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feat: 加了 4 个可调项：Forward、Strafe、Turn、Turbo

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This commit is contained in:
Mock
2026-04-09 19:34:33 +08:00
parent 18033f3b67
commit 08057baf0c
3 changed files with 304 additions and 22 deletions
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173
frontend/src/composables/useControlInterface.ts
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@@ -17,6 +17,13 @@ type ButtonFeedback = {
pressed: boolean
}
type ControlTuning = {
forward: number
strafe: number
turn: number
turbo: number
}
const TRACKED_KEYS = ['KeyW', 'KeyS', 'KeyA', 'KeyD', 'KeyQ', 'KeyE', 'ShiftLeft', 'ShiftRight', 'Space']
const KEY_LABELS: Record<string, string> = {
KeyW: 'W',
@@ -33,11 +40,18 @@ const GAMEPAD_BUTTON_LABELS = ['A', 'B', 'X', 'Y', 'LB', 'RB', 'LT', 'RT', 'Back
const ZERO_COMMAND: CommandTuple = [0, 0, 0, 0, 0, 0]
const GAMEPAD_DEADZONE = 0.14
const TURBO_MULTIPLIER = 1.5
const COMMAND_SEND_INTERVAL_MS = 50
const KEYBOARD_FORWARD_SPEED = 0.8
const KEYBOARD_STRAFE_SPEED = 0.15
const KEYBOARD_TURN_SPEED = 0.4
const DEFAULT_CONTROL_TUNING: ControlTuning = {
forward: 0.8,
strafe: 0.15,
turn: 0.4,
turbo: 1.5,
}
const CONTROL_TUNING_STORAGE_KEY = 'robot-command-center.control-tuning'
const MIN_AXIS_SPEED = 0.05
const MAX_AXIS_SPEED = 3
const MIN_TURBO_MULTIPLIER = 1
const MAX_TURBO_MULTIPLIER = 3
const pressedKeys = ref<Set<string>>(new Set())
const socketState = ref<SocketState>('connecting')
@@ -51,6 +65,65 @@ const gamepadAxes = ref<number[]>([0, 0, 0, 0])
const gamepadButtonPressed = ref<boolean[]>(Array.from({ length: GAMEPAD_BUTTON_LABELS.length }, () => false))
const activeSource = ref<ControlSource>('idle')
function clampValue(value: number, min: number, max: number) {
return Math.min(max, Math.max(min, value))
}
function sanitizeAxisSpeed(value: unknown, fallback: number) {
const numericValue = typeof value === 'number' ? value : Number(value)
if (!Number.isFinite(numericValue)) {
return fallback
}
return roundValue(clampValue(numericValue, MIN_AXIS_SPEED, MAX_AXIS_SPEED))
}
function sanitizeTurboMultiplier(value: unknown, fallback: number) {
const numericValue = typeof value === 'number' ? value : Number(value)
if (!Number.isFinite(numericValue)) {
return fallback
}
return roundValue(clampValue(numericValue, MIN_TURBO_MULTIPLIER, MAX_TURBO_MULTIPLIER))
}
function normalizeControlTuning(raw?: Partial<ControlTuning>): ControlTuning {
return {
forward: sanitizeAxisSpeed(raw?.forward, DEFAULT_CONTROL_TUNING.forward),
strafe: sanitizeAxisSpeed(raw?.strafe, DEFAULT_CONTROL_TUNING.strafe),
turn: sanitizeAxisSpeed(raw?.turn, DEFAULT_CONTROL_TUNING.turn),
turbo: sanitizeTurboMultiplier(raw?.turbo, DEFAULT_CONTROL_TUNING.turbo),
}
}
function loadPersistedControlTuning() {
if (typeof window === 'undefined') {
return DEFAULT_CONTROL_TUNING
}
let raw: string | null = null
try {
raw = window.localStorage.getItem(CONTROL_TUNING_STORAGE_KEY)
} catch {
return DEFAULT_CONTROL_TUNING
}
if (raw == null) {
return DEFAULT_CONTROL_TUNING
}
try {
return normalizeControlTuning(JSON.parse(raw) as Partial<ControlTuning>)
} catch {
return DEFAULT_CONTROL_TUNING
}
}
const initialControlTuning = loadPersistedControlTuning()
const forwardSpeed = ref(initialControlTuning.forward)
const strafeSpeed = ref(initialControlTuning.strafe)
const turnSpeed = ref(initialControlTuning.turn)
const turboMultiplier = ref(initialControlTuning.turbo)
let socket: WebSocket | null = null
let sendTimer: number | null = null
let reconnectTimer: number | null = null
@@ -72,6 +145,54 @@ function roundValue(value: number) {
return Math.round(value * 1000) / 1000
}
function persistControlTuning() {
if (typeof window === 'undefined') {
return
}
try {
window.localStorage.setItem(
CONTROL_TUNING_STORAGE_KEY,
JSON.stringify({
forward: forwardSpeed.value,
strafe: strafeSpeed.value,
turn: turnSpeed.value,
turbo: turboMultiplier.value,
}),
)
} catch {
// Ignore storage failures so tuning still works for the current session.
}
}
function setControlTuning(next: Partial<ControlTuning>) {
const resolved = normalizeControlTuning({
forward: next.forward ?? forwardSpeed.value,
strafe: next.strafe ?? strafeSpeed.value,
turn: next.turn ?? turnSpeed.value,
turbo: next.turbo ?? turboMultiplier.value,
})
const changed =
resolved.forward !== forwardSpeed.value ||
resolved.strafe !== strafeSpeed.value ||
resolved.turn !== turnSpeed.value ||
resolved.turbo !== turboMultiplier.value
forwardSpeed.value = resolved.forward
strafeSpeed.value = resolved.strafe
turnSpeed.value = resolved.turn
turboMultiplier.value = resolved.turbo
persistControlTuning()
if (changed) {
refreshSendLoop(true)
}
}
function resetControlTuning() {
setControlTuning(DEFAULT_CONTROL_TUNING)
}
function packCommand(values: CommandTuple) {
const buffer = new ArrayBuffer(24)
const view = new DataView(buffer)
@@ -95,18 +216,18 @@ function activeTurnAxis() {
function keyboardCommandValues(): CommandTuple {
const keys = pressedKeys.value
const turbo = keys.has('ShiftLeft') || keys.has('ShiftRight') ? TURBO_MULTIPLIER : 1
const turbo = keys.has('ShiftLeft') || keys.has('ShiftRight') ? turboMultiplier.value : 1
let lx = 0
let ly = 0
let az = 0
if (keys.has('KeyW')) lx += KEYBOARD_FORWARD_SPEED
if (keys.has('KeyS')) lx -= KEYBOARD_FORWARD_SPEED
if (keys.has('KeyA')) ly += KEYBOARD_STRAFE_SPEED
if (keys.has('KeyD')) ly -= KEYBOARD_STRAFE_SPEED
if (keys.has('KeyQ')) az += KEYBOARD_TURN_SPEED
if (keys.has('KeyE')) az -= KEYBOARD_TURN_SPEED
if (keys.has('KeyW')) lx += forwardSpeed.value
if (keys.has('KeyS')) lx -= forwardSpeed.value
if (keys.has('KeyA')) ly += strafeSpeed.value
if (keys.has('KeyD')) ly -= strafeSpeed.value
if (keys.has('KeyQ')) az += turnSpeed.value
if (keys.has('KeyE')) az -= turnSpeed.value
if (keys.has('Space')) {
return ZERO_COMMAND
@@ -128,15 +249,15 @@ function gamepadCommandValues(): CommandTuple {
}
const buttons = gamepadButtonPressed.value
const turbo = buttons[5] ? TURBO_MULTIPLIER : 1
const turbo = buttons[5] ? turboMultiplier.value : 1
if (buttons[0]) {
return ZERO_COMMAND
}
const lx = roundValue(-normalizeAxis(gamepadAxes.value[1] ?? 0) * KEYBOARD_FORWARD_SPEED * turbo)
const ly = roundValue(-normalizeAxis(gamepadAxes.value[0] ?? 0) * KEYBOARD_STRAFE_SPEED * turbo)
const az = roundValue(-activeTurnAxis() * KEYBOARD_TURN_SPEED * turbo)
const lx = roundValue(-normalizeAxis(gamepadAxes.value[1] ?? 0) * forwardSpeed.value * turbo)
const ly = roundValue(-normalizeAxis(gamepadAxes.value[0] ?? 0) * strafeSpeed.value * turbo)
const az = roundValue(-activeTurnAxis() * turnSpeed.value * turbo)
return [lx, ly, 0, 0, 0, az]
}
@@ -419,12 +540,13 @@ const commandLabel = computed(() => {
const commandMagnitude = computed(() => {
const { lx, ly, az } = commandValues.value
const limits = controlLimits.value
return Math.min(
1,
Math.max(
Math.abs(lx) / KEYBOARD_FORWARD_SPEED,
Math.abs(ly) / KEYBOARD_STRAFE_SPEED,
Math.abs(az) / KEYBOARD_TURN_SPEED,
Math.abs(lx) / Math.max(limits.forward, MIN_AXIS_SPEED),
Math.abs(ly) / Math.max(limits.strafe, MIN_AXIS_SPEED),
Math.abs(az) / Math.max(limits.turn, MIN_AXIS_SPEED),
),
)
})
@@ -440,6 +562,17 @@ const keyboardKeys = computed<KeyFeedback[]>(() =>
)
const keyboardTurbo = computed(() => pressedKeys.value.has('ShiftLeft') || pressedKeys.value.has('ShiftRight'))
const controlTuning = computed<ControlTuning>(() => ({
forward: forwardSpeed.value,
strafe: strafeSpeed.value,
turn: turnSpeed.value,
turbo: turboMultiplier.value,
}))
const controlLimits = computed(() => ({
forward: roundValue(forwardSpeed.value * turboMultiplier.value),
strafe: roundValue(strafeSpeed.value * turboMultiplier.value),
turn: roundValue(turnSpeed.value * turboMultiplier.value),
}))
const gamepadButtons = computed<ButtonFeedback[]>(() =>
GAMEPAD_BUTTON_LABELS.map((label, index) => ({
@@ -476,6 +609,10 @@ export function useControlInterface() {
commandValues,
commandLabel,
commandMagnitude,
controlTuning,
controlLimits,
setControlTuning,
resetControlTuning,
pressedKeysLabel,
keyboardKeys,
keyboardTurbo,