From 2f2e4449788106581e4e77bca4376c66fb35c1a0 Mon Sep 17 00:00:00 2001
From: SkyLi <SkyLiA7Mr@gmail.com>
Date: Thu, 4 Jun 2026 14:17:16 +0800
Subject: [PATCH] =?UTF-8?q?PID=20=E9=85=8D=E7=BD=AE=E6=94=B9=E4=B8=BA?=
 =?UTF-8?q?=E9=80=9A=E8=BF=87=20HTTP=20API=20=E5=AD=98=E5=8F=96=EF=BC=8C?=
 =?UTF-8?q?=E7=A7=BB=E9=99=A4=20rosbridge=20=E6=8E=A8=E9=80=81?=
MIME-Version: 1.0
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- 页面初始化时 GET /api/pid/config 加载已保存的配置
- 点击保存通过 POST /api/pid/config 持久化到后端
- 新增「加载配置」按钮支持手动从后端重新拉取
- 移除 PID_CONFIG_TOPIC 及 rosbridge 发布逻辑
---
 src/config.js           |  2 -
 src/views/DebugMode.vue | 97 ++++++++++++++++++++++++++++++++++-------
 2 files changed, 81 insertions(+), 18 deletions(-)

diff --git a/src/config.js b/src/config.js
index 1ba7e14..93a0e05 100644
--- a/src/config.js
+++ b/src/config.js
@@ -9,8 +9,6 @@ export const MJPEG_MANUAL_URL = 'http://192.168.0.11/stream?topic=/vision/result
 // ROS 话题
 export const CMD_WHEEL_TOPIC = '/cmd_wheel'
 export const CMD_GIMBAL_TOPIC = '/cmd_gimbal'
-export const PID_CONFIG_TOPIC = '/pid_config'
-
 // 键盘控制参数
 export const MAX_LINEAR = 0.5       // m/s
 export const MAX_ANGULAR = 1.0      // rad/s
diff --git a/src/views/DebugMode.vue b/src/views/DebugMode.vue
index 630815b..60b09cc 100644
--- a/src/views/DebugMode.vue
+++ b/src/views/DebugMode.vue
@@ -44,27 +44,62 @@
       <button class="btn-laser" @click="toggleLaser">
         激光: {{ laserOn ? 'ON' : 'OFF' }}
       </button>
-      <button class="btn-publish" @click="publishParams">发布参数</button>
+      <button class="btn-load" :disabled="loading" @click="loadConfig">
+        {{ loading ? '加载中...' : '加载配置' }}
+      </button>
+      <button class="btn-publish" :disabled="saving" @click="saveConfig">
+        {{ saving ? '保存中...' : '保存配置' }}
+      </button>
     </div>
   </div>
 </template>
 
 <script setup>
-import { reactive, ref } from 'vue'
-import { HTTP_API_BASE, ROSBRIDGE_URL, PID_CONFIG_TOPIC } from '../config.js'
+import { reactive, ref, onMounted } from 'vue'
+import { HTTP_API_BASE, ROSBRIDGE_URL } from '../config.js'
 import { useRosbridge } from '../composables/useRosbridge.js'
 
-const { connected, connect, publish } = useRosbridge()
+const { connected, connect } = useRosbridge()
 connect(ROSBRIDGE_URL)
 
 const laserOn = ref(false)
+const loading = ref(false)
+const saving = ref(false)
 
-const params = reactive({
+const defaults = {
   visualYaw: { kp: 0, ki: 0, kd: 0 },
   visualPitch: { kp: 0, ki: 0, kd: 0 },
   angleYaw: { kp: 0, ki: 0, kd: 0 },
   anglePitch: { kp: 0, ki: 0, kd: 0 },
-})
+}
+
+const params = reactive(structuredClone(defaults))
+
+function snakeToCamel(key) {
+  return key.replace(/_([a-z])/g, (_, c) => c.toUpperCase())
+}
+
+async function loadConfig() {
+  loading.value = true
+  try {
+    const res = await fetch(`${HTTP_API_BASE}/api/pid/config`)
+    if (!res.ok) throw new Error(`HTTP ${res.status}`)
+    const data = await res.json()
+    for (const [snakeKey, val] of Object.entries(data)) {
+      const camelKey = snakeToCamel(snakeKey)
+      if (params[camelKey]) {
+        params[camelKey].kp = val.kp ?? 0
+        params[camelKey].ki = val.ki ?? 0
+        params[camelKey].kd = val.kd ?? 0
+      }
+    }
+    console.log('PID 配置已加载:', data)
+  } catch (e) {
+    console.error('加载 PID 配置失败:', e)
+  } finally {
+    loading.value = false
+  }
+}
 
 async function switchMode(mode) {
   try {
@@ -79,18 +114,37 @@ async function switchMode(mode) {
   }
 }
 
-function publishParams() {
-  publish(PID_CONFIG_TOPIC, 'std_msgs/String', {
-    data: JSON.stringify({
-      visual_yaw: params.visualYaw,
-      visual_pitch: params.visualPitch,
-      angle_yaw: params.angleYaw,
-      angle_pitch: params.anglePitch,
-    }),
-  })
-  console.log('PID 参数已发布:', params)
+async function saveConfig() {
+  const payload = {
+    visual_yaw: params.visualYaw,
+    visual_pitch: params.visualPitch,
+    angle_yaw: params.angleYaw,
+    angle_pitch: params.anglePitch,
+  }
+
+  saving.value = true
+  try {
+    const res = await fetch(`${HTTP_API_BASE}/api/pid/config`, {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify(payload),
+    })
+    if (!res.ok) {
+      const err = await res.json().catch(() => ({}))
+      throw new Error(err.message || `HTTP ${res.status}`)
+    }
+    console.log('PID 配置已保存')
+  } catch (e) {
+    console.error('保存 PID 配置失败:', e)
+  } finally {
+    saving.value = false
+  }
 }
 
+onMounted(() => {
+  loadConfig()
+})
+
 async function toggleLaser() {
   try {
     const action = laserOn.value ? 'off' : 'on'
@@ -146,6 +200,16 @@ async function toggleLaser() {
 .conn-status { font-size: 13px; color: #e94560; }
 .conn-status.ok { color: #4ecca3; }
 
+.btn-load {
+  padding: 10px 28px;
+  border: 1px solid #0f3460; border-radius: 4px;
+  background: #16213e; color: #a0a0b0;
+  font-size: 15px; font-weight: 600; cursor: pointer;
+  transition: background 0.2s, color 0.2s;
+}
+.btn-load:hover { background: #1a1a3e; color: #e0e0e0; }
+.btn-load:disabled { opacity: 0.5; cursor: not-allowed; }
+
 .btn-publish {
   padding: 10px 28px;
   border: none; border-radius: 4px;
@@ -154,6 +218,7 @@ async function toggleLaser() {
   transition: background 0.2s;
 }
 .btn-publish:hover { background: #3bb08a; }
+.btn-publish:disabled { opacity: 0.5; cursor: not-allowed; }
 
 .btn-laser {
   padding: 10px 28px;