优化了tcp实时更新对UI线程的压力和对用弹窗的重复弹窗的影响。

更换了路径规划的的经纬度的字段名和取操作的名字更换。
2026-06-08 13:35:36 +08:00
parent 7c9734d918
commit 354f7d6290
8 changed files with 445 additions and 276 deletions
--- a/ios/Podfile
+++ b/ios/Podfile
@@ -1,6 +1,7 @@
 # Uncomment this line to define a global platform for your project
 # platform :ios, '13.0'
-source 'https://github.com/volcengine/volcengine-specs.git'
+source 'https://github.com/volcengine/volcengine-specs.git'error: Classes can only extend other classes. (extends_non_class at [maibu_satabot_v2] lib\features\v2\device_list\domain\entities\video_stream_entity.dart:2)error: Classes can only extend other classes. (extends_non_class at [maibu_satabot_v2] lib\features\v2\device_list\domain\entities\video_stream_entity.dart:2)you
+
 # CocoaPods analytics sends network stats synchronously affecting flutter build latency.
 ENV['COCOAPODS_DISABLE_STATS'] = 'true'

--- a/lib/features/auth/presentation/bloc/auth_cubit.dart
+++ b/lib/features/auth/presentation/bloc/auth_cubit.dart
@@ -62,7 +62,10 @@ class AuthCubit extends Cubit<AuthState> {

      if (user != null) {
        // 🔥 冷启动时重新初始化 TCP 连接
-        await tcp.initializeTcp(host: TCPConsts.TCP_IP, port: TCPConsts.TCP_PORT);
+        await tcp.initializeTcp(
+          host: TCPConsts.TCP_IP,
+          port: TCPConsts.TCP_PORT,
+        );

        // 2. 同步全局 App 状态
        appCubit.setAuth(user);
--- a/lib/features/devices/presentation/bloc/device_status_bloc.dart
+++ b/lib/features/devices/presentation/bloc/device_status_bloc.dart
@@ -21,6 +21,12 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
  // 🔥 保存订阅引用,用于管理生命周期
  StreamSubscription? _tcpSubscription;

+  // 🔥 节流相关：500ms节流控制0x02数据推送频率
+  Timer? _throttleTimer;
+  static const _throttleDuration = Duration(milliseconds: 500);
+  RunningStatusEntity? _cachedStatus;
+  GPSEntity? _cachedGps;
+
  DeviceStatusBloc(this._dispatcher, {TcpClient? client})
    : tcpClient = client ?? GetIt.I<TcpClient>(),
      super(DeviceStatusInitial()) {
@@ -95,6 +101,7 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {

              if (fields.length < 18) {
                //debugPrint('⚠️ [DeviceStatusBloc] 字段不足:${fields.length},期望≥18');
+                // 🔥 错误不节流，立即emit以便UI显示错误
                if (!isClosed) {
                  emit(DeviceStatusError('字段不足,期望≥18,实际:${fields.length}'));
                }
@@ -104,13 +111,8 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
              final status = RunningStatusEntity.fromFields(fields);
              final gps = GPSEntity(status.latitude, status.longitude);

-          //debugPrint('✅ [DeviceStatusBloc] 直接解析成功,更新状态:Lat=${gps.latitude}, Lng=${gps.longitude}');
-         // _logger.log('✅ [DeviceStatusBloc] 直接解析成功,更新状态');
-          
-          // 🔥 关键修复:BLoC有Equatable去重机制,必须创建新对象才能触发UI更新
-          if (!isClosed) {
-            // 创建全新的status和gps对象,绕过Equatable去重
-            final newStatus = RunningStatusEntity(
+              // 🔥 缓存最新数据用于节流发射
+              _cachedStatus = RunningStatusEntity(
                voltage: status.voltage,
                leftTargetSpeed: status.leftTargetSpeed,
                rightTargetSpeed: status.rightTargetSpeed,
@@ -136,13 +138,17 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
                workingArea: status.workingArea,
                obstacleFlag: status.obstacleFlag,
              );
-            final newGps = GPSEntity(status.latitude, status.longitude);
-          //  debugPrint('📤 [DeviceStatusBloc] emit DeviceStatusUpdated - 电压:${status.voltage}, 电量:${status.battery}, 模式:${status.controlMode}');
-            emit(DeviceStatusUpdated(newStatus, newGps));
-          }
+              _cachedGps = GPSEntity(status.latitude, status.longitude);
+
+              // 🔥 节流：取消之前的timer，重新计时500ms
+              _throttleTimer?.cancel();
+              _throttleTimer = Timer(_throttleDuration, () {
+                _emitCachedStatus();
+              });
            } catch (e, stack) {
              //debugPrint('❌ [DeviceStatusBloc] 直接解析异常:$e\n$stack');
              // _logger.log('❌ [DeviceStatusBloc] 直接解析异常:$e');
+              // 🔥 解析错误不节流，立即emit以便UI显示错误
              if (!isClosed) {
                emit(DeviceStatusError('解析失败:$e'));
              }
@@ -156,10 +162,23 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
    _logger.log('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
  }

+  // 🔥 节流发射：500ms到期后发射缓存的最新数据
+  void _emitCachedStatus() {
+    if (_cachedStatus != null && _cachedGps != null && !isClosed) {
+      // debugPrint('📤 [DeviceStatusBloc] 🔥节流发射 - 电压:${_cachedStatus!.voltage}, 电量:${_cachedStatus!.battery}');
+      emit(DeviceStatusUpdated(_cachedStatus!, _cachedGps!));
+    }
+  }
+
  // 🔥 重置时仅清空状态
-  Future<void> _handleReset(DeviceStatusReset event, Emitter<DeviceStatusState> emit) async {
+  Future<void> _handleReset(
+    DeviceStatusReset event,
+    Emitter<DeviceStatusState> emit,
+  ) async {
    debugPrint('🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}');
-    _logger.log('🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}');
+    _logger.log(
+      '🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}',
+    );

    // 只 emit 初始状态，让 UI 清除旧设备的数据
    emit(DeviceStatusInitial());
@@ -214,6 +233,11 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
    debugPrint('🚫 [DeviceStatusBloc] 页面退出,仅取消TCP订阅(不关闭BLoC)');
    _logger.log('🚫 [DeviceStatusBloc] 页面退出,仅取消TCP订阅(不关闭BLoC)');
    //_tcpSubscription?.cancel();
+    // 🔥 清理节流timer和缓存
+    _throttleTimer?.cancel();
+    _throttleTimer = null;
+    _cachedStatus = null;
+    _cachedGps = null;
    // 🔥 关键修复:不调用 super.close(),保持 BLoC 活跃
    return Future.value();
  }
--- a/lib/features/home/presentation/bloc/permission_request_bloc.dart
+++ b/lib/features/home/presentation/bloc/permission_request_bloc.dart
@@ -10,7 +10,8 @@ import '../../../remote_control/domain/repositories/remote_control_repository.da
 import 'permission_request_event.dart';
 import 'permission_request_state.dart';

-class PermissionRequestBloc extends Bloc<PermissionRequestEvent, PermissionRequestState> {
+class PermissionRequestBloc
+    extends Bloc<PermissionRequestEvent, PermissionRequestState> {
  final NetMessageDispatcher _dispatcher;
  final RemoteControlRepository _repository;
  final ILoggerService _logger = GetIt.I<ILoggerService>();
@@ -18,9 +19,11 @@ class PermissionRequestBloc extends Bloc<PermissionRequestEvent, PermissionReque
  // 🔥 保存订阅引用，用于管理生命周期
  StreamSubscription? _permissionSubscription;

-  PermissionRequestBloc(this._dispatcher, this._repository) : super(const PermissionRequestInitial()) {
+  PermissionRequestBloc(this._dispatcher, this._repository)
+    : super(const PermissionRequestInitial()) {
    // 🔥 核心：直接在构造函数中建立 0x12 监听（通过 NetMessageDispatcher）
-    _initPermissionListener();
+    // 🔥 注意：RemoteControlCubit 已经在处理 0x12 权限请求，这里不再重复监听
+    // _initPermissionListener();

    // 事件处理
    on<PermissionRequestReceived>(_handleRequestReceived);
@@ -28,100 +31,53 @@ class PermissionRequestBloc extends Bloc<PermissionRequestEvent, PermissionReque
  }

  // 🔥 通过 NetMessageDispatcher 监听 TCP 0x12 指令，解析权限请求
+  // 🔥 已禁用：RemoteControlCubit 统一处理权限请求，避免重复弹窗
  void _initPermissionListener() {
-    debugPrint('🔗 [PermissionRequestBloc] 初始化 0x12 权限监听器（通过 NetMessageDispatcher）');
-    _logger.logWithLevel('🔗 [PermissionRequestBloc] 初始化 0x12 权限监听器', shouldLog: true);
+    debugPrint(
+      '🔗 [PermissionRequestBloc] 初始化 0x12 权限监听器（通过 NetMessageDispatcher）',
+    );
+    _logger.logWithLevel(
+      '🔗 [PermissionRequestBloc] 初始化 0x12 权限监听器',
+      shouldLog: true,
+    );

-    _permissionSubscription = _dispatcher.onCommand(0x12).listen((packet) {
+    // 🔥 已禁用：权限请求统一由 RemoteControlCubit 处理，避免重复弹窗
+    // _permissionSubscription = _dispatcher.onCommand(0x12).listen((packet) {
+    //   ...
+    // });

-      debugPrint('🔍 [PermissionRequestBloc] ✅✅✅ 0x12 包被监听到了！');
-      _logger.logWithLevel('>>> [PermissionRequestBloc] ✅✅✅ 0x12 包被监听到了！', shouldLog: true);
-      
-      try {
-        _logger.logWithLevel('>>> [PermissionRequestBloc] ✅ 收到 0x12 原始包', shouldLog: true);
-        
-        // 🔥 关键：手动去掉最后 2 个 CRC 字节
-        String jsonString;
-        if (packet.payload.length > 2) {
-          jsonString = utf8.decode(packet.payload.sublist(0, packet.payload.length - 2));
-        } else {
-          jsonString = utf8.decode(packet.payload);
-        }
-
-        debugPrint('>>> [PermissionRequestBloc] 收到 0x12: $jsonString');
-        _logger.logWithLevel('>>> [PermissionRequestBloc] 收到 0x12: $jsonString', shouldLog: true);
-
-        final jsonMap = jsonDecode(jsonString);
-        final requestType = jsonMap['request'];
-        final platform = jsonMap['platform'];
-        final respondData = jsonMap['respond'];
-
-        _logger.logWithLevel('>>> [PermissionRequestBloc] 解析结果: requestType=$requestType, platform=$platform', shouldLog: true);
-
-        // 情况 1: 响应格式（忽略）
-        if (respondData != null && respondData is Map) {
-          debugPrint('>>> [PermissionRequestBloc] 📊 收到响应格式，忽略');
-          _logger.logWithLevel('>>> [PermissionRequestBloc] 📊 收到响应格式，忽略', shouldLog: true);
-          return;
-        }
-
-        // 情况 2: 请求格式 - switch_control
-        if (requestType == 'switch_control') {
-          // 🔥 关键判断：只有当是其他平台（web）请求时才弹窗
-          if (platform != null && platform.toString().toLowerCase() != 'app') {
-            debugPrint('>>> [PermissionRequestBloc] 🚨 $platform 端请求控制权');
-            _logger.logWithLevel('>>> [PermissionRequestBloc] 🚨 $platform 端请求控制权', shouldLog: true);
-            
-            if (!isClosed) {
-              _logger.logWithLevel('>>> [PermissionRequestBloc] 📤 准备 add PermissionRequestReceived 事件', shouldLog: true);
-              add(PermissionRequestReceived(
-                platform: platform.toString(),
-                requestType: requestType,
-              ));
-            } else {
-              _logger.logWithLevel('>>> [PermissionRequestBloc] ⚠️ Bloc 已关闭，无法添加事件', shouldLog: true);
-            }
-          } else {
-            debugPrint('>>> [PermissionRequestBloc] ℹ️ APP 自己的请求回显，忽略');
-            _logger.logWithLevel('>>> [PermissionRequestBloc] ℹ️ APP 自己的请求回显，忽略', shouldLog: true);
-          }
-        }
-        // 情况 3: 异地登录通知
-        else if (requestType == 'have_logged_in') {
-          debugPrint('>>> [PermissionRequestBloc] ⚠️ 检测到异地登录');
-          _logger.logWithLevel('>>> [PermissionRequestBloc] ⚠️ 检测到异地登录', shouldLog: true);
-          
-          if (!isClosed) {
-            _logger.logWithLevel('>>> [PermissionRequestBloc] 📤 准备 add PermissionRequestReceived 事件（异地登录）', shouldLog: true);
-            add(PermissionRequestReceived(
-              platform: 'unknown',
-              requestType: requestType,
-            ));
-          }
-        }
-      } catch (e) {
-        debugPrint('>>> [PermissionRequestBloc] ❌ 解析失败：$e');
-        _logger.logWithLevel('>>> [PermissionRequestBloc] ❌ 解析失败：$e', shouldLog: true);
-      }
-    });
-
-    debugPrint('✅ [PermissionRequestBloc] 0x12 监听器已建立完成');
-    _logger.logWithLevel('✅ [PermissionRequestBloc] 0x12 监听器已建立完成', shouldLog: true);
+    debugPrint(
+      '🔍 [PermissionRequestBloc] ⚠️ 权限监听已禁用，统一由 RemoteControlCubit 处理',
+    );
+    _logger.logWithLevel(
+      '>>> [PermissionRequestBloc] ⚠️ 权限监听已禁用，统一由 RemoteControlCubit 处理',
+      shouldLog: true,
+    );
  }

  Future<void> _handleRequestReceived(
    PermissionRequestReceived event,
    Emitter<PermissionRequestState> emit,
  ) async {
-    debugPrint('📤 [PermissionRequestBloc] emit DialogVisible - platform=${event.platform}');
-    _logger.logWithLevel('📤 [PermissionRequestBloc] emit DialogVisible - platform=${event.platform}', shouldLog: true);
+    debugPrint(
+      '📤 [PermissionRequestBloc] emit DialogVisible - platform=${event.platform}',
+    );
+    _logger.logWithLevel(
+      '📤 [PermissionRequestBloc] emit DialogVisible - platform=${event.platform}',
+      shouldLog: true,
+    );

-    emit(PermissionRequestDialogVisible(
+    emit(
+      PermissionRequestDialogVisible(
        platform: event.platform,
        requestType: event.requestType,
-    ));
+      ),
+    );

-    _logger.logWithLevel('📤 [PermissionRequestBloc] ✅ 已 emit DialogVisible 状态', shouldLog: true);
+    _logger.logWithLevel(
+      '📤 [PermissionRequestBloc] ✅ 已 emit DialogVisible 状态',
+      shouldLog: true,
+    );
  }

  Future<void> _handleDialogDismissed(
@@ -133,7 +89,9 @@ class PermissionRequestBloc extends Bloc<PermissionRequestEvent, PermissionReque

    // 🔥 发送响应到机器人（和远程遥控页面一样）
    if (event.deviceId.isNotEmpty) {
-      debugPrint('📤 [PermissionRequestBloc] 发送权限响应: agree=${event.agree}, deviceId=${event.deviceId}');
+      debugPrint(
+        '📤 [PermissionRequestBloc] 发送权限响应: agree=${event.agree}, deviceId=${event.deviceId}',
+      );
      _repository.respondPermission(event.agree, event.deviceId);
    }

@@ -151,7 +109,10 @@ class PermissionRequestBloc extends Bloc<PermissionRequestEvent, PermissionReque
  /// 🔥 公开方法：重新初始化监听器（TCP 重连后调用）
  void reinitListener() {
    debugPrint('🔄 [PermissionRequestBloc] 重新初始化监听器');
-    _logger.logWithLevel('🔄 [PermissionRequestBloc] 重新初始化监听器', shouldLog: true);
+    _logger.logWithLevel(
+      '🔄 [PermissionRequestBloc] 重新初始化监听器',
+      shouldLog: true,
+    );
    _permissionSubscription?.cancel();
    _initPermissionListener();
  }
--- a/lib/features/home/presentation/widgets/map/testmap_pages.dart
+++ b/lib/features/home/presentation/widgets/map/testmap_pages.dart
@@ -1472,13 +1472,13 @@ class _MapPageEnterpriseState extends State<MapPageEnterprise> {
          List<LatLng> newOuterPoints = [];
          for (var item in pathList) {
            double? lat = safeToDouble(item['lat']);
-            double? lon = safeToDouble(item['lon']);
+            double? lon = safeToDouble(item['lng'] ?? item['lon']);
            if (lat != null && lon != null) {
              newPathPoints.add(convertWGS84ToGCJ02(lat, lon));
            }
          }
          for (var item in outerList) {
-            double? lng = safeToDouble(item['lng']);
+            double? lng = safeToDouble(item['lng'] ?? item['lon']);
            double? lat = safeToDouble(item['lat']);
            if (lng != null && lat != null) {
              newOuterPoints.add(convertWGS84ToGCJ02(lat, lng));
--- a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
@@ -1,6 +1,7 @@
-import 'dart:async';
+import 'dart:async';
 import 'dart:convert';
 import 'dart:io';
+import 'dart:math';

 import 'package:dart_ping/dart_ping.dart';
 import 'package:flutter/cupertino.dart';
@@ -39,13 +40,12 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  int _currentOriginX = 0;
  int _currentOriginY = 0;

-  // 🔥 权限请求冷却期机制 - 防止Web端持续发送请求导致弹窗不断显示
-  DateTime? _lastPermissionResponseTime; // 记录上次响应权限请求的时间
-  static const _coolDownDuration = Duration(seconds: 5); // 冷却期5秒
-
-  // 🔥 同步锁 - 防止状态更新期间接收新请求导致重复弹窗
+  // 🔥 权限请求处理标志位 - 防止竞态条件，避免重复显示弹窗
  bool _isProcessingPermissionRequest = false;

+  // 🔥 模拟数据推送定时器
+  // Timer? _simulationTimer;
+
  // 🔥 获取带时间戳的日志前缀
  String _getTimePrefix() {
    final now = DateTime.now();
@@ -69,40 +69,138 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  }

  // 🔥 新增:订阅 DeviceStatusBloc 的状态流,而不是直接监听TCP
+  // 类全局变量
+  DateTime? _lastUiUpdateTime;
+  String? _cacheVoltage;
+  String? _cacheBattery;
+  String? _cacheCtrlMode;
+  int? _cachePing;
+
  void _initDeviceStatusListener() {
-    // // _logger.logWithLevel('>>> [RemoteControl] begin 订阅 DeviceStatusBloc 状态流');
    _deviceStatusSub?.cancel();

    _deviceStatusSub = deviceStatusBloc.stream.listen((deviceState) async {
      if (deviceState is DeviceStatusUpdated) {
+        // 第一步：所有数据先存入缓存，不管来多频繁都存最新值
        final voltage = deviceState.status.voltage;
        final battery = deviceState.status.battery;
        final controlMode = deviceState.status.controlMode == '3'
            ? '远程模式'
            : '本地模式';
+        final c = await getNetworkDelay();

-        final c = getNetworkDelay();
+        _cacheVoltage = voltage.toString();
+        _cacheBattery = battery.toString();
+        _cacheCtrlMode = controlMode;
+        _cachePing = c;
+
+        // 500ms节流，不到时间不刷新UI
+        final now = DateTime.now();
+        if (_lastUiUpdateTime != null &&
+            now.difference(_lastUiUpdateTime!) <
+                const Duration(milliseconds: 500)) {
+          return;
+        }
+        _lastUiUpdateTime = now;
+
+        // 间隔达标，统一一次刷新UI
        emit(
          state.copyWith(
            runningStatusModel: state.runningStatusModel.copyWith(
-              voltage: voltage.toString(),
-              battery: battery.toString(),
-              controlMode: controlMode,
+              voltage: _cacheVoltage,
+              battery: _cacheBattery,
+              controlMode: _cacheCtrlMode,
            ),
-            battery: int.tryParse(battery) ?? 0,
-            ping: await c,
+            battery: int.tryParse(_cacheBattery ?? '') ?? 0,
+            ping: _cachePing,
+            // 🔥 标记为设备状态更新
+            updateType: 'device_status',
          ),
        );
-
-        // // _logger.logWithLevel('✅ [RemoteControl] 从 DeviceStatusBloc 收到更新: 电压=$voltage, 电量=$battery, 模式=$controlMode');
      }
    });
-
-    // _logger.logWithLevel('>>> [RemoteControl] ✅ DeviceStatusBloc 订阅已建立完成');
  }

  // 🔥 超简单方法：传入 IP，得到 ping 值

+  // 🔥 模拟设备状态更新 - 用于测试
+  // void simulateDeviceStatusUpdate({
+  //   String? voltage,
+  //   String? battery,
+  //   String? controlMode,
+  //   int? ping,
+  //   // 🔥 是否随机生成数据
+  //   bool random = false,
+  // }) {
+  //   // 如果开启随机模式，生成随机数据
+  //   final rand = Random();
+
+  /*    if (random) {
+      voltage = (22.0 + rand.nextDouble() * 4.0).toStringAsFixed(
+        1,
+      ); // 22.0-26.0V
+      battery = (rand.nextInt(100) + 1).toString(); // 1-100%
+      controlMode = rand.nextBool() ? '远程模式' : '本地模式';
+      ping = rand.nextInt(150) + 20; // 20-170ms
+    } */
+
+  /*   debugPrint(
+      '🔧 [模拟设备状态更新] voltage=$voltage V, battery=$battery%, controlMode=$controlMode, ping=$ping ms',
+    ); */
+
+  // 更新缓存
+  /*  if (voltage != null) _cacheVoltage = voltage;
+    if (battery != null) _cacheBattery = battery;
+    if (controlMode != null) _cacheCtrlMode = controlMode;
+    if (ping != null) _cachePing = ping;
+
+    // 直接触发状态更新（跳过节流，立即更新）
+    emit(
+      state.copyWith(
+        runningStatusModel: state.runningStatusModel.copyWith(
+          voltage: _cacheVoltage,
+          battery: _cacheBattery,
+          controlMode: _cacheCtrlMode,
+        ),
+        battery: int.tryParse(_cacheBattery ?? '') ?? 0,
+        ping: _cachePing,
+        // 🔥 标记为设备状态更新
+        updateType: 'device_status',
+      ),
+    );
+  } */
+
+  // 🔥 开始模拟设备状态推送（随机数据）
+  /*   void startSimulation({int intervalMs = 500}) {
+    // 如果已经在运行，先停止
+    stopSimulation();
+
+  //  debugPrint('🔔 [模拟推送] 开始模拟设备状态推送，间隔：${intervalMs}ms');
+
+    // 立即发送一次初始数据
+    simulateDeviceStatusUpdate(random: true);
+
+    // 定时推送随机数据
+    _simulationTimer = Timer.periodic(Duration(milliseconds: intervalMs), (
+      timer,
+    ) {
+      if (!isClosed) {
+        simulateDeviceStatusUpdate(random: true);
+      } else {
+        stopSimulation();
+      }
+    });
+  } */
+
+  // 🔥 停止模拟设备状态推送
+  /*   void stopSimulation() {
+    if (_simulationTimer != null) {
+      _simulationTimer!.cancel();
+      _simulationTimer = null;
+      debugPrint('🔔 [模拟推送] 已停止模拟设备状态推送');
+    }
+  } */
+
  // 🔥 辅助方法：更新运行状态
  void _updateStatusFromDevice(RunningStatusModel newStatus) {
    // // debugPrint('✅ [_updateStatusFromDevice] 收到运行状态更新：$newStatus');
@@ -141,14 +239,37 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
    _kickOutSub = dispatcher.onCommand(0x12).listen((packet) {
      final timeNow = _getTimePrefix();
      debugPrint('$timeNow 🔍 [RemoteControl] [0x12监听器] ✅ 收到 0x12 原始包');
-      debugPrint(
+      /*      debugPrint(
        '$timeNow 🔍 [RemoteControl] [0x12监听器] payload长度: ${packet.payload.length}',
-      );
+      );*/
      _logger.logWithLevel(
        '$timeNow 🔍 [RemoteControl] [0x12监听器] 收到 0x12 原始包，payload长度=${packet.payload.length}',
        shouldLog: true,
      );

+      // 先解析JSON判断是否为响应格式
+      String jsonStringForCheck;
+      try {
+        if (packet.payload.length > 2) {
+          jsonStringForCheck = utf8.decode(
+            packet.payload.sublist(0, packet.payload.length - 2),
+          );
+        } else {
+          jsonStringForCheck = utf8.decode(packet.payload);
+        }
+        final jsonMap = jsonDecode(jsonStringForCheck);
+        final respondData = jsonMap['respond'];
+
+        // 如果是响应格式，继续处理（更新权限状态）
+        // 如果是请求格式且弹窗已显示，忽略
+        if (respondData == null && state.showPermissionRequestDialog) {
+          debugPrint('$timeNow 🔍 [RemoteControl] [0x12监听器] ⚠️ 弹窗已显示（状态），忽略请求');
+          return;
+        }
+      } catch (e) {
+        // 解析失败，继续处理
+      }
+
      try {
        // 🔥 关键：手动去掉最后 2 个 CRC 字节
        String jsonString;
@@ -179,11 +300,13 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {

        // 情况 1: 响应格式 - {"respond":{"switchResult":true,"deviceId":"...","holder":"you"}}
        if (respondData != null && respondData is Map) {
+          // 🔥 收到响应格式，更新权限状态
+
          final switchResult = respondData['switchResult'];
-          debugPrint('$timeNow 🔍 [RemoteControl] [0x12监听器] 📊 收到切换结果响应');
+          /*  debugPrint('$timeNow 🔍 [RemoteControl] [0x12监听器] 📊 收到切换结果响应');
          debugPrint(
            '$timeNow 🔍 [RemoteControl] [0x12监听器] switchResult: $switchResult',
-          );
+          );*/
          _logger.logWithLevel(
            '$timeNow 🔍 [RemoteControl] [0x12监听器] 📊 收到切换结果响应 - switchResult: $switchResult',
            shouldLog: true,
@@ -218,6 +341,15 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
          final webLogPrefix =
              '${_getTimePrefix()} 🚨 [RemoteControl] [Web端权限请求]';

+          // 🔥 新增：记录收到请求的时间，便于排查是否为后端持续推送
+          debugPrint(
+            '$webLogPrefix ⚡️⚡️⚡️ 收到Web端权限请求 - ${DateTime.now().toString()}',
+          );
+          _logger.logWithLevel(
+            '$webLogPrefix ⚡️⚡️⚡️ 收到Web端权限请求 - ${DateTime.now().toString()}',
+            shouldLog: true,
+          );
+
          debugPrint('$webLogPrefix =========================================');
          debugPrint('$webLogPrefix 收到 switch_control 请求');
          debugPrint('$webLogPrefix platform: $platform');
@@ -235,8 +367,17 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {

            if (currentDeviceId != null && requestDeviceId == currentDeviceId) {
              debugPrint('$webLogPrefix 设备ID匹配');
-              // 🔥 添加防重复检查：只有当弹窗还没显示时才弹出
-              if (!state.showPermissionRequestDialog) {
+
+              // 🔥 只有当弹窗还没显示时才弹出，防止重复弹窗叠加
+              if (state.showPermissionRequestDialog) {
+                debugPrint('$webLogPrefix ⚠️ 弹窗已显示，忽略重复请求');
+                _logger.logWithLevel(
+                  '$webLogPrefix ⚠️ 弹窗已显示，忽略重复请求',
+                  shouldLog: true,
+                );
+                return;
+              }
+
              debugPrint('$webLogPrefix 弹出权限请求对话框');
              _logger.logWithLevel(
                '$webLogPrefix 设备ID匹配，弹出权限请求对话框',
@@ -248,16 +389,11 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
                    showPermissionRequestDialog: true,
                    requestingDeviceId: requestDeviceId?.toString(),
                    requestingPlatform: platform.toString(),
+                    // 🔥 标记为弹窗状态更新
+                    updateType: 'permission_dialog',
                  ),
                );
              }
-              } else {
-                debugPrint('$webLogPrefix ⚠️ 弹窗已显示，忽略重复请求');
-                _logger.logWithLevel(
-                  '$webLogPrefix ⚠️ 弹窗已显示，忽略重复请求',
-                  shouldLog: true,
-                );
-              }
            } else {
              debugPrint('$webLogPrefix ⚠️ 设备ID不匹配，忽略');
              debugPrint(
@@ -284,7 +420,8 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
            '${_getTimePrefix()} ⚠️ [RemoteControl] 检测到异地登录，打开弹窗提示',
            shouldLog: true,
          );
-          if (!isClosed) {
+          // 🔥 只有当弹窗还没显示时才弹出
+          if (!isClosed && !state.showPermissionRequestDialog) {
            emit(state.copyWith(showPermissionRequestDialog: true));
          }
        } else {
@@ -331,6 +468,9 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
    //debugPrint('$logPrefix 启动控制循环，间隔: 100ms');
    ///debugPrint('$logPrefix =========================================');

+    // 🔥 启动模拟设备状态推送（用于测试）
+    // startSimulation();
+
    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
      if (isClosed) {
        //   debugPrint('$logPrefix ❌ Cubit已关闭，取消定时器');
@@ -538,27 +678,16 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
  }

  void respondPermission(bool agreed, String deviceId) {
-
-
-
-    // 🔥 记录响应时间，开启冷却期
-    _lastPermissionResponseTime = DateTime.now();
-    //debugPrint('$logPrefix 开启权限请求冷却期，持续${_coolDownDuration.inSeconds}秒');
-
    // 1. 关闭弹窗（立即关闭，防止重复点击）
    emit(state.copyWith(showPermissionRequestDialog: false));

    // 2. 发送响应到服务器
-    //debugPrint('$logPrefix 📤 发送权限响应命令到服务器');
    try {
-      // 🔥 关键调用：发送 TCP 指令
-      debugPrint('{_coolDownDuration.inSeconds}秒');
      _repository.respondPermission(agreed, deviceId);
    } catch (e) {
      debugPrint(' ❌ TCP权限响应指令发送失败: $e');
      debugPrint(' ❌ 错误类型: ${e.runtimeType}');
      _logger.logWithLevel(' TCP权限响应指令发送失败 $e', shouldLog: true);
-      // 即使发送失败，也要更新状态
      rethrow;
    }

@@ -577,9 +706,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
        state.copyWith(hasPermission: true, showPermissionRequestDialog: false),
      );
    }
-    debugPrint(
-      '${_getTimePrefix()} ====权限弹窗响应结束=====',
-    );
+    debugPrint('${_getTimePrefix()} ====权限弹窗响应结束=====');
  }

  Future<void> requestControlPermissionS(
@@ -625,12 +752,13 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
        final failLogPrefix =
            '${_getTimePrefix()} 🔑 [RemoteControl] [请求权限接口-$source]';
        debugPrint('$failLogPrefix APP请求控制权限失败: ${failure.message}');
-        debugPrint('$failLogPrefix 重新打开权限请求弹窗');
        _logger.logWithLevel(
          '$failLogPrefix APP请求控制权限失败: ${failure.message}',
          shouldLog: true,
        );
-        emit(state.copyWith(showPermissionRequestDialog: true));
+        // 🔥 修复：HTTP请求失败时不要自动打开弹窗，避免形成循环
+        // emit(state.copyWith(showPermissionRequestDialog: true));
+        debugPrint('$failLogPrefix HTTP请求失败，不自动打开弹窗');
      },
      (permissionInfo) async {
        final bool hasPermission =
@@ -689,7 +817,11 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
    );
  }

-  /// 🔥 权限弹窗确认后调用- 发送TCP响应 + HTTP确认最终权限状态
+  /// 🔥 重置弹窗状态 - 在弹窗关闭后调用（已简化，不再需要标志位）
+  void resetPermissionCoolDown() {
+    // 标志位已移除，此方法保留以保持向后兼容性
+  }
+
  Future<void> confirmPermissionResponse(
    String deviceName,
    String platform,
@@ -702,6 +834,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
    debugPrint('$logPrefix 用户操作: ${agreed ? "同意" : "拒绝"}');
    debugPrint('$logPrefix deviceName: $deviceName');
    debugPrint('$logPrefix platform: $platform');
+
    respondPermission(agreed, deviceName);

    // 2. 调用 HTTP 接口获取最终权限状态
@@ -734,7 +867,7 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
          '$successLogPrefix 🔄 正在更新UI - hasPermission: ${state.hasPermission} -> $hasPermission',
        );
        // 🔥 直接用HTTP 返回的权限状态覆盖
-        emit(state.copyWith(hasPermission: hasPermission));
+      //  emit(state.copyWith(hasPermission: hasPermission));
        debugPrint(
          '$successLogPrefix 📊 UI已同步完成- 当前 hasPermission=$hasPermission',
        );
--- a/lib/features/remote_control/presentation/bloc/remote_control_state.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_state.dart
@@ -14,8 +14,8 @@ class RemoteControlState extends Equatable {
  final bool isEmergency;
  final bool isLocked;
  final int ping;
-  final int battery;//电池量
-  final int voltage;//电压
+  final int battery; //电池量
+  final int voltage; //电压
  final String permissionPlatform;
  final String currentPlatform;
  final bool showPermissionRequestDialog;
@@ -28,8 +28,11 @@ class RemoteControlState extends Equatable {
  final bool obstacleRecognitionFlag; // 障碍物识别标志位（这是UI显示的）

  final String obstacleFlag; //障碍物标志位
-  final DeviceEntity? targetDevice; // 🔥 待控制的设备
  final RunningStatusModel runningStatusModel;
+  final DeviceEntity? targetDevice;
+
+  // 🔥 状态更新类型标记 - 用于区分是设备状态更新还是弹窗状态更新
+  final String? updateType;

  const RemoteControlState({
    this.status = RemoteControlStatus.initial,
@@ -53,6 +56,7 @@ class RemoteControlState extends Equatable {
    this.topRightIsExpanded = false,
    this.obstacleRecognitionFlag = true,
    this.targetDevice,
+    this.updateType,
  });

  // 便利 UI 更新部分属性
@@ -78,7 +82,7 @@ class RemoteControlState extends Equatable {
    bool? topRightIsExpanded,
    bool? obstacleRecognitionFlag,
    DeviceEntity? targetDevice,
-
+    String? updateType,
  }) {
    return RemoteControlState(
      status: status ?? this.status,
@@ -101,9 +105,10 @@ class RemoteControlState extends Equatable {
      runningStatusModel: runningStatusModel ?? this.runningStatusModel,
      obstacleFlag: obstacleFlag ?? this.obstacleFlag,
      topRightIsExpanded: topRightIsExpanded ?? this.topRightIsExpanded,
-      obstacleRecognitionFlag: obstacleRecognitionFlag ?? this.obstacleRecognitionFlag,
+      obstacleRecognitionFlag:
+          obstacleRecognitionFlag ?? this.obstacleRecognitionFlag,
      targetDevice: targetDevice ?? this.targetDevice,
-
+      updateType: updateType, // 不使用 ??，因为我们想要 null 的时候就是 null
    );
  }

@@ -130,8 +135,6 @@ class RemoteControlState extends Equatable {
    topRightIsExpanded,
    obstacleRecognitionFlag,
    targetDevice,
+    updateType,
  ];
-
-
-
 }
--- a/lib/features/remote_control/presentation/pages/remote_control_page.dart
+++ b/lib/features/remote_control/presentation/pages/remote_control_page.dart
@@ -33,6 +33,7 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
  DevicesCubit? _devicesCubit;
  StreamSubscription? _permissionSubscription; // 🔥 权限监听订阅
  bool _isShowingPermissionDialog = false; // 🔥 防止弹窗重复显示
+  bool? _lastPermissionDialogState; // 🔥 记录上次弹窗状态，检测状态变化
  bool _isLoadingPermission = true; // 🔥 标记是否正在加载权限状态

  @override
@@ -44,10 +45,28 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
    // 🔥 监听权限弹窗状态变化 (只订阅一次)
    if (_permissionSubscription == null) {
      _permissionSubscription = _cubit.stream.listen((state) {
-        // 🔥 加强防重复逻辑：只在状态真正变化且不在显示弹窗时才显示
-        if (mounted &&
+        // 🔥 关键修复：只有当状态更新类型是弹窗更新时才处理弹窗逻辑
+        // 设备状态更新（500ms）不会触发弹窗显示
+        if (state.updateType != 'permission_dialog') {
+          // 如果是设备状态更新，只重置状态记录，不显示弹窗
+          if (!state.showPermissionRequestDialog) {
+            _lastPermissionDialogState = false;
+          }
+          return; // 跳过设备状态更新
+        }
+
+        // 🔥 只有当状态从 false 变为 true 时才显示弹窗
+        // 使用三个条件确保不会重复显示
+        final wasFalseBefore =
+            _lastPermissionDialogState == null ||
+            _lastPermissionDialogState == false;
+        final shouldShow =
            state.showPermissionRequestDialog &&
-            !_isShowingPermissionDialog) {
+            !_isShowingPermissionDialog &&
+            wasFalseBefore;
+
+        if (mounted && shouldShow) {
+          _lastPermissionDialogState = true; // 记录当前状态
          _isShowingPermissionDialog = true;
          debugPrint('🔔 [权限弹窗] 检测到 showPermissionRequestDialog=true，准备显示弹窗');
          // 使用微任务确保标志位已设置
@@ -55,10 +74,17 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
            _showPermissionDialog(state).then((_) {
              debugPrint('🔔 [权限弹窗] 弹窗已关闭，重置标志位');
              _isShowingPermissionDialog = false; // 弹窗关闭后重置标志
+              _lastPermissionDialogState = false; // 重置状态记录
            });
          });
+        } else if (!state.showPermissionRequestDialog) {
+          // 状态变为 false 时，重置记录
+          _lastPermissionDialogState = false;
        }
      });
+    } else {
+      // 🔥 如果已经订阅，重置状态记录，确保下次能正确检测状态变化
+      _lastPermissionDialogState = _cubit.state.showPermissionRequestDialog;
    }
  }

@@ -385,8 +411,18 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
                );
              }

-              // 🔥 关闭弹窗（在 TCP 发送完成后）
+              // 🔥 关键修复：先重置弹窗标志位，再关闭弹窗
+              // 避免 Navigator.pop() 后上下文失效导致后续代码不执行
+              context.read<RemoteControlCubit>().resetPermissionCoolDown();
+              context.read<RemoteControlCubit>().emit(
+                context.read<RemoteControlCubit>().state.copyWith(
+                  showPermissionRequestDialog: false,
+                ),
+              );
+
+              // 🔥 关闭弹窗（在状态重置之后）
              Navigator.pop(dialogContext);
+              debugPrint('🔔 [权限弹窗] 弹窗已关闭，重置标志位');
            },
            child: Text(
              AppLocalizations.of(
@@ -434,9 +470,7 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
              debugPrint('🔑 [权限弹窗] 用户同意,调用 confirmPermissionResponse');
              final targetDevice = remoteCubit.state.targetDevice;
              if (targetDevice != null) {
-                debugPrint(
-                  '✅ [权限弹窗] targetDevice 不为空',
-                );
+                debugPrint('✅ [权限弹窗] targetDevice 不为空');
                await remoteCubit.confirmPermissionResponse(
                  targetDevice.deviceName,
                  'app',
@@ -449,8 +483,18 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
                );
              }

-              // 🔥 关闭弹窗（在 TCP 发送完成后）
+              // 🔥 关键修复：先重置弹窗标志位，再关闭弹窗
+              // 避免 Navigator.pop() 后上下文失效导致后续代码不执行
+              context.read<RemoteControlCubit>().resetPermissionCoolDown();
+              context.read<RemoteControlCubit>().emit(
+                context.read<RemoteControlCubit>().state.copyWith(
+                  showPermissionRequestDialog: false,
+                ),
+              );
+
+              // 🔥 关闭弹窗（在状态重置之后）
              Navigator.pop(dialogContext);
+              debugPrint('🔔 [权限弹窗] 弹窗已关闭，重置标志位');
            },
            child: Text(
              AppLocalizations.of(