528 lines
20 KiB
Dart
528 lines
20 KiB
Dart
import 'dart:async';
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import 'dart:convert';
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import 'dart:io';
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import 'package:dart_ping/dart_ping.dart';
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import 'package:flutter/cupertino.dart';
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import 'package:flutter/services.dart';
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import 'package:flutter_bloc/flutter_bloc.dart';
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import 'package:get_it/get_it.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_bloc.dart';
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import 'package:maibu_satabot_v2/features/devices/presentation/bloc/device_status_state.dart';
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import 'package:maibu_satabot_v2/features/remote_control/data/models/running_status_model.dart';
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import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remote_control_state.dart';
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import '../../../../core/logging/i_logger_service.dart';
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import '../../../../core/network/net_message_dispatcher.dart';
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import '../../../devices/domain/entities/running_status_entity.dart';
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import '../../domain/entities/machine_control_status_entity.dart';
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import '../../domain/repositories/remote_control_repository.dart';
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import '../../domain/usecase/remote_control_usecase.dart';
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class RemoteControlCubit extends Cubit<RemoteControlState> {
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final RemoteControlRepository _repository;
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final RequestControlPermissionUseCase _requestControlPermissionUseCase;
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Timer? _timer;
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StreamSubscription? _kickOutSub; // 新增：用于管理监听生命周期
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final NetMessageDispatcher dispatcher;
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final DeviceStatusBloc deviceStatusBloc; // 🔥 注入 DeviceStatusBloc
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StreamSubscription? _deviceStatusSub; // 🔥 订阅 DeviceStatusBloc 的状态流
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static const platform = MethodChannel('com.maibu.satabot/ping');
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int _currentPing = 50;
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final ILoggerService _logger = GetIt.I<ILoggerService>();
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// 🔥 参考Android版：使用成员变量存储摇杆值，避免state竞态
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int _currentOriginX = 0;
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int _currentOriginY = 0;
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RemoteControlCubit(
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this._repository,
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this._requestControlPermissionUseCase,
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this.dispatcher,
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this.deviceStatusBloc, // 🔥 注入
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) : super(
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RemoteControlState(
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controlEntity: MachineControlStatusEntity(),
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runningStatusModel: RunningStatusModel(),
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),
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) {
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_initPacketListener();
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_initDeviceStatusListener(); // 🔥 改为订阅 DeviceStatusBloc
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}
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// 🔥 新增:订阅 DeviceStatusBloc 的状态流,而不是直接监听 TCP
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void _initDeviceStatusListener() {
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_logger.logWithLevel('>>> [RemoteControl] begin 订阅 DeviceStatusBloc 状态流');
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_deviceStatusSub?.cancel();
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_deviceStatusSub = deviceStatusBloc.stream.listen((deviceState) async {
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if (deviceState is DeviceStatusUpdated) {
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final voltage = deviceState.status.voltage;
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final battery = deviceState.status.battery;
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final controlMode = deviceState.status.controlMode == '3' ? '远程模式' : '本地模式';
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final c = getNetworkDelay();
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emit(state.copyWith(
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runningStatusModel: state.runningStatusModel.copyWith(
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voltage: voltage.toString(),
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battery: battery.toString(),
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controlMode: controlMode,
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),
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battery: int.tryParse(battery) ?? 0,
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ping: await c,
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));
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_logger.logWithLevel('✅ [RemoteControl] 从 DeviceStatusBloc 收到更新: 电压=$voltage, 电量=$battery, 模式=$controlMode');
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}
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});
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_logger.logWithLevel('>>> [RemoteControl] ✅ DeviceStatusBloc 订阅已建立完成');
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}
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// 🔥 超简单方法：传入 IP，得到 ping 值
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// 🔥 辅助方法：更新运行状态
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void _updateStatusFromDevice(RunningStatusModel newStatus) {
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debugPrint('✅ [_updateStatusFromDevice] 收到运行状态更新：$newStatus');
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if (!isClosed) {
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emit(state.copyWith(
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runningStatusModel: newStatus,
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voltage: int.tryParse(newStatus.voltage) ?? 0,
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battery: int.tryParse(newStatus.battery) ?? 0,
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));
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// debugPrint('✅ [更新运行状态] 电压：${newStatus.voltage}V, 电量：${newStatus.battery}%');
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_logger.logWithLevel('✅ [更新运行状态] 电压：${newStatus.voltage}V, 电量：${newStatus.battery}%');
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}
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}
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// 🔥 辅助方法：更新运行状态
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// 1. 初始化回包监听 (如 0x12 权限)
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// void _initPacketListener() {
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// _repository.responseStream.listen((packet) {
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// if (packet.command == 0x12) {
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// // 根据负载判断是否有权限，更新状态
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// emit(state.copyWith(hasPermission: true));
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// }
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// });
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// }
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Future<void> _initPacketListener() async {
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//print('>>> [RemoteControl] begin 初始化 0x12 监听器');
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_logger.logWithLevel('>>> [RemoteControl] begin 0x12 监听器');
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_kickOutSub?.cancel(); // 防止重复监听
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_kickOutSub = dispatcher.onCommand(0x12).listen((packet) {
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//print('>>> [RemoteControl] 收到 0x12 原始包，payload 长度=${packet.payload.length}');
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_logger.logWithLevel('>>> [RemoteControl] 收到 0x12 原始包，payload 长度=${packet.payload.length}');
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try {
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// 🔥 关键：手动去掉最后 2 个 CRC 字节
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String jsonString;
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if (packet.payload.length > 2) {
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jsonString = utf8.decode(packet.payload.sublist(0, packet.payload.length - 2));
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} else {
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jsonString = utf8.decode(packet.payload);
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}
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//print('>>> [RemoteControl] 去除 CRC 后的 JSON: $jsonString');
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_logger.logWithLevel('>>> [RemoteControl] 去除 CRC 后的 JSON: $jsonString');
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final jsonMap = jsonDecode(jsonString);
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// 🔥 区分两种数据格式
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final requestType = jsonMap['request'];
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final platform = jsonMap['platform'];
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final respondData = jsonMap['respond'];
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//print('>>> [RemoteControl] 📋 requestType=$requestType, platform=$platform');
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_logger.logWithLevel('>>> [RemoteControl] 📋 requestType=$requestType, platform=$platform');
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// 情况 1: 响应格式 - {"respond":{"switchResult":true,"deviceId":"...","holder":"you"}}
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if (respondData != null && respondData is Map) {
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final switchResult = respondData['switchResult'];
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//print('>>> [RemoteControl] 📊 收到切换结果响应：switchResult = $switchResult');
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_logger.logWithLevel('>>> [RemoteControl] 📊 收到切换结果响应：switchResult = $switchResult');
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if (!isClosed) {
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if (switchResult == true) {
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// 切换成功，当前 APP 失去控制权
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emit(state.copyWith(hasPermission: true, showPermissionRequestDialog: false));
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print('>>> [RemoteControl] ✅ 权限已切');
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} else {
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// 切换失败或拒绝，保持当前状态
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emit(state.copyWith(showPermissionRequestDialog: false));
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print('>>> [RemoteControl] ❌ 权限切换失败/被拒绝');
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}
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}
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}
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// 情况 2: 请求格式 - {"request":"switch_control","deviceId":"...","platform":"web",...}
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else if (requestType == 'switch_control') {
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// 🔥 关键判断：只有当是其他平台（web）请求时才弹窗
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if (platform != null && platform.toString().toLowerCase() != 'app') {
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//print('>>> [RemoteControl] 🚨 $platform 端请求控制权，打开弹窗询问用户');
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_logger.logWithLevel('>>> [RemoteControl] 🚨 $platform 端请求控制权，打开弹窗询问用户');
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if (!isClosed) {
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emit(state.copyWith(showPermissionRequestDialog: true));
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}
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} else {
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//print('>>> [RemoteControl] ℹ️ APP 自己的请求回显，忽略不弹窗');
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_logger.logWithLevel('>>> [RemoteControl] ℹ️ APP 自己的请求回显，忽略不弹窗');
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}
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}
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// 情况 3: 异地登录通知 - {"request":"have_logged_in",...}
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else if (requestType == 'have_logged_in') {
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//print('>>> [RemoteControl] ⚠️ 检测到异地登录，打开弹窗提示');
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_logger.logWithLevel('>>> [RemoteControl] ⚠️ 检测到异地登录，打开弹窗提示');
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if (!isClosed) {
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emit(state.copyWith(showPermissionRequestDialog: true));
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}
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}
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else {
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// print('>>> [RemoteControl] ℹ️ 未知类型的 0x12 包，忽略');
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_logger.logWithLevel('>>> [RemoteControl] ℹ️ 未知类型的 0x12 包，忽略');
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}
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} catch (e) {
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//print('>>> [RemoteControl] ❌ 解析失败：$e');
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_logger.logWithLevel('>>> [RemoteControl] ❌ 解析失败：$e');
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}
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});
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final c = getNetworkDelay();
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emit(state.copyWith(
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ping: await c, // 这里直接使用异步返回的数值
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));
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//print('>>> [RemoteControl] ✅ 0x12 监听器已建立完成');
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_logger.logWithLevel('>>> [RemoteControl] ✅ 0x12 监听器已建立完成');
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}
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// 2. 开启 100ms 控制循环 (在进入遥控页面或点击“开始”时调用)
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/* void startControlLoop() {
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_timer?.cancel();
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_timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
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// 🔥 关键修复：每次循环都重新读取最新的 state
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final currentEntity = state.controlEntity;
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// 🔥 安全检查：无权限或急停时不发送
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if (!state.hasPermission || state.isEmergency) {
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debugPrint('⚠️ [定时器] 跳过发送 - hasPermission=${state.hasPermission}, isEmergency=${state.isEmergency}');
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return;
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}
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debugPrint('⏰ [定时器] 发送控制指令 - originX=${currentEntity.originX}, originY=${currentEntity.originY}');
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_logger.logWithLevel('真实的发送的实体 - originX: ${currentEntity.originX}, originY: ${currentEntity.originY}');
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_repository.sendControlMachineCmd(currentEntity);
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});
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emit(state.copyWith(status: RemoteControlStatus.controlling));
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}*/
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void startControlLoop() {
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_timer?.cancel();
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_timer = Timer.periodic(const Duration(milliseconds: 100), (timer) {
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if (isClosed) {
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timer.cancel();
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return;
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}
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// 🔥 参考Android版：直接读取成员变量，避免state竞态
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final snapshot = MachineControlStatusEntity(
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originX: _currentOriginX,
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originY: _currentOriginY,
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chassisLift: state.controlEntity.chassisLift,
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mowerSpeed: state.controlEntity.mowerSpeed,
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ignitionStatus: state.controlEntity.ignitionStatus,
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isEmergency: state.isEmergency,
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);
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// 常规安全检查
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if (!state.hasPermission) {
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debugPrint('⚠️ [定时器] 无权限，跳过发送');
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return;
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}
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if (state.isEmergency) {
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debugPrint('🚨 [定时器] 急停状态，跳过发送');
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return;
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}
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_logger.logWithLevel('[定时器] 发送控制指令 - originX=${snapshot.originX}, originY=${snapshot.originY}');
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debugPrint('📤 [定时器] 准备发送 - originX=${snapshot.originX}, originY=${snapshot.originY}');
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_repository.sendControlMachineCmd(snapshot);
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});
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}
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//通过方法拿最新 state
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MachineControlStatusEntity _getCurrentControlEntity() {
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// 🔥 关键修复：必须copyWith创建新对象，避免引用竞态条件
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final entity = state.controlEntity;
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_logger.logWithLevel('真实的发送的实体 - originX: ${entity.originX}, originY: ${entity.originY}');
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return entity.copyWith(); // 返回副本，不是引用
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}
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// 3. 更新摇杆数据
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void updateJoystick(double x, double y) {
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final updatedEntity = state.controlEntity.copyWith(
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x: x.toInt(),
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y: y.toInt(),
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);
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emit(state.copyWith(controlEntity: updatedEntity));
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}
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// 4. 更新功能开关 (比如割刀速度、灯光、点火等)
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void updateFunction({int? mower, int? lift, int? ignition, bool? emergency}) {
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// debugPrint('🔧 [updateFunction] 调用 - mower: $mower, lift: $lift, ignition: $ignition, emergency: $emergency');
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_logger.logWithLevel('🔧 [updateFunction] 调用 - mower: $mower, lift: $lift, ignition: $ignition, emergency: $emergency');
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final updatedEntity = state.controlEntity.copyWith(
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mower: mower,
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lift: lift,
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ignition: ignition,
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emergency: emergency,
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);
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//emit(state.copyWith(controlEntity: updatedEntity));
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emit(state.copyWith(
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controlEntity: updatedEntity,
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isEmergency: emergency ?? state.isEmergency,
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));
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debugPrint('✅ [updateFunction] 状态已更新并 emit');
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_logger.logWithLevel('✅ [updateFunction] 状态已更新并 emit');
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}
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void updateOriginY(int y) {
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debugPrint('📥 [updateOriginY] 被调用 - y=$y');
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// 🔥 参考Android版：直接更新成员变量
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_currentOriginY = y;
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// 同时更新state（用于UI显示）
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final updatedEntity = state.controlEntity.copyWith(y: y);
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emit(state.copyWith(controlEntity: updatedEntity));
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debugPrint('📝 [updateOriginY] state已更新 - originY=$y');
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}
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void updateOriginX(int x) {
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debugPrint('📥 [updateOriginX] 被调用 - x=$x');
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// 🔥 参考Android版：直接更新成员变量
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_currentOriginX = x;
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// 同时更新state（用于UI显示）
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final updatedEntity = state.controlEntity.copyWith(x: x);
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emit(state.copyWith(controlEntity: updatedEntity));
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debugPrint('📝 [updateOriginX] state已更新 - originX=$x');
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}
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/// 🔥 安全方法：同时清零双轴，确保只发送一次完全停止指令
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Future<void> stopAllMovement() async {
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debugPrint('🛑 [stopAllMovement] 开始执行 - 当前成员变量: originX=$_currentOriginX, originY=$_currentOriginY');
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// 🔥 参考Android版：直接清零成员变量
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_currentOriginX = 0;
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_currentOriginY = 0;
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// 🔥 关键修复：先暂停定时器，防止定时器在停止期间发送旧的运动指令
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_timer?.cancel();
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_timer = null; // 🔥 彻底清空，防止重复启动
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final updatedEntity = state.controlEntity.copyWith(x: 0, y: 0);
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// 一次性更新双轴（即使无权限也要更新本地state）
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emit(state.copyWith(controlEntity: updatedEntity));
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// 🔥 安全底线：停止指令必须无视权限强制发送！
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debugPrint('🛑 [stopAllMovement] 双轴归零,发送停止指令 - originX=0, originY=0');
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await _sendStopCommandRepeatedly(updatedEntity); // ✅ 等待所有指令发送完成
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// 🔥 恢复定时器
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await Future.delayed(const Duration(milliseconds: 200));
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startControlLoop();
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debugPrint('✅ [stopAllMovement] 执行完成');
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}
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/// 🔥 统一方法：连续发送30次停止指令，彻底清空TCP缓冲区
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Future<void> _sendStopCommandRepeatedly(MachineControlStatusEntity stopEntity) async {
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debugPrint('🛑 [紧急停止] 开始连续发送30次停止指令 - originX=${stopEntity.originX}, originY=${stopEntity.originY}');
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// 🔥 注意：_lastStopTime 已经在 stopAllMovement() 中设置了，这里不需要再设置
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int sentCount = 0;
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// 🔥 关键修复：每次发送间隔5ms，避免TCP合并/丢弃
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for (int i = 0; i < 20; i++) {
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_repository.sendControlMachineCmd(stopEntity);
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sentCount++;
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if (i % 5 == 0) {
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debugPrint('🛑 [紧急停止] 已发送第${i + 1}次');
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}
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if (i < 19) {
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await Future.delayed(const Duration(milliseconds: 5));
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}
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}
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// 🔥 延迟后再发送10次（双重保险，对抗网络抖动）
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await Future.delayed(const Duration(milliseconds: 100));
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for (int i = 0; i < 10; i++) {
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_repository.sendControlMachineCmd(stopEntity);
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sentCount++;
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if (i < 9) {
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await Future.delayed(const Duration(milliseconds: 5));
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}
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}
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debugPrint('✅ [紧急停止] 所有30次停止指令已发出');
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}
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// 5. 停止控制循环
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void stopControlLoop() {
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_timer?.cancel();
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_timer = null;
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emit(state.copyWith(status: RemoteControlStatus.initial));
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}
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void toggleLock() {
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emit(state.copyWith(isLocked: !state.isLocked));
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}
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void togglePermissionDialog(bool show) {
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emit(state.copyWith(showPermissionRequestDialog: show));
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}
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void requestControlPermission() {
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// 1. 关闭弹窗
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emit(state.copyWith(showPermissionRequestDialog: false));
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}
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void toggleLeftPip() => emit(state.copyWith(showLeftPip: !state.showLeftPip));
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void toggleRightPip() => emit(state.copyWith(showRightPip: !state.showRightPip));
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@override
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Future<void> close() {
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_timer?.cancel();
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_deviceStatusSub?.cancel(); // 🔥 取消订阅 DeviceStatusBloc
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return super.close();
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}
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void updateChassisLift(int i) {}
|
||
|
||
void updateEmergency(bool bool) {
|
||
debugPrint('🚨 [急停] ${bool ? "触发急停!" : "解除急停"}');
|
||
updateFunction(emergency: bool);
|
||
}
|
||
|
||
void respondPermission(bool bool, String deviceId) {
|
||
emit(state.copyWith(showPermissionRequestDialog: false));
|
||
|
||
// 2. 发送响应到服务端
|
||
_repository.respondPermission(bool, deviceId);
|
||
|
||
// 3. 根据用户选择更新控制状态
|
||
if (bool) {
|
||
// 用户同意 → APP 失去控制权，Web 端获得控制权
|
||
emit(state.copyWith(hasPermission: false));
|
||
//路由到首页home
|
||
|
||
} else {
|
||
// 用户拒绝 → APP 继续保持控制权
|
||
emit(state.copyWith(hasPermission: true));
|
||
}
|
||
|
||
}
|
||
|
||
void requestControlPermissionS(String deviceName, String deviceId) async {
|
||
// 1. 关闭弹窗
|
||
emit(state.copyWith(showPermissionRequestDialog: false));
|
||
|
||
// 2. 调用 UseCase
|
||
final result = await _requestControlPermissionUseCase(
|
||
RequestControlPermissionParams(
|
||
deviceName: deviceName,
|
||
deviceId: deviceId,
|
||
),
|
||
);
|
||
|
||
// 3. 处理结果
|
||
result.fold(
|
||
(failure) {
|
||
//print('❌ [RemoteControl] 请求控制权限失败：${failure.message}');
|
||
_logger.logWithLevel('❌ [RemoteControl] 请求控制权限失败：${failure.message}');
|
||
// 可以在这里显示错误提示或重新打开弹窗
|
||
emit(state.copyWith(showPermissionRequestDialog: true));
|
||
|
||
},
|
||
(success) {
|
||
// 更新状态
|
||
//print('✅ [RemoteControl] 请求控制权限成功：$success');
|
||
_logger.logWithLevel('✅ [RemoteControl] 请求控制权限成功：$success');
|
||
///处理result
|
||
if(success){
|
||
emit(state.copyWith(hasPermission: true));
|
||
}else{
|
||
emit(state.copyWith(hasPermission: false));
|
||
}
|
||
print('✅ c：$success');
|
||
// 权限申请已发送，等待 0x12 回包更新状态
|
||
},
|
||
);
|
||
}
|
||
/// 发送底盘指令
|
||
void sendChassisCommand(int i) {
|
||
// debugPrint(' [底盘指令] ${i}');
|
||
_logger.logWithLevel(' [底盘指令] ${i}');
|
||
updateFunction(lift: i);
|
||
}
|
||
/// 发送割刀指令
|
||
void sendMowerCommand(int i) {
|
||
// debugPrint(' [割刀指令] ${i}');
|
||
_logger.logWithLevel(' [割刀指令] ${i}');
|
||
updateFunction(mower: i);
|
||
}
|
||
/// 发送点火指令
|
||
void sendFireCommand(int i) {
|
||
//void updateFunction({int? mower, int? lift, int? ignition, bool? emergency})
|
||
// updateFunction(mower:0, lift: 0, ignition: i, emergency: false);
|
||
debugPrint(' [点火指令] ${i}');
|
||
_logger.logWithLevel(' [点火指令] ${i}');
|
||
updateFunction(ignition: i);
|
||
}
|
||
// 发送障碍物识别指令
|
||
void toggleObstacleRecognition() {
|
||
emit(state.copyWith(obstacleRecognitionFlag: !state.obstacleRecognitionFlag));
|
||
}
|
||
|
||
void toggleTopLeftExpand() {
|
||
emit(state.copyWith(topRightIsExpanded: !state.topRightIsExpanded));
|
||
}
|
||
|
||
Future<int> getNetworkDelay() async {
|
||
try {
|
||
// 直接 Ping 你的服务器 IP
|
||
final ping = Ping('1.95.137.212', count: 1, timeout: 1);
|
||
|
||
// 等待一次结果
|
||
final data = await ping.stream.first;
|
||
|
||
if (data.response != null && data.response!.time != null) {
|
||
// 返回和 cmd 一样的毫秒值
|
||
return data.response!.time!.inMilliseconds;
|
||
} else {
|
||
return 9999;
|
||
}
|
||
} catch (e) {
|
||
return 9999;
|
||
}
|
||
}
|
||
//app退出远程遥控界面释放权限
|
||
Future<bool> releasePermission(String platform) async {
|
||
return await _repository.releasePermission(platform);
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
}
|
||
|