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解决了渲染TCP推送数据，在切换功能后不稳定问题，保证了APP端的稳定性。

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This commit is contained in:
Songzex
2026-04-22 15:16:30 +08:00
parent 0402d2f3f5
commit e8a23559d4
9 changed files with 179 additions and 85 deletions
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16
lib/core/di/injection.dart
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@@ -185,13 +185,15 @@ Future<void> init() async {
sl.registerLazySingleton(() => AppUserCubit()); // AuthCubit 依赖它，必须先注册
sl.registerLazySingleton(() => GetDeviceLocationUseCase(sl()));
sl.registerLazySingleton(() => DevicesCubit(sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(),sl(),sl(),sl()));
sl.registerFactory(() => RemoteControlCubit(sl(),sl(),sl()));
/* // 工厂模式（留存，每次获取新实例）r
sl.registerFactory(() => DeviceStatusBloc(sl<NetMessageDispatcher>()));
*/
//单例模式（全局共享一个实例）
sl.registerLazySingleton(() => DeviceStatusBloc(sl<NetMessageDispatcher>()));
// 🔥 DeviceStatusBloc 必须在 RemoteControlCubit 之前注册（单例）
sl.registerLazySingleton(() => DeviceStatusBloc(
sl<NetMessageDispatcher>(),
client: sl<TcpClient>(), // 🔥 传入 TcpClient
));
// 🔥 RemoteControlCubit 注入 DeviceStatusBloc（工厂模式，每次新建）
sl.registerFactory(() => RemoteControlCubit(sl(), sl(), sl(), sl()));
/// . 路径生成
sl.registerLazySingleton<PathHttpDatasource>(

21
lib/core/network/net_message_dispatcher.dart
View File

@@ -88,6 +88,27 @@ class NetMessageDispatcher {
}
});
}
//机器状态页面专用
Stream<String> onStringMessageOfdeviceStatus() {
//print("0x02--TCP拦截推送解析开始");
_logger.log('0x02--TCP拦截推送解析开始');
// 🔥 关键修复:使用asBroadcastStream()确保多个监听者都能收到数据
return onCommand(0x02).map((p) {
try {
// 尝试解码
final result = utf8.decode(p.payload, allowMalformed: true); // 允许乱码，防止报错中断流
//print('✅ 解码 0x02 成功：$result'); // 🔥 关键日志：看这里打印了吗？
_logger.log('✅ 解码 0x02 成功：$result');
return result;
} catch (e) {
// print('❌ 解码 0x02 失败：$e, 原始字节：${p.payload}');
_logger.log('❌ 解码 0x02 失败：$e, 原始字节：${p.payload}');
return ''; // 返回空字符串，避免流中断
}
}).asBroadcastStream();
/* ///return onCommand(0x02).map((p) => utf8.decode(p.payload));*/
}
//监听路径规划的开始作业的指令的应答

46
lib/features/devices/presentation/bloc/device_status_bloc.dart
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@@ -9,17 +9,21 @@ import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
import '../../../../core/logging/i_logger_service.dart';
import '../../../../core/network/net_message_dispatcher.dart';
import '../../../../core/network/tcp/tcp_client.dart';
import 'device_status_event.dart';
import 'device_status_state.dart';
class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
final NetMessageDispatcher _dispatcher;
final TcpClient tcpClient; // 🔥 新增:直接访问 TcpClient
final ILoggerService _logger = GetIt.I<ILoggerService>();
// 🔥 保存订阅引用,用于管理生命周期
StreamSubscription? _tcpSubscription;
DeviceStatusBloc(this._dispatcher) : super(DeviceStatusInitial()) {
DeviceStatusBloc(this._dispatcher, {TcpClient? client})
: tcpClient = client ?? GetIt.I<TcpClient>(),
super(DeviceStatusInitial()) {
// 🔥 核心改动:直接在构造函数中建立TCP监听,类似RemoteControlCubit
_initDirectTcpListener();
@@ -29,7 +33,10 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
on<PushMessageReceived>(_handlePushMessageReceived);
}
// 🔥 新增:重新初始化TCP监听器(用于页面重新进入时调用)
// 🔥 已废弃:重新初始化TCP监听器会导致数据流中断
// DeviceStatusBloc是单例,TCP监听器在构造函数中建立后应始终保持活跃
// 任何页面只需通过 BlocBuilder 或 stream 订阅状态即可
/*
void reinitializeListener() {
debugPrint('🔄 [DeviceStatusBloc] 重新初始化TCP监听器 - isClosed=$isClosed');
_logger.log('🔄 [DeviceStatusBloc] 重新初始化TCP监听器 - isClosed=$isClosed');
@@ -40,11 +47,11 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
return;
}
// 取消旧的订阅
// ❌ 取消旧的订阅会导致数据流中断!
debugPrint('📝 [DeviceStatusBloc] 取消旧订阅');
_tcpSubscription?.cancel();
// 重置状态为初始状态
// ❌ 重置状态会清空UI显示的数据!
debugPrint('📝 [DeviceStatusBloc] emit Initial状态');
emit(DeviceStatusInitial());
@@ -52,16 +59,31 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
debugPrint('📝 [DeviceStatusBloc] 调用 _initDirectTcpListener');
_initDirectTcpListener();
}
*/
// 🔥 新增:直接监听TCP 0x02指令,实时解析并emit状态
void _initDirectTcpListener() {
debugPrint('🔗 [DeviceStatusBloc] 初始化直接TCP监听器(类似RemoteControlCubit)');
debugPrint('🔗 [DeviceStatusBloc] 初始化直接TCP监听器 - 使用 tcpClient.packetStream');
_logger.log('🔗 [DeviceStatusBloc] 初始化直接TCP监听器');
_tcpSubscription = _dispatcher.onStringMessage().listen(
(message) {
// 🔥 关键修复:直接监听 tcpClient.packetStream,不经过 dispatcher 的 filtered stream
// 这样即使没有其他监听者,TCP流也不会暂停
_tcpSubscription = tcpClient.packetStream
.where((p) => p.command == 0x02)
.map((p) {
try {
final result = utf8.decode(p.payload, allowMalformed: true);
debugPrint('✅ [DeviceStatusBloc] 收到0x02数据: $result');
return result;
} catch (e) {
debugPrint('❌ [DeviceStatusBloc] 解码失败: $e');
return '';
}
})
.listen(
(message) {
//debugPrint('📩 [DeviceStatusBloc] 直接收到0x02数据,长度:${message.length}');
if (message.isEmpty) {
//debugPrint('⚠️ [DeviceStatusBloc] 消息为空,跳过');
return;
@@ -115,6 +137,7 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
obstacleFlag: status.obstacleFlag,
);
final newGps = GPSEntity(status.latitude, status.longitude);
debugPrint('📤 [DeviceStatusBloc] emit DeviceStatusUpdated - 电压:${status.voltage}, 电量:${status.battery}, 模式:${status.controlMode}');
emit(DeviceStatusUpdated(newStatus, newGps));
}
} catch (e, stack) {
@@ -135,11 +158,12 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
// 🔥 重置时仅清空状态
Future<void> _handleReset(DeviceStatusReset event, Emitter<DeviceStatusState> emit) async {
debugPrint('🔄 [DeviceStatusBloc] 收到重置事件：清空状态');
_logger.log('🔄 [DeviceStatusBloc] 收到重置事件：清空状态');
debugPrint('🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}');
_logger.log('🔄 [DeviceStatusBloc] 收到重置事件：清空状态 - 当前状态:${state.runtimeType}');
// 只 emit 初始状态，让 UI 清除旧设备的数据
emit(DeviceStatusInitial());
debugPrint('⚠️ [DeviceStatusBloc] 已emit DeviceStatusInitial');
}
Future<void> _handleDeviceStatusLoaded(
@@ -189,7 +213,7 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
Future<void> close() {
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();
//_tcpSubscription?.cancel();
// 🔥 关键修复:不调用 super.close(),保持 BLoC 活跃
return Future.value();
}

2
lib/features/devices/presentation/bloc/device_status_cubit.dart
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@@ -25,7 +25,7 @@ class DeviceStatusCubit extends Cubit<DeviceStatusState> {
_stringMessageSub?.cancel();
_stringMessageSub = _dispatcher.onStringMessage().listen((message) {
_stringMessageSub = _dispatcher.onStringMessageOfdeviceStatus().listen((message) {
if (message.isEmpty) {
return;
}

12
lib/features/home/presentation/pages/running_status_page.dart
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@@ -15,7 +15,8 @@ import '../../../../core/di/injection.dart';
import '../../../../core/network/net_message_dispatcher.dart';
import '../../../../core/network/protocol_decoder.dart';
import '../../../devices/presentation/bloc/devices_cubit.dart';
import '../../../devices/presentation/bloc/device_status_cubit.dart';
import '../../../devices/presentation/bloc/device_status_bloc.dart';
import '../../../devices/presentation/bloc/device_status_event.dart';
import '../../../devices/presentation/bloc/device_status_state.dart';
// 配置：数据超时时间（5秒）
@@ -64,8 +65,9 @@ class _RunningStatusPageState extends State<RunningStatusPage> with WidgetsBindi
// 🔥 注册静态实例
_instance = this;
debugPrint('🚀 [RunningStatusPage] initState 被调用');
// 🔥 简化:直接重置状态,不需要重新初始化监听器
context.read<DeviceStatusCubit>().reset();
// 🔥 使用 DeviceStatusBloc
// context.read<DeviceStatusBloc>().add(DeviceStatusReset());
// 🔥 关键:立即启动超时计时器,如果5秒内没收到数据就显示"暂无数据"
_startDataTimeoutTimer();
@@ -841,7 +843,7 @@ class _RunningStatusPageState extends State<RunningStatusPage> with WidgetsBindi
body: CustomScrollView(
physics: const BouncingScrollPhysics(),
slivers: [
BlocBuilder<DeviceStatusCubit, DeviceStatusState>(
BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
builder: (context, state) {
// 新增：超时状态下显示--
String qual = _isDataTimeout ? '--' : '--';
@@ -949,7 +951,7 @@ class _RunningStatusPageState extends State<RunningStatusPage> with WidgetsBindi
),
SliverToBoxAdapter(
child: BlocBuilder<DeviceStatusCubit, DeviceStatusState>(
child: BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
builder: (context, state) {
debugPrint('🎨 [UI-Build] BlocBuilder 重建！当前状态类型：${state.runtimeType}');

7
lib/features/home/presentation/routes/home_routes.dart
View File

@@ -7,7 +7,7 @@ import 'package:maibu_satabot_v2/features/home/presentation/pages/productDesc.da
import '../../../../core/di/injection.dart';
import '../../../../core/router/route_paths.dart';
import '../../../devices/presentation/bloc/device_status_cubit.dart';
import '../../../devices/presentation/bloc/device_status_bloc.dart';
import '../../../remote_control/presentation/bloc/remote_control_cubit.dart';
import '../../../remote_control/presentation/pages/remote_control_page.dart';
import '../pages/route_plan_page.dart';
@@ -31,9 +31,8 @@ class HomeRoutes {
GoRoute(path: RoutePaths.usage, builder: (context, state) => const ManualPage()),
GoRoute(
path: RoutePaths.runningStatus,
// builder: (context, state) => const RunningStatusPage(),
builder: (context, state) => BlocProvider(
create: (_) => DeviceStatusCubit(sl()), // 使用简化版 Cubit
builder: (context, state) => BlocProvider.value(
value: sl<DeviceStatusBloc>(), // 使用全局单例 DeviceStatusBloc，确保数据流不中断
child: const RunningStatusPage(),
),
),

73
lib/features/machine_details/presentation/pages/machine_details_page.dart
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@@ -7,6 +7,8 @@ import 'package:maibu_satabot_v2/core/router/route_paths.dart';
import 'package:maibu_satabot_v2/features/devices/domain/entities/device_entity.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_cubit.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_state.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_bloc.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_state.dart';
class MachineDetailsPage extends StatefulWidget {
final DeviceEntity? device;
@@ -26,6 +28,10 @@ class _MachineDetailsPageState extends State<MachineDetailsPage> {
BuildContext? _loadingDialogContext; // 解绑加载弹窗
BuildContext? _updateLoadingContext; // 修改名称加载弹窗
bool _isUpdatingName = false;
// 🔥 保存 stream 引用,避免每次 rebuild 都重新获取
late Stream<DeviceStatusState> _deviceStatusStream;
late DeviceStatusState _initialState;
@override
void initState() {
@@ -33,6 +39,12 @@ class _MachineDetailsPageState extends State<MachineDetailsPage> {
_deviceName = (widget.device?.deviceAlias?.trim().isEmpty ?? true) ? '未知设备' : widget.device!.deviceAlias!;
_deviceId = widget.device?.deviceName ?? '';
_nameController = TextEditingController(text: _deviceName);
// 🔥 在 initState 中保存 stream 和 initial state
final bloc = context.read<DeviceStatusBloc>();
_deviceStatusStream = bloc.stream;
_initialState = bloc.state;
debugPrint('📦 [MachineDetails] initState - 初始状态: ${_initialState.runtimeType}');
}
@override
@@ -188,6 +200,9 @@ class _MachineDetailsPageState extends State<MachineDetailsPage> {
children: [
_buildDeviceStatusCard(currentDevice),
const SizedBox(height: 16),
// 🔥 新增:实时状态卡片
_buildRealTimeStatusCard(),
const SizedBox(height: 16),
_buildBasicInfoCard(context, currentDevice),
const SizedBox(height: 16),
_buildResourceCenterCard(),
@@ -200,6 +215,64 @@ class _MachineDetailsPageState extends State<MachineDetailsPage> {
);
}
/// 🔥 新增:实时状态卡片(显示控制模式、电压、电量)
Widget _buildRealTimeStatusCard() {
return StreamBuilder<DeviceStatusState>(
stream: _deviceStatusStream,
initialData: _initialState,
builder: (context, snapshot) {
final blocState = snapshot.data;
debugPrint('🔍 [MachineDetails] StreamBuilder 收到状态: ${blocState?.runtimeType}');
String controlMode = '未知';
String voltage = '--';
String battery = '--';
if (blocState is DeviceStatusUpdated) {
debugPrint('✅ [MachineDetails] 有实时数据 - 电压:${blocState.status.voltage}, 电量:${blocState.status.battery}');
controlMode = blocState.status.controlMode == '3' ? '远程模式' : '本地模式';
voltage = '${blocState.status.voltage}V';
battery = '${blocState.status.battery}%';
} else {
debugPrint('⚠️ [MachineDetails] 没有实时数据,状态类型: ${blocState?.runtimeType}');
}
return Container(
padding: const EdgeInsets.all(16),
decoration: BoxDecoration(
color: Colors.white,
borderRadius: BorderRadius.circular(12),
boxShadow: [BoxShadow(color: Colors.grey.withOpacity(0.1), blurRadius: 8, offset: const Offset(0, 2))],
),
child: Column(
crossAxisAlignment: CrossAxisAlignment.start,
children: [
const Padding(
padding: EdgeInsets.only(bottom: 12),
child: Text('实时状态', style: TextStyle(fontSize: 14, color: Color(0xFF999999))),
),
_buildStatusRow('控制模式', controlMode),
const Divider(height: 24, color: Color(0xFFF0F0F0)),
_buildStatusRow('电池电压', voltage),
const Divider(height: 24, color: Color(0xFFF0F0F0)),
_buildStatusRow('剩余电量', battery),
],
),
);
},
);
}
Widget _buildStatusRow(String label, String value) {
return Row(
mainAxisAlignment: MainAxisAlignment.spaceBetween,
children: [
Text(label, style: const TextStyle(fontSize: 16, color: Color(0xFF333333))),
Text(value, style: const TextStyle(fontSize: 16, fontWeight: FontWeight.w600, color: Color(0xFF007AFF))),
],
);
}
/// 设备状态卡片（保持不变）
Widget _buildDeviceStatusCard(DeviceEntity device) {
return Container(

2
lib/features/remote_control/data/datasources/remote_http_datasource.dart
View File

@@ -94,7 +94,7 @@ class RemoteHttpDatasource {
'Authorization': 'Bearer ${token}',
},
),
data: {'platform': "app"});
data: {'platform': "app",'type':2});
try {
final responseData = response.data as Map<String, dynamic>;
//debugPrint("📊 [HTTP 响应] 完整数据：$responseData");

85
lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
View File

@@ -7,6 +7,8 @@ import 'package:flutter/cupertino.dart';
import 'package:flutter/services.dart';
import 'package:flutter_bloc/flutter_bloc.dart';
import 'package:get_it/get_it.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_bloc.dart';
import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_state.dart';
import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
@@ -23,7 +25,8 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
Timer? _timer;
StreamSubscription? _kickOutSub; // 新增：用于管理监听生命周期
final NetMessageDispatcher dispatcher;
StreamSubscription? _stringMessageSub; //
final DeviceStatusBloc deviceStatusBloc; // 🔥 注入 DeviceStatusBloc
StreamSubscription? _deviceStatusSub; // 🔥 订阅 DeviceStatusBloc 的状态流
static const platform = MethodChannel('com.maibu.satabot/ping');
int _currentPing = 50;
final ILoggerService _logger = GetIt.I<ILoggerService>();
@@ -34,77 +37,48 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
RemoteControlCubit(this._repository, this._requestControlPermissionUseCase, this.dispatcher)
: super(
RemoteControlCubit(
this._repository,
this._requestControlPermissionUseCase,
this.dispatcher,
this.deviceStatusBloc, // 🔥 注入
) : super(
RemoteControlState(
controlEntity: MachineControlStatusEntity(),
runningStatusModel: RunningStatusModel(),
),
) {
_initPacketListener();
_initStringMessageListener(); // 🔥 新增
_initDeviceStatusListener(); // 🔥 改为订阅 DeviceStatusBloc
}
void _initStringMessageListener() {
//print('>>> [RemoteControl] begin 初始化 0x02 字符串监听器');
_logger.logWithLevel('>>> [RemoteControl] begin 初始化 0x02 字符串监听器');
_stringMessageSub?.cancel();
// 🔥 新增:订阅 DeviceStatusBloc 的状态流,而不是直接监听 TCP
void _initDeviceStatusListener() {
_logger.logWithLevel('>>> [RemoteControl] begin 订阅 DeviceStatusBloc 状态流');
_deviceStatusSub?.cancel();
_stringMessageSub = dispatcher.onStringMessage().listen((message) async {
// print('>>> [RemoteControl] 收到 0x02 字符串推送：$message');
_logger.logWithLevel('>>> [RemoteControl] 收到 0x02 字符串推送：$message');
_deviceStatusSub = deviceStatusBloc.stream.listen((deviceState) async {
if (deviceState is DeviceStatusUpdated) {
final voltage = deviceState.status.voltage;
final battery = deviceState.status.battery;
final controlMode = deviceState.status.controlMode == '3' ? '远程模式' : '本地模式';
if (message.isEmpty) {
//print('⚠️ [RemoteControl] 消息为空，跳过解析');
_logger.logWithLevel('⚠️ [RemoteControl] 消息为为空，跳过解析');
return;
}
try {
// 🔥 关键：使用与 DeviceStatusBloc 相同的解析方法
// print('>>> [RemoteControl] 🔍 开始解析数据（使用 fromFields）...');
_logger.logWithLevel('>>> [RemoteControl] 🔍 开始解析数据（使用 fromFields）...');
final fields = message.trim().split(',');
//print('>>> [RemoteControl] 字段数量：${fields.length}');
_logger.logWithLevel('>>> [RemoteControl] 字段数量：${fields.length}');
if (fields.length < 18) {
//print('⚠️ [RemoteControl] 字段不足：${fields.length}，期望 ≥18');
_logger.logWithLevel('⚠️ [RemoteControl] 字段不足：${fields.length}，期望 ≥18');
return;
}
// 🔥 使用 RunningStatusEntity.fromFields() 解析
final status = RunningStatusEntity.fromFields(fields);
// 🔥 只提取电压、电量、控制模式
final voltage = status.voltage;
final battery = status.battery;
final controlMode = status.controlMode == '3' ? '远程模式' : '本地模式';
final c = getNetworkDelay(); //
final c = getNetworkDelay();
emit(state.copyWith(
runningStatusModel: state.runningStatusModel.copyWith(
voltage: voltage.toString(), // 更新电压
battery: battery.toString(), // 更新电量
controlMode: controlMode, // 更新控制模式
voltage: voltage.toString(),
battery: battery.toString(),
controlMode: controlMode,
),
battery: int.tryParse(battery) ?? 0,
ping: await c, // 这里直接使用异步返回的数值
ping: await c,
));
} catch (e, stackTrace) {
// print('>>> [RemoteControl] ❌ 解析失败：$e');
_logger.logWithLevel('>>> [RemoteControl] ❌ 解析失败：$e');
// print('>>> [RemoteControl] ❌ 堆栈跟踪：$stackTrace');
// print('>>> [RemoteControl] ❌ 原始消息：$message');
_logger.logWithLevel('✅ [RemoteControl] 从 DeviceStatusBloc 收到更新: 电压=$voltage, 电量=$battery, 模式=$controlMode');
}
});
//print('>>> [RemoteControl] ✅ 0x02 字符串监听器已建立完成');
_logger.logWithLevel('>>> [RemoteControl] ✅ 0x02 字符串监听器已建立完成');
_logger.logWithLevel('>>> [RemoteControl] ✅ DeviceStatusBloc 订阅已建立完成');
}
@@ -426,9 +400,8 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
@override
Future<void> close() {
_timer?.cancel(); // 退出页面时务必销毁定时器
_kickOutSub?.cancel();
_stringMessageSub?.cancel();
_timer?.cancel();
_deviceStatusSub?.cancel(); // 🔥 取消订阅 DeviceStatusBloc
return super.close();
}