添加单车底盘仿真平台并完善运动控制与夹臂功能
This commit is contained in:
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using MyParking.Simulation.Core;
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namespace MyParking.Simulation.Commands;
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/// <summary>
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/// 内置离线测试动作；新增带特性的方法后网页会自动生成按钮。
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/// </summary>
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public static class BuiltInSimulationActions
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{
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[SimulationAction(
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"mode-normal",
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"正常",
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"舵轮模式",
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10)]
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public static bool NormalMode(
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SimulationVehicle vehicle)
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{
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return vehicle.SetMode("Normal");
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}
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[SimulationAction(
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"mode-crab-left",
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"左蟹行",
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"舵轮模式",
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20)]
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public static bool CrabLeftMode(
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SimulationVehicle vehicle)
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{
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return vehicle.SetMode("CrabLeft");
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}
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[SimulationAction(
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"mode-crab-right",
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"右蟹行",
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"舵轮模式",
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30)]
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public static bool CrabRightMode(
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SimulationVehicle vehicle)
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{
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return vehicle.SetMode("CrabRight");
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}
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[SimulationAction(
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"mode-spin",
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"自转",
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"舵轮模式",
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40)]
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public static bool SpinMode(
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SimulationVehicle vehicle)
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{
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return vehicle.SetMode("Spin");
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}
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[SimulationAction(
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"forward",
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"前进",
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"运动测试",
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10)]
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public static bool Forward(
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SimulationVehicle vehicle)
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{
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return vehicle.Move(1.0);
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}
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[SimulationAction(
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"turn-left",
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"左转",
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"运动测试",
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20)]
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public static bool TurnLeft(
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SimulationVehicle vehicle)
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{
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return vehicle.Turn(1.0);
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}
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[SimulationAction(
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"stop",
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"停止",
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"运动测试",
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30)]
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public static bool Stop(
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SimulationVehicle vehicle)
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{
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vehicle.Stop();
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return true;
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}
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[SimulationAction(
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"turn-right",
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"右转",
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"运动测试",
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40)]
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public static bool TurnRight(
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SimulationVehicle vehicle)
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{
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return vehicle.Turn(-1.0);
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}
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[SimulationAction(
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"backward",
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"后退",
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"运动测试",
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50)]
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public static bool Backward(
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SimulationVehicle vehicle)
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{
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return vehicle.Move(-1.0);
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}
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[SimulationAction(
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"reset",
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"单车复位",
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"维护",
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10)]
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public static bool Reset(
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SimulationVehicle vehicle)
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{
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vehicle.Reset();
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return true;
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}
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}
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@@ -0,0 +1,31 @@
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using MyParking.Shared;
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using MyParking.Simulation.Core;
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namespace MyParking.Simulation.Commands;
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/// <summary>
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/// 我自己增加的停车机器人仿真测试动作。
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/// </summary>
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public static class MySimulationTests
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{
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/// <summary>
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/// 测试车辆以0.2m/s向车体左侧运动。
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/// </summary>
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// [SimulationAction(
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// key: "move-left-020",
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// displayName: "向左移动0.2m/s",
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// group: "我的测试",
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// order: 10)]
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// public static bool MoveLeft(
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// SimulationVehicle vehicle)
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// {
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// var command = new ChassisCommand(
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// vehicle.VehicleId,
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// new Twist2D(
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// vxMetersPerSecond: 0.0,
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// vyMetersPerSecond: 0.2,
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// omegaRadiansPerSecond: 0.0));
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// return vehicle.ApplyCommand(command);
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// }
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}
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@@ -0,0 +1,38 @@
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namespace MyParking.Simulation.Commands;
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/// <summary>
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/// 将一个静态仿真测试方法自动注册为网页按钮。
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/// 方法签名必须为bool Xxx(SimulationVehicle vehicle)。
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/// </summary>
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[AttributeUsage(AttributeTargets.Method)]
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public sealed class SimulationActionAttribute : Attribute
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{
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public SimulationActionAttribute(
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string key,
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string displayName,
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string group,
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int order = 0)
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{
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Key = key;
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DisplayName = displayName;
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Group = group;
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Order = order;
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}
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public string Key { get; }
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public string DisplayName { get; }
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public string Group { get; }
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public int Order { get; }
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}
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/// <summary>
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/// 网页生成测试按钮所需的命令元数据。
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/// </summary>
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public sealed record SimulationActionDescriptor(
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string Key,
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string DisplayName,
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string Group,
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int Order);
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@@ -0,0 +1,150 @@
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using System.Reflection;
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using MyParking.Simulation.Core;
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namespace MyParking.Simulation.Commands;
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/// <summary>
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/// 自动发现带SimulationAction特性的测试方法并分发网页命令。
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/// </summary>
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public sealed class SimulationCommandDispatcher
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{
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private readonly SimulationWorld _world;
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private readonly IReadOnlyDictionary<string, RegisteredAction> _actions;
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public SimulationCommandDispatcher(
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SimulationWorld world)
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{
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_world = world;
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_actions = DiscoverActions();
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}
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/// <summary>
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/// 返回网页动态生成按钮所需的全部命令。
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/// </summary>
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public IReadOnlyList<SimulationActionDescriptor> GetActions()
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{
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return _actions.Values
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.Select(action => action.Descriptor)
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.OrderBy(action => action.Group)
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.ThenBy(action => action.Order)
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.ToArray();
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}
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/// <summary>
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/// 对指定车辆执行一个已注册的测试方法。
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/// </summary>
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public CommandResult Execute(
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int vehicleId,
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string command)
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{
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if (!_actions.TryGetValue(
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command,
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out var registeredAction))
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{
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return new CommandResult(
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false,
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$"未注册仿真命令：{command}。");
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}
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try
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{
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return _world.WithVehicle(vehicleId, vehicle =>
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{
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var success = registeredAction.Handler(vehicle);
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var message = success
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? $"车辆{vehicleId}已执行：{registeredAction.Descriptor.DisplayName}。"
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: $"车辆{vehicleId}暂时无法执行：{registeredAction.Descriptor.DisplayName}。";
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return new CommandResult(success, message);
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});
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}
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catch (KeyNotFoundException exception)
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{
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return new CommandResult(
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false,
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exception.Message);
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}
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}
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private static IReadOnlyDictionary<string, RegisteredAction>
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DiscoverActions()
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{
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var actions = new Dictionary<string, RegisteredAction>(
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StringComparer.OrdinalIgnoreCase);
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var methods = Assembly.GetExecutingAssembly()
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.GetTypes()
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.SelectMany(type => type.GetMethods(
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BindingFlags.Public |
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BindingFlags.NonPublic |
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BindingFlags.Static));
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foreach (var method in methods)
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{
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var attribute =
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method.GetCustomAttribute<SimulationActionAttribute>();
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if (attribute == null)
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continue;
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ValidateMethod(method, attribute);
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var handler =
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(Func<SimulationVehicle, bool>)method.CreateDelegate(
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typeof(Func<SimulationVehicle, bool>));
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var descriptor = new SimulationActionDescriptor(
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attribute.Key,
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attribute.DisplayName,
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attribute.Group,
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attribute.Order);
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if (!actions.TryAdd(
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attribute.Key,
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new RegisteredAction(descriptor, handler)))
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{
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throw new InvalidOperationException(
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$"仿真命令Key重复：{attribute.Key}。");
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}
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}
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return actions;
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}
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private static void ValidateMethod(
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MethodInfo method,
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SimulationActionAttribute attribute)
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{
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var parameters = method.GetParameters();
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if (method.ReturnType != typeof(bool) ||
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parameters.Length != 1 ||
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parameters[0].ParameterType !=
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typeof(SimulationVehicle))
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{
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throw new InvalidOperationException(
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$"[{nameof(SimulationActionAttribute)}]方法" +
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$"{method.DeclaringType?.FullName}.{method.Name}" +
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"必须是static bool Xxx(SimulationVehicle vehicle)。");
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}
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if (string.IsNullOrWhiteSpace(attribute.Key) ||
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string.IsNullOrWhiteSpace(attribute.DisplayName) ||
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string.IsNullOrWhiteSpace(attribute.Group))
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{
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throw new InvalidOperationException(
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$"仿真命令{method.Name}的特性参数不能为空。");
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}
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}
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private sealed record RegisteredAction(
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SimulationActionDescriptor Descriptor,
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Func<SimulationVehicle, bool> Handler);
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}
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/// <summary>
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/// 网页测试命令的执行结果。
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/// </summary>
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public sealed record CommandResult(
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bool Success,
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string Message);
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@@ -0,0 +1,38 @@
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using System.Diagnostics;
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namespace MyParking.Simulation.Core;
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/// <summary>
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/// 以固定周期推进离线仿真世界。
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/// </summary>
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public sealed class SimulationClock(
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SimulationWorld world,
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ILogger<SimulationClock> logger) : BackgroundService
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{
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private static readonly TimeSpan TickInterval =
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TimeSpan.FromMilliseconds(20);
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protected override async Task ExecuteAsync(
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CancellationToken stoppingToken)
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{
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logger.LogInformation(
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"停车机器人离线仿真时钟已启动，周期{Period}ms。",
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TickInterval.TotalMilliseconds);
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using var timer = new PeriodicTimer(TickInterval);
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var stopwatch = Stopwatch.StartNew();
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var previousSeconds = stopwatch.Elapsed.TotalSeconds;
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while (await timer.WaitForNextTickAsync(stoppingToken))
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{
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var currentSeconds = stopwatch.Elapsed.TotalSeconds;
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var deltaTimeSeconds = Math.Clamp(
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currentSeconds - previousSeconds,
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0.001,
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0.1);
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previousSeconds = currentSeconds;
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world.Step(deltaTimeSeconds);
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}
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}
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}
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@@ -0,0 +1,382 @@
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using MyParking.Shared;
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using MyParking.Simulation.Models;
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namespace MyParking.Simulation.Core;
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/// <summary>
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/// 保存单辆四舵轮停车机器人的离线仿真状态。
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/// </summary>
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public sealed class SimulationVehicle
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{
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public const double BodyLengthMeters = 1.472;
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public const double BodyWidthMeters = 0.948;
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// 当前MDCSToolBox.dll的MultiWheelChassisInitializer运行时轮位：
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// X=±750mm、Y=±500mm，舵角机械限位为±120°。
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private const double WheelX = 0.75;
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private const double WheelY = 0.5;
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private const double MaximumBodyAcceleration = 0.6;
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private const double MaximumAngularAcceleration = 0.8;
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private readonly List<VirtualSteerWheel> _wheels;
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private readonly double _initialX;
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private readonly double _initialY;
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private readonly double _initialYaw;
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private Twist2D _targetBodyTwist = Twist2D.Zero;
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private double _actualVx;
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private double _actualVy;
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private double _actualOmega;
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public SimulationVehicle(
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int vehicleId,
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double initialX,
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double initialY,
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double initialYaw)
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{
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VehicleId = vehicleId;
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_initialX = initialX;
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_initialY = initialY;
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_initialYaw = initialYaw;
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_wheels =
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[
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new VirtualSteerWheel("左前", WheelX, WheelY),
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new VirtualSteerWheel("右前", WheelX, -WheelY),
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new VirtualSteerWheel("左后", -WheelX, WheelY),
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new VirtualSteerWheel("右后", -WheelX, -WheelY)
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];
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Reset();
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}
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public int VehicleId { get; }
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public string Mode { get; private set; } = "Normal";
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public double XMeters { get; private set; }
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public double YMeters { get; private set; }
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public double YawRadians { get; private set; }
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public bool ModeReady => _wheels.All(wheel => wheel.IsAligned);
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/// <summary>
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/// 停车并切换舵轮准备模式。
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/// </summary>
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public bool SetMode(string mode)
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{
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Stop();
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var success = mode switch
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{
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"Normal" => PrepareParallelDirection(0.0),
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"CrabLeft" => PrepareParallelDirection(90.0),
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"CrabRight" => PrepareParallelDirection(-90.0),
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"Spin" => PrepareSpinDirection(),
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_ => false
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};
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if (success)
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Mode = mode;
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return success;
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}
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/// <summary>
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/// 按当前模式发送前进或后退命令。
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/// </summary>
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public bool Move(double directionSign)
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{
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if (!ModeReady)
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return false;
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const double linearSpeed = 0.35;
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const double angularSpeed = 0.45;
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var command = Mode switch
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{
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"Normal" => new Twist2D(
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directionSign * linearSpeed, 0.0, 0.0),
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"CrabLeft" => new Twist2D(
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0.0, directionSign * linearSpeed, 0.0),
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"CrabRight" => new Twist2D(
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0.0, -directionSign * linearSpeed, 0.0),
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"Spin" => new Twist2D(
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0.0, 0.0, directionSign * angularSpeed),
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_ => Twist2D.Zero
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};
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return ApplyCommand(
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new ChassisCommand(VehicleId, command));
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}
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/// <summary>
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/// 在当前运动模式下增加逆时针或顺时针转动。
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/// </summary>
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public bool Turn(double directionSign)
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{
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if (!ModeReady || Mode == "Spin")
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return false;
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var command = new Twist2D(
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_targetBodyTwist.VxMetersPerSecond,
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_targetBodyTwist.VyMetersPerSecond,
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directionSign * 0.28);
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return ApplyCommand(
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new ChassisCommand(VehicleId, command));
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}
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/// <summary>
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/// 将网页虚拟遥控器的油门和转向组合为连续车体速度命令。
|
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/// </summary>
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public bool ManualDrive(
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double throttle,
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double steering,
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double speedScale,
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double steeringScale)
|
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{
|
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if (!AreFinite(
|
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throttle,
|
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steering,
|
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speedScale,
|
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steeringScale))
|
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{
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return false;
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}
|
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|
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throttle = Math.Clamp(throttle, -1.0, 1.0);
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steering = Math.Clamp(steering, -1.0, 1.0);
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speedScale = Math.Clamp(speedScale, 0.0, 1.0);
|
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steeringScale = Math.Clamp(steeringScale, 0.0, 1.0);
|
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if (Math.Abs(throttle) < 0.001 &&
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Math.Abs(steering) < 0.001)
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{
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Stop();
|
||||
return true;
|
||||
}
|
||||
|
||||
if (!ModeReady)
|
||||
return false;
|
||||
|
||||
const double maximumLinearSpeed = 0.6;
|
||||
const double maximumAngularSpeed = 0.7;
|
||||
|
||||
var linearSpeed =
|
||||
throttle * maximumLinearSpeed * speedScale;
|
||||
var angularSpeed =
|
||||
steering * maximumAngularSpeed * steeringScale;
|
||||
|
||||
var twist = Mode switch
|
||||
{
|
||||
"Normal" => new Twist2D(
|
||||
linearSpeed,
|
||||
0.0,
|
||||
angularSpeed),
|
||||
"CrabLeft" => new Twist2D(
|
||||
0.0,
|
||||
linearSpeed,
|
||||
angularSpeed),
|
||||
"CrabRight" => new Twist2D(
|
||||
0.0,
|
||||
-linearSpeed,
|
||||
angularSpeed),
|
||||
"Spin" => new Twist2D(
|
||||
0.0,
|
||||
0.0,
|
||||
angularSpeed),
|
||||
_ => Twist2D.Zero
|
||||
};
|
||||
|
||||
return ApplyCommand(
|
||||
new ChassisCommand(VehicleId, twist));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 应用统一车体速度命令并分解为四个舵轮速度向量。
|
||||
/// </summary>
|
||||
public bool ApplyCommand(ChassisCommand command)
|
||||
{
|
||||
if (command.VehicleId != VehicleId)
|
||||
return false;
|
||||
|
||||
var twist = command.BodyTwist;
|
||||
var wheelCommands = _wheels.Select(wheel =>
|
||||
{
|
||||
var wheelVx =
|
||||
twist.VxMetersPerSecond -
|
||||
twist.OmegaRadiansPerSecond * wheel.YMeters;
|
||||
|
||||
var wheelVy =
|
||||
twist.VyMetersPerSecond +
|
||||
twist.OmegaRadiansPerSecond * wheel.XMeters;
|
||||
|
||||
return (Wheel: wheel, Vx: wheelVx, Vy: wheelVy);
|
||||
}).ToArray();
|
||||
|
||||
foreach (var item in wheelCommands)
|
||||
{
|
||||
if (!item.Wheel.SetVelocityVector(
|
||||
item.Vx,
|
||||
item.Vy))
|
||||
{
|
||||
Stop();
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
_targetBodyTwist = twist;
|
||||
return true;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将车辆目标速度设置为零并保持当前舵轮角度。
|
||||
/// </summary>
|
||||
public void Stop()
|
||||
{
|
||||
_targetBodyTwist = Twist2D.Zero;
|
||||
foreach (var wheel in _wheels)
|
||||
wheel.Stop();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新舵轮反馈和车辆世界位姿。
|
||||
/// </summary>
|
||||
public void Step(double deltaTimeSeconds)
|
||||
{
|
||||
foreach (var wheel in _wheels)
|
||||
wheel.Step(deltaTimeSeconds);
|
||||
|
||||
var canMove = _wheels.All(wheel => wheel.IsAligned);
|
||||
var targetVx = canMove
|
||||
? _targetBodyTwist.VxMetersPerSecond
|
||||
: 0.0;
|
||||
var targetVy = canMove
|
||||
? _targetBodyTwist.VyMetersPerSecond
|
||||
: 0.0;
|
||||
var targetOmega = canMove
|
||||
? _targetBodyTwist.OmegaRadiansPerSecond
|
||||
: 0.0;
|
||||
|
||||
_actualVx = MoveTowards(
|
||||
_actualVx,
|
||||
targetVx,
|
||||
MaximumBodyAcceleration * deltaTimeSeconds);
|
||||
|
||||
_actualVy = MoveTowards(
|
||||
_actualVy,
|
||||
targetVy,
|
||||
MaximumBodyAcceleration * deltaTimeSeconds);
|
||||
|
||||
_actualOmega = MoveTowards(
|
||||
_actualOmega,
|
||||
targetOmega,
|
||||
MaximumAngularAcceleration * deltaTimeSeconds);
|
||||
|
||||
var cos = Math.Cos(YawRadians);
|
||||
var sin = Math.Sin(YawRadians);
|
||||
|
||||
var worldVx = cos * _actualVx - sin * _actualVy;
|
||||
var worldVy = sin * _actualVx + cos * _actualVy;
|
||||
|
||||
XMeters += worldVx * deltaTimeSeconds;
|
||||
YMeters += worldVy * deltaTimeSeconds;
|
||||
YawRadians = FrameTransform2D.NormalizeAngle(
|
||||
YawRadians + _actualOmega * deltaTimeSeconds);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 恢复车辆初始位置和舵轮状态。
|
||||
/// </summary>
|
||||
public void Reset()
|
||||
{
|
||||
XMeters = _initialX;
|
||||
YMeters = _initialY;
|
||||
YawRadians = _initialYaw;
|
||||
Mode = "Normal";
|
||||
_targetBodyTwist = Twist2D.Zero;
|
||||
_actualVx = 0.0;
|
||||
_actualVy = 0.0;
|
||||
_actualOmega = 0.0;
|
||||
|
||||
foreach (var wheel in _wheels)
|
||||
wheel.Reset();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 创建供网页读取的不可变状态快照。
|
||||
/// </summary>
|
||||
public VehicleStateDto GetSnapshot()
|
||||
{
|
||||
return new VehicleStateDto(
|
||||
VehicleId,
|
||||
XMeters,
|
||||
YMeters,
|
||||
YawRadians,
|
||||
BodyLengthMeters,
|
||||
BodyWidthMeters,
|
||||
Mode,
|
||||
ModeReady,
|
||||
new TwistStateDto(
|
||||
_targetBodyTwist.VxMetersPerSecond,
|
||||
_targetBodyTwist.VyMetersPerSecond,
|
||||
_targetBodyTwist.OmegaRadiansPerSecond),
|
||||
new TwistStateDto(
|
||||
_actualVx,
|
||||
_actualVy,
|
||||
_actualOmega),
|
||||
_wheels.Select(wheel =>
|
||||
new WheelStateDto(
|
||||
wheel.Name,
|
||||
wheel.XMeters,
|
||||
wheel.YMeters,
|
||||
wheel.TargetAngleDegrees,
|
||||
wheel.ActualAngleDegrees,
|
||||
wheel.TargetSpeedMetersPerSecond,
|
||||
wheel.ActualSpeedMetersPerSecond,
|
||||
wheel.IsAligned)).ToArray());
|
||||
}
|
||||
|
||||
private bool PrepareParallelDirection(double targetAngleDegrees)
|
||||
{
|
||||
return _wheels.All(wheel =>
|
||||
wheel.PrepareDirection(targetAngleDegrees));
|
||||
}
|
||||
|
||||
private bool PrepareSpinDirection()
|
||||
{
|
||||
var success = true;
|
||||
|
||||
foreach (var wheel in _wheels)
|
||||
{
|
||||
var vx = -wheel.YMeters;
|
||||
var vy = wheel.XMeters;
|
||||
success &= wheel.SetVelocityVector(vx, vy);
|
||||
wheel.Stop();
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
private static double MoveTowards(
|
||||
double current,
|
||||
double target,
|
||||
double maximumChange)
|
||||
{
|
||||
var difference = target - current;
|
||||
if (Math.Abs(difference) <= maximumChange)
|
||||
return target;
|
||||
|
||||
return current + Math.Sign(difference) * maximumChange;
|
||||
}
|
||||
|
||||
private static bool AreFinite(params double[] values)
|
||||
{
|
||||
return values.All(value =>
|
||||
!double.IsNaN(value) &&
|
||||
!double.IsInfinity(value));
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,205 @@
|
||||
using MyParking.Shared;
|
||||
using MyParking.Simulation.Models;
|
||||
|
||||
namespace MyParking.Simulation.Core;
|
||||
|
||||
/// <summary>
|
||||
/// 管理离线仿真车辆、车队中心和成员布局。
|
||||
/// </summary>
|
||||
public sealed class SimulationWorld
|
||||
{
|
||||
private readonly object _syncRoot = new();
|
||||
private Dictionary<int, SimulationVehicle> _vehicles = new();
|
||||
private SimulationConfigurationDto _configuration;
|
||||
|
||||
public SimulationWorld()
|
||||
{
|
||||
_configuration = CreateDefaultConfiguration();
|
||||
ApplyConfigurationCore(_configuration);
|
||||
}
|
||||
|
||||
public T WithVehicle<T>(
|
||||
int vehicleId,
|
||||
Func<SimulationVehicle, T> action)
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
if (!_vehicles.TryGetValue(
|
||||
vehicleId,
|
||||
out var vehicle))
|
||||
{
|
||||
throw new KeyNotFoundException(
|
||||
$"不存在车辆{vehicleId}。");
|
||||
}
|
||||
|
||||
return action(vehicle);
|
||||
}
|
||||
}
|
||||
|
||||
public void Step(double deltaTimeSeconds)
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
foreach (var vehicle in _vehicles.Values)
|
||||
vehicle.Step(deltaTimeSeconds);
|
||||
}
|
||||
}
|
||||
|
||||
public IReadOnlyList<VehicleStateDto> GetSnapshot()
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
return _vehicles.Values
|
||||
.OrderBy(vehicle => vehicle.VehicleId)
|
||||
.Select(vehicle => vehicle.GetSnapshot())
|
||||
.ToArray();
|
||||
}
|
||||
}
|
||||
|
||||
public SimulationConfigurationDto GetConfiguration()
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
return CloneConfiguration(_configuration);
|
||||
}
|
||||
}
|
||||
|
||||
public void ApplyConfiguration(
|
||||
SimulationConfigurationDto configuration)
|
||||
{
|
||||
ValidateConfiguration(configuration);
|
||||
|
||||
lock (_syncRoot)
|
||||
{
|
||||
_configuration = CloneConfiguration(configuration);
|
||||
ApplyConfigurationCore(_configuration);
|
||||
}
|
||||
}
|
||||
|
||||
public void Reset()
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
ApplyConfigurationCore(_configuration);
|
||||
}
|
||||
}
|
||||
|
||||
private void ApplyConfigurationCore(
|
||||
SimulationConfigurationDto configuration)
|
||||
{
|
||||
var fleetPoseInWorld = new Pose2D(
|
||||
configuration.FleetCenter.XMeters,
|
||||
configuration.FleetCenter.YMeters,
|
||||
configuration.FleetCenter.YawRadians);
|
||||
|
||||
_vehicles = configuration.Vehicles
|
||||
.Take(configuration.VehicleCount)
|
||||
.Select(layout =>
|
||||
{
|
||||
var bodyPoseInFleet = new Pose2D(
|
||||
layout.XMeters,
|
||||
layout.YMeters,
|
||||
layout.YawRadians);
|
||||
|
||||
var bodyPoseInWorld =
|
||||
FrameTransform2D.Compose(
|
||||
fleetPoseInWorld,
|
||||
bodyPoseInFleet);
|
||||
|
||||
return new SimulationVehicle(
|
||||
layout.VehicleId,
|
||||
bodyPoseInWorld.XMeters,
|
||||
bodyPoseInWorld.YMeters,
|
||||
bodyPoseInWorld.YawRadians);
|
||||
})
|
||||
.ToDictionary(vehicle => vehicle.VehicleId);
|
||||
}
|
||||
|
||||
private static void ValidateConfiguration(
|
||||
SimulationConfigurationDto configuration)
|
||||
{
|
||||
if (configuration.VehicleCount is < 1 or > 8)
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(
|
||||
nameof(configuration.VehicleCount),
|
||||
"仿真车辆数量必须在1到8之间。");
|
||||
}
|
||||
|
||||
if (configuration.FleetCenter == null)
|
||||
{
|
||||
throw new ArgumentException(
|
||||
"必须提供车队中心位姿。",
|
||||
nameof(configuration));
|
||||
}
|
||||
|
||||
if (configuration.Vehicles == null ||
|
||||
configuration.Vehicles.Count <
|
||||
configuration.VehicleCount)
|
||||
{
|
||||
throw new ArgumentException(
|
||||
"成员布局数量不能少于车辆数量。",
|
||||
nameof(configuration));
|
||||
}
|
||||
|
||||
var selectedLayouts = configuration.Vehicles
|
||||
.Take(configuration.VehicleCount)
|
||||
.ToArray();
|
||||
|
||||
if (selectedLayouts.Any(layout =>
|
||||
layout.VehicleId <= 0) ||
|
||||
selectedLayouts
|
||||
.Select(layout => layout.VehicleId)
|
||||
.Distinct()
|
||||
.Count() != selectedLayouts.Length)
|
||||
{
|
||||
throw new ArgumentException(
|
||||
"车辆编号必须大于零且不能重复。",
|
||||
nameof(configuration));
|
||||
}
|
||||
|
||||
var values = new[]
|
||||
{
|
||||
configuration.FleetCenter.XMeters,
|
||||
configuration.FleetCenter.YMeters,
|
||||
configuration.FleetCenter.YawRadians
|
||||
}.Concat(selectedLayouts.SelectMany(layout => new[]
|
||||
{
|
||||
layout.XMeters,
|
||||
layout.YMeters,
|
||||
layout.YawRadians
|
||||
}));
|
||||
|
||||
if (values.Any(value =>
|
||||
double.IsNaN(value) ||
|
||||
double.IsInfinity(value)))
|
||||
{
|
||||
throw new ArgumentException(
|
||||
"车队和车辆布局不能包含NaN或无穷大。",
|
||||
nameof(configuration));
|
||||
}
|
||||
}
|
||||
|
||||
private static SimulationConfigurationDto
|
||||
CreateDefaultConfiguration()
|
||||
{
|
||||
return new SimulationConfigurationDto(
|
||||
1,
|
||||
new FleetCenterDto(0.0, 0.0, 0.0),
|
||||
new[]
|
||||
{
|
||||
new VehicleLayoutDto(1, 0.0, 0.0, 0.0)
|
||||
});
|
||||
}
|
||||
|
||||
private static SimulationConfigurationDto
|
||||
CloneConfiguration(
|
||||
SimulationConfigurationDto configuration)
|
||||
{
|
||||
return new SimulationConfigurationDto(
|
||||
configuration.VehicleCount,
|
||||
configuration.FleetCenter with { },
|
||||
configuration.Vehicles
|
||||
.Select(layout => layout with { })
|
||||
.ToArray());
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,174 @@
|
||||
namespace MyParking.Simulation.Core;
|
||||
|
||||
/// <summary>
|
||||
/// 模拟单个舵轮的转向和驱动响应，不包含真实电机物理模型。
|
||||
/// </summary>
|
||||
public sealed class VirtualSteerWheel
|
||||
{
|
||||
private const double AngleLowerLimitDegrees = -120.0;
|
||||
private const double AngleUpperLimitDegrees = 120.0;
|
||||
private const double MaximumSteeringRateDegreesPerSecond = 90.0;
|
||||
private const double MaximumDriveAccelerationMetersPerSecondSquared = 0.8;
|
||||
private const double AlignmentToleranceDegrees = 1.5;
|
||||
|
||||
public VirtualSteerWheel(
|
||||
string name,
|
||||
double xMeters,
|
||||
double yMeters)
|
||||
{
|
||||
Name = name;
|
||||
XMeters = xMeters;
|
||||
YMeters = yMeters;
|
||||
}
|
||||
|
||||
public string Name { get; }
|
||||
|
||||
public double XMeters { get; }
|
||||
|
||||
public double YMeters { get; }
|
||||
|
||||
public double TargetAngleDegrees { get; private set; }
|
||||
|
||||
public double ActualAngleDegrees { get; private set; }
|
||||
|
||||
public double TargetSpeedMetersPerSecond { get; private set; }
|
||||
|
||||
public double ActualSpeedMetersPerSecond { get; private set; }
|
||||
|
||||
public bool IsAligned =>
|
||||
Math.Abs(TargetAngleDegrees - ActualAngleDegrees) <=
|
||||
AlignmentToleranceDegrees;
|
||||
|
||||
/// <summary>
|
||||
/// 设置期望轮胎速度向量，并在机械限位内选择等价舵角。
|
||||
/// </summary>
|
||||
public bool SetVelocityVector(
|
||||
double vxMetersPerSecond,
|
||||
double vyMetersPerSecond)
|
||||
{
|
||||
var speed = Math.Sqrt(
|
||||
vxMetersPerSecond * vxMetersPerSecond +
|
||||
vyMetersPerSecond * vyMetersPerSecond);
|
||||
|
||||
if (speed < 1e-6)
|
||||
{
|
||||
TargetSpeedMetersPerSecond = 0.0;
|
||||
return true;
|
||||
}
|
||||
|
||||
var desiredAngleDegrees =
|
||||
Math.Atan2(vyMetersPerSecond, vxMetersPerSecond) *
|
||||
180.0 / Math.PI;
|
||||
|
||||
return SetDirectionAndSpeed(
|
||||
desiredAngleDegrees,
|
||||
speed);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 停车时设置舵轮预对齐方向。
|
||||
/// </summary>
|
||||
public bool PrepareDirection(double targetAngleDegrees)
|
||||
{
|
||||
TargetSpeedMetersPerSecond = 0.0;
|
||||
return SetDirectionAndSpeed(
|
||||
targetAngleDegrees,
|
||||
0.0);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将驱动目标设置为零，并保持当前舵轮方向。
|
||||
/// </summary>
|
||||
public void Stop()
|
||||
{
|
||||
TargetSpeedMetersPerSecond = 0.0;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 按固定转向速度和驱动加速度更新虚拟反馈。
|
||||
/// </summary>
|
||||
public void Step(double deltaTimeSeconds)
|
||||
{
|
||||
ActualAngleDegrees = MoveTowards(
|
||||
ActualAngleDegrees,
|
||||
TargetAngleDegrees,
|
||||
MaximumSteeringRateDegreesPerSecond *
|
||||
deltaTimeSeconds);
|
||||
|
||||
var allowedTargetSpeed =
|
||||
IsAligned ? TargetSpeedMetersPerSecond : 0.0;
|
||||
|
||||
ActualSpeedMetersPerSecond = MoveTowards(
|
||||
ActualSpeedMetersPerSecond,
|
||||
allowedTargetSpeed,
|
||||
MaximumDriveAccelerationMetersPerSecondSquared *
|
||||
deltaTimeSeconds);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 恢复舵轮初始状态。
|
||||
/// </summary>
|
||||
public void Reset()
|
||||
{
|
||||
TargetAngleDegrees = 0.0;
|
||||
ActualAngleDegrees = 0.0;
|
||||
TargetSpeedMetersPerSecond = 0.0;
|
||||
ActualSpeedMetersPerSecond = 0.0;
|
||||
}
|
||||
|
||||
private bool SetDirectionAndSpeed(
|
||||
double desiredAngleDegrees,
|
||||
double desiredSpeedMetersPerSecond)
|
||||
{
|
||||
var candidates = new[]
|
||||
{
|
||||
(Angle: NormalizeDegrees(desiredAngleDegrees),
|
||||
Speed: desiredSpeedMetersPerSecond),
|
||||
(Angle: NormalizeDegrees(desiredAngleDegrees + 180.0),
|
||||
Speed: -desiredSpeedMetersPerSecond),
|
||||
(Angle: NormalizeDegrees(desiredAngleDegrees - 180.0),
|
||||
Speed: -desiredSpeedMetersPerSecond)
|
||||
};
|
||||
|
||||
var validCandidates = candidates
|
||||
.Where(candidate =>
|
||||
candidate.Angle >= AngleLowerLimitDegrees &&
|
||||
candidate.Angle <= AngleUpperLimitDegrees)
|
||||
.OrderBy(candidate =>
|
||||
Math.Abs(candidate.Angle - ActualAngleDegrees))
|
||||
.ToArray();
|
||||
|
||||
if (validCandidates.Length == 0)
|
||||
{
|
||||
TargetSpeedMetersPerSecond = 0.0;
|
||||
return false;
|
||||
}
|
||||
|
||||
var selected = validCandidates[0];
|
||||
TargetAngleDegrees = selected.Angle;
|
||||
TargetSpeedMetersPerSecond = selected.Speed;
|
||||
return true;
|
||||
}
|
||||
|
||||
private static double MoveTowards(
|
||||
double current,
|
||||
double target,
|
||||
double maximumChange)
|
||||
{
|
||||
var difference = target - current;
|
||||
if (Math.Abs(difference) <= maximumChange)
|
||||
return target;
|
||||
|
||||
return current + Math.Sign(difference) * maximumChange;
|
||||
}
|
||||
|
||||
private static double NormalizeDegrees(double angleDegrees)
|
||||
{
|
||||
angleDegrees %= 360.0;
|
||||
if (angleDegrees >= 180.0)
|
||||
angleDegrees -= 360.0;
|
||||
if (angleDegrees < -180.0)
|
||||
angleDegrees += 360.0;
|
||||
return angleDegrees;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
namespace MyParking.Simulation.Models;
|
||||
|
||||
/// <summary>
|
||||
/// 网页虚拟遥控器输入，所有输入范围均为-1到1。
|
||||
/// </summary>
|
||||
public sealed record ManualControlInputDto(
|
||||
double Throttle,
|
||||
double Steering,
|
||||
double SpeedScale,
|
||||
double SteeringScale);
|
||||
@@ -0,0 +1,26 @@
|
||||
namespace MyParking.Simulation.Models;
|
||||
|
||||
/// <summary>
|
||||
/// 离线仿真的车辆数量、车队中心和成员相对布局。
|
||||
/// </summary>
|
||||
public sealed record SimulationConfigurationDto(
|
||||
int VehicleCount,
|
||||
FleetCenterDto FleetCenter,
|
||||
IReadOnlyList<VehicleLayoutDto> Vehicles);
|
||||
|
||||
/// <summary>
|
||||
/// 车队中心在世界坐标系中的位姿。
|
||||
/// </summary>
|
||||
public sealed record FleetCenterDto(
|
||||
double XMeters,
|
||||
double YMeters,
|
||||
double YawRadians);
|
||||
|
||||
/// <summary>
|
||||
/// 单车车体坐标系在车队中心坐标系中的位姿。
|
||||
/// </summary>
|
||||
public sealed record VehicleLayoutDto(
|
||||
int VehicleId,
|
||||
double XMeters,
|
||||
double YMeters,
|
||||
double YawRadians);
|
||||
@@ -0,0 +1,25 @@
|
||||
namespace MyParking.Simulation.Models;
|
||||
|
||||
/// <summary>
|
||||
/// 网页绘制单辆停车机器人所需的状态快照。
|
||||
/// </summary>
|
||||
public sealed record VehicleStateDto(
|
||||
int VehicleId,
|
||||
double XMeters,
|
||||
double YMeters,
|
||||
double YawRadians,
|
||||
double BodyLengthMeters,
|
||||
double BodyWidthMeters,
|
||||
string Mode,
|
||||
bool ModeReady,
|
||||
TwistStateDto TargetBodyTwist,
|
||||
TwistStateDto ActualBodyTwist,
|
||||
IReadOnlyList<WheelStateDto> Wheels);
|
||||
|
||||
/// <summary>
|
||||
/// 网页显示的二维车体速度快照。
|
||||
/// </summary>
|
||||
public sealed record TwistStateDto(
|
||||
double VxMetersPerSecond,
|
||||
double VyMetersPerSecond,
|
||||
double OmegaRadiansPerSecond);
|
||||
@@ -0,0 +1,14 @@
|
||||
namespace MyParking.Simulation.Models;
|
||||
|
||||
/// <summary>
|
||||
/// 网页绘制单个舵轮所需的状态快照。
|
||||
/// </summary>
|
||||
public sealed record WheelStateDto(
|
||||
string Name,
|
||||
double XMeters,
|
||||
double YMeters,
|
||||
double TargetAngleDegrees,
|
||||
double ActualAngleDegrees,
|
||||
double TargetSpeedMetersPerSecond,
|
||||
double ActualSpeedMetersPerSecond,
|
||||
bool IsAligned);
|
||||
@@ -0,0 +1,17 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk.Web">
|
||||
|
||||
<PropertyGroup>
|
||||
<TargetFramework>net8.0</TargetFramework>
|
||||
<Nullable>enable</Nullable>
|
||||
<ImplicitUsings>enable</ImplicitUsings>
|
||||
<RootNamespace>MyParking.Simulation</RootNamespace>
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<Compile Include="..\Shared\ChassisCommand.cs"
|
||||
Link="Shared\ChassisCommand.cs" />
|
||||
<Compile Include="..\Shared\FrameTransform2D.cs"
|
||||
Link="Shared\FrameTransform2D.cs" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
@@ -0,0 +1,97 @@
|
||||
using MyParking.Simulation.Commands;
|
||||
using MyParking.Simulation.Core;
|
||||
|
||||
var builder = WebApplication.CreateBuilder(args);
|
||||
|
||||
builder.Services.AddSingleton<SimulationWorld>();
|
||||
builder.Services.AddSingleton<SimulationCommandDispatcher>();
|
||||
builder.Services.AddHostedService<SimulationClock>();
|
||||
|
||||
var app = builder.Build();
|
||||
|
||||
app.UseDefaultFiles();
|
||||
app.UseStaticFiles();
|
||||
|
||||
app.MapGet("/api/vehicles", (SimulationWorld world) =>
|
||||
Results.Ok(world.GetSnapshot()));
|
||||
|
||||
app.MapGet(
|
||||
"/api/actions",
|
||||
(SimulationCommandDispatcher dispatcher) =>
|
||||
Results.Ok(dispatcher.GetActions()));
|
||||
|
||||
app.MapGet("/api/configuration", (SimulationWorld world) =>
|
||||
Results.Ok(world.GetConfiguration()));
|
||||
|
||||
app.MapPost(
|
||||
"/api/configuration",
|
||||
(MyParking.Simulation.Models.SimulationConfigurationDto configuration,
|
||||
SimulationWorld world) =>
|
||||
{
|
||||
try
|
||||
{
|
||||
world.ApplyConfiguration(configuration);
|
||||
return Results.Ok(world.GetConfiguration());
|
||||
}
|
||||
catch (ArgumentException exception)
|
||||
{
|
||||
return Results.BadRequest(new
|
||||
{
|
||||
message = exception.Message
|
||||
});
|
||||
}
|
||||
});
|
||||
|
||||
app.MapPost(
|
||||
"/api/vehicles/{vehicleId:int}/commands/{command}",
|
||||
(int vehicleId, string command, SimulationCommandDispatcher dispatcher) =>
|
||||
{
|
||||
var result = dispatcher.Execute(vehicleId, command);
|
||||
return result.Success
|
||||
? Results.Ok(result)
|
||||
: Results.BadRequest(result);
|
||||
});
|
||||
|
||||
app.MapPost(
|
||||
"/api/vehicles/{vehicleId:int}/manual-control",
|
||||
(int vehicleId,
|
||||
MyParking.Simulation.Models.ManualControlInputDto input,
|
||||
SimulationWorld world) =>
|
||||
{
|
||||
try
|
||||
{
|
||||
var success = world.WithVehicle(
|
||||
vehicleId,
|
||||
vehicle => vehicle.ManualDrive(
|
||||
input.Throttle,
|
||||
input.Steering,
|
||||
input.SpeedScale,
|
||||
input.SteeringScale));
|
||||
|
||||
var result = new CommandResult(
|
||||
success,
|
||||
success
|
||||
? $"车辆{vehicleId}虚拟遥控输入已更新。"
|
||||
: $"车辆{vehicleId}舵轮尚未到位或输入无效。");
|
||||
|
||||
return success
|
||||
? Results.Ok(result)
|
||||
: Results.BadRequest(result);
|
||||
}
|
||||
catch (KeyNotFoundException exception)
|
||||
{
|
||||
return Results.NotFound(new CommandResult(
|
||||
false,
|
||||
exception.Message));
|
||||
}
|
||||
});
|
||||
|
||||
app.MapPost("/api/reset", (SimulationWorld world) =>
|
||||
{
|
||||
world.Reset();
|
||||
return Results.Ok(new { message = "全部仿真车已复位。" });
|
||||
});
|
||||
|
||||
app.MapFallbackToFile("index.html");
|
||||
|
||||
app.Run();
|
||||
@@ -0,0 +1,38 @@
|
||||
{
|
||||
"$schema": "http://json.schemastore.org/launchsettings.json",
|
||||
"iisSettings": {
|
||||
"windowsAuthentication": false,
|
||||
"anonymousAuthentication": true,
|
||||
"iisExpress": {
|
||||
"applicationUrl": "http://localhost:1095",
|
||||
"sslPort": 44395
|
||||
}
|
||||
},
|
||||
"profiles": {
|
||||
"http": {
|
||||
"commandName": "Project",
|
||||
"dotnetRunMessages": true,
|
||||
"launchBrowser": true,
|
||||
"applicationUrl": "http://localhost:5203",
|
||||
"environmentVariables": {
|
||||
"ASPNETCORE_ENVIRONMENT": "Development"
|
||||
}
|
||||
},
|
||||
"https": {
|
||||
"commandName": "Project",
|
||||
"dotnetRunMessages": true,
|
||||
"launchBrowser": true,
|
||||
"applicationUrl": "https://localhost:7055;http://localhost:5203",
|
||||
"environmentVariables": {
|
||||
"ASPNETCORE_ENVIRONMENT": "Development"
|
||||
}
|
||||
},
|
||||
"IIS Express": {
|
||||
"commandName": "IISExpress",
|
||||
"launchBrowser": true,
|
||||
"environmentVariables": {
|
||||
"ASPNETCORE_ENVIRONMENT": "Development"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"Logging": {
|
||||
"LogLevel": {
|
||||
"Default": "Information",
|
||||
"Microsoft.AspNetCore": "Warning"
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,9 @@
|
||||
{
|
||||
"Logging": {
|
||||
"LogLevel": {
|
||||
"Default": "Information",
|
||||
"Microsoft.AspNetCore": "Warning"
|
||||
}
|
||||
},
|
||||
"AllowedHosts": "*"
|
||||
}
|
||||
@@ -0,0 +1,144 @@
|
||||
<!doctype html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="utf-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1">
|
||||
<title>停车机器人离线测试台</title>
|
||||
<link rel="stylesheet" href="viewer.css">
|
||||
</head>
|
||||
<body>
|
||||
<main class="app-shell">
|
||||
<header class="topbar">
|
||||
<div>
|
||||
<p class="eyebrow">MY PARKING · OFFLINE LAB</p>
|
||||
<h1>停车机器人离线测试台</h1>
|
||||
</div>
|
||||
<div class="connection">
|
||||
<span id="connection-dot" class="dot"></span>
|
||||
<span id="connection-text">正在连接仿真后端</span>
|
||||
</div>
|
||||
</header>
|
||||
|
||||
<section class="workspace">
|
||||
<aside class="panel controls-panel">
|
||||
<div class="panel-heading">
|
||||
<span>控制台</span>
|
||||
<button id="reset-all" class="text-button">全部复位</button>
|
||||
</div>
|
||||
|
||||
<label class="field-label" for="vehicle-select">当前车辆</label>
|
||||
<select id="vehicle-select">
|
||||
<option value="1">车辆 1</option>
|
||||
</select>
|
||||
|
||||
<section class="virtual-remote">
|
||||
<div class="remote-heading">
|
||||
<p class="group-label">虚拟遥控器</p>
|
||||
<span id="remote-state">已松开</span>
|
||||
</div>
|
||||
<div class="remote-pad" aria-label="虚拟遥控方向面板">
|
||||
<button data-throttle="1" data-steering="1"
|
||||
aria-label="前进并左转">↖</button>
|
||||
<button data-throttle="1" data-steering="0"
|
||||
aria-label="前进">↑</button>
|
||||
<button data-throttle="1" data-steering="-1"
|
||||
aria-label="前进并右转">↗</button>
|
||||
<button data-throttle="0" data-steering="1"
|
||||
aria-label="原地向左转">←</button>
|
||||
<button id="remote-stop" class="remote-stop"
|
||||
aria-label="停止">STOP</button>
|
||||
<button data-throttle="0" data-steering="-1"
|
||||
aria-label="原地向右转">→</button>
|
||||
<button data-throttle="-1" data-steering="1"
|
||||
aria-label="后退并左转">↙</button>
|
||||
<button data-throttle="-1" data-steering="0"
|
||||
aria-label="后退">↓</button>
|
||||
<button data-throttle="-1" data-steering="-1"
|
||||
aria-label="后退并右转">↘</button>
|
||||
</div>
|
||||
<p class="remote-help">
|
||||
按住操作；键盘 W/S 前后，A/D 转向，可组合按键。
|
||||
</p>
|
||||
<label class="remote-slider">
|
||||
<span>线速度 <output id="speed-scale-value">60%</output></span>
|
||||
<input id="speed-scale" type="range"
|
||||
min="0" max="100" value="60">
|
||||
</label>
|
||||
<label class="remote-slider">
|
||||
<span>转向强度 <output id="steering-scale-value">60%</output></span>
|
||||
<input id="steering-scale" type="range"
|
||||
min="0" max="100" value="60">
|
||||
</label>
|
||||
<p class="remote-mode-note">
|
||||
遥控方向遵循当前舵轮模式；正常模式下可边走边转。
|
||||
</p>
|
||||
</section>
|
||||
|
||||
<div id="action-groups"></div>
|
||||
|
||||
<div id="command-message" class="message">
|
||||
请选择车辆和模式。
|
||||
</div>
|
||||
|
||||
<details class="configuration">
|
||||
<summary>仿真布局配置</summary>
|
||||
|
||||
<label class="field-label" for="vehicle-count">车辆数量</label>
|
||||
<select id="vehicle-count">
|
||||
<option value="1">1 辆</option>
|
||||
<option value="2">2 辆</option>
|
||||
<option value="3">3 辆</option>
|
||||
<option value="4">4 辆</option>
|
||||
<option value="5">5 辆</option>
|
||||
<option value="6">6 辆</option>
|
||||
<option value="7">7 辆</option>
|
||||
<option value="8">8 辆</option>
|
||||
</select>
|
||||
|
||||
<p class="group-label">车队中心（世界系）</p>
|
||||
<div class="numeric-grid">
|
||||
<label>X / m<input id="fleet-x" type="number" step="0.1"></label>
|
||||
<label>Y / m<input id="fleet-y" type="number" step="0.1"></label>
|
||||
<label>Yaw / °<input id="fleet-yaw" type="number" step="1"></label>
|
||||
</div>
|
||||
|
||||
<p class="group-label">单车相对车队中心位姿</p>
|
||||
<div id="layout-rows" class="layout-rows"></div>
|
||||
<button id="apply-configuration" class="primary-button">
|
||||
应用布局并复位
|
||||
</button>
|
||||
</details>
|
||||
|
||||
<div class="legend">
|
||||
<div><span class="axis-swatch x-axis"></span>车体 +X（车头）</div>
|
||||
<div><span class="axis-swatch y-axis"></span>车体 +Y（左侧）</div>
|
||||
<div><span class="legend-line zero"></span>舵轮机械 0°</div>
|
||||
<div><span class="legend-line actual"></span>实际舵角</div>
|
||||
<div><span class="legend-line target"></span>目标舵角</div>
|
||||
<div><span class="legend-dot ready"></span>舵轮已到位</div>
|
||||
<div><span class="legend-dot aligning"></span>舵轮转向中</div>
|
||||
</div>
|
||||
</aside>
|
||||
|
||||
<section class="panel viewport-panel">
|
||||
<div class="panel-heading">
|
||||
<span>世界视图</span>
|
||||
<span class="coordinate-note">X 向右 · Y 向上 · 逆时针为正</span>
|
||||
</div>
|
||||
<canvas id="world-canvas"></canvas>
|
||||
</section>
|
||||
|
||||
<aside class="panel status-panel">
|
||||
<div class="panel-heading">
|
||||
<span>车辆状态</span>
|
||||
<span id="update-rate">-- Hz</span>
|
||||
</div>
|
||||
<div id="selected-vehicle-detail"></div>
|
||||
<div id="vehicle-cards" class="vehicle-cards"></div>
|
||||
</aside>
|
||||
</section>
|
||||
</main>
|
||||
|
||||
<script src="viewer.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,603 @@
|
||||
:root {
|
||||
color-scheme: dark;
|
||||
font-family: Inter, "Segoe UI", "Microsoft YaHei", sans-serif;
|
||||
background: #050a0e;
|
||||
color: #dbe9ef;
|
||||
--panel: rgba(13, 24, 32, 0.92);
|
||||
--border: rgba(116, 151, 168, 0.19);
|
||||
--muted: #78909d;
|
||||
--accent: #42dfb7;
|
||||
--warning: #ffb257;
|
||||
--danger: #ff6577;
|
||||
}
|
||||
|
||||
* {
|
||||
box-sizing: border-box;
|
||||
}
|
||||
|
||||
body {
|
||||
min-width: 1100px;
|
||||
min-height: 100vh;
|
||||
margin: 0;
|
||||
background:
|
||||
radial-gradient(circle at 25% 0%,
|
||||
rgba(32, 117, 106, 0.16), transparent 34%),
|
||||
linear-gradient(145deg, #071018, #030609 72%);
|
||||
}
|
||||
|
||||
button,
|
||||
select {
|
||||
font: inherit;
|
||||
}
|
||||
|
||||
.app-shell {
|
||||
min-height: 100vh;
|
||||
padding: 24px;
|
||||
}
|
||||
|
||||
.topbar {
|
||||
display: flex;
|
||||
align-items: flex-end;
|
||||
justify-content: space-between;
|
||||
max-width: 1800px;
|
||||
margin: 0 auto 18px;
|
||||
}
|
||||
|
||||
.eyebrow {
|
||||
margin: 0 0 7px;
|
||||
color: var(--accent);
|
||||
font-size: 11px;
|
||||
font-weight: 700;
|
||||
letter-spacing: 0.18em;
|
||||
}
|
||||
|
||||
h1 {
|
||||
margin: 0;
|
||||
font-size: 26px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
.connection {
|
||||
display: flex;
|
||||
gap: 9px;
|
||||
align-items: center;
|
||||
color: var(--muted);
|
||||
font-size: 13px;
|
||||
}
|
||||
|
||||
.dot {
|
||||
width: 9px;
|
||||
height: 9px;
|
||||
border-radius: 50%;
|
||||
background: var(--danger);
|
||||
box-shadow: 0 0 12px rgba(255, 101, 119, 0.45);
|
||||
}
|
||||
|
||||
.dot.online {
|
||||
background: var(--accent);
|
||||
box-shadow: 0 0 12px rgba(66, 223, 183, 0.5);
|
||||
}
|
||||
|
||||
.workspace {
|
||||
display: grid;
|
||||
grid-template-columns: 320px minmax(600px, 1fr) 340px;
|
||||
gap: 14px;
|
||||
max-width: 1800px;
|
||||
min-height: calc(100vh - 112px);
|
||||
margin: 0 auto;
|
||||
}
|
||||
|
||||
.panel {
|
||||
overflow: hidden;
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 14px;
|
||||
background: var(--panel);
|
||||
box-shadow: 0 20px 55px rgba(0, 0, 0, 0.25);
|
||||
}
|
||||
|
||||
.panel-heading {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
min-height: 48px;
|
||||
padding: 0 16px;
|
||||
border-bottom: 1px solid var(--border);
|
||||
color: #bcd0d9;
|
||||
font-size: 13px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
.controls-panel {
|
||||
max-height: calc(100vh - 112px);
|
||||
overflow-y: auto;
|
||||
padding-bottom: 18px;
|
||||
}
|
||||
|
||||
.controls-panel > :not(.panel-heading) {
|
||||
margin-right: 16px;
|
||||
margin-left: 16px;
|
||||
}
|
||||
|
||||
.text-button {
|
||||
width: auto;
|
||||
padding: 4px 0;
|
||||
border: 0;
|
||||
background: transparent;
|
||||
color: var(--accent);
|
||||
cursor: pointer;
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
.field-label,
|
||||
.group-label {
|
||||
display: block;
|
||||
margin-top: 20px;
|
||||
margin-bottom: 8px;
|
||||
color: var(--muted);
|
||||
font-size: 11px;
|
||||
font-weight: 700;
|
||||
letter-spacing: 0.08em;
|
||||
}
|
||||
|
||||
select,
|
||||
.button-grid button,
|
||||
.drive-pad button {
|
||||
border: 1px solid rgba(126, 164, 182, 0.23);
|
||||
border-radius: 8px;
|
||||
background: #101e27;
|
||||
color: #dbe9ef;
|
||||
}
|
||||
|
||||
select {
|
||||
width: calc(100% - 32px);
|
||||
padding: 10px;
|
||||
}
|
||||
|
||||
.virtual-remote {
|
||||
margin-top: 18px !important;
|
||||
padding: 12px;
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 10px;
|
||||
background: rgba(5, 12, 17, 0.58);
|
||||
}
|
||||
|
||||
.remote-heading {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
}
|
||||
|
||||
.remote-heading .group-label {
|
||||
margin: 0;
|
||||
}
|
||||
|
||||
#remote-state {
|
||||
color: var(--muted);
|
||||
font-size: 10px;
|
||||
}
|
||||
|
||||
#remote-state.active {
|
||||
color: var(--accent);
|
||||
}
|
||||
|
||||
.remote-pad {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(3, 54px);
|
||||
gap: 7px;
|
||||
justify-content: center;
|
||||
margin: 12px 0 8px;
|
||||
touch-action: none;
|
||||
user-select: none;
|
||||
}
|
||||
|
||||
.remote-pad button {
|
||||
width: 54px;
|
||||
height: 45px;
|
||||
padding: 0;
|
||||
border: 1px solid rgba(126, 164, 182, 0.3);
|
||||
border-radius: 9px;
|
||||
background: #101e27;
|
||||
color: #dbe9ef;
|
||||
cursor: pointer;
|
||||
font-size: 22px;
|
||||
}
|
||||
|
||||
.remote-pad button:hover,
|
||||
.remote-pad button.pressed {
|
||||
border-color: var(--accent);
|
||||
background: rgba(66, 223, 183, 0.18);
|
||||
color: #78f0d5;
|
||||
}
|
||||
|
||||
.remote-pad .remote-stop {
|
||||
border-color: rgba(255, 101, 119, 0.45);
|
||||
color: #ff98a5;
|
||||
font-size: 9px;
|
||||
font-weight: 800;
|
||||
letter-spacing: 0.08em;
|
||||
}
|
||||
|
||||
.remote-help,
|
||||
.remote-mode-note {
|
||||
margin: 7px 0 0;
|
||||
color: #718a96;
|
||||
font-size: 9px;
|
||||
line-height: 1.45;
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.remote-slider {
|
||||
display: grid;
|
||||
gap: 4px;
|
||||
margin-top: 10px;
|
||||
color: #8fa8b4;
|
||||
font-size: 10px;
|
||||
}
|
||||
|
||||
.remote-slider span {
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
}
|
||||
|
||||
.remote-slider output {
|
||||
color: var(--accent);
|
||||
font-variant-numeric: tabular-nums;
|
||||
}
|
||||
|
||||
.remote-slider input {
|
||||
height: 18px;
|
||||
padding: 0;
|
||||
accent-color: var(--accent);
|
||||
}
|
||||
|
||||
.action-grid {
|
||||
display: grid;
|
||||
grid-template-columns: 1fr 1fr;
|
||||
gap: 7px;
|
||||
}
|
||||
|
||||
.action-grid button {
|
||||
min-height: 38px;
|
||||
border: 1px solid rgba(126, 164, 182, 0.23);
|
||||
border-radius: 8px;
|
||||
background: #101e27;
|
||||
color: #dbe9ef;
|
||||
cursor: pointer;
|
||||
transition:
|
||||
border-color 120ms,
|
||||
background 120ms,
|
||||
transform 120ms;
|
||||
}
|
||||
|
||||
.action-grid button:hover {
|
||||
border-color: var(--accent);
|
||||
background: #142c31;
|
||||
transform: translateY(-1px);
|
||||
}
|
||||
|
||||
.action-grid .danger-button {
|
||||
border-color: rgba(255, 101, 119, 0.45);
|
||||
color: #ff98a5;
|
||||
}
|
||||
|
||||
.configuration {
|
||||
margin-top: 18px !important;
|
||||
border-top: 1px solid var(--border);
|
||||
border-bottom: 1px solid var(--border);
|
||||
padding: 13px 0 16px;
|
||||
}
|
||||
|
||||
.configuration summary {
|
||||
color: #bcd0d9;
|
||||
cursor: pointer;
|
||||
font-size: 12px;
|
||||
font-weight: 650;
|
||||
}
|
||||
|
||||
.configuration select {
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
.numeric-grid {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(3, 1fr);
|
||||
gap: 6px;
|
||||
}
|
||||
|
||||
.numeric-grid label,
|
||||
.layout-row label {
|
||||
display: grid;
|
||||
gap: 4px;
|
||||
color: var(--muted);
|
||||
font-size: 9px;
|
||||
}
|
||||
|
||||
input {
|
||||
width: 100%;
|
||||
min-width: 0;
|
||||
padding: 7px 5px;
|
||||
border: 1px solid rgba(126, 164, 182, 0.23);
|
||||
border-radius: 6px;
|
||||
outline: 0;
|
||||
background: #0b171f;
|
||||
color: #dbe9ef;
|
||||
font: inherit;
|
||||
font-variant-numeric: tabular-nums;
|
||||
}
|
||||
|
||||
input:focus {
|
||||
border-color: var(--accent);
|
||||
}
|
||||
|
||||
.layout-rows {
|
||||
display: grid;
|
||||
gap: 7px;
|
||||
max-height: 275px;
|
||||
overflow-y: auto;
|
||||
}
|
||||
|
||||
.layout-row {
|
||||
display: grid;
|
||||
grid-template-columns: 48px repeat(3, 1fr);
|
||||
gap: 5px;
|
||||
align-items: end;
|
||||
padding: 8px;
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 7px;
|
||||
background: rgba(5, 12, 17, 0.6);
|
||||
}
|
||||
|
||||
.layout-row strong {
|
||||
align-self: center;
|
||||
color: #9cb2bd;
|
||||
font-size: 10px;
|
||||
}
|
||||
|
||||
.primary-button {
|
||||
width: 100%;
|
||||
margin-top: 10px;
|
||||
padding: 9px;
|
||||
border: 1px solid rgba(66, 223, 183, 0.5);
|
||||
border-radius: 7px;
|
||||
background: rgba(66, 223, 183, 0.12);
|
||||
color: #78f0d5;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
.message {
|
||||
min-height: 56px;
|
||||
margin-top: 18px !important;
|
||||
padding: 11px;
|
||||
border-left: 3px solid var(--accent);
|
||||
border-radius: 4px;
|
||||
background: rgba(66, 223, 183, 0.07);
|
||||
color: #a8c4cf;
|
||||
font-size: 12px;
|
||||
line-height: 1.5;
|
||||
}
|
||||
|
||||
.message.error {
|
||||
border-left-color: var(--danger);
|
||||
background: rgba(255, 101, 119, 0.08);
|
||||
}
|
||||
|
||||
.legend {
|
||||
display: grid;
|
||||
gap: 10px;
|
||||
margin-top: 22px !important;
|
||||
color: var(--muted);
|
||||
font-size: 11px;
|
||||
}
|
||||
|
||||
.legend > div {
|
||||
display: flex;
|
||||
gap: 9px;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.legend-line {
|
||||
width: 24px;
|
||||
height: 0;
|
||||
border-top: 3px solid var(--accent);
|
||||
}
|
||||
|
||||
.legend-line.target {
|
||||
border-top-style: dashed;
|
||||
border-top-color: var(--warning);
|
||||
}
|
||||
|
||||
.legend-line.zero {
|
||||
border-top-width: 1px;
|
||||
border-top-style: dashed;
|
||||
border-top-color: #56a7ff;
|
||||
}
|
||||
|
||||
.axis-swatch {
|
||||
width: 24px;
|
||||
height: 3px;
|
||||
background: #ff6477;
|
||||
}
|
||||
|
||||
.axis-swatch.y-axis {
|
||||
background: #54d991;
|
||||
}
|
||||
|
||||
.legend-dot {
|
||||
width: 8px;
|
||||
height: 8px;
|
||||
border-radius: 50%;
|
||||
background: var(--accent);
|
||||
}
|
||||
|
||||
.legend-dot.aligning {
|
||||
background: var(--warning);
|
||||
}
|
||||
|
||||
.viewport-panel {
|
||||
display: flex;
|
||||
min-width: 0;
|
||||
flex-direction: column;
|
||||
}
|
||||
|
||||
.coordinate-note,
|
||||
#update-rate {
|
||||
color: var(--muted);
|
||||
font-size: 11px;
|
||||
font-weight: 500;
|
||||
}
|
||||
|
||||
#world-canvas {
|
||||
display: block;
|
||||
width: 100%;
|
||||
height: calc(100% - 48px);
|
||||
min-height: 620px;
|
||||
}
|
||||
|
||||
.vehicle-cards {
|
||||
display: grid;
|
||||
gap: 9px;
|
||||
padding: 12px;
|
||||
}
|
||||
|
||||
.status-panel {
|
||||
max-height: calc(100vh - 112px);
|
||||
overflow-y: auto;
|
||||
}
|
||||
|
||||
.wheel-detail {
|
||||
padding: 12px;
|
||||
border-bottom: 1px solid var(--border);
|
||||
}
|
||||
|
||||
.geometry-note {
|
||||
margin-bottom: 11px;
|
||||
color: #8fa8b4;
|
||||
font-size: 10px;
|
||||
line-height: 1.5;
|
||||
}
|
||||
|
||||
.wheel-row {
|
||||
margin-top: 10px;
|
||||
}
|
||||
|
||||
.wheel-row-title {
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
gap: 8px;
|
||||
color: #9eb4be;
|
||||
font-size: 10px;
|
||||
}
|
||||
|
||||
.wheel-row-title span {
|
||||
font-variant-numeric: tabular-nums;
|
||||
}
|
||||
|
||||
.angle-scale {
|
||||
position: relative;
|
||||
height: 8px;
|
||||
margin: 6px 0 3px;
|
||||
border-radius: 4px;
|
||||
background:
|
||||
linear-gradient(90deg,
|
||||
rgba(181, 140, 255, 0.42),
|
||||
rgba(66, 223, 183, 0.15) 50%,
|
||||
rgba(181, 140, 255, 0.42));
|
||||
}
|
||||
|
||||
.zero-mark,
|
||||
.target-mark,
|
||||
.actual-mark {
|
||||
position: absolute;
|
||||
top: -3px;
|
||||
width: 2px;
|
||||
height: 14px;
|
||||
transform: translateX(-1px);
|
||||
}
|
||||
|
||||
.zero-mark {
|
||||
left: 50%;
|
||||
background: #56a7ff;
|
||||
}
|
||||
|
||||
.target-mark {
|
||||
background: var(--warning);
|
||||
}
|
||||
|
||||
.actual-mark {
|
||||
width: 3px;
|
||||
background: var(--accent);
|
||||
}
|
||||
|
||||
.wheel-speed {
|
||||
color: #617b88;
|
||||
font-size: 9px;
|
||||
text-align: right;
|
||||
}
|
||||
|
||||
.vehicle-card {
|
||||
width: 100%;
|
||||
padding: 12px;
|
||||
border: 1px solid var(--border);
|
||||
border-radius: 9px;
|
||||
background: rgba(9, 18, 24, 0.78);
|
||||
color: inherit;
|
||||
cursor: pointer;
|
||||
text-align: left;
|
||||
}
|
||||
|
||||
.vehicle-card.selected {
|
||||
border-color: rgba(66, 223, 183, 0.7);
|
||||
background: rgba(36, 120, 105, 0.11);
|
||||
}
|
||||
|
||||
.card-topline {
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
.status-ready {
|
||||
color: var(--accent);
|
||||
}
|
||||
|
||||
.status-aligning {
|
||||
color: var(--warning);
|
||||
}
|
||||
|
||||
.mode-name {
|
||||
margin: 7px 0 9px;
|
||||
color: #91a9b5;
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
dl {
|
||||
display: grid;
|
||||
gap: 5px;
|
||||
margin: 0;
|
||||
font-size: 11px;
|
||||
}
|
||||
|
||||
dl div {
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
}
|
||||
|
||||
dt {
|
||||
color: #607985;
|
||||
}
|
||||
|
||||
dd {
|
||||
margin: 0;
|
||||
color: #bcd0d9;
|
||||
font-variant-numeric: tabular-nums;
|
||||
}
|
||||
|
||||
@media (max-width: 1300px) {
|
||||
body {
|
||||
min-width: 1100px;
|
||||
}
|
||||
|
||||
.workspace {
|
||||
grid-template-columns: 285px minmax(520px, 1fr) 305px;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,842 @@
|
||||
const canvas = document.getElementById("world-canvas");
|
||||
const context = canvas.getContext("2d");
|
||||
const vehicleSelect = document.getElementById("vehicle-select");
|
||||
const commandMessage = document.getElementById("command-message");
|
||||
const connectionDot = document.getElementById("connection-dot");
|
||||
const connectionText = document.getElementById("connection-text");
|
||||
const vehicleCards = document.getElementById("vehicle-cards");
|
||||
const selectedVehicleDetail =
|
||||
document.getElementById("selected-vehicle-detail");
|
||||
const actionGroups = document.getElementById("action-groups");
|
||||
const updateRate = document.getElementById("update-rate");
|
||||
const vehicleCountInput = document.getElementById("vehicle-count");
|
||||
const layoutRows = document.getElementById("layout-rows");
|
||||
const remoteState = document.getElementById("remote-state");
|
||||
const speedScaleInput = document.getElementById("speed-scale");
|
||||
const steeringScaleInput =
|
||||
document.getElementById("steering-scale");
|
||||
const speedScaleValue =
|
||||
document.getElementById("speed-scale-value");
|
||||
const steeringScaleValue =
|
||||
document.getElementById("steering-scale-value");
|
||||
|
||||
let vehicles = [];
|
||||
let actions = [];
|
||||
let configuration = {
|
||||
vehicleCount: 1,
|
||||
fleetCenter: { xMeters: 0, yMeters: 0, yawRadians: 0 },
|
||||
vehicles: [
|
||||
{ vehicleId: 1, xMeters: 0, yMeters: 0, yawRadians: 0 }
|
||||
]
|
||||
};
|
||||
let lastUpdateTime = performance.now();
|
||||
let successfulUpdates = 0;
|
||||
let remoteThrottle = 0;
|
||||
let remoteSteering = 0;
|
||||
let remotePointerId = null;
|
||||
let remoteVehicleId = null;
|
||||
const pressedDriveKeys = new Set();
|
||||
|
||||
function resizeCanvas() {
|
||||
const bounds = canvas.getBoundingClientRect();
|
||||
const ratio = window.devicePixelRatio || 1;
|
||||
canvas.width = Math.max(1, Math.floor(bounds.width * ratio));
|
||||
canvas.height = Math.max(1, Math.floor(bounds.height * ratio));
|
||||
context.setTransform(ratio, 0, 0, ratio, 0, 0);
|
||||
}
|
||||
|
||||
function getView() {
|
||||
const centerX = configuration.fleetCenter.xMeters;
|
||||
const centerY = configuration.fleetCenter.yMeters;
|
||||
let radiusX = 2.1;
|
||||
let radiusY = 1.7;
|
||||
|
||||
for (const vehicle of vehicles) {
|
||||
radiusX = Math.max(
|
||||
radiusX,
|
||||
Math.abs(vehicle.xMeters - centerX) + 1.2);
|
||||
radiusY = Math.max(
|
||||
radiusY,
|
||||
Math.abs(vehicle.yMeters - centerY) + 1.0);
|
||||
}
|
||||
|
||||
const width = canvas.clientWidth;
|
||||
const height = canvas.clientHeight;
|
||||
const scale = Math.min(
|
||||
width / (radiusX * 2),
|
||||
height / (radiusY * 2),
|
||||
155);
|
||||
|
||||
return { centerX, centerY, scale, width, height };
|
||||
}
|
||||
|
||||
function worldToScreen(xMeters, yMeters, view = getView()) {
|
||||
return {
|
||||
x: view.width / 2 +
|
||||
(xMeters - view.centerX) * view.scale,
|
||||
y: view.height / 2 -
|
||||
(yMeters - view.centerY) * view.scale,
|
||||
scale: view.scale
|
||||
};
|
||||
}
|
||||
|
||||
function drawGrid(view) {
|
||||
const width = view.width;
|
||||
const height = view.height;
|
||||
const worldOrigin = worldToScreen(0, 0, view);
|
||||
const spacing = view.scale;
|
||||
|
||||
context.clearRect(0, 0, width, height);
|
||||
context.fillStyle = "#071018";
|
||||
context.fillRect(0, 0, width, height);
|
||||
context.lineWidth = 1;
|
||||
context.strokeStyle = "rgba(109, 143, 160, 0.12)";
|
||||
|
||||
for (let x = worldOrigin.x % spacing; x < width; x += spacing) {
|
||||
context.beginPath();
|
||||
context.moveTo(x, 0);
|
||||
context.lineTo(x, height);
|
||||
context.stroke();
|
||||
}
|
||||
|
||||
for (let y = worldOrigin.y % spacing; y < height; y += spacing) {
|
||||
context.beginPath();
|
||||
context.moveTo(0, y);
|
||||
context.lineTo(width, y);
|
||||
context.stroke();
|
||||
}
|
||||
|
||||
context.strokeStyle = "rgba(90, 125, 142, 0.35)";
|
||||
context.lineWidth = 1.2;
|
||||
context.beginPath();
|
||||
context.moveTo(0, worldOrigin.y);
|
||||
context.lineTo(width, worldOrigin.y);
|
||||
context.moveTo(worldOrigin.x, 0);
|
||||
context.lineTo(worldOrigin.x, height);
|
||||
context.stroke();
|
||||
}
|
||||
|
||||
function drawFleetCenter(view) {
|
||||
const fleet = configuration.fleetCenter;
|
||||
const point = worldToScreen(
|
||||
fleet.xMeters,
|
||||
fleet.yMeters,
|
||||
view);
|
||||
const yaw = fleet.yawRadians;
|
||||
const axisLength = 55;
|
||||
|
||||
context.save();
|
||||
context.translate(point.x, point.y);
|
||||
context.rotate(-yaw);
|
||||
|
||||
context.fillStyle = "#b58cff";
|
||||
context.beginPath();
|
||||
context.moveTo(0, -8);
|
||||
context.lineTo(8, 0);
|
||||
context.lineTo(0, 8);
|
||||
context.lineTo(-8, 0);
|
||||
context.closePath();
|
||||
context.fill();
|
||||
|
||||
drawArrow(0, 0, axisLength, 0, "#ff7285", 2);
|
||||
drawArrow(0, 0, 0, -axisLength, "#66d99a", 2);
|
||||
context.restore();
|
||||
|
||||
context.fillStyle = "#c7aaff";
|
||||
context.font = "12px Inter, sans-serif";
|
||||
context.fillText("FLEET CENTER", point.x + 12, point.y - 11);
|
||||
}
|
||||
|
||||
function drawVehicle(vehicle, view) {
|
||||
const point = worldToScreen(
|
||||
vehicle.xMeters,
|
||||
vehicle.yMeters,
|
||||
view);
|
||||
const selected = Number(vehicleSelect.value) === vehicle.vehicleId;
|
||||
const bodyLength = vehicle.bodyLengthMeters * point.scale;
|
||||
const bodyWidth = vehicle.bodyWidthMeters * point.scale;
|
||||
|
||||
context.save();
|
||||
context.translate(point.x, point.y);
|
||||
context.rotate(-vehicle.yawRadians);
|
||||
|
||||
context.fillStyle = selected
|
||||
? "rgba(26, 180, 155, 0.2)"
|
||||
: "rgba(50, 73, 88, 0.42)";
|
||||
context.strokeStyle = selected ? "#39d8b7" : "#668392";
|
||||
context.lineWidth = selected ? 2.5 : 1.5;
|
||||
context.beginPath();
|
||||
context.roundRect(
|
||||
-bodyLength / 2,
|
||||
-bodyWidth / 2,
|
||||
bodyLength,
|
||||
bodyWidth,
|
||||
12);
|
||||
context.fill();
|
||||
context.stroke();
|
||||
|
||||
drawBodyAxes(bodyLength, bodyWidth);
|
||||
|
||||
for (const wheel of vehicle.wheels) {
|
||||
drawWheel(
|
||||
wheel.xMeters * point.scale,
|
||||
-wheel.yMeters * point.scale,
|
||||
wheel);
|
||||
}
|
||||
|
||||
context.fillStyle = "rgba(202, 222, 230, 0.8)";
|
||||
context.font = "10px Inter, sans-serif";
|
||||
context.textAlign = "center";
|
||||
context.fillText(
|
||||
"1472 × 948 mm",
|
||||
0,
|
||||
bodyWidth / 2 - 8);
|
||||
context.restore();
|
||||
|
||||
context.textAlign = "left";
|
||||
context.fillStyle = "#dbe9ef";
|
||||
context.font = "600 13px Inter, sans-serif";
|
||||
context.fillText(
|
||||
`CAR ${vehicle.vehicleId}`,
|
||||
point.x - 24,
|
||||
point.y - bodyWidth / 2 - 18);
|
||||
|
||||
context.fillStyle = vehicle.modeReady ? "#42dfb7" : "#ffb257";
|
||||
context.font = "12px Inter, sans-serif";
|
||||
context.fillText(
|
||||
vehicle.modeReady ? "READY" : "ALIGNING",
|
||||
point.x - 23,
|
||||
point.y + bodyWidth / 2 + 25);
|
||||
}
|
||||
|
||||
function drawBodyAxes(bodyLength, bodyWidth) {
|
||||
const xLength = bodyLength / 2 + 30;
|
||||
const yLength = bodyWidth / 2 + 27;
|
||||
|
||||
drawArrow(0, 0, xLength, 0, "#ff6477", 2.4);
|
||||
drawArrow(0, 0, 0, -yLength, "#54d991", 2.4);
|
||||
|
||||
context.font = "700 11px Inter, sans-serif";
|
||||
context.fillStyle = "#ff8b99";
|
||||
context.fillText("+X", xLength - 2, -7);
|
||||
context.fillStyle = "#7debab";
|
||||
context.fillText("+Y", 6, -yLength + 2);
|
||||
}
|
||||
|
||||
function drawWheel(x, y, wheel) {
|
||||
const wheelLength = 33;
|
||||
const limitRadius = 20;
|
||||
context.save();
|
||||
context.translate(x, y);
|
||||
|
||||
context.strokeStyle = "rgba(86, 167, 255, 0.72)";
|
||||
context.lineWidth = 1.2;
|
||||
context.setLineDash([3, 3]);
|
||||
context.beginPath();
|
||||
context.moveTo(-22, 0);
|
||||
context.lineTo(24, 0);
|
||||
context.stroke();
|
||||
|
||||
drawWheelLimitArc(limitRadius);
|
||||
|
||||
context.save();
|
||||
context.rotate(-wheel.targetAngleDegrees * Math.PI / 180);
|
||||
context.strokeStyle = "rgba(255, 178, 87, 0.9)";
|
||||
context.lineWidth = 3;
|
||||
context.setLineDash([5, 4]);
|
||||
context.beginPath();
|
||||
context.moveTo(-wheelLength / 2, 0);
|
||||
context.lineTo(wheelLength / 2, 0);
|
||||
context.stroke();
|
||||
context.restore();
|
||||
|
||||
context.save();
|
||||
context.rotate(-wheel.actualAngleDegrees * Math.PI / 180);
|
||||
context.strokeStyle = wheel.isAligned ? "#42dfb7" : "#f2f6f8";
|
||||
context.lineWidth = 7;
|
||||
context.setLineDash([]);
|
||||
context.lineCap = "round";
|
||||
context.beginPath();
|
||||
context.moveTo(-wheelLength / 2, 0);
|
||||
context.lineTo(wheelLength / 2, 0);
|
||||
context.stroke();
|
||||
context.restore();
|
||||
|
||||
context.setLineDash([]);
|
||||
context.fillStyle = wheel.isAligned ? "#7ef4dc" : "#ffca83";
|
||||
context.font = "700 9px Inter, sans-serif";
|
||||
context.textAlign = "center";
|
||||
const sign = wheel.actualAngleDegrees >= 0 ? "+" : "";
|
||||
context.fillText(
|
||||
`${sign}${wheel.actualAngleDegrees.toFixed(0)}°`,
|
||||
0,
|
||||
-25);
|
||||
context.restore();
|
||||
}
|
||||
|
||||
function drawWheelLimitArc(radius) {
|
||||
context.strokeStyle = "rgba(181, 140, 255, 0.5)";
|
||||
context.lineWidth = 1;
|
||||
context.setLineDash([]);
|
||||
context.beginPath();
|
||||
|
||||
for (let angle = -120; angle <= 120; angle += 5) {
|
||||
const radians = -angle * Math.PI / 180;
|
||||
const x = Math.cos(radians) * radius;
|
||||
const y = Math.sin(radians) * radius;
|
||||
if (angle === -120) context.moveTo(x, y);
|
||||
else context.lineTo(x, y);
|
||||
}
|
||||
context.stroke();
|
||||
|
||||
for (const angle of [-120, 0, 120]) {
|
||||
const radians = -angle * Math.PI / 180;
|
||||
context.beginPath();
|
||||
context.moveTo(
|
||||
Math.cos(radians) * (radius - 3),
|
||||
Math.sin(radians) * (radius - 3));
|
||||
context.lineTo(
|
||||
Math.cos(radians) * (radius + 3),
|
||||
Math.sin(radians) * (radius + 3));
|
||||
context.stroke();
|
||||
}
|
||||
}
|
||||
|
||||
function drawArrow(x1, y1, x2, y2, color, width) {
|
||||
const angle = Math.atan2(y2 - y1, x2 - x1);
|
||||
context.strokeStyle = color;
|
||||
context.fillStyle = color;
|
||||
context.lineWidth = width;
|
||||
context.setLineDash([]);
|
||||
context.beginPath();
|
||||
context.moveTo(x1, y1);
|
||||
context.lineTo(x2, y2);
|
||||
context.stroke();
|
||||
context.beginPath();
|
||||
context.moveTo(x2, y2);
|
||||
context.lineTo(
|
||||
x2 - 9 * Math.cos(angle - Math.PI / 6),
|
||||
y2 - 9 * Math.sin(angle - Math.PI / 6));
|
||||
context.lineTo(
|
||||
x2 - 9 * Math.cos(angle + Math.PI / 6),
|
||||
y2 - 9 * Math.sin(angle + Math.PI / 6));
|
||||
context.closePath();
|
||||
context.fill();
|
||||
}
|
||||
|
||||
function draw() {
|
||||
const view = getView();
|
||||
drawGrid(view);
|
||||
drawFleetCenter(view);
|
||||
vehicles.forEach(vehicle => drawVehicle(vehicle, view));
|
||||
requestAnimationFrame(draw);
|
||||
}
|
||||
|
||||
function renderActions() {
|
||||
const preferredGroups = ["舵轮模式", "运动测试", "维护"];
|
||||
const groups = [...new Set(actions.map(action => action.group))]
|
||||
.sort((left, right) => {
|
||||
const leftIndex = preferredGroups.indexOf(left);
|
||||
const rightIndex = preferredGroups.indexOf(right);
|
||||
if (leftIndex < 0 && rightIndex < 0)
|
||||
return left.localeCompare(right, "zh-CN");
|
||||
if (leftIndex < 0) return 1;
|
||||
if (rightIndex < 0) return -1;
|
||||
return leftIndex - rightIndex;
|
||||
});
|
||||
|
||||
actionGroups.innerHTML = groups.map(group => {
|
||||
const buttons = actions
|
||||
.filter(action => action.group === group)
|
||||
.sort((a, b) => a.order - b.order)
|
||||
.map(action => `
|
||||
<button data-command="${action.key}"
|
||||
class="${action.key === "stop" ? "danger-button" : ""}">
|
||||
${action.displayName}
|
||||
</button>`)
|
||||
.join("");
|
||||
|
||||
return `
|
||||
<section class="action-group">
|
||||
<p class="group-label">${group}</p>
|
||||
<div class="action-grid">${buttons}</div>
|
||||
</section>`;
|
||||
}).join("");
|
||||
|
||||
actionGroups.querySelectorAll("[data-command]")
|
||||
.forEach(button => {
|
||||
button.addEventListener("click", () =>
|
||||
sendCommand(button.dataset.command));
|
||||
});
|
||||
}
|
||||
|
||||
function renderVehicleSelector() {
|
||||
const previous = Number(vehicleSelect.value);
|
||||
vehicleSelect.innerHTML = vehicles
|
||||
.map(vehicle =>
|
||||
`<option value="${vehicle.vehicleId}">车辆 ${vehicle.vehicleId}</option>`)
|
||||
.join("");
|
||||
|
||||
if (vehicles.some(vehicle => vehicle.vehicleId === previous))
|
||||
vehicleSelect.value = String(previous);
|
||||
}
|
||||
|
||||
function renderCards() {
|
||||
vehicleCards.innerHTML = vehicles.map(vehicle => {
|
||||
const actual = vehicle.actualBodyTwist;
|
||||
const selected =
|
||||
Number(vehicleSelect.value) === vehicle.vehicleId;
|
||||
return `
|
||||
<button class="vehicle-card ${selected ? "selected" : ""}"
|
||||
data-vehicle="${vehicle.vehicleId}">
|
||||
<div class="card-topline">
|
||||
<strong>CAR ${vehicle.vehicleId}</strong>
|
||||
<span class="${vehicle.modeReady ? "status-ready" : "status-aligning"}">
|
||||
${vehicle.modeReady ? "READY" : "ALIGNING"}
|
||||
</span>
|
||||
</div>
|
||||
<div class="mode-name">${formatMode(vehicle.mode)}</div>
|
||||
<dl>
|
||||
<div><dt>X</dt><dd>${vehicle.xMeters.toFixed(2)} m</dd></div>
|
||||
<div><dt>Y</dt><dd>${vehicle.yMeters.toFixed(2)} m</dd></div>
|
||||
<div><dt>Yaw</dt><dd>${radToDeg(vehicle.yawRadians).toFixed(1)}°</dd></div>
|
||||
<div><dt>Vx / Vy</dt><dd>${actual.vxMetersPerSecond.toFixed(2)} / ${actual.vyMetersPerSecond.toFixed(2)}</dd></div>
|
||||
</dl>
|
||||
</button>`;
|
||||
}).join("");
|
||||
|
||||
vehicleCards.querySelectorAll("[data-vehicle]").forEach(card => {
|
||||
card.addEventListener("click", () => {
|
||||
vehicleSelect.value = card.dataset.vehicle;
|
||||
renderCards();
|
||||
renderSelectedVehicleDetail();
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
function renderSelectedVehicleDetail() {
|
||||
const selectedId = Number(vehicleSelect.value);
|
||||
const vehicle = vehicles.find(item => item.vehicleId === selectedId);
|
||||
if (!vehicle) {
|
||||
selectedVehicleDetail.innerHTML = "";
|
||||
return;
|
||||
}
|
||||
|
||||
selectedVehicleDetail.innerHTML = `
|
||||
<section class="wheel-detail">
|
||||
<div class="geometry-note">
|
||||
车体 1472 × 948 mm · 实际DLL轮位 X±750 / Y±500 mm
|
||||
</div>
|
||||
${vehicle.wheels.map(wheel => {
|
||||
const actualPercent =
|
||||
(wheel.actualAngleDegrees + 120) / 240 * 100;
|
||||
const targetPercent =
|
||||
(wheel.targetAngleDegrees + 120) / 240 * 100;
|
||||
return `
|
||||
<div class="wheel-row">
|
||||
<div class="wheel-row-title">
|
||||
<strong>${wheel.name}</strong>
|
||||
<span>实际 ${signed(wheel.actualAngleDegrees)}° · 目标 ${signed(wheel.targetAngleDegrees)}°</span>
|
||||
</div>
|
||||
<div class="angle-scale">
|
||||
<span class="zero-mark"></span>
|
||||
<span class="target-mark" style="left:${targetPercent}%"></span>
|
||||
<span class="actual-mark" style="left:${actualPercent}%"></span>
|
||||
</div>
|
||||
<div class="wheel-speed">
|
||||
轮速 ${wheel.actualSpeedMetersPerSecond.toFixed(2)} m/s
|
||||
</div>
|
||||
</div>`;
|
||||
}).join("")}
|
||||
</section>`;
|
||||
}
|
||||
|
||||
function formatMode(mode) {
|
||||
return {
|
||||
Normal: "正常模式",
|
||||
CrabLeft: "左蟹行",
|
||||
CrabRight: "右蟹行",
|
||||
Spin: "自转模式"
|
||||
}[mode] || mode;
|
||||
}
|
||||
|
||||
async function loadActions() {
|
||||
const response = await fetch("/api/actions", { cache: "no-store" });
|
||||
if (!response.ok) throw new Error(`HTTP ${response.status}`);
|
||||
actions = await response.json();
|
||||
renderActions();
|
||||
}
|
||||
|
||||
async function loadConfiguration() {
|
||||
const response = await fetch("/api/configuration", {
|
||||
cache: "no-store"
|
||||
});
|
||||
if (!response.ok) throw new Error(`HTTP ${response.status}`);
|
||||
configuration = await response.json();
|
||||
populateConfigurationForm();
|
||||
}
|
||||
|
||||
function populateConfigurationForm() {
|
||||
vehicleCountInput.value = String(configuration.vehicleCount);
|
||||
document.getElementById("fleet-x").value =
|
||||
configuration.fleetCenter.xMeters;
|
||||
document.getElementById("fleet-y").value =
|
||||
configuration.fleetCenter.yMeters;
|
||||
document.getElementById("fleet-yaw").value =
|
||||
radToDeg(configuration.fleetCenter.yawRadians).toFixed(1);
|
||||
renderLayoutRows(configuration.vehicleCount, configuration.vehicles);
|
||||
}
|
||||
|
||||
function readExistingLayouts() {
|
||||
return [...layoutRows.querySelectorAll(".layout-row")].map(row => ({
|
||||
vehicleId: Number(row.dataset.vehicleId),
|
||||
xMeters: Number(row.querySelector("[data-field='x']").value),
|
||||
yMeters: Number(row.querySelector("[data-field='y']").value),
|
||||
yawRadians: degToRad(
|
||||
Number(row.querySelector("[data-field='yaw']").value))
|
||||
}));
|
||||
}
|
||||
|
||||
function renderLayoutRows(count, sourceLayouts = readExistingLayouts()) {
|
||||
const byId = new Map(
|
||||
sourceLayouts.map(layout => [layout.vehicleId, layout]));
|
||||
|
||||
const fallbackSpacing = 2.0;
|
||||
layoutRows.innerHTML = Array.from({ length: count }, (_, index) => {
|
||||
const id = index + 1;
|
||||
const fallbackX =
|
||||
(index - (count - 1) / 2) * fallbackSpacing;
|
||||
const layout = byId.get(id) || {
|
||||
vehicleId: id,
|
||||
xMeters: count === 1 ? 0 : fallbackX,
|
||||
yMeters: 0,
|
||||
yawRadians: 0
|
||||
};
|
||||
|
||||
return `
|
||||
<div class="layout-row" data-vehicle-id="${id}">
|
||||
<strong>CAR ${id}</strong>
|
||||
<label>X<input data-field="x" type="number" step="0.1"
|
||||
value="${layout.xMeters}"></label>
|
||||
<label>Y<input data-field="y" type="number" step="0.1"
|
||||
value="${layout.yMeters}"></label>
|
||||
<label>Yaw°<input data-field="yaw" type="number" step="1"
|
||||
value="${radToDeg(layout.yawRadians).toFixed(1)}"></label>
|
||||
</div>`;
|
||||
}).join("");
|
||||
}
|
||||
|
||||
async function applyConfiguration() {
|
||||
const count = Number(vehicleCountInput.value);
|
||||
const layouts = readExistingLayouts().slice(0, count);
|
||||
const payload = {
|
||||
vehicleCount: count,
|
||||
fleetCenter: {
|
||||
xMeters: Number(document.getElementById("fleet-x").value),
|
||||
yMeters: Number(document.getElementById("fleet-y").value),
|
||||
yawRadians: degToRad(
|
||||
Number(document.getElementById("fleet-yaw").value))
|
||||
},
|
||||
vehicles: layouts
|
||||
};
|
||||
|
||||
const response = await fetch("/api/configuration", {
|
||||
method: "POST",
|
||||
headers: { "Content-Type": "application/json" },
|
||||
body: JSON.stringify(payload)
|
||||
});
|
||||
const result = await response.json();
|
||||
|
||||
if (!response.ok) {
|
||||
commandMessage.textContent =
|
||||
result.message || "布局配置失败。";
|
||||
commandMessage.classList.add("error");
|
||||
return;
|
||||
}
|
||||
|
||||
configuration = result;
|
||||
commandMessage.textContent =
|
||||
`已应用 ${configuration.vehicleCount} 辆车的车队布局。`;
|
||||
commandMessage.classList.remove("error");
|
||||
await updateVehicles();
|
||||
}
|
||||
|
||||
async function updateVehicles() {
|
||||
try {
|
||||
const response = await fetch("/api/vehicles", {
|
||||
cache: "no-store"
|
||||
});
|
||||
if (!response.ok) throw new Error(`HTTP ${response.status}`);
|
||||
vehicles = await response.json();
|
||||
renderVehicleSelector();
|
||||
renderCards();
|
||||
renderSelectedVehicleDetail();
|
||||
connectionDot.classList.add("online");
|
||||
connectionText.textContent = "离线仿真运行中";
|
||||
successfulUpdates += 1;
|
||||
} catch {
|
||||
connectionDot.classList.remove("online");
|
||||
connectionText.textContent = "仿真后端未连接";
|
||||
}
|
||||
}
|
||||
|
||||
async function sendCommand(command) {
|
||||
const vehicleId = vehicleSelect.value;
|
||||
try {
|
||||
const response = await fetch(
|
||||
`/api/vehicles/${vehicleId}/commands/${command}`,
|
||||
{ method: "POST" });
|
||||
const result = await response.json();
|
||||
commandMessage.textContent = result.message;
|
||||
commandMessage.classList.toggle("error", !result.success);
|
||||
await updateVehicles();
|
||||
} catch {
|
||||
commandMessage.textContent =
|
||||
"命令发送失败，请检查仿真后端。";
|
||||
commandMessage.classList.add("error");
|
||||
}
|
||||
}
|
||||
|
||||
function getRemoteScale(input) {
|
||||
return Number(input.value) / 100;
|
||||
}
|
||||
|
||||
function updateRemoteLabels() {
|
||||
speedScaleValue.textContent = `${speedScaleInput.value}%`;
|
||||
steeringScaleValue.textContent =
|
||||
`${steeringScaleInput.value}%`;
|
||||
}
|
||||
|
||||
async function sendManualControl(
|
||||
throttle,
|
||||
steering,
|
||||
showMessage = false,
|
||||
vehicleIdOverride = null) {
|
||||
remoteThrottle = throttle;
|
||||
remoteSteering = steering;
|
||||
|
||||
const active =
|
||||
Math.abs(throttle) > 0.001 ||
|
||||
Math.abs(steering) > 0.001;
|
||||
remoteState.textContent = active
|
||||
? `油门 ${signed(throttle)} · 转向 ${signed(steering)}`
|
||||
: "已松开";
|
||||
remoteState.classList.toggle("active", active);
|
||||
|
||||
try {
|
||||
const vehicleId = vehicleIdOverride ??
|
||||
(active
|
||||
? vehicleSelect.value
|
||||
: remoteVehicleId ?? vehicleSelect.value);
|
||||
|
||||
if (active)
|
||||
remoteVehicleId = String(vehicleId);
|
||||
|
||||
const response = await fetch(
|
||||
`/api/vehicles/${vehicleId}/manual-control`,
|
||||
{
|
||||
method: "POST",
|
||||
headers: { "Content-Type": "application/json" },
|
||||
body: JSON.stringify({
|
||||
throttle,
|
||||
steering,
|
||||
speedScale: getRemoteScale(speedScaleInput),
|
||||
steeringScale: getRemoteScale(steeringScaleInput)
|
||||
})
|
||||
});
|
||||
const result = await response.json();
|
||||
|
||||
if (!response.ok || showMessage) {
|
||||
commandMessage.textContent = result.message;
|
||||
commandMessage.classList.toggle(
|
||||
"error",
|
||||
!result.success);
|
||||
}
|
||||
|
||||
if (!active &&
|
||||
String(vehicleId) === remoteVehicleId) {
|
||||
remoteVehicleId = null;
|
||||
}
|
||||
} catch {
|
||||
commandMessage.textContent =
|
||||
"虚拟遥控命令发送失败，请检查仿真后端。";
|
||||
commandMessage.classList.add("error");
|
||||
}
|
||||
}
|
||||
|
||||
function stopRemote(showMessage = false) {
|
||||
const vehicleId = remoteVehicleId;
|
||||
pressedDriveKeys.clear();
|
||||
document.querySelectorAll(".remote-pad .pressed")
|
||||
.forEach(button => button.classList.remove("pressed"));
|
||||
return sendManualControl(
|
||||
0,
|
||||
0,
|
||||
showMessage,
|
||||
vehicleId);
|
||||
}
|
||||
|
||||
function driveFromKeyboard() {
|
||||
const forward =
|
||||
pressedDriveKeys.has("KeyW") ||
|
||||
pressedDriveKeys.has("ArrowUp");
|
||||
const backward =
|
||||
pressedDriveKeys.has("KeyS") ||
|
||||
pressedDriveKeys.has("ArrowDown");
|
||||
const left =
|
||||
pressedDriveKeys.has("KeyA") ||
|
||||
pressedDriveKeys.has("ArrowLeft");
|
||||
const right =
|
||||
pressedDriveKeys.has("KeyD") ||
|
||||
pressedDriveKeys.has("ArrowRight");
|
||||
|
||||
const throttle = Number(forward) - Number(backward);
|
||||
const steering = Number(left) - Number(right);
|
||||
sendManualControl(throttle, steering);
|
||||
}
|
||||
|
||||
function isTypingTarget(target) {
|
||||
return target instanceof HTMLInputElement ||
|
||||
target instanceof HTMLSelectElement ||
|
||||
target instanceof HTMLTextAreaElement;
|
||||
}
|
||||
|
||||
document.querySelectorAll(
|
||||
".remote-pad [data-throttle][data-steering]")
|
||||
.forEach(button => {
|
||||
button.addEventListener("pointerdown", event => {
|
||||
event.preventDefault();
|
||||
remotePointerId = event.pointerId;
|
||||
button.setPointerCapture(event.pointerId);
|
||||
button.classList.add("pressed");
|
||||
sendManualControl(
|
||||
Number(button.dataset.throttle),
|
||||
Number(button.dataset.steering));
|
||||
});
|
||||
|
||||
const release = event => {
|
||||
if (remotePointerId !== event.pointerId)
|
||||
return;
|
||||
remotePointerId = null;
|
||||
button.classList.remove("pressed");
|
||||
stopRemote();
|
||||
};
|
||||
|
||||
button.addEventListener("pointerup", release);
|
||||
button.addEventListener("pointercancel", release);
|
||||
button.addEventListener("lostpointercapture", release);
|
||||
});
|
||||
|
||||
document.getElementById("remote-stop").addEventListener(
|
||||
"click",
|
||||
() => stopRemote(true));
|
||||
|
||||
window.addEventListener("keydown", event => {
|
||||
if (isTypingTarget(event.target))
|
||||
return;
|
||||
|
||||
const driveKeys = [
|
||||
"KeyW", "KeyS", "KeyA", "KeyD",
|
||||
"ArrowUp", "ArrowDown", "ArrowLeft", "ArrowRight"
|
||||
];
|
||||
if (!driveKeys.includes(event.code))
|
||||
return;
|
||||
|
||||
event.preventDefault();
|
||||
if (event.repeat)
|
||||
return;
|
||||
|
||||
pressedDriveKeys.add(event.code);
|
||||
driveFromKeyboard();
|
||||
});
|
||||
|
||||
window.addEventListener("keyup", event => {
|
||||
if (!pressedDriveKeys.has(event.code))
|
||||
return;
|
||||
|
||||
event.preventDefault();
|
||||
pressedDriveKeys.delete(event.code);
|
||||
driveFromKeyboard();
|
||||
});
|
||||
|
||||
window.addEventListener("blur", () => stopRemote());
|
||||
document.addEventListener("visibilitychange", () => {
|
||||
if (document.hidden)
|
||||
stopRemote();
|
||||
});
|
||||
|
||||
[speedScaleInput, steeringScaleInput].forEach(input => {
|
||||
input.addEventListener("input", () => {
|
||||
updateRemoteLabels();
|
||||
if (remoteThrottle !== 0 || remoteSteering !== 0) {
|
||||
sendManualControl(
|
||||
remoteThrottle,
|
||||
remoteSteering);
|
||||
}
|
||||
});
|
||||
});
|
||||
|
||||
document.getElementById("reset-all").addEventListener(
|
||||
"click",
|
||||
async () => {
|
||||
await fetch("/api/reset", { method: "POST" });
|
||||
commandMessage.textContent = "全部仿真车已复位。";
|
||||
commandMessage.classList.remove("error");
|
||||
await updateVehicles();
|
||||
});
|
||||
|
||||
document.getElementById("apply-configuration")
|
||||
.addEventListener("click", applyConfiguration);
|
||||
|
||||
vehicleCountInput.addEventListener("change", () =>
|
||||
renderLayoutRows(Number(vehicleCountInput.value)));
|
||||
|
||||
vehicleSelect.addEventListener("change", () => {
|
||||
stopRemote();
|
||||
renderCards();
|
||||
renderSelectedVehicleDetail();
|
||||
});
|
||||
|
||||
window.addEventListener("resize", resizeCanvas);
|
||||
|
||||
setInterval(updateVehicles, 100);
|
||||
setInterval(() => {
|
||||
const now = performance.now();
|
||||
const seconds = (now - lastUpdateTime) / 1000;
|
||||
updateRate.textContent =
|
||||
`${(successfulUpdates / seconds).toFixed(0)} Hz`;
|
||||
successfulUpdates = 0;
|
||||
lastUpdateTime = now;
|
||||
}, 1000);
|
||||
|
||||
function signed(value) {
|
||||
return `${value >= 0 ? "+" : ""}${value.toFixed(1)}`;
|
||||
}
|
||||
|
||||
function degToRad(value) {
|
||||
return value * Math.PI / 180;
|
||||
}
|
||||
|
||||
function radToDeg(value) {
|
||||
return value * 180 / Math.PI;
|
||||
}
|
||||
|
||||
async function initialize() {
|
||||
try {
|
||||
await Promise.all([
|
||||
loadActions(),
|
||||
loadConfiguration(),
|
||||
updateVehicles()
|
||||
]);
|
||||
} catch {
|
||||
connectionText.textContent = "仿真初始化失败";
|
||||
commandMessage.textContent =
|
||||
"无法读取命令或布局配置，请检查后端。";
|
||||
commandMessage.classList.add("error");
|
||||
}
|
||||
}
|
||||
|
||||
resizeCanvas();
|
||||
updateRemoteLabels();
|
||||
initialize();
|
||||
requestAnimationFrame(draw);
|
||||
Reference in New Issue
Block a user