift,
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required super.mowerSpeed,
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required super.ignitionStatus,
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required super.isEmergency,
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});
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factory MachineControlModel.fromEntity(MachineControlEntity entity) {
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return MachineControlModel(
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leftSpeed: entity.leftSpeed,
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rightSpeed: entity.rightSpeed,
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chassisLift: entity.chassisLift,
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mowerSpeed: entity.mowerSpeed,
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ignitionStatus: entity.ignitionStatus,
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isEmergency: entity.isEmergency,
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);
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}
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/// 需要传入计算好的左右轮速度
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Uint8List toRawPacket(Map<String, int> speeds) {
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// 1. 调用 Codec：生成协议定义的 8 字节 Payload
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final payload = encodeRemoteControlPayload(
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left: speeds['left'] ?? 0,
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right: speeds['right'] ?? 0,
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lift: chassisLift,
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mower: mowerSpeed,
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ignition: ignitionStatus,
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emergency: isEmergency ? 1 : 0,
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);
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// 2. 调用 Builder：封装帧头、指令、CRC、帧尾
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return payload;
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}
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@override
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MachineControlEntity toEntity() {
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return MachineControlEntity(
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leftSpeed: leftSpeed,
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rightSpeed: rightSpeed,
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chassisLift: chassisLift,
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mowerSpeed: mowerSpeed,
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ignitionStatus: ignitionStatus,
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isEmergency: isEmergency,
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);
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}
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@override
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Map<String, dynamic> toJson() {
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return {
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'leftSpeed': leftSpeed,
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'rightSpeed': rightSpeed,
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'chassisLift': chassisLift,
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'mowerSpeed': mowerSpeed,
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'ignitionStatus': ignitionStatus,
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'isEmergency': isEmergency,
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};
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}
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Uint8List encodeRemoteControlPayload({
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required int left,
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required int right,
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int lift = 0,
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int mower = 0,
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int ignition = 0,
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int emergency = 0,
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}) {
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final bd = ByteData(8); // 只分配 8 字节
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int pos = 0;
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bd.setInt16(pos, left, Endian.little);
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pos += 2;
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bd.setInt16(pos, right, Endian.little);
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pos += 2;
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bd.setUint8(pos++, lift);
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bd.setUint8(pos++, mower);
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bd.setUint8(pos++, ignition);
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bd.setUint8(pos++, emergency);
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return bd.buffer.asUint8List();
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}
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}
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