pile_nav_new/lib/pages/real/real_controller.dart

import 'dart:math';
import 'dart:developer' as developer;
import 'dart:typed_data';
import 'dart:ui';
import 'package:cpnav/pages/setting/child_pages/XyChange/xy_change.dart';
import 'package:get/get.dart';
import 'package:scence_map/controllers/controller.dart';
import 'package:scence_map/record_entity.dart';
// import 'package:flutter_webrtc/flutter_webrtc.dart';

import '../../models/pilePoint/coord_trans.dart';
import '../setting/child_pages/XyChange/coor_trans.dart';
import '../setting/setting_controller.dart';
import 'process.dart';
// pile_cm
// class RealController extends GetxController {
//   var sightOffset1 = const Offset(3, 3).obs;
//   var sightOffsetInit1 = const Offset(0, 0).obs;
//   var sightInit1 = const Offset(0, 0).obs;
//   var initDx = 0.0.obs;
//   reset() {
//     sightOffset1.value = const Offset(3, 3);
//     sightOffsetInit1.value = const Offset(0, 0);
//     sightInit1.value = const Offset(0, 0);

//     initDx.value = 0.0;
//     update();
//   }

//   // RTCPeerConnection? peerConnection;
//   // RTCDataChannel? dataChannel;
//   final speed = 0.0.obs;
//   final depth = 0.0.obs;
//   final tiltX = 0.0.obs;
//   final tiltY = 0.0.obs;
//   final centerX = 0.0.obs;
//   final centerY = 0.0.obs;
//   final current1 = 0.0.obs;
//   final current2 = 0.0.obs;
//   final totalFlow2 = 0.0.obs;
//   final totalFlow1 = 0.0.obs;
//   final flow10cm1 = 0.0.obs;
//   final flow10cm2 = 0.0.obs;
//   final subtotalFlow2 = 0.0.obs;
//   final subtotalFlow1 = 0.0.obs;
//   final recvTime = ''.obs;
//   final alt = 0.0.obs;
//   final lng = 0.0.obs;
//   final lat = 0.0.obs;
//   final pileId = ''.obs;
//   final time = "0".obs;
//   final startIndex = 0.obs;
//   // 折线数组

//   final processList = <ProcessEntity>[].obs;
//   var isDataVisible = false.obs;

//   void updateProcessList(List<ProcessEntity> newList) {
//     processList.assignAll(newList); // 使用 assignAll 方法更新 RxList
//   }

//   DateTime? sliderTime;
//   updateSlider(double newValue, [isHand = true]) {
//     if (isHand) {
//       sliderTime = DateTime.now();
//     }
//     startIndex.value = newValue.toInt();
//     update();
//   }

//   @override
//   void onInit() {
//     super.onInit();
//     // 定时器每秒更新时间
//     // Timer.periodic(const Duration(milliseconds: 1000), (_) {
//     //   time.value = DateTime.now();
//     // });
//     initializePeerConnection();
//   }

//   void initializePeerConnection() async {
//     // final configuration = <String, dynamic>{
//     //   'iceServers': [
//     //     {'url': 'stun:stun.l.google.com:19302'},
//     //   ],
//     // };
//     // peerConnection = await createPeerConnection(configuration);
//     // initializeDataChannel();
//   }

//   // void initializeDataChannel() async {
//   //   // 创建数据通道
//   //   dataChannel = await peerConnection!
//   //       .createDataChannel('dataChannel', RTCDataChannelInit()..id = 1);

//   //   // 监听数据通道的消息事件
//   //   dataChannel!.onMessage = (RTCDataChannelMessage message) {
//   //     // 处理接收到的消息
//   //     if (message.isBinary) {
//   //       onBleData(message.binary);
//   //     }
//   //   };
//   // }

//   onBleData(Uint8List data) {
//     ByteData byteData = data.buffer.asByteData();
//     int tag = byteData.getUint8(0);
//     // int length = byteData.getUint8(1);
//     if (tag == 161) {
//       speed.value = byteData.getInt16(2, Endian.little) * 0.1;
//       int timeInt = byteData.getUint16(4, Endian.little);
//       //  log(timeInt);
//       time.value = convertSecondsToMinSec(timeInt);
//       depth.value = byteData.getInt16(6, Endian.little) * 0.001;
//       pileId.value = byteData.getUint16(8, Endian.little).toString();
//       subtotalFlow1.value = byteData.getInt16(10, Endian.little) * 0.01;
//       flow10cm1.value = byteData.getUint16(12, Endian.little) * 0.01;
//       totalFlow1.value = byteData.getInt32(14, Endian.little) * 0.01;
//       subtotalFlow2.value = byteData.getInt16(18, Endian.little) * 0.01;
//       flow10cm2.value = byteData.getUint16(20, Endian.little) * 0.01;
//       totalFlow2.value = byteData.getInt32(22, Endian.little) * 0.01;
//       current1.value = byteData.getUint16(26, Endian.little) * 0.01;
//       current2.value = byteData.getUint16(28, Endian.little) * 0.01;
//       // current3.value = byteData.getUint16(30, Endian.little) * 0.01;
//       int tag1 = byteData.getUint8(34);
//       // int length = byteData.getUint8(35);
//       if (tag1 == 162) {
//         // var gpsStatus = byteData.getUint8(36);
//         // var gpsView = byteData.getUint8(37);

//         // var gpsUse = byteData.getUint8(38);
//         // var reg = byteData.getUint8(39);
//         // var utc = byteData.getUint32(40, Endian.little);
// // 中心坐标
//         centerX.value = byteData.getFloat64(44, Endian.little);
//         centerY.value = byteData.getFloat64(52, Endian.little);
//         //  log("中心---$centerX,$centerY");
//         // tiltX.value = byteData.getFloat64(44, Endian.little);
//         // tiltY.value = byteData.getFloat64(52, Endian.little);
//         // var direction = byteData.getFloat64(60, Endian.little);
//         // var pitch = byteData.getFloat64(68, Endian.little);
//         // log("$gpsUse,$gpsView,$utc,$direction,$pitch");
//       }
//     }
//   }

//   String convertSecondsToMinSec(int totalSeconds) {
//     int minutes = totalSeconds ~/ 60;
//     int seconds = totalSeconds % 60;

//     String formattedTime = '$minutes:${seconds.toString().padLeft(2, '0')}';

//     return formattedTime;
//   }

//   @override
//   void dispose() {
//     // dataChannel?.close(); // 关闭数据通道
//     // peerConnection?.close(); // 关闭对等连接
//     super.dispose();
//   }
// }

final ScenceMapController mapController = Get.find<ScenceMapController>();
SettingController settingController = Get.find<SettingController>();
XYChangeController xyChangeController = Get.put(XYChangeController());

class RealController extends GetxController {
  var sightOffset1 = const Offset(3, 3).obs;
  var sightOffsetInit1 = const Offset(0, 0).obs;
  var sightInit1 = const Offset(0, 0).obs;
  var initDx = 0.0.obs;
  var processdata = ProcessEntity(
      tid: 0,
      speed: 0,
      alt: 0,
      lng: 0,
      lat: 0,
      tp_id: 0,
      utc: DateTime.now().millisecond,
      impact_force: []).obs;
  var dataCount = 0.obs;
  CoordTrans? coordTrans;
  var status = 0.obs;
  var sa = 0.obs;
  var sv = 0.obs;
  reset() {
    sightOffset1.value = const Offset(3, 3);
    sightOffsetInit1.value = const Offset(0, 0);
    sightInit1.value = const Offset(0, 0);

    initDx.value = 0.0;
    update();
  }

  var isDataVisible = false.obs;
  onBleData(Uint8List data) {
    String str = String.fromCharCodes(data);
    String first = str.split("#POSA")[1];
    List<String> list = first.split(",");
    double baseLine = double.parse(list[7]);
    double heading = double.parse(list[8]);
    double pitch = double.parse(list[9]);
    status.value = int.parse(list[1]);
    sa.value = int.parse(list[10]);
    List<String> svStr = list[11].trim().split(" ");
    sv.value = int.parse(svStr[0]);
    ProcessEntity process = ProcessEntity.fromList(list);
    processdata.update((value) {
      // value.speed = process.speed;
      value?.lat = process.lat;
      value?.lng = process.lng;
      value?.alt = process.height;
      value?.utc = process.utc;
    });
    dataCount.value++;
    CoorTransModel trans = xyChangeController.coorTrans.value;
    coordTrans ??= CoordTrans(TransOptions(
        L0: trans.L0,
        // dstEllipsoid: trans.dstEllipsoid,
        // srcEllipsoid: trans.srcEllipsoid,
        dx: trans.dx,
        dy: trans.dy,
        type: trans.type));
    var xyh = coordTrans!
        .d2p(CoordBLH(B: process.lat, L: process.lng, H: process.alt));
    Offset offset = Offset(xyh.X, xyh.Y);
    if ((mapController.centerXY - offset).distance > 40) {
      mapController.centerXY = offset;
    }
    RecordEntity record = RecordEntity(
      tid: 0,
      tpId: -1,
      id: 0,
      startTime: DateTime.now(),
      endTime: DateTime.now(),
      lat: process.lat,
      lng: process.lng,
      name: "实时",
      times: 1,
      x: xyh.X,
      y: xyh.Y,
      strongDrop: 0,
    );
    if (mapController.recordList.isEmpty) {
      mapController.recordList.add(record);
    } else {
      int index = mapController.recordList
          .lastIndexWhere((element) => element.tpId == -1);
      if (index == -1) {
        mapController.recordList.add(record);
      } else {
        mapController.recordList[index] = record;
      }
    }

    mapController.updateCount++;
    var centerDev =
        mapController.deviceList[settingController.currentDevice.value?.tid];
    if (centerDev != null) {
      // log("center${xyh.X},${xyh.Y}");

      centerDev.update.value++;
      double pitchRad = pitch * pi / 180;
      double headingRad = (heading) * pi / 180; //(270-)
      centerDev.rotation.value = (heading + 90) * pi / 180;
      // 计算水平投影距离
      double dXY = baseLine * cos(pitchRad);

      // 计算副天线的坐标
      double carX = xyh.X + dXY * cos(headingRad);
      double carY = xyh.Y + dXY * sin(headingRad);

      centerDev.x.value = carX;
      centerDev.y.value = carY;
      developer.log("carX:$carX,carY:$carY");
    }
  }
}