3.18
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e8da4a76a8
@ -1,151 +1,111 @@
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class GamepadController {
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constructor(options = {}) {
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this.options = {
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this.options = {
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...{
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debug: false,
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deadZone: 0.1,
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updateInterval: 50,
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buttonsConfig: [
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{ name: "Left2", index: 6 },
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{ name: "Back", index: 8 },
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{ name: "Right Joystick Press", index: 11 }
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]
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updateInterval: 50
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},
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...options
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};
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this.gamepadIndex = null;
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this.gamepad = null;
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this.interval = null;
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this.buttons = [];
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this.directionAxis0_1 = "";
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this.directionAxis9 = "";
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this.angle = 0;
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this.gamepadIndex = null;
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this.gamepad = null;
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this.interval = null;
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this.angle = 0; // 这里将存储 0-360 的角度值
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this.speed = 0;
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this.directionAxis9 = 0;
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this.rightJoystickPressed = false;
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this.speed = 0; // 添加速度属性
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// 初始化按钮状态
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this.buttons = this.options.buttonsConfig.map(button => ({
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...button,
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pressed: false
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}));
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this.isActive = false;
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// 注册事件监听器
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window.addEventListener("gamepadconnected", this.onGamepadConnected.bind(this));
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window.addEventListener("gamepaddisconnected", this.onGamepadDisconnected.bind(this));
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if (this.options.debug) {
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console.log("GamepadController initialized with options:", this.options);
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}
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this.updateLoop = setInterval(() => this.update(), this.options.updateInterval);
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}
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onGamepadConnected(e) {
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console.log("Gamepad connected:", e.gamepad);
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this.gamepadIndex = e.gamepad.index;
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this.gamepad = navigator.getGamepads()[this.gamepadIndex];
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this.startGamepad();
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}
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onGamepadDisconnected() {
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clearInterval(this.interval);
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this.gamepad = null;
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if (this.options.debug) {
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console.log("Gamepad disconnected");
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}
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}
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startGamepad() {
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this.interval = setInterval(() => {
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const gamepads = navigator.getGamepads();
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const gamepad = gamepads[this.gamepadIndex];
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if (gamepad) {
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// 注释掉调试打印
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// if (this.options.debug) {
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// console.log('Axes data:', {
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// axis0: gamepad.axes[0],
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// axis1: gamepad.axes[1],
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// gamepadIndex: this.gamepadIndex
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// });
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// }
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this.updateDirection(gamepad.axes);
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this.updateDirectionAxis9(gamepad.axes);
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this.pressKey(gamepad.buttons);
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}
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}, this.options.updateInterval);
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}
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updateDirection(axes) {
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const axis0 = axes[0];
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const axis1 = axes[1];
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// 检查是否在死区
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if (Math.abs(axis0) < this.options.deadZone && Math.abs(axis1) < this.options.deadZone) {
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this.directionAxis0_1 = "未定义";
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this.angle = 0;
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this.speed = 0; // 在死区时速度为0
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update() {
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const gamepad = navigator.getGamepads()[0];
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if (!gamepad) {
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this.isActive = false;
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return;
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}
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// 计算速度（到原点的距离）
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// 使用勾股定理计算距离，并将结果限制在0-100之间
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const distance = Math.sqrt(axis0 * axis0 + axis1 * axis1);
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this.speed = Math.round(Math.min(distance * 100, 100));
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this.isActive = true;
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// 计算方向角度（0-360度）
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// 获取左摇杆的值
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const x = gamepad.axes[0];
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const y = gamepad.axes[1];
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// 应用死区
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const absX = Math.abs(x);
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const absY = Math.abs(y);
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if (absX < this.options.deadZone && absY < this.options.deadZone) {
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this.angle = 0;
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this.speed = 0;
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} else {
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this.updateDirection(gamepad.axes);
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}
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// 获取右摇杆的值（用于云台控制）
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const rightY = gamepad.axes[3];
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if (Math.abs(rightY) > this.options.deadZone) {
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this.directionAxis9 = rightY > 0 ? 1 : 2;
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} else {
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this.directionAxis9 = 0;
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}
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// 更新右摇杆按钮状态
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this.rightJoystickPressed = gamepad.buttons[10].pressed;
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if (this.options.debug) {
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console.log('GamepadController 状态:', {
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x: x.toFixed(2),
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y: y.toFixed(2),
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angle: this.angle,
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speed: this.speed.toFixed(2),
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directionAxis9: this.directionAxis9,
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rightJoystickPressed: this.rightJoystickPressed
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});
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}
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}
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updateDirection(axes) {
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const axis0 = axes[0]; // X轴
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const axis1 = axes[1]; // Y轴
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// 检查是否在死区
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if (Math.abs(axis0) < this.options.deadZone && Math.abs(axis1) < this.options.deadZone) {
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this.angle = 0;
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this.speed = 0;
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return;
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}
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// 计算角度（0-360度），从x轴正半轴开始顺时针旋转
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let angle = Math.atan2(axis1, axis0) * (180 / Math.PI);
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angle = (angle + 360) % 360;
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angle = Math.round(angle);
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this.angle = angle;
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// 更新方向数据
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if (Math.abs(axis0) > this.options.deadZone || Math.abs(axis1) > this.options.deadZone) {
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this.directionAxis0_1 = `${angle}°`;
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// 注释掉调试打印
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// if (this.options.debug) {
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// console.log(` 摇杆方向: ${angle}°, X轴: ${axis0.toFixed(2)}, Y轴: ${axis1.toFixed(2)}`);
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// }
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// 将角度转换到 0-360 范围
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if (angle < 0) {
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angle += 360;
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}
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}
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this.angle = Math.round(angle);
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updateDirectionAxis9(axes) {
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const axis9 = axes[9];
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const roundedAxis9 = Math.round(axis9 * 100) / 100;
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if (roundedAxis9 <= -0.9) {
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this.directionAxis9 = 1;
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} else if (roundedAxis9 >= 0.0 && roundedAxis9 <= 0.2) {
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this.directionAxis9 = 2;
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// } else if (roundedAxis9 >= 0.6 && roundedAxis9 <= 0.8) {
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// this.directionAxis9 = "左";
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// } else if (roundedAxis9 >= -0.5 && roundedAxis9 <= -0.4) {
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// this.directionAxis9 = "右";
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// 计算速度（0-100）
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const distance = Math.sqrt(axis0 * axis0 + axis1 * axis1);
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this.speed = Math.min(Math.round(distance * 100), 100);
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if (this.options.debug) {
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console.log('方向计算:', {
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x: axis0,
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y: axis1,
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angle: this.angle,
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speed: this.speed
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});
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}
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else {
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this.directionAxis9 = 0;
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}
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}
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pressKey(buttons) {
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this.buttons.forEach(button => {
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const buttonData = buttons[button.index];
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button.pressed = buttonData ? buttonData.value === 1 : false;
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// 特别检查 Right Joystick Press 按钮
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if (button.name === "Right Joystick Press") {
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this.rightJoystickPressed = button.pressed;
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}
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});
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}
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destroy() {
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clearInterval(this.interval);
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window.removeEventListener("gamepadconnected", this.onGamepadConnected);
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window.removeEventListener("gamepaddisconnected", this.onGamepadDisconnected);
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if (this.options.debug) {
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console.log("GamepadController destroyed");
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if (this.updateLoop) {
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clearInterval(this.updateLoop);
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}
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}
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}
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// 导出类以便外部使用
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export default GamepadController;
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@ -5,7 +5,8 @@
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<div class="placeholder-div"></div>
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<div class="title-container">
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<div class="title-box">
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遥控车当前状态
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<!-- 根据方向状态显示不同文本 -->
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{{ getDirectionText }}
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<img src="../assets/img/shout.png" alt="voice" class="voice-icon-img"
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:class="{ 'show-voice': isControlPressed }" style="width: 20px; height: 20px; margin-left: 20px;">
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</div>
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@ -23,19 +24,19 @@
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<div class="left-controls">
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<div class="switch-item">
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<span>屏幕</span>
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<el-switch v-model="screenStatus" />
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<el-switch v-model="screenStatus" @change="handleScreenChange" />
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</div>
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<div class="switch-item">
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<span>警灯</span>
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<el-switch v-model="warningLightStatus" />
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<el-switch v-model="warningLightStatus" @change="handleWarningLightChange" />
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</div>
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<div class="switch-item">
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<span>跟随</span>
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<el-switch v-model="followStatus" />
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<el-switch v-model="followStatus" @change="handleFollowChange" />
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</div>
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<div class="switch-item">
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<span>避障</span>
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<el-switch v-model="obstacleAvoidEnabled" />
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<el-switch v-model="obstacleAvoidEnabled" @change="handleObstacleAvoidChange" />
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</div>
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</div>
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@ -114,13 +115,14 @@ export default {
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isRecording: false,
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audioHandler: null,
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reconnectTimer: null, // 添加重连定时器引用
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isComponentUnmounted: false // 添加组件卸载标志
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isComponentUnmounted: false, // 添加组件卸载标志
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isInitialized: false, // 添加初始化标志
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}
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},
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created() {
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// 初始化 GamepadController，启用调试模式
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// 初始化 GamepadController，禁用调试模式
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this.gamepadController = new GamepadController({
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debug: true,
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debug: false, // 将 debug 设置为 false
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deadZone: 0.1,
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updateInterval: 50
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});
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@ -223,8 +225,8 @@ export default {
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initWebSocket() {
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try {
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console.log('正在连接 WebSocket...');
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// this.ws = new WebSocket('ws://192.168.4.120/ws');
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this.ws = new WebSocket('ws://192.168.1.120/ws');
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this.ws = new WebSocket('ws://192.168.4.120/ws');
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// this.ws = new WebSocket('ws://192.168.1.120/ws');
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// this.ws = new WebSocket('ws://192.168.1.60:81');
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@ -277,13 +279,27 @@ export default {
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}
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},
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// 更新手柄数据
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// 修改 updateGamepadData 方法
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updateGamepadData() {
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if (this.gamepadController) {
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// 获取手柄数据
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const angle = this.gamepadController.angle;
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const directionAxis9 = this.gamepadController.directionAxis9;
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const speed = this.gamepadController.speed; // 获取速度值
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const speed = this.gamepadController.speed;
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// 根据角度计算方向值（0-4）
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let direction = 0; // 默认停止
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if (speed > 10) { // 添加速度阈值，避免小幅度移动
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if (angle >= 315 || angle < 45) {
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direction = 4; // 右转
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} else if (angle >= 45 && angle < 135) {
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direction = 2; // 后退
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} else if (angle >= 135 && angle < 225) {
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direction = 3; // 左转
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} else if (angle >= 225 && angle < 315) {
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direction = 1; // 前进
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}
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}
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// 更新控制按钮状态
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const wasPressed = this.isControlPressed;
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@ -304,10 +320,10 @@ export default {
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}
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}
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// 更新其他数据
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this.lastDirection = angle;
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this.platform_fun = directionAxis9;
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this.lastSpeed = speed; // 更新速度值
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// 更新手柄相关状态
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this.lastDirection = direction;
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if (directionAxis9 !== undefined) this.platform_fun = directionAxis9;
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if (speed !== undefined) this.lastSpeed = speed;
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}
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},
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sendCarInfo() {
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@ -333,26 +349,28 @@ export default {
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this.sendCarInfo();
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},
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// 修改状态更新函数
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updateCarStatus(data) {
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if (data.attribute) {
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// 注释掉电池状态更新
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// this.batteryLevel = data.attribute.bat_quantity;
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// 更新障碍物显示状态
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this.obstacleStatus = {
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top: data.attribute.obstacle_sta === 0,
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bottom: data.attribute.obstacle_sta === 1
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top: data.attribute.obstacle_sta === 1,
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bottom: data.attribute.obstacle_sta === 2
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};
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// 更新开关状态
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this.platform_fun = data.attribute.platform;
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this.screenStatus = data.attribute.screen_en === 1;
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this.warningLightStatus = data.attribute.warn_light_en === 1;
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this.followStatus = data.attribute.follow_en === 1;
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this.obstacleAvoidEnabled = data.attribute.obstacle_avoid_en === 1;
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// 只在初始化时更新开关状态
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if (!this.isInitialized) {
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this.screenStatus = data.attribute.screen_en === 1;
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this.warningLightStatus = data.attribute.warn_light_en === 1;
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this.followStatus = data.attribute.follow_en === 1;
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this.obstacleAvoidEnabled = data.attribute.obstacle_avoid_en === 1;
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this.isInitialized = true;
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}
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}
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// 更新车辆状态
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this.lastSpeed = data.attribute.car_speed;
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this.lastDirection = data.attribute.car_direction;
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// 更新方向状态
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if (data.driver && typeof data.driver.direction !== 'undefined') {
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this.lastDirection = data.driver.direction; // 使用返回的方向值
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}
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},
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@ -364,9 +382,33 @@ export default {
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}
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},
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// 修改开关状态处理函数
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handleScreenChange(value) {
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this.screenStatus = value;
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this.sendControlData();
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},
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handleWarningLightChange(value) {
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this.warningLightStatus = value;
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this.sendControlData();
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},
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handleFollowChange(value) {
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this.followStatus = value;
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this.sendControlData();
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},
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handleObstacleAvoidChange(value) {
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this.obstacleAvoidEnabled = value;
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this.sendControlData();
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},
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// 修改 sendControlData 方法
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sendControlData() {
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// 先更新手柄数据
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this.updateGamepadData();
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// 只在有手柄数据时更新手柄相关状态
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if (this.gamepadController && this.gamepadController.isActive) {
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this.updateGamepadData();
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}
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const controlData = {
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"JSON_id": 1,
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@ -405,6 +447,23 @@ export default {
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return this.wsConnected ?
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require('../assets/img/connect.png') :
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require('../assets/img/no_connect.png');
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},
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getDirectionText() {
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// 根据 direction 值显示对应状态
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switch (this.lastDirection) {
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case 0:
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return '遥控车已停止';
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case 1:
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return '遥控车正在前进';
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case 2:
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return '遥控车正在后退';
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case 3:
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return '遥控车正在左转';
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case 4:
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return '遥控车正在右转';
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default:
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return '遥控车当前状态';
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}
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}
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},
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setup() {
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@ -464,6 +523,10 @@ export default {
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border: 2px solid #00ffff;
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padding: 2px;
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border-radius: 8px;
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display: flex;
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align-items: center;
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justify-content: center;
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min-width: 180px; /* 确保文本变化时盒子大小稳定 */
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}
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.main-content {
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@ -67,6 +67,7 @@
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<span>状态与控制</span>
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</div>
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<van-cell-group inset>
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<!-- 报警状态（只读） -->
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<van-cell title="报警状态">
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<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),
|
||||
channel: parseInt(channel.value),
|
||||
SF: parseInt(speedRate.value),
|
||||
power: parseInt(power.value),
|
||||
fre_band: freqBandOptions.find(option => option.text === freqBand.value)?.value || 0,
|
||||
channel: channel.value ? (parseInt(channel.value.match(/\d+/)?.[0] || '1') - 1) : 0,
|
||||
SF: speedRateOptions.find(option => option.text === speedRate.value)?.value || 0,
|
||||
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;
|
||||
macAddress.value = data.mac_addr.join(':');
|
||||
networkId.value = data.mesh_id.map(num => num.toString(16).padStart(2, '0').toUpperCase()).join('');
|
||||
freqBand.value = freqBandOptions.find(option => option.value === data.fre_band)?.text || '';
|
||||
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 || '';
|
||||
// 检查数据结构
|
||||
if (!data || !data.cones_card) {
|
||||
console.error('Invalid response data structure');
|
||||
return;
|
||||
}
|
||||
|
||||
// 更新当前模式
|
||||
const mode = modeOptions.find(option => option.networkId === networkId.value);
|
||||
if (mode) {
|
||||
currentMode.value = mode.text;
|
||||
// 更新 LoRa 配置相关状态
|
||||
if (data.cones_card.LoRa_cfg) {
|
||||
const loraConfig = data.cones_card.LoRa_cfg;
|
||||
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>
|
||||
@ -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(
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user