750 lines
27 KiB
Dart
750 lines
27 KiB
Dart
import 'dart:io';
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import 'dart:convert';
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import 'dart:async';
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import 'dart:math';
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import 'package:flutter/material.dart';
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import 'package:flutter/services.dart';
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import 'package:flutter_joystick/flutter_joystick.dart';
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import 'package:marscar_controller/main.dart';
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import 'package:media_kit/media_kit.dart';
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import 'package:media_kit_video/media_kit_video.dart';
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import 'package:provider/provider.dart';
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import 'package:fl_chart/fl_chart.dart';
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import 'package:marscar_controller/pages/square_joystick.dart';
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class PlayerPage extends StatefulWidget {
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const PlayerPage({super.key});
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@override
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State<PlayerPage> createState() => _PlayerPageState();
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}
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class _PlayerPageState extends State<PlayerPage> {
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late final player = Player();
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late final controller = VideoController(player);
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bool finishConnection = false;
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Timer? _reconnectionTimer;
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final int callBackPeriod = 10;
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RawDatagramSocket? _udpSocket;
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String _pingResult = '正在连接图传...';
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Socket? _timestampSocket;
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StreamSubscription? _socketSubscription;
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final List<int> _latencyReadings = [];
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final int _latencyWindow = 30;
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Timer? _latencyTestTimer;
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String _controlLatencyResult = '正在连接控制器...';
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final List<int> _controlLatencyReadings = [];
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final int _controlLatencyWindow = 10;
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Timer? _udpSendTimer;
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final List<FlSpot> _videoLatencyHistory = [];
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final List<FlSpot> _controlLatencyHistory = [];
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final int _maxHistoryCount = 100;
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Timer? _connectionHealthTimer;
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DateTime? _lastMessageReceivedTime;
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String _bitrateInfo = '速率: N/A';
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Timer? _infoTimer;
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double maxPawRateScale = 0.35;
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Set<double> _pawScaleSelection = {0.35};
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@override
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void initState() {
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super.initState();
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SystemChrome.setPreferredOrientations([
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DeviceOrientation.landscapeLeft,
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DeviceOrientation.landscapeRight
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]);
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SystemChrome.setEnabledSystemUIMode(SystemUiMode.immersiveSticky);
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GlobalSettingState globalSettingState = context.read<GlobalSettingState>();
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_initializeUdpSocket();
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_latencyTestTimer = Timer.periodic(const Duration(milliseconds: 500), (timer) {
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if (_udpSocket == null || globalSettingState.carIP.isEmpty) return;
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final sendTime = DateTime.now().millisecondsSinceEpoch;
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final data = utf8.encode('TESTTIME=$sendTime');
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try {
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_udpSocket!.send(data, InternetAddress(globalSettingState.carIP), 80);
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} catch (e) {
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if (mounted) {
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setState(() {
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_controlLatencyResult = '控制延迟测试失败';
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});
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}
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}
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});
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_infoTimer = Timer.periodic(const Duration(seconds: 1), (_) {
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_updateStreamInfo();
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});
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_udpSendTimer = Timer.periodic(Duration(milliseconds: callBackPeriod), (timer) {
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if (_udpSocket == null || globalSettingState.carIP.isEmpty) return;
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List<int> data = utf8.encode('LX=$lx&LY=$ly&RX=$rx&RY=$ry&FORWARD=$forward&BACKWARD=$backward&LEFT=$left&RIGHT=$right&UP=$up&DOWN=$down&PAW=$paw');
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try {
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_udpSocket!.send(data, InternetAddress(globalSettingState.carIP), 80);
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if (reset == 1) {
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List<int> data = utf8.encode('RESET=1');
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_udpSocket!.send(data, InternetAddress(globalSettingState.carIP), 80);
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setState(() {
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reset = 0;
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});
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}
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if (getball == 1) {
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List<int> data = utf8.encode('GETBALL=1');
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_udpSocket!.send(data, InternetAddress(globalSettingState.carIP), 80);
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setState(() {
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getball = 0;
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});
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}
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} catch (e) {
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_showErrorSnackBar('控制失败: $e');
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timer.cancel();
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}
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});
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if (player.platform is NativePlayer) {
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final props = {
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'profile': 'low-latency',
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'untimed': 'yes',
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'demuxer-max-bytes': '102400',
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'demuxer-max-back-bytes': '102400',
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'demuxer-readahead-secs': '0.1',
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'cache': 'no',
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'cache-pause': 'no',
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'vd-lavc-threads': '1',
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'framedrop': 'vo',
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'hwdec': 'auto-safe',
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};
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for (final entry in props.entries) {
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(player.platform as NativePlayer).setProperty(entry.key, entry.value);
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}
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}
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player.open(Media('rtsp://${globalSettingState.cameraIP}:8554/live'));
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_connectToTimestampServer(globalSettingState.cameraIP);
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}
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void _handleDisconnection() {
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if (!mounted) return;
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if (_reconnectionTimer?.isActive ?? false) return;
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_socketSubscription?.cancel();
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_timestampSocket?.destroy();
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_latencyReadings.clear();
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if (mounted) {
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setState(() {
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_pingResult = '图传已断开, 10秒后重连...';
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finishConnection = true;
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});
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}
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GlobalSettingState globalSettingState = context.read<GlobalSettingState>();
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final ip = globalSettingState.cameraIP;
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if (ip.isNotEmpty) {
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_reconnectionTimer = Timer.periodic(const Duration(seconds: 10), (timer) {
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if (!mounted) {
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timer.cancel();
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return;
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}
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player.open(Media('rtsp://${globalSettingState.cameraIP}:8554/live'));
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_connectToTimestampServer(ip);
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});
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}
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}
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void _startHealthCheckTimer() {
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_connectionHealthTimer?.cancel();
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_connectionHealthTimer = Timer.periodic(const Duration(seconds: 5), (timer) {
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if (!mounted) {
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timer.cancel();
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return;
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}
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if (_lastMessageReceivedTime != null &&
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DateTime.now().difference(_lastMessageReceivedTime!) > const Duration(seconds: 10)) {
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_connectionHealthTimer?.cancel();
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_showErrorSnackBar('图传信号丢失，正在重连...');
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_handleDisconnection();
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}
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});
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}
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void _updateStreamInfo() async {
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if (player.platform is! NativePlayer) return;
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final nativePlayer = player.platform as NativePlayer;
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try {
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final bitrate = await nativePlayer.getProperty('video-bitrate');
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if (mounted) {
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setState(() {
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final bitrateInKbps = (double.tryParse(bitrate) ?? 0) / 1024;
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_bitrateInfo = '速率: ${bitrateInKbps.toStringAsFixed(0)} Kbps';
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});
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}
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} catch (e) {
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// Handle potential errors if properties are not available
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}
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}
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void _initializeUdpSocket() async {
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try {
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_udpSocket = await RawDatagramSocket.bind(InternetAddress.anyIPv4, 0);
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_udpSocket?.listen((RawSocketEvent event) {
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if (event == RawSocketEvent.read) {
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Datagram? datagram = _udpSocket!.receive();
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if (datagram == null) return;
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final message = utf8.decode(datagram.data);
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if (message.startsWith('TESTTIME=')) {
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final sentTimestampStr = message.substring(9);
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final sentTimestamp = int.tryParse(sentTimestampStr);
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if (sentTimestamp != null) {
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final latency = DateTime.now().millisecondsSinceEpoch - sentTimestamp;
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_controlLatencyReadings.add(latency);
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if (_controlLatencyReadings.length > _controlLatencyWindow) {
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_controlLatencyReadings.removeAt(0);
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}
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final avgLatency = _controlLatencyReadings.reduce((a, b) => a + b) / _controlLatencyReadings.length;
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if (mounted) {
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setState(() {
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_controlLatencyResult = '控制RTT: ${avgLatency.toStringAsFixed(0)} ms';
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_controlLatencyHistory.add(FlSpot(DateTime.now().millisecondsSinceEpoch.toDouble(), avgLatency));
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if (_controlLatencyHistory.length > _maxHistoryCount) {
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_controlLatencyHistory.removeAt(0);
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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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} catch (e) {
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_showErrorSnackBar('控制模块初始化失败');
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}
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}
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void _showErrorSnackBar(String message) {
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ScaffoldMessenger.of(context).showSnackBar(
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SnackBar(
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content: Text(message),
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backgroundColor: Colors.red,
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),
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);
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}
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double lx = 0.0, ly = 0.0, rx = 0.0, ry = 0.0, paw = 0.0, forward = 0.0, backward = 0.0, left = 0.0, right = 0.0, up = 0.0, down = 0.0;
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int getball = 0, reset = 0;
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bool hasSendZeroPack = false;
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void _connectToTimestampServer(String ip) async {
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if (ip.isEmpty) {
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if (!mounted) return;
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setState(() {
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_pingResult = 'IP地址未设置';
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});
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return;
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}
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try {
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if (!mounted) return;
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setState(() {
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_pingResult = '正在连接图传服务...';
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});
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_timestampSocket = await Socket.connect(ip, 8555, timeout: const Duration(seconds: 5));
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_reconnectionTimer?.cancel();
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_lastMessageReceivedTime = DateTime.now();
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_startHealthCheckTimer();
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setState(() {
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finishConnection = true;
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});
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_socketSubscription = _timestampSocket?.listen(
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(data) {
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_lastMessageReceivedTime = DateTime.now();
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final message = utf8.decode(data).trim();
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final serverTimestampStr = message.split('\n').last;
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if (serverTimestampStr.isNotEmpty) {
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final serverTimestamp = int.tryParse(serverTimestampStr);
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if (serverTimestamp != null) {
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final clientTimestamp = DateTime.now().millisecondsSinceEpoch;
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final latency = clientTimestamp - serverTimestamp;
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if (latency > 0) {
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_latencyReadings.add(latency);
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if (_latencyReadings.length > _latencyWindow) {
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_latencyReadings.removeAt(0);
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}
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}
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if (_latencyReadings.isNotEmpty) {
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final avgLatency = _latencyReadings.reduce((a, b) => a + b) / _latencyReadings.length;
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if (mounted) {
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setState(() {
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_pingResult = '图传信号延迟: ${avgLatency.toStringAsFixed(0)} ms';
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_videoLatencyHistory.add(FlSpot(DateTime.now().millisecondsSinceEpoch.toDouble(), avgLatency));
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if (_videoLatencyHistory.length > _maxHistoryCount) {
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_videoLatencyHistory.removeAt(0);
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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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onError: (error) {
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if (!mounted) return;
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setState(() {
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_pingResult = '图传出错';
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_handleDisconnection();
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});
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_showErrorSnackBar('图传出错');
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_handleDisconnection();
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},
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onDone: () {
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if (!mounted) return;
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setState(() {
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_pingResult = '图传已断开';
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});
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_showErrorSnackBar('图传已断开');
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_handleDisconnection();
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},
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cancelOnError: true,
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);
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} catch (e) {
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setState(() {
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_pingResult = '连接图传失败';
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});
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_showErrorSnackBar('连接图传失败');
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_handleDisconnection();
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}
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}
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@override
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void dispose() {
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SystemChrome.setPreferredOrientations([
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DeviceOrientation.portraitUp,
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]);
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player.dispose();
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_socketSubscription?.cancel();
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_timestampSocket?.destroy();
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_udpSendTimer?.cancel();
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_udpSocket?.close();
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_latencyTestTimer?.cancel();
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_latencyReadings.clear();
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_controlLatencyReadings.clear();
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_infoTimer?.cancel();
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_connectionHealthTimer?.cancel();
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_reconnectionTimer?.cancel();
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super.dispose();
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}
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@override
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Widget build(BuildContext context) {
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return Scaffold(
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backgroundColor: Theme.of(context).primaryColor,
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body: Center(
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child: Stack(
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children: [
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SizedBox(
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width: MediaQuery.of(context).size.width,
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height: MediaQuery.of(context).size.height,
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child: Video(
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controller: controller,
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controls: (state) => const SizedBox.shrink(),
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),
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),
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if(finishConnection) Positioned(
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top: 8,
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left: 64,
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child: ElevatedButton(
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onPressed: () {
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GlobalSettingState globalSettingState = context.read<GlobalSettingState>();
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globalSettingState.setCameraIP('');
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},
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style: ButtonStyle(
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backgroundColor: WidgetStateProperty.all(Color.fromARGB(60, 255, 255, 255)),
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iconColor: WidgetStateProperty.all(Color.fromARGB(200, 255, 255, 255)),
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),
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child: Icon(Icons.arrow_back),
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),
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),
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Positioned(
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top: 8,
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right: 0,
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left: 0,
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child: Center(
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child: Container(
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width: 400,
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clipBehavior: Clip.antiAlias,
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decoration: BoxDecoration(
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borderRadius: BorderRadius.circular(8),
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color: const Color.fromARGB(100, 0, 0, 0),
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),
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child: ExpansionTile(
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collapsedIconColor: Colors.white,
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iconColor: Colors.white,
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title: Text(
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'$_pingResult $_bitrateInfo\n$_controlLatencyResult',
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style: const TextStyle(color: Colors.white, fontSize: 12),
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textAlign: TextAlign.center,
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),
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children: [
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Padding(
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padding: const EdgeInsets.fromLTRB(8, 8, 16, 4),
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child: Column(
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crossAxisAlignment: CrossAxisAlignment.center,
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children: [
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const Text(
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'图传延迟 (ms)',
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style: TextStyle(color: Colors.white70, fontSize: 12),
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),
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const SizedBox(height: 8),
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SizedBox(
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height: 80,
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child: LineChart(
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LineChartData(
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lineBarsData: [
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LineChartBarData(
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spots: _videoLatencyHistory,
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isCurved: true,
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color: Colors.white,
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barWidth: 2,
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isStrokeCapRound: true,
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dotData: const FlDotData(show: false),
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belowBarData: BarAreaData(show: false),
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),
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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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reservedSize: 40,
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getTitlesWidget: (value, meta) {
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return Text(
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'${value.toInt()}',
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style: const TextStyle(
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color: Colors.white,
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fontSize: 10,
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),
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);
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},
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),
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),
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bottomTitles: const AxisTitles(sideTitles: SideTitles(showTitles: false)),
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topTitles: const AxisTitles(sideTitles: SideTitles(showTitles: false)),
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rightTitles: const AxisTitles(sideTitles: SideTitles(showTitles: false)),
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),
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gridData: FlGridData(
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show: true,
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drawVerticalLine: true,
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getDrawingHorizontalLine: (value) => const FlLine(
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color: Color.fromARGB(50, 255, 255, 255),
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strokeWidth: 1,
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),
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getDrawingVerticalLine: (value) => const FlLine(
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color: Color.fromARGB(50, 255, 255, 255),
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strokeWidth: 1,
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),
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),
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borderData: FlBorderData(
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show: true,
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border: Border.all(color: const Color.fromARGB(80, 255, 255, 255)),
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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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Padding(
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padding: const EdgeInsets.fromLTRB(8, 8, 16, 12),
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child: Column(
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crossAxisAlignment: CrossAxisAlignment.center,
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children: [
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const Text(
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'控制RTT (ms)',
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style: TextStyle(color: Colors.white70, fontSize: 12),
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),
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const SizedBox(height: 8),
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SizedBox(
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height: 80,
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child: LineChart(
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LineChartData(
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lineBarsData: [
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LineChartBarData(
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spots: _controlLatencyHistory,
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isCurved: true,
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color: Colors.white,
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barWidth: 2,
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isStrokeCapRound: true,
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dotData: const FlDotData(show: false),
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belowBarData: BarAreaData(show: false),
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),
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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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reservedSize: 40,
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getTitlesWidget: (value, meta) {
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return Text(
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'${value.toInt()}',
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style: const TextStyle(
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color: Colors.white,
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fontSize: 10,
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),
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);
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},
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),
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),
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bottomTitles: const AxisTitles(sideTitles: SideTitles(showTitles: false)),
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topTitles: const AxisTitles(sideTitles: SideTitles(showTitles: false)),
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rightTitles: const AxisTitles(sideTitles: SideTitles(showTitles: false)),
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),
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gridData: FlGridData(
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show: true,
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drawVerticalLine: true,
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|
getDrawingHorizontalLine: (value) => const FlLine(
|
|
color: Color.fromARGB(50, 255, 255, 255),
|
|
strokeWidth: 1,
|
|
),
|
|
getDrawingVerticalLine: (value) => const FlLine(
|
|
color: Color.fromARGB(50, 255, 255, 255),
|
|
strokeWidth: 1,
|
|
),
|
|
),
|
|
borderData: FlBorderData(
|
|
show: true,
|
|
border: Border.all(color: const Color.fromARGB(80, 255, 255, 255)),
|
|
),
|
|
),
|
|
),
|
|
),
|
|
],
|
|
),
|
|
),
|
|
],
|
|
),
|
|
),
|
|
),
|
|
),
|
|
Positioned(
|
|
left: 64,
|
|
bottom: 32,
|
|
child: SizedBox(
|
|
width: 160,
|
|
height: 160,
|
|
child: SquareJoystick(
|
|
onChanged: (Offset position) {
|
|
setState(() {
|
|
lx = position.dx * 127 + 127.5;
|
|
ly = position.dy * 127 + 127.5;
|
|
});
|
|
},
|
|
),
|
|
),
|
|
),
|
|
Positioned(
|
|
right: 128,
|
|
bottom: 180,
|
|
child: SizedBox(
|
|
width: 160,
|
|
height: 160,
|
|
child: Joystick2D(
|
|
onChanged: (Offset position) {
|
|
if(position.dx == 0 && position.dy == 0) {
|
|
left = right = forward = backward = 0;
|
|
} else {
|
|
var angle = -atan2(position.dy, position.dx), pi_18 = pi / 18.0;
|
|
setState(() {
|
|
left = angle < - pi_18 * 12 || angle > pi_18 * 12 ? position.dx * maxPawRateScale : 0;
|
|
right = angle > - pi_18 * 6 && angle < pi_18 * 6 ? position.dx * maxPawRateScale : 0;
|
|
forward = angle > pi_18 * 3 && angle < pi_18 * 15 ? -position.dy * maxPawRateScale : 0;
|
|
backward = angle > - pi_18 * 15 && angle < - pi_18 * 3 ? -position.dy * maxPawRateScale : 0;
|
|
});
|
|
}
|
|
},
|
|
),
|
|
),
|
|
),
|
|
Positioned(
|
|
bottom: 180,
|
|
right: 54,
|
|
child: SizedBox(
|
|
width: 60,
|
|
height: 160,
|
|
child: VerticalJoystick(
|
|
onChanged: (double y) {
|
|
setState(() {
|
|
up = y < 0 ? -y * maxPawRateScale * 0.6 : 0;
|
|
down = y > 0 ? -y * maxPawRateScale * 0.6 : 0;
|
|
});
|
|
},
|
|
),
|
|
),
|
|
),
|
|
Positioned(
|
|
bottom: 90,
|
|
right: 64,
|
|
child: SizedBox(
|
|
width: 160,
|
|
height: 60,
|
|
child: HorizontalJoystick(
|
|
onChanged: (double x) {
|
|
setState(() {
|
|
ry = x * 127 + 127.5;
|
|
});
|
|
},
|
|
),
|
|
),
|
|
),
|
|
Positioned(
|
|
bottom: 30,
|
|
right: 64,
|
|
child: SizedBox(
|
|
width: 160,
|
|
height: 60,
|
|
child: HorizontalJoystick(
|
|
onChanged: (double x) {
|
|
setState(() {
|
|
rx = x * 127 / 2 + 127.5;
|
|
});
|
|
},
|
|
),
|
|
),
|
|
),
|
|
Positioned(
|
|
bottom: 30,
|
|
right: 256,
|
|
child: Joystick(
|
|
includeInitialAnimation: false,
|
|
period: Duration(milliseconds: callBackPeriod),
|
|
mode: JoystickMode.vertical,
|
|
stick: CircleAvatar(
|
|
radius: 20,
|
|
backgroundColor: Color.fromARGB(200, 255, 255, 255),
|
|
),
|
|
base: Container(
|
|
width: 32,
|
|
height: 120,
|
|
decoration: BoxDecoration(
|
|
color: Color.fromARGB(60, 255, 255, 255),
|
|
borderRadius: const BorderRadius.all(
|
|
Radius.circular(20)
|
|
),
|
|
border: BoxBorder.all(
|
|
color: Theme.of(context).colorScheme.outline,
|
|
width: 1
|
|
)
|
|
)
|
|
),
|
|
listener: (details) {
|
|
setState(() {
|
|
paw = details.y / 2 + 0.5;
|
|
});
|
|
},
|
|
),
|
|
),
|
|
if(finishConnection) Positioned(
|
|
top: 8,
|
|
right: 64,
|
|
child: IconButton.filled(
|
|
iconSize: 24.0,
|
|
onPressed: () {
|
|
setState(() {
|
|
reset = 1;
|
|
});
|
|
},
|
|
icon: Icon(Icons.refresh),
|
|
style: ButtonStyle(
|
|
backgroundColor: WidgetStateProperty.all(Color.fromARGB(60, 0, 0, 0)),
|
|
iconColor: WidgetStateProperty.all(Color.fromARGB(200, 255, 255, 255))
|
|
),
|
|
)
|
|
),
|
|
if(finishConnection) Positioned(
|
|
top: 8,
|
|
right: 120,
|
|
child: IconButton.filled(
|
|
iconSize: 24.0,
|
|
onPressed: () {
|
|
setState(() {
|
|
getball = 1;
|
|
});
|
|
},
|
|
icon: Icon(Icons.shopping_basket),
|
|
style: ButtonStyle(
|
|
backgroundColor: WidgetStateProperty.all(Color.fromARGB(60, 0, 0, 0)),
|
|
iconColor: WidgetStateProperty.all(Color.fromARGB(200, 255, 255, 255))
|
|
),
|
|
)
|
|
),
|
|
Positioned(
|
|
bottom: 20,
|
|
left: 0,
|
|
right: 0,
|
|
child: Center(
|
|
child: SegmentedButton<double>(
|
|
segments: const <ButtonSegment<double>>[
|
|
ButtonSegment<double>(value: 0.05, label: Text('精确')),
|
|
ButtonSegment<double>(value: 0.10, label: Text('缓慢')),
|
|
ButtonSegment<double>(value: 0.35, label: Text('默认')),
|
|
ButtonSegment<double>(value: 0.5, label: Text('狂暴')),
|
|
],
|
|
selected: _pawScaleSelection,
|
|
onSelectionChanged: (Set<double> newSelection) {
|
|
setState(() {
|
|
if (newSelection.isNotEmpty) {
|
|
_pawScaleSelection = {newSelection.first};
|
|
maxPawRateScale = newSelection.first;
|
|
}
|
|
});
|
|
},
|
|
style: SegmentedButton.styleFrom(
|
|
backgroundColor: Colors.transparent,
|
|
foregroundColor: Colors.white,
|
|
selectedForegroundColor: Theme.of(context).primaryColor,
|
|
selectedBackgroundColor: Colors.white,
|
|
side: BorderSide(color: Colors.grey.shade800),
|
|
),
|
|
),
|
|
),
|
|
),
|
|
],
|
|
),
|
|
),
|
|
);
|
|
}
|
|
} |