import 'dart:async';
import 'dart:convert';
import 'dart:io';
import 'dart:math';

import 'package:dart_ping/dart_ping.dart';
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/domain/entities/device_entity.dart';
import 'package:maibu_satabot_v2/features/devices/domain/repositories/device_repository.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/domain/usecase/request_control_permission_usecase.dart';
import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';

import '../../../../core/logging/i_logger_service.dart';
import '../../../../core/network/net_message_dispatcher.dart';
import '../../../devices/domain/entities/running_status_entity.dart';
import '../../domain/entities/machine_control_status_entity.dart';
import '../../domain/repositories/remote_control_repository.dart';
import '../../domain/usecase/remote_control_usecase.dart';

class RemoteControlCubit extends Cubit<RemoteControlState> {
  final RemoteControlRepository _repository;
  final RequestControlPermissionUseCase _requestControlPermissionUseCase;
  final DeviceRepository _deviceRepository; // 🔥 注入设备仓库
  Timer? _timer;
  StreamSubscription? _kickOutSub; // 新增：用于管理监听生命周期
  final NetMessageDispatcher dispatcher;
  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>();

  // 🔥 参考Android版：使用成员变量存储摇杆值，避免state竞态
  int _currentOriginX = 0;
  int _currentOriginY = 0;

  // 🔥 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();
    return '[${now.hour.toString().padLeft(2, '0')}:${now.minute.toString().padLeft(2, '0')}:${now.second.toString().padLeft(2, '0')}.${now.millisecond.toString().padLeft(3, '0')}]';
  }

  RemoteControlCubit(
    this._repository,
    this._requestControlPermissionUseCase,
    this._deviceRepository, // 🔥 注入
    this.dispatcher,
    this.deviceStatusBloc, // 🔥 注入
  ) : super(
        RemoteControlState(
          controlEntity: MachineControlStatusEntity(),
          runningStatusModel: RunningStatusModel(),
        ),
      ) {
    _initPacketListener();
    _initDeviceStatusListener(); // 🔥 改为订阅 DeviceStatusBloc
  }

  // 🔥 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() {
    _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();

        _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: _cacheVoltage,
              battery: _cacheBattery,
              controlMode: _cacheCtrlMode,
            ),
            battery: int.tryParse(_cacheBattery ?? '') ?? 0,
            ping: _cachePing,
            // 🔥 标记为设备状态更新
            updateType: 'device_status',
          ),
        );
      }
    });
  }

  // 🔥 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');
    if (!isClosed) {
      emit(
        state.copyWith(
          runningStatusModel: newStatus,
          voltage: int.tryParse(newStatus.voltage) ?? 0,
          battery: int.tryParse(newStatus.battery) ?? 0,
        ),
      );

      // debugPrint('✅ [更新运行状态] 电压：${newStatus.voltage}V, 电量：${newStatus.battery}%');
      // _logger.logWithLevel('✅ [更新运行状态] 电压：${newStatus.voltage}V, 电量：${newStatus.battery}%');
    }
  }

  // 🔥 辅助方法：更新运行状态
  // 1. 初始化回包监听 (如 0x12 权限)
  // void _initPacketListener() {
  //   _repository.responseStream.listen((packet) {
  //     if (packet.command == 0x12) {
  //       // 根据负载判断是否有权限，更新状态
  //       emit(state.copyWith(hasPermission: true));
  //     }
  //   });
  // }
  Future<void> _initPacketListener() async {
    final logPrefix = '${_getTimePrefix()} 🔍 [RemoteControl] [0x12监听器]';
    debugPrint('$logPrefix =========================================');
    debugPrint('$logPrefix 开始初始化 0x12 监听器');
    _logger.logWithLevel('$logPrefix 开始初始化 0x12 监听器', shouldLog: true);

    _kickOutSub?.cancel(); // 防止重复监听

    _kickOutSub = dispatcher.onCommand(0x12).listen((packet) {
      final timeNow = _getTimePrefix();
      debugPrint('$timeNow 🔍 [RemoteControl] [0x12监听器] ✅ 收到 0x12 原始包');
      /*      debugPrint(
        '$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;
        if (packet.payload.length > 2) {
          jsonString = utf8.decode(
            packet.payload.sublist(0, packet.payload.length - 2),
          );
        } else {
          jsonString = utf8.decode(packet.payload);
        }

        debugPrint('$timeNow 🔍 [RemoteControl] [0x12监听器] JSON内容: $jsonString');
        _logger.logWithLevel(
          '$timeNow 🔍 [RemoteControl] [0x12监听器] 去除CRC后的JSON: $jsonString',
          shouldLog: true,
        );

        final jsonMap = jsonDecode(jsonString);

        // 🔥 区分两种数据格式
        final requestType = jsonMap['request'];
        final platform = jsonMap['platform'];
        final respondData = jsonMap['respond'];

        debugPrint(
          '$timeNow 🔍 [RemoteControl] [0x12监听器] requestType: $requestType, platform: $platform, hasRespond: ${respondData != null}',
        );

        // 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] switchResult: $switchResult',
          );*/
          _logger.logWithLevel(
            '$timeNow 🔍 [RemoteControl] [0x12监听器] 📊 收到切换结果响应 - switchResult: $switchResult',
            shouldLog: true,
          );

          if (!isClosed) {
            if (switchResult == true) {
              // 切换成功，当前 APP 获得控制权
              debugPrint('$timeNow 🔍 [RemoteControl] [0x12监听器] ✅ APP获得控制权');
              debugPrint(
                '$timeNow 🔍 [RemoteControl] [0x12监听器] 设置 hasPermission = true',
              );
              emit(state.copyWith(hasPermission: true));
            } else {
              // 切换失败或拒绝，APP 失去控制权
              debugPrint('$timeNow 🔍 [RemoteControl] [0x12监听器] ❌ APP失去控制权');
              debugPrint(
                '$timeNow 🔍 [RemoteControl] [0x12监听器] 设置 hasPermission = false',
              );
              emit(
                state.copyWith(
                  hasPermission: false,
                  // 🔥 修复：不强制关闭弹窗，让弹窗由用户操作控制
                ),
              );
            }
          }
        }
        // 情况 2: 请求格式 - {"request":"switch_control","deviceId":"...","platform":"web",...}
        else if (requestType == 'switch_control') {
          final requestDeviceId = jsonMap['deviceId'];
          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: $platform');
          debugPrint('$webLogPrefix requestDeviceId: $requestDeviceId');
          _logger.logWithLevel(
            '$webLogPrefix 收到 switch_control 请求 - platform: $platform, deviceId: $requestDeviceId',
            shouldLog: true,
          );

          // 🔥 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') {
            // 🔥 验证设备ID是否与当前控制的 targetDevice 一致
            final currentDeviceId = state.targetDevice?.deviceName;
            debugPrint('$webLogPrefix 当前控制设备ID: $currentDeviceId');

            if (currentDeviceId != null && requestDeviceId == currentDeviceId) {
              debugPrint('$webLogPrefix 设备ID匹配');

              // 🔥 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',
                shouldLog: true,
              );
              if (!isClosed) {
                emit(
                  state.copyWith(
                    showPermissionRequestDialog: true,
                    requestingDeviceId: requestDeviceId?.toString(),
                    requestingPlatform: platform.toString(),
                    // 🔥 标记为弹窗状态更新
                    updateType: 'permission_dialog',
                  ),
                );
              }
            } else {
              debugPrint('$webLogPrefix ⚠️ 设备ID不匹配，忽略');
              debugPrint(
                '$webLogPrefix currentDeviceId: $currentDeviceId, requestDeviceId: $requestDeviceId',
              );
              _logger.logWithLevel(
                '$webLogPrefix ⚠️ 设备ID不匹配，忽略请求',
                shouldLog: true,
              );
            }
          } else {
            debugPrint('$webLogPrefix ℹ️ APP自己的请求回显或platform为空，忽略不弹窗');
            _logger.logWithLevel(
              '$webLogPrefix ℹ️ APP自己的请求回显，忽略',
              shouldLog: true,
            );
          }
          debugPrint('$webLogPrefix =========================================');
        }
        // 情况 3: 异地登录通知 - {"request":"have_logged_in",...}
        else if (requestType == 'have_logged_in') {
          debugPrint('${_getTimePrefix()} ⚠️ [RemoteControl] 检测到异地登录');
          _logger.logWithLevel(
            '${_getTimePrefix()} ⚠️ [RemoteControl] 检测到异地登录，打开弹窗提示',
            shouldLog: true,
          );
          // 🔥 只有当弹窗还没显示时才弹出
          if (!isClosed && !state.showPermissionRequestDialog) {
            emit(state.copyWith(showPermissionRequestDialog: true));
          }
        } else {
          debugPrint('${_getTimePrefix()} ℹ️ [RemoteControl] 未知类型的 0x12 包，忽略');
          _logger.logWithLevel(
            '${_getTimePrefix()} ℹ️ [RemoteControl] 未知类型的 0x12 包，忽略',
            shouldLog: true,
          );
        }
      } catch (e) {
        debugPrint('${_getTimePrefix()} ❌ [RemoteControl] 解析失败：$e');
        _logger.logWithLevel(
          '${_getTimePrefix()} ❌ [RemoteControl] 解析失败：$e',
          shouldLog: true,
        );
      }
    });
  }

  // 2. 开启 100ms 控制循环 (在进入遥控页面或点击“开始”时调用)
  /*  void startControlLoop() {
    _timer?.cancel();
    _timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
      // 🔥 关键修复：每次循环都重新读取最新的 state
      final currentEntity = state.controlEntity;
      
      // 🔥 安全检查：无权限或急停时不发送
      if (!state.hasPermission || state.isEmergency) {
        // debugPrint('⚠️ [定时器] 跳过发送 - hasPermission=${state.hasPermission}, isEmergency=${state.isEmergency}');
        return;
      }

      
      // debugPrint('⏰ [定时器] 发送控制指令 - originX=${currentEntity.originX}, originY=${currentEntity.originY}');
      // _logger.logWithLevel('真实的发送的实体 - originX: ${currentEntity.originX}, originY: ${currentEntity.originY}');
      _repository.sendControlMachineCmd(currentEntity);
    });
    emit(state.copyWith(status: RemoteControlStatus.controlling));
  }*/
  void startControlLoop() {
    _timer?.cancel();
    final logPrefix = '⏰ [RemoteControl] [控制循环]';
    //debugPrint('$logPrefix =========================================');
    //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');
        timer.cancel();
        return;
      }

      // 🔥 参考Android版：直接读取成员变量，避免state竞态
      final snapshot = MachineControlStatusEntity(
        originX: _currentOriginX,
        originY: _currentOriginY,
        chassisLift: state.controlEntity.chassisLift,
        mowerSpeed: state.controlEntity.mowerSpeed,
        ignitionStatus: state.controlEntity.ignitionStatus,
        isEmergency: state.isEmergency,
      );

      // 常规安全检查
      if (!state.hasPermission) {
        //  debugPrint('$logPrefix ⚠️ 无权限，跳过发送 - hasPermission=false');
        return;
      }

      if (state.isEmergency) {
        // debugPrint('$logPrefix 🚨 急停状态，跳过发送 - isEmergency=true');
        return;
      }

      // 发送控制指令
      //debugPrint(
      // '$logPrefix 📤 发送控制指令: originX=${snapshot.originX}, originY=${snapshot.originY}, mower=${snapshot.mowerSpeed}, lift=${snapshot.chassisLift}, ignition=${snapshot.ignitionStatus}, emergency=${snapshot.isEmergency}',
      // );
      _repository.sendControlMachineCmd(snapshot);
      //debugPrint('$logPrefix ✅ 控制指令已发送');
    });
  }

  //通过方法拿最新 state
  MachineControlStatusEntity _getCurrentControlEntity() {
    // 🔥 关键修复：必须copyWith创建新对象，避免引用竞态条件
    final entity = state.controlEntity;
    // _logger.logWithLevel(
    //   '真实的发送的实体 - originX: ${entity.originX}, originY: ${entity.originY}',
    // );
    return entity.copyWith(); // 返回副本，不是引用
  }

  // 3. 更新摇杆数据
  void updateJoystick(double x, double y) {
    final updatedEntity = state.controlEntity.copyWith(
      x: x.toInt(),
      y: y.toInt(),
    );
    emit(state.copyWith(controlEntity: updatedEntity));
  }

  // 4. 更新功能开关 (比如割刀速度、灯光、点火等)
  void updateFunction({int? mower, int? lift, int? ignition, bool? emergency}) {
    // debugPrint('🔧 [updateFunction] 调用 - mower: $mower, lift: $lift, ignition: $ignition, emergency: $emergency');
    // _logger.logWithLevel(
    //   '🔧 [updateFunction] 调用 - mower: $mower, lift: $lift, ignition: $ignition, emergency: $emergency',
    // );
    final updatedEntity = state.controlEntity.copyWith(
      mower: mower,
      lift: lift,
      ignition: ignition,
      emergency: emergency,
    );
    //emit(state.copyWith(controlEntity: updatedEntity));
    emit(
      state.copyWith(
        controlEntity: updatedEntity,
        isEmergency: emergency ?? state.isEmergency,
      ),
    );
    // debugPrint('>>> [updateFunction] 状态已更新到emit');
    // _logger.logWithLevel('>>> [updateFunction] 状态已更新到emit');
  }

  void updateOriginY(int y) {
    // debugPrint('📥 [updateOriginY] 被调用- y=$y');

    // 🔥 参考Android版：直接更新成员变量
    _currentOriginY = y;

    // 同时更新state（用于UI显示）
    final updatedEntity = state.controlEntity.copyWith(y: y);
    emit(state.copyWith(controlEntity: updatedEntity));
    // debugPrint('📝 [updateOriginY] state已更新- originY=$y');
  }

  void updateOriginX(int x) {
    // debugPrint('📥 [updateOriginX] 被调用- x=$x');

    // 🔥 参考Android版：直接更新成员变量
    _currentOriginX = x;

    // 同时更新state（用于UI显示）
    final updatedEntity = state.controlEntity.copyWith(x: x);
    emit(state.copyWith(controlEntity: updatedEntity));
    // debugPrint('📝 [updateOriginX] state已更新- originX=$x');
  }

  /// 🔥 安全方法：同时清零双轴，确保只发送一次完全停止指令
  Future<void> stopAllMovement() async {
    // debugPrint(
    //   '🛑 [stopAllMovement] 开始执行- 当前成员变量: originX=$_currentOriginX, originY=$_currentOriginY',
    // );

    // 🔥 参考Android版：直接清零成员变量
    _currentOriginX = 0;
    _currentOriginY = 0;

    // 🔥 关键修复：先暂停定时器，防止定时器在停止期间发送旧的运动指令
    _timer?.cancel();
    _timer = null; // 🔥 彻底清空，防止重复启用

    final updatedEntity = state.controlEntity.copyWith(x: 0, y: 0);

    // 一次性更新双轴（即使无权限也要更新本地state）
    emit(state.copyWith(controlEntity: updatedEntity));

    // 🔥 安全底线：停止指令必须无视权限强制发送！
    // debugPrint('🛑 [stopAllMovement] 双轴归零,发送停止指令- originX=0, originY=0');
    await _sendStopCommandRepeatedly(updatedEntity); // 等待所有指令发送完成

    // 🔥 恢复定时器
    await Future.delayed(const Duration(milliseconds: 200));
    startControlLoop();

    // debugPrint('>>> [stopAllMovement] 执行完成');
  }

  /// 🔥 统一方法：连续发送10次停止指令，彻底清空TCP缓冲区
  Future<void> _sendStopCommandRepeatedly(
    MachineControlStatusEntity stopEntity,
  ) async {
    // debugPrint(
    //   '🛑 [紧急停止] 开始连续发送10次停止指令- originX=${stopEntity.originX}, originY=${stopEntity.originY}',
    // );
    // 🔥 注意：_lastStopTime 已经在stopAllMovement() 中设置了，这里不需要再设置

    int sentCount = 0;
    // 🔥 关键修复：每次发送间隔5ms，避免TCP合并/丢弃
    for (int i = 0; i < 20; i++) {
      _repository.sendControlMachineCmd(stopEntity);
      sentCount++;
      if (i % 5 == 0) {
        // debugPrint('🛑 [紧急停止] 已发送第${i + 1}次');
      }
      if (i < 19) {
        await Future.delayed(const Duration(milliseconds: 5));
      }
    }

    // 🔥 延迟后再发10次（双重保险，对抗网络抖动）
    await Future.delayed(const Duration(milliseconds: 100));
    for (int i = 0; i < 10; i++) {
      _repository.sendControlMachineCmd(stopEntity);
      sentCount++;
      if (i < 9) {
        await Future.delayed(const Duration(milliseconds: 5));
      }
    }

    // debugPrint('>>> [紧急停止] 所有20次停止指令已发出');
  }

  // 5. 停止控制循环
  void stopControlLoop() {
    _timer?.cancel();
    _timer = null;
    emit(state.copyWith(status: RemoteControlStatus.initial));
  }

  void toggleLock() {
    emit(state.copyWith(isLocked: !state.isLocked));
  }

  void togglePermissionDialog(bool show) {
    emit(state.copyWith(showPermissionRequestDialog: show));
  }

  void requestControlPermission() {
    // 1. 关闭弹窗
    emit(state.copyWith(showPermissionRequestDialog: false));
  }

  void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
  void toggleRightPip() =>
      emit(state.copyWith(showRightPip: !state.showRightPip));

  @override
  Future<void> close() {
    _timer?.cancel();
    _deviceStatusSub?.cancel(); // 🔥 取消订阅 DeviceStatusBloc
    return super.close();
  }

  void updateChassisLift(int i) {}

  void updateEmergency(bool bool) {
    // debugPrint('🚨 [急停] ${bool ? "触发急停!" : "解除急停"}');
    updateFunction(emergency: bool);
  }

  void respondPermission(bool agreed, String deviceId) {
    // 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
    try {
      _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);
      rethrow;
    }

    // 3. 根据用户选择更新控制状态
    if (agreed) {
      emit(
        state.copyWith(
          hasPermission: false,
          showPermissionRequestDialog: false,
        ),
      );
    } else {
      // 用户拒绝 APP 继续保持控制权
      // 🔥 必须同时设置 showPermissionRequestDialog: false，防止状态回退
      emit(
        state.copyWith(hasPermission: true, showPermissionRequestDialog: false),
      );
    }
    debugPrint('${_getTimePrefix()} ====权限弹窗响应结束=====');
  }

  Future<void> requestControlPermissionS(
    String deviceName,
    String deviceId, {
    String source = '自动',
  }) async {
    final timePrefix = _getTimePrefix();
    final logPrefix = '$timePrefix 🔑 [RemoteControl] [请求权限接口-$source]';
    debugPrint('$logPrefix =========================================');
    debugPrint('$logPrefix 开始请求控制权');
    debugPrint('$logPrefix deviceName: $deviceName');
    debugPrint('$logPrefix platform: $deviceId');
    debugPrint(
      '$logPrefix 当前状态 hasPermission=${state.hasPermission}, showDialog=${state.showPermissionRequestDialog}',
    );
    _logger.logWithLevel(
      '$logPrefix 开始请求控制权- deviceName: $deviceName, platform: $deviceId',
      shouldLog: true,
    );

    // 1. 只有当弹窗不是因Web 端请求权限而显示时，才关闭弹窗
    //    避免 Web 端请求权限的弹窗被自动关闭（一闪而过的问题）
    if (state.requestingPlatform == null) {
      debugPrint('$logPrefix 关闭权限请求弹窗 (非Web端触发)');
      emit(state.copyWith(showPermissionRequestDialog: false));
    } else {
      debugPrint('$logPrefix 保留弹窗 (Web端请求触发)');
    }

    // 2. 调用 UseCase 获取 HTTP 返回的完整权限信息
    debugPrint('$logPrefix 调用 HTTP 接口查询权限状态..');
    final result = await _requestControlPermissionUseCase(
      RequestControlPermissionParams(
        deviceName: deviceName,
        deviceId: deviceId,
      ),
    );

    // 3. 处理结果
    result.fold(
      (failure) {
        final failLogPrefix =
            '${_getTimePrefix()} 🔑 [RemoteControl] [请求权限接口-$source]';
        debugPrint('$failLogPrefix APP请求控制权限失败: ${failure.message}');
        _logger.logWithLevel(
          '$failLogPrefix APP请求控制权限失败: ${failure.message}',
          shouldLog: true,
        );
        // 🔥 修复：HTTP请求失败时不要自动打开弹窗，避免形成循环
        // emit(state.copyWith(showPermissionRequestDialog: true));
        debugPrint('$failLogPrefix HTTP请求失败，不自动打开弹窗');
      },
      (permissionInfo) async {
        final bool hasPermission =
            permissionInfo['hasPermission'] as bool? ?? false;
        final String? owner = permissionInfo['owner'] as String?;
        final successLogPrefix =
            '${_getTimePrefix()} 🔑 [RemoteControl] [请求权限接口-$source]';

        debugPrint(
          '$successLogPrefix APP HTTP返回 - hasPermission=$hasPermission, owner=$owner',
        );
        _logger.logWithLevel(
          '$successLogPrefix APP HTTP返回 - hasPermission=$hasPermission, owner=$owner',
          shouldLog: true,
        );

        // 🔥 关键逻辑: 如果没有权限 或owner为null,则发送TCP 请求
        if (!hasPermission || owner == null) {
          debugPrint('$successLogPrefix ⚠️ APP无权限或owner为null,发送TCP请求...');
          _logger.logWithLevel(
            '$successLogPrefix ⚠️ APP无权限或owner为null,发送TCP请求',
            shouldLog: true,
          );

          // 🔥 发送TCP 0x12 权限请求指令
          _repository.sendTcpPermissionRequest(deviceName);

          // 等待 TCP 回包(通过监听器更新状态
          debugPrint('$successLogPrefix 📡 TCP请求已发送，等待回包确认');
        } else {
          debugPrint('$successLogPrefix APP已有权限,直接更新UI');
          _logger.logWithLevel(
            '$successLogPrefix APP已有权限,直接更新UI',
            shouldLog: true,
          );
          debugPrint(
            '$successLogPrefix 当前 hasPermission 状态: ${state.hasPermission}',
          );

          // 🔥 正确的状态更新：使用最新状态
          if (state.hasPermission != true) {
            debugPrint('$successLogPrefix 🔄 更新 hasPermission = true');
            emit(state.copyWith(hasPermission: true));
            debugPrint('$successLogPrefix ✅ hasPermission 状态已更新为 true');
          } else {
            debugPrint('$successLogPrefix ⚠️ hasPermission 已是 true，无需更新');
            // 强制触发UI刷新：通过临时改变其他属性
            emit(state.copyWith(ping: state.ping + 1));
            emit(state.copyWith(ping: state.ping));
          }
        }
      },
    );
    debugPrint(
      '${_getTimePrefix()} 🔑 [RemoteControl] [请求权限接口-$source] =========================================',
    );
  }

  /// 🔥 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,
    bool agreed,
  ) async {
    final timePrefix = _getTimePrefix();
    final logPrefix = '$timePrefix 🔑 [RemoteControl] [权限确认]';
    debugPrint('$logPrefix ========进入TCP发送=================================');
    debugPrint('$logPrefix ⚡️ confirmPermissionResponse 方法被调用');
    debugPrint('$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
    debugPrint('$logPrefix 📡 调用 HTTP 接口确认最终权限状态..');
    /* final result = await _requestControlPermissionUseCase(
      RequestControlPermissionParams(
        deviceName: deviceName,
        deviceId: platform,
      ),
    );*/

    // 3. 根据 HTTP 返回的真实权限状态更新UI
    /* result.fold(
      (failure) {
        final failLogPrefix = '${_getTimePrefix()} 🔑 [RemoteControl] [权限确认]';
        debugPrint('$failLogPrefix APP HTTP请求失败: ${failure.message}');
        debugPrint('$failLogPrefix ⚠️ 保持当前状态不变');
      },
      (permissionInfo) {
        final bool hasPermission =
            permissionInfo['hasPermission'] as bool? ?? false;
        final String? owner = permissionInfo['owner'] as String?;
        final successLogPrefix =
            '${_getTimePrefix()} 🔑 [RemoteControl] [权限确认]';

        debugPrint(
          '$successLogPrefix APP HTTP返回真实权限状态 hasPermission=$hasPermission, owner=$owner',
        );
        debugPrint(
          '$successLogPrefix 🔄 正在更新UI - hasPermission: ${state.hasPermission} -> $hasPermission',
        );
        // 🔥 直接用HTTP 返回的权限状态覆盖
      //  emit(state.copyWith(hasPermission: hasPermission));
        debugPrint(
          '$successLogPrefix 📊 UI已同步完成- 当前 hasPermission=$hasPermission',
        );
      },
    );*/
    debugPrint(
      '${_getTimePrefix()} 🔑 [RemoteControl] [权限确认] =========================================',
    );
  }

  /// 发送底盘指令
  void sendChassisCommand(int i) {
    // // debugPrint('>>> [底盘指令] ${i}');
    // _logger.logWithLevel('>>> [底盘指令] ${i}');
    updateFunction(lift: i);
  }

  /// 发送割刀指令
  void sendMowerCommand(int i) {
    // // debugPrint('>>> [割刀指令] ${i}');
    // _logger.logWithLevel('>>> [割刀指令] ${i}');
    updateFunction(mower: i);
  }

  /// 发送点火指令
  void sendFireCommand(int i) {
    //void updateFunction({int? mower, int? lift, int? ignition, bool? emergency})
    // updateFunction(mower:0, lift: 0, ignition: i, emergency: false);
    // debugPrint('>>> [点火指令] ${i}');
    // _logger.logWithLevel('>>> [点火指令] ${i}');
    updateFunction(ignition: i);
  }

  // 发送障碍物识别指令
  void toggleObstacleRecognition() {
    emit(
      state.copyWith(obstacleRecognitionFlag: !state.obstacleRecognitionFlag),
    );
  }

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

  Future<int> getNetworkDelay() async {
    try {
      // 直接 Ping 你的服务器IP
      final ping = Ping('1.95.137.212', count: 1, timeout: 1);

      // 等待一次结果
      final data = await ping.stream.first;

      if (data.response != null && data.response!.time != null) {
        // 返回和cmd 一样的毫秒值
        return data.response!.time!.inMilliseconds;
      } else {
        return 9999;
      }
    } catch (e) {
      return 9999;
    }
  }

  //app退出远程遥控界面释放权限
  Future<bool> releasePermission(String platform) async {
    return await _repository.releasePermission(platform);
  }

  /// 🔥 设置待控制的设备(从机器人列表点击进入时调用)
  void setTargetDevice(DeviceEntity device) {
    // debugPrint('🎯 [RemoteControl] 设置待控制设备 ${device.deviceName}');
    // _logger.logWithLevel('🎯 [RemoteControl] 设置待控制设备 ${device.deviceName}');

    // 🔥 通知后端订阅该设备
    _deviceRepository.switchDevice("app", device.deviceName).then((result) {
      result.fold(
        (failure) {
          // debugPrint('>>> [RemoteControl] 切换设备失败: ${failure.message}');
          // _logger.logWithLevel('>>> [RemoteControl] 切换设备失败: ${failure.message}');
        },
        (success) {
          // debugPrint('>>> [RemoteControl] 切换设备成功, code: $success');
          // _logger.logWithLevel('>>> [RemoteControl] 切换设备成功, code: $success');
        },
      );
    });

    emit(state.copyWith(targetDevice: device));
  }

  /// 🔥 清除待控制设备(退出远程控制页时调用)
  void clearTargetDevice() {
    // debugPrint('🧹 [RemoteControl] 清除待控制设备');
    // _logger.logWithLevel('🧹 [RemoteControl] 清除待控制设备');
    emit(state.copyWith(targetDevice: null));
  }
}