GateWay/src/views/CarControl.vue

<template>
  <div class="control-panel">
    <!-- 顶部状态栏 -->
    <div class="status-bar">
      <div class="placeholder-div"></div>
      <div class="title-container">
        <div class="title-box">
          遥控车当前状态
          <img src="../assets/img/shout.png" alt="voice" class="voice-icon-img"
            :class="{ 'show-voice': isControlPressed }" style="width: 20px; height: 20px; margin-left: 20px;">
        </div>
      </div>
      <div class="top-right-icons">
        <img :src="connectionImage" alt="link" class="top-icon">
        <!-- 注释掉电池图标 -->
        <!-- <img :src="batteryImage" alt="battery" class="top-icon"> -->
      </div>
    </div>

    <!-- 主要内容区域 -->
    <div class="main-content">
      <!-- 左侧控制开关 -->
      <div class="left-controls">
        <div class="switch-item">
          <span>屏幕</span>
          <el-switch v-model="screenStatus" />
        </div>
        <div class="switch-item">
          <span>警灯</span>
          <el-switch v-model="warningLightStatus" />
        </div>
        <div class="switch-item">
          <span>跟随</span>
          <el-switch v-model="followStatus" />
        </div>
        <div class="switch-item">
          <span>避障</span>
          <el-switch v-model="obstacleAvoidEnabled" />
        </div>
      </div>

      <!-- 中间车辆状态显示区域 -->
      <div class="center-display">
        <div class="status-text">云台状态</div>
        <div class="car-display">
          <div class="boom-container">
            <img src="../assets/img/boom.png" alt="boom" class="boom-image top-boom" v-show="obstacleStatus.top">
            <img src="../assets/img/car.png" alt="car" class="car-image" />
            <img src="../assets/img/boom.png" alt="boom" class="boom-image bottom-boom" v-show="obstacleStatus.bottom">
          </div>
        </div>
      </div>

      <!-- 右侧状态图标 -->
      <div class="right-status">
        <div class="status-icons">
          <div class="icons-row">
            <div class="icon-item">
              <img src="../assets/img/refresh.png" alt="refresh" @mousedown="handleRefresh"
                style="width: 40px; height: 40px;margin-right: 20px;">
            </div>
            <div class="icon-item">
              <img src="../assets/img/mp3.png" alt="play" @click="goto('voiceset')"
                style="width: 40px; height: 40px;margin-left: 20px;">
            </div>
          </div>
        </div>
        <div class="control-button">
          <div class="circle-border" :class="{ 'pressed': isControlPressed }" @mousedown="handleControlPress"
            @mouseup="handleControlRelease" @mouseleave="handleControlRelease" @touchstart="handleControlPress"
            @touchend="handleControlRelease" @touchcancel="handleControlRelease">
            <img src="../assets/img/stop.png" alt="control" class="control-button-img"
              style="width: 80px; height: 80px;">
          </div>
        </div>
      </div>
    </div>
  </div>
</template>

<script>
import { useRouter } from 'vue-router';
import GamepadController from '../assets/js/GamepadController';
import audioTransmitter from '../assets/js/audio-transmitter';

export default {
  name: 'CarControl',
  data() {
    return {
      screenStatus: false,
      warningLightStatus: false,
      followStatus: false,
      obstacleStatus: {
        top: false,
        bottom: false
      },
      obstacleAvoidEnabled: false,
      gamepadController: null,
      directionAxis0_1: "",
      directionAxis9: "",
      isGamepadConnected: false,
      isControlPressed: false,
      ws: null,
      wsConnected: false,
      // batteryLevel: 0,  // 注释掉电池电量
      lastResponseTime: 0,
      connectionCheckInterval: null,
      sendInterval: null,
      lastDirection: 0,
      lastSpeed: 0,
      platform_fun: 0,
      button: "",
      audioConfig: audioTransmitter.data(),
      isRecording: false,
      audioHandler: null,
      reconnectTimer: null,  // 添加重连定时器引用
      isComponentUnmounted: false  // 添加组件卸载标志
    }
  },
  created() {
    // 初始化 GamepadController，启用调试模式
    this.gamepadController = new GamepadController({
      debug: true,
      deadZone: 0.1,
      updateInterval: 50
    });

    // 添加全局事件监听
    window.addEventListener("gamepadconnected", this.handleGamepadConnected);
    window.addEventListener("gamepaddisconnected", this.handleGamepadDisconnected);

    this.isComponentUnmounted = false;  // 添加组件卸载标志
    this.initWebSocket();

    // 启动连接状态检查
    this.connectionCheckInterval = setInterval(() => {
      this.checkConnectionStatus();
    }, 3000); // 每3秒检查一次

    // 启动定时发送数据
    this.sendInterval = setInterval(() => {
      this.sendControlData();
    }, 1000); // 每100ms发送一次

    // 初始化音频处理器
    this.audioHandler = {
      ...audioTransmitter.data(),
      ...audioTransmitter.methods
    };
  },
  beforeDestroy() {
    this.isComponentUnmounted = true;  // 标记组件已卸载
    
    // 清除重连定时器
    if (this.reconnectTimer) {
      clearTimeout(this.reconnectTimer);
      this.reconnectTimer = null;
    }

    // 组件销毁前清理资源
    if (this.gamepadController) {
      this.gamepadController.destroy();
    }
    // 移除全局事件监听
    window.removeEventListener("gamepadconnected", this.handleGamepadConnected);
    window.removeEventListener("gamepaddisconnected", this.handleGamepadDisconnected);

    if (this.ws) {
      this.ws.close();
      this.ws = null;
    }

    if (this.connectionCheckInterval) {
      clearInterval(this.connectionCheckInterval);
    }

    if (this.sendInterval) {
      clearInterval(this.sendInterval);
    }

    // 确保停止音频传输
    if (this.audioHandler && this.audioHandler.isRecording) {
      this.audioHandler.stopRecording();
    }
  },
  methods: {
    goto(path) {
      this.$router.push({ name: path });
    },
    handleGamepadConnected(e) {
      console.log('Gamepad connected:', e.gamepad);
      this.isGamepadConnected = true;
    },
    handleGamepadDisconnected() {
      console.log('Gamepad disconnected');
      this.isGamepadConnected = false;
      // 可以在这里添加断开连接的处理逻辑
    },
    // 获取手柄数据的方法
    getGamepadData() {
      if (this.gamepadController) {
        this.directionAxis0_1 = this.gamepadController.directionAxis0_1;
        this.directionAxis9 = this.gamepadController.directionAxis9;
        // 可以在这里添加其他数据的获取和处理
      }
    },
    handleControlPress() {
      this.isControlPressed = true;
      // 开始音频传输
      console.log('开始音频传输...');
      if (this.audioHandler) {
        this.audioHandler.startRecording();
      }
    },
    handleControlRelease() {
      this.isControlPressed = false;
      // 停止音频传输
      console.log('停止音频传输...');
      if (this.audioHandler) {
        this.audioHandler.stopRecording();
      }
    },
    initWebSocket() {
      try {
        console.log('正在连接 WebSocket...');
        this.ws = new WebSocket('ws://192.168.4.120/ws');
        // this.ws = new WebSocket('ws://192.168.1.60:81');


        this.ws.onopen = () => {
          console.log('WebSocket 已连接');
          this.wsConnected = true;
          this.lastResponseTime = Date.now();
          this.sendCarInfo();
        };

        this.ws.onmessage = (event) => {
          this.lastResponseTime = Date.now();
          try {
            const response = JSON.parse(event.data);
            console.log('收到数据:', JSON.stringify(response));
            if (response.JSON_id === 1 && response.rc_car_card) {
              this.updateCarStatus(response.rc_car_card);
            }
          } catch (error) {
            console.error('解析响应数据失败:', error);
          }
        };

        this.ws.onclose = () => {
          console.log('WebSocket连接关闭');
          // 只有在组件没有被卸载的情况下才重连
          if (!this.isComponentUnmounted) {
            this.reconnectTimer = setTimeout(() => {
              this.initWebSocket();
            }, 3000);
          }
        };

        this.ws.onerror = (error) => {
          console.error('WebSocket 错误:', error);
          this.wsConnected = false;
          // 打印更详细的错误信息
          if (error.message) {
            console.error('错误信息:', error.message);
          }
        };

      } catch (error) {
        console.error('WebSocket 初始化失败:', error);
        // 尝试重新连接
        setTimeout(() => {
          console.log('尝试重新连接...');
          this.initWebSocket();
        }, 3000);
      }
    },

    // 更新手柄数据
    updateGamepadData() {
      if (this.gamepadController) {
        // 获取手柄数据
        const angle = this.gamepadController.angle;
        const directionAxis9 = this.gamepadController.directionAxis9;
        const speed = this.gamepadController.speed; // 获取速度值

        // 更新控制按钮状态
        const wasPressed = this.isControlPressed;
        this.isControlPressed = this.gamepadController.rightJoystickPressed;

        // 检测按钮状态变化并处理音频传输
        if (!wasPressed && this.isControlPressed) {
          // 按钮刚被按下
          console.log('手柄按钮按下，开始音频传输...');
          if (this.audioHandler) {
            this.audioHandler.startRecording();
          }
        } else if (wasPressed && !this.isControlPressed) {
          // 按钮刚被释放
          console.log('手柄按钮释放，停止音频传输...');
          if (this.audioHandler) {
            this.audioHandler.stopRecording();
          }
        }

        // 更新其他数据
        this.lastDirection = angle;
        this.platform_fun = directionAxis9;
        this.lastSpeed = speed; // 更新速度值
      }
    },
    sendCarInfo() {
      const carData = {
        "JSON_id": 1,
        "rc_car_card": {
          "get_info": 1,
          "get_attribute": 1,
        }
      };

      if (this.ws && this.ws.readyState === WebSocket.OPEN) {
        this.ws.send(JSON.stringify(carData));
        // 在控制台打印发送的数据
        console.log('发送的数据:', JSON.stringify(carData));
      } else {
        console.error('WebSocket 未连接');
      }
    },

    // 修改 refresh 图标的点击事件
    handleRefresh() {
      this.sendCarInfo();
    },

    updateCarStatus(data) {
      if (data.attribute) {
        // 注释掉电池状态更新
        // this.batteryLevel = data.attribute.bat_quantity;
        // 更新障碍物显示状态
        this.obstacleStatus = {
          top: data.attribute.obstacle_sta === 0,
          bottom: data.attribute.obstacle_sta === 1
        };

        // 更新开关状态
        this.platform_fun = data.attribute.platform;
        this.screenStatus = data.attribute.screen_en === 1;
        this.warningLightStatus = data.attribute.warn_light_en === 1;
        this.followStatus = data.attribute.follow_en === 1;
        this.obstacleAvoidEnabled = data.attribute.obstacle_avoid_en === 1;

        // 更新车辆状态
        this.lastSpeed = data.attribute.car_speed;
        this.lastDirection = data.attribute.car_direction;
      }
    },

    checkConnectionStatus() {
      const now = Date.now();
      // 如果超过5秒没有收到响应，认为连接已断开
      if (now - this.lastResponseTime > 5000) {
        this.wsConnected = false;
      }
    },

    sendControlData() {
      // 先更新手柄数据
      this.updateGamepadData();

      const controlData = {
        "JSON_id": 1,
        "rc_car_card": {
          "attribute": {
            "platform": this.platform_fun,
            "screen_en": this.screenStatus ? 1 : 0,
            "warn_light_en": this.warningLightStatus ? 1 : 0,
            "follow_en": this.followStatus ? 1 : 0,
            "obstacle_avoid_en": this.obstacleAvoidEnabled ? 1 : 0,
            "car_speed": this.lastSpeed,
            "car_direction": this.lastDirection
          }
        }
      };

      if (this.ws && this.ws.readyState === WebSocket.OPEN) {
        this.ws.send(JSON.stringify(controlData));
        console.log('发送控制数据:', JSON.stringify(controlData));
      }
    },

  },
  computed: {
    // 注释掉电池图片计算属性
    /*
    batteryImage() {
      if (this.batteryLevel >= 80) return require('../assets/img/bat_full.png');
      if (this.batteryLevel >= 60) return require('../assets/img/bat_high.png');
      if (this.batteryLevel >= 40) return require('../assets/img/bat_medium.png');
      if (this.batteryLevel >= 20) return require('../assets/img/bat_low.png');
      return require('../assets/img/bat_empty.png');
    },
    */
    connectionImage() {
      return this.wsConnected ?
        require('../assets/img/connect.png') :
        require('../assets/img/no_connect.png');
    }
  },
  setup() {
    const router = useRouter();

    // 添加返回按钮处理函数
    const onClickLeft = () => {
      router.back();
    };

    return {
      onClickLeft,
    };
  }
}
</script>

<style scoped>
.control-panel {
  position: fixed;
  top: 0;
  left: 0;
  width: 100vw;
  height: 100vh;
  background-color: #000033;
  color: #fff;
  overflow: hidden;
  display: flex;
  flex-direction: column;
}

.status-bar {
  height: 60px;
  background-color: #000033;
  display: flex;
  justify-content: space-between;
  align-items: center;
  padding: 0 20px;
  position: relative;
}

.placeholder-div {
  width: 63px;
}

.title-container {
  position: absolute;
  left: 50%;
  transform: translateX(-50%);
  font-size: 24px;
  display: flex;
  align-items: center;
  gap: 10px;
}

.title-box {
  border: 2px solid #00ffff;
  padding: 2px;
  border-radius: 8px;
}

.main-content {
  flex: 1;
  display: flex;
  padding: 10px;
  gap: 20px;
}

.left-controls {
  width: 120px;
  display: flex;
  flex-direction: column;
  gap: 15px;
}

.switch-item {
  display: flex;
  justify-content: space-between;
  align-items: center;
  padding: 10px;
  border: 1px solid #00ffff;
  border-radius: 8px;
  font-size: 20px;
}

.center-display {
  flex: 1;
  border: 1px solid #00ffff;
  border-radius: 8px;
  padding: 5px;
  display: flex;
  flex-direction: column;
  align-items: flex-start;
}

.status-text {
  font-size: 20px;
  color: #00ffff;
  align-self: flex-start;
  margin-bottom: 10px;
}

.car-display {
  flex: 1;
  display: flex;
  justify-content: center;
  align-items: center;
  width: 100%;
}

.boom-container {
  position: relative;
  display: flex;
  flex-direction: column;
  align-items: center;
  /* gap: 10px; */
}

.boom-image {
  width: 60px;
  height: 60px;
}

.top-boom {
  transform: rotate(0);
}

.bottom-boom {
  transform: rotate(180deg);
}

.car-image {
  width: 160px;
  height: auto;
}

.right-status {
  width: 150px;
  display: flex;
  flex-direction: column;
  justify-content: space-between;
  align-items: center;
}

.status-icons {
  display: flex;
  flex-direction: column;
  align-items: center;
  width: 100%;
  margin-top: 50px;
}

.icons-row {
  display: flex;
  flex-direction: row;
  gap: 15px;
  justify-content: center;
}

.icon-item {
  width: 40px;
  height: 40px;
  /* border: 1px solid #00ffff; */
  border-radius: 50%;
  display: flex;
  justify-content: center;
  align-items: center;
  color: #00ffff;
}

.battery {
  background-color: #00ffff;
  color: #000033;
}

:deep(.el-switch__core) {
  border-color: #00ffff;
  background-color: transparent;
}

:deep(.el-switch.is-checked .el-switch__core) {
  background-color: #00ffff;
}

.top-right-icons {
  display: flex;
  gap: 15px;
  align-items: center;
  width: 63px;
}

.top-icon {
  width: 24px;
  height: 24px;
  cursor: pointer;
}

.circle-border {
  width: 100px;
  height: 100px;
  border: 2px solid white;
  border-radius: 50%;
  display: flex;
  justify-content: center;
  align-items: center;
  transition: border-color 0.3s ease;
  cursor: pointer;
}

.circle-border.pressed {
  border-color: red;
}

.control-button-img {
  width: 80px;
  height: 80px;
  user-select: none;
  /* 防止拖动图片 */
}

.voice-icon-img {
  opacity: 0;
  transition: opacity 0.3s ease;
}

.voice-icon-img.show-voice {
  opacity: 1;
}

/* 确保标题栏在最上层 */
:deep(.van-nav-bar) {
  z-index: 999;
}
</style>