398 lines
20 KiB
TypeScript
398 lines
20 KiB
TypeScript
import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
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import type { Command, FmsState, Point, Pose, RobotId, RobotState } from './types'
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const WORLD = { minX: -5.5, maxX: 0.5, minY: -0.5, maxY: 5.5 }
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const SVG_SIZE = 600
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const emptyRobot: RobotState = {
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online: false,
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lastMessageMs: null,
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pose: { x: 0, y: 0, yaw: 0 },
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velocity: { x: 0, y: 0, yaw: 0 },
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battery: null,
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lidar: [],
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trail: [],
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plan: [],
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goal: null,
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emergency: false,
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arucoId: null,
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liftStatus: null,
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gripper: 'unknown',
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}
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const initialState: FmsState = {
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type: 'state',
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timestamp: 0,
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mode: 'ros',
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fieldSize: 5,
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bridgeOnline: false,
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bridgeError: null,
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map: null,
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robots: { RMC1: emptyRobot, RMC2: emptyRobot },
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}
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function worldToSvg(point: Point): Point {
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return {
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x: ((point.y - WORLD.minY) / (WORLD.maxY - WORLD.minY)) * SVG_SIZE,
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y: ((point.x - WORLD.minX) / (WORLD.maxX - WORLD.minX)) * SVG_SIZE,
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}
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}
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function points(pointsValue: Point[]): string {
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return pointsValue.map(worldToSvg).map((point) => `${point.x},${point.y}`).join(' ')
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}
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function format(value: number | null, digits = 2): string {
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return value == null || !Number.isFinite(value) ? '—' : value.toFixed(digits)
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}
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function Card({ title, children, className = '' }: { title: string; children: React.ReactNode; className?: string }) {
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return (
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<section className={` border border-slate-700 bg-slate-900/80 p-4 ${className}`}>
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<h2 className="mb-3 text-sm font-semibold uppercase tracking-wide text-slate-400">{title}</h2>
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{children}
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</section>
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)
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}
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function NumberField({ label, value, onChange }: { label: string; value: number; onChange: (value: number) => void }) {
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return (
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<label className="grid gap-1 text-xs text-slate-400">
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{label}
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<input
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className="w-full border border-slate-700 bg-slate-950 px-2 py-2 text-sm text-slate-100 outline-none focus:border-cyan-500"
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type="number"
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step="0.1"
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value={value}
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onChange={(event) => onChange(Number(event.target.value))}
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/>
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</label>
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)
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}
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function FieldMap({ state, selected }: { state: FmsState; selected: RobotId }) {
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const occupied = useMemo(() => {
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if (!state.map) return []
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const result: { x: number; y: number; size: number; value: number }[] = []
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for (let row = 0; row < state.map.height; row += 1) {
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for (let col = 0; col < state.map.width; col += 1) {
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const value = state.map.data[row * state.map.width + col]
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if (value > 25) {
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result.push({
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x: state.map.origin.x + col * state.map.resolution,
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y: state.map.origin.y + row * state.map.resolution,
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size: state.map.resolution,
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value,
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})
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}
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}
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}
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return result.slice(0, 5000)
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}, [state.map])
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const fieldSize = state.fieldSize || 5
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const markers = Array.from({ length: fieldSize ** 2 }, (_, id) => ({
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id,
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x: -Math.floor(id / fieldSize),
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y: id % fieldSize,
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}))
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return (
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<div className="relative aspect-square min-h-105 overflow-hidden border border-slate-700 bg-gray-500">
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<svg viewBox={`0 0 ${SVG_SIZE} ${SVG_SIZE}`} className="h-full w-full" aria-label="Карта поля и телеметрия роверов">
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<rect width={SVG_SIZE} height={SVG_SIZE} />
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{occupied.map((cell, index) => {
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const topLeft = worldToSvg({ x: cell.x, y: cell.y })
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const bottomRight = worldToSvg({ x: cell.x + cell.size, y: cell.y + cell.size })
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return (
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<rect
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key={`cell-${index}`}
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x={Math.min(topLeft.x, bottomRight.x)}
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y={Math.min(topLeft.y, bottomRight.y)}
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width={Math.max(1, Math.abs(bottomRight.x - topLeft.x))}
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height={Math.max(1, Math.abs(bottomRight.y - topLeft.y))}
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fill={cell.value > 65 ? '#334155' : '#1e293b'}
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opacity="0.7"
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/>
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)
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})}
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{Array.from({ length: fieldSize }, (_, row) => Array.from({ length: fieldSize }, (_, col) => {
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const here = worldToSvg({ x: -row, y: col })
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const right = col < fieldSize - 1 ? worldToSvg({ x: -row, y: col + 1 }) : null
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const down = row < fieldSize - 1 ? worldToSvg({ x: -(row + 1), y: col }) : null
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return (
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<g key={`edges-${row}-${col}`} stroke="#1e3a5f" strokeWidth="2">
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{right && <line x1={here.x} y1={here.y} x2={right.x} y2={right.y} />}
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{down && <line x1={here.x} y1={here.y} x2={down.x} y2={down.y} />}
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</g>
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)
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}))}
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{(['RMC1', 'RMC2'] as RobotId[]).map((id) => {
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const rover = state.robots[id]
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const color = id === 'RMC1' ? '#22d3ee' : '#f59e0b'
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const center = worldToSvg(rover.pose)
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const direction = rover.pose.yaw - Math.PI / 2
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return (
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<g key={id} opacity={id === selected ? 1 : 0.55}>
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{rover.trail.length > 1 && <polyline points={points(rover.trail)} fill="none" stroke={color} strokeWidth="3" opacity="0.45" />}
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{rover.plan.length > 1 && <polyline points={points(rover.plan)} fill="none" stroke="#a78bfa" strokeWidth="4" strokeDasharray="10 7" />}
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{rover.lidar.map((point, index) => {
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const p = worldToSvg(point)
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return <circle key={`${id}-lidar-${index}`} cx={p.x} cy={p.y} r="2.2" fill={color} opacity="0.55" />
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})}
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{rover.goal && (() => {
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const goal = worldToSvg(rover.goal)
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return <g><circle cx={goal.x} cy={goal.y} r="12" fill="none" stroke="#a78bfa" strokeWidth="3" /><line x1={goal.x - 16} y1={goal.y} x2={goal.x + 16} y2={goal.y} stroke="#a78bfa" /><line x1={goal.x} y1={goal.y - 16} x2={goal.x} y2={goal.y + 16} stroke="#a78bfa" /></g>
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})()}
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<g transform={`translate(${center.x} ${center.y}) rotate(${direction * 180 / Math.PI})`}>
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<circle r={id === selected ? 18 : 14} fill={color} stroke="#f8fafc" strokeWidth={id === selected ? 3 : 1} />
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<path d="M 0 -25 L -7 -10 L 7 -10 Z" fill="#f8fafc" />
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</g>
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<text x={center.x + 21} y={center.y - 18} fill={color} fontSize="14" fontWeight="700">{id}</text>
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</g>
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)
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})}
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{markers.map((marker) => {
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const point = worldToSvg(marker)
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const current = state.robots.RMC2.arucoId === String(marker.id)
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return (
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<g key={marker.id}>
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<rect x={point.x - 11} y={point.y - 11} width="22" height="22" rx="4" fill={current ? '#f59e0b' : '#0f172a'} stroke={current ? '#fbbf24' : '#475569'} strokeWidth="2" />
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<text x={point.x} y={point.y + 4} textAnchor="middle" fill="#f8fafc" fontSize="10">{marker.id}</text>
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</g>
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)
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})}
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</svg>
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<div className="absolute left-3 top-3 px-3 py-2 text-xs text-slate-300 backdrop-blur">
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ArUco: поле {fieldSize}×{fieldSize} - шаг 1 м - X вниз - Y вправо
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</div>
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<div className="absolute bottom-3 right-3 flex gap-3 bg-slate-950/80 px-3 py-2 text-xs backdrop-blur">
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<span className="text-cyan-300">RMC1</span><span className="text-amber-300">RMC2</span><span className="text-violet-300"> - - - маршрут</span>
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</div>
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</div>
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)
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}
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function ManualControls({ robot, emergency, send }: { robot: RobotId; emergency: boolean; send: (command: Command) => void }) {
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const timer = useRef<ReturnType<typeof setInterval> | null>(null)
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const stop = useCallback(() => {
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if (timer.current) clearInterval(timer.current)
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timer.current = null
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send({ type: 'stop', robot })
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}, [robot, send])
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const start = (x: number, y: number, yaw: number) => {
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if (emergency) return
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if (timer.current) clearInterval(timer.current)
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const command: Command = { type: 'manual', robot, x, y, yaw }
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send(command)
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timer.current = setInterval(() => send(command), 120)
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}
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useEffect(() => stop, [stop])
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const button = 'select-none border border-slate-600 bg-slate-800 px-3 py-3 font-semibold text-slate-100 hover:bg-slate-700 active:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40'
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const handlers = (x: number, y: number, yaw: number) => ({
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onPointerDown: (event: React.PointerEvent<HTMLButtonElement>) => {
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event.currentTarget.setPointerCapture(event.pointerId)
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start(x, y, yaw)
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},
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onPointerUp: stop,
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onPointerCancel: stop,
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})
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return (
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<div className="grid grid-cols-3 gap-2">
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<button className={button} disabled={robot === 'RMC2' || emergency} {...handlers(0, 0.35, 0)}>бок</button>
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<button className={button} disabled={emergency} {...handlers(0.45, 0, 0)}>W</button>
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<button className={button} disabled={robot === 'RMC2' || emergency} {...handlers(0, -0.35, 0)}>бок</button>
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<button className={button} disabled={emergency} {...handlers(0, 0, 0.75)}>A</button>
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<button className={`${button} border-red-700 bg-red-950 text-red-200`} onClick={stop}>STOP</button>
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<button className={button} disabled={emergency} {...handlers(0, 0, -0.75)}>D</button>
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<button className={button} disabled={robot === 'RMC2' || emergency} {...handlers(0, -0.35, 0)}>бок</button>
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<button className={button} disabled={emergency} {...handlers(-0.45, 0, 0)}>S</button>
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<button className={button} disabled={robot === 'RMC2' || emergency} {...handlers(0, 0.35, 0)}>бок</button>
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</div>
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)
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}
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export default function App() {
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const [state, setState] = useState<FmsState>(initialState)
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const [selected, setSelected] = useState<RobotId>('RMC1')
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const [socketOnline, setSocketOnline] = useState(false)
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const [message, setMessage] = useState('Подключение…')
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const [poseForm, setPoseForm] = useState<Pose>({ x: 0, y: 0, yaw: 0 })
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const [goalForm, setGoalForm] = useState<Pose>({ x: -2, y: 3, yaw: 0 })
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const send = useCallback(async (command: Command) => {
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try {
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const response = await fetch('/api/command', {
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method: 'POST',
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headers: { 'content-type': 'application/json' },
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body: JSON.stringify(command),
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})
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const result = await response.json() as { ok: boolean; error?: string }
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setMessage(result.ok ? `Команда: ${command.type}` : `Ошибка: ${result.error}`)
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} catch (error) {
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setMessage(`API недоступен: ${String(error)}`)
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}
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}, [])
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useEffect(() => {
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let socket: WebSocket | null = null
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let retry: ReturnType<typeof setTimeout>
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let disposed = false
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const connect = () => {
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const protocol = location.protocol === 'https:' ? 'wss:' : 'ws:'
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socket = new WebSocket(`${protocol}//${location.host}/ws`)
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socket.onopen = () => { setSocketOnline(true); setMessage('Телеметрия подключена') }
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socket.onmessage = (event) => {
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try {
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const data = JSON.parse(event.data) as FmsState
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if (data.type === 'state') setState(data)
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} catch { /* ignore malformed packet */ }
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}
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socket.onclose = () => {
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setSocketOnline(false)
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if (!disposed) retry = setTimeout(connect, 1200)
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}
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}
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connect()
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return () => { disposed = true; clearTimeout(retry); socket?.close() }
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}, [])
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useEffect(() => {
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const pressed = new Set<string>()
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const movement = () => {
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let x = 0, y = 0, yaw = 0
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if (pressed.has('w')) x += 0.45
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if (pressed.has('s')) x -= 0.45
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if (pressed.has('a')) yaw += 0.75
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if (pressed.has('d')) yaw -= 0.75
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if (selected === 'RMC1' && pressed.has('q')) y += 0.35
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if (selected === 'RMC1' && pressed.has('e')) y -= 0.35
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if (x || y || yaw) send({ type: 'manual', robot: selected, x, y, yaw })
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else send({ type: 'stop', robot: selected })
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}
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const down = (event: KeyboardEvent) => {
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if ((event.target as HTMLElement).tagName === 'INPUT') return
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const key = event.key.toLowerCase()
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if (!['w', 'a', 's', 'd', 'q', 'e'].includes(key)) return
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event.preventDefault()
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pressed.add(key)
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movement()
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}
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const up = (event: KeyboardEvent) => {
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const key = event.key.toLowerCase()
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if (!pressed.delete(key)) return
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movement()
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}
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const blur = () => { pressed.clear(); movement() }
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const repeat = setInterval(() => { if (pressed.size) movement() }, 120)
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window.addEventListener('keydown', down)
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window.addEventListener('keyup', up)
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window.addEventListener('blur', blur)
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return () => {
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clearInterval(repeat)
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window.removeEventListener('keydown', down)
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window.removeEventListener('keyup', up)
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window.removeEventListener('blur', blur)
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}
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}, [selected, send])
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const rover = state.robots[selected]
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const fresh = Date.now() - state.timestamp < 1500
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const setForm = (setter: React.Dispatch<React.SetStateAction<Pose>>, key: keyof Pose, value: number) => setter((current) => ({ ...current, [key]: value }))
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return (
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<main className="min-h-screen bg-indigo-950 p-3 text-slate-100 lg:p-5">
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<header className="mx-auto mb-4 flex max-w-[1600px] flex-wrap items-center justify-between gap-3">
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<div><h1 className="text-xl font-bold">Веб-Панель - модуль Г</h1><p className="text-sm text-slate-400">Управление, навигация и телеметрия RMC1 / RMC2</p></div>
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<div className="flex flex-wrap items-center gap-2 text-xs">
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<span className={`px-3 py-1.5 ${socketOnline && fresh ? 'bg-emerald-950 text-emerald-300' : 'bg-red-950'}`}>WebSocket: {socketOnline && fresh ? 'online' : 'offline'}</span>
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<span className={`px-3 py-1.5 ${state.bridgeOnline ? 'bg-emerald-950 text-emerald-300' : 'bg-amber-950'}`}>Bridge: {state.bridgeOnline ? state.mode : 'offline'}</span>
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<span className="max-w-sm truncate bg-slate-800 px-3 py-1.5 text-slate-300">{state.bridgeError ?? message}</span>
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</div>
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</header>
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<div className="mx-auto grid max-w-[1600px] gap-4 xl:grid-cols-[minmax(600px,1fr)_420px]">
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<div className="grid gap-4">
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<div className="flex gap-2">
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{(['RMC1', 'RMC2'] as RobotId[]).map((id) => (
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<button key={id} onClick={() => { setSelected(id); setPoseForm(state.robots[id].pose) }} className={`cursor-pointer flex-1 border px-4 py-3 text-left ${selected === id ? 'border-violet-500' : 'border-slate-700 bg-slate-900'}`}>
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<span className="font-bold">{id}</span>
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<span className={`ml-3 text-xs ${state.robots[id].online ? 'text-emerald-400' : 'text-red-400'}`}>{state.robots[id].online ? 'ROS online' : 'нет данных'}</span>
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</button>
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))}
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</div>
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<FieldMap state={state} selected={selected} />
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<Card title="Состояние двух роверов">
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<div className="grid grid-cols-2 gap-3 text-sm lg:grid-cols-4">
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{(['RMC1', 'RMC2'] as RobotId[]).map((id) => <div key={id} className=" bg-slate-950 p-3"><strong>{id}</strong><div className="mt-1 text-slate-400">x {format(state.robots[id].pose.x)} · y {format(state.robots[id].pose.y)}</div><div className="text-slate-400">yaw {format(state.robots[id].pose.yaw)} rad</div></div>)}
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<div className=" bg-slate-950 p-3"><strong>Карта</strong><div className="mt-1 text-slate-400">{state.map ? `${state.map.width} × ${state.map.height}` : 'нет /map'}</div></div>
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<div className=" bg-slate-950 p-3"><strong>Обновление</strong><div className="mt-1 text-slate-400">{state.timestamp ? new Date(state.timestamp).toLocaleTimeString() : '—'}</div></div>
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</div>
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</Card>
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</div>
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<aside className="grid content-start gap-4">
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<Card title={`Ручное управление ${selected}`}>
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<ManualControls robot={selected} emergency={rover.emergency} send={send} />
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<p className="mt-2 text-xs text-slate-500">Клавиши: W/S - ход, A/D - поворот, Q/E - боковой ход RMC1. При отпускании отправляется STOP.</p>
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</Card>
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<button onClick={() => send({ type: 'emergency', robot: selected, active: !rover.emergency })} className={`border px-5 py-5 text-lg font-black tracking-wide ${rover.emergency ? 'border-emerald-500 text-emerald-300' : 'border-red-500 bg-red-950 text-red-200'}`}>
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{rover.emergency ? 'СНЯТЬ АВАРИЙНЫЙ СТОП' : 'АВАРИЙНЫЙ СТОП'}
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</button>
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<Card title="Телеметрия">
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<dl className="grid grid-cols-2 gap-x-4 gap-y-2 text-sm">
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<dt className="text-slate-400">Позиция</dt><dd>x {format(rover.pose.x)} · y {format(rover.pose.y)}</dd>
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<dt className="text-slate-400">Ориентация</dt><dd>{format(rover.pose.yaw)} rad</dd>
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<dt className="text-slate-400">Скорость</dt><dd>{format(rover.velocity.x)} м/с</dd>
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<dt className="text-slate-400">Лидар</dt><dd>{rover.lidar.length} точек</dd>
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<dt className="text-slate-400">Аккумулятор</dt><dd>{rover.battery == null ? 'нет топика' : `${format(rover.battery)} В`}</dd>
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<dt className="text-slate-400">ArUco</dt><dd>{rover.arucoId ?? '—'}</dd>
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<dt className="text-slate-400">Инструмент</dt><dd>{selected === 'RMC1' ? rover.gripper : (rover.liftStatus ?? '—')}</dd>
|
||
<dt className="text-slate-400">Возраст данных</dt><dd>{rover.lastMessageMs == null ? '—' : `${rover.lastMessageMs} мс`}</dd>
|
||
</dl>
|
||
</Card>
|
||
|
||
<Card title="Установить текущее положение">
|
||
<div className="grid grid-cols-3 gap-2">
|
||
<NumberField label="X, м" value={poseForm.x} onChange={(value) => setForm(setPoseForm, 'x', value)} />
|
||
<NumberField label="Y, м" value={poseForm.y} onChange={(value) => setForm(setPoseForm, 'y', value)} />
|
||
<NumberField label="Yaw, рад" value={poseForm.yaw} onChange={(value) => setForm(setPoseForm, 'yaw', value)} />
|
||
</div>
|
||
<button onClick={() => send({ type: 'set_pose', robot: selected, pose: poseForm })} className="mt-3 w-full bg-slate-700 px-4 py-2 font-semibold hover:bg-slate-600">Применить без движения</button>
|
||
</Card>
|
||
|
||
<Card title="Автономная цель Nav2">
|
||
<div className="grid grid-cols-3 gap-2">
|
||
<NumberField label="X, м" value={goalForm.x} onChange={(value) => setForm(setGoalForm, 'x', value)} />
|
||
<NumberField label="Y, м" value={goalForm.y} onChange={(value) => setForm(setGoalForm, 'y', value)} />
|
||
<NumberField label="Yaw, рад" value={goalForm.yaw} onChange={(value) => setForm(setGoalForm, 'yaw', value)} />
|
||
</div>
|
||
<div className="mt-3 grid grid-cols-2 gap-2">
|
||
<button disabled={rover.emergency} onClick={() => send({ type: 'set_goal', robot: selected, pose: goalForm })} className=" bg-violet-700 px-3 py-2 font-semibold hover:bg-violet-600 disabled:opacity-40">Ехать к точке</button>
|
||
<button onClick={() => send({ type: 'cancel_goal', robot: selected })} className=" bg-slate-700 px-3 py-2 font-semibold hover:bg-slate-600">Отменить</button>
|
||
</div>
|
||
</Card>
|
||
|
||
<Card title="Рабочий инструмент">
|
||
{selected === 'RMC1' ? (
|
||
<div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'gripper', robot: 'RMC1', state: 'open' })} className=" 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=" 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=" 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=" bg-amber-800 px-3 py-2 disabled:opacity-40">Опустить лифт</button></div>
|
||
)}
|
||
</Card>
|
||
</aside>
|
||
</div>
|
||
</main>
|
||
)
|
||
}
|