4470 lines
172 KiB
Dart
4470 lines
172 KiB
Dart
import 'dart:async';
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import 'dart:collection';
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import 'dart:convert';
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import 'dart:math';
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import 'dart:math' as math;
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import 'dart:typed_data';
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import 'package:flutter/material.dart';
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import 'package:flutter/rendering.dart';
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import 'package:flutter_bloc/flutter_bloc.dart';
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import 'package:flutter_map/flutter_map.dart';
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import 'package:geolocator/geolocator.dart';
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import 'package:get_it/get_it.dart';
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import 'package:go_router/go_router.dart';
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import 'package:http/http.dart' as http;
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import 'package:latlong2/latlong.dart';
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import 'package:maibu_satabot_v2/components/confrim_dialog.dart';
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import 'package:maibu_satabot_v2/components/toast.dart';
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import 'package:maibu_satabot_v2/core/app/app_user_cubit.dart';
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import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_cubit.dart';
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import 'package:maibu_satabot_v2/core/consts/tcp_consts.dart';
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import 'package:maibu_satabot_v2/core/di/injection.dart';
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import 'package:maibu_satabot_v2/core/localization/app_localizations.dart';
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import 'package:maibu_satabot_v2/core/network/net_message_dispatcher.dart';
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import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
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import 'package:maibu_satabot_v2/core/router/route_paths.dart';
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import 'package:maibu_satabot_v2/features/devices/data/models/device_add_path_point_model.dart'
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as work_area_model;
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import 'package:maibu_satabot_v2/features/devices/data/models/device_work_area_param_model.dart'
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as work_area_model;
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import 'package:maibu_satabot_v2/features/devices/data/repositories/generate_path_repository_Impl.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/usecases/get_work_record_usecase.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/usecases/create_device_task_usecase.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/usecases/select_work_record_usecase.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_bloc.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_event.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_state.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_cubit.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/devices_state.dart';
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import 'package:maibu_satabot_v2/features/devices/domain/entities/device_task_entity.dart'; // 🔥 新增
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_task_cubit.dart'; // 🔥 新增
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_task_state.dart'; // 🔥 新增
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import 'package:maibu_satabot_v2/features/v2/site/presentation/cubit/site_cubit.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/BottomDirectionLine.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/common/commonFn.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/common/enum.dart';
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import 'package:maibu_satabot_v2/components/input_confirm_dialog.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/common/tracepoint.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/map/CenterLocation.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/map/HeadingPointer.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/map/dji_tile_layer.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/obsToast.dart';
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/startpoint_area.dart';
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import 'package:image/image.dart' as _image; // 注意命名空间冲突，使用 as img
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import 'package:maibu_satabot_v2/features/home/presentation/widgets/video.dart';
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import 'package:shared_preferences/shared_preferences.dart';
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import 'dart:ui' as ui;
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import '../path_list_pages.dart';
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import 'package:maibu_satabot_v2/core/logging/i_logger_service.dart';
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// 定义轨迹点类型（经纬度）
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typedef PlotPoint = LatLng;
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// 本地存储Key常量
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const String kSavedPlotData = 'saved_plot_data';
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const String kSavedGcjPathPoints = 'saved_gcj_path_points';
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const String kSavedGcjOuterPoints = 'saved_gcj_outer_points';
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const String kSavedMarkedPoints = 'saved_marked_points';
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const String kSavedObstacleHoles = 'saved_obstacle_holes';
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const String kSavedIsWorkAreaCompleted = 'saved_is_work_area_completed';
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const String kSavedRobotModeWgsPoints = "saved_robot_mode_wgs_points";
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const String kSavedIsWorkPanelOpen = "saved_is_work_panel_open";
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const String kSavedSelectedPlot = 'saved_selected_plot';
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const String kSavedStartWorkList = 'saved_start_work_list';
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const String kSavedWorkMode = 'saved_work_mode';
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const String kSavedWorkStatus =
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'saved_work_status'; // 作业状态（idle/working/paused）
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const String kSavedIsStartWork = 'saved_is_start_work'; // 是否开始作业
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const String kSavedIsStopWork = 'saved_is_stop_work'; // 是否点击过停止
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const String kSavedTPMode = "saved_tp_mode";
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const String kSavedCurrentRobotMode = "kSavedCurrentRobotMode";
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const String kSavedIsPanelOpen = "kSavedIsPanelOpen";
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const String kSavedCurrentWorkMode = "kSavedCurrentWorkMode";
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// 保持 PlotData 类不变
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class PlotData {
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final String id;
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final String plotName;
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final String imageUrl; // 图片URL（本地/assets/网络都可）
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final String? jsonData; // 原始数据的JSON字符串（可选，便于调试或后续使用）
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PlotData({
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required this.id,
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required this.plotName,
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required this.imageUrl,
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this.jsonData,
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});
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}
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class PlotDataPath {
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final dynamic? jsonData; // 原始数据的JSON字符串（可选，便于调试或后续使用）
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PlotDataPath({this.jsonData});
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}
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class _ToastItem {
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final String message;
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final ToastType type;
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_ToastItem({required this.message, required this.type});
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}
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class MapPageEnterprise extends StatefulWidget {
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const MapPageEnterprise({Key? key}) : super(key: key);
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@override
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State<MapPageEnterprise> createState() => _MapPageEnterpriseState();
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}
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class _MapPageEnterpriseState extends State<MapPageEnterprise> {
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final ILoggerService _logger = GetIt.I<ILoggerService>();
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final _dispatcher = sl<NetMessageDispatcher>();
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bool _isRefreshing = false; // 新增：页面刷新状态标志
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bool _isVideoDialogOpen = false; // 控制视频弹窗显示
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String _videoStreamUrl = "";
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bool isStopWork = false; //是否点击过停止
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bool isreceiveFirstCompletePoint = false;
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Offset _videoPopupPos = const Offset(0, 100); // 弹窗初始位置
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final GlobalKey _mapRepaintKey = GlobalKey();
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// 用于存储当前页面的 Toast OverlayEntry
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List<OverlayEntry> _toastEntries = [];
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// Toast 队列：存储待显示的消息
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final _toastQueue = <_ToastItem>[];
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// 是否正在显示 Toast
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bool _isToastShowing = false;
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final MapController _mapController = MapController();
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// 初始化轨迹管理器（泛型指定为LatLng）
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late final TracePoint<PlotPoint> _traceManager;
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late String workMode = "弓字模式"; // 作业模式：默认值为"弓字模式"
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WorkStatus _workStatus = WorkStatus.idle;
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bool isStartWork = false; //是否开始作业
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LatLng? _currentLatLng; //gc格式
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LatLng? _currentWgsLatLng;
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bool _isPanelOpen = false; // 控制面板显示/隐藏
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bool _directionBoxOpen = false; //航线面板显示/隐藏
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bool _saveBoxOpen = false; //保存按钮显示/隐藏
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bool _isListBoxOpen = false; //列表面板显示/隐藏
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bool _showHeadingWarn = false; // 航向角未初始化提示
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bool _showControlModeWarn = false; // 远程模式提示
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// 新增：存储选中的地块（null表示未选中）
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PlotData? _selectedPlot;
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// 新增：控制底部作业面板显示
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bool _isWorkPanelOpen = false;
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bool _isWorkAreaCompleted = false;
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RobotMode _currentRobotMode = RobotMode.robot; //打点模式
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AreaMode _currentAreaMode = AreaMode.work; //作业区域还是障碍物区域
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WorkMode? _currentWorkMode = WorkMode.bow; // 当前作业模式
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// 新增：存储转换后的path和outer坐标
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List<LatLng> gcjPathPoints = [];
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List<LatLng> gcjOuterPoints = [];
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List<dynamic> startWorkList = [];
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List<PlotPoint>? tracePoint = []; //从tracepoint中获取的经纬度坐标
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List<PlotPoint>? gctracePoint = [];
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// ========== 核心新增状态 ==========
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List<LatLng> _markedPoints = []; // 存储所有s十字准星打点坐标
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List<LatLng> _robotModeWgsPoints = []; // Robot模式下从设备获取的wgs打点
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List<LatLng> _robotModeObsWgsPoints = []; // Robot模式下从设备获取的wgs打点 障碍物
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LatLng _mapCenter = const LatLng(39.9042, 116.4074);
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double _headingAngle = 0.0; // 当前机器航向角（单位：度）
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List typedPathList =
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<work_area_model.DeviceAddPathPointModel>[]; // 存储生成路径的坐标列表（已转换为LatLng）
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// ========== 障碍物模式核心状态 ==========
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List<List<LatLng>> _obstacleHoles = []; // 存储多组障碍物打点（嵌套数组：每组是一个障碍物）
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List<List<LatLng>> _obstacleWgsHoles = []; // 存储多组障碍物打点（嵌套数组：每组是一个障碍物）
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List<LatLng> _currentObstaclePoints = []; // 当前正在绘制的障碍物打点
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bool _isObstacleEditing = false; // 是否处于障碍物编辑状态
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//打点
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double _workDistance = 0.0; // 作业行距（单位：米）
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double _angle = 0.0; // 航线方向角（单位：度）
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// 大疆地图
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bool isDjMapShow = false;
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late DJIStation _currentStation;
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// 所有可用的场站列表（根据你的实际瓦片目录配置）
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final List<DJIStation> _stationList = [
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const DJIStation(name: 'liaoning', displayName: 'station_1'),
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const DJIStation(name: 'station_b', displayName: 'station_2'),
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const DJIStation(name: 'station_c', displayName: 'station_3'),
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// 新增场站只需在这里添加，无需修改其他逻辑
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];
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// 其他
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StreamSubscription? _pathPlanningSub;
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@override
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void initState() {
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super.initState();
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debugPrint('🚀 [MapPage] initState 开始');
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_currentStation = _stationList.first;
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_traceManager = TracePoint<PlotPoint>();
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// 🔥 修复：异步加载数据，避免阻塞
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_loadSavedData().catchError((e) {
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debugPrint('❌ [MapPage] 加载本地数据失败: $e');
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});
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// 示例：切换到导航模式
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_traceManager.setMode(TPMode.LOCATION);
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tracePoint = [];
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gctracePoint = [];
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// 🔥 核心修复：使用 addPostFrameCallback 延迟获取地图中心（渲染完成后执行）
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WidgetsBinding.instance.addPostFrameCallback((_) {
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if (!mounted) return;
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debugPrint('🗺️ [MapPage] addPostFrameCallback 执行');
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if (_mapController.camera != null) {
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final originalCenter = _mapController.camera!.center;
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final highPrecisionCenter = LatLng(
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originalCenter.latitude,
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originalCenter.longitude,
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);
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setState(() {
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_mapCenter = highPrecisionCenter;
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});
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} else {
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// 兜底：使用默认坐标初始化地图中心
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final defaultCenter = _getDefaultValidCenter();
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setState(() {
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_mapCenter = defaultCenter;
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});
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}
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});
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// 🔥 关键修复：开始监听路径规划指令应答
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_setupPathPlanningListener();
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// 监听地图移动事件，实时更新连线
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_mapController.mapEventStream.listen((event) {
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if (event is MapEventMove || event is MapEventMoveEnd) {
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if (mounted && _mapController.camera != null) {
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final originalCenter = _mapController.camera!.center;
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final highPrecisionCenter = LatLng(
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originalCenter.latitude,
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originalCenter.longitude,
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);
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setState(() {
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_mapCenter = highPrecisionCenter;
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});
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}
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}
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});
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debugPrint('✅ [MapPage] initState 完成');
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}
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// 🔥 核心修复：监听路径规划应答流
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void _setupPathPlanningListener() {
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debugPrint('🔗 [MapPage] 开始监听路径规划指令应答 (CMD: 0x01)');
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_pathPlanningSub = _dispatcher.onPathPlanningResponse().listen(
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(packet) {
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debugPrint('✅ [MapPage] 收到路径规划应答，准备发送下一个点');
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// 这里不需要做任何事情，因为 NetMessageDispatcher 内部已经处理了
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// 它会自动从队列中移除已发送的点并触发下一个点
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},
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onDone: () => debugPrint('⚠️ [MapPage] 路径规划流已结束'),
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onError: (e) => debugPrint('❌ [MapPage] 路径规划流错误：$e'),
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);
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}
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// 新增：手动清除本地存储数据
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Future<void> _clearLocalData() async {
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try {
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await LocationUtils.clearCache(LocationUtils.kSavedGcjPathPoints);
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await LocationUtils.clearCache(LocationUtils.kSavedGcjOuterPoints);
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await LocationUtils.clearCache(LocationUtils.kSavedMarkedPoints);
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await LocationUtils.clearCache(LocationUtils.kSavedObstacleHoles);
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await LocationUtils.clearCache(LocationUtils.kSavedIsWorkAreaCompleted);
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final prefs = await SharedPreferences.getInstance();
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await prefs.remove(kSavedWorkStatus);
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await prefs.remove(kSavedTPMode);
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await prefs.remove(kSavedCurrentRobotMode); // 机器人模式
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await prefs.remove("kSavedTypedPathList"); // 生成的路径
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await prefs.remove(kSavedIsStartWork);
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await prefs.remove(kSavedIsStopWork);
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await prefs.remove(kSavedGcjPathPoints); // 路径点
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await prefs.remove(kSavedGcjOuterPoints); // 外边框
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await prefs.remove(kSavedMarkedPoints); // 打点
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await prefs.remove(kSavedObstacleHoles); // 障碍物
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await prefs.remove(kSavedIsWorkAreaCompleted);
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await prefs.remove(kSavedIsWorkPanelOpen);
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await prefs.remove(kSavedWorkMode);
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await prefs.remove(kSavedStartWorkList);
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await prefs.remove(kSavedSelectedPlot);
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await prefs.remove(kSavedIsPanelOpen);
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await prefs.remove(kSavedCurrentWorkMode);
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} catch (e) {
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debugPrint('清空本地数据失败：$e');
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}
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}
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// 新增：加载本地存储数据方法
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Future<void> _loadSavedData() async {
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try {
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_traceManager.setMode(TPMode.LOCATION);
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final prefs = await SharedPreferences.getInstance();
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final workStatusStr = prefs.getString(kSavedWorkStatus);
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if (workStatusStr != null) {
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_workStatus = WorkStatus.values.firstWhere(
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(e) => e.toString() == workStatusStr,
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orElse: () => WorkStatus.idle,
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);
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}
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final modeStr = prefs.getString(kSavedTPMode);
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if (modeStr != null) {
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_traceManager.setMode(
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TPMode.values.firstWhere((e) => e.toString() == modeStr),
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);
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}
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final robotModeStr = prefs.getString(kSavedCurrentRobotMode);
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if (robotModeStr != null) {
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_currentRobotMode = RobotMode.values.firstWhere(
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(e) => e.toString() == robotModeStr,
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orElse: () => RobotMode.point,
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);
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}
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// 读取 生成完成的路径 typedPathList
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final typedPathString = prefs.getString("kSavedTypedPathList");
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if (typedPathString != null) {
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final List<dynamic> typedPathJson = jsonDecode(typedPathString);
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setState(() {
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typedPathList = typedPathJson.map((p) {
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return work_area_model.DeviceAddPathPointModel(
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latitude: p['lat'],
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longitude: p['lng'],
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);
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}).toList();
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});
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}
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// 2. 恢复是否开始作业
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isStartWork = prefs.getBool(kSavedIsStartWork) ?? false;
|
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|
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// 3. 恢复是否点击过停止
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isStopWork = prefs.getBool(kSavedIsStopWork) ?? false;
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_isPanelOpen = prefs.getBool(kSavedIsPanelOpen) ?? false;
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|
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// 加载路径点
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final pathJson = prefs.getString(kSavedGcjPathPoints);
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if (pathJson != null) {
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final List<dynamic> pathList = jsonDecode(pathJson);
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gcjPathPoints = pathList
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.map(
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(item) => LatLng(
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double.parse(item['lat'].toString()),
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double.parse(item['lng'].toString()),
|
||
),
|
||
)
|
||
.toList();
|
||
}
|
||
|
||
// 加载外边界点
|
||
final outerJson = prefs.getString(kSavedGcjOuterPoints);
|
||
if (outerJson != null) {
|
||
final List<dynamic> outerList = jsonDecode(outerJson);
|
||
gcjOuterPoints = outerList
|
||
.map(
|
||
(item) => LatLng(
|
||
double.parse(item['lat'].toString()),
|
||
double.parse(item['lng'].toString()),
|
||
),
|
||
)
|
||
.toList();
|
||
}
|
||
|
||
// 加载打点数据
|
||
final markedJson = prefs.getString(kSavedMarkedPoints);
|
||
if (markedJson != null) {
|
||
final List<dynamic> markedList = jsonDecode(markedJson);
|
||
_markedPoints = markedList
|
||
.map(
|
||
(item) => LatLng(
|
||
double.parse(item['lat'].toString()),
|
||
double.parse(item['lng'].toString()),
|
||
),
|
||
)
|
||
.toList();
|
||
}
|
||
|
||
// 加载机器人模式WGS打点
|
||
final robotWgsJson = prefs.getString(kSavedRobotModeWgsPoints);
|
||
if (robotWgsJson != null) {
|
||
final List<dynamic> robotWgsList = jsonDecode(robotWgsJson);
|
||
_robotModeWgsPoints = robotWgsList
|
||
.map(
|
||
(item) => LatLng(
|
||
double.parse(item['lat'].toString()),
|
||
double.parse(item['lng'].toString()),
|
||
),
|
||
)
|
||
.toList();
|
||
}
|
||
|
||
// 加载障碍物数据
|
||
final obstacleJson = prefs.getString(kSavedObstacleHoles);
|
||
if (obstacleJson != null) {
|
||
final List<dynamic> obstacleList = jsonDecode(obstacleJson);
|
||
_obstacleHoles = obstacleList.map((hole) {
|
||
return (hole as List<dynamic>)
|
||
.map(
|
||
(item) => LatLng(
|
||
double.parse(item['lat'].toString()),
|
||
double.parse(item['lng'].toString()),
|
||
),
|
||
)
|
||
.toList();
|
||
}).toList();
|
||
}
|
||
|
||
// 加载作业区域完成状态
|
||
_isWorkAreaCompleted = prefs.getBool(kSavedIsWorkAreaCompleted) ?? false;
|
||
_saveBoxOpen = _isWorkAreaCompleted;
|
||
|
||
// 1. 恢复作业面板状态
|
||
_isWorkPanelOpen = prefs.getBool(kSavedIsWorkPanelOpen) ?? false;
|
||
|
||
// 2. 恢复作业模式
|
||
workMode = prefs.getString(kSavedWorkMode) ?? "弓字模式";
|
||
// 读取
|
||
_currentWorkMode = prefs.getString(kSavedCurrentWorkMode) != null
|
||
? WorkMode.values.firstWhere(
|
||
(e) => e.toString() == prefs.getString(kSavedCurrentWorkMode),
|
||
orElse: () => WorkMode.bow,
|
||
)
|
||
: WorkMode.bow;
|
||
// 3. 恢复作业列表
|
||
final startWorkJson = prefs.getString(kSavedStartWorkList);
|
||
if (startWorkJson != null) {
|
||
startWorkList = jsonDecode(startWorkJson);
|
||
}
|
||
|
||
// 4. 恢复选中地块
|
||
final selectedPlotJson = prefs.getString(kSavedSelectedPlot);
|
||
if (selectedPlotJson != null && selectedPlotJson.isNotEmpty) {
|
||
final Map<String, dynamic> plotMap = jsonDecode(selectedPlotJson);
|
||
// 兼容 jsonData 为 Map 或 String
|
||
String? cachedJsonData;
|
||
final rawCached = plotMap['jsonData'];
|
||
if (rawCached is String) {
|
||
cachedJsonData = rawCached;
|
||
} else if (rawCached is Map) {
|
||
cachedJsonData = jsonEncode(rawCached);
|
||
}
|
||
|
||
_selectedPlot = PlotData(
|
||
id: plotMap['id'] ?? '',
|
||
plotName: plotMap['plotName'] ?? '',
|
||
imageUrl: plotMap['imageUrl'] ?? '',
|
||
jsonData: cachedJsonData,
|
||
);
|
||
}
|
||
|
||
// ==================== ✅ 核心修复 ====================
|
||
// 1. 从缓存恢复后，强制让 _markedPoints 同步给外边框（解决不显示）
|
||
if (_markedPoints.isNotEmpty && gcjOuterPoints.isEmpty) {
|
||
gcjOuterPoints = List.from(_markedPoints);
|
||
}
|
||
|
||
// 2. 关键：同步机器人模式坐标（保存时边框不丢失）
|
||
if (_currentRobotMode == RobotMode.point && _robotModeWgsPoints.isEmpty) {
|
||
_robotModeWgsPoints = _markedPoints.map((p) {
|
||
return gcj02ToWgs84(p.latitude, p.longitude);
|
||
}).toList();
|
||
}
|
||
// 兜底：Robot模式下_robotModeWgsPoints缓存未写入时，从_markedPoints恢复
|
||
if (_currentRobotMode == RobotMode.robot &&
|
||
_robotModeWgsPoints.isEmpty &&
|
||
_markedPoints.isNotEmpty) {
|
||
_robotModeWgsPoints = _markedPoints.map((p) {
|
||
return gcj02ToWgs84(p.latitude, p.longitude);
|
||
}).toList();
|
||
}
|
||
|
||
if (mounted) {
|
||
setState(() {});
|
||
// 移动地图到绘制内容中心
|
||
List<LatLng> allPoints = [];
|
||
allPoints.addAll(gcjPathPoints);
|
||
allPoints.addAll(gcjOuterPoints);
|
||
if (allPoints.isNotEmpty) {
|
||
moveMapToPointsCenter(allPoints);
|
||
}
|
||
}
|
||
} catch (e) {
|
||
debugPrint('加载本地数据失败：$e');
|
||
}
|
||
}
|
||
|
||
// 新增：保存绘制数据到本地
|
||
Future<void> _saveDataToLocal() async {
|
||
try {
|
||
final prefs = await SharedPreferences.getInstance();
|
||
|
||
// 保存路径点
|
||
final pathList = gcjPathPoints
|
||
.map((point) => {'lat': point.latitude, 'lng': point.longitude})
|
||
.toList();
|
||
prefs.setString(kSavedGcjPathPoints, jsonEncode(pathList));
|
||
|
||
// 保存外边界点
|
||
final outerList = gcjOuterPoints
|
||
.map((point) => {'lat': point.latitude, 'lng': point.longitude})
|
||
.toList();
|
||
prefs.setString(kSavedGcjOuterPoints, jsonEncode(outerList));
|
||
|
||
// 保存打点数据
|
||
final markedList = _markedPoints
|
||
.map((point) => {'lat': point.latitude, 'lng': point.longitude})
|
||
.toList();
|
||
prefs.setString(kSavedMarkedPoints, jsonEncode(markedList));
|
||
|
||
// 保存机器人模式WGS打点
|
||
final robotWgsList = _robotModeWgsPoints
|
||
.map((point) => {'lat': point.latitude, 'lng': point.longitude})
|
||
.toList();
|
||
prefs.setString(kSavedRobotModeWgsPoints, jsonEncode(robotWgsList));
|
||
|
||
// 保存障碍物数据
|
||
final obstacleList = _obstacleHoles.map((hole) {
|
||
return hole
|
||
.map((point) => {'lat': point.latitude, 'lng': point.longitude})
|
||
.toList();
|
||
}).toList();
|
||
prefs.setString(kSavedObstacleHoles, jsonEncode(obstacleList));
|
||
|
||
final typedPath = typedPathList
|
||
.map((point) => {'lat': point.latitude, 'lng': point.longitude})
|
||
.toList();
|
||
prefs.setString("kSavedTypedPathList", jsonEncode(typedPath));
|
||
|
||
// 保存作业区域完成状态
|
||
prefs.setBool(kSavedIsWorkAreaCompleted, _isWorkAreaCompleted);
|
||
|
||
prefs.setBool(kSavedIsPanelOpen, _isPanelOpen);
|
||
|
||
// 1. 保存作业面板显示状态
|
||
prefs.setBool(kSavedIsWorkPanelOpen, _isWorkPanelOpen);
|
||
|
||
// 2. 保存作业模式
|
||
prefs.setString(kSavedWorkMode, workMode);
|
||
|
||
// 3. 保存作业列表
|
||
prefs.setString(kSavedStartWorkList, jsonEncode(startWorkList));
|
||
prefs.setString(kSavedWorkStatus, _workStatus.toString());
|
||
|
||
// 2. 保存是否开始作业
|
||
prefs.setBool(kSavedIsStartWork, isStartWork);
|
||
|
||
// 3. 保存是否点击过停止
|
||
prefs.setBool(kSavedIsStopWork, isStopWork);
|
||
prefs.setString(kSavedCurrentWorkMode, _currentWorkMode.toString());
|
||
// 保存当前模式到本地缓存
|
||
prefs.setString(kSavedTPMode, _traceManager.getMode().toString());
|
||
|
||
prefs.setString(kSavedCurrentRobotMode, _currentRobotMode.toString());
|
||
|
||
// 4. 保存选中地块
|
||
if (_selectedPlot != null) {
|
||
final plotMap = {
|
||
'id': _selectedPlot!.id,
|
||
'plotName': _selectedPlot!.plotName,
|
||
'imageUrl': _selectedPlot!.imageUrl,
|
||
'jsonData': _selectedPlot!.jsonData,
|
||
};
|
||
prefs.setString(kSavedSelectedPlot, jsonEncode(plotMap));
|
||
} else {
|
||
prefs.remove(kSavedSelectedPlot);
|
||
}
|
||
} catch (e) {
|
||
debugPrint('保存本地数据失败：$e');
|
||
}
|
||
}
|
||
|
||
// ========== 新增：计算坐标列表的边界范围 ==========
|
||
LatLngBounds? calculateBounds(List<LatLng> points) {
|
||
if (points.isEmpty) return null;
|
||
|
||
// 使用静态方法 fromPoints 创建边界（所有latlong2版本都支持）
|
||
return LatLngBounds.fromPoints(points);
|
||
}
|
||
|
||
void moveMapToPointsCenter(List<LatLng> points) {
|
||
if (points.isEmpty || !mounted) return;
|
||
|
||
// 计算边界
|
||
final bounds = calculateBounds(points);
|
||
if (bounds == null) return;
|
||
final currentZoom = _mapController.camera?.zoom ?? 18.0;
|
||
_mapController.move(
|
||
bounds.center, // 边界中心点
|
||
currentZoom, // 保留当前缩放比例
|
||
);
|
||
|
||
print('地图已移动到绘制内容中心，边界范围：$bounds');
|
||
}
|
||
|
||
// ========== 新增：安全转换任意类型为double ==========
|
||
double? safeToDouble(dynamic value) {
|
||
if (value == null) return null;
|
||
if (value is double) return value;
|
||
if (value is int) return value.toDouble();
|
||
if (value is String) {
|
||
return double.tryParse(value); // 字符串转数字（失败返回null）
|
||
}
|
||
return null;
|
||
}
|
||
|
||
bool __isValidLatLng(LatLng? latLng) {
|
||
if (latLng == null) return false;
|
||
// 排除赤道0,0坐标，同时校验经纬度范围（避免非法值）
|
||
return latLng.latitude != 0.0 &&
|
||
latLng.longitude != 0.0 &&
|
||
latLng.latitude >= -90 &&
|
||
latLng.latitude <= 90 &&
|
||
latLng.longitude >= -180 &&
|
||
latLng.longitude <= 180;
|
||
}
|
||
|
||
bool _isValidLatLng(double lat, double lng) {
|
||
return lat != 0 &&
|
||
lng != 0 &&
|
||
lat >= -90 &&
|
||
lat <= 90 &&
|
||
lng >= -180 &&
|
||
lng <= 180;
|
||
}
|
||
|
||
void _onDeviceData(
|
||
double lng,
|
||
double lat,
|
||
bool obfFlag,
|
||
int headingStatus,
|
||
dynamic controlMode,
|
||
) {
|
||
try {
|
||
// 1. 校验坐标是否有效
|
||
bool isValid = _isValidLatLng(lat, lng);
|
||
|
||
// ==============================================
|
||
// 🔥 关键：无效坐标只打印，不 return，不断流
|
||
// ==============================================
|
||
if (!isValid) {
|
||
debugPrint('[定位] 坐标无效：lat=$lat, lng=$lng → 跳过本次定位更新');
|
||
// 不写 return！！！
|
||
}
|
||
|
||
// ==============================================
|
||
// 2. 航向角提示（不受坐标影响，必须执行）
|
||
// ==============================================
|
||
if (isStartWork && !isStopWork) {
|
||
if (headingStatus == 0) {
|
||
if (!_showHeadingWarn) {
|
||
if (mounted) {
|
||
setState(() {
|
||
_showHeadingWarn = true;
|
||
});
|
||
}
|
||
}
|
||
} else {
|
||
if (_showHeadingWarn && mounted) {
|
||
setState(() {
|
||
_showHeadingWarn = false;
|
||
});
|
||
}
|
||
}
|
||
|
||
// ==============================================
|
||
// 3. 远程模式提示（不受坐标影响，必须执行）
|
||
// ==============================================
|
||
String mode = controlMode?.toString() ?? "";
|
||
if (mode != "3") {
|
||
if (!_showControlModeWarn && mounted) {
|
||
setState(() {
|
||
_showControlModeWarn = true;
|
||
});
|
||
}
|
||
} else {
|
||
if (_showControlModeWarn && mounted) {
|
||
setState(() {
|
||
_showControlModeWarn = false;
|
||
});
|
||
}
|
||
}
|
||
} else {
|
||
// 未作业 → 自动隐藏所有警告
|
||
if ((_showHeadingWarn || _showControlModeWarn) && mounted) {
|
||
setState(() {
|
||
_showHeadingWarn = false;
|
||
_showControlModeWarn = false;
|
||
});
|
||
}
|
||
}
|
||
|
||
// ==============================================
|
||
// 4. 障碍物提示（可选，你自己开关）
|
||
// ==============================================
|
||
// if (isStartWork && obfFlag) {
|
||
// ObsToastWidget.show(context: context, message: "小迈提醒您前方有障碍物哦！");
|
||
// } else {
|
||
// ObsToastWidget.dismiss();
|
||
// }
|
||
} catch (e) {
|
||
debugPrint('[定位] 处理设备数据异常：$e');
|
||
}
|
||
}
|
||
|
||
void _showSavePlotDialog() {
|
||
final loc = AppLocalizations.of(context);
|
||
showInputConfirmDialog(
|
||
context: context,
|
||
title: loc.translate('route_planning.save_plot'), // 自定义标题
|
||
hintText: loc.translate('route_planning.plot_name_hint'), // 自定义输入提示
|
||
labelText: loc.translate('route_planning.plot_name_label'), // 自定义输入框标签
|
||
confirmText: loc.translate('route_planning.save'), // 确认按钮文字
|
||
cancelText: loc.translate('route_planning.cancel'), // 取消按钮文字
|
||
// 输入校验器（可选）
|
||
inputValidator: (inputText) {
|
||
if (inputText.isEmpty) {
|
||
return loc.translate('route_planning.plot_name_empty');
|
||
}
|
||
if (inputText.length > 20) {
|
||
return loc.translate('route_planning.plot_name_too_long');
|
||
}
|
||
return null; // 校验通过
|
||
},
|
||
onConfirm: (plotName) async {
|
||
// 1. 关闭输入弹窗，显示截图加载中
|
||
Navigator.pop(context);
|
||
showDialog(
|
||
context: context,
|
||
barrierDismissible: false, // 禁止点击外部关闭
|
||
builder: (ctx) => const Center(
|
||
child: SizedBox(
|
||
width: 60,
|
||
height: 60,
|
||
child: CircularProgressIndicator(
|
||
strokeWidth: 3,
|
||
color: Colors.white,
|
||
),
|
||
),
|
||
),
|
||
);
|
||
|
||
// 2. 执行截图（核心调用）
|
||
String? imgBase64 = await _captureMapToJpgBase64(quality: 80);
|
||
|
||
// 4. 处理截图结果并保存
|
||
if (mounted) {
|
||
if (imgBase64 != null) {
|
||
_savePlotData(plotName, imgBase64); // 传入 Base64
|
||
} else {
|
||
// 截图失败时，允许空图片保存（可根据业务调整为强制失败）
|
||
_savePlotData(plotName, null);
|
||
_showPageToast(
|
||
message:
|
||
loc.translate('route_planning.save_success') +
|
||
"，" +
|
||
"但地图截图生成失败！",
|
||
type: ToastType.warn,
|
||
);
|
||
|
||
//ToastUtils.showWarn(context, '地块保存成功，但地图截图生成失败！');
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('地块保存成功，但地图截图生成失败！'), backgroundColor: Colors.amber));
|
||
}
|
||
}
|
||
},
|
||
);
|
||
}
|
||
|
||
void _debugPrintMultipartRequest(http.MultipartRequest request) {
|
||
debugPrint('====================================');
|
||
debugPrint('📡 请求 URL: ${request.url}');
|
||
debugPrint('📡 请求方法: ${request.method}');
|
||
|
||
// 1. 打印请求头（包含自动生成的 boundary）
|
||
debugPrint('📡 请求头: ${request.headers}');
|
||
|
||
// 2. 打印普通字段 (虽然我们现在没有普通字段，但保留以防万一)
|
||
if (request.fields.isNotEmpty) {
|
||
debugPrint('📝 普通字段:');
|
||
request.fields.forEach((key, value) {
|
||
debugPrint(' - $key: $value');
|
||
});
|
||
} else {
|
||
debugPrint('📝 普通字段: 无');
|
||
}
|
||
|
||
// 3. 打印文件/Blob 字段 (核心：这里包含 file 和 workRecord)
|
||
debugPrint('📁 上传文件/Blob 数量: ${request.files.length}');
|
||
for (var file in request.files) {
|
||
// 特殊处理：如果是 workRecord，打印其内容
|
||
if (file.field == 'workRecord' && file is http.MultipartFile) {
|
||
// 将 ByteStream 转为 Uint8List 以查看内容
|
||
file.finalize().first.then((bytes) {
|
||
String content = utf8.decode(bytes);
|
||
// 格式化 JSON 打印，更易读
|
||
try {
|
||
dynamic jsonObj = jsonDecode(content);
|
||
debugPrint(
|
||
' 内容 (content): ${const JsonEncoder.withIndent(' ').convert(jsonObj)}',
|
||
);
|
||
} catch (e) {
|
||
debugPrint(' 内容 (content): $content');
|
||
}
|
||
});
|
||
} else {
|
||
// 对于图片文件，打印大小即可，避免打印海量 Base64
|
||
file.finalize().first.then((bytes) {
|
||
debugPrint(
|
||
' 文件大小: ${bytes.length} 字节 (约 ${(bytes.length / 1024).toStringAsFixed(1)} KB)',
|
||
);
|
||
});
|
||
}
|
||
}
|
||
}
|
||
|
||
Future<void> _savePlotData(String plotName, String? imgBase64) async {
|
||
debugPrint('🔍 [保存地块] ====== _savePlotData 被调用, plotName=$plotName ======');
|
||
final loc = AppLocalizations.of(context);
|
||
// 🔥 V2 适配：使用 SiteCubit 获取站点ID（从 v2 首页场站选择获取，有默认值）
|
||
final siteId = sl<SiteCubit>().state.selectedSite?.id;
|
||
if (siteId == null) {
|
||
debugPrint('❌ [保存地块] siteId为空，提前返回！');
|
||
_showPageToast(message: '请先在场站列表中选择一个场站！', type: ToastType.error);
|
||
return;
|
||
}
|
||
for (var i = 0; i < typedPathList.length; i++) {
|
||
debugPrint(typedPathList[i].toString());
|
||
}
|
||
// 2. 构造 SavePath 数据 (对齐 Web 端逻辑)
|
||
// 🔥 Web 端参考：
|
||
// 弓字模式: {path: API返回路径, outer: 打点坐标, planModel: 0}
|
||
// 自定义模式: {path: 打点坐标, outer: [], planModel: 2}
|
||
|
||
// 辅助方法：将打点转为 WGS84 格式 {lng, lat}
|
||
List<Map<String, double>> _markedPointsToWgs() {
|
||
if (_currentRobotMode == RobotMode.robot) {
|
||
return _robotModeWgsPoints
|
||
.map((p) => {'lng': p.longitude, 'lat': p.latitude})
|
||
.toList();
|
||
}
|
||
return _markedPoints.map((point) {
|
||
final wgs84 = gcj02ToWgs84(point.latitude, point.longitude);
|
||
return {'lng': wgs84.longitude, 'lat': wgs84.latitude};
|
||
}).toList();
|
||
}
|
||
|
||
final Map<String, dynamic> savePath = {
|
||
//'img': imgBase64 ?? '', // 截图的 Base64 字符串
|
||
// 'name': plotName, // 旧逻辑：Web 端不包含 name
|
||
// 🔥 对齐 Web 端：弓字模式 outer=打点，自定义模式 outer=[]
|
||
// 旧逻辑：outer 始终取 gcjOuterPoints
|
||
'outer': _currentWorkMode == WorkMode.custom
|
||
? [] // 自定义模式 outer 为空
|
||
: _markedPointsToWgs(), // 弓字模式 outer 为打点坐标
|
||
// 🔥 对齐 Web 端：弓字模式 path=API返回，自定义模式 path=打点
|
||
// 旧逻辑：自定义模式 path 为空数组
|
||
'path': _currentWorkMode == WorkMode.custom
|
||
? _markedPointsToWgs() // 自定义模式 path 为打点坐标
|
||
: typedPathList // 弓字模式 path 为 API 返回的路径
|
||
.map((point) => {'lng': point.longitude, 'lat': point.latitude})
|
||
.toList(),
|
||
|
||
'planModel': _currentWorkMode == WorkMode.bow ? 0 : 2, // 作业模式值
|
||
};
|
||
|
||
// 3. 构造 workRecord (包裹一层)
|
||
final Map<String, dynamic> workRecord = {
|
||
'workName': plotName,
|
||
'siteId': siteId, // 修改：使用 siteId 代替 userId
|
||
// 🔥 jsonData 必须是对象，不能是字符串（后端 PlanPath 类型要求）
|
||
'jsonData': savePath,
|
||
};
|
||
final String workRecordJson = jsonEncode(workRecord);
|
||
final http.MultipartRequest request = http.MultipartRequest(
|
||
'POST',
|
||
Uri.parse('http://1.95.137.212:8081/iot/workRecord/add'),
|
||
);
|
||
|
||
// 🔥 添加 Authorization 认证头
|
||
final userToken = sl<AppUserCubit>().state.user?.token;
|
||
if (userToken != null) {
|
||
request.headers['Authorization'] = 'Bearer $userToken';
|
||
debugPrint('📤 [保存地块] Authorization 已设置');
|
||
} else {
|
||
debugPrint('⚠️ [保存地块] Token为空，请求可能被拒绝');
|
||
}
|
||
|
||
// 5. 处理文件：将 Base64 转为 MultipartFile (对应 JS 的 dataURLtoFile)
|
||
// 🔥 后端要求 file 字段必须存在，即使没有截图也要传
|
||
if (imgBase64 != null && imgBase64.isNotEmpty) {
|
||
// 移除 Base64 头部 (如果有的话)
|
||
String base64String = imgBase64;
|
||
if (base64String.startsWith('data:image/jpeg;base64,')) {
|
||
base64String = base64String.split(',').last;
|
||
}
|
||
Uint8List bytes = base64Decode(base64String);
|
||
|
||
// 添加文件 (对应 formData.append("file", file))
|
||
request.files.add(
|
||
http.MultipartFile.fromBytes(
|
||
'file',
|
||
bytes,
|
||
filename: 'image.jpg',
|
||
contentType: http.MediaType('image', 'jpeg'),
|
||
),
|
||
);
|
||
} else {
|
||
// 🔥 没有截图时，也要传一个空的 image/jpeg 文件，满足后端要求
|
||
final emptyImageBytes = <int>[]; // 空字节数组
|
||
request.files.add(
|
||
http.MultipartFile.fromBytes(
|
||
'file',
|
||
emptyImageBytes,
|
||
filename: 'empty.jpg',
|
||
contentType: http.MediaType('image', 'jpeg'),
|
||
),
|
||
);
|
||
}
|
||
|
||
// 6. 添加 workRecord (对应 formData.append("workRecord", Blob))
|
||
// 🔥 必须用 fromBytes 包装成文件，匹配前端 new Blob([JSON.stringify(workRecord)], {type: "application/json"})
|
||
final workRecordBytes = utf8.encode(workRecordJson);
|
||
request.files.add(
|
||
http.MultipartFile.fromBytes(
|
||
'workRecord',
|
||
workRecordBytes,
|
||
filename: '', // 关键：和浏览器 Blob 保持一致，文件名填空字符串
|
||
contentType: http.MediaType('application', 'json'),
|
||
),
|
||
);
|
||
|
||
debugPrint('🔍 [保存地块] 构造请求完成，即将进入try发送...');
|
||
// 7. 发送请求
|
||
try {
|
||
// debugPrint('📤 [保存地块] ========== 请求参数 BEGIN ==========');
|
||
// debugPrint('📤 [保存地块] plotName: $plotName');
|
||
// debugPrint('📤 [保存地块] siteId: $siteId');
|
||
// debugPrint('📤 [保存地块] workMode: $_currentWorkMode');
|
||
// debugPrint('📤 [保存地块] planModel: ${savePath['planModel']}');
|
||
// debugPrint('📤 [保存地块] savePath.name: ${savePath['name']}');
|
||
// debugPrint('📤 [保存地块] path长度: ${(savePath['path'] as List?)?.length ?? 0}');
|
||
// debugPrint('📤 [保存地块] outer长度: ${(savePath['outer'] as List?)?.length ?? 0}');
|
||
// debugPrint('📤 [保存地块] 是否有图片文件: ${imgBase64 != null && imgBase64.isNotEmpty}');
|
||
// debugPrint('📤 [保存地块] 请求URL: http://1.95.137.212:8081/iot/workRecord/add');
|
||
// debugPrint('📤 [保存地块] workRecord(完整JSON): $workRecordJson');
|
||
// debugPrint('📤 [保存地块] savePath(原始对象): $savePath');
|
||
// debugPrint('📤 [保存地块] ========== 请求参数 END ==========');
|
||
_showPageToast(
|
||
message: loc.translate('route_planning.saving') + "「$plotName」...",
|
||
type: ToastType.loading,
|
||
);
|
||
|
||
//ToastUtils.showLoading(context, '正在保存地块「$plotName」...');
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('正在保存地块...'), backgroundColor: Colors.blue));
|
||
|
||
final http.StreamedResponse response = await request.send();
|
||
final String responseBody = await response.stream.bytesToString();
|
||
debugPrint('📥 [保存地块] 响应状态码: ${response.statusCode}');
|
||
debugPrint('📥 [保存地块] 响应体(完整): $responseBody');
|
||
|
||
if (response.statusCode == 200) {
|
||
// 🔥 解析响应体确认后端是否真的成功
|
||
Map<String, dynamic>? respJson;
|
||
try {
|
||
respJson = jsonDecode(responseBody) as Map<String, dynamic>;
|
||
} catch (_) {
|
||
debugPrint('❌ [保存地块] 响应体非JSON: $responseBody');
|
||
throw Exception('响应体非JSON: $responseBody');
|
||
}
|
||
|
||
final apiCode = respJson['code'];
|
||
if (apiCode != null && apiCode.toString() != '200') {
|
||
final apiMsg = respJson['msg'] ?? respJson['message'] ?? '未知错误';
|
||
debugPrint('❌ [保存地块] 后端返回失败, code=$apiCode, msg=$apiMsg');
|
||
throw Exception('$apiMsg');
|
||
}
|
||
|
||
debugPrint('✅ [保存地块] 保存成功, plotName=$plotName, 响应: $respJson');
|
||
// 🔥 刷新地块列表
|
||
debugPrint('🔄 [保存地块] 刷新地块列表, siteId=$siteId');
|
||
context.read<DevicesCubit>().loadWorkRecordsBySiteId(siteId);
|
||
_showPageToast(
|
||
message: loc.translate('route_planning.save_success') + "「$plotName」",
|
||
type: ToastType.success,
|
||
);
|
||
|
||
//ToastUtils.showSuccess(context, '地块「$plotName」保存成功！');
|
||
_clearLocalData();
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('地块「$plotName」保存成功！'), backgroundColor: Colors.green));
|
||
// 保存成功
|
||
setState(() {
|
||
_markedPoints.clear(); // 清空打点
|
||
gcjPathPoints.clear(); // 清空路径
|
||
gcjOuterPoints.clear(); // 清空外边界
|
||
_robotModeWgsPoints.clear();
|
||
_obstacleHoles.clear();
|
||
|
||
_isPanelOpen = false; // 关闭操作面板
|
||
_directionBoxOpen = false;
|
||
_isWorkAreaCompleted = false; // 重置作业区域完成状态
|
||
});
|
||
} else {
|
||
throw Exception('服务器错误: ${response.statusCode}, $responseBody');
|
||
}
|
||
} catch (e) {
|
||
debugPrint('保存失败: $e');
|
||
_showPageToast(
|
||
message:
|
||
loc.translate('route_planning.save_failed') + ": ${e.toString()}",
|
||
type: ToastType.error,
|
||
);
|
||
|
||
//ToastUtils.showError(context, '保存失败: ${e.toString()}');
|
||
//ScaffoldMessenger.of(context).showSnackBar(SnackBar(content: Text('保存失败: ${e.toString()}'), backgroundColor: Colors.red));
|
||
}
|
||
}
|
||
|
||
List<LatLng> _getPolygonPoints() {
|
||
if (_markedPoints.isEmpty || _mapController.camera == null) return [];
|
||
|
||
List<LatLng> polygonPoints = List.from(_markedPoints);
|
||
polygonPoints.add(_mapCenter);
|
||
return polygonPoints;
|
||
}
|
||
|
||
// ========== 统一撤回方法（适配完成后状态） ==========
|
||
void _undoAction() {
|
||
debugPrint(
|
||
'🔄 [撤回] 当前区域模式: $_currentAreaMode, 作业点数: ${_markedPoints.length}, 障碍物点数: ${_currentObstaclePoints.length}, 已完成空洞: ${_obstacleHoles.length}',
|
||
);
|
||
setState(() {
|
||
// 1. 作业区域模式
|
||
if (_currentAreaMode == AreaMode.work) {
|
||
if (_markedPoints.isNotEmpty) {
|
||
// 单独判断，单独删除
|
||
if (_robotModeWgsPoints.isNotEmpty) {
|
||
_robotModeWgsPoints.removeLast();
|
||
}
|
||
if (_markedPoints.isNotEmpty) {
|
||
_markedPoints.removeLast();
|
||
}
|
||
|
||
// 作业点撤回后，若路径已生成，重新生成路径（保持同步）
|
||
if (_isWorkAreaCompleted && _markedPoints.length >= 3) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
_showPageToast(
|
||
message: "已撤回作业区域最后一个点，剩余${_markedPoints.length}个点",
|
||
type: ToastType.info,
|
||
);
|
||
} else {
|
||
final loc = AppLocalizations.of(context);
|
||
_showPageToast(
|
||
message: loc.translate('route_planning.no_work_points'),
|
||
type: ToastType.info,
|
||
);
|
||
}
|
||
return;
|
||
}
|
||
|
||
// 2. 空洞模式（完成后优先撤回已完成的空洞）
|
||
if (_currentAreaMode == AreaMode.obstacle) {
|
||
if (_currentObstaclePoints.isNotEmpty) {
|
||
// 单独判断，单独删除
|
||
if (_currentObstaclePoints.isNotEmpty) {
|
||
_currentObstaclePoints.removeLast();
|
||
}
|
||
if (_robotModeObsWgsPoints.isNotEmpty) {
|
||
_robotModeObsWgsPoints.removeLast();
|
||
}
|
||
|
||
if (_currentObstaclePoints.isEmpty) {
|
||
_isObstacleEditing = false;
|
||
}
|
||
_showPageToast(
|
||
message: "已撤回当前空洞最后一个点，剩余${_currentObstaclePoints.length}个点",
|
||
type: ToastType.info,
|
||
);
|
||
return;
|
||
}
|
||
|
||
// 第二步：当前空洞无点可撤 → 再撤回「上一个完整空洞」
|
||
if (_obstacleHoles.isNotEmpty) {
|
||
_obstacleHoles.removeLast();
|
||
// 撤完空洞后重新生成路径（排除该空洞）
|
||
if (_isWorkAreaCompleted) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
_showPageToast(
|
||
message: "已撤回上一个完整空洞，剩余${_obstacleHoles.length}个空洞",
|
||
type: ToastType.info,
|
||
);
|
||
return;
|
||
}
|
||
|
||
// 第三步：无任何可撤内容
|
||
_showPageToast(message: "暂无空洞可撤回", type: ToastType.info);
|
||
}
|
||
});
|
||
_saveDataToLocal();
|
||
}
|
||
|
||
// ========== 统一删除方法（适配完成后状态） ==========
|
||
void _deleteAllAction() {
|
||
debugPrint(
|
||
'🗑️ [删除全部] 当前区域模式: $_currentAreaMode, 作业点数: ${_markedPoints.length}, 障碍物点数: ${_currentObstaclePoints.length}, 已完成空洞: ${_obstacleHoles.length}',
|
||
);
|
||
setState(() {
|
||
// 1. 作业区域模式：清空作业点 + 重置路径
|
||
if (_currentAreaMode == AreaMode.work) {
|
||
if (_markedPoints.isEmpty) {
|
||
_showPageToast(message: "暂无作业区域点可删除", type: ToastType.info);
|
||
|
||
//ToastUtils.showInfo(context, '暂无作业区域点可删除');
|
||
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('暂无作业区域点可删除')));
|
||
return;
|
||
}
|
||
_markedPoints.clear();
|
||
gcjPathPoints.clear();
|
||
gcjOuterPoints.clear();
|
||
_robotModeWgsPoints.clear();
|
||
_obstacleHoles.clear();
|
||
_isWorkAreaCompleted = false;
|
||
_saveBoxOpen = false;
|
||
typedPathList.clear();
|
||
final loc = AppLocalizations.of(context);
|
||
_showPageToast(
|
||
message: loc.translate('route_planning.clear_work_area'),
|
||
type: ToastType.success,
|
||
);
|
||
//ToastUtils.showSuccess(context, '已清空所有作业区域点和路径');
|
||
|
||
//ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text('已清空所有作业区域点和路径')));
|
||
}
|
||
// 2. 空洞模式：清空所有空洞 + 恢复UI + 重新生成路径
|
||
else if (_currentAreaMode == AreaMode.obstacle) {
|
||
if (_obstacleHoles.isEmpty && _currentObstaclePoints.isEmpty) {
|
||
final loc = AppLocalizations.of(context);
|
||
_showPageToast(
|
||
message: loc.translate('route_planning.no_obstacles'),
|
||
type: ToastType.info,
|
||
);
|
||
|
||
//ToastUtils.showInfo(context, '暂无障碍物可删除');
|
||
return;
|
||
}
|
||
_obstacleHoles.clear();
|
||
_currentObstaclePoints.clear();
|
||
_robotModeObsWgsPoints.clear();
|
||
_isObstacleEditing = false;
|
||
// 清空后重新生成路径（无空洞）
|
||
if (_isWorkAreaCompleted) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
final loc = AppLocalizations.of(context);
|
||
_showPageToast(
|
||
message: loc.translate('route_planning.clear_obstacles'),
|
||
type: ToastType.success,
|
||
);
|
||
//ToastUtils.showSuccess(context, '已清空所有障碍物');
|
||
}
|
||
});
|
||
_saveDataToLocal();
|
||
}
|
||
|
||
void _handleGotoLocation() {
|
||
debugPrint('📍 [定位] 跳转到设备当前位置: $_currentLatLng');
|
||
_mapController.move(_currentLatLng!, 18);
|
||
}
|
||
|
||
/// ===============================
|
||
/// 企业级定位初始化（已修复坐标系）
|
||
Future<void> _initLocationEnterprise() async {
|
||
// 1. 设置轨迹模式为 LOCATION（核心：确保模式正确）
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
}
|
||
|
||
// ========== 新增：页面刷新初始化方法 ==========
|
||
Future<void> _handleRefresh() async {
|
||
debugPrint('🔄 [刷新] 开始重置页面状态...');
|
||
if (_workStatus != WorkStatus.idle) {
|
||
_stopWork();
|
||
}
|
||
|
||
_cancelAllToast();
|
||
if (_isRefreshing) return;
|
||
|
||
setState(() {
|
||
_isRefreshing = true;
|
||
});
|
||
|
||
try {
|
||
if (_currentLatLng != null &&
|
||
_isValidLatLng(_currentLatLng!.latitude, _currentLatLng!.longitude)) {
|
||
_mapController.move(_currentLatLng!, 18);
|
||
}
|
||
|
||
// ==========================================
|
||
// 🔥 1. 清空 所有本地缓存
|
||
// ==========================================
|
||
await _clearLocalData();
|
||
|
||
// ==========================================
|
||
// 🔥 2. 清空 所有内存状态（彻底重置）
|
||
// ==========================================
|
||
setState(() {
|
||
// 轨迹彻底清空（关键！）
|
||
tracePoint?.clear();
|
||
gctracePoint?.clear();
|
||
tracePoint = [];
|
||
gctracePoint = [];
|
||
|
||
// 所有绘制数据清空
|
||
_markedPoints.clear();
|
||
gcjPathPoints.clear();
|
||
gcjOuterPoints.clear();
|
||
_robotModeWgsPoints.clear();
|
||
_robotModeObsWgsPoints.clear();
|
||
_obstacleHoles.clear();
|
||
_currentObstaclePoints.clear();
|
||
|
||
// 路径清空
|
||
typedPathList.clear();
|
||
startWorkList.clear();
|
||
|
||
// 状态重置
|
||
_isWorkAreaCompleted = false;
|
||
_saveBoxOpen = false;
|
||
_isPanelOpen = false;
|
||
_directionBoxOpen = false;
|
||
_isListBoxOpen = false;
|
||
_isWorkPanelOpen = false;
|
||
_isVideoDialogOpen = false;
|
||
_isObstacleEditing = false;
|
||
_showControlModeWarn = false;
|
||
|
||
// 模式重置
|
||
_currentRobotMode = RobotMode.robot;
|
||
_currentAreaMode = AreaMode.work;
|
||
_currentWorkMode = WorkMode.bow;
|
||
|
||
// 作业状态重置
|
||
_workStatus = WorkStatus.idle;
|
||
isStartWork = false;
|
||
isStopWork = false;
|
||
isreceiveFirstCompletePoint = false;
|
||
_showHeadingWarn = false;
|
||
_isPanelOpen = false;
|
||
|
||
_directionBoxOpen = false;
|
||
_isListBoxOpen = false;
|
||
_isWorkPanelOpen = false;
|
||
_isVideoDialogOpen = false;
|
||
_isObstacleEditing = false;
|
||
_selectedPlot = null;
|
||
|
||
// 重置模式
|
||
_currentRobotMode = RobotMode.robot;
|
||
_currentAreaMode = AreaMode.work;
|
||
_currentWorkMode = WorkMode.bow;
|
||
|
||
// 重置参数
|
||
_workDistance = 0.0;
|
||
_angle = 0.0;
|
||
|
||
// 定位重置
|
||
_currentLatLng = null;
|
||
_currentWgsLatLng = null;
|
||
_mapCenter = _getDefaultValidCenter();
|
||
|
||
isDjMapShow = false;
|
||
_workStatus = WorkStatus.idle;
|
||
isStartWork = false;
|
||
isStopWork = false;
|
||
|
||
// ==========================================
|
||
// 🔥 🔥 🔥 核心修复：强制重置轨迹管理器 + 强制改为 LOCATION 模式
|
||
// ==========================================
|
||
_traceManager.reset();
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
});
|
||
|
||
// ==========================================
|
||
// 🔥 3. 保存空状态
|
||
// ==========================================
|
||
await _saveDataToLocal();
|
||
|
||
if (mounted) {
|
||
_showPageToast(
|
||
message: AppLocalizations.of(
|
||
context,
|
||
).translate('route_planning.clear_cache_success'),
|
||
type: ToastType.success,
|
||
);
|
||
}
|
||
} catch (e) {
|
||
if (mounted) {
|
||
_showPageToast(
|
||
message:
|
||
"${AppLocalizations.of(context).translate('route_planning.refresh_failed')}：${e.toString().substring(0, 50)}",
|
||
type: ToastType.error,
|
||
);
|
||
}
|
||
} finally {
|
||
if (mounted) {
|
||
setState(() {
|
||
_isRefreshing = false;
|
||
});
|
||
}
|
||
}
|
||
}
|
||
|
||
/// 手动回到当前位置
|
||
void _moveToCurrentLocation() {
|
||
if (_currentLatLng == null) return;
|
||
debugPrint('📍 [定位] 移动到当前位置: $_currentLatLng');
|
||
_mapController.move(_currentLatLng!, 17);
|
||
}
|
||
|
||
// ========== 障碍物模式：完成当前障碍物绘制 ==========
|
||
void _completeObstacle() {
|
||
debugPrint(
|
||
'✅ [完成障碍物] 当前障碍物点数: ${_currentObstaclePoints.length}, 已有障碍物区域: ${_obstacleHoles.length}',
|
||
);
|
||
if (_currentObstaclePoints.length < 3) {
|
||
_showPageToast(message: "障碍物区域至少需要3个打点！", type: ToastType.error);
|
||
//ToastUtils.showError(context, '障碍物区域至少需要3个打点！');
|
||
return;
|
||
}
|
||
|
||
setState(() {
|
||
// 保存当前障碍物组（Robot模式下直接用WGS84坐标）
|
||
if (_currentRobotMode == RobotMode.robot &&
|
||
_robotModeObsWgsPoints.isNotEmpty) {
|
||
final gcjPoints = _robotModeObsWgsPoints
|
||
.map((wgs) => wgs84ToGcj02(wgs.latitude, wgs.longitude))
|
||
.toList();
|
||
_obstacleHoles.add(gcjPoints);
|
||
_obstacleWgsHoles.add(List.from(_robotModeObsWgsPoints));
|
||
} else {
|
||
_obstacleHoles.add(List.from(_currentObstaclePoints));
|
||
}
|
||
|
||
_isObstacleEditing = false; // 退出编辑状态
|
||
});
|
||
_saveDataToLocal();
|
||
_showPageToast(
|
||
message: "已添加第${_obstacleHoles.length}个障碍物区域",
|
||
type: ToastType.success,
|
||
);
|
||
//ToastUtils.showSuccess(context, '已添加第${_obstacleHoles.length}个障碍物区域');
|
||
}
|
||
|
||
// ========== 核心方法：打点逻辑 ==========
|
||
void _addMarkedPoint() {
|
||
debugPrint(
|
||
'📍 [打点] 机器人模式: $_currentRobotMode, 区域模式: $_currentAreaMode, 作业已完成: $_isWorkAreaCompleted, 当前作业点数: ${_markedPoints.length}',
|
||
);
|
||
_traceManager.reset();
|
||
if (_currentAreaMode == AreaMode.work && _isWorkAreaCompleted) {
|
||
_showPageToast(message: "作业区域已完成，无法继续添加打点！", type: ToastType.error);
|
||
//ToastUtils.showError(context, '作业区域已完成，无法继续添加打点！');
|
||
return;
|
||
}
|
||
setState(() {
|
||
if (_currentRobotMode == RobotMode.point) {
|
||
if (_currentAreaMode == AreaMode.work) {
|
||
_markedPoints.add(_mapCenter);
|
||
debugPrint(
|
||
'新增作业区域打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude}, ${_mapCenter.longitude}',
|
||
);
|
||
} else {
|
||
if (_markedPoints.isEmpty) {
|
||
_showPageToast(message: "请先完成作业区域打点！", type: ToastType.info);
|
||
return;
|
||
}
|
||
// 障碍物模式：添加到当前障碍物打点
|
||
_currentObstaclePoints.add(_mapCenter);
|
||
_isObstacleEditing = true; // 标记进入障碍物编辑状态
|
||
debugPrint(
|
||
'新增障碍物打点：第${_currentObstaclePoints.length}个点，经纬度：${_mapCenter.latitude}, ${_mapCenter.longitude}',
|
||
);
|
||
}
|
||
} else {
|
||
if (_currentLatLng == null ||
|
||
!_isValidLatLng(
|
||
_currentLatLng!.latitude,
|
||
_currentLatLng!.longitude,
|
||
)) {
|
||
_showPageToast(message: "设备坐标无效，无法添加打点！", type: ToastType.error);
|
||
//ToastUtils.showError(context, '设备坐标无效，无法添加打点！');
|
||
return;
|
||
}
|
||
|
||
// 2. Robot模式-作业区域打点
|
||
if (_currentAreaMode == AreaMode.work) {
|
||
_markedPoints.add(_currentLatLng!); // 从设备实时坐标取最后一个值
|
||
_robotModeWgsPoints.add(_currentWgsLatLng!);
|
||
debugPrint(
|
||
'Robot模式新增作业打点：第${_markedPoints.length}个点，经纬度：${_currentLatLng!.latitude}, ${_currentLatLng!.longitude}',
|
||
);
|
||
} else {
|
||
if (_markedPoints.isEmpty || _robotModeWgsPoints.isEmpty) {
|
||
_showPageToast(message: "请先完成作业区域打点！", type: ToastType.info);
|
||
return;
|
||
}
|
||
// 3. Robot模式-障碍物打点
|
||
_currentObstaclePoints.add(_currentLatLng!);
|
||
_robotModeObsWgsPoints.add(_currentWgsLatLng!);
|
||
_isObstacleEditing = true;
|
||
debugPrint(
|
||
'Robot模式新增障碍物打点：第${_currentObstaclePoints.length}个点，经纬度：${_currentLatLng!.latitude}, ${_currentLatLng!.longitude}',
|
||
);
|
||
}
|
||
}
|
||
});
|
||
_saveDataToLocal();
|
||
debugPrint(
|
||
'$_markedPoints,新增打点：第${_markedPoints.length}个点，经纬度：${_mapCenter.latitude.toStringAsFixed(20)}, ${_mapCenter.longitude.toStringAsFixed(20)}',
|
||
);
|
||
}
|
||
|
||
// ========== 新增：返回上一级页面的方法 ==========
|
||
void _navigateBack() {
|
||
debugPrint('🔙 [返回] 关闭页面，返回上一级');
|
||
Navigator.of(context).pop();
|
||
}
|
||
|
||
@override
|
||
void dispose() {
|
||
_traceManager.reset();
|
||
_mapController.dispose();
|
||
_pathPlanningSub?.cancel(); // 🔥 取消订阅
|
||
_saveDataToLocal(); // 🔥 页面销毁时保存最终状态
|
||
_cancelAllToast(); // 退出页面 → 关闭所有本页面的Toast
|
||
super.dispose();
|
||
}
|
||
|
||
void _handleVideo() {
|
||
debugPrint('🎬 [视频] 打开视频弹窗');
|
||
setState(() {
|
||
_isVideoDialogOpen = true; // 打开视频弹窗
|
||
});
|
||
}
|
||
|
||
Widget _buildVideoPopup() {
|
||
return Positioned(
|
||
left: _videoPopupPos.dx,
|
||
top: _videoPopupPos.dy,
|
||
child: GestureDetector(
|
||
// 拖拽区域（整个弹窗可拖拽）
|
||
onPanUpdate: (details) {
|
||
setState(() {
|
||
_videoPopupPos = Offset(
|
||
_videoPopupPos.dx + details.delta.dx,
|
||
_videoPopupPos.dy + details.delta.dy,
|
||
);
|
||
});
|
||
},
|
||
child: WebRTCMapPlayer(
|
||
streamUrl: _videoStreamUrl,
|
||
width: 320,
|
||
height: 180,
|
||
showLeftPip: false,
|
||
showRightPip: false,
|
||
onClose: _closeVideoDialog, // 关闭回调
|
||
),
|
||
),
|
||
);
|
||
}
|
||
|
||
void _closeVideoDialog() {
|
||
setState(() {
|
||
_isVideoDialogOpen = false;
|
||
});
|
||
}
|
||
|
||
Widget _buildPlotListItem(PlotData plot, Function(PlotData) onDelete) {
|
||
return GestureDetector(
|
||
// 核心：点击列表项触发选中逻辑
|
||
onTap: () async {
|
||
// 🔥 添加日志：打印选中的路线任务详情
|
||
debugPrint('📋 [路径规划] 选中路线任务:');
|
||
debugPrint(' ├─ 地块名称: ${plot.plotName}');
|
||
debugPrint(' └─ 数据ID: ${plot.id}');
|
||
|
||
// 【优化1】第一步就UI响应，不卡手
|
||
setState(() {
|
||
_isListBoxOpen = false;
|
||
_isPanelOpen = false;
|
||
_directionBoxOpen = false;
|
||
gcjPathPoints = [];
|
||
gcjOuterPoints = [];
|
||
_selectedPlot = plot;
|
||
});
|
||
|
||
try {
|
||
_traceManager.reset();
|
||
|
||
// 🔥 核心修复：优先使用列表中已加载的 plot.jsonData，避免重复查询导致所有任务显示同一条路线
|
||
Map<String, dynamic>? parsedJson;
|
||
|
||
if (plot.jsonData != null && plot.jsonData!.isNotEmpty) {
|
||
debugPrint('✅ [选中地块] 尝试使用本地 jsonData，长度: ${plot.jsonData!.length}');
|
||
try {
|
||
final decoded = jsonDecode(plot.jsonData!);
|
||
if (decoded is Map<String, dynamic>) {
|
||
// 🔥 关键检查：jsonData 必须包含 path 或 outer 才算有效数据
|
||
// selectBySiteId 接口返回的 <jsonData/> 是空标签，解析后是 {}，没有路径数据
|
||
final hasPath =
|
||
decoded.containsKey('path') && decoded['path'] != null;
|
||
final hasOuter =
|
||
decoded.containsKey('outer') && decoded['outer'] != null;
|
||
if (hasPath || hasOuter) {
|
||
parsedJson = decoded;
|
||
debugPrint(
|
||
'✅ [选中地块] 本地 jsonData 有效，path=$hasPath, outer=$hasOuter',
|
||
);
|
||
} else {
|
||
debugPrint(
|
||
'⚠️ [选中地块] 本地 jsonData 无路径数据 (path=$hasPath, outer=$hasOuter)，将回退调接口',
|
||
);
|
||
}
|
||
} else {
|
||
debugPrint(
|
||
'❌ [选中地块] plot.jsonData jsonDecode 结果不是 Map: ${decoded.runtimeType}',
|
||
);
|
||
}
|
||
} catch (e) {
|
||
debugPrint('❌ [选中地块] plot.jsonData jsonDecode 失败: $e');
|
||
}
|
||
}
|
||
|
||
// 回退：本地 jsonData 为空时，才调接口查询
|
||
if (parsedJson == null) {
|
||
debugPrint('⚠️ [选中地块] 本地 jsonData 为空，回退调用接口查询');
|
||
await context.read<DevicesCubit>().loadSelectedPath(plot.plotName);
|
||
final cubitState = context.read<DevicesCubit>().state;
|
||
final _loadedPlot = cubitState.pathData;
|
||
debugPrint(
|
||
'🔍 [选中地块] pathData 类型: ${_loadedPlot.runtimeType}, 是否为空: ${_loadedPlot?.isEmpty ?? true}',
|
||
);
|
||
|
||
if (_loadedPlot is List && _loadedPlot!.isNotEmpty) {
|
||
final pathRecords = _loadedPlot
|
||
.where((item) => item is Map<String, dynamic>)
|
||
.cast<Map<String, dynamic>>()
|
||
.toList();
|
||
|
||
if (pathRecords.isNotEmpty) {
|
||
final record = pathRecords.first;
|
||
// 🔥 核心修复：直接从接口记录的顶层字段取 path/outer，而不是从 jsonData 中取
|
||
final rawPath = record['path'];
|
||
final rawOuter = record['outer'];
|
||
final planModel = record['planModel'];
|
||
|
||
debugPrint(
|
||
'🔍 [选中地块] 接口顶层 path 类型: ${rawPath.runtimeType}, outer 类型: ${rawOuter.runtimeType}',
|
||
);
|
||
|
||
// 构造 parsedJson，保持 path/outer 为顶层字段
|
||
parsedJson = <String, dynamic>{
|
||
'path': rawPath,
|
||
'outer': rawOuter,
|
||
if (planModel != null) 'planModel': planModel,
|
||
};
|
||
|
||
// 如果顶层 path/outer 都为空，尝试从 jsonData 兜底
|
||
if (rawPath == null &&
|
||
rawOuter == null &&
|
||
record['jsonData'] != null) {
|
||
debugPrint('⚠️ [选中地块] 顶层 path/outer 为空，尝试从 jsonData 兜底');
|
||
final nestedJsonRaw = record['jsonData'];
|
||
if (nestedJsonRaw is String) {
|
||
try {
|
||
final decoded = jsonDecode(nestedJsonRaw);
|
||
if (decoded is Map<String, dynamic>) {
|
||
parsedJson = decoded;
|
||
}
|
||
} catch (_) {}
|
||
} else if (nestedJsonRaw is Map<String, dynamic>) {
|
||
parsedJson = nestedJsonRaw;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
if (parsedJson == null) {
|
||
debugPrint('❌ [选中地块] 无法获取路径数据，面板显示但 startWorkList 为空');
|
||
setState(() {
|
||
_isWorkPanelOpen = true;
|
||
_isPanelOpen = false;
|
||
_directionBoxOpen = false;
|
||
});
|
||
return;
|
||
}
|
||
|
||
debugPrint(
|
||
'🔍 [选中地块] parsedJson keys: ${parsedJson.keys}, planModel: ${parsedJson['planModel']}',
|
||
);
|
||
|
||
// 🔥 安全解析 planModel：支持 int 和 String 类型
|
||
final int planModelValue =
|
||
int.tryParse(parsedJson['planModel']?.toString() ?? '0') ?? 0;
|
||
debugPrint('🔍 [选中地块] planModelValue: $planModelValue');
|
||
|
||
workMode = planModelValue == WorkMode.bow.value ? "弓字模式" : "自定义模式";
|
||
_currentWorkMode = planModelValue == WorkMode.bow.value
|
||
? WorkMode.bow
|
||
: WorkMode.custom;
|
||
debugPrint('🔍 [选中地块] workMode: $workMode');
|
||
|
||
// 【优化4】统一 path/outer 解析逻辑，不重复代码
|
||
List<dynamic> pathList = [];
|
||
final rawPath = parsedJson['path'];
|
||
debugPrint('🔍 [选中地块] rawPath 类型: ${rawPath.runtimeType}');
|
||
if (rawPath is String) {
|
||
try {
|
||
pathList = jsonDecode(rawPath) as List;
|
||
} catch (_) {}
|
||
} else if (rawPath is List) {
|
||
pathList = rawPath;
|
||
}
|
||
debugPrint('🔍 [选中地块] pathList 长度: ${pathList.length}');
|
||
if (pathList.isNotEmpty) {
|
||
debugPrint('🔍 [选中地块] pathList[0]: ${pathList.first}');
|
||
}
|
||
|
||
List<dynamic> outerList = [];
|
||
final rawOuter = parsedJson['outer'];
|
||
debugPrint('🔍 [选中地块] rawOuter 类型: ${rawOuter.runtimeType}');
|
||
if (rawOuter is String) {
|
||
try {
|
||
outerList = jsonDecode(rawOuter) as List;
|
||
} catch (_) {}
|
||
} else if (rawOuter is List) {
|
||
outerList = rawOuter;
|
||
}
|
||
debugPrint('🔍 [选中地块] outerList 长度: ${outerList.length}');
|
||
if (outerList.isNotEmpty) {
|
||
debugPrint('🔍 [选中地块] outerList[0]: ${outerList.first}');
|
||
}
|
||
|
||
// 弓字模式：path是路线轨迹，outer是边界框
|
||
// 自定义模式：只有path
|
||
if (workMode == "弓字模式") {
|
||
startWorkList = pathList.isNotEmpty ? pathList : outerList;
|
||
} else {
|
||
startWorkList = pathList.isNotEmpty ? pathList : outerList;
|
||
}
|
||
debugPrint('✅ [选中地块] startWorkList 长度: ${startWorkList.length}');
|
||
|
||
// 【优化5】一次性生成坐标，不反复操作数组
|
||
List<LatLng> newPathPoints = [];
|
||
List<LatLng> newOuterPoints = [];
|
||
for (var item in pathList) {
|
||
double? lat = safeToDouble(item['lat']);
|
||
double? lon = safeToDouble(item['lng'] ?? item['lon']);
|
||
if (lat != null && lon != null) {
|
||
newPathPoints.add(convertWGS84ToGCJ02(lat, lon));
|
||
}
|
||
}
|
||
for (var item in outerList) {
|
||
double? lng = safeToDouble(item['lng'] ?? item['lon']);
|
||
double? lat = safeToDouble(item['lat']);
|
||
if (lng != null && lat != null) {
|
||
newOuterPoints.add(convertWGS84ToGCJ02(lat, lng));
|
||
}
|
||
}
|
||
|
||
// 【优化6】整个方法只调用一次 setState，性能暴涨
|
||
// 🔥 弓字模式(0)：显示 outer灰色透明框 + path路线轨迹
|
||
// 🔥 自定义模式(2)：只显示 path
|
||
setState(() {
|
||
gcjPathPoints = newPathPoints; // 两种模式都显示 path
|
||
gcjOuterPoints = _currentWorkMode == WorkMode.bow
|
||
? newOuterPoints // 弓字模式：显示 outer 边框
|
||
: []; // 自定义模式：不显示 outer
|
||
_isWorkPanelOpen = true;
|
||
_isPanelOpen = false;
|
||
_directionBoxOpen = false;
|
||
});
|
||
debugPrint(
|
||
'✅ [选中地块] 最终渲染: gcjPathPoints=${gcjPathPoints.length}, gcjOuterPoints=${gcjOuterPoints.length}, workMode=$_currentWorkMode',
|
||
);
|
||
|
||
// 最后移动地图
|
||
List<LatLng> allPoints = [];
|
||
allPoints.addAll(gcjPathPoints);
|
||
allPoints.addAll(gcjOuterPoints);
|
||
if (allPoints.isNotEmpty) {
|
||
moveMapToPointsCenter(allPoints);
|
||
}
|
||
} catch (e) {
|
||
debugPrint('解析失败：$e');
|
||
setState(() {
|
||
gcjPathPoints = [];
|
||
gcjOuterPoints = [];
|
||
_isWorkPanelOpen = true;
|
||
_isPanelOpen = false;
|
||
_directionBoxOpen = false;
|
||
});
|
||
} finally {
|
||
_saveDataToLocal();
|
||
}
|
||
},
|
||
child: Container(
|
||
margin: const EdgeInsets.symmetric(horizontal: 16, vertical: 4),
|
||
padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 4),
|
||
decoration: BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.circular(8),
|
||
border: Border.all(
|
||
color: _selectedPlot?.id == plot.id
|
||
? Colors.blue
|
||
: Colors.grey[100]!,
|
||
width: _selectedPlot?.id == plot.id ? 2 : 1, // 选中项高亮边框
|
||
),
|
||
),
|
||
child: Row(
|
||
children: [
|
||
ClipRRect(
|
||
borderRadius: BorderRadius.circular(8),
|
||
child: Image.network(
|
||
plot.imageUrl,
|
||
width: 30,
|
||
height: 30,
|
||
fit: BoxFit.cover,
|
||
errorBuilder: (context, error, stackTrace) {
|
||
return Container(
|
||
width: 30,
|
||
height: 30,
|
||
color: Colors.grey[200],
|
||
child: const Icon(Icons.image_outlined, color: Colors.grey),
|
||
);
|
||
},
|
||
),
|
||
),
|
||
|
||
const SizedBox(width: 10),
|
||
|
||
Expanded(
|
||
child: Text(
|
||
plot.plotName,
|
||
style: const TextStyle(fontSize: 16, color: Colors.black87),
|
||
maxLines: 1,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
),
|
||
|
||
IconButton(
|
||
onPressed: () => _showDeleteConfirmDialog(plot, onDelete),
|
||
icon: const Icon(
|
||
Icons.delete_outline,
|
||
color: Colors.redAccent,
|
||
size: 20,
|
||
),
|
||
padding: EdgeInsets.zero,
|
||
constraints: const BoxConstraints(),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
}
|
||
|
||
LatLng _getDefaultValidCenter() {
|
||
return const LatLng(30.279651, 120.154871);
|
||
}
|
||
|
||
Widget _buildMap(
|
||
double lat,
|
||
double lng,
|
||
bool obfFlag,
|
||
int headingStatus,
|
||
String controlMode,
|
||
) {
|
||
_onDeviceData(lng, lat, obfFlag, headingStatus, controlMode);
|
||
|
||
final gcjPoint = wgs84ToGcj02(lat, lng);
|
||
|
||
//final initCenter = bd09ToGcj02(
|
||
// '120.81992468426961', // 经度
|
||
// '32.04532826114155',
|
||
//);
|
||
|
||
// 🔥 修复1：初始化坐标改为直接使用有效GCJ02坐标，避免BD09转换风险
|
||
final initCenter = _getDefaultValidCenter();
|
||
_currentWgsLatLng = LatLng(lat, lng);
|
||
|
||
_traceManager.upsert(_currentWgsLatLng as PlotPoint, TPAction.UPDATE);
|
||
tracePoint = _traceManager.getTracePoint();
|
||
gctracePoint = batchWgs84ToGcj02(tracePoint!);
|
||
_logger.log("[当前轨迹模式][转换后gctracePoint]: ${gctracePoint!.length}");
|
||
_logger.log("[当前轨迹模式]:${_traceManager.getMode()}"); // 这里必须加 ()
|
||
|
||
//_currentLatLng = gcjPoint; // ✅ 状态变量在setState内更新
|
||
if (_isValidLatLng(gcjPoint.latitude, gcjPoint.longitude)) {
|
||
_currentLatLng = gcjPoint;
|
||
} else {
|
||
_currentLatLng = null;
|
||
}
|
||
|
||
return FlutterMap(
|
||
mapController: _mapController,
|
||
options: MapOptions(
|
||
initialCenter: __isValidLatLng(_currentLatLng)
|
||
? _currentLatLng!
|
||
: initCenter,
|
||
initialZoom: 18,
|
||
maxZoom: 22,
|
||
minZoom: 3,
|
||
enableScrollWheel: true,
|
||
// 🔥 视觉放大：通过缩放系数实现"伪20级"显示（无空白）
|
||
onTap: (_, __) {}, // 空实现，禁用地图点击响应
|
||
),
|
||
children: [
|
||
/// 高德瓦片（GCJ-02）
|
||
TileLayer(
|
||
//urlTemplate:
|
||
// "https://webst02.is.autonavi.com/appmaptile?style=6&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=2&style=7&key=bbb1f0f20eed6bf679eddf2625630aba",
|
||
urlTemplate:
|
||
'https://webrd02.is.autonavi.com/appmaptile'
|
||
'?style=8&x={x}&y={y}&z={z}&lang=zh_cn&size=1&scale=1'
|
||
'&key=bbb1f0f20eed6bf679eddf2625630aba',
|
||
// 🔥 修复：适配高DPI（替代pixelRatio）
|
||
// tileSize: 512, // 高清瓦片尺寸（默认256，改为512适配scale=2）
|
||
tileProvider: NetworkTileProvider(
|
||
// 自定义瓦片请求头（可选，提升兼容性）
|
||
headers: {
|
||
'Referer': 'https://www.amap.com', // 高德要求的Referer
|
||
},
|
||
),
|
||
maxZoom: 18,
|
||
),
|
||
//if (isDjMapShow) DJITileLayer(stationName: _currentStation.name, mapController: _mapController),
|
||
|
||
// 绘制path折线（Line模式）
|
||
if (gcjPathPoints.isNotEmpty)
|
||
PolylineLayer(
|
||
polylines: [
|
||
Polyline(
|
||
points: gcjPathPoints, // 转换后的GCJ02坐标
|
||
color: const Color.fromARGB(255, 255, 204, 0), // 金黄色（更醒目）
|
||
strokeWidth: 1.0, // 折线宽度
|
||
isDotted: false, // 非虚线（Line模式）
|
||
borderColor: Colors.white, // 可选：添加白色描边，提升辨识度
|
||
borderStrokeWidth: 1,
|
||
),
|
||
],
|
||
),
|
||
|
||
// 绘制outer边框（Polygon模式）—— 弓字模式：灰色透明框 + 内部路线轨迹
|
||
if (gcjOuterPoints.isNotEmpty && _currentWorkMode == WorkMode.bow)
|
||
PolygonLayer(
|
||
polygons: [
|
||
Polygon(
|
||
points: gcjOuterPoints, // 转换后的GCJ02坐标
|
||
color: Colors.grey.withOpacity(0.15), // 灰色半透明填充
|
||
borderColor: Colors.grey.withOpacity(0.6), // 灰色半透明边框
|
||
borderStrokeWidth: 1.5, // 边框宽度
|
||
isFilled: true, // 开启填充
|
||
),
|
||
],
|
||
),
|
||
if (gcjOuterPoints.isNotEmpty && _currentWorkMode == WorkMode.custom)
|
||
PolylineLayer(
|
||
polylines: [
|
||
Polyline(
|
||
points: gcjOuterPoints, // 转换后的GCJ02坐标
|
||
color: Colors.green, // 内部填充色（透明）
|
||
strokeWidth: 3.0, // 折线宽度
|
||
isDotted: false, // 非虚线（Line模式）
|
||
borderColor: Colors.white, // 可选：添加白色描边，提升辨识度
|
||
borderStrokeWidth: 0.5,
|
||
),
|
||
],
|
||
),
|
||
|
||
/// 中心标与历史打点的虚线连线
|
||
if (!_isWorkAreaCompleted)
|
||
PolylineLayer(
|
||
polylines: [
|
||
for (int i = 0; i < _markedPoints.length - 1; i++)
|
||
Polyline(
|
||
points: [_markedPoints[i], _markedPoints[i + 1]],
|
||
color: Colors.orange.withOpacity(0.5),
|
||
strokeWidth: 1.5,
|
||
),
|
||
],
|
||
),
|
||
if (_markedPoints.isNotEmpty &&
|
||
!_isWorkAreaCompleted &&
|
||
_currentRobotMode == RobotMode.point)
|
||
Stack(
|
||
// 核心：替换Column为Stack
|
||
children: [
|
||
// 1. 蓝色连线
|
||
PolylineLayer(
|
||
polylines: [
|
||
Polyline(
|
||
points: [_mapCenter, _markedPoints.last],
|
||
color: Colors.blue.withOpacity(0.5),
|
||
strokeWidth: 1.5,
|
||
),
|
||
],
|
||
),
|
||
// 2. 距离文本Marker
|
||
MarkerLayer(
|
||
markers: [
|
||
Marker(
|
||
point: _getMiddleLatLng(_mapCenter, _markedPoints.last),
|
||
width: 100,
|
||
height: 30,
|
||
child: Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 8,
|
||
vertical: 4,
|
||
),
|
||
child: Text(
|
||
_calculateLatLngDistance(
|
||
_mapCenter,
|
||
_markedPoints.last,
|
||
),
|
||
style: const TextStyle(
|
||
color: Colors.red,
|
||
fontSize: 12,
|
||
fontWeight: FontWeight.bold,
|
||
),
|
||
textAlign: TextAlign.center,
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
],
|
||
),
|
||
|
||
if (_currentWorkMode == WorkMode.bow &&
|
||
_markedPoints.isNotEmpty &&
|
||
!_isWorkAreaCompleted &&
|
||
_currentRobotMode == RobotMode.point)
|
||
PolygonLayer(
|
||
polygons: [
|
||
Polygon(
|
||
points: _getPolygonPoints(),
|
||
color: Colors.green.withOpacity(0.2),
|
||
borderColor: Colors.green.withOpacity(0.5),
|
||
borderStrokeWidth: 1,
|
||
isFilled: true,
|
||
),
|
||
],
|
||
),
|
||
if (_obstacleHoles.isNotEmpty && _isObstacleEditing)
|
||
PolygonLayer(
|
||
polygons: _obstacleHoles.map((holePoints) {
|
||
return Polygon(
|
||
points: holePoints,
|
||
color: Colors.red.withOpacity(0.2), // 红色半透明填充
|
||
borderColor: Colors.red, // 红色边框
|
||
borderStrokeWidth: 1.5,
|
||
isFilled: true,
|
||
);
|
||
}).toList(),
|
||
),
|
||
//开始作业之后
|
||
|
||
// 2. 正在绘制的障碍物打点连线（红色虚线）
|
||
if (_isObstacleEditing && _currentObstaclePoints.isNotEmpty)
|
||
PolylineLayer(
|
||
polylines: [
|
||
// 已绘制的障碍物点连线
|
||
for (int i = 0; i < _currentObstaclePoints.length - 1; i++)
|
||
Polyline(
|
||
points: [
|
||
_currentObstaclePoints[i],
|
||
_currentObstaclePoints[i + 1],
|
||
],
|
||
color: Colors.red.withOpacity(0.8),
|
||
strokeWidth: 1.5,
|
||
isDotted: true, // 虚线区分作业区域
|
||
),
|
||
if (_currentRobotMode == RobotMode.point)
|
||
// 最后一个点到地图中心的连线
|
||
Polyline(
|
||
points: [_mapCenter, _currentObstaclePoints.last],
|
||
color: Colors.red.withOpacity(0.5),
|
||
strokeWidth: 1.5,
|
||
isDotted: true,
|
||
),
|
||
],
|
||
),
|
||
|
||
// 3. 障碍物打点标记（红色）
|
||
if (_currentAreaMode == AreaMode.obstacle && _isObstacleEditing)
|
||
MarkerLayer(
|
||
markers: [
|
||
// 已完成的障碍物打点
|
||
for (
|
||
var holeIndex = 0;
|
||
holeIndex < _obstacleHoles.length;
|
||
holeIndex++
|
||
)
|
||
for (
|
||
var pointIndex = 0;
|
||
pointIndex < _obstacleHoles[holeIndex].length;
|
||
pointIndex++
|
||
)
|
||
Marker(
|
||
point: _obstacleHoles[holeIndex][pointIndex],
|
||
width: 80,
|
||
height: 40,
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min,
|
||
children: [
|
||
const SizedBox(height: 8),
|
||
Container(
|
||
width: 16,
|
||
height: 16,
|
||
decoration: const BoxDecoration(
|
||
color: Colors.red, // 红色标记区分作业区域
|
||
shape: BoxShape.circle,
|
||
boxShadow: [
|
||
BoxShadow(color: Colors.black12, blurRadius: 2),
|
||
],
|
||
),
|
||
child: Center(
|
||
child: Text(
|
||
'${holeIndex + 1}-${pointIndex + 1}', // 格式：组号-点号
|
||
style: const TextStyle(
|
||
color: Colors.white,
|
||
fontSize: 8,
|
||
fontWeight: FontWeight.bold,
|
||
),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
// 正在绘制的障碍物打点
|
||
for (
|
||
var pointIndex = 0;
|
||
pointIndex < _currentObstaclePoints.length;
|
||
pointIndex++
|
||
)
|
||
Marker(
|
||
point: _currentObstaclePoints[pointIndex],
|
||
width: 80,
|
||
height: 40,
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min,
|
||
children: [
|
||
const SizedBox(height: 8),
|
||
Container(
|
||
width: 16,
|
||
height: 16,
|
||
decoration: const BoxDecoration(
|
||
color: Colors.orange, // 橙色标记区分正在绘制
|
||
shape: BoxShape.circle,
|
||
boxShadow: [
|
||
BoxShadow(color: Colors.black12, blurRadius: 2),
|
||
],
|
||
),
|
||
child: Center(
|
||
child: Text(
|
||
'${pointIndex + 1}',
|
||
style: const TextStyle(
|
||
color: Colors.white,
|
||
fontSize: 10,
|
||
fontWeight: FontWeight.bold,
|
||
),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
],
|
||
),
|
||
|
||
// 只在 ≥2 个点时才显示图层，否则直接消失！
|
||
if (gctracePoint != null && gctracePoint!.length >= 2)
|
||
PolylineLayer(
|
||
key: const ValueKey('trace_polyline'),
|
||
polylines: [
|
||
Polyline(
|
||
points: gctracePoint!,
|
||
color: const Color.fromARGB(255, 6, 187, 232),
|
||
strokeWidth: 3,
|
||
),
|
||
],
|
||
),
|
||
|
||
/// 当前定位 Marker
|
||
if (_currentLatLng != null && __isValidLatLng(_currentLatLng))
|
||
MarkerLayer(
|
||
markers: [
|
||
Marker(
|
||
point: _currentLatLng!,
|
||
width: 40,
|
||
height: 40,
|
||
child: CustomPaint(
|
||
size: const Size(40, 40),
|
||
painter: HeadingMarkerPainter(headingAngle: _headingAngle),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
|
||
if (!_isWorkAreaCompleted)
|
||
/// 历史打点的绿色标记
|
||
MarkerLayer(
|
||
markers: _markedPoints.asMap().entries.map((entry) {
|
||
int index = entry.key + 1; // 打点序号（从1开始）
|
||
LatLng point = entry.value;
|
||
|
||
return Marker(
|
||
point: point,
|
||
width: 80,
|
||
height: 40,
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min,
|
||
children: [
|
||
const SizedBox(height: 8), // 向下偏移8px（抵消默认的顶部对齐）
|
||
// 绿色打点标记
|
||
Container(
|
||
width: 16,
|
||
height: 16,
|
||
decoration: const BoxDecoration(
|
||
color: Color.fromARGB(255, 10, 218, 55), // 绿色主题色
|
||
shape: BoxShape.circle,
|
||
boxShadow: [
|
||
BoxShadow(color: Colors.black12, blurRadius: 2),
|
||
],
|
||
),
|
||
child: Center(
|
||
child: Text(
|
||
'$index',
|
||
style: const TextStyle(
|
||
color: Colors.white,
|
||
fontSize: 10,
|
||
fontWeight: FontWeight.bold,
|
||
),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
}).toList(),
|
||
),
|
||
],
|
||
);
|
||
}
|
||
|
||
/// 🔥 显示任务选择弹窗
|
||
Future<DeviceTaskEntity?> _showTaskSelectionDialog(
|
||
List<DeviceTaskEntity> tasks,
|
||
) async {
|
||
return showDialog<DeviceTaskEntity>(
|
||
context: context,
|
||
barrierDismissible: false,
|
||
builder: (dialogContext) => AlertDialog(
|
||
title: const Text('选择任务'),
|
||
content: SizedBox(
|
||
width: double.maxFinite,
|
||
child: ListView.builder(
|
||
shrinkWrap: true,
|
||
itemCount: tasks.length,
|
||
itemBuilder: (context, index) {
|
||
final task = tasks[index];
|
||
// 状态标签颜色
|
||
Color statusColor;
|
||
String statusText;
|
||
switch (task.taskStatus) {
|
||
case 'NEW':
|
||
statusColor = Colors.blue;
|
||
statusText = '新建';
|
||
break;
|
||
case 'EXECUTING':
|
||
statusColor = Colors.green;
|
||
statusText = '执行中';
|
||
break;
|
||
case 'PAUSE':
|
||
statusColor = Colors.orange;
|
||
statusText = '暂停中';
|
||
break;
|
||
default:
|
||
statusColor = Colors.grey;
|
||
statusText = task.taskStatusTranslate;
|
||
}
|
||
|
||
return Card(
|
||
margin: const EdgeInsets.symmetric(vertical: 4),
|
||
child: ListTile(
|
||
title: Text('任务 #${task.id}'),
|
||
subtitle: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text('设备号: ${task.deviceId}'),
|
||
Row(
|
||
children: [
|
||
Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 6,
|
||
vertical: 2,
|
||
),
|
||
decoration: BoxDecoration(
|
||
color: statusColor.withOpacity(0.1),
|
||
borderRadius: BorderRadius.circular(4),
|
||
),
|
||
child: Text(
|
||
statusText,
|
||
style: TextStyle(
|
||
color: statusColor,
|
||
fontSize: 12,
|
||
),
|
||
),
|
||
),
|
||
if (task.createTime != null) ...[
|
||
const SizedBox(width: 8),
|
||
Text(
|
||
task.createTime!,
|
||
style: const TextStyle(
|
||
fontSize: 12,
|
||
color: Colors.grey,
|
||
),
|
||
),
|
||
],
|
||
],
|
||
),
|
||
],
|
||
),
|
||
onTap: () {
|
||
Navigator.pop(dialogContext, task);
|
||
},
|
||
),
|
||
);
|
||
},
|
||
),
|
||
),
|
||
actions: [
|
||
TextButton(
|
||
onPressed: () => Navigator.pop(dialogContext, null),
|
||
child: const Text('取消'),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
}
|
||
|
||
/// 开始作业
|
||
void _startWork() async {
|
||
// 🔥 V2 适配：使用接口方式执行作业，不再使用 TCP
|
||
|
||
// 1. 校验选中的路线
|
||
if (_selectedPlot == null) {
|
||
_showPageToast(message: "请先选择一个路线任务", type: ToastType.info);
|
||
return;
|
||
}
|
||
|
||
// 2. 获取设备ID（从 RemoteControlCubit 的 targetDevice）
|
||
final targetDevice = context.read<RemoteControlCubit>().state.targetDevice;
|
||
final deviceId = targetDevice?.deviceName;
|
||
if (deviceId == null || deviceId.isEmpty) {
|
||
_showPageToast(message: "请先选择一个设备", type: ToastType.info);
|
||
return;
|
||
}
|
||
|
||
// 3. 获取路线ID（从选中的路线任务）
|
||
final routeId = int.tryParse(_selectedPlot!.id);
|
||
if (routeId == null) {
|
||
_showPageToast(message: "路线ID无效", type: ToastType.error);
|
||
return;
|
||
}
|
||
|
||
// 4. 获取场站ID（从 SiteCubit 的 selectedSite）
|
||
final siteId = sl<SiteCubit>().state.selectedSite?.id;
|
||
if (siteId == null) {
|
||
_showPageToast(message: "请先选择一个场站", type: ToastType.info);
|
||
return;
|
||
}
|
||
|
||
// 5. 获取组织ID（从 AppUserCubit 的 user）
|
||
final userCubit = sl<AppUserCubit>();
|
||
final orgId = userCubit.state.user?.orgId;
|
||
if (orgId == null) {
|
||
_showPageToast(message: "用户信息异常，请重新登录", type: ToastType.error);
|
||
return;
|
||
}
|
||
|
||
// 🔥 6. 先过滤出活跃任务，让用户选择
|
||
debugPrint('🔍 [开始作业] 正在查询活跃任务...');
|
||
final taskCubit = sl<DeviceTaskCubit>();
|
||
await taskCubit.fetchAndFilterTask(deviceId);
|
||
|
||
// 等待一下让状态更新
|
||
await Future.delayed(const Duration(milliseconds: 100));
|
||
|
||
final activeTasks = taskCubit.state.activeTasks;
|
||
debugPrint('✅ [开始作业] 找到 ${activeTasks.length} 个活跃任务');
|
||
|
||
// 🔥 6. 任务选择（仅当有活跃任务时才需要选择，否则直接创建新任务）
|
||
DeviceTaskEntity? selectedTask;
|
||
if (activeTasks.length > 1) {
|
||
debugPrint('⚠️ [开始作业] 有多个活跃任务，显示选择弹窗');
|
||
selectedTask = await _showTaskSelectionDialog(activeTasks);
|
||
if (selectedTask == null) {
|
||
debugPrint('❌ [开始作业] 用户取消选择任务');
|
||
return;
|
||
}
|
||
taskCubit.selectTask(selectedTask);
|
||
} else if (activeTasks.length == 1) {
|
||
selectedTask = activeTasks.first;
|
||
debugPrint('✅ [开始作业] 自动选择唯一任务 #${selectedTask.id}');
|
||
} else {
|
||
debugPrint('ℹ️ [开始作业] 无活跃任务，将直接创建新任务');
|
||
}
|
||
|
||
debugPrint(
|
||
'📋 [开始作业] 选中的任务ID: ${selectedTask?.id ?? "(新建)"}, 状态: ${selectedTask?.taskStatus ?? "N/A"}',
|
||
);
|
||
|
||
// 7. 打印请求参数日志
|
||
debugPrint('🚀 [开始作业] 请求参数:');
|
||
debugPrint(' ├─ deviceId: $deviceId');
|
||
debugPrint(' ├─ routeId: $routeId');
|
||
debugPrint(' ├─ siteId: $siteId');
|
||
debugPrint(' ├─ orgId: $orgId');
|
||
debugPrint(' └─ taskId: ${selectedTask?.id ?? "(无，将新建)"}');
|
||
|
||
// 8. 更新UI状态
|
||
setState(() {
|
||
isStopWork = false;
|
||
isStartWork = true;
|
||
_workStatus = WorkStatus.working;
|
||
_traceManager.reset();
|
||
tracePoint?.clear();
|
||
gctracePoint?.clear();
|
||
});
|
||
|
||
// 9. 更新应用状态
|
||
context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
|
||
|
||
// 10. 如果池子里已有活跃任务，直接使用；否则创建新任务
|
||
if (selectedTask != null) {
|
||
// 🔥 池子里已有任务，直接使用，不需要再创建
|
||
debugPrint('✅ [开始作业] 使用已有任务 #${selectedTask.id}，跳过创建');
|
||
// taskId 已由 selectTask 存入 cubit
|
||
} else {
|
||
// 🔥 池子里没有，创建新任务
|
||
debugPrint('🆕 [开始作业] 池子为空，创建新任务...');
|
||
try {
|
||
final result = await sl<CreateDeviceTaskUseCase>().execute(
|
||
deviceId: deviceId,
|
||
routeId: routeId,
|
||
siteId: siteId,
|
||
orgId: orgId,
|
||
);
|
||
|
||
var needRequery = false;
|
||
var failed = false;
|
||
result.fold(
|
||
(failure) {
|
||
final failMsg = failure.toString();
|
||
if (failMsg.contains('存在任务') || failMsg.contains('already exists')) {
|
||
needRequery = true;
|
||
return;
|
||
}
|
||
failed = true;
|
||
debugPrint('[开始作业] 创建失败: $failMsg');
|
||
_showPageToast(message: '作业启动失败', type: ToastType.error);
|
||
taskCubit.clearCurrentTask();
|
||
return;
|
||
},
|
||
(taskId) {
|
||
taskCubit.updateCurrentTaskId(taskId);
|
||
},
|
||
);
|
||
|
||
if (failed) return;
|
||
if (needRequery) {
|
||
await taskCubit.fetchAndFilterTask(deviceId);
|
||
await Future.delayed(const Duration(milliseconds: 300));
|
||
final existingTasks = taskCubit.state.activeTasks;
|
||
if (existingTasks.isNotEmpty) {
|
||
taskCubit.selectTask(existingTasks.first);
|
||
} else {
|
||
debugPrint('[开始作业] needRequery 后仍无活跃任务');
|
||
_showPageToast(message: '未找到活跃任务', type: ToastType.warn);
|
||
}
|
||
return;
|
||
}
|
||
|
||
} catch (e) {
|
||
debugPrint('❌ [开始作业] 异常: $e');
|
||
_showPageToast(message: "作业启动异常: $e", type: ToastType.error);
|
||
taskCubit.clearCurrentTask();
|
||
// 🔥 不重置 _workStatus，保持按钮可见
|
||
return;
|
||
}
|
||
}
|
||
|
||
// 🔥 到这里说明任务已就绪（无论是已有还是新建），刷新一次任务池显示最新状态
|
||
taskCubit.fetchAndFilterTask(deviceId);
|
||
_showPageToast(message: "作业已开始", type: ToastType.success);
|
||
_saveDataToLocal();
|
||
|
||
// ============ 以下是原有的 TCP 方式代码，已注释 ============
|
||
/*
|
||
if (startWorkList.isEmpty) {
|
||
_showPageToast(message: "作业列表为空,请重新选择路径", type: ToastType.info);
|
||
return;
|
||
}
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
tracePoint = _traceManager.getTracePoint();
|
||
gctracePoint = batchWgs84ToGcj02(tracePoint!);
|
||
_logger.log("[当前轨迹模式][转换后gctracePoint]开始作业: $tracePoint");
|
||
_logger.log("[当前轨迹模式][转换后gctracePoint]开始作业: $gctracePoint");
|
||
_logger.log("[当前轨迹模式][转换后gctracePoint]开始作业= ${gctracePoint!.length}");
|
||
|
||
setState(() {
|
||
isStopWork = false;
|
||
isStartWork = true;
|
||
_workStatus = WorkStatus.working;
|
||
_traceManager.reset();
|
||
tracePoint?.clear();
|
||
gctracePoint?.clear();
|
||
});
|
||
|
||
context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
|
||
await Future.delayed(const Duration(milliseconds: 100));
|
||
|
||
debugPrint('⚙️ 开始类型转换...');
|
||
final List<work_area_model.DeviceAddPathPointModel> typedList =
|
||
startWorkList.whereType<Map<String, dynamic>>().map((item) {
|
||
return work_area_model.DeviceAddPathPointModel(
|
||
latitude: (item['lat'] as num).toDouble(),
|
||
longitude: (item['lng'] ?? item["lon"] as num).toDouble(),
|
||
);
|
||
}).toList();
|
||
|
||
final Queue<work_area_model.DeviceAddPathPointModel> pathQueue = Queue.from(typedList);
|
||
await context.read<DevicesCubit>().startRoutePlanning(pathQueue);
|
||
|
||
_showPageToast(message: "作业已开始", type: ToastType.success);
|
||
_saveDataToLocal();
|
||
*/
|
||
}
|
||
|
||
/// 暂停作业
|
||
void _pauseWork() async {
|
||
// 🔥 获取设备ID和taskId
|
||
final targetDevice = context.read<RemoteControlCubit>().state.targetDevice;
|
||
final deviceId = targetDevice?.deviceName;
|
||
if (deviceId == null || deviceId.isEmpty) {
|
||
_showPageToast(message: "请先选择一个设备", type: ToastType.info);
|
||
return;
|
||
}
|
||
|
||
final taskCubit = sl<DeviceTaskCubit>();
|
||
final taskId = taskCubit.state.currentTaskId;
|
||
if (taskId == null) {
|
||
_showPageToast(message: "无可用任务", type: ToastType.warn);
|
||
return;
|
||
}
|
||
|
||
debugPrint('⏸️ [暂停作业] deviceId: $deviceId, taskId: $taskId');
|
||
|
||
setState(() {
|
||
isStartWork = false; // 🔥 关键：停止作业标志
|
||
_workStatus = WorkStatus.paused;
|
||
});
|
||
_saveDataToLocal(); // 🔥 保存暂停状态
|
||
|
||
// 🔥 调用接口暂停任务（注释掉原有的 TCP 方式）
|
||
try {
|
||
await taskCubit.pauseTask(deviceId);
|
||
_showPageToast(message: "作业已暂停", type: ToastType.success);
|
||
} catch (e) {
|
||
debugPrint('❌ [暂停作业] 异常: $e');
|
||
_showPageToast(message: "暂停失败: $e", type: ToastType.error);
|
||
}
|
||
|
||
// 原有的 TCP 方式（已注释）
|
||
//context.read<DevicesCubit>().updateAppState(AppState.none);
|
||
//await context.read<DevicesCubit>().pauseRoutePlanning();
|
||
}
|
||
|
||
void _stopWork() async {
|
||
_logger.log('[停止] 按下停止按钮');
|
||
debugPrint('══════════ [停止作业] 开始 ══════════');
|
||
|
||
// 🔥 获取设备ID和taskId
|
||
final targetDevice = context.read<RemoteControlCubit>().state.targetDevice;
|
||
final deviceId = targetDevice?.deviceName;
|
||
debugPrint('[停止作业] deviceId: $deviceId, targetDevice: ${targetDevice?.deviceName}');
|
||
if (deviceId == null || deviceId.isEmpty) {
|
||
debugPrint('[停止作业] ❌ deviceId 为空，退出');
|
||
_showPageToast(message: "请先选择一个设备", type: ToastType.info);
|
||
return;
|
||
}
|
||
|
||
final taskCubit = sl<DeviceTaskCubit>();
|
||
final taskId = taskCubit.state.currentTaskId;
|
||
debugPrint('[停止作业] taskId: $taskId');
|
||
if (taskId == null) {
|
||
debugPrint('[停止作业] ❌ taskId 为 null，退出');
|
||
_showPageToast(message: "无可用任务", type: ToastType.warn);
|
||
return;
|
||
}
|
||
|
||
debugPrint('[停止作业] 准备调用 cancelTask API, deviceId: $deviceId, taskId: $taskId');
|
||
|
||
if (mounted) {
|
||
setState(() {
|
||
isStartWork = false;
|
||
_workStatus = WorkStatus.idle;
|
||
_showHeadingWarn = false;
|
||
_showControlModeWarn = false;
|
||
isStopWork = true;
|
||
isreceiveFirstCompletePoint = false;
|
||
|
||
// 1. 立刻切换模式（阻止新的点再进入 NAVIGATION 逻辑）
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
});
|
||
debugPrint('[停止作业] setState 完成，workStatus = idle');
|
||
}
|
||
|
||
// 🔥 调用接口取消任务
|
||
try {
|
||
debugPrint('[停止作业] 正在调用 taskCubit.cancelTask...');
|
||
await taskCubit.cancelTask(deviceId);
|
||
debugPrint('[停止作业] cancelTask 返回成功');
|
||
taskCubit.clearCurrentTask(); // 🔥 停止后清除 taskId，释放任务
|
||
debugPrint('[停止作业] clearCurrentTask 完成');
|
||
_showPageToast(message: "作业已停止", type: ToastType.success);
|
||
debugPrint('[停止作业] HTTP 取消成功，准备发送 TCP 停止指令');
|
||
|
||
// 🔥 还需要通过 TCP 向机器发送停止指令
|
||
try {
|
||
debugPrint('[停止作业] 调用 TCP stopRoutePlanning...');
|
||
await context.read<DevicesCubit>().stopRoutePlanning();
|
||
debugPrint('[停止作业] TCP stopRoutePlanning 完成');
|
||
} catch (tcpError) {
|
||
debugPrint('[停止作业] ⚠️ TCP 停止异常: $tcpError');
|
||
}
|
||
} catch (e) {
|
||
debugPrint('[停止作业] ❌ cancelTask 异常: $e');
|
||
_showPageToast(message: "停止失败: $e", type: ToastType.error);
|
||
}
|
||
|
||
_saveDataToLocal();
|
||
debugPrint('[停止作业] _saveDataToLocal 完成');
|
||
await Future.delayed(const Duration(milliseconds: 300));
|
||
if (mounted) {
|
||
setState(() {
|
||
// 2. 延迟后重置 + 清空（彻底绝杀残留点）
|
||
_traceManager.reset();
|
||
tracePoint?.clear();
|
||
gctracePoint?.clear();
|
||
tracePoint = [];
|
||
gctracePoint = [];
|
||
});
|
||
debugPrint('[停止作业] 最终 setState 完成，轨迹已清空');
|
||
}
|
||
|
||
debugPrint('══════════ [停止作业] 结束 ══════════');
|
||
_showPageToast(message: "作业已停止", type: ToastType.error);
|
||
}
|
||
|
||
/// 继续作业
|
||
void _resumeWork() async {
|
||
// 🔥 获取设备ID和taskId
|
||
final targetDevice = context.read<RemoteControlCubit>().state.targetDevice;
|
||
final deviceId = targetDevice?.deviceName;
|
||
if (deviceId == null || deviceId.isEmpty) {
|
||
_showPageToast(message: "请先选择一个设备", type: ToastType.info);
|
||
return;
|
||
}
|
||
|
||
final taskCubit = sl<DeviceTaskCubit>();
|
||
final taskId = taskCubit.state.currentTaskId;
|
||
if (taskId == null) {
|
||
_showPageToast(message: "无可用任务", type: ToastType.warn);
|
||
return;
|
||
}
|
||
|
||
debugPrint('▶️ [继续作业] deviceId: $deviceId, taskId: $taskId');
|
||
|
||
setState(() {
|
||
_workStatus = WorkStatus.working;
|
||
});
|
||
_saveDataToLocal(); // 🔥 保存暂停状态
|
||
|
||
// 🔥 调用接口恢复任务（注释掉原有的 TCP 方式）
|
||
try {
|
||
await taskCubit.recoveryTask(deviceId);
|
||
_showPageToast(message: "作业已恢复", type: ToastType.success);
|
||
} catch (e) {
|
||
debugPrint('❌ [继续作业] 异常: $e');
|
||
_showPageToast(message: "恢复失败: $e", type: ToastType.error);
|
||
}
|
||
|
||
// 原有的 TCP 方式（已注释）
|
||
//context.read<DevicesCubit>().updateAppState(AppState.routePlanning);
|
||
//await context.read<DevicesCubit>().resumeRoutePlanning();
|
||
}
|
||
|
||
void _showDeleteConfirmDialog(PlotData plot, Function(PlotData) onDelete) {
|
||
ConfirmDialog.show(
|
||
context: context,
|
||
title: '确认删除',
|
||
content: '是否删除地块「${plot.plotName}」？删除后不可恢复。',
|
||
confirmText: '删除',
|
||
confirmTextColor: Colors.red,
|
||
onConfirm: () {
|
||
onDelete(plot);
|
||
},
|
||
);
|
||
}
|
||
|
||
/// 🔥 从 pathData 中实时解析 startWorkList，避免时序问题：
|
||
/// BlocBuilder 在 pathData 更新后立即渲染面板，但 startWorkList 在 onTap async 中
|
||
/// 稍后才赋值，导致面板先显示"路径区域为空"。此方法直接从 state.pathData 计算，
|
||
/// 确保面板渲染时数据已就绪。
|
||
List<dynamic> _parseStartWorkListFromPathData(
|
||
List<Map<String, dynamic>>? pathData,
|
||
) {
|
||
debugPrint(
|
||
'🔍 [_parseSWL] pathData 是否为null: ${pathData == null}, 长度: ${pathData?.length}',
|
||
);
|
||
if (pathData == null || pathData.isEmpty) {
|
||
debugPrint('❌ [_parseSWL] pathData 为空，返回 []');
|
||
return [];
|
||
}
|
||
|
||
final firstRecord = pathData.first;
|
||
debugPrint('🔍 [_parseSWL] firstRecord keys: ${firstRecord.keys}');
|
||
final nestedJsonRaw = firstRecord['jsonData'];
|
||
debugPrint('🔍 [_parseSWL] nestedJsonRaw 类型: ${nestedJsonRaw.runtimeType}');
|
||
|
||
// 🔥 兼容两种格式：String（需 jsonDecode）和 Map（已解析）
|
||
Map<String, dynamic> parsedJson;
|
||
if (nestedJsonRaw is String) {
|
||
try {
|
||
final decoded = jsonDecode(nestedJsonRaw);
|
||
if (decoded is! Map<String, dynamic>) {
|
||
debugPrint('❌ [_parseSWL] jsonDecode 结果不是 Map，返回 []');
|
||
return [];
|
||
}
|
||
parsedJson = decoded;
|
||
} catch (_) {
|
||
debugPrint('❌ [_parseSWL] jsonDecode 失败，返回 []');
|
||
return [];
|
||
}
|
||
} else if (nestedJsonRaw is Map<String, dynamic>) {
|
||
parsedJson = nestedJsonRaw;
|
||
} else {
|
||
debugPrint(
|
||
'❌ [_parseSWL] nestedJsonRaw 类型不支持: ${nestedJsonRaw.runtimeType}，返回 []',
|
||
);
|
||
return [];
|
||
}
|
||
|
||
debugPrint('🔍 [_parseSWL] parsedJson keys: ${parsedJson.keys}');
|
||
|
||
final planModel = parsedJson['planModel'];
|
||
// 🔥 安全解析：支持 int 和 String 类型
|
||
final int planModelValue = int.tryParse(planModel?.toString() ?? '0') ?? 0;
|
||
debugPrint(
|
||
'🔍 [_parseSWL] planModel: $planModel, planModelValue: $planModelValue, WorkMode.bow.value: ${WorkMode.bow.value}',
|
||
);
|
||
final isBow = planModelValue == WorkMode.bow.value;
|
||
|
||
List<dynamic> pathList = [];
|
||
final rawPath = parsedJson['path'];
|
||
if (rawPath is String) {
|
||
try {
|
||
pathList = jsonDecode(rawPath);
|
||
} catch (_) {}
|
||
} else if (rawPath is List) {
|
||
pathList = rawPath;
|
||
}
|
||
|
||
List<dynamic> outerList = [];
|
||
final rawOuter = parsedJson['outer'];
|
||
if (rawOuter is String) {
|
||
try {
|
||
outerList = jsonDecode(rawOuter);
|
||
} catch (_) {}
|
||
} else if (rawOuter is List) {
|
||
outerList = rawOuter;
|
||
}
|
||
|
||
if (isBow) {
|
||
final result = pathList.isNotEmpty ? pathList : outerList;
|
||
debugPrint(
|
||
'✅ [_parseSWL] 弓字模式，pathList: ${pathList.length}, outerList: ${outerList.length}, 最终返回: ${result.length}',
|
||
);
|
||
return result;
|
||
} else {
|
||
final result = outerList.isNotEmpty ? outerList : pathList;
|
||
debugPrint(
|
||
'✅ [_parseSWL] 自定义模式，outerList: ${outerList.length}, pathList: ${pathList.length}, 最终返回: ${result.length}',
|
||
);
|
||
return result;
|
||
}
|
||
}
|
||
|
||
Widget _buildWorkPanel(headingStatus) {
|
||
return BlocBuilder<DevicesCubit, DevicesState>(
|
||
builder: (context, state) {
|
||
if (_selectedPlot == null || state.pathData == null) {
|
||
return const SizedBox.shrink();
|
||
}
|
||
|
||
// 🔥 核心修复：从 state.pathData 实时计算 startWorkList
|
||
// 确保 BlocBuilder 触发时数据已就绪，不再依赖 onTap 的异步赋值时序
|
||
debugPrint(
|
||
'🔍 [_buildWorkPanel] BlocBuilder 触发, state.pathData 是否为空: ${state.pathData?.isEmpty ?? true}, startWorkList 当前长度: ${startWorkList.length}',
|
||
);
|
||
final parsedList = _parseStartWorkListFromPathData(state.pathData);
|
||
if (parsedList.isNotEmpty) {
|
||
startWorkList = parsedList; // 同步到类字段，供 _saveDataToLocal 等方法使用
|
||
debugPrint(
|
||
'✅ [_buildWorkPanel] startWorkList 已更新，新长度: ${startWorkList.length}',
|
||
);
|
||
} else {
|
||
debugPrint(
|
||
'⚠️ [_buildWorkPanel] parsedList 为空，startWorkList 保持: ${startWorkList.length}',
|
||
);
|
||
}
|
||
|
||
return Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
bottom: 0,
|
||
child: Container(
|
||
padding: const EdgeInsets.all(16),
|
||
decoration: const BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.vertical(top: Radius.circular(16)),
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 10,
|
||
offset: Offset(0, -2),
|
||
),
|
||
],
|
||
),
|
||
child: Column(
|
||
mainAxisSize: MainAxisSize.min,
|
||
children: [
|
||
// 1. 地块基础信息
|
||
Row(
|
||
crossAxisAlignment: CrossAxisAlignment.center,
|
||
children: [
|
||
ClipRRect(
|
||
borderRadius: BorderRadius.circular(8),
|
||
child: Image.network(
|
||
_selectedPlot!.imageUrl,
|
||
width: 80,
|
||
height: 80,
|
||
fit: BoxFit.cover,
|
||
errorBuilder: (context, error, stackTrace) {
|
||
return Container(
|
||
width: 80,
|
||
height: 80,
|
||
color: Colors.grey[200],
|
||
child: const Icon(
|
||
Icons.image_outlined,
|
||
color: Colors.grey,
|
||
size: 32,
|
||
),
|
||
);
|
||
},
|
||
),
|
||
),
|
||
const SizedBox(width: 16),
|
||
Expanded(
|
||
child: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text(
|
||
_selectedPlot!.plotName,
|
||
style: const TextStyle(
|
||
fontSize: 18,
|
||
fontWeight: FontWeight.bold,
|
||
color: Colors.black87,
|
||
),
|
||
maxLines: 2,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
const SizedBox(height: 4),
|
||
Text(
|
||
'${AppLocalizations.of(context).translate('route_planning.work_mode')}：$workMode',
|
||
style: const TextStyle(
|
||
fontSize: 14,
|
||
color: Colors.grey,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
IconButton(
|
||
onPressed: () {
|
||
debugPrint('❌ [工作面板] 关闭面板，重置状态');
|
||
setState(() {
|
||
_isWorkPanelOpen = false;
|
||
_selectedPlot = null;
|
||
gcjPathPoints = [];
|
||
gcjOuterPoints = [];
|
||
_workStatus = WorkStatus.idle;
|
||
_showHeadingWarn = false;
|
||
_showControlModeWarn = false;
|
||
isStartWork = false;
|
||
});
|
||
_saveDataToLocal();
|
||
_stopWork();
|
||
|
||
//if (isStopWork || !isStartWork) return;
|
||
},
|
||
icon: const Icon(
|
||
Icons.close,
|
||
color: Colors.grey,
|
||
size: 20,
|
||
),
|
||
padding: EdgeInsets.zero,
|
||
constraints: const BoxConstraints(
|
||
minWidth: 24,
|
||
minHeight: 24,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
|
||
const SizedBox(height: 16),
|
||
|
||
// 🔥 3. 当前任务信息显示（可点击重新选择）
|
||
BlocBuilder<DeviceTaskCubit, DeviceTaskState>(
|
||
builder: (context, taskState) {
|
||
final currentTask = taskState.currentTask;
|
||
if (currentTask == null) {
|
||
return const SizedBox.shrink();
|
||
}
|
||
|
||
// 状态标签颜色
|
||
Color statusColor;
|
||
String statusText;
|
||
switch (currentTask.taskStatus) {
|
||
case 'NEW':
|
||
statusColor = Colors.blue;
|
||
statusText = '新建';
|
||
break;
|
||
case 'EXECUTING':
|
||
statusColor = Colors.green;
|
||
statusText = '执行中';
|
||
break;
|
||
case 'PAUSE':
|
||
statusColor = Colors.orange;
|
||
statusText = '暂停中';
|
||
break;
|
||
default:
|
||
statusColor = Colors.grey;
|
||
statusText = currentTask.taskStatusTranslate;
|
||
}
|
||
|
||
return GestureDetector(
|
||
onTap: () async {
|
||
// 🔥 点击后显示所有活跃任务供用户选择
|
||
final activeTasks = taskState.activeTasks;
|
||
if (activeTasks.isEmpty) {
|
||
_showPageToast(
|
||
message: "没有可用的任务",
|
||
type: ToastType.warn,
|
||
);
|
||
return;
|
||
}
|
||
|
||
final selectedTask = await _showTaskSelectionDialog(
|
||
activeTasks,
|
||
);
|
||
if (selectedTask != null) {
|
||
// 用户选择了新任务，更新 cubit
|
||
sl<DeviceTaskCubit>().selectTask(selectedTask);
|
||
_showPageToast(
|
||
message: "已切换到任务 #${selectedTask.id}",
|
||
type: ToastType.success,
|
||
);
|
||
}
|
||
},
|
||
child: Container(
|
||
padding: const EdgeInsets.all(12),
|
||
decoration: BoxDecoration(
|
||
color: const Color(0xFFF5F7FA),
|
||
borderRadius: BorderRadius.circular(8),
|
||
border: Border.all(
|
||
color: const Color(0xFF165DFF).withOpacity(0.2),
|
||
),
|
||
),
|
||
child: Row(
|
||
children: [
|
||
Icon(
|
||
Icons.assignment_outlined,
|
||
color: const Color(0xFF165DFF),
|
||
size: 20,
|
||
),
|
||
const SizedBox(width: 8),
|
||
Expanded(
|
||
child: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text(
|
||
'当前任务: #${currentTask.id}',
|
||
style: const TextStyle(
|
||
fontSize: 14,
|
||
fontWeight: FontWeight.bold,
|
||
color: Color(0xFF1D2129),
|
||
),
|
||
),
|
||
const SizedBox(height: 4),
|
||
Row(
|
||
children: [
|
||
Text(
|
||
'设备: ${currentTask.deviceId}',
|
||
style: const TextStyle(
|
||
fontSize: 12,
|
||
color: Color(0xFF4E5969),
|
||
),
|
||
),
|
||
const SizedBox(width: 12),
|
||
Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 6,
|
||
vertical: 2,
|
||
),
|
||
decoration: BoxDecoration(
|
||
color: statusColor.withOpacity(0.1),
|
||
borderRadius: BorderRadius.circular(
|
||
4,
|
||
),
|
||
),
|
||
child: Text(
|
||
statusText,
|
||
style: TextStyle(
|
||
color: statusColor,
|
||
fontSize: 11,
|
||
fontWeight: FontWeight.w500,
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
],
|
||
),
|
||
),
|
||
Icon(
|
||
Icons.swap_horiz,
|
||
color: const Color(0xFF165DFF),
|
||
size: 18,
|
||
),
|
||
const SizedBox(width: 4),
|
||
const Text(
|
||
'切换',
|
||
style: TextStyle(
|
||
fontSize: 12,
|
||
color: Color(0xFF165DFF),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
},
|
||
),
|
||
|
||
const SizedBox(height: 16),
|
||
|
||
// 4. 错误提示（如果加载失败）
|
||
if (startWorkList.isEmpty || headingStatus == 0)
|
||
Row(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
// 路径为空提示 50%
|
||
if (startWorkList.isEmpty)
|
||
Expanded(
|
||
flex: 1,
|
||
child: Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 12,
|
||
vertical: 8,
|
||
),
|
||
margin: const EdgeInsets.only(right: 6, bottom: 12),
|
||
decoration: BoxDecoration(
|
||
color: Colors.red[50],
|
||
borderRadius: BorderRadius.circular(6),
|
||
border: Border.all(color: Colors.red[200]!),
|
||
),
|
||
child: const Row(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Icon(
|
||
Icons.error_outline,
|
||
color: Colors.redAccent,
|
||
size: 16,
|
||
),
|
||
SizedBox(width: 8),
|
||
Expanded(
|
||
child: Text(
|
||
"路径区域为空",
|
||
style: TextStyle(
|
||
fontSize: 14,
|
||
color: Colors.redAccent,
|
||
),
|
||
softWrap: true,
|
||
maxLines: 2,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
|
||
// 航向异常提示 50%
|
||
if (headingStatus == 0)
|
||
Expanded(
|
||
flex: 1,
|
||
child: Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 12,
|
||
vertical: 8,
|
||
),
|
||
margin: const EdgeInsets.only(left: 6, bottom: 12),
|
||
decoration: BoxDecoration(
|
||
color: Colors.red[50],
|
||
borderRadius: BorderRadius.circular(6),
|
||
border: Border.all(color: Colors.red[200]!),
|
||
),
|
||
child: const Row(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Icon(
|
||
Icons.error_outline,
|
||
color: Colors.redAccent,
|
||
size: 16,
|
||
),
|
||
SizedBox(width: 8),
|
||
Expanded(
|
||
child: Text(
|
||
"航向信息异常",
|
||
style: TextStyle(
|
||
fontSize: 14,
|
||
color: Colors.redAccent,
|
||
),
|
||
softWrap: true,
|
||
maxLines: 2,
|
||
overflow: TextOverflow.ellipsis,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
|
||
// 3. 开始作业按钮（加载中禁用）
|
||
// 放在 Column/Row 的 children: [ ... ] 内部
|
||
_workStatus == WorkStatus.idle
|
||
? SizedBox(
|
||
width: double.infinity,
|
||
height: 50,
|
||
child: ElevatedButton(
|
||
onPressed:
|
||
state.isLoading ||
|
||
startWorkList.isEmpty ||
|
||
headingStatus == 0
|
||
? null
|
||
: () {
|
||
_startWork();
|
||
},
|
||
style: ElevatedButton.styleFrom(
|
||
backgroundColor: const Color(0xFF00C853),
|
||
foregroundColor: Colors.white,
|
||
shape: RoundedRectangleBorder(
|
||
borderRadius: BorderRadius.circular(8),
|
||
),
|
||
elevation: 2,
|
||
disabledBackgroundColor: Colors.grey[300],
|
||
disabledForegroundColor: Colors.grey[600],
|
||
),
|
||
child: state.isLoading
|
||
? const SizedBox(
|
||
width: 20,
|
||
height: 20,
|
||
child: CircularProgressIndicator(
|
||
strokeWidth: 2,
|
||
color: Colors.white,
|
||
),
|
||
)
|
||
: Text(
|
||
AppLocalizations.of(
|
||
context,
|
||
).translate('route_planning.start_work'),
|
||
style: const TextStyle(
|
||
fontSize: 14,
|
||
fontWeight: FontWeight.bold,
|
||
),
|
||
),
|
||
),
|
||
)
|
||
: Row(
|
||
children: [
|
||
// 暂停/继续图标按钮
|
||
Expanded(
|
||
child: SizedBox(
|
||
width: 50,
|
||
height: 50,
|
||
child: ElevatedButton(
|
||
onPressed: () =>
|
||
//@暂停工作通过接口、恢复(继续)工作通过接口
|
||
_workStatus == WorkStatus.working
|
||
? _pauseWork()
|
||
: _resumeWork(),
|
||
style: ElevatedButton.styleFrom(
|
||
backgroundColor:
|
||
_workStatus == WorkStatus.working
|
||
? Colors.amber
|
||
: const Color(0xFF00C853),
|
||
foregroundColor: Colors.white,
|
||
shape: const CircleBorder(),
|
||
elevation: 2,
|
||
// 调整内边距，让图标居中更协调
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 8,
|
||
),
|
||
),
|
||
child: Icon(
|
||
// 作业中显示暂停图标，暂停中显示播放（继续）图标
|
||
_workStatus == WorkStatus.working
|
||
? Icons.pause
|
||
: Icons.play_arrow,
|
||
size: 24, // 图标尺寸
|
||
),
|
||
),
|
||
),
|
||
),
|
||
const SizedBox(width: 12),
|
||
// 停止图标按钮
|
||
Expanded(
|
||
child: SizedBox(
|
||
width: 50,
|
||
height: 50,
|
||
child: ElevatedButton(
|
||
onPressed: () => _stopWork(),
|
||
style: ElevatedButton.styleFrom(
|
||
backgroundColor: Colors.redAccent,
|
||
foregroundColor: Colors.white,
|
||
shape: const CircleBorder(),
|
||
elevation: 2,
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 8,
|
||
),
|
||
),
|
||
child: const Icon(
|
||
Icons.stop, // 停止图标（也可以用 Icons.close）
|
||
size: 24,
|
||
),
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
//SizedBox(
|
||
// width: double.infinity,
|
||
// height: 50,
|
||
// child: ElevatedButton(
|
||
// onPressed: state.isLoading || gcjPathPoints.isEmpty
|
||
// ? null
|
||
// : () {
|
||
// // 作业逻辑：使用加载的pathData
|
||
// debugPrint('开始作业：${_selectedPlot!.plotName}，路径数据：$gcjPathPoints');
|
||
// },
|
||
// style: ElevatedButton.styleFrom(
|
||
// backgroundColor: const Color(0xFF00C853),
|
||
// foregroundColor: Colors.white,
|
||
// shape: RoundedRectangleBorder(borderRadius: BorderRadius.circular(8)),
|
||
// elevation: 2,
|
||
// disabledBackgroundColor: Colors.grey[300],
|
||
// disabledForegroundColor: Colors.grey[600],
|
||
// ),
|
||
// child: state.isLoading
|
||
// ? const SizedBox(width: 20, height: 20, child: CircularProgressIndicator(strokeWidth: 2, color: Colors.white))
|
||
// : const Text('开始作业', style: TextStyle(fontSize: 14, fontWeight: FontWeight.bold)),
|
||
// ),
|
||
//),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
},
|
||
);
|
||
}
|
||
|
||
Future<String?> _captureMapToJpgBase64({int quality = 80}) async {
|
||
try {
|
||
// 1. 第一步：截取 PNG (Flutter 唯一支持的格式)
|
||
RenderRepaintBoundary? boundary =
|
||
_mapRepaintKey.currentContext?.findRenderObject()
|
||
as RenderRepaintBoundary?;
|
||
if (boundary == null) {
|
||
debugPrint('截图失败：渲染对象未找到');
|
||
return null;
|
||
}
|
||
|
||
// 🔥 注意：这里是 dart:ui 的 Image，需显式指定 ui.Image
|
||
ui.Image image = await boundary.toImage(pixelRatio: 2.0);
|
||
ByteData? byteData = await image.toByteData(
|
||
format: ui.ImageByteFormat.png,
|
||
);
|
||
if (byteData == null) {
|
||
debugPrint('截图失败：字节数据为空');
|
||
return null;
|
||
}
|
||
Uint8List pngBytes = byteData.buffer.asUint8List();
|
||
|
||
// 2. 第二步：使用 image 库解码
|
||
// 🚨 核心修复：变量类型必须显式写为 _image.Image?
|
||
_image.Image? decodedImage = _image.decodeImage(pngBytes);
|
||
if (decodedImage == null) {
|
||
debugPrint('转换失败：无法解码 PNG');
|
||
return null;
|
||
}
|
||
|
||
// 3. 第三步：编码为 JPG
|
||
List<int> jpgBytes = _image.encodeJpg(decodedImage, quality: quality);
|
||
Uint8List finalBytes = Uint8List.fromList(jpgBytes);
|
||
|
||
// 4. 第四步：转换为 Base64
|
||
String base64Str = base64Encode(finalBytes);
|
||
debugPrint('JPG Base64 长度：${base64Str.length} (体积更小)');
|
||
return base64Str;
|
||
} catch (e) {
|
||
debugPrint('生成 JPG Base64 异常：$e');
|
||
return null;
|
||
}
|
||
}
|
||
|
||
// 🔥 改动4：新增方法 - 将Bloc的workRecords转换为PlotData列表
|
||
List<PlotData> _convertWorkRecordsToPlotData(
|
||
List<Map<String, dynamic>> records,
|
||
) {
|
||
// debugPrint('📊 [_convertWorkRecordsToPlotData] 输入记录数: ${records.length}');
|
||
return records.map((record) {
|
||
final jd = record['jsonData'];
|
||
// debugPrint(' ├─ workName: ${record['workName']}, jsonData类型: ${jd?.runtimeType}, jsonData长度: ${jd is String ? jd.length : "N/A"}');
|
||
// if (jd is String && jd.isNotEmpty) {
|
||
// try {
|
||
// final decoded = jsonDecode(jd);
|
||
// if (decoded is Map) {
|
||
// debugPrint(' │ path类型: ${decoded['path']?.runtimeType}, outer类型: ${decoded['outer']?.runtimeType}, planModel: ${decoded['planModel']}');
|
||
// }
|
||
// } catch (_) {}
|
||
// }
|
||
// 兼容 jsonData 为 Map 或 String 的情况：统一转为 JSON 字符串
|
||
String? jsonDataStr;
|
||
final rawJsonData = record['jsonData'];
|
||
if (rawJsonData is String) {
|
||
jsonDataStr = rawJsonData;
|
||
} else if (rawJsonData is Map) {
|
||
jsonDataStr = jsonEncode(rawJsonData);
|
||
}
|
||
|
||
return PlotData(
|
||
id:
|
||
record['id']?.toString() ??
|
||
DateTime.now().microsecondsSinceEpoch.toString(), // 唯一ID
|
||
plotName: record['workName'] ?? '未命名地块', // 地块名称（从接口字段取）
|
||
imageUrl: record['imgUrl'] ?? '', // 图片URL（从接口字段取，无则为空）
|
||
jsonData: jsonDataStr, // 原始数据的JSON字符串（可选，便于调试或后续使用）
|
||
);
|
||
}).toList();
|
||
}
|
||
|
||
// ========== 抽象：生成路径的核心函数(打点函数) ==========
|
||
Future<void> _generatePath({bool showTips = true}) async {
|
||
debugPrint(
|
||
'🛤️ [生成路径] 作业模式: $_currentWorkMode, 机器人模式: $_currentRobotMode, 打点数: ${_markedPoints.length}, 行距: $_workDistance, 航向角: $_angle',
|
||
);
|
||
if (_currentWorkMode == WorkMode.custom) {
|
||
// 🔥 对齐 Web 端：自定义模式 path=打点, outer=[]
|
||
debugPrint(
|
||
'📌 [生成路径] 自定义模式: path点数=${_markedPoints.length}, outer=[], planModel=2',
|
||
);
|
||
setState(() {
|
||
_saveBoxOpen = true;
|
||
_isWorkAreaCompleted = true;
|
||
gcjPathPoints = List.from(_markedPoints);
|
||
// gcjOuterPoints = List.from(_markedPoints); // 旧逻辑：outer也存打点
|
||
gcjOuterPoints = []; // 对齐 Web 端：自定义模式 outer 为空
|
||
typedPathList = [];
|
||
});
|
||
return;
|
||
}
|
||
|
||
if (_currentAreaMode == AreaMode.work && _markedPoints.isEmpty) {
|
||
if (showTips) {
|
||
_showPageToast(message: '请先添加作业区域打点！', type: ToastType.error);
|
||
}
|
||
return;
|
||
}
|
||
if (_currentAreaMode == AreaMode.work && _markedPoints.length < 3) {
|
||
if (showTips) {
|
||
_showPageToast(message: '作业区域至少需要3个打点才能生成路径！', type: ToastType.error);
|
||
}
|
||
return;
|
||
}
|
||
if (_currentWorkMode == null) {
|
||
if (showTips) {
|
||
_showPageToast(message: '请先选择作业模式！', type: ToastType.error);
|
||
}
|
||
return;
|
||
}
|
||
|
||
// 弓字模式行距默认为0.0，与Web端保持一致
|
||
|
||
try {
|
||
LatLng firstPointWgs;
|
||
if (_currentRobotMode == RobotMode.robot &&
|
||
_robotModeWgsPoints.isNotEmpty) {
|
||
firstPointWgs = _robotModeWgsPoints.first;
|
||
} else if (_currentRobotMode == RobotMode.point &&
|
||
_markedPoints.isNotEmpty) {
|
||
LatLng firstPointGcj = _markedPoints.first;
|
||
firstPointWgs = gcj02ToWgs84(
|
||
firstPointGcj.latitude,
|
||
firstPointGcj.longitude,
|
||
);
|
||
} else if (_markedPoints.isNotEmpty) {
|
||
// 兜底：_robotModeWgsPoints 为空但_markedPoints有数据（新缓存key未写入等场景）
|
||
LatLng firstPointGcj = _markedPoints.first;
|
||
firstPointWgs = gcj02ToWgs84(
|
||
firstPointGcj.latitude,
|
||
firstPointGcj.longitude,
|
||
);
|
||
} else {
|
||
if (showTips) {
|
||
_showPageToast(message: '参考点坐标为空，请先添加作业区域打点！', type: ToastType.error);
|
||
}
|
||
return;
|
||
}
|
||
|
||
final referencePoint = work_area_model.ReferencePoint(
|
||
lat: firstPointWgs.latitude,
|
||
lon: firstPointWgs.longitude,
|
||
);
|
||
final heading = _angle == -1 ? -1 : _angle.toInt();
|
||
|
||
List<work_area_model.Position> outerPositions = [];
|
||
if (_currentRobotMode == RobotMode.robot &&
|
||
_robotModeWgsPoints.isNotEmpty) {
|
||
outerPositions = _robotModeWgsPoints.map((latLng) {
|
||
return work_area_model.Position(
|
||
lat: latLng.latitude,
|
||
lon: latLng.longitude,
|
||
);
|
||
}).toList();
|
||
} else if (_markedPoints.isNotEmpty) {
|
||
// robot模式但_robotModeWgsPoints为空时，兜底用_markedPoints转换
|
||
outerPositions = _markedPoints.map((latLng) {
|
||
final wgs84Point = gcj02ToWgs84(latLng.latitude, latLng.longitude);
|
||
return work_area_model.Position(
|
||
lat: wgs84Point.latitude,
|
||
lon: wgs84Point.longitude,
|
||
);
|
||
}).toList();
|
||
}
|
||
gcjOuterPoints = outerPositions.map((point) {
|
||
double wgs84Lat = point.lat;
|
||
double wgs84Lon = point.lon;
|
||
final gcjPoint = wgs84ToGcj02(wgs84Lat, wgs84Lon);
|
||
return LatLng(gcjPoint.latitude, gcjPoint.longitude);
|
||
}).toList();
|
||
|
||
final outerBoundary = work_area_model.OuterBoundary(
|
||
position: outerPositions,
|
||
sideWidth: _workDistance,
|
||
);
|
||
work_area_model.HoleBoundary? holeBoundary;
|
||
|
||
if (_obstacleHoles.isNotEmpty) {
|
||
List<List<work_area_model.Position>> positionList = [];
|
||
|
||
if (_currentRobotMode == RobotMode.robot &&
|
||
_robotModeObsWgsPoints.isNotEmpty) {
|
||
for (var holePoints in _obstacleWgsHoles) {
|
||
List<work_area_model.Position> innerPositionList = [];
|
||
innerPositionList = holePoints.map((latLng) {
|
||
return work_area_model.Position(
|
||
lat: latLng.latitude,
|
||
lon: latLng.longitude,
|
||
);
|
||
}).toList();
|
||
positionList.add(innerPositionList);
|
||
}
|
||
} else if (_currentRobotMode == RobotMode.point &&
|
||
_obstacleHoles.isNotEmpty) {
|
||
for (var holePoints in _obstacleHoles) {
|
||
List<work_area_model.Position> innerPositionList = [];
|
||
innerPositionList = holePoints.map((latLng) {
|
||
final wgs84Point = gcj02ToWgs84(
|
||
latLng.latitude,
|
||
latLng.longitude,
|
||
);
|
||
return work_area_model.Position(
|
||
lat: wgs84Point.latitude,
|
||
lon: wgs84Point.longitude,
|
||
);
|
||
}).toList();
|
||
positionList.add(innerPositionList);
|
||
}
|
||
}
|
||
|
||
holeBoundary = work_area_model.HoleBoundary(
|
||
position: positionList,
|
||
sideWidth: 0.0,
|
||
);
|
||
}
|
||
|
||
Map<String, work_area_model.HoleBoundary> holes = {};
|
||
if (holeBoundary != null) {
|
||
holes = {'tempKey': holeBoundary};
|
||
}
|
||
final workType = _currentWorkMode == WorkMode.bow ? 0 : 2;
|
||
|
||
debugPrint(
|
||
'🔍 [生成路径-发送] referencePoint=(${referencePoint.lat}, ${referencePoint.lon}), heading=$heading, workType=$workType',
|
||
);
|
||
debugPrint(
|
||
'🔍 [生成路径-发送] outerPositions点数=${outerPositions.length}, sideWidth=$_workDistance',
|
||
);
|
||
for (var i = 0; i < outerPositions.length; i++) {
|
||
debugPrint(
|
||
'🔍 [生成路径-发送] outer[$i]=(${outerPositions[i].lat}, ${outerPositions[i].lon})',
|
||
);
|
||
}
|
||
|
||
await context.read<DevicesCubit>().generatePath(
|
||
reference: referencePoint,
|
||
heading: heading,
|
||
outer: outerBoundary,
|
||
holes: holes.isNotEmpty ? holes : {},
|
||
workType: workType,
|
||
);
|
||
|
||
final cubitState = context.read<DevicesCubit>().state;
|
||
|
||
if (cubitState.errorMessage != null) {
|
||
debugPrint('❌ [生成路径] 失败: ${cubitState.errorMessage}');
|
||
if (showTips) {
|
||
_showPageToast(
|
||
message: '路径生成失败：${cubitState.errorMessage}',
|
||
type: ToastType.error,
|
||
);
|
||
}
|
||
} else if (cubitState.generatedPath != null) {
|
||
if (showTips) {
|
||
_showPageToast(message: '路径生成成功！', type: ToastType.success);
|
||
}
|
||
debugPrint(
|
||
'✅ [生成路径] 成功，路径点数: ${(cubitState.generatedPath as List).length}',
|
||
);
|
||
if (cubitState.generatedPath is List) {
|
||
setState(() {
|
||
_isWorkAreaCompleted = true;
|
||
_saveBoxOpen = true;
|
||
_currentObstaclePoints.clear();
|
||
_robotModeObsWgsPoints.clear();
|
||
final pathList = cubitState.generatedPath as List;
|
||
typedPathList = pathList
|
||
.whereType<work_area_model.DeviceAddPathPointModel>()
|
||
.toList();
|
||
gcjPathPoints = typedPathList.map((point) {
|
||
double wgs84Lat = point.latitude;
|
||
double wgs84Lon = point.longitude;
|
||
final gcjPoint = wgs84ToGcj02(wgs84Lat, wgs84Lon);
|
||
return LatLng(gcjPoint.latitude, gcjPoint.longitude);
|
||
}).toList();
|
||
});
|
||
_saveDataToLocal();
|
||
moveMapToPointsCenter(gcjPathPoints);
|
||
}
|
||
}
|
||
} catch (e) {
|
||
debugPrint('路径生成异常：$e');
|
||
if (showTips) {
|
||
_showPageToast(
|
||
message: '路径生成异常：${e.toString().substring(0, 50)}',
|
||
type: ToastType.error,
|
||
);
|
||
}
|
||
}
|
||
}
|
||
|
||
void _showPageToast({required String message, required ToastType type}) {
|
||
_toastQueue.add(_ToastItem(message: message, type: type));
|
||
if (!_isToastShowing) {
|
||
_processNextToast();
|
||
}
|
||
}
|
||
|
||
void _processNextToast() {
|
||
if (_toastQueue.isEmpty) {
|
||
_isToastShowing = false;
|
||
return;
|
||
}
|
||
|
||
_isToastShowing = true;
|
||
final item = _toastQueue.removeAt(0);
|
||
|
||
WidgetsBinding.instance.addPostFrameCallback((_) {
|
||
if (!mounted) return;
|
||
|
||
OverlayEntry entry = OverlayEntry(
|
||
builder: (context) => SafeArea(
|
||
child: Align(
|
||
alignment: Alignment.topCenter,
|
||
child: Container(
|
||
margin: const EdgeInsets.symmetric(horizontal: 20, vertical: 30),
|
||
padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 10),
|
||
decoration: BoxDecoration(
|
||
color: _getToastColor(item.type),
|
||
borderRadius: BorderRadius.circular(8),
|
||
),
|
||
child: Text(
|
||
item.message,
|
||
style: const TextStyle(color: Colors.white, fontSize: 14),
|
||
),
|
||
),
|
||
),
|
||
),
|
||
);
|
||
|
||
_toastEntries.add(entry);
|
||
Overlay.of(context)?.insert(entry);
|
||
|
||
Future.delayed(const Duration(seconds: 2), () {
|
||
if (entry.mounted) entry.remove();
|
||
_toastEntries.remove(entry);
|
||
_processNextToast();
|
||
});
|
||
});
|
||
}
|
||
|
||
void _cancelAllToast() {
|
||
for (final entry in _toastEntries) {
|
||
if (entry.mounted) {
|
||
entry.remove();
|
||
}
|
||
}
|
||
_toastEntries.clear();
|
||
_toastQueue.clear();
|
||
_isToastShowing = false;
|
||
}
|
||
|
||
Color _getToastColor(ToastType type) {
|
||
switch (type) {
|
||
case ToastType.success:
|
||
return Colors.green;
|
||
case ToastType.error:
|
||
return Colors.red;
|
||
case ToastType.warn:
|
||
return Colors.orange;
|
||
case ToastType.info:
|
||
return Colors.blue;
|
||
case ToastType.loading:
|
||
return Colors.black87;
|
||
}
|
||
}
|
||
|
||
@override
|
||
Widget build(BuildContext context) {
|
||
final screenHeight = MediaQuery.of(context).size.height;
|
||
final menuHeight = 16 * 6; // 假设 VerticalFloatMenu 有 6 个选项，每个高度为 56
|
||
final maxTop = screenHeight - menuHeight;
|
||
final userState = context.watch<AppUserCubit>().state;
|
||
// 🔥 V2 适配：使用 RemoteControlCubit 的 targetDevice 保持一致性
|
||
final deviceId = context
|
||
.watch<RemoteControlCubit>()
|
||
.state
|
||
.targetDevice
|
||
?.deviceName;
|
||
|
||
if (deviceId != null &&
|
||
userState.user != null &&
|
||
userState.user!.token != null) {
|
||
_videoStreamUrl =
|
||
"webrtc://${TCPConsts.TCP_IP}/live/livestream/$deviceId?token=${userState.user!.token}";
|
||
} else {
|
||
_videoStreamUrl = '';
|
||
}
|
||
return BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
|
||
builder: (context, state) {
|
||
// 🔥 修复：使用 read 而非 watch，避免不必要的重建和接口调用
|
||
final devicesState = context.read<DevicesCubit>().state;
|
||
bool isFinishWork = devicesState.isFinshWork ?? false;
|
||
double? arriLatitude = devicesState.arriLatitude;
|
||
double? arriLongitude = devicesState.arriLongitude;
|
||
LatLng? targetLatLng;
|
||
if (arriLatitude != null && arriLongitude != null) {
|
||
targetLatLng = LatLng(arriLatitude, arriLongitude);
|
||
_logger.log(
|
||
"当前轨迹模式: ${_traceManager.getMode()}，收到完成点坐标: $targetLatLng",
|
||
);
|
||
if (__isValidLatLng(targetLatLng)) {
|
||
//debugPrint("${targetLatLng}收到完成点arriLatitude");
|
||
//if (!isreceiveFirstCompletePoint && isStartWork && _workStatus == WorkStatus.working) {
|
||
debugPrint("收到完成点arriLatitude");
|
||
if (_traceManager.getMode() != TPMode.NAVIGATION) {
|
||
_traceManager.setMode(TPMode.NAVIGATION);
|
||
debugPrint("切换到导航模式");
|
||
}
|
||
|
||
isreceiveFirstCompletePoint = true;
|
||
//}
|
||
if (isStartWork && _workStatus == WorkStatus.working) {
|
||
_traceManager.upsert(targetLatLng, TPAction.ADD);
|
||
}
|
||
}
|
||
}
|
||
|
||
double currentLat = 0.0;
|
||
double currentLng = 0.0;
|
||
bool obfFlag = false; //障碍物标志位
|
||
int headingStatus = 0;
|
||
String controlMode = "0";
|
||
DeviceStatusUpdated? updatedState;
|
||
//有停止信号
|
||
if (isFinishWork) {
|
||
// 🔥 关键：用微任务延迟执行状态更新，避开构建阶段
|
||
WidgetsBinding.instance.addPostFrameCallback((_) {
|
||
if (mounted) {
|
||
setState(() {
|
||
_workStatus = WorkStatus.idle;
|
||
isStopWork = true;
|
||
isreceiveFirstCompletePoint = false;
|
||
|
||
tracePoint = [];
|
||
gctracePoint = [];
|
||
tracePoint?.clear();
|
||
gctracePoint?.clear();
|
||
});
|
||
_showPageToast(message: "作业已停止", type: ToastType.error);
|
||
|
||
// 延迟重置轨迹管理器
|
||
Future.delayed(const Duration(seconds: 1), () {
|
||
if (mounted) {
|
||
_traceManager.setMode(TPMode.LOCATION);
|
||
|
||
_traceManager.reset();
|
||
}
|
||
});
|
||
}
|
||
});
|
||
}
|
||
|
||
if (state is DeviceStatusUpdated) {
|
||
// 强转获取具体的状态数据
|
||
updatedState = state as DeviceStatusUpdated;
|
||
obfFlag = updatedState.status.obstacleFlag.toString() == 1;
|
||
headingStatus = updatedState.status.headingStatus;
|
||
controlMode = updatedState.status.controlMode;
|
||
_headingAngle = updatedState.status.yaw;
|
||
|
||
//debugPrint("路径规划四十数据 - 经纬度：");
|
||
//debugPrint(" RunningStatus纬度：${updatedState.status.latitude}");
|
||
//debugPrint(" RunningStatus经度：${updatedState.status.longitude}");
|
||
// debugPrint("障碍物${updatedState.status.obstacleFlag}");
|
||
// debugPrint("初始化${updatedState.status.headingStatus}");
|
||
|
||
// 提取经纬度并更新本地变量
|
||
currentLat = updatedState.status.latitude;
|
||
currentLng = updatedState.status.longitude;
|
||
} else {}
|
||
return Scaffold(
|
||
body: SafeArea(
|
||
child: Stack(
|
||
children: [
|
||
RepaintBoundary(
|
||
key: _mapRepaintKey,
|
||
child: _buildMap(
|
||
currentLat,
|
||
currentLng,
|
||
obfFlag,
|
||
headingStatus,
|
||
controlMode,
|
||
),
|
||
),
|
||
|
||
// 地图核心组件
|
||
if (_isRefreshing)
|
||
Positioned.fill(
|
||
child: Container(
|
||
color: Colors.black.withOpacity(0.3),
|
||
child: const Center(
|
||
child: Column(
|
||
mainAxisAlignment: MainAxisAlignment.center,
|
||
children: [
|
||
CircularProgressIndicator(
|
||
color: Colors.white,
|
||
strokeWidth: 3,
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
),
|
||
|
||
// 悬浮返回按钮（核心修改）
|
||
Positioned(
|
||
top: 10,
|
||
left: 10,
|
||
child: GestureDetector(
|
||
// 自定义点击事件
|
||
onTap: _navigateBack,
|
||
// 自定义点击反馈（替代 IconButton 的高亮/水波纹）
|
||
child: Container(
|
||
width: 40,
|
||
height: 40,
|
||
decoration: BoxDecoration(
|
||
color: Colors.white.withOpacity(0.8),
|
||
borderRadius: BorderRadius.circular(20),
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 3,
|
||
offset: const Offset(0, 2),
|
||
),
|
||
],
|
||
),
|
||
// 核心：用 Stack 实现点击高亮层 + 图标层
|
||
child: Stack(
|
||
alignment: Alignment.center, // 所有子组件居中
|
||
children: [
|
||
// 1. 点击高亮层（默认隐藏，点击时显示）
|
||
Positioned.fill(
|
||
child: Container(
|
||
decoration: BoxDecoration(
|
||
color: Colors.transparent, // 默认透明
|
||
borderRadius: BorderRadius.circular(20),
|
||
),
|
||
),
|
||
),
|
||
// 2. 图标层（绝对居中）
|
||
const Icon(
|
||
Icons.arrow_back_ios,
|
||
color: Colors.black87,
|
||
size: 20,
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
),
|
||
|
||
/// 核心：地图正中心固定定位标
|
||
if (_currentRobotMode == RobotMode.point)
|
||
Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
top: 0,
|
||
bottom: 0,
|
||
child: Center(
|
||
// 自定义十字标（中心精准对齐地图中心）
|
||
child: SizedBox(
|
||
width: 16, // 十字整体宽度
|
||
height: 16, // 十字整体高度
|
||
child: CustomPaint(
|
||
painter: CrosshairPainter(), // 自定义十字画笔
|
||
),
|
||
),
|
||
),
|
||
),
|
||
|
||
//保存按钮
|
||
if (_saveBoxOpen)
|
||
Positioned(
|
||
right: 80,
|
||
top: maxTop > 10 ? 11 : maxTop,
|
||
child: Container(
|
||
width: 40,
|
||
height: 40,
|
||
decoration: BoxDecoration(
|
||
color: const Color(0xFF00C853),
|
||
shape: BoxShape.circle,
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 4,
|
||
offset: const Offset(0, 2),
|
||
),
|
||
],
|
||
),
|
||
child: IconButton(
|
||
onPressed: () {
|
||
_showSavePlotDialog();
|
||
},
|
||
icon: const Icon(
|
||
Icons.save,
|
||
color: Colors.white,
|
||
size: 18,
|
||
),
|
||
padding: EdgeInsets.zero,
|
||
constraints: const BoxConstraints(),
|
||
),
|
||
),
|
||
),
|
||
|
||
// 右侧悬浮菜单
|
||
Positioned(
|
||
height: 336,
|
||
right: 16,
|
||
top: maxTop > 10 ? 11 : maxTop,
|
||
child: FloatingActionButton(
|
||
onPressed: _moveToCurrentLocation,
|
||
child: VerticalFloatMenu(
|
||
selectedWorkModeIn: _currentWorkMode ?? WorkMode.bow,
|
||
onEditTap: (bool isOpen) {
|
||
setState(() {
|
||
_isPanelOpen = isOpen;
|
||
});
|
||
},
|
||
onListBox: (bool isOpen) {
|
||
// 🔥 使用新接口：根据场站ID加载作业记录
|
||
final selectedSite = sl<SiteCubit>().state.selectedSite;
|
||
if (selectedSite == null) {
|
||
_showPageToast(
|
||
message: '请先选择场站',
|
||
type: ToastType.error,
|
||
);
|
||
return;
|
||
}
|
||
print(
|
||
'加载作业记录，当前场站ID：${selectedSite.id}，场站名称：${selectedSite.siteName}',
|
||
);
|
||
context.read<DevicesCubit>().loadWorkRecordsBySiteId(
|
||
selectedSite.id,
|
||
);
|
||
|
||
setState(() {
|
||
_isListBoxOpen = isOpen;
|
||
_isWorkPanelOpen = false;
|
||
});
|
||
_saveDataToLocal();
|
||
},
|
||
onDjShow: (bool isOpen) {
|
||
if (isOpen) context.push(RoutePaths.djMap);
|
||
setState(() {
|
||
isDjMapShow = isOpen;
|
||
});
|
||
},
|
||
|
||
onWorkModeSelected: (mode) {
|
||
debugPrint('外部收到作业模式选择：$mode');
|
||
setState(() {
|
||
_currentWorkMode = mode;
|
||
_saveDataToLocal();
|
||
});
|
||
|
||
debugPrint('外部收到作业模式：$mode');
|
||
},
|
||
handleGotoLocation: _handleGotoLocation,
|
||
onRefreshTap: _handleRefresh, // 推荐用局部刷新
|
||
onVideoTap: _handleVideo,
|
||
),
|
||
),
|
||
),
|
||
|
||
// 底部操作面板
|
||
if (_isPanelOpen)
|
||
Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
bottom: 0,
|
||
child: BottomOperationPanel(
|
||
initialRobotMode: _currentRobotMode,
|
||
initialAreaMode: _currentAreaMode,
|
||
initialWorkMode: _currentWorkMode!,
|
||
isShowButton: _currentWorkMode == WorkMode.bow
|
||
? true
|
||
: false,
|
||
canUndo:
|
||
_isWorkAreaCompleted &&
|
||
_currentAreaMode == AreaMode.work
|
||
? false
|
||
: true,
|
||
onComplete: () async {
|
||
debugPrint(
|
||
'操作完成回调：当前机器人模式=$_currentRobotMode,当前区域模式=$_currentAreaMode,当前作业模式:$_currentWorkMode,作业区域点:$_markedPoints,作业行距=$_workDistance,航线方向角=$_angle',
|
||
);
|
||
if (_currentAreaMode == AreaMode.obstacle) {
|
||
// 障碍物模式：完成当前障碍物绘制
|
||
_completeObstacle();
|
||
await _generatePath(showTips: true);
|
||
} else {
|
||
// 作业区域模式：生成路径
|
||
await _generatePath(showTips: true);
|
||
}
|
||
// 5. 关闭操作面板
|
||
setState(() {
|
||
//_isPanelOpen = false; // 关闭操作面板
|
||
});
|
||
},
|
||
onUndoTap: () {
|
||
_undoAction();
|
||
},
|
||
onDeleteTap: () {
|
||
_deleteAllAction();
|
||
},
|
||
onRobotModeChanged: (mode) {
|
||
setState(() => _currentRobotMode = mode);
|
||
debugPrint('外部收到机器人模式：$mode');
|
||
},
|
||
onAreaModeChanged: (mode) {
|
||
setState(() => _currentAreaMode = mode);
|
||
debugPrint('外部收到区域模式：$mode');
|
||
},
|
||
onAddTap: () {
|
||
_addMarkedPoint();
|
||
debugPrint('外部处理加号按钮点击，已添加打点');
|
||
},
|
||
onDistanceTap: (distance) {
|
||
_workDistance = distance;
|
||
debugPrint(
|
||
'外部处理作业行距距离设置，当前距离：${distance.toStringAsFixed(1)}米',
|
||
);
|
||
if (_markedPoints.length >= 3 &&
|
||
_currentWorkMode != null) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
},
|
||
onSettingTap: () {
|
||
setState(() {
|
||
_directionBoxOpen = true;
|
||
});
|
||
},
|
||
onLandTap: () {
|
||
debugPrint('外部处理地块标签点击');
|
||
},
|
||
onRouteTap: () {
|
||
debugPrint('外部处理航线标签点击');
|
||
},
|
||
),
|
||
),
|
||
|
||
// 航线方向面板
|
||
if (_directionBoxOpen)
|
||
Positioned(
|
||
left: 0,
|
||
right: 0,
|
||
bottom: 0,
|
||
child: RouteDirectionPanel(
|
||
initialOptimalHeading: true,
|
||
initialDirection: 0.0,
|
||
titleText: AppLocalizations.of(
|
||
context,
|
||
).translate('route_planning.route_direction'),
|
||
optimalHeadingText: AppLocalizations.of(
|
||
context,
|
||
).translate('route_planning.optimal_heading'),
|
||
routeDirectionText: AppLocalizations.of(
|
||
context,
|
||
).translate('route_planning.route_direction'),
|
||
onValueChanged: (result) {
|
||
_angle = result['optimalHeading'] == true
|
||
? -1
|
||
: result['direction'];
|
||
|
||
if (_markedPoints.length >= 3 &&
|
||
_currentWorkMode != null) {
|
||
_generatePath(showTips: false);
|
||
}
|
||
},
|
||
onCancel: () {
|
||
setState(() => _directionBoxOpen = false);
|
||
},
|
||
),
|
||
),
|
||
|
||
// 列表面板 - 使用BlocBuilder监听DevicesCubit状态
|
||
if (_isListBoxOpen)
|
||
BlocBuilder<DevicesCubit, DevicesState>(
|
||
builder: (context, state) {
|
||
final plotList = _convertWorkRecordsToPlotData(
|
||
state.workRecords ?? [],
|
||
);
|
||
|
||
return Positioned.fill(
|
||
child: Column(
|
||
mainAxisAlignment: MainAxisAlignment.end,
|
||
children: [
|
||
Expanded(
|
||
child: GestureDetector(
|
||
onTap: () {
|
||
setState(() {
|
||
_isListBoxOpen = false;
|
||
});
|
||
},
|
||
child: Container(
|
||
color: Colors.black.withOpacity(0.3),
|
||
),
|
||
),
|
||
),
|
||
Container(
|
||
width: double.infinity,
|
||
decoration: const BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.vertical(
|
||
top: Radius.circular(16),
|
||
),
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 10,
|
||
offset: Offset(0, -2),
|
||
),
|
||
],
|
||
),
|
||
constraints: const BoxConstraints(
|
||
maxHeight: 600,
|
||
minHeight: 200,
|
||
),
|
||
child: Column(
|
||
children: [
|
||
Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 16,
|
||
vertical: 12,
|
||
),
|
||
child: Row(
|
||
mainAxisAlignment:
|
||
MainAxisAlignment.spaceBetween,
|
||
children: [
|
||
Text(
|
||
AppLocalizations.of(context)
|
||
.translate(
|
||
'route_planning.plot_list_title',
|
||
)
|
||
.replaceAll(
|
||
'%d',
|
||
plotList.length.toString(),
|
||
),
|
||
style: const TextStyle(
|
||
fontSize: 18,
|
||
fontWeight: FontWeight.bold,
|
||
color: Colors.black87,
|
||
),
|
||
),
|
||
IconButton(
|
||
onPressed: () {
|
||
setState(() {
|
||
_isListBoxOpen = false;
|
||
});
|
||
},
|
||
icon: const Icon(
|
||
Icons.close,
|
||
color: Colors.grey,
|
||
size: 20,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
const Divider(height: 1, color: Colors.grey),
|
||
Expanded(
|
||
child: plotList.isEmpty
|
||
? Center(
|
||
child: Column(
|
||
mainAxisAlignment:
|
||
MainAxisAlignment.center,
|
||
children: [
|
||
const Icon(
|
||
Icons.inbox_outlined,
|
||
color: Colors.grey,
|
||
size: 48,
|
||
),
|
||
const SizedBox(height: 16),
|
||
Text(
|
||
AppLocalizations.of(
|
||
context,
|
||
).translate(
|
||
'route_planning.no_plot_data',
|
||
),
|
||
style: const TextStyle(
|
||
color: Colors.grey,
|
||
fontSize: 16,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
)
|
||
: ListView.builder(
|
||
padding: const EdgeInsets.symmetric(
|
||
vertical: 8,
|
||
),
|
||
itemCount: plotList.length,
|
||
itemBuilder: (context, index) {
|
||
final plot = plotList[index];
|
||
// 传入删除回调（调用Bloc的删除方法）
|
||
return _buildPlotListItem(plot, (
|
||
deletedPlot,
|
||
) async {
|
||
await context
|
||
.read<DevicesCubit>()
|
||
.deleteWorkRecord(
|
||
deletedPlot.plotName,
|
||
);
|
||
final userId =
|
||
context
|
||
.read<AppUserCubit>()
|
||
.state
|
||
.user
|
||
?.userId ??
|
||
"";
|
||
await context
|
||
.read<DevicesCubit>()
|
||
.loadWorkRecords(userId);
|
||
|
||
setState(() {});
|
||
});
|
||
},
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
},
|
||
),
|
||
if (_showHeadingWarn)
|
||
Positioned(
|
||
top: 100, // 调整位置，避免遮挡核心内容
|
||
left: 20,
|
||
right: 20,
|
||
child: Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 16,
|
||
vertical: 12,
|
||
),
|
||
decoration: BoxDecoration(
|
||
color: Colors.orange.withOpacity(0.9),
|
||
borderRadius: BorderRadius.circular(8),
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 4,
|
||
offset: const Offset(0, 2),
|
||
),
|
||
],
|
||
),
|
||
child: Row(
|
||
children: [
|
||
const Icon(
|
||
Icons.warning_amber_rounded,
|
||
color: Colors.white,
|
||
size: 20,
|
||
),
|
||
const SizedBox(width: 8),
|
||
Expanded(
|
||
child: Text(
|
||
AppLocalizations.of(
|
||
context,
|
||
).translate('route_planning.heading_not_init'),
|
||
style: const TextStyle(
|
||
color: Colors.white,
|
||
fontSize: 14,
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
|
||
// 2. 远程模式提示
|
||
if (_showControlModeWarn)
|
||
Positioned(
|
||
top: 160, // 与上一个提示错开位置
|
||
left: 20,
|
||
right: 20,
|
||
child: Container(
|
||
padding: const EdgeInsets.symmetric(
|
||
horizontal: 16,
|
||
vertical: 12,
|
||
),
|
||
decoration: BoxDecoration(
|
||
color: Colors.red.withOpacity(0.9),
|
||
borderRadius: BorderRadius.circular(8),
|
||
boxShadow: [
|
||
BoxShadow(
|
||
color: Colors.black12,
|
||
blurRadius: 4,
|
||
offset: const Offset(0, 2),
|
||
),
|
||
],
|
||
),
|
||
child: Row(
|
||
children: [
|
||
const Icon(
|
||
Icons.error_rounded,
|
||
color: Colors.white,
|
||
size: 20,
|
||
),
|
||
const SizedBox(width: 8),
|
||
Expanded(
|
||
child: Text(
|
||
AppLocalizations.of(
|
||
context,
|
||
).translate('route_planning.switch_remote_mode'),
|
||
style: const TextStyle(
|
||
color: Colors.white,
|
||
fontSize: 14,
|
||
),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
|
||
if (_isWorkPanelOpen) _buildWorkPanel(headingStatus),
|
||
if (_isVideoDialogOpen) _buildVideoPopup(),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
},
|
||
);
|
||
}
|
||
}
|
||
|
||
// 转换单个WGS84坐标到GCJ02
|
||
LatLng convertWGS84ToGCJ02(double lat, double lon) {
|
||
return wgs84ToGcj02(lat, lon);
|
||
}
|
||
|
||
/// =======================================================
|
||
/// 坐标转换：WGS84 -> GCJ02（国内高德/腾讯通用）
|
||
/// =======================================================
|
||
const double _pi = 3.1415926535897932384626;
|
||
const double _a = 6378245.0;
|
||
const double _ee = 0.00669342162296594323;
|
||
|
||
LatLng wgs84ToGcj02(double lat, double lon) {
|
||
if (_outOfChina(lat, lon)) {
|
||
return LatLng(lat, lon);
|
||
}
|
||
double dLat = _transformLat(lon - 105.0, lat - 35.0);
|
||
double dLon = _transformLon(lon - 105.0, lat - 35.0);
|
||
double radLat = lat / 180.0 * _pi;
|
||
double magic = sin(radLat);
|
||
magic = 1 - _ee * magic * magic;
|
||
double sqrtMagic = sqrt(magic);
|
||
dLat = (dLat * 180.0) / ((_a * (1 - _ee)) / (magic * sqrtMagic) * _pi);
|
||
dLon = (dLon * 180.0) / (_a / sqrtMagic * cos(radLat) * _pi);
|
||
double mgLat = lat + dLat;
|
||
double mgLon = lon + dLon;
|
||
return LatLng(mgLat, mgLon);
|
||
}
|
||
|
||
List<LatLng> batchWgs84ToGcj02(List<LatLng> wgs84Points) {
|
||
// 遍历每个点，调用你已有的单个转换方法
|
||
return wgs84Points.map((point) {
|
||
return wgs84ToGcj02(point.latitude, point.longitude);
|
||
}).toList();
|
||
}
|
||
|
||
LatLng bd09ToGcj02(dynamic bdLng, dynamic bdLat) {
|
||
// 1. 先将字符串转为double（兼容你的初始值格式）
|
||
double lng = _safeToDouble(bdLng);
|
||
double lat = _safeToDouble(bdLat);
|
||
|
||
// 2. BD09转GCJ02核心公式
|
||
double x = lng - 0.0065;
|
||
double y = lat - 0.006;
|
||
double z = math.sqrt(x * x + y * y) - 0.00002 * math.sin(y * _pi);
|
||
double theta = math.atan2(y, x) - 0.000003 * math.cos(x * _pi);
|
||
double gcjLng = z * math.cos(theta);
|
||
double gcjLat = z * math.sin(theta);
|
||
|
||
return LatLng(gcjLat, gcjLng);
|
||
}
|
||
|
||
double _safeToDouble(dynamic value) {
|
||
if (value == null) return 0.0;
|
||
if (value is double) return value;
|
||
if (value is int) return value.toDouble();
|
||
if (value is String) {
|
||
// 字符串转数字，失败返回0.0
|
||
return double.tryParse(value) ?? 0.0;
|
||
}
|
||
return 0.0;
|
||
}
|
||
|
||
LatLng gcj02ToWgs84(double lat, double lon, {int iterations = 10}) {
|
||
//if (_outOfChina(lat, lon)) {
|
||
// return LatLng(lat, lon);
|
||
//}
|
||
|
||
//double dLat = _transformLat(lon - 105.0, lat - 35.0);
|
||
//double dLon = _transformLon(lon - 105.0, lat - 35.0);
|
||
//double radLat = lat / 180.0 * _pi;
|
||
//double magic = sin(radLat);
|
||
//magic = 1 - _ee * magic * magic;
|
||
//double sqrtMagic = sqrt(magic);
|
||
//dLat = (dLat * 180.0) / ((_a * (1 - _ee)) / (magic * sqrtMagic) * _pi);
|
||
//dLon = (dLon * 180.0) / (_a / sqrtMagic * cos(radLat) * _pi);
|
||
//double mgLat = lat - dLat;
|
||
//double mgLon = lon - dLon;
|
||
//return LatLng(mgLat, mgLon);
|
||
if (_outOfChina(lat, lon)) {
|
||
return LatLng(lat, lon);
|
||
}
|
||
|
||
double initLat = lat;
|
||
double initLon = lon;
|
||
double delta = 1e-6; // 迭代精度（约0.1米）
|
||
|
||
for (int i = 0; i < iterations; i++) {
|
||
// 1. 用当前猜测值计算GCJ02坐标
|
||
LatLng gcjGuess = wgs84ToGcj02(initLat, initLon);
|
||
// 2. 计算与原始GCJ02的差值
|
||
double dLat = gcjGuess.latitude - lat;
|
||
double dLon = gcjGuess.longitude - lon;
|
||
// 3. 修正猜测值
|
||
initLat -= dLat;
|
||
initLon -= dLon;
|
||
// 4. 精度达标则提前退出
|
||
if (sqrt(dLat * dLat + dLon * dLon) < delta) {
|
||
break;
|
||
}
|
||
}
|
||
|
||
return LatLng(initLat, initLon);
|
||
}
|
||
|
||
bool _outOfChina(double lat, double lon) {
|
||
return lon < 72.004 || lon > 137.8347 || lat < 0.8293 || lat > 55.8271;
|
||
}
|
||
|
||
double _transformLat(double x, double y) {
|
||
double ret =
|
||
-100.0 +
|
||
2.0 * x +
|
||
3.0 * y +
|
||
0.2 * y * y +
|
||
0.1 * x * y +
|
||
0.2 * sqrt(x.abs());
|
||
ret += (20.0 * sin(6.0 * x * _pi) + 20.0 * sin(2.0 * x * _pi)) * 2.0 / 3.0;
|
||
ret += (20.0 * sin(y * _pi) + 40.0 * sin(y / 3.0 * _pi)) * 2.0 / 3.0;
|
||
ret += (160.0 * sin(y / 12.0 * _pi) + 320 * sin(y * _pi / 30.0)) * 2.0 / 3.0;
|
||
return ret;
|
||
}
|
||
|
||
double _transformLon(double x, double y) {
|
||
double ret =
|
||
300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(x.abs());
|
||
ret += (20.0 * sin(6.0 * x * _pi) + 20.0 * sin(2.0 * x * _pi)) * 2.0 / 3.0;
|
||
ret += (20.0 * sin(x * _pi) + 40.0 * sin(x / 3.0 * _pi)) * 2.0 / 3.0;
|
||
ret +=
|
||
(150.0 * sin(x / 12.0 * _pi) + 300.0 * sin(x / 30.0 * _pi)) * 2.0 / 3.0;
|
||
return ret;
|
||
}
|
||
|
||
/// 计算两个经纬度点之间的地面距离（单位：米，GCJ02/WGS84通用）
|
||
String _calculateLatLngDistance(LatLng point1, LatLng point2) {
|
||
const double earthRadius = 6371000; // 地球半径（米）
|
||
|
||
// 经纬度转弧度
|
||
double lat1Rad = point1.latitude * pi / 180;
|
||
double lat2Rad = point2.latitude * pi / 180;
|
||
double lng1Rad = point1.longitude * pi / 180;
|
||
double lng2Rad = point2.longitude * pi / 180;
|
||
|
||
// 哈维正弦公式（Haversine）计算地球表面两点实际距离
|
||
double dLat = lat2Rad - lat1Rad;
|
||
double dLng = lng2Rad - lng1Rad;
|
||
double a =
|
||
sin(dLat / 2) * sin(dLat / 2) +
|
||
cos(lat1Rad) * cos(lat2Rad) * sin(dLng / 2) * sin(dLng / 2);
|
||
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
|
||
double distance = earthRadius * c;
|
||
|
||
// 格式化显示：短距离显示米，长距离显示千米
|
||
if (distance < 1000) {
|
||
return '${distance.toStringAsFixed(1)} 米';
|
||
} else {
|
||
return '${(distance / 1000).toStringAsFixed(2)} 千米';
|
||
}
|
||
}
|
||
|
||
/// 获取两个坐标点的中点坐标（用于显示距离文本）
|
||
LatLng _getMiddleLatLng(LatLng point1, LatLng point2) {
|
||
double middleLat = (point1.latitude + point2.latitude) / 2;
|
||
double middleLng = (point1.longitude + point2.longitude) / 2;
|
||
return LatLng(middleLat, middleLng);
|
||
}
|
||
|
||
// 🔥 万能格式化打印：输出完整结构（层级+字段名+值）
|
||
String formatPrettyJson(dynamic obj) {
|
||
try {
|
||
if (obj == null) return 'null';
|
||
if (obj is List) {
|
||
return obj.map((e) => formatPrettyJson(e)).toList().toString();
|
||
}
|
||
if (obj is Map) {
|
||
Map<String, dynamic> map = {};
|
||
obj.forEach((k, v) {
|
||
map[k.toString()] = formatPrettyJson(v);
|
||
});
|
||
return map.toString();
|
||
}
|
||
// 自定义模型：转 Map
|
||
try {
|
||
return obj.toJson().toString();
|
||
} catch (e) {
|
||
return obj.toString();
|
||
}
|
||
} catch (e) {
|
||
return obj.toString();
|
||
}
|
||
}
|