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fix: align modules with physical rover API

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This commit is contained in:
mavxa
2026-09-10 22:06:08 +03:00
parent 0a8894f3b2
commit cb5e751d15
14 changed files with 474 additions and 96 deletions
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module4/src/App.tsx
+10 -8
View File
@@ -24,6 +24,7 @@ const initialState: FmsState = {
type: 'state',
timestamp: 0,
mode: 'ros',
fieldSize: 5,
bridgeOnline: false,
bridgeError: null,
map: null,
@@ -89,10 +90,11 @@ function FieldMap({ state, selected }: { state: FmsState; selected: RobotId }) {
return result.slice(0, 5000)
}, [state.map])
const markers = Array.from({ length: 36 }, (_, id) => ({
const fieldSize = state.fieldSize || 5
const markers = Array.from({ length: fieldSize ** 2 }, (_, id) => ({
id,
x: -Math.floor(id / 6),
y: id % 6,
x: -Math.floor(id / fieldSize),
y: id % fieldSize,
}))
return (
@@ -115,10 +117,10 @@ function FieldMap({ state, selected }: { state: FmsState; selected: RobotId }) {
)
})}
{Array.from({ length: 6 }, (_, row) => Array.from({ length: 6 }, (_, col) => {
{Array.from({ length: fieldSize }, (_, row) => Array.from({ length: fieldSize }, (_, col) => {
const here = worldToSvg({ x: -row, y: col })
const right = col < 5 ? worldToSvg({ x: -row, y: col + 1 }) : null
const down = row < 5 ? worldToSvg({ x: -(row + 1), y: col }) : null
const right = col < fieldSize - 1 ? worldToSvg({ x: -row, y: col + 1 }) : null
const down = row < fieldSize - 1 ? worldToSvg({ x: -(row + 1), y: col }) : null
return (
<g key={`edges-${row}-${col}`} stroke="#1e3a5f" strokeWidth="2">
{right && <line x1={here.x} y1={here.y} x2={right.x} y2={right.y} />}
@@ -165,7 +167,7 @@ function FieldMap({ state, selected }: { state: FmsState; selected: RobotId }) {
})}
</svg>
<div className="absolute left-3 top-3 rounded-lg bg-slate-950/80 px-3 py-2 text-xs text-slate-300 backdrop-blur">
ArUco: шаг 1 м · X вниз · Y вправо
ArUco: поле {fieldSize}×{fieldSize} · шаг 1 м · X вниз · Y вправо
</div>
<div className="absolute bottom-3 right-3 flex gap-3 rounded-lg bg-slate-950/80 px-3 py-2 text-xs backdrop-blur">
<span className="text-cyan-300">● RMC1</span><span className="text-amber-300">● RMC2</span><span className="text-violet-300">-- маршрут</span>
@@ -385,7 +387,7 @@ export default function App() {
{selected === 'RMC1' ? (
<div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'gripper', robot: 'RMC1', state: 'open' })} className="rounded-lg bg-cyan-800 px-3 py-2 disabled:opacity-40">Открыть схват</button><button disabled={rover.emergency} onClick={() => send({ type: 'gripper', robot: 'RMC1', state: 'closed' })} className="rounded-lg bg-cyan-800 px-3 py-2 disabled:opacity-40">Закрыть схват</button></div>
) : (
<div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0.1 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Поднять лифт</button><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Опустить лифт</button></div>
<div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0.05 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Поднять лифт</button><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Опустить лифт</button></div>
)}
</Card>
</aside>
module4/src/types.ts
+2 -1
View File
@@ -31,6 +31,7 @@ export type FmsState = {
type: 'state'
timestamp: number
mode: 'ros' | 'mock'
fieldSize: number
bridgeOnline: boolean
bridgeError: string | null
map: MapState | null
@@ -44,5 +45,5 @@ export type Command =
| { type: 'set_pose'; robot: RobotId; pose: Pose }
| { type: 'set_goal'; robot: RobotId; pose: Pose }
| { type: 'cancel_goal'; robot: RobotId }
| { type: 'lift'; robot: 'RMC2'; height: 0 | 0.1 }
| { type: 'lift'; robot: 'RMC2'; height: 0 | 0.05 }
| { type: 'gripper'; robot: 'RMC1'; state: 'open' | 'closed' }