723 lines
24 KiB
Dart
723 lines
24 KiB
Dart
import 'dart:convert';
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import 'dart:developer' as developer;
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import 'dart:typed_data';
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import '../protocol/machine_protocol_constants.dart';
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import 'mc700_device_config.dart';
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/// BLE 协议解析出的单个字段
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class BleField {
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final String label;
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final String value;
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const BleField({required this.label, required this.value});
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}
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/// BLE 协议解析结果
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class BleDecodedResult {
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final List<BleField> fields;
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final String rawHex;
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/// 0x05 读配置时携带的配置实体（可修改后回写）
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final Mc700DeviceConfig? configEntity;
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const BleDecodedResult({
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required this.fields,
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required this.rawHex,
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this.configEntity,
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});
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bool get isEmpty => fields.isEmpty;
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}
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/// BLE 协议解析器
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/// 与 TCP net_message_dispatcher 使用相同的协议格式：AB AA cmd [payload] ... AA AB
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/// payload 通常为 UTF-8 逗号分隔文本，部分指令为二进制
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class BleProtocolDecoder {
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/// 入口：按命令类型分发解析
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static BleDecodedResult decode(int command, Uint8List payload) {
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final hex = _bytesToHex(payload);
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try {
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switch (command) {
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case MachineProtocolConstants.cmdStatusInfo:
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return _decodeStatusInfo(payload, hex);
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case MachineProtocolConstants.cmdRemoteControl:
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return _decodeRemoteControl(payload, hex);
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case MachineProtocolConstants.cmdGetId:
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return _decodeGetId(payload, hex);
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case MachineProtocolConstants.cmdGetAuth:
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return _decodeGetAuth(payload, hex);
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case MachineProtocolConstants.cmdReadConfig:
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return _decodeReadConfig(payload, hex);
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case MachineProtocolConstants.cmdWriteConfig:
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return _decodeWriteConfig(payload, hex);
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case MachineProtocolConstants.cmdHeartbeat:
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return _decodeHeartbeat(payload, hex);
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case MachineProtocolConstants.cmdPathPlanning:
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return _decodePathPlanning(payload, hex);
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case MachineProtocolConstants.cmdObstacleAvoid:
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return _decodeObstacleAvoid(payload, hex);
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default:
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return _decodeGeneric(command, payload, hex);
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}
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} catch (e) {
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return BleDecodedResult(
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fields: [const BleField(label: '解析错误', value: '异常')],
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rawHex: hex,
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);
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}
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}
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// ─── 0x02 状态信息（与 TCP RunningStatusEntity.fromFields 一致，24字段逗号分隔） ───
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static BleDecodedResult _decodeStatusInfo(Uint8List data, String hex) {
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final fields = <BleField>[];
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try {
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final text = utf8.decode(data);
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if (text.contains(',')) {
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final parts = text.split(',');
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return BleDecodedResult(fields: _parseStatusFields(parts), rawHex: hex);
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}
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} catch (e) {
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try {
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final text = latin1.decode(data);
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if (text.contains(',')) {
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final parts = text.split(',');
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return BleDecodedResult(
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fields: _parseStatusFields(parts),
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rawHex: hex,
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);
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}
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} catch (_) {}
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}
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if (data.isNotEmpty) {
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final status = data[0];
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fields.add(
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BleField(
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label: '状态码',
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value: '0x${status.toRadixString(16).toUpperCase().padLeft(2, '0')}',
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),
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);
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}
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if (data.length >= 2) {
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final mode = data[1];
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const modes = {0x00: '待机', 0x01: '遥控', 0x02: '自动', 0x03: '急停'};
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fields.add(
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BleField(
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label: '控制模式',
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value: modes[mode] ?? '未知(0x${mode.toRadixString(16)})',
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),
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);
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}
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if (data.length >= 3)
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fields.add(BleField(label: '电量', value: '${data[2]}%'));
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if (data.length >= 4) {
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final fault = data[3];
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fields.add(
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BleField(
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label: '故障状态',
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value: fault == 0
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? '无故障'
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: '故障码: 0x${fault.toRadixString(16).toUpperCase().padLeft(2, '0')}',
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),
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);
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}
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if (data.length >= 6) {
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final speed = (data[5] << 8) | data[4];
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fields.add(BleField(label: '速度', value: '$speed'));
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}
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if (data.length > 8) {
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try {
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final text = String.fromCharCodes(data.sublist(8));
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if (text.isNotEmpty && !text.contains('\x00')) {
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fields.add(BleField(label: '附加', value: text));
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}
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} catch (_) {}
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}
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return BleDecodedResult(fields: fields, rawHex: hex);
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}
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/// 解析逗号分隔的 24 字段状态数据（与 RunningStatusEntity.fromFields 完全一致）
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static List<BleField> _parseStatusFields(List<String> parts) {
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while (parts.length < 24) {
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parts.add('');
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}
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String controlModeText(String v) {
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return switch (v) {
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'0' => '待机',
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'1' => '遥控',
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'2' => '自动',
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'3' => '急停',
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_ => v.isNotEmpty ? v : '--',
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};
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}
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String qualText(String v) {
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final q = int.tryParse(v) ?? -1;
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return switch (q) {
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0 => '无效',
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1 => '单点定位',
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2 => '差分定位',
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4 => '固定解',
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5 => '浮点解',
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_ => v.isNotEmpty ? v : '--',
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};
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}
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String headingText(String v) {
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final h = int.tryParse(v) ?? -1;
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return switch (h) {
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0 => '未初始化',
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1 => '已初始化',
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_ => v.isNotEmpty ? v : '--',
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};
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}
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String obstacleText(String v) {
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final o = int.tryParse(v) ?? -1;
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return switch (o) {
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0 => '无障碍',
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1 => '有障碍',
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_ => v.isNotEmpty ? v : '--',
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};
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}
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return [
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BleField(label: '电压', value: '${_tryParseDouble(parts[0])} V'),
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BleField(label: '左目标速度', value: _tryParseDouble(parts[1])),
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BleField(label: '右目标速度', value: _tryParseDouble(parts[2])),
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BleField(label: '左实测速度', value: _tryParseDouble(parts[3])),
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BleField(label: '右实测速度', value: _tryParseDouble(parts[4])),
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BleField(label: '左电流', value: '${_tryParseDouble(parts[5])} A'),
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BleField(label: '右电流', value: '${_tryParseDouble(parts[6])} A'),
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BleField(label: '左电机温度', value: '${_tryParseDouble(parts[7])} ℃'),
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BleField(label: '右电机温度', value: '${_tryParseDouble(parts[8])} ℃'),
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BleField(label: '芯片温度', value: '${_tryParseDouble(parts[9])} ℃'),
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BleField(label: '偏航角', value: '${_tryParseDouble(parts[10])} °'),
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BleField(label: '俯仰角', value: '${_tryParseDouble(parts[11])} °'),
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BleField(label: '翻滚角', value: '${_tryParseDouble(parts[12])} °'),
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BleField(label: '卫星数量', value: parts[13].isNotEmpty ? parts[13] : '--'),
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BleField(label: '定位质量', value: qualText(parts[14])),
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BleField(label: '航向状态', value: headingText(parts[15])),
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BleField(label: '纬度', value: parts[16].isNotEmpty ? parts[16] : '--'),
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BleField(label: '经度', value: parts[17].isNotEmpty ? parts[17] : '--'),
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BleField(label: '时间戳', value: parts[18].isNotEmpty ? parts[18] : '--'),
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BleField(
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label: '割刀速度',
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value: parts[19].isNotEmpty ? '${parts[19]} rpm' : '--',
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),
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BleField(label: '控制模式', value: controlModeText(parts[20])),
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BleField(
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label: '电量',
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value: parts[21].isNotEmpty ? '${parts[21]}%' : '--',
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),
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BleField(label: '工作面积', value: parts[22].isNotEmpty ? parts[22] : '--'),
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BleField(label: '障碍物', value: obstacleText(parts[23])),
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];
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}
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static String _tryParseDouble(String s) {
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if (s.isEmpty) return '--';
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final v = double.tryParse(s);
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if (v == null) return s;
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if (v == v.roundToDouble() && v.abs() < 10000) return v.toInt().toString();
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return v.toStringAsFixed(2);
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}
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// ─── 0x00 远程遥控 ───
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static BleDecodedResult _decodeRemoteControl(Uint8List data, String hex) {
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final fields = <BleField>[];
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try {
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final text = utf8.decode(data, allowMalformed: true);
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if (text.contains(',')) {
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final parts = text.split(',');
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while (parts.length < 5) parts.add('');
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fields.add(
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BleField(label: '左右速度', value: parts[0].isNotEmpty ? parts[0] : '--'),
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);
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fields.add(
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BleField(label: '前后速度', value: parts[1].isNotEmpty ? parts[1] : '--'),
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);
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final modeStr = switch (parts[2]) {
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'0' => '停止',
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'1' => '遥控',
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'2' => '自动',
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_ => parts[2].isNotEmpty ? parts[2] : '--',
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};
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fields.add(BleField(label: '控制模式', value: modeStr));
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if (parts.length > 3 && parts[3].isNotEmpty)
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fields.add(BleField(label: '参数4', value: parts[3]));
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if (parts.length > 4 && parts[4].isNotEmpty)
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fields.add(BleField(label: '参数5', value: parts[4]));
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return BleDecodedResult(fields: fields, rawHex: hex);
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}
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} catch (_) {}
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if (data.length >= 5) {
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fields.add(BleField(label: '左右速度', value: '${(data[1] << 8) | data[0]}'));
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fields.add(BleField(label: '前后速度', value: '${(data[3] << 8) | data[2]}'));
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const modes = {0: '停止', 1: '遥控', 2: '自动'};
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fields.add(
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BleField(label: '控制模式', value: modes[data[4]] ?? '未知(${data[4]})'),
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);
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}
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return BleDecodedResult(fields: fields, rawHex: hex);
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}
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// ─── 0x03 查询ID ───
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static BleDecodedResult _decodeGetId(Uint8List data, String hex) {
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final fields = <BleField>[];
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try {
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final text = utf8.decode(data, allowMalformed: true);
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if (text.replaceAll('\x00', '').trim().isNotEmpty) {
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fields.add(
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BleField(label: '设备ID', value: text.replaceAll('\x00', '').trim()),
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);
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return BleDecodedResult(fields: fields, rawHex: hex);
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}
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} catch (_) {}
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try {
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final ascii = String.fromCharCodes(data);
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if (RegExp(r'^[\x20-\x7E]+$').hasMatch(ascii)) {
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fields.add(BleField(label: '设备ID', value: ascii));
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} else {
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fields.add(BleField(label: '设备ID(Hex)', value: hex));
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}
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} catch (_) {
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fields.add(BleField(label: '设备ID(Hex)', value: hex));
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}
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return BleDecodedResult(fields: fields, rawHex: hex);
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}
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// ─── 0x04 获取授权 ───
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static BleDecodedResult _decodeGetAuth(Uint8List data, String hex) {
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final fields = <BleField>[];
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try {
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final text = utf8.decode(data, allowMalformed: true);
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final trimmed = text.replaceAll('\x00', '').trim();
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if (trimmed == '1' || trimmed.toLowerCase() == 'true') {
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fields.add(const BleField(label: '授权状态', value: '已授权'));
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} else if (trimmed == '0' || trimmed.toLowerCase() == 'false') {
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fields.add(const BleField(label: '授权状态', value: '未授权'));
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} else if (trimmed.isNotEmpty) {
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fields.add(BleField(label: '授权状态', value: trimmed));
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}
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if (fields.isNotEmpty)
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return BleDecodedResult(fields: fields, rawHex: hex);
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} catch (_) {}
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if (data.isNotEmpty) {
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if (data[0] == 0x01) {
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fields.add(const BleField(label: '授权状态', value: '已授权'));
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} else if (data[0] == 0x00) {
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fields.add(const BleField(label: '授权状态', value: '未授权'));
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} else {
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fields.add(
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BleField(label: '授权状态(Hex)', value: '0x${data[0].toRadixString(16)}'),
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);
|
||
}
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}
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return BleDecodedResult(fields: fields, rawHex: hex);
|
||
}
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||
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// ─── 0x05 读配置（按嵌入式协议规范精确解析，171字节） ───
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static BleDecodedResult _decodeReadConfig(Uint8List data, String hex) {
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final fields = <BleField>[];
|
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if (data.isEmpty) {
|
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fields.add(const BleField(label: '状态', value: '空数据'));
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||
return BleDecodedResult(fields: fields, rawHex: hex);
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||
}
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||
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final bd = ByteData.sublistView(data);
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final len = data.length;
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||
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// 1. UID固化标志 @payload[0] (帧字节3)
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if (len >= 1) {
|
||
fields.add(
|
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BleField(
|
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label: 'UID固化标志',
|
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value: data[0] == 1 ? '已固化' : '未固化(${data[0]})',
|
||
),
|
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);
|
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}
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|
||
// 2. 芯片UID @payload[1..45] (帧字节4-48, 45字节)
|
||
if (len >= 46) {
|
||
fields.add(
|
||
BleField(label: '芯片UID', value: _readNullTermString(data, 1, 45)),
|
||
);
|
||
}
|
||
|
||
// 3. 遥控器通道配置 @payload[46..64] (帧字节49-67, 19字节)
|
||
if (len >= 65) {
|
||
fields.add(
|
||
BleField(label: '遥控器通道配置', value: _bytesToHex(data.sublist(46, 65))),
|
||
);
|
||
}
|
||
|
||
// 4. 字节68位域 @payload[65] (帧字节68)
|
||
if (len >= 66) {
|
||
final b = data[65];
|
||
fields.add(
|
||
BleField(
|
||
label: '割刀电机模式',
|
||
value: (b & 0x03) == 0 ? '纯电' : '油电(${b & 0x03})',
|
||
),
|
||
);
|
||
fields.add(
|
||
BleField(
|
||
label: '行走电机模式',
|
||
value: ((b >> 2) & 0x03) == 0 ? '轮式' : '履带(${(b >> 2) & 0x03})',
|
||
),
|
||
);
|
||
fields.add(
|
||
BleField(label: '左轮电机极性', value: (b & 0x10) == 0 ? '高极性' : '低极性(反取)'),
|
||
);
|
||
fields.add(
|
||
BleField(label: '右轮电机极性', value: (b & 0x20) == 0 ? '高极性' : '低极性(反取)'),
|
||
);
|
||
fields.add(
|
||
BleField(label: '左右轮通道交换', value: (b & 0x40) == 0 ? '不交换' : '通道互换'),
|
||
);
|
||
fields.add(
|
||
BleField(label: '联网目标', value: (b & 0x80) == 0 ? 'WiFi' : '4G'),
|
||
);
|
||
}
|
||
|
||
// 5. 前进速度限制 @payload[66..67] (帧字节69-70, uint16 LE)
|
||
if (len >= 68) {
|
||
fields.add(
|
||
BleField(label: '前进速度限制', value: '${bd.getUint16(66, Endian.little)}'),
|
||
);
|
||
}
|
||
|
||
// 6. 转向速度限制 @payload[68..69] (帧字节71-72, uint16 LE)
|
||
if (len >= 70) {
|
||
fields.add(
|
||
BleField(label: '转向速度限制', value: '${bd.getUint16(68, Endian.little)}'),
|
||
);
|
||
}
|
||
|
||
// 7. 字节73位域 @payload[70] (帧字节73)
|
||
if (len >= 71) {
|
||
final b = data[70];
|
||
fields.add(
|
||
BleField(label: '割刀通道极性', value: (b & 0x01) == 0 ? '高极性' : '低极性(反取)'),
|
||
);
|
||
fields.add(
|
||
BleField(label: '风门通道极性', value: (b & 0x02) == 0 ? '高极性' : '低极性(反取)'),
|
||
);
|
||
fields.add(
|
||
BleField(label: '油门通道极性', value: (b & 0x04) == 0 ? '高极性' : '低极性(反取)'),
|
||
);
|
||
fields.add(BleField(label: '底盘升降保护时间', value: '${(b >> 3) & 0x1F} 秒'));
|
||
fields.add(
|
||
BleField(label: 'RTK配置', value: (b & 0x80) == 0 ? '单天线' : '双天线'),
|
||
);
|
||
}
|
||
|
||
// 8. 字节74位域 @payload[71] (帧字节74)
|
||
if (len >= 72) {
|
||
final b = data[71];
|
||
fields.add(BleField(label: '割刀通道配置', value: '${b & 0x0F}'));
|
||
fields.add(BleField(label: '风门通道配置', value: '${(b >> 4) & 0x0F}'));
|
||
}
|
||
|
||
// 9. 字节75位域 @payload[72] (帧字节75)
|
||
if (len >= 73) {
|
||
final b = data[72];
|
||
fields.add(BleField(label: '油门通道配置', value: '${b & 0x0F}'));
|
||
fields.add(
|
||
BleField(
|
||
label: '遥控器类型',
|
||
value: (b >> 4) & 0x07 == 0 ? '飞控' : '自定义遥控器(${(b >> 4) & 0x07})',
|
||
),
|
||
);
|
||
fields.add(
|
||
BleField(label: '是否搭载继电器板', value: (b & 0x80) == 0 ? '未搭载' : '搭载'),
|
||
);
|
||
}
|
||
|
||
// 10. 字节76位域 @payload[73] (帧字节76)
|
||
if (len >= 74) {
|
||
final b = data[73];
|
||
fields.add(BleField(label: '底盘升降通道配置', value: '${b & 0x0F}'));
|
||
fields.add(BleField(label: '底盘通道配置', value: '${(b >> 4) & 0x0F}'));
|
||
}
|
||
|
||
// 11. 字节77位域 @payload[74] (帧字节77)
|
||
if (len >= 75) {
|
||
final b = data[74];
|
||
fields.add(BleField(label: '机械臂通道配置', value: '${b & 0x0F}'));
|
||
fields.add(BleField(label: '燃油泵通道配置', value: '${(b >> 4) & 0x0F}'));
|
||
}
|
||
|
||
// 12. WiFi名称 @payload[75..94] (帧字节78-97, 20字节)
|
||
if (len >= 95) {
|
||
fields.add(
|
||
BleField(label: 'WiFi名称', value: _readNullTermString(data, 75, 20)),
|
||
);
|
||
}
|
||
|
||
// 13. WiFi密码 @payload[95..114] (帧字节98-117, 20字节)
|
||
if (len >= 115) {
|
||
fields.add(
|
||
BleField(label: 'WiFi密码', value: _readNullTermString(data, 95, 20)),
|
||
);
|
||
}
|
||
|
||
// 14. 字节118位域 @payload[115] (帧字节118)
|
||
if (len >= 116) {
|
||
final b = data[115];
|
||
fields.add(
|
||
BleField(
|
||
label: '电池类型',
|
||
value: (b & 0x03) == 0 ? '铅酸' : '锂电(${b & 0x03})',
|
||
),
|
||
);
|
||
fields.add(
|
||
BleField(
|
||
label: '行走驱动配置',
|
||
value: switch ((b >> 2) & 0x03) {
|
||
0 => '风德控',
|
||
1 => '山东神澜BLDC',
|
||
2 => '山东神澜FOC',
|
||
_ => '未知(${(b >> 2) & 0x03})',
|
||
},
|
||
),
|
||
);
|
||
}
|
||
|
||
// 15. 转速比 @payload[116..119] (帧字节119-122, float LE)
|
||
if (len >= 120) {
|
||
final v = bd.getFloat32(116, Endian.little);
|
||
fields.add(BleField(label: '转速比', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 16. 机器人长度 @payload[120..123] (帧字节123-126, float LE)
|
||
if (len >= 124) {
|
||
final v = bd.getFloat32(120, Endian.little);
|
||
fields.add(BleField(label: '机器人长度', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 17. 机器人宽度 @payload[124..127] (帧字节127-130, float LE)
|
||
if (len >= 128) {
|
||
final v = bd.getFloat32(124, Endian.little);
|
||
fields.add(BleField(label: '机器人宽度', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 18. 机器人高度 @payload[128..131] (帧字节131-134, float LE)
|
||
if (len >= 132) {
|
||
final v = bd.getFloat32(128, Endian.little);
|
||
fields.add(BleField(label: '机器人高度', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 19. 割刀宽度 @payload[132..135] (帧字节135-138, float LE)
|
||
if (len >= 136) {
|
||
final v = bd.getFloat32(132, Endian.little);
|
||
fields.add(BleField(label: '割刀宽度', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 20. 轮胎尺寸 @payload[136..139] (帧字节139-142, float LE)
|
||
if (len >= 140) {
|
||
final v = bd.getFloat32(136, Endian.little);
|
||
fields.add(BleField(label: '轮胎尺寸', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 21. 左轮前进增益 @payload[140..143] (帧字节143-146, float LE)
|
||
if (len >= 144) {
|
||
final v = bd.getFloat32(140, Endian.little);
|
||
fields.add(BleField(label: '左轮前进增益', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 22. 左轮后退增益 @payload[144..147] (帧字节147-150, float LE)
|
||
if (len >= 148) {
|
||
final v = bd.getFloat32(144, Endian.little);
|
||
fields.add(BleField(label: '左轮后退增益', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 23. 右轮前进增益 @payload[148..151] (帧字节151-154, float LE)
|
||
if (len >= 152) {
|
||
final v = bd.getFloat32(148, Endian.little);
|
||
fields.add(BleField(label: '右轮前进增益', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 24. 右轮后退增益 @payload[152..155] (帧字节155-158, float LE)
|
||
if (len >= 156) {
|
||
final v = bd.getFloat32(152, Endian.little);
|
||
fields.add(BleField(label: '右轮后退增益', value: v.toStringAsFixed(2)));
|
||
}
|
||
|
||
// 25. 固件版本 @payload[156..170] (帧字节159-173, 15字节)
|
||
if (len >= 171) {
|
||
fields.add(
|
||
BleField(label: '固件版本', value: _readNullTermString(data, 156, 15)),
|
||
);
|
||
}
|
||
|
||
// 构建配置实体（用于后续编辑和回写）
|
||
Mc700DeviceConfig? configEntity;
|
||
if (data.length >= 171) {
|
||
try {
|
||
configEntity = Mc700DeviceConfig.fromBytes(data);
|
||
} catch (e) {
|
||
developer.log('[BLE] 配置实体解析失败: $e', name: 'BleProtocolDecoder');
|
||
}
|
||
}
|
||
|
||
return BleDecodedResult(
|
||
fields: fields,
|
||
rawHex: hex,
|
||
configEntity: configEntity,
|
||
);
|
||
}
|
||
|
||
/// 读取 null 终止字符串（最多读取 [maxLen] 字节）
|
||
static String _readNullTermString(Uint8List data, int offset, int maxLen) {
|
||
final buffer = StringBuffer();
|
||
for (int i = 0; i < maxLen && offset + i < data.length; i++) {
|
||
final b = data[offset + i];
|
||
if (b == 0x00) break;
|
||
if (b >= 0x20 && b <= 0x7E) {
|
||
buffer.writeCharCode(b);
|
||
} else {
|
||
buffer.writeCharCode(0x2E);
|
||
}
|
||
}
|
||
return buffer.toString();
|
||
}
|
||
|
||
// ─── 0x06 写配置 ───
|
||
static BleDecodedResult _decodeWriteConfig(Uint8List data, String hex) {
|
||
final fields = <BleField>[];
|
||
if (data.isNotEmpty) {
|
||
final ok = data[0];
|
||
fields.add(
|
||
BleField(
|
||
label: '写入结果',
|
||
value: ok == 0x01
|
||
? '成功'
|
||
: ok == 0x00
|
||
? '失败'
|
||
: '0x${ok.toRadixString(16)}',
|
||
),
|
||
);
|
||
}
|
||
return BleDecodedResult(fields: fields, rawHex: hex);
|
||
}
|
||
|
||
// ─── 0xFF 心跳包 ───
|
||
static BleDecodedResult _decodeHeartbeat(Uint8List data, String hex) {
|
||
final fields = <BleField>[];
|
||
if (data.isEmpty) {
|
||
fields.add(const BleField(label: '心跳', value: '正常'));
|
||
} else if (data.length >= 2) {
|
||
final interval = (data[1] << 8) | data[0];
|
||
fields.add(BleField(label: '心跳间隔', value: '${interval}ms'));
|
||
} else {
|
||
fields.add(BleField(label: '心跳数据', value: hex));
|
||
}
|
||
return BleDecodedResult(fields: fields, rawHex: hex);
|
||
}
|
||
|
||
// ─── 0x01 路径规划 ───
|
||
static BleDecodedResult _decodePathPlanning(Uint8List data, String hex) {
|
||
final fields = <BleField>[];
|
||
try {
|
||
final text = utf8.decode(data, allowMalformed: true);
|
||
if (text.contains(',')) {
|
||
final parts = text.split(',');
|
||
if (parts.length >= 2) {
|
||
fields.add(BleField(label: '点编号', value: parts[0]));
|
||
fields.add(
|
||
BleField(
|
||
label: '状态',
|
||
value: switch (parts[1]) {
|
||
'1' => '已到达',
|
||
'2' => '收到指令',
|
||
_ => parts[1],
|
||
},
|
||
),
|
||
);
|
||
}
|
||
if (parts.length >= 4) {
|
||
fields.add(BleField(label: '纬度', value: parts[2]));
|
||
fields.add(BleField(label: '经度', value: parts[3]));
|
||
}
|
||
return BleDecodedResult(fields: fields, rawHex: hex);
|
||
}
|
||
} catch (_) {}
|
||
if (data.length >= 3) {
|
||
fields.add(BleField(label: '点编号', value: '${data[0]}'));
|
||
final status = data.length > 1 ? data[1] : -1;
|
||
fields.add(
|
||
BleField(
|
||
label: '状态',
|
||
value: status == 0x01
|
||
? '已到达'
|
||
: status == 0x02
|
||
? '收到指令'
|
||
: '0x${status.toRadixString(16)}',
|
||
),
|
||
);
|
||
}
|
||
return BleDecodedResult(fields: fields, rawHex: hex);
|
||
}
|
||
|
||
// ─── 0x07 避障 ───
|
||
static BleDecodedResult _decodeObstacleAvoid(Uint8List data, String hex) {
|
||
final fields = <BleField>[];
|
||
if (data.isNotEmpty) {
|
||
final flag = data[0];
|
||
fields.add(
|
||
BleField(
|
||
label: '避障状态',
|
||
value: flag == 0x01
|
||
? '触发'
|
||
: flag == 0x00
|
||
? '正常'
|
||
: '0x${flag.toRadixString(16)}',
|
||
),
|
||
);
|
||
}
|
||
if (data.length >= 3) {
|
||
fields.add(BleField(label: '距离', value: '${(data[2] << 8) | data[1]}mm'));
|
||
}
|
||
return BleDecodedResult(fields: fields, rawHex: hex);
|
||
}
|
||
|
||
// ─── 通用/未知指令 ───
|
||
static BleDecodedResult _decodeGeneric(
|
||
int command,
|
||
Uint8List data,
|
||
String hex,
|
||
) {
|
||
final fields = <BleField>[];
|
||
try {
|
||
final text = utf8.decode(data, allowMalformed: true);
|
||
final trimmed = text.replaceAll('\x00', '').trim();
|
||
if (trimmed.isNotEmpty) {
|
||
fields.add(
|
||
BleField(
|
||
label: '文本内容',
|
||
value: trimmed.length > 50
|
||
? '${trimmed.substring(0, 50)}...'
|
||
: trimmed,
|
||
),
|
||
);
|
||
}
|
||
} catch (_) {}
|
||
if (fields.isEmpty) {
|
||
fields.add(BleField(label: '数据长度', value: '${data.length}B'));
|
||
}
|
||
return BleDecodedResult(fields: fields, rawHex: hex);
|
||
}
|
||
|
||
// ─── 工具方法 ───
|
||
static String _bytesToHex(List<int> bytes) {
|
||
if (bytes.isEmpty) return '';
|
||
return bytes
|
||
.map((b) => b.toRadixString(16).toUpperCase().padLeft(2, '0'))
|
||
.join(' ');
|
||
}
|
||
}
|