426 lines
16 KiB
Dart
426 lines
16 KiB
Dart
import 'dart:async';
|
||
import 'dart:convert';
|
||
import 'dart:ffi';
|
||
import 'dart:io';
|
||
|
||
import 'package:dart_ping/dart_ping.dart';
|
||
import 'package:flutter/cupertino.dart';
|
||
import 'package:flutter/services.dart';
|
||
import 'package:flutter_bloc/flutter_bloc.dart';
|
||
import 'package:get_it/get_it.dart';
|
||
import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
|
||
import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
|
||
|
||
import '../../../../core/logging/i_logger_service.dart';
|
||
import '../../../../core/network/net_message_dispatcher.dart';
|
||
import '../../../devices/domain/entities/running_status_entity.dart';
|
||
import '../../domain/entities/machine_control_status_entity.dart';
|
||
import '../../domain/repositories/remote_control_repository.dart';
|
||
import '../../domain/usecase/remote_control_usecase.dart';
|
||
|
||
class RemoteControlCubit extends Cubit<RemoteControlState> {
|
||
final RemoteControlRepository _repository;
|
||
final RequestControlPermissionUseCase _requestControlPermissionUseCase;
|
||
Timer? _timer;
|
||
StreamSubscription? _kickOutSub; // 新增：用于管理监听生命周期
|
||
final NetMessageDispatcher dispatcher;
|
||
StreamSubscription? _stringMessageSub; //
|
||
static const platform = MethodChannel('com.maibu.satabot/ping');
|
||
int _currentPing = 50;
|
||
final ILoggerService _logger = GetIt.I<ILoggerService>();
|
||
|
||
|
||
|
||
RemoteControlCubit(this._repository, this._requestControlPermissionUseCase, this.dispatcher)
|
||
: super(
|
||
RemoteControlState(
|
||
controlEntity: MachineControlStatusEntity(),
|
||
runningStatusModel: RunningStatusModel(),
|
||
),
|
||
) {
|
||
_initPacketListener();
|
||
_initStringMessageListener(); // 🔥 新增
|
||
}
|
||
|
||
void _initStringMessageListener() {
|
||
//print('>>> [RemoteControl] begin 初始化 0x02 字符串监听器');
|
||
_logger.logWithLevel('>>> [RemoteControl] begin 初始化 0x02 字符串监听器');
|
||
_stringMessageSub?.cancel();
|
||
|
||
_stringMessageSub = dispatcher.onStringMessage().listen((message) async {
|
||
// print('>>> [RemoteControl] 收到 0x02 字符串推送：$message');
|
||
_logger.logWithLevel('>>> [RemoteControl] 收到 0x02 字符串推送：$message');
|
||
|
||
if (message.isEmpty) {
|
||
//print('⚠️ [RemoteControl] 消息为空，跳过解析');
|
||
_logger.logWithLevel('⚠️ [RemoteControl] 消息为为空，跳过解析');
|
||
return;
|
||
}
|
||
|
||
try {
|
||
// 🔥 关键：使用与 DeviceStatusBloc 相同的解析方法
|
||
// print('>>> [RemoteControl] 🔍 开始解析数据（使用 fromFields）...');
|
||
_logger.logWithLevel('>>> [RemoteControl] 🔍 开始解析数据（使用 fromFields）...');
|
||
|
||
final fields = message.trim().split(',');
|
||
//print('>>> [RemoteControl] 字段数量：${fields.length}');
|
||
_logger.logWithLevel('>>> [RemoteControl] 字段数量：${fields.length}');
|
||
|
||
if (fields.length < 18) {
|
||
//print('⚠️ [RemoteControl] 字段不足：${fields.length}，期望 ≥18');
|
||
_logger.logWithLevel('⚠️ [RemoteControl] 字段不足：${fields.length}，期望 ≥18');
|
||
return;
|
||
}
|
||
|
||
// 🔥 使用 RunningStatusEntity.fromFields() 解析
|
||
final status = RunningStatusEntity.fromFields(fields);
|
||
// 🔥 只提取电压、电量、控制模式
|
||
final voltage = status.voltage;
|
||
final battery = status.battery;
|
||
final controlMode = status.controlMode == '3' ? '远程模式' : '本地模式';
|
||
|
||
|
||
final c = getNetworkDelay(); //
|
||
emit(state.copyWith(
|
||
runningStatusModel: state.runningStatusModel.copyWith(
|
||
voltage: voltage.toString(), // 更新电压
|
||
battery: battery.toString(), // 更新电量
|
||
controlMode: controlMode, // 更新控制模式
|
||
),
|
||
battery: int.tryParse(battery) ?? 0,
|
||
ping: await c, // 这里直接使用异步返回的数值
|
||
));
|
||
|
||
|
||
} catch (e, stackTrace) {
|
||
// print('>>> [RemoteControl] ❌ 解析失败：$e');
|
||
_logger.logWithLevel('>>> [RemoteControl] ❌ 解析失败：$e');
|
||
// print('>>> [RemoteControl] ❌ 堆栈跟踪：$stackTrace');
|
||
// print('>>> [RemoteControl] ❌ 原始消息：$message');
|
||
}
|
||
});
|
||
|
||
//print('>>> [RemoteControl] ✅ 0x02 字符串监听器已建立完成');
|
||
_logger.logWithLevel('>>> [RemoteControl] ✅ 0x02 字符串监听器已建立完成');
|
||
}
|
||
|
||
|
||
// 🔥 超简单方法：传入 IP，得到 ping 值
|
||
|
||
|
||
|
||
|
||
// 🔥 辅助方法：更新运行状态
|
||
void _updateStatusFromDevice(RunningStatusModel newStatus) {
|
||
|
||
debugPrint('✅ [_updateStatusFromDevice] 收到运行状态更新：$newStatus');
|
||
if (!isClosed) {
|
||
emit(state.copyWith(
|
||
runningStatusModel: newStatus,
|
||
voltage: int.tryParse(newStatus.voltage) ?? 0,
|
||
battery: int.tryParse(newStatus.battery) ?? 0,
|
||
));
|
||
|
||
// debugPrint('✅ [更新运行状态] 电压：${newStatus.voltage}V, 电量：${newStatus.battery}%');
|
||
_logger.logWithLevel('✅ [更新运行状态] 电压：${newStatus.voltage}V, 电量：${newStatus.battery}%');
|
||
}
|
||
}
|
||
|
||
// 🔥 辅助方法：更新运行状态
|
||
// 1. 初始化回包监听 (如 0x12 权限)
|
||
// void _initPacketListener() {
|
||
// _repository.responseStream.listen((packet) {
|
||
// if (packet.command == 0x12) {
|
||
// // 根据负载判断是否有权限，更新状态
|
||
// emit(state.copyWith(hasPermission: true));
|
||
// }
|
||
// });
|
||
// }
|
||
Future<void> _initPacketListener() async {
|
||
//print('>>> [RemoteControl] begin 初始化 0x12 监听器');
|
||
_logger.logWithLevel('>>> [RemoteControl] begin 0x12 监听器');
|
||
_kickOutSub?.cancel(); // 防止重复监听
|
||
|
||
_kickOutSub = dispatcher.onCommand(0x12).listen((packet) {
|
||
//print('>>> [RemoteControl] 收到 0x12 原始包，payload 长度=${packet.payload.length}');
|
||
_logger.logWithLevel('>>> [RemoteControl] 收到 0x12 原始包，payload 长度=${packet.payload.length}');
|
||
|
||
try {
|
||
// 🔥 关键：手动去掉最后 2 个 CRC 字节
|
||
String jsonString;
|
||
if (packet.payload.length > 2) {
|
||
jsonString = utf8.decode(packet.payload.sublist(0, packet.payload.length - 2));
|
||
} else {
|
||
jsonString = utf8.decode(packet.payload);
|
||
}
|
||
|
||
//print('>>> [RemoteControl] 去除 CRC 后的 JSON: $jsonString');
|
||
_logger.logWithLevel('>>> [RemoteControl] 去除 CRC 后的 JSON: $jsonString');
|
||
|
||
final jsonMap = jsonDecode(jsonString);
|
||
|
||
// 🔥 区分两种数据格式
|
||
final requestType = jsonMap['request'];
|
||
final platform = jsonMap['platform'];
|
||
final respondData = jsonMap['respond'];
|
||
|
||
//print('>>> [RemoteControl] 📋 requestType=$requestType, platform=$platform');
|
||
_logger.logWithLevel('>>> [RemoteControl] 📋 requestType=$requestType, platform=$platform');
|
||
|
||
// 情况 1: 响应格式 - {"respond":{"switchResult":true,"deviceId":"...","holder":"you"}}
|
||
if (respondData != null && respondData is Map) {
|
||
final switchResult = respondData['switchResult'];
|
||
//print('>>> [RemoteControl] 📊 收到切换结果响应：switchResult = $switchResult');
|
||
_logger.logWithLevel('>>> [RemoteControl] 📊 收到切换结果响应：switchResult = $switchResult');
|
||
|
||
if (!isClosed) {
|
||
if (switchResult == true) {
|
||
// 切换成功，当前 APP 失去控制权
|
||
emit(state.copyWith(hasPermission: true, showPermissionRequestDialog: false));
|
||
print('>>> [RemoteControl] ✅ 权限已切');
|
||
} else {
|
||
// 切换失败或拒绝，保持当前状态
|
||
emit(state.copyWith(showPermissionRequestDialog: false));
|
||
print('>>> [RemoteControl] ❌ 权限切换失败/被拒绝');
|
||
}
|
||
}
|
||
}
|
||
// 情况 2: 请求格式 - {"request":"switch_control","deviceId":"...","platform":"web",...}
|
||
else if (requestType == 'switch_control') {
|
||
// 🔥 关键判断：只有当是其他平台（web）请求时才弹窗
|
||
if (platform != null && platform.toString().toLowerCase() != 'app') {
|
||
//print('>>> [RemoteControl] 🚨 $platform 端请求控制权，打开弹窗询问用户');
|
||
_logger.logWithLevel('>>> [RemoteControl] 🚨 $platform 端请求控制权，打开弹窗询问用户');
|
||
if (!isClosed) {
|
||
emit(state.copyWith(showPermissionRequestDialog: true));
|
||
}
|
||
} else {
|
||
//print('>>> [RemoteControl] ℹ️ APP 自己的请求回显，忽略不弹窗');
|
||
_logger.logWithLevel('>>> [RemoteControl] ℹ️ APP 自己的请求回显，忽略不弹窗');
|
||
}
|
||
}
|
||
// 情况 3: 异地登录通知 - {"request":"have_logged_in",...}
|
||
else if (requestType == 'have_logged_in') {
|
||
//print('>>> [RemoteControl] ⚠️ 检测到异地登录，打开弹窗提示');
|
||
_logger.logWithLevel('>>> [RemoteControl] ⚠️ 检测到异地登录，打开弹窗提示');
|
||
if (!isClosed) {
|
||
emit(state.copyWith(showPermissionRequestDialog: true));
|
||
}
|
||
}
|
||
else {
|
||
// print('>>> [RemoteControl] ℹ️ 未知类型的 0x12 包，忽略');
|
||
_logger.logWithLevel('>>> [RemoteControl] ℹ️ 未知类型的 0x12 包，忽略');
|
||
}
|
||
} catch (e) {
|
||
//print('>>> [RemoteControl] ❌ 解析失败：$e');
|
||
_logger.logWithLevel('>>> [RemoteControl] ❌ 解析失败：$e');
|
||
}
|
||
});
|
||
final c = getNetworkDelay();
|
||
emit(state.copyWith(
|
||
ping: await c, // 这里直接使用异步返回的数值
|
||
));
|
||
//print('>>> [RemoteControl] ✅ 0x12 监听器已建立完成');
|
||
_logger.logWithLevel('>>> [RemoteControl] ✅ 0x12 监听器已建立完成');
|
||
}
|
||
|
||
|
||
// 2. 开启 100ms 控制循环 (在进入遥控页面或点击“开始”时调用)
|
||
void startControlLoop() {
|
||
_timer?.cancel();
|
||
_timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
|
||
// 核心调用：直接把 state 里的实体丢给 repository
|
||
_repository.sendControlMachineCmd(state.controlEntity);
|
||
});
|
||
emit(state.copyWith(status: RemoteControlStatus.controlling));
|
||
}
|
||
|
||
// 3. 更新摇杆数据
|
||
void updateJoystick(double x, double y) {
|
||
final updatedEntity = state.controlEntity.copyWith(
|
||
x: x.toInt(),
|
||
y: y.toInt(),
|
||
);
|
||
emit(state.copyWith(controlEntity: updatedEntity));
|
||
}
|
||
|
||
// 4. 更新功能开关 (比如割刀速度、灯光、点火等)
|
||
void updateFunction({int? mower, int? lift, int? ignition, bool? emergency}) {
|
||
// debugPrint('🔧 [updateFunction] 调用 - mower: $mower, lift: $lift, ignition: $ignition, emergency: $emergency');
|
||
_logger.logWithLevel('🔧 [updateFunction] 调用 - mower: $mower, lift: $lift, ignition: $ignition, emergency: $emergency');
|
||
final updatedEntity = state.controlEntity.copyWith(
|
||
mower: mower,
|
||
lift: lift,
|
||
ignition: ignition,
|
||
emergency: emergency,
|
||
);
|
||
//emit(state.copyWith(controlEntity: updatedEntity));
|
||
emit(state.copyWith(
|
||
controlEntity: updatedEntity,
|
||
isEmergency: emergency ?? state.isEmergency,
|
||
));
|
||
debugPrint('✅ [updateFunction] 状态已更新并 emit');
|
||
_logger.logWithLevel('✅ [updateFunction] 状态已更新并 emit');
|
||
}
|
||
|
||
void updateOriginY(int y) {
|
||
final updatedEntity = state.controlEntity.copyWith(
|
||
y: y,
|
||
);
|
||
emit(state.copyWith(controlEntity: updatedEntity));
|
||
}
|
||
void updateOriginX(int x) {
|
||
final updatedEntity = state.controlEntity.copyWith(
|
||
x: x,
|
||
);
|
||
emit(state.copyWith(controlEntity: updatedEntity));
|
||
}
|
||
|
||
// 5. 停止控制循环
|
||
void stopControlLoop() {
|
||
_timer?.cancel();
|
||
_timer = null;
|
||
emit(state.copyWith(status: RemoteControlStatus.initial));
|
||
}
|
||
|
||
void toggleLock() {
|
||
emit(state.copyWith(isLocked: !state.isLocked));
|
||
}
|
||
|
||
void togglePermissionDialog(bool show) {
|
||
emit(state.copyWith(showPermissionRequestDialog: show));
|
||
}
|
||
|
||
void requestControlPermission() {
|
||
// 1. 关闭弹窗
|
||
emit(state.copyWith(showPermissionRequestDialog: false));
|
||
}
|
||
|
||
void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
|
||
void toggleRightPip() => emit(state.copyWith(showRightPip: !state.showRightPip));
|
||
|
||
@override
|
||
Future<void> close() {
|
||
_timer?.cancel(); // 退出页面时务必销毁定时器
|
||
_kickOutSub?.cancel();
|
||
_stringMessageSub?.cancel();
|
||
return super.close();
|
||
}
|
||
|
||
void updateChassisLift(int i) {}
|
||
|
||
void updateEmergency(bool bool) {
|
||
debugPrint('🚨 [急停] ${bool ? "触发急停!" : "解除急停"}');
|
||
updateFunction(emergency: bool);
|
||
}
|
||
|
||
void respondPermission(bool bool, String deviceId) {
|
||
emit(state.copyWith(showPermissionRequestDialog: false));
|
||
|
||
// 2. 发送响应到服务端
|
||
_repository.respondPermission(bool, deviceId);
|
||
|
||
// 3. 根据用户选择更新控制状态
|
||
if (bool) {
|
||
// 用户同意 → APP 失去控制权，Web 端获得控制权
|
||
emit(state.copyWith(hasPermission: false));
|
||
//路由到首页home
|
||
|
||
} else {
|
||
// 用户拒绝 → APP 继续保持控制权
|
||
emit(state.copyWith(hasPermission: true));
|
||
}
|
||
|
||
}
|
||
|
||
void requestControlPermissionS(String deviceName, String deviceId) async {
|
||
// 1. 关闭弹窗
|
||
emit(state.copyWith(showPermissionRequestDialog: false));
|
||
|
||
// 2. 调用 UseCase
|
||
final result = await _requestControlPermissionUseCase(
|
||
RequestControlPermissionParams(
|
||
deviceName: deviceName,
|
||
deviceId: deviceId,
|
||
),
|
||
);
|
||
|
||
// 3. 处理结果
|
||
result.fold(
|
||
(failure) {
|
||
//print('❌ [RemoteControl] 请求控制权限失败：${failure.message}');
|
||
_logger.logWithLevel('❌ [RemoteControl] 请求控制权限失败：${failure.message}');
|
||
// 可以在这里显示错误提示或重新打开弹窗
|
||
emit(state.copyWith(showPermissionRequestDialog: true));
|
||
|
||
},
|
||
(success) {
|
||
// 更新状态
|
||
//print('✅ [RemoteControl] 请求控制权限成功：$success');
|
||
_logger.logWithLevel('✅ [RemoteControl] 请求控制权限成功：$success');
|
||
///处理result
|
||
if(success){
|
||
emit(state.copyWith(hasPermission: true));
|
||
}else{
|
||
emit(state.copyWith(hasPermission: false));
|
||
}
|
||
print('✅ c：$success');
|
||
// 权限申请已发送，等待 0x12 回包更新状态
|
||
},
|
||
);
|
||
}
|
||
/// 发送底盘指令
|
||
void sendChassisCommand(int i) {
|
||
// debugPrint(' [底盘指令] ${i}');
|
||
_logger.logWithLevel(' [底盘指令] ${i}');
|
||
updateFunction(lift: i);
|
||
}
|
||
/// 发送割刀指令
|
||
void sendMowerCommand(int i) {
|
||
// debugPrint(' [割刀指令] ${i}');
|
||
_logger.logWithLevel(' [割刀指令] ${i}');
|
||
updateFunction(mower: i);
|
||
}
|
||
/// 发送点火指令
|
||
void sendFireCommand(int i) {
|
||
//void updateFunction({int? mower, int? lift, int? ignition, bool? emergency})
|
||
// updateFunction(mower:0, lift: 0, ignition: i, emergency: false);
|
||
debugPrint(' [点火指令] ${i}');
|
||
_logger.logWithLevel(' [点火指令] ${i}');
|
||
updateFunction(ignition: i);
|
||
}
|
||
// 发送障碍物识别指令
|
||
void toggleObstacleRecognition() {
|
||
emit(state.copyWith(obstacleRecognitionFlag: !state.obstacleRecognitionFlag));
|
||
}
|
||
|
||
void toggleTopLeftExpand() {
|
||
emit(state.copyWith(topRightIsExpanded: !state.topRightIsExpanded));
|
||
}
|
||
|
||
Future<int> getNetworkDelay() async {
|
||
try {
|
||
// 直接 Ping 你的服务器 IP
|
||
final ping = Ping('1.95.137.212', count: 1, timeout: 1);
|
||
|
||
// 等待一次结果
|
||
final data = await ping.stream.first;
|
||
|
||
if (data.response != null && data.response!.time != null) {
|
||
// 返回和 cmd 一样的毫秒值
|
||
return data.response!.time!.inMilliseconds;
|
||
} else {
|
||
return 9999;
|
||
}
|
||
} catch (e) {
|
||
return 9999;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
}
|
||
|