添加设备

.flutter-plugins

@@ -1,4 +1,5 @@
 # This is a generated file; do not edit or check into version control.
+libserialport=C:\\Users\\Administrator\\AppData\\Local\\Pub\\Cache\\git\\libserialport-d6d27ef7aaf89e4dfa026db0c50dd3053c546710\\
 path_provider=C:\\Users\\Administrator\\AppData\\Local\\Pub\\Cache\\hosted\\pub.dev\\path_provider-2.1.4\\
 path_provider_android=C:\\Users\\Administrator\\AppData\\Local\\Pub\\Cache\\hosted\\pub.dev\\path_provider_android-2.2.10\\
 path_provider_foundation=C:\\Users\\Administrator\\AppData\\Local\\Pub\\Cache\\hosted\\pub.dev\\path_provider_foundation-2.4.0\\

.flutter-plugins-dependencies

@@ -1 +1 @@
-{"info":"This is a generated file; do not edit or check into version control.","plugins":{"ios":[{"name":"path_provider_foundation","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_foundation-2.4.0\\\\","shared_darwin_source":true,"native_build":true,"dependencies":[]}],"android":[{"name":"path_provider_android","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_android-2.2.10\\\\","native_build":true,"dependencies":[]}],"macos":[{"name":"path_provider_foundation","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_foundation-2.4.0\\\\","shared_darwin_source":true,"native_build":true,"dependencies":[]}],"linux":[{"name":"path_provider_linux","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_linux-2.2.1\\\\","native_build":false,"dependencies":[]}],"windows":[{"name":"path_provider_windows","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_windows-2.3.0\\\\","native_build":false,"dependencies":[]}],"web":[]},"dependencyGraph":[{"name":"path_provider","dependencies":["path_provider_android","path_provider_foundation","path_provider_linux","path_provider_windows"]},{"name":"path_provider_android","dependencies":[]},{"name":"path_provider_foundation","dependencies":[]},{"name":"path_provider_linux","dependencies":[]},{"name":"path_provider_windows","dependencies":[]}],"date_created":"2024-08-23 17:31:42.127712","version":"3.24.0","swift_package_manager_enabled":false}
+{"info":"This is a generated file; do not edit or check into version control.","plugins":{"ios":[{"name":"path_provider_foundation","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_foundation-2.4.0\\\\","shared_darwin_source":true,"native_build":true,"dependencies":[]}],"android":[{"name":"libserialport","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\git\\\\libserialport-d6d27ef7aaf89e4dfa026db0c50dd3053c546710\\\\","native_build":true,"dependencies":[]},{"name":"path_provider_android","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_android-2.2.10\\\\","native_build":true,"dependencies":[]}],"macos":[{"name":"path_provider_foundation","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_foundation-2.4.0\\\\","shared_darwin_source":true,"native_build":true,"dependencies":[]}],"linux":[{"name":"libserialport","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\git\\\\libserialport-d6d27ef7aaf89e4dfa026db0c50dd3053c546710\\\\","native_build":true,"dependencies":[]},{"name":"path_provider_linux","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_linux-2.2.1\\\\","native_build":false,"dependencies":[]}],"windows":[{"name":"libserialport","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\git\\\\libserialport-d6d27ef7aaf89e4dfa026db0c50dd3053c546710\\\\","native_build":true,"dependencies":[]},{"name":"path_provider_windows","path":"C:\\\\Users\\\\Administrator\\\\AppData\\\\Local\\\\Pub\\\\Cache\\\\hosted\\\\pub.dev\\\\path_provider_windows-2.3.0\\\\","native_build":false,"dependencies":[]}],"web":[]},"dependencyGraph":[{"name":"libserialport","dependencies":[]},{"name":"path_provider","dependencies":["path_provider_android","path_provider_foundation","path_provider_linux","path_provider_windows"]},{"name":"path_provider_android","dependencies":[]},{"name":"path_provider_foundation","dependencies":[]},{"name":"path_provider_linux","dependencies":[]},{"name":"path_provider_windows","dependencies":[]}],"date_created":"2024-08-26 18:23:25.517122","version":"3.24.0","swift_package_manager_enabled":false}

lib/controllers/gnss_Controller.dart

@@ -0,0 +1,166 @@
+import 'dart:async';
+import 'dart:math';
+import 'package:get/get.dart';
+import 'package:gnss/gnss.dart';
+
+import '../models/pilePoint/coord_trans.dart';
+
+
+class GnssController extends GetxController {
+  late final Gnss gnss;
+  LocationData? locationData;
+  late Pos3D pilerCenter;
+
+  var locationUpdate = 0.obs;
+  // late final PilerPointCalculate pilerCenterPoint;
+  //三个定义
+  var maindrilldistance = 2.0.obs; //主天线与车心距离
+  var auxdrilldistance = 2.0.obs; //副天线与车心距离
+  var offsetangle = 0.0.obs; //主副连线与车身夹角
+  late final CoordTrans coordTrans;
+  Timer? timer;
+
+  @override
+  void onInit() async {
+    super.onInit();
+
+    // pilerCenterPoint = PilerPointCalculate(
+    //   maindrilldistance.value,
+    //   auxdrilldistance.value,
+    //   offsetangle.value,
+    // );
+    // 调用 pilerPos3D 方法
+
+    pilerCenter = Pos3D(4196584.0, 517728, 0.0);
+    // 插入定时器测试代码
+    timer = Timer.periodic(Duration(seconds: 1), (Timer timer) {
+      pilerCenter.X += 0.2;
+      pilerCenter.Y += 0.2;
+      pilerCenter.rotation = pilerCenter.rotation + pi / 180; // 确保旋转角度在0-360度之间
+    });
+
+    gnss = Gnss(port: "/dev/ttysWK2", baudrate: 115200);
+    // gnss = Gnss(port: "COM1", baudrate: 115200);
+    gnss.start();
+    gnss.locationStream.listen((location) {
+      locationData = location;
+      // print(locationData);
+      // var xyh = coordTrans.d2p(CoordBLH(
+      //     B: location.latitude, L: location.longitude, H: location.altitude));
+      // pilerCenter = pilerCenterPoint.pilerPos3D(xyh, location.heading,
+      //     location.pitch, location.baseLength, offsetangle.value);
+      // print(
+      //     'X: ${pilerCenter.X}, Y: ${pilerCenter.Y}, Rotation: ${pilerCenter.rotation}');
+
+      locationUpdate.value++;
+    });
+
+    coordTrans = CoordTrans(TransOptions(L0: 108.5, elevation: 0));
+  }
+
+  @override
+  void dispose() {
+    gnss.dispose();
+    super.dispose();
+    timer?.cancel();
+  }
+}
+
+class Pos3D {
+  double X;
+  double Y;
+  double rotation;
+
+  Pos3D(this.X, this.Y, this.rotation);
+}
+
+// class PilerPointCalculate {
+//   final double mainDrillDistance; //主天线与钻头距离
+
+//   final double auxDrillDistance; //副天线与钻头距离
+//   final double offsetangle;
+//   PilerPointCalculate(
+//     this.mainDrillDistance,
+//     this.auxDrillDistance,
+//     this.offsetangle,
+//   );
+//   // 计算副天线的坐标
+//   Offset auxPointCalculate(
+//       CoordXYH mainPoint, double baseLength, double pitch, double heading) {
+//     // 将角度转换为弧度
+//     double pitchRad = pitch * pi / 180;
+//     double headingRad = (270 - heading) * pi / 180; //(270-)
+
+//     // 计算水平投影距离
+//     double dXY = baseLength * cos(pitchRad);
+
+//     // 计算副天线的坐标
+//     double x2 = mainPoint.X + dXY * cos(headingRad);
+//     double y2 = mainPoint.Y + dXY * sin(headingRad);
+//     return Offset(x2, y2);
+//   }
+
+//   // 计算交点
+//   List findIntersections(CoordXYH mainPoint, Offset auxPoint) {
+//     // 计算第二个点 b 的坐标
+//     // Offset auxPoint = _auxPointCalculate(mainPoint, baseLength, pitch, heading);
+
+//     double dx = auxPoint.dx - mainPoint.X;
+//     double dy = auxPoint.dy - mainPoint.Y;
+//     double d = sqrt(dx * dx + dy * dy);
+
+//     if (d > mainDrillDistance + auxDrillDistance ||
+//         d < (mainDrillDistance - auxDrillDistance).abs()) {
+//       // 圆不相交
+//       return [];
+//     }
+
+//     double a_ = (mainDrillDistance * mainDrillDistance -
+//             auxDrillDistance * auxDrillDistance +
+//             d * d) /
+//         (2 * d);
+//     double h = sqrt(mainDrillDistance * mainDrillDistance - a_ * a_);
+
+//     double x2 = mainPoint.X + a_ * (dx / d);
+//     double y2 = mainPoint.Y + a_ * (dy / d);
+
+//     double rx = -dy * (h / d);
+//     double ry = dx * (h / d);
+
+//     Offset intersection1 = Offset(x2 + rx, y2 + ry);
+//     Offset intersection2 = Offset(x2 - rx, y2 - ry);
+
+//     return [intersection1, intersection2];
+//   }
+
+//   // 计算车心
+//   Pos3D pilerPos3D(CoordXYH mainPoint, double heading, double pitch,
+//       double baseLength, double offsetangle) {
+//     // 找到两个可能的车心点
+//     Offset auxPoint = auxPointCalculate(mainPoint, baseLength, pitch, heading);
+//     List intersections = findIntersections(mainPoint, auxPoint);
+
+//     if (intersections.isEmpty) {
+//       throw Exception('无法找到车心点，圆不相交');
+//     }
+
+//     // 以主点为起点连线到副点作为横轴
+//     double dx = auxPoint.dx - mainPoint.X;
+//     double dy = auxPoint.dy - mainPoint.Y;
+
+//     // 横轴逆时针旋转90度为纵轴
+//     double verticalX = -dy;
+//     double verticalY = dx;
+
+//     // 选择位于纵轴正半轴的点作为最终的车心坐标
+//     Offset intersection = (intersections[1].dx - mainPoint.X) * verticalX +
+//                 (intersections[1].dy - mainPoint.Y) * verticalY >
+//             0
+//         ? intersections[1]
+//         : intersections[0];
+
+//     double rotation = (atan2(dy, dx) * 180 / pi) + 90 + offsetangle;
+
+//     return Pos3D(intersection.dx, intersection.dy, rotation);
+//   }
+// }

lib/controllers/plumController.dart

@@ -1,60 +0,0 @@
-import 'dart:math';
-
-import 'package:flutter/material.dart';
-import 'package:get/get.dart';
-import 'package:roslibdart/roslibdart.dart';
-
-class PlumDataController extends GetxController {
-  var isGenerate = false.obs; //是否生成
-  var angle = 0.0.obs; //方向弧度
-  var isDirect = false.obs; //是否为方向设置
-  var checkValue = "".obs; //checkPile -桩点坐标,checkDirection-方向设置
-  var checkName = "".obs;
-  var centerXY = Offset.zero.obs; //中心点
-  var space = 5.0.obs; //间距 m
-  var pileWidth = 400.0.obs; //打桩宽度 m
-  var genLenth = 0.obs; //半径
-  var isPileId = false.obs;
-  var direction = 0.0.obs; //角度
-  var isSave = false.obs; //是否保存
-  var centerOffset = Offset.zero.obs;
-  var linePointOffset = Offset.zero.obs;
-  var linePointXY = Offset.zero.obs;
-  var isUp = false.obs;
-  var plumList = [Offset.zero];
-  // var shouldPaint = true.obs;
-  var isMap = false.obs;
-  late Service service;
-  late Ros ros;
-  var canvasSize = Size.zero;
-
-  @override
-  void onInit() async {
-    super.onInit();
-    // plumList.value = [];
-    // centerXY.value = const Offset(3790620.0588630675, 577014.4059290753);
-
-    // for (int i = -2; i <= 2; i++) {
-    //   for (int j = -2; j <= 2; j++) {
-    //     plumList.add(Offset(centerXY.value.dx + i, centerXY.value.dy + j));
-    //   }
-    // }
-
-    // ros = BaseService().getRos();
-    // ros.connect();
-    // service = Service(
-    //     name: '/smash_point_list_service',
-    //     ros: ros,
-    //     type: "nav2_smash_behavior/srv/SmashPointList");
-    // var json = {'data': []};
-    // service.call(json).then((value) {
-    //   print('ros$value');
-    // });
-  }
-
-  updateLinePoint(Offset offset) {
-    linePointOffset.value = offset;
-
-    update();
-  }
-}

lib/main.dart

@@ -1,10 +1,11 @@
 import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 import 'package:get/get.dart';
-import 'package:scence_map/controller.dart';
+import 'package:scence_map/controllers/plumController.dart';
 import 'appbar.dart';
-import 'controllers/plumController.dart';
+
 import 'pages/pass_track/view.dart';
+import 'pages/pile/pileNav/view.dart';
 import 'pages/pile/rightDra/pileGenerate.dart';
 
 void main() {
@@ -73,9 +74,10 @@ class _MyHomePageState extends State<MyHomePage> {
     Container(
       color: Colors.green,
     ),
-    PassTrack(
+    // PassTrack(
-      date: '',
+    //   date: '',
-    ),
+    // ),
+    RealView(),
     Container(
       color: Colors.blue,
     ),
@@ -96,6 +98,8 @@ class _MyHomePageState extends State<MyHomePage> {
     // fast, so that you can just rebuild anything that needs updating rather
     // than having to individually change instances of widgets.
     return Scaffold(
+        resizeToAvoidBottomInset: false,
+        drawerEdgeDragWidth: 0.0, // 禁止通过滑动打开drawer
         endDrawer: _currentIndex.value == 1
             ? Drawer(
                 width: size.width * .8,

lib/models/coord_trans.dart

@@ -1,63 +0,0 @@
-class CoordTrans {
-  int id;
-  // ignore: non_constant_identifier_names
-  double L0;
-  String belt;
-  String? calibs;
-  String dstEllipsoid;
-  double dx;
-  double dy;
-  double dz;
-  double wx;
-  double wy;
-  double wz;
-  double k;
-  double elevation;
-  int isMain;
-  String name;
-  double rota;
-  String srcEllipsoid;
-  CoordTrans({
-    required this.name,
-    // ignore: non_constant_identifier_names
-    required this.L0,
-    required this.belt,
-    this.calibs,
-    required this.dstEllipsoid,
-    required this.dx,
-    required this.dy,
-    required this.dz,
-    required this.id,
-    required this.wx,
-    required this.wy,
-    required this.wz,
-    required this.k,
-    required this.elevation,
-    required this.isMain,
-    required this.rota,
-    required this.srcEllipsoid,
-  });
-  factory CoordTrans.fromJson(Map<dynamic, dynamic> data) {
-    return CoordTrans(
-      name: data['name'],
-      id: data['id'],
-      L0: data['L0'].toDouble(),
-      belt: data['belt'],
-      calibs: data['calibs'],
-      dstEllipsoid: data['dstEllipsoid'],
-      dx: data['dx'].toDouble(),
-      dy: data['dy'].toDouble(),
-      dz: data['dz'].toDouble(),
-      wx: data['wx'].toDouble(),
-      wy: data['wy'].toDouble(),
-      wz: data['wz'].toDouble(),
-      rota: data['rota'].toDouble(),
-      k: data['k'].toDouble(),
-      isMain: data['is_main'],
-      elevation: data['elevation'].toDouble(),
-      srcEllipsoid: data['srcEllipsoid'],
-    );
-  }
-
-  void forEach(Null Function(dynamic key, dynamic value) param0) {}
-}

lib/models/pilePoint/coord_trans.dart

@@ -0,0 +1,683 @@
+// ignore_for_file: non_constant_identifier_names
+
+import 'dart:math';
+
+class CoordGPS {
+  double LAT; //纬度
+  double LNG; //经度
+  double? ALT; //高度
+  CoordGPS({this.ALT, required this.LAT, required this.LNG});
+}
+
+class CoordXYH {
+  double X;
+  double Y;
+  double H;
+  CoordXYH({required this.X, required this.Y, required this.H});
+}
+
+class CoordBLH {
+  double B;
+  double L;
+  double H;
+  CoordBLH({required this.B, required this.H, required this.L});
+}
+
+class CoordXYZ {
+  double X;
+  double Y;
+  double Z;
+  CoordXYZ({required this.X, required this.Y, required this.Z});
+}
+
+class PointXY {
+  double X;
+  double Y;
+  PointXY({required this.X, required this.Y});
+}
+
+class Region {
+  double X;
+  double Y;
+  double? width;
+  double? heigth;
+  double? D;
+  Region({this.D, required this.X, required this.Y, this.heigth, this.width});
+}
+
+class Ellipsoid {
+  late double A;
+  late double F;
+  late double B;
+  late double E12;
+  late double E22;
+  Ellipsoid(String name) {
+    const Map<String, Map<String, double>> datums = {
+      'BJ54': {'a': 6378245, 'f': 1 / 298.3},
+      'XA80': {'a': 6378140, 'f': 1 / 298.257},
+      'WGS84': {'a': 6378137, 'f': 1 / 298.257223563},
+      'WGS2000': {'a': 6378137, 'f': 1 / 298.257222101}
+    };
+    var Datum = datums[name];
+    if (Datum != null) {
+      double a = Datum['a']!;
+      double f = Datum['f']!;
+      double b = a - f * a;
+      double e12 = (a * a - b * b) / (a * a); // 第一偏心率平方
+      double e22 = (a * a - b * b) / (b * b); // 第二偏心率平方
+      A = a;
+      F = f;
+      B = b;
+      E12 = e12;
+      E22 = e22;
+    }
+  }
+}
+
+class TransParm {
+  late double dx;
+  late double dy;
+  late double dz;
+  late double rx;
+  late double ry;
+  late double rz;
+  late double rota;
+  late double k;
+
+  TransParm(TransOptions options) {
+    dx = options.dx ?? 0;
+    dy = options.dy ?? 0;
+    dz = options.dz ?? 0;
+    rx = options.rx ?? 0;
+    ry = options.ry ?? 0;
+    rz = options.rz ?? 0;
+    k = options.k ?? 0;
+    rota = options.rota ?? 0;
+  }
+}
+
+class TransOptions {
+  double? dx; //X平移(M)
+  double? dy; //Y平移(M)
+  double? dz; //z平移(M)
+  double? rx; //X旋转(°)
+  double? ry; //Y旋转(°)
+  double? rz; //Z旋转(°)
+  double? rota; //平面旋转，用于4参数
+  double? k; //尺度(ppm)
+  double? L0; //中央子午线(经度)
+  String? srcEllipsoid; //源椭球名称
+  String? dstEllipsoid; //目标椭球名称
+  double? zoneWidth; //带宽度，用于未指定中央子午线时自动计算
+  double? elevation; //投影高程
+  TransOptions({
+    this.L0,
+    this.dstEllipsoid,
+    this.dx,
+    this.dy,
+    this.dz,
+    this.elevation,
+    this.k,
+    this.rota,
+    this.rx,
+    this.ry,
+    this.rz,
+    this.srcEllipsoid,
+  });
+}
+
+//主天线
+class CoordTrans {
+  late double L0; //中央子午线
+  late double zoneWidth; //带宽度
+  late double elevation; //投影高程
+  late double rota; //平面旋转，用于4参数
+  late Ellipsoid srcEllipsoid; //源椭球
+  late Ellipsoid dstEllipsoid; //目标椭球
+  late TransParm transParm; //7参数
+  CoordTrans(TransOptions options) {
+    transParm = TransParm(options);
+    L0 = options.L0 ?? 0;
+    elevation = options.elevation ?? 0;
+    srcEllipsoid = Ellipsoid(options.srcEllipsoid ?? 'WGS84');
+    dstEllipsoid = Ellipsoid(options.dstEllipsoid ?? 'WGS2000');
+    zoneWidth = options.zoneWidth ?? 3;
+  }
+
+  CoordXYH GPS2XY(CoordGPS gps) {
+    return d2p(CoordBLH(H: gps.ALT ?? elevation, B: gps.LAT, L: gps.LNG));
+  }
+
+  //经纬度转平面坐标
+  CoordXYH d2p(CoordBLH blh) {
+    CoordXYZ zj = BLH2XYZ(blh);
+    CoordXYZ xzj = XYZ2XYZ(zj);
+    CoordBLH xdd = XYZ2BLH(xzj);
+    CoordXYH xpm = BL2XY(xdd);
+    return xpm;
+  }
+
+  //平面坐标转大地坐标
+  CoordBLH p2d(CoordXYH xyh) {
+    CoordBLH bl = XY2BL(xyh, true);
+    CoordXYZ zj = BLH2XYZ(bl, true);
+    CoordXYZ xzj = XYZ2XYZ(zj, true);
+    CoordBLH xdd = XYZ2BLH(xzj, true);
+    return xdd;
+  }
+
+  setZoneWidth(width) {
+    if (width != 6 && width != 3) {
+      // print('带宽应当为6或者为3');
+    } else {
+      zoneWidth = width;
+    }
+  }
+
+  setL0(l0) {
+    L0 = l0;
+  }
+
+  int getZoneNo(double lng) {
+    // 6度带
+    // 这里应为向下取整
+    if (zoneWidth == 6) {
+      return ((lng + 6) / 6).floor();
+    }
+    // 3度带
+    return ((lng + 1.5) / 3).floor();
+  }
+
+  PointXY xy2xyLocal(PointXY source) {
+    double x = source.X;
+    double y = source.Y;
+    double destx = x * transParm.k * cos(rota) -
+        y * transParm.k * sin(rota) +
+        transParm.dx;
+    double desty = x * transParm.k * sin(rota) +
+        y * transParm.k * cos(rota) +
+        transParm.dy;
+
+    return PointXY(X: destx, Y: desty);
+  }
+
+  CoordXYZ BLH2XYZ(CoordBLH pointBLH, [srcDst = false]) {
+    Ellipsoid ellipsoid = srcDst ? srcEllipsoid : dstEllipsoid;
+    double a = ellipsoid.A;
+    double e12 = ellipsoid.E12;
+
+    double radB = pointBLH.B / 180 * pi;
+    double radL = pointBLH.L / 180 * pi;
+    double H = pointBLH.H;
+
+    double N = a / sqrt(1 - e12 * sin(radB) * sin(radB)); // 卯酉圈半径
+
+    double X = (N + H) * cos(radB) * cos(radL);
+    double Y = (N + H) * cos(radB) * sin(radL);
+    double Z = (N * (1 - e12) + H) * sin(radB);
+
+    return CoordXYZ(X: X, Y: Y, Z: Z);
+  }
+
+  /*
+    七参数转换
+    不同椭球参数下， 地心直角坐标系之间转换
+    dX, dY, dZ: 三个坐标方向的平移参数
+    wX, wY, wZ: 三个方向的旋转角参数(单位为弧度)
+    Kppm: 尺度参数， 单位是ppm，如果是以米为单位， 需要在传参前 除以1000000
+  */
+  CoordXYZ XYZ2XYZ(CoordXYZ xyz, [srcDst = false]) {
+    double X = xyz.X;
+    double Y = xyz.Y;
+    double Z = xyz.Z;
+    double dX = transParm.dx;
+    double dY = transParm.dy;
+    double dZ = transParm.dz;
+    double rX = transParm.rx / 3600 / 180 * pi;
+    double rY = transParm.ry / 3600 / 180 * pi;
+    double rZ = transParm.rz / 3600 / 180 * pi;
+    double Kppm = transParm.k / 1000000;
+    CoordXYZ result = CoordXYZ(X: 0, Y: 0, Z: 0);
+    if (srcDst) {
+      result.X = X - dX - Kppm * X + rY * Z - rZ * Y;
+      result.Y = Y - dY - Kppm * Y - rX * Z + rZ * X;
+      result.Z = Z - dZ - Kppm * Z + rX * Y - rY * X;
+    } else {
+      result.X = X + dX + Kppm * X - rY * Z + rZ * Y;
+      result.Y = Y + dY + Kppm * Y + rX * Z - rZ * X;
+      result.Z = Z + dZ + Kppm * Z - rX * Y + rY * X;
+    }
+    return result;
+  }
+
+  /*
+    地心直角坐标系 转换到 地心大地坐标系
+    用直接法2
+    https://wenku.baidu.com/view/30a08f9ddd88d0d233d46a50.html
+  */
+  CoordBLH XYZ2BLH(CoordXYZ XYZ, [srcDst = false]) {
+    double X = XYZ.X;
+    double Y = XYZ.Y;
+    double Z = XYZ.Z;
+    Ellipsoid ellipsoid = srcDst ? srcEllipsoid : dstEllipsoid;
+    double a = ellipsoid.A;
+    double b = ellipsoid.B;
+    double e12 = ellipsoid.E12;
+    double e22 = ellipsoid.E22;
+    double L = atan(Y / X);
+    // 弧度转角度
+    double degL = L * 180 / pi;
+    // Y值为正， 东半球， 否则西半球
+    if (Y > 0) {
+      while (degL < 0) {
+        degL += 180;
+      }
+      while (degL > 180) {
+        degL -= 180;
+      }
+    } else {
+      while (degL > 0) {
+        degL -= 180;
+      }
+      while (degL < -180) {
+        degL += 180;
+      }
+    }
+
+    double tgU = Z / (sqrt(X * X + Y * Y) * sqrt(1 - e12));
+    double U = atan(tgU);
+
+    double tgB = (Z + b * e22 * pow(sin(U), 3)) /
+        (sqrt(X * X + Y * Y) - a * e12 * pow(cos(U), 3));
+    double B = atan(tgB);
+    double degB = B * 180 / pi; // 弧度转角度
+    if (Z > 0) {
+      // Z值为正， 北半球， 否则南半球
+      while (degB < 0) {
+        degB += 90;
+      }
+      while (degB > 90) {
+        degB -= 90;
+      }
+    } else {
+      while (degB > 0) {
+        degB -= 90;
+      }
+      while (degB < -90) {
+        degB += 90;
+      }
+    }
+
+    while (degB < 0) {
+      degB += 360;
+    }
+    while (degB > 360) {
+      degB -= 360;
+    }
+
+    double N = a / sqrt(1 - e12 * sin(B) * sin(B)); // 卯酉圈半径
+    double H = 0;
+    // B接近极区， 在±90°附近
+    if ((degB).abs() > 80) {
+      H = Z / sin(B) - N * (1 - e12);
+    } else {
+      H = sqrt(X * X + Y * Y) / cos(B) - N;
+    }
+    return CoordBLH(B: degB, L: degL, H: H);
+  }
+
+  /*
+    地心大地坐标系 转换到 大地平面坐标系
+    prjHeight: 投影面高程
+    http://www.cnblogs.com/imeiba/p/5696967.html
+  */
+  CoordXYH BL2XY(CoordBLH BLH,
+      [srcDst = false, offsetY = 500000, offsetX = 0]) {
+    Ellipsoid ellipsoid = srcDst ? srcEllipsoid : dstEllipsoid;
+    double a = ellipsoid.A;
+    double b = ellipsoid.B;
+    double e12 = ellipsoid.E12;
+    double e22 = ellipsoid.E22;
+    if (L0 == 0) {
+      int zoneNo = getZoneNo(BLH.L);
+      L0 = (zoneNo - 0.5) * zoneWidth;
+    }
+    double radL0 = L0 / 180 * pi;
+
+    double radB = BLH.B / 180 * pi;
+    double radL = BLH.L / 180 * pi;
+
+    double N = a / sqrt(1 - e12 * sin(radB) * sin(radB)); // 卯酉圈半径
+    double T = tan(radB) * tan(radB);
+    double C = e22 * cos(radB) * cos(radB);
+    double A = (radL - radL0) * cos(radB);
+    double M = a *
+        ((1 - e12 / 4 - 3 * e12 * e12 / 64 - 5 * e12 * e12 * e12 / 256) * radB -
+            (3 * e12 / 8 + 3 * e12 * e12 / 32 + 45 * e12 * e12 * e12 / 1024) *
+                sin(2 * radB) +
+            (15 * e12 * e12 / 256 + 45 * e12 * e12 * e12 / 1024) *
+                sin(4 * radB) -
+            (35 * e12 * e12 * e12 / 3072) * sin(6 * radB));
+
+    //x,y的计算公式见孔祥元等主编武汉大学出版社2002年出版的《控制测量学》的第72页
+    //书的的括号有问题，( 和 [ 应该交换
+
+    double x = M +
+        N *
+            tan(radB) *
+            (A * A / 2 +
+                (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+                (61 - 58 * T + T * T + 600 * C - 330 * e22) *
+                    A *
+                    A *
+                    A *
+                    A *
+                    A *
+                    A /
+                    720);
+    double y = N *
+        (A +
+            (1 - T + C) * A * A * A / 6 +
+            (5 - 18 * T * T * T + 72 * C - 58 * e22) * A * A * A * A * A / 120);
+
+    x = offsetX + x * (b + elevation) / b;
+    y = offsetY + y * (b + elevation) / b;
+
+    return CoordXYH(
+        X: (x * 1000).round() / 1000, Y: (y * 1000).round() / 1000, H: BLH.H);
+  }
+
+  /*
+    大地平面坐标系 转换到 地心大地坐标系
+    prjHeight: 投影面高程
+    http://www.cnblogs.com/imeiba/p/5696967.html
+  */
+  CoordBLH XY2BL(CoordXYH xyh,
+      [srcDst = false, offsetY = 500000, offsetX = 0]) {
+    Ellipsoid ellipsoid = srcDst ? srcEllipsoid : dstEllipsoid;
+    double a = ellipsoid.A;
+    double b = ellipsoid.B;
+    double e12 = ellipsoid.E12;
+    double e22 = ellipsoid.E22;
+
+    double e1 = (1 - sqrt(1 - e12)) / (1 + sqrt(1 - e12));
+    double radL0 = L0 / 180 * pi;
+    // 带内大地坐标
+    double Y = xyh.Y % 1000000;
+    double x = (xyh.X - offsetX) * b / (b + elevation);
+    double y = (Y - offsetY) * b / (b + elevation);
+
+    double u = x /
+        (a * (1 - e12 / 4 - 3 * e12 * e12 / 64 - 5 * e12 * e12 * e12 / 256));
+    double fai = u +
+        (3 * e1 / 2 - 27 * e1 * e1 * e1 / 32) * sin(2 * u) +
+        (21 * e1 * e1 / 16 - 55 * e1 * e1 * e1 * e1 / 32) * sin(4 * u) +
+        (151 * e1 * e1 * e1 / 96) * sin(6 * u) +
+        (1097 * e1 * e1 * e1 * e1 / 512) * sin(8 * u);
+    double C = e22 * cos(fai) * cos(fai);
+    double T = tan(fai) * tan(fai);
+    double N = a / sqrt(1 - e12 * sin(fai) * sin(fai));
+    double R = a *
+        (1 - e12) /
+        sqrt((1 - e12 * sin(fai) * sin(fai)) *
+            (1 - e12 * sin(fai) * sin(fai)) *
+            (1 - e12 * sin(fai) * sin(fai)));
+    double D = y / N;
+
+    double L = radL0 +
+        (D -
+                (1 + 2 * T + C) * D * D * D / 6 +
+                (5 - 2 * C + 28 * T - 3 * C * C + 8 * e22 + 24 * T * T) *
+                    D *
+                    D *
+                    D *
+                    D *
+                    D /
+                    120) /
+            cos(fai);
+    double B = fai -
+        (N * tan(fai) / R) *
+            (D * D / 2 -
+                (5 + 3 * T + 10 * C - 4 * C * C - 9 * e22) *
+                    D *
+                    D *
+                    D *
+                    D /
+                    24 +
+                (61 + 90 * T + 298 * C + 45 * T * T - 256 * e22 - 3 * C * C) *
+                    D *
+                    D *
+                    D *
+                    D *
+                    D *
+                    D /
+                    720);
+
+    B = B * 180 / pi;
+    L = L * 180 / pi;
+    return CoordBLH(B: B, L: L, H: xyh.H);
+  }
+
+  //两点之间的距离公式
+  dist(PointXY p1, PointXY p2) {
+    double d = sqrt(pow((p2.X - p1.X), 2) + pow((p2.Y - p1.Y), 2));
+    return d;
+  }
+
+  //求坐标方位角
+  double fwj(PointXY p1, PointXY p2) {
+    double dx = p2.X - p1.X;
+    double dy = p2.Y - p1.Y;
+    return pi - sign(dy) - atan(dx / dy);
+  }
+
+  // 计算三参数
+  TransOptions calcThree(CoordBLH p1, CoordXYH p2) {
+    CoordXYZ source = BLH2XYZ(p1);
+    CoordBLH bl = XY2BL(p2, true);
+    CoordXYZ dest = BLH2XYZ(bl, true);
+
+    double dX = dest.X - source.X;
+    double dY = dest.Y - source.Y;
+    double dZ = dest.Z - source.Z;
+    return TransOptions(dx: dX, dy: dY, dz: dZ);
+  }
+
+//   TransOptions calcFour(List p1, List p2, int PointCount) {
+//     double rota = 0;
+//     double scale = 0;
+//     double dx = 0;
+//     double dy = 0;
+//     if (PointCount == 2) {
+//       rota = fwj(p2[0] as PointXY, p2[1]) - fwj(p1[0], p1[1]);
+//       scale = dist(p2[0], p2[1]) / dist(p1[0], p1[1]);
+//       dx = p2[0].X - scale * cos(rota) * p1[0].X + scale * sin(rota) * p1[0].Y;
+//       dy = p2[0].Y - scale * sin(rota) * p1[0].X - scale * cos(rota) * p1[0].Y;
+//     } else if (PointCount > 2) {
+//       double u = 1.0, v = 0, Dx = 0.0, Dy = 0.0;
+//       int intCount = PointCount;
+
+//       Matrix4 dx1 = Matrix.zeros(4, 1);
+//       // Matrix4 B1 = Matrix.zeros(2 * intCount, 4);
+//       Matrix4 B1 = Matrix4.zero();
+//       for (int i = 0; i < 2 * intCount; i++) {
+//         for (int j = 0; j < 4; j++) {
+//           B1.setEntry(i, j, 0);
+//         }
+//       }
+//       Matrix4 W1 = Matrix.zeros(2 * intCount, 1);
+//       // Matrix4 BT = Matrix.zeros(4, 2 * intCount);
+//       Matrix4 BT = Matrix4.zero();
+//       for (int i = 0; i < 4; i++) {
+//         for (int j = 0; j < 2 * intCount; j++) {
+//           BT.setEntry(i, j, 0);
+//         }
+//       }
+//       Matrix4 N = Matrix4(
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//       );
+//       Matrix4 InvN = Matrix4(
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//         0,
+//       );
+//       Matrix4 BTW = Matrix.zeros(4, 1);
+//       for (int i = 0; i < intCount; i++) {
+//         //计算误差方程系数
+//         B1.setEntry(2 * i, 0, 1);
+//         B1.setEntry(2 * i, 1, 0);
+//         B1.setEntry(2 * i, 2, p1[i].X);
+//         B1.setEntry(2 * i, 3, -p1[i].Y);
+
+//         B1.setEntry(2 * i + 1, 0, 0);
+//         B1.setEntry(2 * i + 1, 1, 1);
+//         B1.setEntry(2 * i + 1, 2, p1[i].Y);
+//         B1.setEntry(2 * i + 1, 3, p1[i].X);
+//         // B1[2 * i][0] = 1;
+//         // B1[2 * i][1] = 0;
+//         // B1[2 * i][2] = p1[i].X;
+//         // B1[2 * i][3] = -p1[i].Y;
+
+//         // B1[2 * i + 1][0] = 0;
+//         // B1[2 * i + 1][1] = 1;
+//         // B1[2 * i + 1][2] = p1[i].Y;
+//         // B1[2 * i + 1][3] = p1[i].X;
+//       }
+//       for (int i = 0; i < intCount; i++) {
+//         //计算误差方程系常数
+//         // W1[2 * i][0] = p2[i].X - u * p1[i].X + v * p1[i].Y - Dx;
+//         // W1[2 * i + 1][0] = p2[i].Y - u * p1[i].Y - v * p1[i].X - Dy;
+//         W1.setEntry(2 * i, 0, p2[i].X - u * p1[i].X + v * p1[i].Y - Dx);
+//         W1.setEntry(2 * i + 1, 0, p2[i].Y - u * p1[i].Y - v * p1[i].X - Dy);
+//       }
+//       // 最小二乘求解
+//       Matrix4 b1 = Matrix4.identity();
+//       // 矩阵 B1 的转置
+//       BT = Matrix4.copy(b1);
+//       BT.transpose();
+// // 矩阵乘法
+//       N = BT * B1;
+//       // 逆矩阵
+//       InvN = N.clone();
+//       InvN.invert();
+//       BTW = BT * (W1);
+//       dx1 = InvN * (BTW);
+
+//       Dx = Dx + dx1[0][0];
+//       Dy = Dy + dx1[1][0];
+//       u = u + dx1[2][0];
+//       v = v + dx1[3][0];
+//       dx = Dx;
+//       dy = Dy;
+//       rota = atan(v / u);
+//       scale = u / cos(rota);
+//     }
+//     return TransOptions(rota: rota, k: scale, dx: dx, dy: dy);
+//   }
+
+//   // 计算七参数
+//   TransOptions calcBuras(List p1, List p2, pointCount) {
+//     let B1 = Matrix.zeros(pointCount * 3, 7);
+//     let dx1 = Matrix.zeros(7, 1);
+//     let L = Matrix.zeros(pointCount * 3, 1);
+//     let BT = Matrix.zeros(7, pointCount * 3);
+//     let N = Matrix.zeros(7, 7);
+//     let InvN = Matrix.zeros(7, 7);
+//     let BTL = Matrix.zeros(7, 1);
+//     for (int i = 0; i < pointCount * 3; i++) {
+//       if (i % 3 == 0) {
+//         L[i][0] = p2[(i / 3).floor()].X;
+//       } else if (i % 3 == 1) {
+//         L[i][0] = p2[(i / 3).floor()].Y;
+//       } else if (i % 3 == 2) {
+//         L[i][0] = p2[(i / 3).floor()].Z;
+//       }
+//     }
+
+//     for (int i = 0; i < pointCount * 3; i++) {
+//       if (i % 3 == 0) {
+//         int index = (i / 3) as int;
+//         B1[i][0] = 1;
+//         B1[i][1] = 0;
+//         B1[i][2] = 0;
+//         B1[i][3] = p1[index].X;
+//         B1[i][4] = 0;
+//         B1[i][5] = -p1[index].Z;
+//         B1[i][6] = p1[index].Y;
+//       } else if (i % 3 == 1) {
+//         int index = ((i - 1) / 3) as int;
+//         B1[i][0] = 0;
+//         B1[i][1] = 1;
+//         B1[i][2] = 0;
+//         B1[i][3] = p1[index].Y;
+//         B1[i][4] = p1[index].Z;
+//         B1[i][5] = 0;
+//         B1[i][6] = -p1[index].X;
+//       } else if (i % 3 == 2) {
+//         int index = ((i - 2) / 3) as int;
+//         B1[i][0] = 0;
+//         B1[i][1] = 0;
+//         B1[i][2] = 1;
+//         B1[i][3] = p1[index].Z;
+//         B1[i][4] = -p1[index].Y;
+//         B1[i][5] = p1[index].X;
+//         B1[i][6] = 0;
+//       }
+//     }
+//       Matrix4 b1 = Matrix4.identity();
+//     BT = B1.transpose();
+//     N = BT.mmul(B1);
+//     InvN = inverse(N);
+//     BTL = BT.mmul(L);
+//     dx1 = InvN.mmul(BTL);
+
+//     double dx = dx1[0][0];
+//     double dy = dx1[1][0];
+//     double dz = dx1[2][0];
+//     double scale = dx1[3][0];
+//     double rotax = dx1[4][0] / dx1[3][0];
+//     double rotay = dx1[5][0] / dx1[3][0];
+//     double rotaz = dx1[6][0] / dx1[3][0];
+
+//     return TransOptions(
+//         dx: dx, dy: dy, dz: dz, k: scale, rx: rotax, ry: rotay, rz: rotaz);
+//   }
+
+  double sign(num number) {
+    if (number < 0) {
+      return -1.0;
+    } else if (number > 0) {
+      return 1.0;
+    } else {
+      return 0.0;
+    }
+  }
+}

lib/pages/pass_track/controller.dart

@@ -1,8 +1,9 @@
 import 'dart:ui';
 
 import 'package:get/get.dart';
-import 'package:scence_map/controller.dart';
+
 import 'package:cpnav/service/base.dart';
+import 'package:scence_map/controllers/controller.dart';
 
 class PassTrackController extends GetxController {
   final mapController = Get.put(ScenceMapController());

lib/pages/pass_track/iconContainer.dart

@@ -2,7 +2,8 @@ import 'package:cpnav/pages/pass_track/view.dart';
 import 'package:flutter/material.dart';
 import 'package:flutter/widgets.dart';
 import 'package:get/get.dart';
-import 'package:scence_map/controller.dart';
+import 'package:scence_map/controllers/controller.dart';
+
 
 ScenceMapController mapController = Get.put(ScenceMapController());
 

lib/pages/pass_track/view.dart

@@ -5,7 +5,7 @@ import 'package:flutter/rendering.dart';
 import 'package:flutter/scheduler.dart';
 import 'package:flutter/widgets.dart';
 import 'package:get/get.dart';
-import 'package:scence_map/controller.dart';
+import 'package:scence_map/controllers/controller.dart';
 import 'package:scence_map/scence_map.dart';
 
 import 'package:syncfusion_flutter_sliders/sliders.dart';

lib/pages/pile/pileNav/draw_pile.dart

@@ -1,9 +1,8 @@
 import 'dart:math';
 import 'package:flutter/material.dart';
 import 'package:get/get.dart';
-import 'package:scence_map/controller.dart';
+import 'package:scence_map/controllers/controller.dart';
-
+import 'package:scence_map/controllers/plumController.dart';
-import '../../../controllers/plumController.dart';
 
 
 ScenceMapController mapController = Get.find<ScenceMapController>();

lib/pages/pile/pileNav/view.dart

@@ -1,12 +1,14 @@
 import 'dart:math';
 
 import 'package:flutter/material.dart';
-import 'package:scence_map/controller.dart';
+import 'package:scence_map/controllers/controller.dart';
+import 'package:scence_map/controllers/plumController.dart';
+
 import 'package:scence_map/scence_map.dart';
 import 'package:get/get.dart';
 
-import '../../../controllers/plumController.dart';
 import '../../../models/pilePoint/hyrecorditem.dart';
+import '../../pass_track/view.dart';
 import 'draw_pile.dart';
 
 class RealView extends StatefulWidget {
@@ -192,13 +194,15 @@ class _RealViewState extends State<RealView> {
     return Stack(
       children: [
         Obx(() => AbsorbPointer(
-              absorbing: controller.isGenerate.value
+            absorbing: controller.isGenerate.value
-                  ? true
+                ? true
-                  : false, //设置CenterLayout 内的GestureDetector 不生效
+                : false, //设置CenterLayout 内的GestureDetector 不生效
-              child: const ScenceMapView(
+            // child: const ScenceMapView(
-                children: [],
+            //   children: [],
-              ),
+            // ),
-            )),
+            child: PassTrack(
+              date: '',
+            ))),
         center,
         back,
       ],

lib/pages/pile/rightDra/pileGenerate.dart

@@ -2,9 +2,9 @@ import 'dart:math';
 
 import 'package:flutter/material.dart';
 import 'package:get/get.dart';
-import 'package:scence_map/controller.dart';
+import 'package:scence_map/controllers/controller.dart';
+import 'package:scence_map/controllers/plumController.dart';
 
-import '../../../controllers/plumController.dart';
 
 import '../../../service/pile/device_type.dart';
 import '../../../service/pile/input.dart';
@@ -192,13 +192,17 @@ class PileGenerate extends GetView<PlumDataController> {
                       child: const Text('确定'),
                       onPressed: () {
                         // 执行确定的逻辑
-                        var dx = controller.canvasSize.width / 2;
+                        var dx = (controller.canvasSize.width) / 2;
-                        var dy = controller.canvasSize.height / 2;
+                        var dy = (controller.canvasSize.height) / 2;
+                        var rotation = mapController.rotation.value;
                         for (int i = 0; i < controller.plumList.length; i++) {
                           Offset item = controller.plumList[i];
 
-                          Offset xy = mapController.ScreenCenter2xy(
+                          var dx1 = (item.dx - dx) * cos(rotation) +
-                              item.dx - dx, item.dy - dy);
+                              (item.dy - dy) * sin(rotation);
+                          var dy1 = -(item.dx - dx) * sin(rotation) +
+                              (item.dy - dy) * cos(rotation);
+                          Offset xy = mapController.ScreenCenter2xy(dx1, dy1);
                           PilePoint pilePoint = PilePoint(
                               x: xy.dx,
                               y: xy.dy,

linux/flutter/generated_plugin_registrant.cc

@@ -6,6 +6,10 @@
 
 #include "generated_plugin_registrant.h"
 
+#include <libserialport/libserialport_plugin.h>
 
 void fl_register_plugins(FlPluginRegistry* registry) {
+  g_autoptr(FlPluginRegistrar) libserialport_registrar =
+      fl_plugin_registry_get_registrar_for_plugin(registry, "LibserialportPlugin");
+  libserialport_plugin_register_with_registrar(libserialport_registrar);
 }

linux/flutter/generated_plugins.cmake

@@ -3,6 +3,7 @@
 #
 
 list(APPEND FLUTTER_PLUGIN_LIST
+  libserialport
 )
 
 list(APPEND FLUTTER_FFI_PLUGIN_LIST

pubspec.lock

@@ -73,6 +73,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.0.8"
+  dylib:
+    dependency: transitive
+    description:
+      name: dylib
+      sha256: bf609b3eb6492a3309b3d1dbe8f83a4031de5535dd7686be33487051cc760bb0
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.3.3"
   fake_async:
     dependency: transitive
     description:
@@ -131,6 +139,15 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "2.1.1"
+  gnss:
+    dependency: "direct main"
+    description:
+      path: "."
+      ref: main
+      resolved-ref: fb8ede658017931ab37db2aed4190e9a6ccd6000
+      url: "https://git.mcxa.cn:89/flutter/gnss.git"
+    source: git
+    version: "0.0.1"
   google_fonts:
     dependency: "direct main"
     description:
@@ -187,6 +204,15 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "3.0.1"
+  libserialport:
+    dependency: transitive
+    description:
+      path: "."
+      ref: main
+      resolved-ref: d6d27ef7aaf89e4dfa026db0c50dd3053c546710
+      url: "https://git.mcxa.cn:89/flutter/libserialport.git"
+    source: git
+    version: "0.0.1"
   lints:
     dependency: transitive
     description:

pubspec.yaml

@@ -32,6 +32,10 @@ dependencies:
     sdk: flutter
   scence_map:
     path: plugins/scence_map
+  gnss:
+    git:
+      url: https://git.mcxa.cn:89/flutter/gnss.git
+      ref: main  
 
   # The following adds the Cupertino Icons font to your application.
   # Use with the CupertinoIcons class for iOS style icons.
@@ -69,7 +73,6 @@ flutter:
 
   # To add assets to your application, add an assets section, like this:
   assets:
-    - images/pilerCar.png
     - images/navi_pointer.png
     - images/satellite.png  
 

windows/flutter/generated_plugin_registrant.cc

@@ -6,6 +6,9 @@
 
 #include "generated_plugin_registrant.h"
 
+#include <libserialport/libserialport_plugin_c_api.h>
 
 void RegisterPlugins(flutter::PluginRegistry* registry) {
+  LibserialportPluginCApiRegisterWithRegistrar(
+      registry->GetRegistrarForPlugin("LibserialportPluginCApi"));
 }

windows/flutter/generated_plugins.cmake

@@ -3,6 +3,7 @@
 #
 
 list(APPEND FLUTTER_PLUGIN_LIST
+  libserialport
 )
 
 list(APPEND FLUTTER_FFI_PLUGIN_LIST