flutterApp/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart

import 'dart:async';
import 'package:flutter_bloc/flutter_bloc.dart';
import 'package:maibu_satabot_v2/core/logging/i_logger_service.dart';
import 'package:maibu_satabot_v2/core/protocol/packet_entity.dart';
import 'package:maibu_satabot_v2/features/remote_control/domain/entities/running_status_entity.dart';
import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
import '../../../../core/di/injection.dart';
import '../../../connectivity/presentation/bloc/connectivity_cubit.dart';
import '../../domain/entities/machine_control_entity.dart';
import '../../domain/repositories/remote_control_repository.dart';

class RemoteControlCubit extends Cubit<RemoteControlState> {
  final RemoteControlRepository _repository;
  final ConnectivityCubit connectivityCubit;

  // 定时器与流订阅管理
  Timer? _timer;
  StreamSubscription<RunningStatusEntity>? _statusSubscription;
  StreamSubscription<PacketEntity>? _responseSubscription;

  RemoteControlCubit(this._repository,this.connectivityCubit)
      : super(
    RemoteControlState(
      controlEntity: MachineControlEntity(),
      runningStatusEntity: RunningStatusEntity(),
    ),
  ) {
    // 构造时立即开启监听
    _initPacketListener();
    _initRunningStatusListener();
  }

  // ==========================================
  // 1. 数据监听逻辑 (Data Listening)
  // ==========================================

  /// 监听原始回包 (处理如 0x12 权限申请等指令)
  void _initPacketListener() {
    _responseSubscription?.cancel();
    _responseSubscription = _repository.responseStream.listen((packet) {
      // 处理权限申请回包 (假设 0x12)
      if (packet.cmdType == 0x12) {
        // 假设 payload[0] == 1 表示获得权限，这里可以解析出平台信息
        final bool granted = packet.payload.isNotEmpty && packet.payload[0] == 0x01;
        emit(state.copyWith(
          hasPermission: granted,
          // 假设协议中后续字节带有平台名称
          permissionPlatform: granted ? "Other Device" : "",
        ));
      }
    });
  }

  /// 监听运行状态回包 (0x02) 并更新 UI
  void _initRunningStatusListener() {
    _statusSubscription?.cancel();
    _statusSubscription = _repository.runningStatusStream.listen((entity) {
      // 同步硬件状态到 Bloc State
      emit(state.copyWith(
        runningStatusEntity: entity,
        obstacleFlag: entity.obstacleFlag == 1 ? "检测到障碍物" : "无",
        // 如果硬件上报了急停或锁定，这里也可以同步更新状态
        isEmergency: entity.obstacleFlag == 1,
      ));
    }, onError: (e) {
      emit(state.copyWith(errorMessage: "运行状态流监听异常: $e"));
    });
  }

  // ==========================================
  // 2. 控制循环逻辑 (Control Loop)
  // ==========================================

  /// 启动 100ms 高频控制循环
  void startControlLoop() {
    _timer?.cancel();
    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) async {
      // 核心：在具备驾驶条件（有权限、未锁定、非急停）时发送指令
      if (state.canDrive) {
        try {
          await _repository.sendControlMachineCmd(state.controlEntity);
        } catch (e) {
          print("发送控制指令失败: $e");
        }
      }
    });
    emit(state.copyWith(status: RemoteControlStatus.controlling));
  }

  /// 停止控制循环
  void stopControlLoop() {
    _timer?.cancel();
    _timer = null;
    emit(state.copyWith(status: RemoteControlStatus.initial));
  }

  // ==========================================
  // 3. UI 交互方法 (UI Actions)
  // ==========================================

  /// 更新摇杆坐标 (x, y 为 -100 到 100)
  void updateJoystick(double x, double y) {
    final updatedEntity = state.controlEntity.copyWith(
      x: x.toInt(),
      y: y.toInt(),
    );
    emit(state.copyWith(controlEntity: updatedEntity));
  }

  /// 更新原点 Y 轴 (针对特定的 UI 逻辑)
  void updateOriginY(int y) {
    final updatedEntity = state.controlEntity.copyWith(y: y);
    emit(state.copyWith(controlEntity: updatedEntity));
  }

  /// 更新底盘升降
  void updateChassisLift(int level) {
    final updatedEntity = state.controlEntity.copyWith(lift: level);
    emit(state.copyWith(controlEntity: updatedEntity));
  }

  /// 更新急停状态
  void updateEmergency(bool emergency) {
    final updatedEntity = state.controlEntity.copyWith(emergency: emergency);
    emit(state.copyWith(
      controlEntity: updatedEntity,
      isEmergency: emergency,
    ));
  }

  /// 更新割刀/功能开关
  void updateMower(int speed) {
    final updatedEntity = state.controlEntity.copyWith(mower: speed);
    emit(state.copyWith(controlEntity: updatedEntity));
  }

  /// 切换控制锁定
  void toggleLock() {
    emit(state.copyWith(isLocked: !state.isLocked));
  }

  /// 权限请求弹窗控制
  void togglePermissionDialog(bool show) {
    emit(state.copyWith(showPermissionRequestDialog: show));
  }

  /// 发起/响应权限请求
  void respondPermission(bool accept) {
    // 这里可以添加发送 0x12 响应包给硬件的逻辑
    emit(state.copyWith(
      hasPermission: accept,
      showPermissionRequestDialog: false,
    ));
  }

  /// 切换画中画显示
  void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
  void toggleRightPip() => emit(state.copyWith(showRightPip: !state.showRightPip));

  void toggleTopLeftExpand() {
    emit(state.copyWith(topRightIsExpanded: !state.topRightIsExpanded));
  }

  void toggleObstacleRecognition() {
    emit(state.copyWith(obstacleRecognitionFlag: !state.obstacleRecognitionFlag));
  }

  void initVideoUrls(String main, String ai) {
    emit(state.copyWith(
      mainStreamUrl: main,
      aiStreamUrl: ai,
      isVideoEnabled: true,
    ));
  }

  void disposeVideo() {
    emit(state.copyWith(
      mainStreamUrl: "",
      aiStreamUrl: "",
      isVideoEnabled: false,
      obstacleRecognitionFlag: false,
    ));
    sl<ILoggerService>().log("Cubit: 视频地址已置空，准备断开连接");
  }

  // ==========================================
  // 4. 销毁与清理 (Cleanup)
  // ==========================================

  @override
  Future<void> close() {
    _timer?.cancel();
    _statusSubscription?.cancel();
    _responseSubscription?.cancel();
    return super.close();
  }

}