Release v0.4.0

Added / 新增

• Added separate public entry points flutter_rtc_link_device.dart (provisioning, OTA, logs, diagnostics, generic BLE) and flutter_rtc_link_robot.dart (teleoperation, BLE control link), so an app that only needs media no longer compiles those modules, and added tool/check_module_boundaries.dart to enforce the module directions in CI.
  • 新增独立公开入口 flutter_rtc_link_device.dart（配网、OTA、日志、诊断、通用 BLE）与 flutter_rtc_link_robot.dart（遥控、BLE 控制链路），只需要媒体能力的应用不再编译这些模块，并新增 tool/check_module_boundaries.dart 在 CI 中强制校验模块依赖方向。
• Added RobotEvent, a sealed hierarchy in robot/robot_events.dart that takes over the telemetry, pause / resume, stale-drop and watchdog events previously hanging off DeviceEvent.
  • 新增 RobotEvent（位于 robot/robot_events.dart 的密封层级），接管此前挂在 DeviceEvent 下的遥测、暂停 / 恢复、过期丢弃与看门狗事件。
• Added NfcTagBackend and WifiNetworkConnector: injectable adapters so the NFC and Wi-Fi stacks are supplied by the app instead of being forced on every consumer of the plugin.
  • 新增 NfcTagBackend 与 WifiNetworkConnector 可注入适配器，使 NFC 与 Wi-Fi 技术栈由应用提供，而不强加给插件的每个使用者。

Changed / 优化

• Changed the public barrel flutter_rtc_link.dart to export the media core only: device and robot symbols must now be imported from flutter_rtc_link_device.dart / flutter_rtc_link_robot.dart (breaking, no compatibility shim).
  • 公开 barrel flutter_rtc_link.dart 现只导出媒体核心：设备与机器人符号需改从 flutter_rtc_link_device.dart / flutter_rtc_link_robot.dart 导入（破坏性变更，无兼容垫片）。
• Changed core/ into a dependency-free shared kernel: DeviceEvent moved to device/device_events.dart, MqttCredentials to core/rtc_credentials.dart and BleDevice to ble/ble_device.dart, so core and resilience no longer depend on device, robot, ble or platforms.
  • 将 core/ 改为零依赖共享内核：DeviceEvent 迁至 device/device_events.dart、MqttCredentials 迁至 core/rtc_credentials.dart、BleDevice 迁至 ble/ble_device.dart，core 与 resilience 自此不再依赖 device、robot、ble 或 platforms。
• Changed RobotController.events to emit Stream<RobotEvent> instead of Stream<DeviceEvent>; DeviceEvent keeps only provisioning, OTA, log and diagnostics events.
  • RobotController.events 改为发出 Stream<RobotEvent> 而非 Stream<DeviceEvent>；DeviceEvent 只保留配网、OTA、日志与诊断事件。
• Changed NfcProvisioningChannelImpl to require an NfcTagBackend, and renamed WifiIotSoftApChannel to SoftApProvisioningChannelImpl with a required WifiNetworkConnector; the demo app wires both with nfc_manager and wifi_iot.
  • NfcProvisioningChannelImpl 现在要求传入 NfcTagBackend；WifiIotSoftApChannel 更名为 SoftApProvisioningChannelImpl 并要求传入 WifiNetworkConnector；示例应用用 nfc_manager 与 wifi_iot 完成接线。
• Dropped the unused nordic_dfu dependency and removed ndef_record, nfc_manager and wifi_iot from the published package, cutting four native plugin integrations (and their merged Android permissions) from every install.
  • 移除未使用的 nordic_dfu 依赖，并从发布包中删除 ndef_record、nfc_manager 与 wifi_iot，每次安装少引入四个原生插件（及其合并进来的 Android 权限）。

Release v0.3.1

Added / 新增

• Added LiveKitSubscriber.publication: exposes the wrapped RemoteTrackPublication so callers can read the real track kind.
  • 新增 LiveKitSubscriber.publication：暴露被封装的 RemoteTrackPublication，便于调用方读取真实轨道类型。
• Added DeviceProvisioning.readNfcCredential(): reads a credential tag and returns the credentials without provisioning anything, so the "tap a tag to learn the Wi-Fi password" flow no longer has to misuse provisionViaNfc().
  • 新增 DeviceProvisioning.readNfcCredential()：只读取凭据标签并返回凭据、不做任何配网，使"碰一碰拿到 Wi-Fi 密码"的流程不必再误用 provisionViaNfc()。
• Added ProvisionDevice.dppUri: carries the Wi-Fi Easy Connect bootstrap URI (DPP:…) scanned from the device QR code, which is what DPP actually needs.
  • 新增 ProvisionDevice.dppUri：承载从设备二维码扫到的 Wi-Fi Easy Connect 引导 URI（DPP:…），这才是 DPP 真正需要的内容。

Changed / 优化

• provisionViaNfc({ProvisionDevice? device}) now delivers the tag credentials to that device over BLE / SoftAP / SmartConfig, so NFC can actually provision instead of just reading. The extra parameter is optional, so existing calls keep compiling.
  • provisionViaNfc({ProvisionDevice? device}) 现在会把标签凭据经 BLE / SoftAP / SmartConfig 下发给该设备，NFC 由此能真正完成配网而不只是读取。该参数为可选，既有调用无需改动。

Fixed / 修复

• Fixed provisionViaNfc() reporting success after merely reading a tag: nothing was ever sent to a device (and the credentials were dropped), so the status now fails with an explicit message unless a ProvisionDevice is supplied.

  • 修复 provisionViaNfc() 仅读到标签就上报 success 的问题：凭据从未下发给任何设备（且被丢弃），现在未传入 ProvisionDevice 时会以明确信息失败。

• Fixed DPP being handed device.id (a BLE address or SoftAP SSID) as the QR content: provisionViaDpp() now requires a DPP: bootstrap URI and rejects anything else as protocolMismatch with a readable message, instead of failing opaquely inside the system configurator.

  • 修复把 device.id（BLE 地址或 SoftAP SSID）当作 DPP 二维码内容的问题：provisionViaDpp() 现在要求 DPP: 引导 URI，其余一律按 protocolMismatch 并给出可读信息拒绝，而不是在系统配置器里不明原因地失败。

• Fixed protocomm's AES-CTR dropping the intra-block remainder, so every message after a non-16-byte payload was garbled; the counter now follows one continuous keystream.

  • 修复 protocomm 的 AES-CTR 丢弃块内余数，导致非 16 字节整数倍载荷之后的所有消息错位；计数器现遵循一条连续 keystream。

• Fixed protocomm's setup1 failing open, so a device omitting SessionResp1 skipped Proof-of-Possession authentication; it now raises.

  • 修复 protocomm 的 setup1 失败开放，省略 SessionResp1 的设备会跳过所有权证明鉴权；现在改为抛错。

• Fixed PbReader / PbWriter: bounds checks, malformed-field tolerance and a negative varint guard.

  • 修复 PbReader / PbWriter：补充边界检查、畸形字段容错与负数 varint 防护。

• Fixed OTA: verify the server's resume start offset, reuse a single http.Client, and release the BLE link on failure (try/finally).

  • 修复 OTA：校验服务端续传起始偏移、复用单个 http.Client，并在失败时（try/finally）释放 BLE 连接。

• Fixed the log collector: verify the MQTT connection (batches were silently dropped), disconnect stale clients, guard concurrent flushes and tolerate corrupt cache lines.

  • 修复日志采集器：校验 MQTT 连接（此前批次被静默丢弃）、释放旧 client、防并发 flush 并容忍损坏的缓存行。

• Fixed provisioning: poll for a terminal Wi-Fi state instead of reading it once, and release the scan subscription when scanning throws.

  • 修复配网：轮询终态 Wi-Fi 状态而非只读一次，并在扫描抛错时释放扫描订阅。

• Fixed BLE: BleTeleopChannel.dispose() now stops the transport (a failed connect left the auto-reconnect timer running), and the link clears stale characteristic handles on reconnect, resets its retry budget, guards concurrent connects and closes its controllers.

  • 修复 BLE：BleTeleopChannel.dispose() 现在停止传输层（连接失败后自动重连定时器仍在运行），链路在重连时清除陈旧特征句柄、重置重试预算、防并发连接并关闭控制器。

• Fixed DualTeleopChannel crashing when disconnect() runs before connect(); it can be reconnected afterwards.

  • 修复 DualTeleopChannel 在 connect() 之前调用 disconnect() 会崩溃的问题；之后可重新连接。

• Fixed MQTT teleop: guard concurrent connects, release the previous client and subscription, verify the connection state and tolerate non-JSON telemetry.

  • 修复 MQTT 遥操作：防并发连接、释放旧 client 与订阅、校验连接状态并容忍非 JSON 遥测。

• Fixed resilience: dispose the previous session on reconnect (it was only left), serialise attaches, re-check disposed after awaits, rate-limit recovery actions, re-enable video after reconnect, only stop the robot on a background pause, require a session in confirmResume() and clear orphan resume tickets.

  • 修复韧性层：重连时释放前一个会话（此前仅 leave）、串行化 attach、await 后复检 disposed、恢复动作限流、重连后重新开启视频、仅在后台暂停时停车、confirmResume() 要求会话存在并清除孤儿恢复票据。

• Fixed WHIP/WHEP: drain responses, close the HTTP client, resolve relative Location headers, buffer trickle ICE candidates until the resource exists, guard concurrent peer-connection creation and clean up on failure.

  • 修复 WHIP/WHEP：排空响应、关闭 HTTP 客户端、解析相对 Location 头、缓存 trickle ICE 候选直到资源就绪、防并发建连并在失败时清理。

• Fixed simulcast: every case now breaks — falling through made all layers end up at full ~/ 4.

  • 修复 simulcast：每个 case 现在都 break——直通会让所有层最终变成 full ~/ 4。

• Fixed emits after dispose() throwing "Cannot add event after closing": they are now ignored.

  • 修复 dispose() 之后的 emit 抛 "Cannot add event after closing" 的问题：现在改为忽略。

• Fixed LAN discovery: stop a discovery cancelled before it started, and surface errors instead of losing them.

  • 修复 LAN 发现：停止启动前被取消的 discovery，并上报错误而非将其丢失。

• Fixed the scanners: drop the previous scan's replayed results and handle stream errors.

  • 修复扫描器：丢弃上一次扫描的回放结果并处理流错误。

• Fixed stream_relay.stop() catching only RtcException: it now catches every error so cleanup always finishes, and releases the Egress HTTP client.

  • 修复 stream_relay.stop() 只捕获 RtcException 的问题：现在捕获所有异常以保证清理完成，并释放 Egress HTTP 客户端。

• Fixed LiveKit: dispose() is now idempotent on both the engine and the session, joining a disposed engine is rejected, and unsubscribe() reports the real track kind instead of always claiming video.

  • 修复 LiveKit：引擎与会话的 dispose() 现在幂等、已释放的引擎拒绝入会、unsubscribe() 上报真实轨道类型而非一律声称视频。

• Fixed NetworkPath.isSameLinkAs(): a metered flip now counts as a different link, so a hotspot that starts charging triggers a policy re-evaluation.

  • 修复 NetworkPath.isSameLinkAs()：计费状态翻转现在算作另一条链路，开始计费的热点会触发策略重算。

• Fixed VideoGridController accumulating stale clarity overrides: overrides of removed streams are now pruned, so long-running rooms no longer leak entries.

  • 修复 VideoGridController 累积失效清晰度覆盖的问题：已移除流的覆盖会被清理，长时间运行的房间不再泄漏条目。

• Fixed switchCamera() leaving a stale "camera active" status when the capture fails: the old device is already released, so the camera is now reported as off.

  • 修复采集失败时 switchCamera() 留下"摄像头已开启"失效状态的问题：旧采集设备已释放，现如实上报为已关闭。

• Fixed switchToVariantStream(): it now registers the replacement before dropping the old subscriber (never hands out a disposed object) and releases the new server resource when the session is disposed mid-switch.

  • 修复 switchToVariantStream()：先登记替代者再丢弃旧订阅器（绝不交出已销毁对象），并在切换期间会话被释放时清理新建的服务端资源。

• Fixed RoleTransfer.handover() leaving two anchors publishing at once: when revoking the previous anchor fails, the first grant is rolled back.

  • 修复 RoleTransfer.handover() 可能留下两个牵头同时推流的问题：收回原牵头失败时回滚第一次授权。

• Fixed LiveKit leaking a Room on every reconnect: the session now calls room.dispose() after disconnect(), so long-running sessions no longer accumulate rooms (a source of connection/handle leaks during 7×24 operation).

  • 修复 LiveKit 每次重连泄漏 Room 的问题：会话在 disconnect() 之后现在调用 room.dispose()，长时间运行的会话不再累积 Room（7×24 运行期间连接 / 句柄泄漏的来源之一）。

• Fixed LiveKitPublisher leaks and false "active" status: dispose() now releases the ValueNotifier (UI listeners no longer leak), and startCamera / startMic / startScreenShare no longer report the track as active when the room is not connected or permission is denied (they now report it off).

  • 修复 LiveKitPublisher 的泄漏与"已开启"假状态：dispose() 现在释放 ValueNotifier（UI 监听者不再泄漏）；房间未连或权限被拒时，startCamera / startMic / startScreenShare 不再谎报轨道已开启（现如实上报为关闭）。

• Fixed Diagnostics leaking a socket on a failed TLS handshake and aborting on one bad log line: the probe now destroys the underlying socket in finally, and crash-log parsing guards the type and skips corrupt lines instead of throwing.

  • 修复 Diagnostics 在 TLS 握手失败时泄漏 socket、且一条坏日志就中止整个诊断的问题：探测现在在 finally 销毁底层 socket，崩溃日志解析增加类型防护并跳过损坏行而非抛异常。

• Fixed AppLifecycleGate tearing the link down after the app returned to the foreground: lifecycle transitions are now serialised, so a rapid background→foreground toggle ends in the foreground.

  • 修复 AppLifecycleGate 在应用回到前台后错误拆除链路的问题：生命周期切换现已串行化，快速的"后台→前台"切换最终落在前台。

• Fixed ControlLinkRouter mislabeling a multi-path selection as onlyOption: when several reachable paths tie on RTT it now reports lowestRtt instead of falsely claiming there was only one path.

  • 修复 ControlLinkRouter 把多路径选择误标为 onlyOption 的问题：多条可达路径 RTT 恰好相等时，现改为上报 lowestRtt，而非谎称只有一条路径。

Release v0.3.0

Added / 新增

• Persistent BLE GATT teleop control channel. / 基于 BLE GATT 的持久控制通道。
  • BleTeleopChannel implements TeleopChannel drops straight into RobotController / DualTeleopChannel — the watchdog, epoch gating and keepalive are unchanged; only the transport changes. / BleTeleopChannel implements TeleopChannel，可直接接入 RobotController / DualTeleopChannel——看门狗、epoch 门控与保活逻辑不变，仅传输换了。
  • FlutterBluePlusBleLink resolves the GATT service + command/telemetry characteristics, negotiates a larger MTU (256), subscribes to telemetry notifications, and auto-reconnects on a drop (capped, exponential backoff). / FlutterBluePlusBleLink 解析 GATT 服务与指令 / 遥测特征、协商更大 MTU（256）、订阅遥测通知，并在断线后自动重连（有上限、指数退避）。
  • BleTeleopDiscoverer scans for the teleop GATT service; BleDevice keeps the public API free of flutter_blue_plus types. Command/telemetry reuse the JSON envelopes of the other channels. / BleTeleopDiscoverer 扫描遥测 GATT 服务；BleDevice 让公开 API 不暴露 flutter_blue_plus 类型。指令 / 遥测复用其它通道的 JSON 封包。
  • Example ble_control_demo_page and website docs (ble_control.md, zh/) with the GATT contract. / 示例 ble_control_demo_page 与文档站（ble_control.md、中文版）含 GATT 契约。
• Protocol-agnostic BLE for any device (speaker, sensor, peripheral — not just robots). / 面向任意设备（音响、传感器、外设——不限于机器人）的、与协议无关的通用 BLE。
  • BleScanner discovers nearby devices with no service filter (or narrowed to serviceUuids), returning the same BleDevice the teleop path uses. / BleScanner 无需服务过滤即可发现附近设备（也可按 serviceUuids 收敛），返回与遥测路径相同的 BleDevice。
  • BleGattClient connects to a BleDevice, discovers services, and exposes raw read / write / subscribe plus a connectionState stream — no teleop / ESP contract assumed. / BleGattClient 连接 BleDevice、发现服务，并暴露原始的 read / write / subscribe 与连接状态流——不做任何遥测 / ESP 契约假设。
  • BleScanner and BleGattClient are exported from the package root and built on flutter_blue_plus, keeping exactly one Bluetooth library in the dependency tree. / BleScanner 与 BleGattClient 均从包根导出，基于 flutter_blue_plus，使依赖树中恰好只有一个蓝牙库。
  • Example ble_control_demo_page adds a Teleop / All devices toggle: "All devices" connects via BleGattClient and shows the GATT services / characteristics (tap a readable characteristic to read it). / 示例 ble_control_demo_page 新增 Teleop / All devices 切换："All devices" 经 BleGattClient 连接并展示 GATT 服务 / 特征（点击可读取的特征即可读取值）。

Release v0.2.0

Added / 新增

• 4K (2160p) publish support. / 4K（2160p）发布支持。
  • New ClarityLevel.p2160 (height 2160, label 2160p, suggested full-layer cap 8000 kbps). / 新增 ClarityLevel.p2160（高度 2160，标签 2160p，满层建议码率上限 8000 kbps）。
  • LiveKit capturePresetFor / simulcastLayersFor now map p2160 to VideoParametersPresets.h2160_169 (capture 3840×2160 with 180p/540p/1080p/2160p simulcast layers). / LiveKit 的 capturePresetFor / simulcastLayersFor 现在将 p2160 映射到 h2160_169（采集 3840×2160，simulcast 层为 180p/540p/1080p/2160p）。
  • WHIP/WHEP publishers derive the 16:9 capture width from the clarity height, so p2160 automatically requests 3840×2160. / WHIP/WHEP 推流器按清晰度高度推导 16:9 采集宽度，p2160 自动请求 3840×2160。
  • Clarity selector UI in RtcControlBar and the example rtc_demo_page now offer 2160p. / RtcControlBar 与示例 rtc_demo_page 的清晰度选择器现已提供 2160p。
  • fromHeight maps 1080p < height ≤ 2160 to p2160, and degradeClarity ladder starts at p2160. / fromHeight 将 1080p < 高度 ≤ 2160 映射为 p2160，degradeClarity 阶梯顶端为 p2160。

Fixed / 修复

• Negative bitrate after ICE restart / network handover: RtcStatsSampler compared the new peer connection's byte counter (which resets to ~0) against the previous cumulative baseline, producing a bogus negative bitrateKbps for one sample. The sampler now treats a counter reset as zero bitrate, and WhipWhepPublisher.restartIce resets both the video and audio samplers. RtcStatsSampler also accepts an injectable clock for deterministic tests.
  • ICE 重启 / 网络切换后的负码率：RtcStatsSampler 会把新 peer connection 的字节计数器（归零）与之前累计的基线比较，导致某一帧 bitrateKbps 出现虚假负值。现改为将计数器重置视为零码率，且 WhipWhepPublisher.restartIce 会同时重置视频与音频采样器。RtcStatsSampler 现支持注入可测时钟。

Release v0.1.3

Added / 新增

• LocalPublisher.cameraStream (flutter_webrtc MediaStream?): exposes the camera media stream so consumers can render a local preview with a full MediaStream (binding only a track id does not render on Android). WhipWhepPublisher populates it from the active capture stream; LiveKitPublisher returns null (LiveKit previews its own tracks via lk.VideoTrackRenderer, not a flutter_webrtc stream).
  • LocalPublisher.cameraStream（flutter_webrtc 的 MediaStream?）：暴露摄像头媒体流，便于消费者用完整 MediaStream 渲染本地预览（只绑 track id 在 Android 上不会出画）。WhipWhepPublisher 从当前采集流填充该值；LiveKitPublisher 返回 null（LiveKit 经自身的 lk.VideoTrackRenderer 渲染预览，不依赖 flutter_webrtc 的 stream）。

Changed / 变更

• Raised the permission_handler constraint from ^11.0.0 to ^12.0.0. 12.0.0 only requires Android compileSdk 35 (its permission_handler_android submodule is 13.0.0), which is still ≤ the default Flutter template's 36, so the AGP 9.1.0 / compileSdk 36 build is unaffected and the earlier "API ≤ 36" rationale still holds. The plugin's own usage of permission_handler (the Permission enum, request(), status, openAppSettings()) is unchanged.
  • 将 permission_handler 约束由 ^11.0.0 提升到 ^12.0.0。12.0.0 仅需 Android compileSdk 35（底层 permission_handler_android 子模块为 13.0.0），仍 ≤ 默认 Flutter 模板的 36，因此 AGP 9.1.0 / compileSdk 36 构建不受影响，先前"API ≤ 36"的考量依旧成立；插件对其 Dart API（Permission 枚举、request()、status、openAppSettings()）的用法无变更。

Release v0.1.2

Fixed / 修复

• Example app device-page action row overflow on narrow screens: the SCAN BLE / DPP / NFC buttons were laid out in a fixed three-up Row that overflowed; they now wrap so they flow to the next line when space is tight.
  • 示例应用设备页操作行在窄屏溢出：SCAN BLE / DPP / NFC 原本排成固定三列 Row 会溢出；现已改为自动换行。
• Lowered the permission_handler constraint to ^11.0.0 so its Android submodule stays at API ≤ 36, keeping the default Flutter template (AGP 9.1.0 / compileSdk 36) buildable without forcing an AGP / Gradle upgrade.
  • 将 permission_handler 约束降到 ^11.0.0，使其 Android 子模块停留在 API ≤ 36，从而默认 Flutter 模板（AGP 9.1.0 / compileSdk 36）无需升级 AGP / Gradle 即可构建。

Release v0.1.1

Fixed / 修复

• Joystick crash on first release: _animation was declared late final but reassigned in _release(), throwing LateInitializationError. It is now a reassignable late field.
  • 摇杆首次松手崩溃：_animation 被声明为 late final 却在 _release() 中二次赋值，抛 LateInitializationError；现改为可重新赋值的 late 字段。
• LiveKit multi-stream subscription revocation: subscribing a second stream overwrote the track-subscription allowlist and revoked the first. Wanted track SIDs are now accumulated per participant and re-granted together.
  • LiveKit 多路订阅互相撤销：订阅第二路时覆盖轨道订阅白名单、撤销第一路；现按参与者累加想要的轨道 SID 并统一重新授权。
• ResilientSession re-entrant reconnect double scheduling: the _recovering guard was set after await pause(), letting two racing events both schedule a backoff timer. The guard is now taken synchronously before the await.
  • ResilientSession 重入重连双调度：_recovering 守卫在 await pause() 之后才置位，两类并发事件可同时穿过并各调度一个退避定时器；现改为在 await 前同步加锁。
• ResilientSession never emitted RtcConnected: the session's own RtcConnected was suppressed in _onSessionEvent but never re-emitted by ResilientSession, so consumers never learned a link was (re)established. It is now emitted from _establish.
  • ResilientSession 从不对外发出 RtcConnected：会话自身的 RtcConnected 在 _onSessionEvent 中被抑制，而 ResilientSession 又从未补发，导致消费者永远收不到连接成功事件；现由 _establish 补发。
• setBackground(false) duplicate resume: when autoResumeAfterReconnect is enabled, _afterReconnect already resumed the gate, yet the foreground path requested a second (orphaned) resume ticket. The foreground path now skips resume in that case.
  • setBackground(false) 重复恢复：开启 autoResumeAfterReconnect 时 _afterReconnect 已处理门的恢复，回到前台又发起一个被废弃的恢复票据；现已在该情况下跳过。
• LanDiscovery.discoverStream early-cancel crash: onCancel touched late discovery/listener fields that were not yet initialized if the stream was cancelled before startDiscovery resolved, throwing LateInitializationError. They are now nullable with null checks.
  • LanDiscovery.discoverStream 提前取消崩溃：onCancel 访问尚未初始化的 late 字段（流在 startDiscovery 完成前被取消时），抛 LateInitializationError；现改为可空并加空判断。

Release v0.1.0

Added / 新增

• Initial release of flutter_rtc_link: a Flutter plugin for real-time audio/video and IoT device management with a dual-engine architecture (WhipWhepEngine over flutter_webrtc, LiveKitEngine over livekit_client) behind one unified abstraction (RtcEngine / RtcSession / LocalPublisher / RemoteSubscriber).
  • flutter_rtc_link 首个版本：实时音视频 + 物联网设备管理插件，双引擎架构（基于 flutter_webrtc 的 WhipWhepEngine 与基于 livekit_client 的 LiveKitEngine）统一抽象（RtcEngine / RtcSession / LocalPublisher / RemoteSubscriber）。
• Lead-operator publishing with simulcast: startCamera / startMic / startScreenShare, zero-renegotiation switchCamera via replaceTrack (RFC 9725 friendly), and setPublishClarity that caps the top simulcast layer.
  • 牵头操作者推流（simulcast 多层）：startCamera / startMic / startScreenShare、经 replaceTrack 的零重协商 switchCamera（符合 RFC 9725），以及只限制最高层的 setPublishClarity。
• Subscription and picture switching: WHEP playback, per-stream RemoteSubscriber.setClarity, and a pure-Dart VideoGridController (main/pip/grid layouts, max visible, global clarity).
  • 订阅与画面切换：WHEP 拉流、每路独立的 RemoteSubscriber.setClarity，以及纯 Dart 的 VideoGridController（主画面 / 画中画 / 网格布局、最大可见数、全局清晰度）。
• Live relay: RoleTransfer.promote / handover (identity handover) and StreamRelay.toRtmp / cascade (server-side Egress or secondary WHIP push).
  • 直播转接：RoleTransfer.promote / handover（身份交接）与 StreamRelay.toRtmp / cascade（服务端 Egress 或二次 WHIP 推流）。
• Robot teleoperation: RobotController with joystick velocity integration, PTZ, telemetry, voice intercom hookup, and a 500 ms watchdog that auto-stops the robot on command timeout or link loss.
  • 机器人远控：RobotController 支持摇杆速度积分、云台 PTZ、遥测、语音对讲接入，以及指令超时 / 断链 500ms 内自动停车的看门狗保护。
• IoT device management suite: multi-channel DeviceProvisioning (BLE → DPP/QR → NFC → SoftAP → SmartConfig strategy chain with automatic degradation), OtaUpdater (BLE/HTTP with SHA-256 verification), DeviceLogCollector (local cache + batch upload), and Diagnostics (WebRTC stats + network probe + device logs → JSON/Markdown report).
  • 物联网设备管理四件套：多通道 DeviceProvisioning（BLE → DPP/QR → NFC → SoftAP → SmartConfig 策略链，失败自动降级）、OtaUpdater（BLE/HTTP，SHA-256 校验）、DeviceLogCollector（本地缓存 + 批量补传）、Diagnostics（WebRTC stats + 网络探测 + 设备日志 → JSON/Markdown 报告）。
• Unified permission gate RtcPermissions.requestAll(capabilities) covering the Android 13/14+ and iOS pitfalls (foreground-service microphone, nearby Wi-Fi devices, NFC entitlement); denials degrade features and emit RtcEvent.permissionDenied instead of crashing.
  • 统一权限入口 RtcPermissions.requestAll(capabilities)，覆盖 Android 13/14+ 与 iOS 的权限坑（前台服务麦克风、附近 Wi-Fi 设备、NFC entitlement）；权限被拒时功能降级并上报 RtcEvent.permissionDenied，不崩溃。
• Native modules: Android DPP (Wi-Fi Easy Connect) platform channel and a microphone foreground service; iOS Swift method-channel stub. Method channel prefix pkg.flutter.dev/rtc_link/ with centralized RtcErrorCodes.
  • 原生模块：Android DPP（Wi-Fi Easy Connect）平台通道与麦克风前台服务；iOS Swift method channel 桩。Method channel 前缀 pkg.flutter.dev/rtc_link/，错误码集中定义于 RtcErrorCodes。
• Ready-to-run example app (publish/subscribe, robot joystick, device management demos) and unit tests for the layout, clarity, relay, watchdog, provisioning, log-cache and diagnostics paths.
  • 可直接运行的 example 应用（推流 / 订阅、机器人摇杆、设备管理演示）以及布局、清晰度、转接、看门狗、配网、日志缓存与诊断路径的单元测试。
• Resilience layer for overseas / cross-public-network links: ResilientSession (supervised connect, jittered backoff reconnect with automatic re-subscription), RelayPlanner (per-region TURN ordering + RelayMode.forced escalation for CGNAT / cross-border paths), NetworkPathMonitor (Wi-Fi ↔ cellular handover → ICE restart) and MediaHealthMonitor (stutter / congestion / frozen-picture detection with keyframe → downgrade → re-subscribe recovery).
  • 面向海外 / 跨公网链路的韧性层：ResilientSession（受控建链、带抖动退避重连并自动重新订阅）、RelayPlanner（按区域排序 TURN + 面向 CGNAT / 跨境路径的 RelayMode.forced 升级）、NetworkPathMonitor（Wi-Fi ↔ 蜂窝切换触发 ICE 重启）与 MediaHealthMonitor（卡顿 / 拥塞 / 画面冻结检测，并按请求关键帧 → 降档 → 重建订阅逐级恢复）。
• App-side pause/resume confirmation flow: PauseResumeGate stamps every operation with an epoch; pausing bumps the epoch so buffered operations are dropped instead of replayed, and resuming is a two-step ticket handshake (requestResume → confirmResume) that expires. EpochOperationQueue adds latest-wins buffering for teleoperation.
  • 应用侧暂停 / 恢复确认流程：PauseResumeGate 为每个操作盖上 epoch 戳；暂停会递增 epoch，使缓存操作被丢弃而非补发；恢复是一次会过期的两步票据握手（requestResume → confirmResume）。EpochOperationQueue 为遥控提供"最新者胜"缓冲。
• Low-latency control link helpers: ControlLinkRouter (data channel preferred, MQTT fallback, latency budget), ControlRttTracker and CommandRateLimiter.
  • 低时延控制链路辅助：ControlLinkRouter（优先数据通道、回退 MQTT、带时延预算）、ControlRttTracker 与 CommandRateLimiter。
• AppLifecycleGate: maps Flutter lifecycle states (paused / hidden / detached) to background suspension and drives the pause/resume gate.
  • AppLifecycleGate：把 Flutter 生命周期状态（paused / hidden / detached）映射为后台暂停，并驱动暂停 / 恢复门。

Changed / 变更

• RobotController accepts an optional PauseResumeGate and CommandRateLimiter; pause() stops the robot immediately and invalidates every command issued before it, and the keepalive loop never replays a pre-pause velocity.
  • RobotController 可接收可选的 PauseResumeGate 与 CommandRateLimiter；pause() 立即停车并让此前所有指令失效，保活循环绝不补发暂停前的速度。
• WhipWhepSession implements IceRestartable: handover now rebuilds the peer connections with a fresh ICE configuration (WHIP/WHEP forbids renegotiation, RFC 9725).
  • WhipWhepSession 实现了 IceRestartable：切换时会用全新的 ICE 配置重建 peer connection（RFC 9725 规定 WHIP/WHEP 不可重协商）。