3.18

src/assets/js/GamepadController.js

@@ -1,151 +1,111 @@
 class GamepadController {
   constructor(options = {}) {
-    this.options  = {
+    this.options = {
       ...{
         debug: false,
         deadZone: 0.1,
-        updateInterval: 50,
+        updateInterval: 50
-        buttonsConfig: [
-          { name: "Left2", index: 6 },
-          { name: "Back", index: 8 },
-          { name: "Right Joystick Press", index: 11 }
-        ]
       },
       ...options
     };
 
-    this.gamepadIndex  = null;
+    this.gamepadIndex = null;
-    this.gamepad  = null;
+    this.gamepad = null;
-    this.interval  = null;
+    this.interval = null;
-    this.buttons  = [];
+    this.angle = 0;  // 这里将存储 0-360 的角度值
-    this.directionAxis0_1  = "";
+    this.speed = 0;
-    this.directionAxis9  = "";
+    this.directionAxis9 = 0;
-    this.angle = 0;
     this.rightJoystickPressed = false;
-    this.speed = 0; // 添加速度属性
+    this.isActive = false;
-    // 初始化按钮状态 
-    this.buttons  = this.options.buttonsConfig.map(button  => ({
-      ...button,
-      pressed: false 
-    }));
 
-    // 注册事件监听器 
+    this.updateLoop = setInterval(() => this.update(), this.options.updateInterval);
-    window.addEventListener("gamepadconnected",  this.onGamepadConnected.bind(this)); 
-    window.addEventListener("gamepaddisconnected",  this.onGamepadDisconnected.bind(this)); 
- 
-    if (this.options.debug)  {
-      console.log("GamepadController  initialized with options:", this.options); 
-    }
   }
 
-  onGamepadConnected(e) {
+  update() {
-    console.log("Gamepad  connected:", e.gamepad); 
+    const gamepad = navigator.getGamepads()[0];
-    this.gamepadIndex  = e.gamepad.index; 
+    if (!gamepad) {
-    this.gamepad  = navigator.getGamepads()[this.gamepadIndex]; 
+      this.isActive = false;
-    this.startGamepad(); 
-  }
- 
-  onGamepadDisconnected() {
-    clearInterval(this.interval); 
-    this.gamepad  = null;
-    if (this.options.debug)  {
-      console.log("Gamepad  disconnected");
-    }
-  }
- 
-  startGamepad() {
-    this.interval  = setInterval(() => {
-      const gamepads = navigator.getGamepads(); 
-      const gamepad = gamepads[this.gamepadIndex];
-      
-      if (gamepad) {
-        // 注释掉调试打印
-        // if (this.options.debug)  {
-        //   console.log('Axes  data:', {
-        //     axis0: gamepad.axes[0], 
-        //     axis1: gamepad.axes[1], 
-        //     gamepadIndex: this.gamepadIndex  
-        //   });
-        // }
-        
-        this.updateDirection(gamepad.axes); 
-        this.updateDirectionAxis9(gamepad.axes); 
-        this.pressKey(gamepad.buttons); 
-      }
-    }, this.options.updateInterval); 
-  }
- 
-  updateDirection(axes) {
-    const axis0 = axes[0];
-    const axis1 = axes[1];
- 
-    // 检查是否在死区 
-    if (Math.abs(axis0) < this.options.deadZone && Math.abs(axis1) < this.options.deadZone) {
-      this.directionAxis0_1 = "未定义";
-      this.angle = 0;
-      this.speed = 0; // 在死区时速度为0
       return;
     }
 
-    // 计算速度（到原点的距离）
+    this.isActive = true;
-    // 使用勾股定理计算距离，并将结果限制在0-100之间
-    const distance = Math.sqrt(axis0 * axis0 + axis1 * axis1);
-    this.speed = Math.round(Math.min(distance * 100, 100));
     
-    // 计算方向角度（0-360度）
+    // 获取左摇杆的值
+    const x = gamepad.axes[0];
+    const y = gamepad.axes[1];
+
+    // 应用死区
+    const absX = Math.abs(x);
+    const absY = Math.abs(y);
+    
+    if (absX < this.options.deadZone && absY < this.options.deadZone) {
+      this.angle = 0;
+      this.speed = 0;
+    } else {
+      this.updateDirection(gamepad.axes);
+    }
+
+    // 获取右摇杆的值（用于云台控制）
+    const rightY = gamepad.axes[3];
+    if (Math.abs(rightY) > this.options.deadZone) {
+      this.directionAxis9 = rightY > 0 ? 1 : 2;
+    } else {
+      this.directionAxis9 = 0;
+    }
+
+    // 更新右摇杆按钮状态
+    this.rightJoystickPressed = gamepad.buttons[10].pressed;
+
+    if (this.options.debug) {
+      console.log('GamepadController 状态:', {
+        x: x.toFixed(2),
+        y: y.toFixed(2),
+        angle: this.angle,
+        speed: this.speed.toFixed(2),
+        directionAxis9: this.directionAxis9,
+        rightJoystickPressed: this.rightJoystickPressed
+      });
+    }
+  }
+
+  updateDirection(axes) {
+    const axis0 = axes[0];  // X轴
+    const axis1 = axes[1];  // Y轴
+
+    // 检查是否在死区
+    if (Math.abs(axis0) < this.options.deadZone && Math.abs(axis1) < this.options.deadZone) {
+      this.angle = 0;
+      this.speed = 0;
+      return;
+    }
+
+    // 计算角度（0-360度），从x轴正半轴开始顺时针旋转
     let angle = Math.atan2(axis1, axis0) * (180 / Math.PI);
-    angle = (angle + 360) % 360;
+    // 将角度转换到 0-360 范围
-    angle = Math.round(angle);
+    if (angle < 0) {
-    this.angle = angle;
+      angle += 360;
-    
-    // 更新方向数据 
-    if (Math.abs(axis0) > this.options.deadZone || Math.abs(axis1) > this.options.deadZone) {
-      this.directionAxis0_1 = `${angle}°`;
-      // 注释掉调试打印
-      // if (this.options.debug) {
-      //   console.log(` 摇杆方向: ${angle}°, X轴: ${axis0.toFixed(2)}, Y轴: ${axis1.toFixed(2)}`);
-      // }
     }
-  }
+    this.angle = Math.round(angle);
 
-  updateDirectionAxis9(axes) {
+    // 计算速度（0-100）
-    const axis9 = axes[9];
+    const distance = Math.sqrt(axis0 * axis0 + axis1 * axis1);
-    const roundedAxis9 = Math.round(axis9  * 100) / 100;
+    this.speed = Math.min(Math.round(distance * 100), 100);
-    if (roundedAxis9 <= -0.9) {
+
-      this.directionAxis9  = 1;
+    if (this.options.debug) {
-    } else if (roundedAxis9 >= 0.0 && roundedAxis9 <= 0.2) {
+      console.log('方向计算:', {
-      this.directionAxis9  = 2;
+        x: axis0,
-    // } else if (roundedAxis9 >= 0.6 && roundedAxis9 <= 0.8) {
+        y: axis1,
-    //   this.directionAxis9  = "左";
+        angle: this.angle,
-    // } else if (roundedAxis9 >= -0.5 && roundedAxis9 <= -0.4) {
+        speed: this.speed
-    //   this.directionAxis9  = "右";
+      });
     }
-    else {
-      this.directionAxis9  = 0;
-    }
-  }
- 
-  pressKey(buttons) {
-    this.buttons.forEach(button => {
-      const buttonData = buttons[button.index];
-      button.pressed = buttonData ? buttonData.value === 1 : false;
-      
-      // 特别检查 Right Joystick Press 按钮
-      if (button.name === "Right Joystick Press") {
-        this.rightJoystickPressed = button.pressed;
-      }
-    });
   }
 
   destroy() {
-    clearInterval(this.interval); 
+    if (this.updateLoop) {
-    window.removeEventListener("gamepadconnected",  this.onGamepadConnected); 
+      clearInterval(this.updateLoop);
-    window.removeEventListener("gamepaddisconnected",  this.onGamepadDisconnected); 
-    if (this.options.debug)  {
-      console.log("GamepadController  destroyed");
     }
   }
 }
 
-// 导出类以便外部使用 
 export default GamepadController;

src/views/CarControl.vue

@@ -5,7 +5,8 @@
       <div class="placeholder-div"></div>
       <div class="title-container">
         <div class="title-box">
-          遥控车当前状态
+          <!-- 根据方向状态显示不同文本 -->
+          {{ getDirectionText }}
           <img src="../assets/img/shout.png" alt="voice" class="voice-icon-img"
             :class="{ 'show-voice': isControlPressed }" style="width: 20px; height: 20px; margin-left: 20px;">
         </div>
@@ -23,19 +24,19 @@
       <div class="left-controls">
         <div class="switch-item">
           <span>屏幕</span>
-          <el-switch v-model="screenStatus" />
+          <el-switch v-model="screenStatus" @change="handleScreenChange" />
         </div>
         <div class="switch-item">
           <span>警灯</span>
-          <el-switch v-model="warningLightStatus" />
+          <el-switch v-model="warningLightStatus" @change="handleWarningLightChange" />
         </div>
         <div class="switch-item">
           <span>跟随</span>
-          <el-switch v-model="followStatus" />
+          <el-switch v-model="followStatus" @change="handleFollowChange" />
         </div>
         <div class="switch-item">
           <span>避障</span>
-          <el-switch v-model="obstacleAvoidEnabled" />
+          <el-switch v-model="obstacleAvoidEnabled" @change="handleObstacleAvoidChange" />
         </div>
       </div>
 
@@ -114,13 +115,14 @@ export default {
       isRecording: false,
       audioHandler: null,
       reconnectTimer: null,  // 添加重连定时器引用
-      isComponentUnmounted: false  // 添加组件卸载标志
+      isComponentUnmounted: false,  // 添加组件卸载标志
+      isInitialized: false,  // 添加初始化标志
     }
   },
   created() {
-    // 初始化 GamepadController，启用调试模式
+    // 初始化 GamepadController，禁用调试模式
     this.gamepadController = new GamepadController({
-      debug: true,
+      debug: false,  // 将 debug 设置为 false
       deadZone: 0.1,
       updateInterval: 50
     });
@@ -223,8 +225,8 @@ export default {
     initWebSocket() {
       try {
         console.log('正在连接 WebSocket...');
-        // this.ws = new WebSocket('ws://192.168.4.120/ws');
+        this.ws = new WebSocket('ws://192.168.4.120/ws');
-        this.ws = new WebSocket('ws://192.168.1.120/ws');
+        // this.ws = new WebSocket('ws://192.168.1.120/ws');
         // this.ws = new WebSocket('ws://192.168.1.60:81');
 
 
@@ -277,13 +279,27 @@ export default {
       }
     },
 
-    // 更新手柄数据
+    // 修改 updateGamepadData 方法
     updateGamepadData() {
       if (this.gamepadController) {
         // 获取手柄数据
         const angle = this.gamepadController.angle;
         const directionAxis9 = this.gamepadController.directionAxis9;
-        const speed = this.gamepadController.speed; // 获取速度值
+        const speed = this.gamepadController.speed;
+
+        // 根据角度计算方向值（0-4）
+        let direction = 0; // 默认停止
+        if (speed > 10) { // 添加速度阈值，避免小幅度移动
+          if (angle >= 315 || angle < 45) {
+            direction = 4; // 右转
+          } else if (angle >= 45 && angle < 135) {
+            direction = 2; // 后退
+          } else if (angle >= 135 && angle < 225) {
+            direction = 3; // 左转
+          } else if (angle >= 225 && angle < 315) {
+            direction = 1; // 前进
+          }
+        }
 
         // 更新控制按钮状态
         const wasPressed = this.isControlPressed;
@@ -304,10 +320,10 @@ export default {
           }
         }
 
-        // 更新其他数据
+        // 更新手柄相关状态
-        this.lastDirection = angle;
+        this.lastDirection = direction;
-        this.platform_fun = directionAxis9;
+        if (directionAxis9 !== undefined) this.platform_fun = directionAxis9;
-        this.lastSpeed = speed; // 更新速度值
+        if (speed !== undefined) this.lastSpeed = speed;
       }
     },
     sendCarInfo() {
@@ -333,26 +349,28 @@ export default {
       this.sendCarInfo();
     },
 
+    // 修改状态更新函数
     updateCarStatus(data) {
       if (data.attribute) {
-        // 注释掉电池状态更新
-        // this.batteryLevel = data.attribute.bat_quantity;
         // 更新障碍物显示状态
         this.obstacleStatus = {
-          top: data.attribute.obstacle_sta === 0,
+          top: data.attribute.obstacle_sta === 1,
-          bottom: data.attribute.obstacle_sta === 1
+          bottom: data.attribute.obstacle_sta === 2
         };
         
-        // 更新开关状态
+        // 只在初始化时更新开关状态
-        this.platform_fun = data.attribute.platform;
+        if (!this.isInitialized) {
-        this.screenStatus = data.attribute.screen_en === 1;
+          this.screenStatus = data.attribute.screen_en === 1;
-        this.warningLightStatus = data.attribute.warn_light_en === 1;
+          this.warningLightStatus = data.attribute.warn_light_en === 1;
-        this.followStatus = data.attribute.follow_en === 1;
+          this.followStatus = data.attribute.follow_en === 1;
-        this.obstacleAvoidEnabled = data.attribute.obstacle_avoid_en === 1;
+          this.obstacleAvoidEnabled = data.attribute.obstacle_avoid_en === 1;
+          this.isInitialized = true;
+        }
+      }
 
-        // 更新车辆状态
+      // 更新方向状态
-        this.lastSpeed = data.attribute.car_speed;
+      if (data.driver && typeof data.driver.direction !== 'undefined') {
-        this.lastDirection = data.attribute.car_direction;
+        this.lastDirection = data.driver.direction; // 使用返回的方向值
       }
     },
 
@@ -364,9 +382,33 @@ export default {
       }
     },
 
+    // 修改开关状态处理函数
+    handleScreenChange(value) {
+      this.screenStatus = value;
+      this.sendControlData();
+    },
+
+    handleWarningLightChange(value) {
+      this.warningLightStatus = value;
+      this.sendControlData();
+    },
+
+    handleFollowChange(value) {
+      this.followStatus = value;
+      this.sendControlData();
+    },
+
+    handleObstacleAvoidChange(value) {
+      this.obstacleAvoidEnabled = value;
+      this.sendControlData();
+    },
+
+    // 修改 sendControlData 方法
     sendControlData() {
-      // 先更新手柄数据
+      // 只在有手柄数据时更新手柄相关状态
-      this.updateGamepadData();
+      if (this.gamepadController && this.gamepadController.isActive) {
+        this.updateGamepadData();
+      }
 
       const controlData = {
         "JSON_id": 1,
@@ -405,6 +447,23 @@ export default {
       return this.wsConnected ?
         require('../assets/img/connect.png') :
         require('../assets/img/no_connect.png');
+    },
+    getDirectionText() {
+      // 根据 direction 值显示对应状态
+      switch (this.lastDirection) {
+        case 0:
+          return '遥控车已停止';
+        case 1:
+          return '遥控车正在前进';
+        case 2:
+          return '遥控车正在后退';
+        case 3:
+          return '遥控车正在左转';
+        case 4:
+          return '遥控车正在右转';
+        default:
+          return '遥控车当前状态';
+      }
     }
   },
   setup() {
@@ -464,6 +523,10 @@ export default {
   border: 2px solid #00ffff;
   padding: 2px;
   border-radius: 8px;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  min-width: 180px; /* 确保文本变化时盒子大小稳定 */
 }
 
 .main-content {

src/views/ConeControl.vue

@@ -67,6 +67,7 @@
           <span>状态与控制</span>
         </div>
         <van-cell-group inset>
+
           <!-- 报警状态（只读） -->
           <van-cell title="报警状态">
             <template #value>
@@ -105,7 +106,7 @@
 </template>
 
 <script>
-import { ref, reactive, onMounted, onBeforeUnmount } from 'vue';
+import { ref, reactive, onMounted, onBeforeUnmount, computed } from 'vue';
 import { useRouter } from 'vue-router';
 // import { showToast } from 'vant';
 import axios from 'axios';
@@ -426,10 +427,10 @@ export default {
               parseInt(networkId.value.slice(2, 4), 16),
               parseInt(networkId.value.slice(4, 6), 16)
             ],
-            fre_band: parseInt(freqBand.value),
+            fre_band: freqBandOptions.find(option => option.text === freqBand.value)?.value || 0,
-            channel: parseInt(channel.value),
+            channel: channel.value ? (parseInt(channel.value.match(/\d+/)?.[0] || '1') - 1) : 0,
-            SF: parseInt(speedRate.value),
+            SF: speedRateOptions.find(option => option.text === speedRate.value)?.value || 0,
-            power: parseInt(power.value),
+            power: powerOptions.find(option => option.text === power.value)?.value || 0,
             mode: value.selectedOptions[0].value
           }
         },
@@ -454,18 +455,44 @@ export default {
     };
 
     const updateStateFromResponse = (data) => {
-      firmwareVersion.value = data.versions;
+      // 检查数据结构
-      macAddress.value = data.mac_addr.join(':');
+      if (!data || !data.cones_card) {
-      networkId.value = data.mesh_id.map(num => num.toString(16).padStart(2, '0').toUpperCase()).join('');
+        console.error('Invalid response data structure');
-      freqBand.value = freqBandOptions.find(option => option.value === data.fre_band)?.text || '';
+        return;
-      channel.value = `信道${data.channel + 1}`;
+      }
-      speedRate.value = speedRateOptions.find(option => option.value === data.SF)?.text || '';
-      power.value = powerOptions.find(option => option.value === data.power)?.text || '';
 
-      // 更新当前模式
+      // 更新 LoRa 配置相关状态
-      const mode = modeOptions.find(option => option.networkId === networkId.value);
+      if (data.cones_card.LoRa_cfg) {
-      if (mode) {
+        const loraConfig = data.cones_card.LoRa_cfg;
-        currentMode.value = mode.text;
+        firmwareVersion.value = loraConfig.versions;
+        macAddress.value = loraConfig.mac_addr.join(':');
+        networkId.value = loraConfig.mesh_id.map(num => num.toString(16).padStart(2, '0').toUpperCase()).join('');
+        freqBand.value = freqBandOptions.find(option => option.value === loraConfig.fre_band)?.text || '';
+        channel.value = `信道${loraConfig.channel + 1}`;
+        speedRate.value = speedRateOptions.find(option => option.value === loraConfig.SF)?.text || '';
+        power.value = powerOptions.find(option => option.value === loraConfig.power)?.text || '';
+
+        // 更新当前模式
+        const mode = modeOptions.find(option => option.networkId === networkId.value);
+        if (mode) {
+          currentMode.value = mode.text;
+        }
+      }
+
+      // 更新路锥状态
+      if (data.cones_card.traffic_cone) {
+        const trafficCone = data.cones_card.traffic_cone;
+        // 更新报警状态
+        alarmStatus.value = trafficCone.alarm === 1 ? '报警' : '正常';
+
+        // 更新灯光状态
+        const lightOption = lightStatusOptions.find(option => option.value === trafficCone.lamplight);
+        if (lightOption) {
+          lightStatus.value = lightOption.text;
+        }
+
+        // 更新布防状态
+        defenseEnabled.value = trafficCone.mode === 1;
       }
     };
 
@@ -487,7 +514,8 @@ export default {
         })
           .then(response => {               
             console.log('Refresh response:', response.data);
-            updateStateFromResponse(response.data.cones_card.LoRa_cfg);
+            // 直接传递整个响应数据
+            updateStateFromResponse(response.data);
             refreshing.value = false;
           })
           .catch(error => {
@@ -503,7 +531,6 @@ export default {
     onMounted(() => {
       checkEnvironment();
       onRefresh();
-      
     });
 
     return {
@@ -677,4 +704,33 @@ export default {
 .info-row:not(.mode-row) {
   opacity: 0.85;
 }
+
+.car-status {
+  font-weight: bold;
+}
+
+.status-0 {
+  color: #909399;
+  /* 灰色 - 停止 */
+}
+
+.status-1 {
+  color: #67C23A;
+  /* 绿色 - 前进 */
+}
+
+.status-2 {
+  color: #E6A23C;
+  /* 橙色 - 后退 */
+}
+
+.status-3 {
+  color: #409EFF;
+  /* 蓝色 - 左转 */
+}
+
+.status-4 {
+  color: #409EFF;
+  /* 蓝色 - 右转 */
+}
 </style>

vue.config.js

@@ -26,6 +26,7 @@ module.exports = defineConfig({
   devServer: {
     open: true,
     hot: true,//自动保存
+    port:80
   },
   chainWebpack: (config) => {
     config.plugin('code-inspector-plugin').use(