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停止作业，
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---初步待使用

lib/core/di/injection.dart

@@ -29,13 +29,16 @@ import '../../features/devices/data/datasources/path_http_datasource.dart';
 import '../../features/devices/data/repositories/device_hostriry_work_impl.dart';
 import '../../features/devices/data/repositories/device_repository_impl.dart';
 import '../../features/devices/data/repositories/generate_path_repository_Impl.dart';
+import '../../features/devices/data/repositories/route_planning_repository_impl.dart';
 import '../../features/devices/domain/repositories/device_hostrity_work_repository.dart';
 import '../../features/devices/domain/repositories/path_repository.dart';
+import '../../features/devices/domain/repositories/route_planning_repository.dart';
 import '../../features/devices/domain/usecases/delete_work_record_usecase.dart';
 import '../../features/devices/domain/usecases/device_work_hostrirty_usecase.dart';
 import '../../features/devices/domain/usecases/generate_path_usecase.dart';
 import '../../features/devices/domain/usecases/get_device_location_usecase.dart';
 import '../../features/devices/domain/usecases/get_work_record_usecase.dart';
+import '../../features/devices/domain/usecases/route_planning_usecase.dart';
 import '../../features/devices/domain/usecases/save_work_record_usecase.dart';
 import '../../features/devices/domain/usecases/select_work_record_usecase.dart';
 import '../../features/remote_control/presentation/bloc/remote_control_cubit.dart';
@@ -90,6 +93,17 @@ Future<void> init() async {
       localTokenStorage: sl(), // 自动寻找已注册的 TokenStorage
     ),
   );
+
+  sl.registerLazySingleton<RoutePlanningRepository>(
+        () => RoutePlanningRepositoryImpl(tcp: sl<TcpClient>()), //
+  );
+
+  sl.registerLazySingleton<RoutePlanningUseCase>(
+        () => RoutePlanningUseCase(sl<RoutePlanningRepository>()), //
+  );
+
+
+
   //工作历史
   sl.registerLazySingleton<DeviceHostrityWorkRepositoryRepository>(
     () => DeviceHostrityWorkRepositoryImpl(
@@ -114,11 +128,12 @@ Future<void> init() async {
   sl.registerLazySingleton<SaveWorkRecordUseCase>(() => SaveWorkRecordUseCase(sl<PathRepository>()));
 
 
+
   /// 5. 状态管理 (Cubit/Bloc)
   sl.registerLazySingleton(() => AppUserCubit()); // AuthCubit 依赖它，必须先注册
   sl.registerLazySingleton(() => GetDeviceLocationUseCase(sl()));
   sl.registerLazySingleton(
-    () => DevicesCubit(sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(),sl()),
+    () => DevicesCubit(sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(),sl(),sl()),
   );
   sl.registerFactory(() => RemoteControlCubit(sl()));
 

lib/core/network/tcp/tcp_client.dart

@@ -4,7 +4,9 @@ import 'dart:io';
 import 'dart:typed_data';
 
 import 'package:flutter/cupertino.dart';
+import 'package:maibu_satabot_v2/features/devices/data/repositories/route_planning_repository_impl.dart';
 
+import '../../../features/devices/data/models/route_plan_send_entity.dart';
 import '../../../features/devices/domain/entities/gps_entity.dart';
 import '../../../features/devices/domain/entities/running_status_entity.dart';
 import '../protocol_decoder.dart';
@@ -49,7 +51,7 @@ class TcpClient {
       rethrow; // 向上抛出连接异常
     }
   }
-
+  /// 发送数据
   void send(Map<String, dynamic> data) {
     if (_socket == null) throw Exception("Socket not connected");
     _socket!.write(jsonEncode(data));
@@ -109,12 +111,25 @@ class TcpClient {
     _socket = null;
     _controller.close();
     debugPrint("TCP Disconnected");
+
+  }
+
+   void sendPathPoint(RoutePlanSendEntity routePlanSendEntity) {
+    if (_socket == null) return;
+    final payload = routePlanSendEntity.toBytes();
+    final packet = sendRaw(0x01, payload); //  第1种的测试 声明指令结构和类型0x01 为命令类型
+    //_socket!.add(payload);//第二种的测试
+   }
+
+
+  void sendDeviceStateChange(RoutePlanSendEntity routePlanSendEntity) {
+    if (_socket == null) return;
+    final payload = routePlanSendEntity.toBytes();
+    _socket!.add(payload);
+    // final packet = sendRaw(0x02, payload);
   }
 
 
 
 
-
-
-
 }

lib/features/devices/data/datasources/path_http_datasource.dart

@@ -4,4 +4,5 @@ abstract class PathHttpDatasource {
   Future<List<DeviceAddPathPointModel>> generatePathRaw({
     required Map<String, dynamic> body,
   });
+
 }

lib/features/devices/data/models/route_plan_send_entity.dart

@@ -0,0 +1,38 @@
+// lib/features/devices/data/models/route_plan_send_entity.dart
+import 'dart:typed_data'; // ✅ 必须添加
+
+class RoutePlanSendEntity {
+  final int commandType;
+  final int pointCounts;
+  final double targetLatitude;
+  final double targetLongitude;
+  final int speed;
+
+  RoutePlanSendEntity({
+    required this.commandType,
+    required this.pointCounts,
+    required this.targetLatitude,
+    required this.targetLongitude,
+    required this.speed,
+  });
+
+
+  List<int> toBytes() {
+    final bytes = <int>[];
+    bytes.add(commandType);
+    bytes.addAll(_shortToBytes(pointCounts));
+    bytes.addAll(_doubleToBytes(targetLatitude));
+    bytes.addAll(_doubleToBytes(targetLongitude));
+    bytes.addAll(_shortToBytes(speed));
+    return bytes;
+  }
+
+  List<int> _shortToBytes(int value) {
+    return [(value >> 8) & 0xFF, value & 0xFF];
+  }
+
+  List<int> _doubleToBytes(double value) {
+    final byteData = ByteData(8)..setFloat64(0, value);
+    return byteData.buffer.asUint8List();
+  }
+}

lib/features/devices/data/repositories/route_planning_repository_impl.dart

@@ -0,0 +1,116 @@
+import 'dart:collection';
+
+import 'package:maibu_satabot_v2/features/devices/data/models/device_add_path_point_model.dart';
+import '../../../../core/network/tcp/tcp_client.dart';
+import '../../domain/repositories/route_planning_repository.dart';
+import '../models/route_plan_send_entity.dart';
+
+class RoutePlanningRepositoryImpl implements RoutePlanningRepository {
+  final TcpClient tcp;
+  late PathPlanner _planner;
+
+  RoutePlanningRepositoryImpl({required this.tcp}) { // ✅ 加 {required} 和类型注解
+    _planner = PathPlanner(tcp);
+  }
+  @override
+  Future<void> startRoutePlanning(Queue<DeviceAddPathPointModel> locationQueue) async {
+    //  直接传入 DeviceAddPathPointModel 列表（无需转换）
+    final List<DeviceAddPathPointModel> locations = locationQueue.toList();
+    _planner.startRoutePlanning(locations);
+  }
+
+  @override
+  Future<void> pauseRPWork() async {
+    // TODO: implement pauseRPWork
+    _planner.pauseRPWork();
+  }
+
+  @override
+  Future<void> resumeRPWork() async {
+    // TODO: implement resumeRPWork
+    _planner.resumeRPWork();
+  }
+
+  @override
+  Future<void> stopRoutePlanning() async {
+    // TODO: implement stopRoutePlanning
+    _planner.stopRoutePlanning();
+  }
+}
+
+//  PathPlanner
+class PathPlanner {
+  final Queue<DeviceAddPathPointModel> locationQueue = Queue();
+  final TcpClient tcpClient;
+  bool isStart = false;
+
+  PathPlanner(this.tcpClient);
+
+  void sendNextLocation() {
+    if (isStart && locationQueue.isEmpty) {
+      isStart = false;
+      print("[track]");
+      tcpClient.disconnect();
+      return;
+    }
+
+    final entity = locationQueue.removeFirst(); // 类型：DeviceAddPathPointModel
+    final routePlanSendEntity = RoutePlanSendEntity(
+      commandType: 0x01,
+      pointCounts: 1,
+      targetLatitude: entity.latitude,
+      targetLongitude: entity.longitude,
+      speed: 1000,
+    );
+
+    print("====Lat:${entity.latitude} ====Lng:${entity.longitude}");
+    tcpClient.sendPathPoint( routePlanSendEntity);
+    isStart = true;
+  }
+/// 开始
+  void startRoutePlanning(List<DeviceAddPathPointModel> locations) {
+    locationQueue.addAll(locations);
+    isStart = true;
+    sendNextLocation();
+  }
+  /// 暂停
+  void pauseRPWork() {
+    var entity = new RoutePlanSendEntity(
+      commandType: 0x02,
+      pointCounts: 2,
+      targetLatitude: 0,
+      targetLongitude: 0,
+      speed: 0,
+    );
+    tcpClient.sendDeviceStateChange(entity);
+    //更新APP状态
+  }
+  /// 恢复
+  void resumeRPWork() {
+    var entity = new RoutePlanSendEntity(
+      commandType: 0x02,
+      pointCounts: 3,
+      targetLatitude: 0,
+      targetLongitude: 0,
+      speed: 0,
+    );
+    tcpClient.sendDeviceStateChange(entity);
+    //更新APP状态
+  }
+  /// 停止
+  void stopRoutePlanning() {
+    var entity = new RoutePlanSendEntity(
+      commandType: 0x02,
+      pointCounts: 0,
+      targetLatitude: 0,
+      targetLongitude: 0,
+      speed: 0,
+    );
+    tcpClient.sendDeviceStateChange(entity);
+    //更新APP状态
+  }
+
+
+}
+
+

lib/features/devices/domain/repositories/route_planning_repository.dart

@@ -0,0 +1,18 @@
+// lib/features/devices/domain/repositories/route_planning_repository.dart
+import 'dart:collection';
+
+import 'package:collection/collection.dart';
+
+import '../../data/models/device_add_path_point_model.dart';
+
+
+abstract class RoutePlanningRepository {
+  /// Start
+  Future<void> startRoutePlanning(Queue<DeviceAddPathPointModel> locationQueue);
+  /// Stop
+  Future<void> stopRoutePlanning();
+  /// Pause
+  Future<void> pauseRPWork();
+  /// Resume
+  Future<void> resumeRPWork();
+}

lib/features/devices/domain/usecases/route_planning_usecase.dart

@@ -0,0 +1,56 @@
+import 'dart:collection';
+
+import 'package:fpdart/fpdart.dart';
+import '../../data/models/device_add_path_point_model.dart';
+import '../../domain/repositories/route_planning_repository.dart';
+
+class RoutePlanningUseCase {
+  final RoutePlanningRepository repository;
+
+  RoutePlanningUseCase(this.repository);
+
+  Future<Either<RoutePlanningFailure, Unit>> startRoutePlanning(
+      Queue<DeviceAddPathPointModel> locationQueue,
+      ) async {
+    try {
+      await repository.startRoutePlanning(locationQueue);
+      return right(unit);
+    } catch (e) {
+      return left(RoutePlanningFailure(message: e.toString()));
+    }
+  }
+
+  Future<Either<RoutePlanningFailure, Unit>> pauseRPWork() async {
+    try {
+      await repository.pauseRPWork();
+      return right(unit);
+    } catch (e) {
+      return left(RoutePlanningFailure(message: e.toString()));
+    }
+  }
+
+  Future<Either<RoutePlanningFailure, Unit>> resumeRPWork() async {
+    try {
+      await repository.resumeRPWork();
+      return right(unit);
+    } catch (e) {
+      return left(RoutePlanningFailure(message: e.toString()));
+    }
+  }
+
+  Future<Either<RoutePlanningFailure, Unit>> stopRoutePlanning() async {
+    try {
+      await repository.stopRoutePlanning();
+      return right(unit);
+    } catch (e) {
+      return left(RoutePlanningFailure(message: e.toString()));
+    }
+  }
+}
+
+// Failure 类型
+class RoutePlanningFailure {
+  final String? message;
+
+  RoutePlanningFailure({this.message});
+}

lib/features/devices/presentation/bloc/devices_cubit.dart

@@ -1,3 +1,5 @@
+import 'dart:collection';
+
 import 'package:flutter/rendering.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/entities/device_entity.dart';
@@ -9,10 +11,12 @@ import 'package:maibu_satabot_v2/features/devices/domain/usecases/select_work_re
 import 'package:maibu_satabot_v2/features/devices/domain/usecases/unbind_device_usecase.dart';
 import 'package:maibu_satabot_v2/features/devices/domain/usecases/update_devicename_usecase.dart';
 
+import '../../data/models/device_add_path_point_model.dart';
 import '../../data/models/device_work_area_param_model.dart';
 import '../../domain/usecases/delete_work_record_usecase.dart';
 import '../../domain/usecases/get_device_location_usecase.dart';
 import '../../domain/usecases/get_work_record_usecase.dart';
+import '../../domain/usecases/route_planning_usecase.dart';
 import 'devices_state.dart';
 
 class DevicesCubit extends Cubit<DevicesState> {
@@ -26,6 +30,7 @@ class DevicesCubit extends Cubit<DevicesState> {
   final SelectWorkRecordUseCase _selectWorkRecordUseCase;
   final SaveWorkRecordUseCase _saveWorkRecordUseCase;
   final GeneratePathUseCase _generatePathUseCase;
+  final RoutePlanningUseCase _routePlanningUseCase; //
 
   DevicesCubit(
     this.repository,
@@ -38,6 +43,7 @@ class DevicesCubit extends Cubit<DevicesState> {
     this._selectWorkRecordUseCase,
     this._saveWorkRecordUseCase,
     this._generatePathUseCase,
+    this._routePlanningUseCase
   ) : super(const DevicesState());
 
   Future<void> unbindDevice(String deviceId, String deviceName) async {
@@ -239,4 +245,60 @@ class DevicesCubit extends Cubit<DevicesState> {
 
     result.fold((failure) => emit(state.copyWith(errorMessage: failure.message)), (pathData) => emit(state.copyWith(generatedPath: pathData)));
   }
+// 开始路径规划
+  Future<void> startRoutePlanning(Queue<DeviceAddPathPointModel> locationQueue) async {
+    emit(state.copyWith(isLoading: true));
+    final result = await _routePlanningUseCase.startRoutePlanning(locationQueue);
+    result.fold(
+          (failure) => emit(state.copyWith(
+        isLoading: false,
+        errorMessage: failure.message ?? '路径规划启动失败',
+      )),
+          (_) => emit(state.copyWith(
+        isLoading: false,
+        errorMessage: '',
+      )),
+    );
+  }
+
+// 暂停
+  Future<void> pauseRoutePlanning() async {
+    emit(state.copyWith(isLoading: true));
+    final result = await _routePlanningUseCase.pauseRPWork();
+    result.fold(
+          (failure) => emit(state.copyWith(
+        isLoading: false,
+        errorMessage: failure.message ?? '暂停失败',
+      )),
+          (_) => emit(state.copyWith(isLoading: false)),
+    );
+  }
+
+// 恢复
+  Future<void> resumeRoutePlanning() async {
+    emit(state.copyWith(isLoading: true));
+    final result = await _routePlanningUseCase.resumeRPWork();
+    result.fold(
+          (failure) => emit(state.copyWith(
+        isLoading: false,
+        errorMessage: failure.message ?? '恢复失败',
+      )),
+          (_) => emit(state.copyWith(isLoading: false)),
+    );
+  }
+
+// 停止
+  Future<void> stopRoutePlanning() async {
+    emit(state.copyWith(isLoading: true));
+    final result = await _routePlanningUseCase.stopRoutePlanning();
+    result.fold(
+          (failure) => emit(state.copyWith(
+        isLoading: false,
+        errorMessage: failure.message ?? '停止失败',
+      )),
+          (_) => emit(state.copyWith(isLoading: false)),
+    );
+  }
+
+
 }

lib/features/devices/presentation/bloc/devices_state.dart

@@ -8,6 +8,12 @@ enum DeviceOperationType {
   updateName,   // 修改设备名称
 }
 
+enum AppState {
+  none, //无作业状态
+  routePlanning, //正在规划路径
+}
+
+
 
 class DevicesState extends Equatable {
   final List<DeviceEntity> devices; // 名下所有设备列表
@@ -20,6 +26,7 @@ class DevicesState extends Equatable {
   final DeviceOperationType operationType; // 标记当前操作类型
   final List<Map<String, dynamic>>? pathData;
   final List<DeviceAddPathPointModel>? generatedPath; // 新增字段
+  final AppState appState;
 
 
 
@@ -34,6 +41,7 @@ class DevicesState extends Equatable {
     this.operationType = DeviceOperationType.none, // 默认无操作
     this.pathData,
     this.generatedPath,
+    this.appState = AppState.none,
   });
 
   // 使用 copyWith 方便局部更新状态