91 lines
3.7 KiB
Dart
91 lines
3.7 KiB
Dart
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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: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'; // 确保能访问 RawPacket
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import '../../../../core/network/net_message_dispatcher.dart';
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import 'device_status_event.dart';
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import 'device_status_state.dart';
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class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
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final NetMessageDispatcher _dispatcher;
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DeviceStatusBloc(this._dispatcher) : super(DeviceStatusInitial()) {
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// 直接订阅 0x02 指令的字符串流
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_dispatcher.onStringMessage().listen((jsonString) {
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add(DeviceStatusLoaded(jsonString));
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});
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// 订阅 0x12 的 JSON 流（）
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_dispatcher.onJsonMessage(0x12).listen((jsonData) {
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add(PushMessageReceived(jsonData));
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});
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}
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@override
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Stream<DeviceStatusState> mapEventToState(DeviceStatusEvent event) async* {
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if (event is DeviceStatusLoaded) {
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yield* _mapDeviceStatusLoaded(event);
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} else if (event is PushMessageReceived) {
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yield* _mapPushMessageReceived(event);
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}
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}
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Stream<DeviceStatusState> _mapDeviceStatusLoaded(DeviceStatusLoaded event) async* {
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try {
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final fields = event.jsonString.trim().split(' ');
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if (fields.length < 18) {
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yield 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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///解析设备状态
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final status = RunningStatusEntity().copyWith(
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voltage: double.tryParse(fields[0]) ?? 0.0,
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leftTargetSpeed: double.tryParse(fields[1]) ?? 0.0,
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rightTargetSpeed: double.tryParse(fields[2]) ?? 0.0,
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leftMeasureSpeed: double.tryParse(fields[3]) ?? 0.0,
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rightMeasureSpeed: double.tryParse(fields[4]) ?? 0.0,
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leftCurrent: double.tryParse(fields[5]) ?? 0.0,
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rightCurrent: double.tryParse(fields[6]) ?? 0.0,
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leftMotorTemp: double.tryParse(fields[7]) ?? 0.0,
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rightMotorTemp: double.tryParse(fields[8]) ?? 0.0,
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chipTemp: double.tryParse(fields[9]) ?? 0.0,
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yaw: double.tryParse(fields[10]) ?? 0.0,
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pitch: double.tryParse(fields[11]) ?? 0.0,
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roll: double.tryParse(fields[12]) ?? 0.0,
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satelliteCnt: int.tryParse(fields[13]) ?? 0,
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qual: int.tryParse(fields[14]) ?? 0,
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headingStatus: int.tryParse(fields[15]) ?? 0,
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latitude: double.tryParse(fields[16]) ?? 0.0,
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longitude: double.tryParse(fields[17]) ?? 0.0,
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knifeCuttingSpeed: fields.length > 19 && fields[19].isNotEmpty ? fields[19] : "0",
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controlMode: fields.length > 20 && fields[20].isNotEmpty ? fields[20] : "0",
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battery: fields.length > 21 && fields[21].isNotEmpty ? fields[21] : "0",
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workingArea: fields.length > 22 && fields[22].isNotEmpty ? fields[22] : "0",
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obstacleFlag: fields.length > 23 && fields[23].isNotEmpty ? fields[23] : "0",
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);
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///解析GPS
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final gps = GPSEntity(status.latitude, status.longitude);
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yield DeviceStatusUpdated(status, gps);
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} catch (e) {
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yield DeviceStatusError('解析设备状态失败: $e');
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}
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}
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/// 解析 推送消息
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Stream<DeviceStatusState> _mapPushMessageReceived(PushMessageReceived event) 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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// 可扩展：yield PushMessageState(event.jsonData)
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} catch (e) {
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yield DeviceStatusError('解析推送消息失败: $e');
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}
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}
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}
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