103 lines
3.0 KiB
Dart
103 lines
3.0 KiB
Dart
import 'dart:async';
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import 'package:flutter_bloc/flutter_bloc.dart';
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import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
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import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
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import '../../domain/entities/machine_control_status_entity.dart';
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import '../../domain/repositories/remote_control_repository.dart';
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class RemoteControlCubit extends Cubit<RemoteControlState> {
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final RemoteControlRepository _repository;
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Timer? _timer;
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RemoteControlCubit(this._repository)
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: super(
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RemoteControlState(
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controlEntity: MachineControlStatusEntity(),
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runningStatusModel: RunningStatusModel(),
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),
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) {
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_initPacketListener();
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}
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// 1. 初始化回包监听 (如 0x12 权限)
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void _initPacketListener() {
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_repository.responseStream.listen((packet) {
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if (packet.command == 0x12) {
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// 根据负载判断是否有权限，更新状态
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emit(state.copyWith(hasPermission: true));
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}
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});
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}
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// 2. 开启 100ms 控制循环 (在进入遥控页面或点击“开始”时调用)
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void startControlLoop() {
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_timer?.cancel();
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_timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
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// 核心调用：直接把 state 里的实体丢给 repository
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_repository.sendControlMachineCmd(state.controlEntity);
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});
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emit(state.copyWith(status: RemoteControlStatus.controlling));
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}
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// 3. 更新摇杆数据
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void updateJoystick(double x, double y) {
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final updatedEntity = state.controlEntity.copyWith(
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x: x.toInt(),
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y: y.toInt(),
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);
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emit(state.copyWith(controlEntity: updatedEntity));
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}
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// 4. 更新功能开关 (比如割刀速度、灯光、点火等)
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void updateFunction({int? mower, int? lift, int? ignition, bool? emergency}) {
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final updatedEntity = state.controlEntity.copyWith(
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mower: mower,
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lift: lift,
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ignition: ignition,
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emergency: emergency,
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);
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emit(state.copyWith(controlEntity: updatedEntity));
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}
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void updateOriginY(int y) {}
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// 5. 停止控制循环
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void stopControlLoop() {
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_timer?.cancel();
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_timer = null;
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emit(state.copyWith(status: RemoteControlStatus.initial));
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}
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void toggleLock() {}
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void togglePermissionDialog(bool show) {
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emit(state.copyWith(showPermissionRequestDialog: show));
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}
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void requestControlPermission() {
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// 1. 关闭弹窗
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emit(state.copyWith(showPermissionRequestDialog: false));
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// 2. 这里执行你发送 0x12 指令的逻辑
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// _sendProtocolData(0x12, ...);
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}
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void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
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void toggleRightPip() =>
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emit(state.copyWith(showRightPip: !state.showRightPip));
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@override
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Future<void> close() {
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_timer?.cancel(); // 退出页面时务必销毁定时器
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return super.close();
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}
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void updateChassisLift(int i) {}
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void updateEmergency(bool bool) {}
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void respondPermission(bool bool) {}
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}
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