feat(device): 实现下位机 JSON 协议（data model 对齐）
按 docs/下位机交互数据模型.md 重构串口协议层： 协议层 - 新增 DeviceMessage 模型，对应 message_id/type/ack/need_ack/data - 新增 JsonProtocolService，4 字节大端长度前缀 + UTF-8 JSON 帧 - 删除原二进制协议（serial_protocol.dart） 服务层 - 新增 DeviceMessageService，集中收发并按 type 分发 - 重写 SerialRunner 为 JsonSerialRunner，使用 create_task/control 消息 数据模型 - DeviceState 增加 doorStatus/lightStatus/taskStatus/lastInfoAt - 新增 DeviceInfoNotifier 订阅 device_info 上行 - 灯光按钮接通 light_control 消息 测试 - 新增 device_protocol_test.dart（14 用例） - 修复 models_test.dart 残留的 Step mixSpeed/blowSpeed 错误
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Developer
@@ -1,63 +1,100 @@
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import 'dart:async';
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import '../../programs/models/program.dart';
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import '../../programs/models/step.dart';
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import 'device_message.dart';
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import 'device_message_service.dart';
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import 'runner_interface.dart';
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import 'task_payload.dart';
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/// 串口运行器（真实硬件实现）
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/// 实现与设备的串口通信
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class SerialRunner implements Runner {
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/// JSON 协议运行器
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///
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/// 与下位机的程序运行相关通信（create_task / control）通过
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/// [DeviceMessageService] 完成；运行过程中下位机可通过 ack 消息确认动作，
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/// 步骤进度仍由下位机主动上报（具体协议待硬件侧确认）。
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///
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/// 当前实现：
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/// 1. start → 发送 `create_task` 消息（need_ack=true），收到 ack 后切到 running；
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/// 2. pause → 发送 `control{status:pause}`，切到 paused；
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/// 3. resume → 发送 `control{status:continue}`，切到 running；
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/// 4. stop → 发送 `control{status:stop}`，切到 idle。
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///
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/// 为兜底下位机不主动上报完成的情况，保留本地倒计时 + 步骤推进。
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class JsonSerialRunner implements Runner {
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@override
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RunnerStatus status = RunnerStatus.idle;
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/// 串口配置
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final String portName;
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final int baudRate;
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final int dataBits;
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final int stopBits;
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final DeviceMessageService _msg;
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// ignore: unused_field 持有当前运行的程序引用，便于调试与未来扩展
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Program? _program;
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List<Step> _steps = const [];
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RunnerCallbacks? _callbacks;
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SerialRunner({
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this.portName = '/dev/ttyUSB0',
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this.baudRate = 9600,
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this.dataBits = 8,
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this.stopBits = 1,
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});
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void Function()? _cancelAckSub;
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Timer? _ticker;
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int _currentStepIndex = 0;
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int _remainingSeconds = 0;
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String? _pendingCreateTaskId;
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String? _pendingControlId;
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JsonSerialRunner({required DeviceMessageService messageService})
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: _msg = messageService {
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_cancelAckSub = _msg.subscribe(DeviceMessageType.createTask, _onCreateTaskAck);
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_msg.subscribe(DeviceMessageType.control, _onControlAck);
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}
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@override
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void start(Program program, List<Step> steps, RunnerCallbacks callbacks) {
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// TODO: 实现串口通信启动逻辑
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// 1. 打开串口连接
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// 2. 发送程序配置
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// 3. 按步骤发送控制指令
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// 4. 接收设备反馈并更新状态
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if (status == RunnerStatus.running) {
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callbacks.onError?.call('已有程序在运行中');
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return;
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}
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if (steps.isEmpty) {
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callbacks.onError?.call('程序步骤为空');
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status = RunnerStatus.error;
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return;
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}
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status = RunnerStatus.running;
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_program = program;
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_steps = List.unmodifiable(steps);
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_callbacks = callbacks;
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_currentStepIndex = 0;
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_remainingSeconds = _stepTotalSeconds(steps[0]);
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// 示例：发送启动指令
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// _sendCommand('START', program.code);
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// 示例：监听设备状态
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// _listenToDevice(callbacks);
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final payload = TaskPayload.fromProgram(program, steps);
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final messageId = _msg.nextId();
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_pendingCreateTaskId = messageId;
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final msg = payload.toMessage(messageId, needAck: true);
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_msg.send(msg).then((ok) {
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if (!ok) {
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_pendingCreateTaskId = null;
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status = RunnerStatus.error;
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_callbacks?.onError?.call('下发任务失败：串口写入错误');
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}
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});
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}
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@override
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void pause() {
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if (status == RunnerStatus.running) {
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// _sendCommand('PAUSE');
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status = RunnerStatus.paused;
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}
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if (status != RunnerStatus.running) return;
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_sendControl('pause');
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_stopLocalTicker();
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status = RunnerStatus.paused;
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}
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@override
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void resume() {
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if (status == RunnerStatus.paused) {
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// _sendCommand('RESUME');
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status = RunnerStatus.running;
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}
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if (status != RunnerStatus.paused) return;
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_sendControl('continue');
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status = RunnerStatus.running;
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_startLocalTicker();
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}
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@override
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void stop() {
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// _sendCommand('STOP');
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// _closeConnection();
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if (status == RunnerStatus.idle) return;
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_sendControl('stop');
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_teardown();
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status = RunnerStatus.idle;
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}
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@@ -66,26 +103,102 @@ class SerialRunner implements Runner {
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@override
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void dispose() {
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stop();
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_teardown();
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_cancelAckSub?.call();
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_cancelAckSub = null;
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}
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/// 发送控制指令（待硬件协议确定后实现）
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Future<void> _sendCommand(String command, [String? data]) async {
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// TODO: 根据硬件通信协议实现
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// 示例协议格式: [CMD:data] 或 二进制协议
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// -- 私有方法 ---------------------------------------------------------
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void _sendControl(String statusValue) {
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final messageId = _msg.nextId();
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_pendingControlId = messageId;
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final msg = DeviceMessage.request(
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messageId: messageId,
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type: DeviceMessageType.control,
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data: {'status': statusValue},
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needAck: true,
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);
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_msg.send(msg);
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}
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/// 监听设备反馈（待硬件协议确定后实现）
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void _listenToDevice(RunnerCallbacks callbacks) {
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// TODO: 解析设备返回的状态数据
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// 状态格式示例: [STEP:1,TIME:60,POS:A1]
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void _onCreateTaskAck(DeviceMessage ack) {
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if (ack.ack != _pendingCreateTaskId) return;
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_pendingCreateTaskId = null;
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// ack 即视为下位机已接受任务，进入 running 状态
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if (status == RunnerStatus.idle || status == RunnerStatus.error) {
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status = RunnerStatus.running;
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_startLocalTicker();
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}
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}
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/// 执行单个步骤
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Future<void> _executeStep(Step step) async {
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// TODO: 根据步骤参数生成控制指令
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// 混合: MIX(position, time, speed)
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// 吸磁: MAGNET(position, time)
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// 吹气: BLOW(position, speed, time)
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void _onControlAck(DeviceMessage ack) {
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if (ack.ack != _pendingControlId) return;
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_pendingControlId = null;
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// control ack 不修改状态，状态机在调用 pause/resume/stop 时已切过
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}
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}
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// -- 本地兜底倒计时 ---------------------------------------------------
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void _startLocalTicker() {
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_ticker?.cancel();
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_ticker = Timer.periodic(const Duration(seconds: 1), (_) {
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if (status != RunnerStatus.running) return;
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if (_steps.isEmpty) return;
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_remainingSeconds--;
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if (_remainingSeconds <= 0) {
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_currentStepIndex++;
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if (_currentStepIndex >= _steps.length) {
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_stopLocalTicker();
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status = RunnerStatus.completed;
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_callbacks?.onComplete?.call();
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return;
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}
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_remainingSeconds = _stepTotalSeconds(_steps[_currentStepIndex]);
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}
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final well = _steps[_currentStepIndex.clamp(0, _steps.length - 1)]
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.position;
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_callbacks?.onProgress?.call(
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_currentStepIndex,
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_remainingSeconds,
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_calculateProgress(_currentStepIndex, _remainingSeconds),
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well,
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);
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});
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}
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void _stopLocalTicker() {
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_ticker?.cancel();
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_ticker = null;
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}
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void _teardown() {
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_stopLocalTicker();
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_program = null;
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_steps = const [];
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_callbacks = null;
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_pendingCreateTaskId = null;
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_pendingControlId = null;
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}
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int _stepTotalSeconds(Step s) {
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final t = s.mixTime + s.magnetTime + s.blowTime;
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return t == 0 ? 5 : t;
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}
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double _calculateProgress(int stepIndex, int remaining) {
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if (_steps.isEmpty) return 0;
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var total = 0;
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for (final s in _steps) {
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total += _stepTotalSeconds(s);
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}
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if (total <= 0) return 0;
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var elapsed = 0;
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for (var i = 0; i < stepIndex && i < _steps.length; i++) {
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elapsed += _stepTotalSeconds(_steps[i]);
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}
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final cur = _stepTotalSeconds(_steps[stepIndex.clamp(0, _steps.length - 1)]);
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elapsed += (cur - remaining).clamp(0, cur);
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return (elapsed / total).clamp(0.0, 1.0);
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}
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}
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