529 lines
18 KiB
Dart
529 lines
18 KiB
Dart
import 'dart:async';
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import 'dart:math';
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import 'dart:typed_data';
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import 'package:fengshui_compass/components/cross_paint.dart';
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import 'package:fengshui_compass/components/my_icon.dart';
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import 'package:fengshui_compass/pages/login_page.dart';
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import 'package:fengshui_compass/states/region.dart';
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import 'package:flutter/material.dart';
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import 'package:flutter_serial_port_api/flutter_serial_port_api.dart';
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import 'package:image_picker/image_picker.dart';
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import 'package:path_provider/path_provider.dart';
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import 'package:provider/provider.dart';
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import 'package:stream_transform/stream_transform.dart';
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import '../components/region_selector.dart';
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import '../states/compass_image.dart';
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import '../utils/recv_parse.dart';
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class CompassPage extends StatefulWidget {
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const CompassPage({Key key}) : super(key: key);
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@override
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State<StatefulWidget> createState() => _CompassState();
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}
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class _CompassState extends State<CompassPage> {
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// 串口相关
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bool isPortOpened = false;
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SerialPort _serialPort;
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StreamSubscription _subscription;
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// 传感器状态
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bool isLock = true;
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bool isUpClose = true;
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bool isSideClose = true;
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double w_x = 0.5;
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double w_y = 0.5;
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// 与磁北极夹角
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double myaw = 0.0;
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String distance = "";
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var lista = [];
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var listb = [];
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var listc = [];
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//从相册选择的图片名称
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String selectedImageName;
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void initDevice() {}
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@override
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void initState() {
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super.initState();
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initPort();
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}
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Future<void> initPort() async {
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// 20ms接收一次串口数据，防抖，定义接收缓存
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final debounceTransformer = StreamTransformer<Uint8List, dynamic>.fromBind(
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(s) => s.transform(debounceBuffer(const Duration(milliseconds: 20))));
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if (!isPortOpened) {
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Device theDevice = Device("/dev/ttyS2", "/dev/ttyS2");
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var serialPort = await FlutterSerialPortApi.createSerialPort(
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theDevice, 115200,
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parity: 0, dataBits: 8, stopBit: 1);
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bool openResult = await serialPort.open();
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setState(() {
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_serialPort = serialPort;
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isPortOpened = openResult;
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});
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await openRange();
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_subscription = _serialPort.receiveStream
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.transform(debounceTransformer)
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.listen((recv) {
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// recvData - 9E01040100000000000000065E
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String recvData = formatReceivedData(recv);
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print("Receive format: $recvData");
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parsingRecvCom(recvData);
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// 解析收到的结果，得到陀螺、地磁、测距结果
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});
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await openCompass();
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}
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}
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Future<void> closePort() async {
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bool closeResult = await _serialPort.close();
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setState(() {
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isPortOpened = !closeResult;
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});
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}
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Future<void> openCompass() async {
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print("compass open");
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_serialPort
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.write(Uint8List.fromList(hexToUnits("7E01020100000000000000010D0A")));
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}
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Future<void> closeCompass() async {
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print("compass close");
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_serialPort
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.write(Uint8List.fromList(hexToUnits("7E01020000000000000000010D0A")));
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}
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Future<void> openSideLaser() async {
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print("side open");
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_serialPort
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.write(Uint8List.fromList(hexToUnits("7E01010100000000000000010D0A")));
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}
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Future<void> closeSideLaser() async {
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print("side close");
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_serialPort
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.write(Uint8List.fromList(hexToUnits("7E01010000000000000000010D0A")));
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}
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Future<void> openUpLaser() async {
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_serialPort
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.write(Uint8List.fromList(hexToUnits("7e01010300000000000000010d0a")));
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}
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Future<void> closeUpLaser() async {
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_serialPort
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.write(Uint8List.fromList(hexToUnits("7e01010200000000000000010d0a")));
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}
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Future<void> openRange() async {
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_serialPort
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.write(Uint8List.fromList(hexToUnits("7e01040100000000000000010d0a")));
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}
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Future<void> raging() async {
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if (!isLock) {
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switchCompass();
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}
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_serialPort
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.write(Uint8List.fromList(hexToUnits("7e01040200000000000000010d0a")));
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}
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Future<void> switchCompass() async {
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if (isLock) {
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await openCompass();
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} else {
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await closeCompass();
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setState(() {
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w_x = 0.5;
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w_y = 0.5;
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});
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}
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setState(() {
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isLock = !isLock;
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});
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}
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loginAction() {
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Navigator.push(
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context, MaterialPageRoute(builder: (context) => LoginPage()));
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}
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parsingRecvCom(str) {
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if (str.contains("9E010201") &&
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(str.length > (str.indexOf("9E010201") + 50))) {
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var roll_l = hexToInt(str.substring(8, 10));
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var roll_h = hexToInt(str.substring(10, 12));
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var pitch_l = hexToInt(str.substring(12, 14));
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var pitch_h = hexToInt(str.substring(14, 16));
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// var yaw_l = hexToInt(str.substring(16, 18));
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// var yaw_h = hexToInt(str.substring(18, 20));
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var pos = str.indexOf("9E010301");
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// var mx_h = hexToInt(str.substring(pos+8, pos+10));
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// var mx_l = hexToInt(str.substring(pos+10, pos+12));
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// var my_h = hexToInt(str.substring(pos+12, pos+14));
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var myaw_flag = hexToInt(str.substring(pos + 14, pos + 16));
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var myaw_h = hexToInt(str.substring(pos + 16, pos + 18));
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var myaw_l = hexToInt(str.substring(pos + 18, pos + 20));
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var roll_tmp = (roll_h * 256 + roll_l) * 180 / 32768;
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var pitch_tmp = (pitch_h * 256 + pitch_l) * 180 / 32768;
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// var yaw = (yaw_h * 256 + yaw_l) * 180 /32768;
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// -180~180
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var ff = myaw_flag == 1 ? -1 : 1;
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var temp_myaw = (myaw_h * 256 + myaw_l) * 0.01 * ff + 180;
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if (roll_tmp > 180) roll_tmp = roll_tmp - 360;
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if (pitch_tmp > 180) pitch_tmp = pitch_tmp - 360;
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var w_x_tmp = 0.0;
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var w_y_tmp = 0.0;
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// 倾角<30度
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var w_total = sqrt(
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roll_tmp.abs() * roll_tmp.abs() + pitch_tmp.abs() * pitch_tmp.abs());
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if (w_total <= 30) {
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w_y_tmp = 0.5 - 0.07 * roll_tmp / 30.0;
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w_x_tmp = 0.5 - 0.07 * pitch_tmp / 30.0;
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} else if (w_total > 30) {
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//todo
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w_y_tmp = 0.5 - 0.07 * w_total / 30.0;
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w_x_tmp = 0.5 - 0.07 * w_total / 30.0;
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}
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// todo 其他情况
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var meanValue;
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if (lista.length < 20) {
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lista.add(temp_myaw);
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meanValue = null;
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} else {
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lista.removeAt(0);
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lista.add(temp_myaw);
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meanValue = lista.map((e) => e).reduce((a, b) => a + b) / lista.length;
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}
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setState(() {
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// print("roll: $roll_tmp pitch: $pitch_tmp");
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// print("w_x: $w_x_tmp, w_y: $w_y_tmp");
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// if (meanValue != null) {
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// myaw = meanValue;
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// } else {
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// myaw = 0;
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// }
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myaw = temp_myaw;
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w_x = w_x_tmp;
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w_y = w_y_tmp;
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// 水平仪 0.5+-0.07范围
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// x旋转y在动 y旋转x在动 roll改变y坐标，pitch改变x坐标
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});
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} else if (str.contains("9E010401") &&
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(str.length >= ((str.indexOf("9E010401") + 26)))) {
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var pos = str.indexOf("9E010401");
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int rh = hexToInt(str.substring(pos + 16, pos + 18));
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int rl = hexToInt(str.substring(pos + 18, pos + 20));
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int result = rh * 256 + rl;
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print("测距$result");
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setState(() {
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distance = (result.toDouble() / 1000).toStringAsFixed(2);
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});
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} else {}
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}
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// 拼接城市
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String spliceCityName(String pname, String cname) {
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if (pname == '') return '未选择城市';
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StringBuffer sb = StringBuffer();
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sb.write(pname);
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if (cname == '') return sb.toString();
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sb.write(' - ');
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sb.write(cname);
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return sb.toString();
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}
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// bool strEmpty(String? value) {
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// if (value == null) return true;
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// return value.trim().isEmpty;
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// }
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selectRegion() {
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showDialog(
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context: context,
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builder: (BuildContext context) {
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return AlertDialog(
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title: const Text('选择城市校准磁偏角'),
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content: RegionSelector(),
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actions: <Widget>[
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TextButton(
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onPressed: () {
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Navigator.pop(context);
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},
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child: const Text('关闭')),
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TextButton(
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onPressed: () {
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Provider.of<RegionProvider>(context, listen: false)
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.saveRegion();
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Navigator.pop(context);
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},
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child: const Text('保存'))
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],
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);
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}).then((value) {
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Provider.of<RegionProvider>(context, listen: false).resetTemp();
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});
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}
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void initCompassImage() async {
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final directory =
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await getApplicationDocumentsDirectory(); // AppData directory
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}
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@override
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Widget build(BuildContext context) {
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return Container(
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decoration: const BoxDecoration(
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image: DecorationImage(
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image: AssetImage("assets/images/bg.png"), fit: BoxFit.cover)),
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child: Scaffold(
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backgroundColor: Colors.transparent,
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appBar: AppBar(
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backgroundColor: Colors.transparent,
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elevation: 0,
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centerTitle: true,
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title: const Text(
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'定盘星',
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style: TextStyle(color: Colors.white),
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),
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leading: IconButton(
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color: Colors.amber,
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icon: Icon(isLock ? MyIcons.icon_mima : MyIcons.icon_jiesuo),
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onPressed: switchCompass,
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),
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actions: [
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//todo
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// 更改背景图
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IconButton(
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color: Colors.amber,
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icon: const Icon(
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Icons.person,
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size: 22,
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),
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onPressed: loginAction,
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),
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],
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),
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body: SafeArea(
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child: ConstrainedBox(
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constraints: const BoxConstraints(minHeight: 600),
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child: Consumer<RegionProvider>(
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builder: (builder, regionProvider, child) {
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return Consumer<CompassImageProvider>(
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builder: (builder, compassImageProvider, child) {
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return Stack(
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alignment: Alignment.center,
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children: [
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// 罗盘
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Column(
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children: [
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const Padding(padding: EdgeInsets.only(top: 145)),
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Row(
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children: [
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Spacer(flex: 1),
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Container(
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width: 700,
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height: 700,
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child: Stack(
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children: [
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Transform.rotate(
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angle: (myaw + regionProvider.declination) *
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2 *
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pi /
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360,
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child: Image(
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width: 700,
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height: 700,
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// alignment: Alignment.bottomLeft,
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// image: compassImageProvider.rotateImage,
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image: compassImageProvider
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.rotateImage ??
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const AssetImage(
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"assets/images/compass_rotated.png"),
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fit: BoxFit.contain),
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),
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Align(
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alignment: FractionalOffset(w_x, w_y),
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child: const Image(
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image:
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AssetImage("assets/images/water.png"),
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),
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),
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CrossPaint(),
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],
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),
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),
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const Spacer(flex: 1),
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],
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)
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],
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),
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// 最上面一行, lock azimuth login
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Positioned(
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top: 5,
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child: Column(
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children: [
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const Image(
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width: 15,
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height: 15,
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image: AssetImage("assets/images/arrow.png"),
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fit: BoxFit.contain,
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),
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Text(
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// "${azimuth.toStringAsFixed(2)}",
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(myaw + regionProvider.declination)
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.toStringAsFixed(2),
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style: const TextStyle(
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color: Colors.amber, fontSize: 36),
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),
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],
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)),
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//磁偏角调整按钮
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Positioned(
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top: 5,
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right: 8,
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child: IconButton(
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onPressed: () => selectRegion(),
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icon: const Icon(Icons.settings, color: Colors.amber),
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)),
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Positioned(
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top: 5,
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left: 8,
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child: IconButton(
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onPressed: () {
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ImagePicker()
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.pickImage(source: ImageSource.gallery)
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.then((res) {
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if (res == null) {
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return;
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}
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compassImageProvider.setSelectedRotateImage(res);
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});
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},
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icon: const Icon(Icons.photo, color: Colors.amber),
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)),
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// 最下面一行，ranging value openlaser
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Positioned(
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bottom: 80,
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left: 50,
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child: IconButton(
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onPressed: raging,
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icon: const Icon(
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MyIcons.icon_celiang,
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size: 34,
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),
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color: Colors.amber)),
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const Positioned(
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width: 180,
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height: 90,
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bottom: 60,
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child: Image(
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image: AssetImage("assets/images/range_input.png"),
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fit: BoxFit.contain,
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)),
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Positioned(
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width: 180,
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height: 90,
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bottom: 60,
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child: Align(
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alignment: Alignment.centerRight,
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child: Padding(
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padding: const EdgeInsets.only(right: 15),
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child: Text(
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"${distance} m",
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style: const TextStyle(
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color: Colors.amber, fontSize: 28),
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),
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),
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)),
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Positioned(
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bottom: 60,
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right: 40,
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height: 120,
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width: 100,
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child: Column(
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crossAxisAlignment: CrossAxisAlignment.center,
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mainAxisAlignment: MainAxisAlignment.spaceBetween,
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children: [
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IconButton(
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color: Colors.amber,
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onPressed: () {
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if (isUpClose) {
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openUpLaser();
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} else {
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closeUpLaser();
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}
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setState(() {
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isUpClose = !isUpClose;
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});
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},
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icon: Icon(
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isUpClose
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? MyIcons.icon_shangdeng
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: MyIcons.icon_shangdnegguanbi,
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size: 36)),
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IconButton(
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color: Colors.amber,
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onPressed: () {
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if (isSideClose) {
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openSideLaser();
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} else {
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closeSideLaser();
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}
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setState(() {
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isSideClose = !isSideClose;
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});
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},
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icon: Icon(
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isSideClose
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? MyIcons.icon_zuoyoudneg
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: MyIcons.icon_zuoyoudengguanbi,
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size: 32,
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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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},
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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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