From e71d4fa71643e13bbc217d9376b6990372162e1a Mon Sep 17 00:00:00 2001 From: SkyLi Date: Wed, 3 Jun 2026 00:01:13 +0800 Subject: [PATCH] init --- .gitignore | 2 + README.md | 235 +++++++ SERVER_INTEGRATION.md | 571 +++++++++++++++++ index.html | 16 + package.json | 20 + pnpm-lock.yaml | 1027 +++++++++++++++++++++++++++++++ src/App.vue | 49 ++ src/composables/useRosbridge.js | 41 ++ src/config.js | 24 + src/main.js | 5 + src/router/index.js | 16 + src/views/AutoMode.vue | 60 ++ src/views/DebugMode.vue | 166 +++++ src/views/ManualMode.vue | 175 ++++++ vite.config.js | 6 + 15 files changed, 2413 insertions(+) create mode 100644 .gitignore create mode 100644 README.md create mode 100644 SERVER_INTEGRATION.md create mode 100644 index.html create mode 100644 package.json create mode 100644 pnpm-lock.yaml create mode 100644 src/App.vue create mode 100644 src/composables/useRosbridge.js create mode 100644 src/config.js create mode 100644 src/main.js create mode 100644 src/router/index.js create mode 100644 src/views/AutoMode.vue create mode 100644 src/views/DebugMode.vue create mode 100644 src/views/ManualMode.vue create mode 100644 vite.config.js diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..246d599 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +/dist +/node_modules \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..9d342f9 --- /dev/null +++ b/README.md @@ -0,0 +1,235 @@ +# AimBot Web + +基于 Vue 3 的机器人远程控制前端，提供自动监控、手动遥控和 PID 调参三个功能页面。 + +## 技术栈 + +| 层 | 技术 | +|----|------| +| 框架 | Vue 3.5 (Composition API, ` + + diff --git a/package.json b/package.json new file mode 100644 index 0000000..96b0d1f --- /dev/null +++ b/package.json @@ -0,0 +1,20 @@ +{ + "name": "aimbot-web", + "private": true, + "version": "1.0.0", + "type": "module", + "scripts": { + "dev": "vite", + "build": "vite build", + "preview": "vite preview" + }, + "dependencies": { + "roslib": "^1.4.0", + "vue": "^3.4.0", + "vue-router": 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- bufferutil + - supports-color + - utf-8-validate + + source-map-js@1.2.1: {} + + undici-types@7.24.6: {} + + vary@1.1.2: {} + + vite@5.4.21(@types/node@25.9.1): + dependencies: + esbuild: 0.21.5 + postcss: 8.5.15 + rollup: 4.60.4 + optionalDependencies: + '@types/node': 25.9.1 + fsevents: 2.3.3 + + vue-router@4.6.4(vue@3.5.35): + dependencies: + '@vue/devtools-api': 6.6.4 + vue: 3.5.35 + + vue@3.5.35: + dependencies: + '@vue/compiler-dom': 3.5.35 + '@vue/compiler-sfc': 3.5.35 + '@vue/runtime-dom': 3.5.35 + '@vue/server-renderer': 3.5.35(vue@3.5.35) + '@vue/shared': 3.5.35 + + webworkify-webpack@2.1.5: {} + + webworkify@1.5.0: {} + + ws@8.20.1: {} + + ws@8.21.0: {} diff --git a/src/App.vue b/src/App.vue new file mode 100644 index 0000000..656ec15 --- /dev/null +++ b/src/App.vue @@ -0,0 +1,49 @@ + + + + + diff --git a/src/composables/useRosbridge.js b/src/composables/useRosbridge.js new file mode 100644 index 0000000..d938601 --- /dev/null +++ b/src/composables/useRosbridge.js @@ -0,0 +1,41 @@ +import { ref, onUnmounted } from 'vue' +import ROSLIB from 'roslib' + +export function useRosbridge() { + const connected = ref(false) + let ros = null + let topicCache = {} + + function connect(url) { + if (ros) ros.close() + ros = new ROSLIB.Ros({ url }) + ros.on('connection', () => { connected.value = true }) + ros.on('close', () => { connected.value = false }) + ros.on('error', (err) => { console.error('Rosbridge error:', err) }) + } + + function disconnect() { + if (ros) { ros.close(); ros = null } + connected.value = false + topicCache = {} + } + + function getTopic(name, messageType) { + const key = `${name}:${messageType}` + if (!topicCache[key]) { + topicCache[key] = new ROSLIB.Topic({ ros, name, messageType }) + } + return topicCache[key] + } + + function publish(topic, messageType, data) { + const t = getTopic(topic, messageType) + t.publish(new ROSLIB.Message(data)) + } + + onUnmounted(() => { + if (ros) ros.close() + }) + + return { connected, connect, disconnect, publish } +} diff --git a/src/config.js b/src/config.js new file mode 100644 index 0000000..1ba7e14 --- /dev/null +++ b/src/config.js @@ -0,0 +1,24 @@ +// 配置 — 按实际部署修改地址和话题 +export const HTTP_API_BASE = 'http://192.168.0.11' + +export const ROSBRIDGE_URL = 'ws://192.168.0.11:9090' + +export const MJPEG_AUTO_URL = 'http://192.168.0.11/stream?topic=/vision/result_image&mode=auto' +export const MJPEG_MANUAL_URL = 'http://192.168.0.11/stream?topic=/vision/result_image&mode=manual' + +// 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 +export const WHEEL_SEPARATION = 0.2 // 轮距(m) + +// 云台角度速率 (度/秒) +export const GIMBAL_PITCH_DEG_S = 10 +export const GIMBAL_YAW_DEG_S = 10 + +// 发布频率 +export const PUBLISH_RATE = 30 // Hz diff --git a/src/main.js b/src/main.js new file mode 100644 index 0000000..6878abd --- /dev/null +++ b/src/main.js @@ -0,0 +1,5 @@ +import { createApp } from 'vue' +import App from './App.vue' +import router from './router/index.js' + +createApp(App).use(router).mount('#app') diff --git a/src/router/index.js b/src/router/index.js new file mode 100644 index 0000000..a3b393a --- /dev/null +++ b/src/router/index.js @@ -0,0 +1,16 @@ +import { createRouter, createWebHashHistory } from 'vue-router' +import AutoMode from '../views/AutoMode.vue' +import ManualMode from '../views/ManualMode.vue' +import DebugMode from '../views/DebugMode.vue' + +const routes = [ + { path: '/auto', component: AutoMode }, + { path: '/manual', component: ManualMode }, + { path: '/debug', component: DebugMode }, + { path: '/', redirect: '/auto' }, +] + +export default createRouter({ + history: createWebHashHistory(), + routes, +}) diff --git a/src/views/AutoMode.vue b/src/views/AutoMode.vue new file mode 100644 index 0000000..99055e0 --- /dev/null +++ b/src/views/AutoMode.vue @@ -0,0 +1,60 @@ + + + + + diff --git a/src/views/DebugMode.vue b/src/views/DebugMode.vue new file mode 100644 index 0000000..630815b --- /dev/null +++ b/src/views/DebugMode.vue @@ -0,0 +1,166 @@ + + + + + diff --git a/src/views/ManualMode.vue b/src/views/ManualMode.vue new file mode 100644 index 0000000..49c5260 --- /dev/null +++ b/src/views/ManualMode.vue @@ -0,0 +1,175 @@ + + + + + diff --git a/vite.config.js b/vite.config.js new file mode 100644 index 0000000..c40aa3c --- /dev/null +++ b/vite.config.js @@ -0,0 +1,6 @@ +import { defineConfig } from 'vite' +import vue from '@vitejs/plugin-vue' + +export default defineConfig({ + plugins: [vue()], +})