1183 lines
44 KiB
Dart
1183 lines
44 KiB
Dart
import 'dart:async';
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import 'dart:convert';
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import 'dart:math' as math;
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import 'package:fl_chart/fl_chart.dart';
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import 'package:flutter/material.dart';
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import 'package:flutter_bloc/flutter_bloc.dart';
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import 'package:syncfusion_flutter_gauges/gauges.dart';
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import 'package:flutter/animation.dart';
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// 占位导入（请替换为你项目的实际路径）
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import '../../../../core/app/app_user_cubit.dart';
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import '../../../../core/di/injection.dart';
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import '../../../../core/network/net_message_dispatcher.dart';
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import '../../../../core/network/protocol_decoder.dart';
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import '../../../devices/presentation/bloc/devices_cubit.dart';
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import '../../../devices/presentation/bloc/device_status_bloc.dart';
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import '../../../devices/presentation/bloc/device_status_state.dart';
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class RunningStatusPage extends StatefulWidget {
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const RunningStatusPage({super.key});
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@override
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State<RunningStatusPage> createState() => _RunningStatusPageState();
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}
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class _RunningStatusPageState extends State<RunningStatusPage> {
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bool _isCardView = true;
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// 仪表盘/折线图切换状态
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bool _voltageGaugeMode = true;
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bool _chipTempGaugeMode = true;
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bool _knifeSpeedGaugeMode = false;
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// 历史数据
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final List<FlSpot> _leftMeasureHistory = [];
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final List<FlSpot> _rightMeasureHistory = [];
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final List<FlSpot> _leftTargetHistory = [];
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final List<FlSpot> _rightTargetHistory = [];
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final List<FlSpot> _leftCurrentHistory = [];
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final List<FlSpot> _rightCurrentHistory = [];
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final List<FlSpot> _leftTempHistory = [];
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final List<FlSpot> _rightTempHistory = [];
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final List<FlSpot> _knifeHistory = [];
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final List<FlSpot> _chipTempHistory = [];
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final List<FlSpot> _voltageHistory = [];
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double _timeIndex = 0;
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// 核心修复：数据点X轴坐标强制映射为0-5（对应6个标签），保证一一对应
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List<FlSpot> _getMappedSpots(List<FlSpot> data) {
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final List<FlSpot> mapped = [];
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// 取最后6个数据
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final List<FlSpot> limited = data.length > 6 ? data.sublist(data.length - 6) : List.from(data);
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// 映射X轴坐标为0,1,2,3,4,5
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for (int i = 0; i < limited.length; i++) {
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mapped.add(FlSpot(i.toDouble(), limited[i].y));
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}
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// 不足6个时，补空值（X轴继续递增，y=0）
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while (mapped.length < 6) {
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mapped.add(FlSpot(mapped.length.toDouble(), 0));
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}
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return mapped;
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}
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void _limit(List<FlSpot> list, {int max = 30}) {
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if (list.length > max) list.removeAt(0);
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}
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void _refreshDeviceData() {
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final deviceState = context.read<DevicesCubit>().state;
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final currentDevice = deviceState.selectedDevice;
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if (currentDevice != null) {
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ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text("数据刷新成功！"), duration: Duration(seconds: 1)));
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} else {
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ScaffoldMessenger.of(context).showSnackBar(const SnackBar(content: Text("暂无设备，无法刷新"), duration: Duration(seconds: 1)));
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}
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}
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String _parseLocationQuality(int locationValue) {
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switch (locationValue) {
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case 0:
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return '无效';
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case 1:
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return 'GPS 单点定位';
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case 2:
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return 'DGPS 伪距差分或 SBAS';
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case 4:
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return 'RTK 固定解';
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case 5:
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return 'RTK 浮点解';
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default:
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return '未知($locationValue)';
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}
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}
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void _appendChartData(DeviceStatusUpdated state) {
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final status = state.status;
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_leftTargetHistory.add(FlSpot(_timeIndex, status.leftTargetSpeed));
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_rightTargetHistory.add(FlSpot(_timeIndex, status.rightTargetSpeed));
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_leftMeasureHistory.add(FlSpot(_timeIndex, status.leftMeasureSpeed));
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_rightMeasureHistory.add(FlSpot(_timeIndex, status.rightMeasureSpeed));
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_leftCurrentHistory.add(FlSpot(_timeIndex, status.leftCurrent));
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_rightCurrentHistory.add(FlSpot(_timeIndex, status.rightCurrent));
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_leftTempHistory.add(FlSpot(_timeIndex, status.leftMotorTemp));
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_rightTempHistory.add(FlSpot(_timeIndex, status.rightMotorTemp));
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_knifeHistory.add(FlSpot(_timeIndex, double.tryParse(status.knifeCuttingSpeed) ?? 0));
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_chipTempHistory.add(FlSpot(_timeIndex, status.chipTemp));
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_voltageHistory.add(FlSpot(_timeIndex, status.voltage));
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_timeIndex += 1;
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_limit(_leftTargetHistory);
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_limit(_rightTargetHistory);
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_limit(_leftMeasureHistory);
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_limit(_rightMeasureHistory);
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_limit(_leftCurrentHistory);
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_limit(_rightCurrentHistory);
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_limit(_leftTempHistory);
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_limit(_rightTempHistory);
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_limit(_knifeHistory);
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_limit(_chipTempHistory);
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_limit(_voltageHistory);
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}
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Widget _gap({double height = 20}) {
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return SizedBox(height: height);
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}
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// ====================== 图表卡片（统一样式） ======================
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Widget _chartCard({required String title, required Widget child, required bool isGaugeMode, required Function() onGaugeTap, required Function() onChartTap}) {
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return Container(
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decoration: BoxDecoration(
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color: Colors.white,
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borderRadius: BorderRadius.circular(12),
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boxShadow: [BoxShadow(color: Colors.grey.withOpacity(0.1), blurRadius: 4, offset: const Offset(0, 2))],
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),
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padding: const EdgeInsets.all(16),
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child: Column(
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crossAxisAlignment: CrossAxisAlignment.start,
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children: [
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Row(
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mainAxisAlignment: MainAxisAlignment.spaceBetween,
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children: [
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Text(
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title,
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style: const TextStyle(fontSize: 16, fontWeight: FontWeight.bold, color: Color(0xFF1677FF)),
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),
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Row(
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children: [
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GestureDetector(
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onTap: onGaugeTap,
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child: Text(
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"仪表盘",
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style: TextStyle(
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color: isGaugeMode ? const Color(0xFF1677FF) : Colors.grey,
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fontSize: 14,
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fontWeight: isGaugeMode ? FontWeight.bold : FontWeight.normal,
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),
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),
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),
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const SizedBox(width: 16),
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GestureDetector(
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onTap: onChartTap,
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child: Text(
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"折线图",
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style: TextStyle(
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color: !isGaugeMode ? const Color(0xFF1677FF) : Colors.grey,
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fontSize: 14,
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fontWeight: !isGaugeMode ? FontWeight.bold : FontWeight.normal,
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),
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),
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),
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],
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),
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],
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),
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const SizedBox(height: 16),
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child,
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],
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),
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);
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}
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// ====================== 带动画的圆形仪表盘 ======================
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Widget _circularGauge({
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required double value,
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required double maxValue,
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required String unit,
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List<double> majorTicks = const [0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100],
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}) {
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return AnimatedCircularGauge(value: value, maxValue: maxValue, unit: unit, majorTicks: majorTicks);
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}
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// ====================== 罗盘式航向角仪表盘 ======================
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Widget _compassGauge({required double yaw}) {
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return SizedBox(
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height: 200,
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child: Stack(
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alignment: Alignment.center,
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children: [
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CustomPaint(
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painter: CompassGaugePainter(yaw: yaw),
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size: const Size(240, 240),
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),
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Text(
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"${yaw.toStringAsFixed(0)}°",
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style: const TextStyle(fontSize: 20, fontWeight: FontWeight.bold, color: Colors.black),
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),
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],
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),
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);
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}
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Widget _styledLineChart({
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required String title,
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required List<LineChartBarData> lines,
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required double yAxisMax,
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double yAxisMin = 0,
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List<String> bottomLabels = const ["t", "t+1", "t+2", "t+3", "t+4", "t+5"],
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int yTickCount = 5,
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bool forceShowZeroTick = true,
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// 兼容版：控制刻度文字的内边距（替代axisOffset）
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double leftTitlePadding = 8.0,
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double bottomTitlePadding = 8.0,
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}) {
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// 确保0刻度被包含在刻度列表中
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final List<double> yTicks = _calculateYTicks(yAxisMin, yAxisMax, yTickCount);
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final List<double> finalYTicks = forceShowZeroTick
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? (yTicks.contains(0) ? yTicks : [...yTicks, 0]
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..sort())
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: yTicks;
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// 计算合法的刻度间隔（必须>0）
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final double yInterval = finalYTicks.length > 1 ? (finalYTicks.last - finalYTicks.first) / (finalYTicks.length - 1) : 1.0;
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const double xMin = 0;
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const double xMax = 5;
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return Column(
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crossAxisAlignment: CrossAxisAlignment.start, // 整体左对齐，保证标题和刻度对齐
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mainAxisSize: MainAxisSize.min, // 去除列的额外空白
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children: [
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if (lines.length > 1)
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Padding(
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padding: const EdgeInsets.only(bottom: 8),
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child: Row(
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mainAxisAlignment: MainAxisAlignment.center,
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children: [
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_legendItem(color: const Color(0xFF3F51B5), label: "左轮"),
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const SizedBox(width: 24),
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_legendItem(color: const Color(0xFF8BC34A), label: "右轮"),
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],
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),
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),
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Expanded(
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child: Padding(
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// 右侧预留空间显示最后一个刻度
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padding: const EdgeInsets.only(right: 35, top: 5, bottom: 0, left: 0),
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child: LineChart(
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LineChartData(
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minY: yAxisMin,
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maxY: yAxisMax,
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minX: xMin,
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maxX: xMax,
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borderData: FlBorderData(show: false),
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gridData: FlGridData(
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show: true,
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horizontalInterval: yInterval,
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getDrawingHorizontalLine: (value) {
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// 0刻度网格线加粗突出
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if (value == 0) {
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return const FlLine(color: Color(0xFFCCCCCC), strokeWidth: 1.5);
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}
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return const FlLine(color: Color(0xFFE5E5E5), strokeWidth: 1);
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},
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drawVerticalLine: false,
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),
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titlesData: FlTitlesData(
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leftTitles: AxisTitles(
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sideTitles: SideTitles(
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showTitles: true,
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// 预留刻度文字宽度（关键：避免文字被截断）
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reservedSize: 50 + leftTitlePadding,
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// 合法的间隔值（>0）
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interval: yInterval,
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getTitlesWidget: (value, meta) {
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// 只显示目标刻度（包含0）
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if (finalYTicks.any((tick) => (value - tick).abs() < 0.01)) {
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// 用Padding控制刻度与图表的间距（兼容所有版本）
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return Padding(
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padding: EdgeInsets.only(right: leftTitlePadding),
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child: Text(
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value.toStringAsFixed(0),
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style: const TextStyle(fontSize: 12, color: Colors.grey),
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textAlign: TextAlign.right,
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),
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);
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}
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return const SizedBox.shrink();
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},
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),
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),
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bottomTitles: AxisTitles(
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sideTitles: SideTitles(
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showTitles: true,
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interval: 1, // 横轴固定间隔1（合法值）
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// 预留刻度文字高度
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reservedSize: 35 + bottomTitlePadding,
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getTitlesWidget: (value, meta) {
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int idx = value.toInt();
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if (idx >= 0 && idx < bottomLabels.length) {
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return Padding(
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// 用Padding控制垂直间距，Transform避免最后一个标签截断
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padding: EdgeInsets.only(top: bottomTitlePadding),
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child: Transform.translate(
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offset: const Offset(-5, 0),
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child: Text(bottomLabels[idx], style: const TextStyle(fontSize: 12, color: Colors.grey)),
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),
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);
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}
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return const SizedBox.shrink();
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},
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),
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),
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rightTitles: const AxisTitles(sideTitles: SideTitles(showTitles: false)),
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topTitles: const AxisTitles(sideTitles: SideTitles(showTitles: false)),
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),
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lineBarsData: lines,
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extraLinesData: ExtraLinesData(horizontalLines: []),
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),
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),
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),
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),
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],
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);
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}
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// 刻度计算方法（确保0刻度被包含）
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List<double> _calculateYTicks(double min, double max, int count) {
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// 强制把最小值设为0（如果需要显示0刻度）
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if (min > 0) {
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min = 0;
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}
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final List<double> ticks = [];
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final double step = (max - min) / (count - 1);
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for (int i = 0; i < count; i++) {
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ticks.add(min + step * i);
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}
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return ticks;
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}
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Widget _legendItem({required Color color, required String label}) {
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return Row(
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children: [
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Container(
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width: 16,
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height: 16,
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decoration: BoxDecoration(
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shape: BoxShape.circle,
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color: Colors.white,
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border: Border.all(color: color, width: 2),
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),
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),
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const SizedBox(width: 4),
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Text(label, style: const TextStyle(fontSize: 14, color: Colors.black87)),
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],
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);
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}
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// 使用修复后的_getMappedSpots映射数据点
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LineChartBarData _lineData(List<FlSpot> data, Color color) {
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return LineChartBarData(
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spots: _getMappedSpots(data),
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isCurved: false,
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color: color,
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barWidth: 2,
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isStrokeCapRound: true,
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dotData: FlDotData(
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show: true,
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getDotPainter: (spot, percent, barData, index) => FlDotCirclePainter(radius: 4, color: color, strokeWidth: 2, strokeColor: Colors.white),
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),
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belowBarData: BarAreaData(show: false),
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);
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}
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// ====================== 图表视图 ======================
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Widget _buildChartContentView(DeviceStatusState state) {
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if (state is! DeviceStatusUpdated) {
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return const Center(
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child: CircularProgressIndicator(
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color: Color(0xFF1677FF), // 统一使用项目主题蓝色
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strokeWidth: 4, // 加粗加载圈，视觉更清晰
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),
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);
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}
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final status = state.status;
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return SingleChildScrollView(
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padding: const EdgeInsets.all(16),
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child: Column(
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children: [
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_chartCard(
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title: "电压 (V)",
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isGaugeMode: _voltageGaugeMode,
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onGaugeTap: () => setState(() => _voltageGaugeMode = true),
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onChartTap: () => setState(() => _voltageGaugeMode = false),
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child: _voltageGaugeMode
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? _circularGauge(value: status.voltage, maxValue: 250, unit: "V", majorTicks: const [0, 50, 100, 150, 200, 250])
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: SizedBox(
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height: 180,
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child: _styledLineChart(
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title: "电压",
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lines: [_lineData(_voltageHistory, const Color(0xFF4CAF50))],
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yAxisMax: 250,
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yAxisMin: 0,
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yTickCount: 6,
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),
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),
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),
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_gap(),
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_chartCard(
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title: "芯片温度 (°C)",
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isGaugeMode: _chipTempGaugeMode,
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onGaugeTap: () => setState(() => _chipTempGaugeMode = true),
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onChartTap: () => setState(() => _chipTempGaugeMode = false),
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child: _chipTempGaugeMode
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? _circularGauge(value: status.chipTemp, maxValue: 100, unit: "°C", majorTicks: const [0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100])
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: SizedBox(
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height: 180,
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child: _styledLineChart(
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title: "芯片温度",
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lines: [_lineData(_chipTempHistory, const Color(0xFF4CAF50))],
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yAxisMax: 100,
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yAxisMin: 0,
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yTickCount: 6,
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),
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),
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),
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_gap(),
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_chartCard(
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title: "割刀速度 (rpm)",
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isGaugeMode: _knifeSpeedGaugeMode,
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onGaugeTap: () => setState(() => _knifeSpeedGaugeMode = true),
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onChartTap: () => setState(() => _knifeSpeedGaugeMode = false),
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child: _knifeSpeedGaugeMode
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? _circularGauge(
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value: double.tryParse(status.knifeCuttingSpeed) ?? 0,
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maxValue: 3000,
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unit: "rpm",
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majorTicks: const [0, 500, 1000, 1500, 2000, 2500, 3000],
|
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)
|
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: SizedBox(
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height: 180,
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child: _styledLineChart(
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title: "割刀速度",
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||
lines: [_lineData(_knifeHistory, const Color(0xFF4CAF50))],
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yAxisMax: 3000,
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yAxisMin: -3000,
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yTickCount: 7,
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),
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),
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),
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_gap(),
|
||
|
||
Container(
|
||
decoration: BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.circular(12),
|
||
boxShadow: [BoxShadow(color: Colors.grey.withOpacity(0.1), blurRadius: 4, offset: const Offset(0, 2))],
|
||
),
|
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padding: const EdgeInsets.all(16),
|
||
child: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text(
|
||
"左右轮测量速度对比 (rpm)",
|
||
style: const TextStyle(fontSize: 16, fontWeight: FontWeight.bold, color: Color(0xFF1677FF)),
|
||
),
|
||
const SizedBox(height: 16),
|
||
SizedBox(
|
||
height: 180,
|
||
child: _styledLineChart(
|
||
title: "左右轮测量速度对比",
|
||
lines: [_lineData(_leftMeasureHistory, const Color(0xFF3F51B5)), _lineData(_rightMeasureHistory, const Color(0xFF8BC34A))],
|
||
yAxisMax: 3000,
|
||
yAxisMin: -3000,
|
||
yTickCount: 7,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
_gap(),
|
||
|
||
Container(
|
||
decoration: BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.circular(12),
|
||
boxShadow: [BoxShadow(color: Colors.grey.withOpacity(0.1), blurRadius: 4, offset: const Offset(0, 2))],
|
||
),
|
||
padding: const EdgeInsets.all(16),
|
||
child: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text(
|
||
"左右轮目标速度对比 (rpm)",
|
||
style: const TextStyle(fontSize: 16, fontWeight: FontWeight.bold, color: Color(0xFF1677FF)),
|
||
),
|
||
const SizedBox(height: 16),
|
||
SizedBox(
|
||
height: 180,
|
||
child: _styledLineChart(
|
||
title: "左右轮目标速度对比",
|
||
lines: [_lineData(_leftTargetHistory, const Color(0xFF3F51B5)), _lineData(_rightTargetHistory, const Color(0xFF8BC34A))],
|
||
yAxisMax: 3000,
|
||
yAxisMin: -3000,
|
||
yTickCount: 7,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
_gap(),
|
||
|
||
Container(
|
||
decoration: BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.circular(12),
|
||
boxShadow: [BoxShadow(color: Colors.grey.withOpacity(0.1), blurRadius: 4, offset: const Offset(0, 2))],
|
||
),
|
||
padding: const EdgeInsets.all(16),
|
||
child: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text(
|
||
"电流对比 (A)",
|
||
style: const TextStyle(fontSize: 16, fontWeight: FontWeight.bold, color: Color(0xFF1677FF)),
|
||
),
|
||
const SizedBox(height: 16),
|
||
SizedBox(
|
||
height: 180,
|
||
child: _styledLineChart(
|
||
title: "电流对比",
|
||
lines: [_lineData(_leftCurrentHistory, const Color(0xFF3F51B5)), _lineData(_rightCurrentHistory, const Color(0xFF8BC34A))],
|
||
yAxisMax: 100,
|
||
yAxisMin: 0,
|
||
yTickCount: 6,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
_gap(),
|
||
|
||
Container(
|
||
decoration: BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.circular(12),
|
||
boxShadow: [BoxShadow(color: Colors.grey.withOpacity(0.1), blurRadius: 4, offset: const Offset(0, 2))],
|
||
),
|
||
padding: const EdgeInsets.all(16),
|
||
child: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text(
|
||
"电机温度对比 (°C)",
|
||
style: const TextStyle(fontSize: 16, fontWeight: FontWeight.bold, color: Color(0xFF1677FF)),
|
||
),
|
||
const SizedBox(height: 16),
|
||
SizedBox(
|
||
height: 180,
|
||
child: _styledLineChart(
|
||
title: "电机温度对比",
|
||
lines: [_lineData(_leftTempHistory, const Color(0xFF3F51B5)), _lineData(_rightTempHistory, const Color(0xFF8BC34A))],
|
||
yAxisMax: 100,
|
||
yAxisMin: 0,
|
||
yTickCount: 6,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
_gap(),
|
||
|
||
Container(
|
||
decoration: BoxDecoration(
|
||
color: Colors.white,
|
||
borderRadius: BorderRadius.circular(12),
|
||
boxShadow: [BoxShadow(color: Colors.grey.withOpacity(0.1), blurRadius: 4, offset: const Offset(0, 2))],
|
||
),
|
||
padding: const EdgeInsets.all(16),
|
||
child: Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
Text(
|
||
"航向角 (°)",
|
||
style: const TextStyle(fontSize: 16, fontWeight: FontWeight.bold, color: Color(0xFF1677FF)),
|
||
),
|
||
const SizedBox(height: 16),
|
||
_compassGauge(yaw: status.yaw),
|
||
],
|
||
),
|
||
),
|
||
_gap(),
|
||
],
|
||
),
|
||
);
|
||
}
|
||
|
||
// ====================== 卡片视图 ======================
|
||
Widget _buildCardContentView(DeviceStatusState state) {
|
||
if (state is DeviceStatusUpdated) {
|
||
return SingleChildScrollView(
|
||
padding: const EdgeInsets.all(16),
|
||
child: Column(children: [_buildMotorTable(state), const SizedBox(height: 20), _buildOtherParamsTable(state)]),
|
||
);
|
||
} else if (state is DeviceStatusError) {
|
||
return const Center(
|
||
child: Text("数据加载失败", style: TextStyle(color: Colors.red, fontSize: 16)),
|
||
);
|
||
} else {
|
||
return const Center(
|
||
child: CircularProgressIndicator(
|
||
color: Color(0xFF1677FF), // 统一使用项目主题蓝色
|
||
strokeWidth: 4, // 加粗加载圈，视觉更清晰
|
||
),
|
||
);
|
||
}
|
||
}
|
||
|
||
Widget _buildMotorTable(DeviceStatusUpdated state) {
|
||
final status = state.status;
|
||
return Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
const Padding(
|
||
padding: EdgeInsets.symmetric(vertical: 12),
|
||
child: Text("电机参数", style: TextStyle(fontSize: 16, fontWeight: FontWeight.bold)),
|
||
),
|
||
Table(
|
||
border: TableBorder.all(color: const Color(0xFFE5E5E5)),
|
||
defaultVerticalAlignment: TableCellVerticalAlignment.middle,
|
||
children: [
|
||
TableRow(
|
||
decoration: const BoxDecoration(color: Color(0xFFF5F5F5)),
|
||
children: [const SizedBox(), _buildTableCell("左轮", isHeader: true), _buildTableCell("右轮", isHeader: true)],
|
||
),
|
||
TableRow(
|
||
children: [
|
||
_buildTableCell("目标速度\n(rpm)"),
|
||
_buildTableCell(status.leftTargetSpeed.toStringAsFixed(2)),
|
||
_buildTableCell(status.rightTargetSpeed.toStringAsFixed(2)),
|
||
],
|
||
),
|
||
TableRow(
|
||
children: [
|
||
_buildTableCell("测量速度\n(rpm)"),
|
||
_buildTableCell(status.leftMeasureSpeed.toStringAsFixed(2)),
|
||
_buildTableCell(status.rightMeasureSpeed.toStringAsFixed(2)),
|
||
],
|
||
),
|
||
TableRow(
|
||
children: [
|
||
_buildTableCell("电流(A)"),
|
||
_buildTableCell(status.leftCurrent.toStringAsFixed(2)),
|
||
_buildTableCell(status.rightCurrent.toStringAsFixed(2)),
|
||
],
|
||
),
|
||
TableRow(
|
||
children: [
|
||
_buildTableCell("电机温度(°C)"),
|
||
_buildTableCell(status.leftMotorTemp.toStringAsFixed(2)),
|
||
_buildTableCell(status.rightMotorTemp.toStringAsFixed(2)),
|
||
],
|
||
),
|
||
],
|
||
),
|
||
],
|
||
);
|
||
}
|
||
|
||
Widget _buildOtherParamsTable(DeviceStatusUpdated state) {
|
||
final status = state.status;
|
||
return Column(
|
||
crossAxisAlignment: CrossAxisAlignment.start,
|
||
children: [
|
||
const Padding(
|
||
padding: EdgeInsets.symmetric(vertical: 12),
|
||
child: Text("其他参数", style: TextStyle(fontSize: 16, fontWeight: FontWeight.bold)),
|
||
),
|
||
Table(
|
||
border: TableBorder.all(color: const Color(0xFFE5E5E5)),
|
||
defaultVerticalAlignment: TableCellVerticalAlignment.middle,
|
||
children: [
|
||
TableRow(
|
||
decoration: const BoxDecoration(color: Color(0xFFF5F5F5)),
|
||
children: [_buildTableCell("名称", isHeader: true), _buildTableCell("数值", isHeader: true)],
|
||
),
|
||
TableRow(children: [_buildTableCell("俯仰角(°)"), _buildTableCell(status.pitch.toStringAsFixed(2))]),
|
||
TableRow(children: [_buildTableCell("翻滚角(°)"), _buildTableCell(status.roll.toStringAsFixed(2))]),
|
||
TableRow(children: [_buildTableCell("航向角(°)"), _buildTableCell(status.yaw.toStringAsFixed(2))]),
|
||
TableRow(children: [_buildTableCell("电量(%)"), _buildTableCell(status.battery)]),
|
||
TableRow(children: [_buildTableCell("芯片温度(°C)"), _buildTableCell(status.chipTemp.toStringAsFixed(2))]),
|
||
TableRow(children: [_buildTableCell("割刀速度(rpm)"), _buildTableCell(status.knifeCuttingSpeed)]),
|
||
TableRow(children: [_buildTableCell("经度(°)"), _buildTableCell(status.longitude.toStringAsFixed(6))]),
|
||
TableRow(children: [_buildTableCell("纬度(°)"), _buildTableCell(status.latitude.toStringAsFixed(6))]),
|
||
],
|
||
),
|
||
],
|
||
);
|
||
}
|
||
|
||
Widget _buildTableCell(String text, {bool isHeader = false}) {
|
||
return TableCell(
|
||
child: Padding(
|
||
padding: const EdgeInsets.symmetric(vertical: 10, horizontal: 6),
|
||
child: Text(
|
||
text,
|
||
textAlign: TextAlign.center,
|
||
style: TextStyle(
|
||
fontSize: 14,
|
||
color: isHeader ? const Color(0xFF333333) : const Color(0xFF666666),
|
||
fontWeight: isHeader ? FontWeight.bold : FontWeight.normal,
|
||
),
|
||
),
|
||
),
|
||
);
|
||
}
|
||
|
||
Widget _buildTab(String title, {required bool isActive}) {
|
||
return Text(
|
||
title,
|
||
style: TextStyle(
|
||
color: isActive ? const Color(0xFF1677FF) : const Color(0xFF666666),
|
||
fontSize: 16,
|
||
fontWeight: isActive ? FontWeight.bold : FontWeight.normal,
|
||
decoration: isActive ? TextDecoration.underline : null,
|
||
decorationColor: const Color(0xFF1677FF),
|
||
decorationThickness: 2,
|
||
),
|
||
);
|
||
}
|
||
|
||
@override
|
||
Widget build(BuildContext context) {
|
||
final deviceState = context.read<DevicesCubit>().state;
|
||
final currentDevice = deviceState.selectedDevice;
|
||
|
||
if (currentDevice == null) {
|
||
return const Scaffold(body: Center(child: Text("加载中...")));
|
||
}
|
||
|
||
return Scaffold(
|
||
backgroundColor: const Color(0xFFF7F7F7),
|
||
body: CustomScrollView(
|
||
physics: const BouncingScrollPhysics(),
|
||
slivers: [
|
||
SliverAppBar(
|
||
backgroundColor: const Color(0xFF1677FF),
|
||
pinned: true,
|
||
centerTitle: true,
|
||
elevation: 0,
|
||
title: const Text(
|
||
"设备数据监控",
|
||
style: TextStyle(color: Colors.white, fontSize: 18, fontWeight: FontWeight.bold),
|
||
),
|
||
leading: IconButton(
|
||
icon: const Icon(Icons.arrow_back, color: Colors.white),
|
||
onPressed: () => Navigator.pop(context),
|
||
),
|
||
),
|
||
|
||
BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
|
||
builder: (context, state) {
|
||
String qual = '--';
|
||
String satelliteCnt = '--';
|
||
String headingStatus = "--";
|
||
|
||
if (state is DeviceStatusUpdated) {
|
||
headingStatus = state.status.headingStatus == 0 ? '未初始化' : '已初始化';
|
||
int qualValue = 0;
|
||
try {
|
||
qualValue = int.parse(state.status.qual.toString());
|
||
} catch (e) {
|
||
qualValue = 0;
|
||
}
|
||
qual = _parseLocationQuality(qualValue);
|
||
satelliteCnt = state.status.satelliteCnt.toString();
|
||
} else if (state is DeviceStatusError) {
|
||
qual = '-';
|
||
satelliteCnt = '-';
|
||
headingStatus = '-';
|
||
}
|
||
|
||
return SliverToBoxAdapter(
|
||
child: Container(
|
||
color: Colors.white,
|
||
padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 10),
|
||
child: Row(
|
||
mainAxisAlignment: MainAxisAlignment.spaceBetween,
|
||
children: [
|
||
Expanded(
|
||
flex: 3,
|
||
child: Text("航向角状态：$headingStatus", style: const TextStyle(fontSize: 12), maxLines: 1, overflow: TextOverflow.ellipsis),
|
||
),
|
||
Expanded(
|
||
flex: 4,
|
||
child: Text(
|
||
"定位质量：$qual",
|
||
style: const TextStyle(fontSize: 12),
|
||
maxLines: 1,
|
||
overflow: TextOverflow.ellipsis,
|
||
textAlign: TextAlign.center,
|
||
),
|
||
),
|
||
Expanded(
|
||
flex: 2,
|
||
child: Text(
|
||
"卫星数：$satelliteCnt",
|
||
style: const TextStyle(fontSize: 12),
|
||
maxLines: 1,
|
||
overflow: TextOverflow.ellipsis,
|
||
textAlign: TextAlign.right,
|
||
),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
);
|
||
},
|
||
),
|
||
|
||
SliverToBoxAdapter(
|
||
child: Container(
|
||
color: Colors.white,
|
||
margin: const EdgeInsets.only(top: 8),
|
||
padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 8),
|
||
child: Row(
|
||
mainAxisAlignment: MainAxisAlignment.spaceBetween,
|
||
children: [
|
||
Row(
|
||
children: [
|
||
GestureDetector(
|
||
onTap: () => setState(() => _isCardView = true),
|
||
child: _buildTab("卡片", isActive: _isCardView),
|
||
),
|
||
const SizedBox(width: 24),
|
||
GestureDetector(
|
||
onTap: () => setState(() => _isCardView = false),
|
||
child: _buildTab("图表", isActive: !_isCardView),
|
||
),
|
||
],
|
||
),
|
||
ElevatedButton(
|
||
style: ElevatedButton.styleFrom(
|
||
backgroundColor: const Color(0xFF1677FF),
|
||
foregroundColor: Colors.white,
|
||
shape: RoundedRectangleBorder(borderRadius: BorderRadius.circular(4)),
|
||
padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 8),
|
||
),
|
||
onPressed: _refreshDeviceData,
|
||
child: const Text("刷新数据", style: TextStyle(fontSize: 14)),
|
||
),
|
||
],
|
||
),
|
||
),
|
||
),
|
||
|
||
SliverToBoxAdapter(
|
||
child: BlocBuilder<DeviceStatusBloc, DeviceStatusState>(
|
||
builder: (context, state) {
|
||
if (state is DeviceStatusUpdated) {
|
||
_appendChartData(state);
|
||
}
|
||
return Container(margin: const EdgeInsets.all(8), child: _isCardView ? _buildCardContentView(state) : _buildChartContentView(state));
|
||
},
|
||
),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
}
|
||
}
|
||
|
||
// ====================== 带动画的圆形仪表盘 Widget ======================
|
||
class AnimatedCircularGauge extends StatefulWidget {
|
||
final double value;
|
||
final double maxValue;
|
||
final String unit;
|
||
final List<double> majorTicks;
|
||
|
||
const AnimatedCircularGauge({super.key, required this.value, required this.maxValue, required this.unit, required this.majorTicks});
|
||
|
||
@override
|
||
State<AnimatedCircularGauge> createState() => _AnimatedCircularGaugeState();
|
||
}
|
||
|
||
class _AnimatedCircularGaugeState extends State<AnimatedCircularGauge> with SingleTickerProviderStateMixin {
|
||
late AnimationController _animationController;
|
||
late Animation<double> _valueAnimation;
|
||
double _previousValue = 0.0;
|
||
|
||
@override
|
||
void initState() {
|
||
super.initState();
|
||
_animationController = AnimationController(vsync: this, duration: const Duration(milliseconds: 800));
|
||
_previousValue = widget.value;
|
||
_valueAnimation = Tween<double>(begin: 0, end: widget.value).animate(CurvedAnimation(parent: _animationController, curve: Curves.easeOutCubic))
|
||
..addListener(() {
|
||
setState(() {});
|
||
});
|
||
_animationController.forward();
|
||
}
|
||
|
||
@override
|
||
void didUpdateWidget(covariant AnimatedCircularGauge oldWidget) {
|
||
super.didUpdateWidget(oldWidget);
|
||
if (widget.value != oldWidget.value) {
|
||
_previousValue = _valueAnimation.value;
|
||
_valueAnimation =
|
||
Tween<double>(begin: _previousValue, end: widget.value).animate(CurvedAnimation(parent: _animationController, curve: Curves.easeOutCubic))
|
||
..addListener(() {
|
||
setState(() {});
|
||
});
|
||
_animationController.reset();
|
||
_animationController.forward();
|
||
}
|
||
}
|
||
|
||
@override
|
||
void dispose() {
|
||
_animationController.dispose();
|
||
super.dispose();
|
||
}
|
||
|
||
@override
|
||
Widget build(BuildContext context) {
|
||
return SizedBox(
|
||
height: 180,
|
||
child: Stack(
|
||
alignment: Alignment.center,
|
||
children: [
|
||
CustomPaint(
|
||
painter: CircularGaugePainter(value: _valueAnimation.value, maxValue: widget.maxValue, majorTicks: widget.majorTicks),
|
||
size: const Size(240, 240),
|
||
),
|
||
Positioned(
|
||
bottom: 20,
|
||
child: Text(
|
||
"${_valueAnimation.value.toStringAsFixed(2)} ${widget.unit}",
|
||
style: const TextStyle(fontSize: 18, fontWeight: FontWeight.w500, color: Colors.grey),
|
||
),
|
||
),
|
||
],
|
||
),
|
||
);
|
||
}
|
||
}
|
||
|
||
// ====================== 圆形仪表盘绘制器 ======================
|
||
class CircularGaugePainter extends CustomPainter {
|
||
final double value;
|
||
final double maxValue;
|
||
final List<double> majorTicks;
|
||
|
||
CircularGaugePainter({required this.value, required this.maxValue, required this.majorTicks});
|
||
|
||
@override
|
||
void paint(Canvas canvas, Size size) {
|
||
final center = Offset(size.width / 2, size.height / 2);
|
||
final radius = size.width / 2 - 20;
|
||
|
||
final bgArcPaint = Paint()
|
||
..color = const Color(0xFFE3F2FD)
|
||
..style = PaintingStyle.stroke
|
||
..strokeWidth = 8
|
||
..strokeCap = StrokeCap.round;
|
||
final bgRect = Rect.fromCircle(center: center, radius: radius);
|
||
canvas.drawArc(bgRect, 135 * math.pi / 180, 270 * math.pi / 180, false, bgArcPaint);
|
||
|
||
final progressRatio = math.min(value / maxValue, 1.0);
|
||
final progressPaint = Paint()
|
||
..color = const Color(0xFFBBDEFB)
|
||
..style = PaintingStyle.stroke
|
||
..strokeWidth = 8
|
||
..strokeCap = StrokeCap.round;
|
||
canvas.drawArc(bgRect, 135 * math.pi / 180, 270 * math.pi / 180 * progressRatio, false, progressPaint);
|
||
|
||
final tickPaint = Paint()..color = Colors.grey.shade400;
|
||
final majorTickPaint = Paint()
|
||
..color = Colors.grey.shade600
|
||
..strokeWidth = 2;
|
||
|
||
const totalTicks = 270;
|
||
for (int i = 0; i < totalTicks; i++) {
|
||
final angle = 135 * math.pi / 180 + (i * math.pi * 270 / 180) / totalTicks;
|
||
final tickStart = center + Offset(math.cos(angle), math.sin(angle)) * (radius - 4);
|
||
final tickEnd = center + Offset(math.cos(angle), math.sin(angle)) * radius;
|
||
|
||
tickPaint.strokeWidth = 1;
|
||
canvas.drawLine(tickStart, tickEnd, tickPaint);
|
||
|
||
final tickValue = (i / totalTicks) * maxValue;
|
||
if (majorTicks.any((tick) => (tickValue - tick).abs() < 0.1)) {
|
||
final majorTickStart = center + Offset(math.cos(angle), math.sin(angle)) * (radius - 8);
|
||
canvas.drawLine(majorTickStart, tickEnd, majorTickPaint);
|
||
|
||
final textValue = tickValue.toStringAsFixed(0);
|
||
final textPainter = TextPainter(
|
||
text: TextSpan(
|
||
text: textValue,
|
||
style: const TextStyle(fontSize: 12, color: Colors.grey, fontWeight: FontWeight.w500),
|
||
),
|
||
textDirection: TextDirection.ltr,
|
||
)..layout();
|
||
final textOffset = center + Offset(math.cos(angle), math.sin(angle)) * (radius - 20);
|
||
final textX = textOffset.dx - textPainter.width / 2;
|
||
final textY = textOffset.dy - textPainter.height / 2;
|
||
textPainter.paint(canvas, Offset(textX, textY));
|
||
}
|
||
}
|
||
|
||
final needleAngle = 135 * math.pi / 180 + 270 * math.pi / 180 * progressRatio;
|
||
final needlePaint = Paint()
|
||
..color = Colors.grey.shade600
|
||
..style = PaintingStyle.fill;
|
||
|
||
final needlePath = Path()
|
||
..moveTo(center.dx + (radius - 10) * math.cos(needleAngle), center.dy + (radius - 10) * math.sin(needleAngle))
|
||
..lineTo(center.dx + 6 * math.cos(needleAngle - math.pi / 2), center.dy + 6 * math.sin(needleAngle - math.pi / 2))
|
||
..lineTo(center.dx + 6 * math.cos(needleAngle + math.pi / 2), center.dy + 6 * math.sin(needleAngle + math.pi / 2))
|
||
..close();
|
||
|
||
canvas.drawPath(needlePath, needlePaint);
|
||
final centerDotPaint = Paint()
|
||
..color = Colors.white
|
||
..style = PaintingStyle.fill;
|
||
canvas.drawCircle(center, 3, centerDotPaint);
|
||
}
|
||
|
||
@override
|
||
bool shouldRepaint(covariant CircularGaugePainter oldDelegate) {
|
||
return oldDelegate.value != value || oldDelegate.maxValue != maxValue || oldDelegate.majorTicks != majorTicks;
|
||
}
|
||
}
|
||
|
||
// ====================== 罗盘式航向角仪表盘绘制器 ======================
|
||
|
||
class CompassGaugePainter extends CustomPainter {
|
||
final double yaw;
|
||
|
||
CompassGaugePainter({required this.yaw});
|
||
|
||
@override
|
||
void paint(Canvas canvas, Size size) {
|
||
final center = Offset(size.width / 2, size.height / 2);
|
||
final radius = size.width / 2 - 20;
|
||
|
||
// 绘制外圆
|
||
final outerPaint = Paint()
|
||
..color = const Color(0xFF1677FF)
|
||
..style = PaintingStyle.stroke
|
||
..strokeWidth = 10;
|
||
canvas.drawCircle(center, radius, outerPaint);
|
||
|
||
// 绘制刻度
|
||
final tickPaint = Paint()
|
||
..color = Colors.grey
|
||
..strokeWidth = 2;
|
||
|
||
for (int i = 0; i < 36; i++) {
|
||
// 修复1：刻度角度映射 - 让0°=北(N)，180°=南(S)，90°=东(E)，270°=西(W)
|
||
final degree = i * 10;
|
||
final angle = (degree - 90) * math.pi / 180; // 0°(北)对应-90弧度，180°(南)对应90弧度
|
||
|
||
final x1 = center.dx + (radius - 10) * math.cos(angle);
|
||
final y1 = center.dy + (radius - 10) * math.sin(angle);
|
||
final x2 = center.dx + radius * math.cos(angle);
|
||
final y2 = center.dy + radius * math.sin(angle);
|
||
canvas.drawLine(Offset(x1, y1), Offset(x2, y2), tickPaint);
|
||
|
||
if (i % 9 == 0) {
|
||
// 绘制主刻度
|
||
final x3 = center.dx + (radius - 20) * math.cos(angle);
|
||
final y3 = center.dy + (radius - 20) * math.sin(angle);
|
||
canvas.drawLine(Offset(x1, y1), Offset(x3, y3), tickPaint..strokeWidth = 4);
|
||
|
||
// 绘制方向文字(N/E/S/W)和角度数值
|
||
String direction = "";
|
||
if (degree == 0)
|
||
direction = "N";
|
||
else if (degree == 90)
|
||
direction = "E";
|
||
else if (degree == 180)
|
||
direction = "S";
|
||
else if (degree == 270)
|
||
direction = "W";
|
||
|
||
// 绘制方向文字
|
||
if (direction.isNotEmpty) {
|
||
final textPainter = TextPainter(
|
||
text: TextSpan(
|
||
text: direction,
|
||
style: const TextStyle(fontSize: 16, fontWeight: FontWeight.bold, color: Colors.black),
|
||
),
|
||
textDirection: TextDirection.ltr,
|
||
)..layout();
|
||
final textX = center.dx + (radius - 40) * math.cos(angle) - textPainter.width / 2;
|
||
final textY = center.dy + (radius - 40) * math.sin(angle) - textPainter.height / 2;
|
||
textPainter.paint(canvas, Offset(textX, textY));
|
||
}
|
||
|
||
// 绘制角度数值（如90、180、270）
|
||
final textPainter = TextPainter(
|
||
text: TextSpan(
|
||
text: degree.toString(),
|
||
style: const TextStyle(fontSize: 12, color: Colors.black54),
|
||
),
|
||
textDirection: TextDirection.ltr,
|
||
)..layout();
|
||
final textX = center.dx + (radius - 60) * math.cos(angle) - textPainter.width / 2;
|
||
final textY = center.dy + (radius - 60) * math.sin(angle) - textPainter.height / 2;
|
||
textPainter.paint(canvas, Offset(textX, textY));
|
||
}
|
||
}
|
||
|
||
// 绘制中心角度文字（如180°）
|
||
final centerTextPainter = TextPainter(
|
||
text: TextSpan(
|
||
text: "${yaw.toStringAsFixed(0)}°",
|
||
style: const TextStyle(fontSize: 20, fontWeight: FontWeight.bold, color: Colors.black),
|
||
),
|
||
textDirection: TextDirection.ltr,
|
||
textAlign: TextAlign.center,
|
||
)..layout();
|
||
final centerTextX = center.dx - centerTextPainter.width / 2;
|
||
final centerTextY = center.dy - centerTextPainter.height / 2;
|
||
centerTextPainter.paint(canvas, Offset(centerTextX, centerTextY));
|
||
|
||
// ========== 核心修复：指针角度计算 ==========
|
||
// 修复2：指针角度映射 - 让yaw=180°时指向正南(S)
|
||
final needleDegree = yaw;
|
||
final needleAngle = (needleDegree - 90) * math.pi / 180; // 与刻度角度映射一致
|
||
|
||
// 指针绘制样式
|
||
final needlePaint = Paint()
|
||
..color = Colors.red
|
||
..style = PaintingStyle.fill;
|
||
|
||
// 指针路径：粗端在中心，细端指向外部
|
||
final needlePath = Path()
|
||
..moveTo(center.dx - 8, center.dy) // 中心左侧8px
|
||
..lineTo(center.dx + 8, center.dy) // 中心右侧8px
|
||
..lineTo(center.dx + radius * 0.8 * math.cos(needleAngle), center.dy + radius * 0.8 * math.sin(needleAngle))
|
||
..close();
|
||
|
||
canvas.drawPath(needlePath, needlePaint);
|
||
|
||
// 中心圆点美化
|
||
final centerDotPaint = Paint()
|
||
..color = Colors.white
|
||
..style = PaintingStyle.fill;
|
||
canvas.drawCircle(center, 4, centerDotPaint);
|
||
final centerBorderPaint = Paint()
|
||
..color = Colors.red
|
||
..style = PaintingStyle.stroke
|
||
..strokeWidth = 2;
|
||
canvas.drawCircle(center, 4, centerBorderPaint);
|
||
}
|
||
|
||
@override
|
||
bool shouldRepaint(covariant CustomPainter oldDelegate) => true;
|
||
}
|