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[Valentino Heman Budiarto]
2026-10-26 13:32:24 +07:00
parent e14787818b
commit 19a8e89314
1 changed files with 250 additions and 600 deletions
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app/page.tsx
+218 -568
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@@ -2,49 +2,50 @@
import { useState, useEffect, useRef } from 'react'; import { useState, useEffect, useRef } from 'react';
const sleep = (ms: number) => // ==========================================
new Promise((resolve) => setTimeout(resolve, ms)); // A. KOMPONEN LOGO PI4WD ROVER
// ==========================================
const PiRoverLogo = ({ scale = 1 }: { scale?: number }) => {
return (
<div className="flex flex-col items-center select-none" style={{ transform: `scale(${scale})` }}>
<div className="flex items-center gap-1.5 font-extrabold text-3xl md:text-4xl tracking-tighter">
<div className="w-6 h-6 md:w-7 md:h-7 border border-emerald-500/50 bg-emerald-500/10 rounded flex items-center justify-center -rotate-45">
<svg xmlns="http://www.w3.org/2000/svg" className="w-4 h-4 text-emerald-500" viewBox="0 0 24 24" fill="currentColor">
<path d="M12 2L4.5 20.29l.71.71L12 18l6.79 3 .71-.71z" />
</svg>
</div>
<span className="text-red-600 relative -top-0.5">PI4</span>
<span className="text-slate-900">WD ROVER</span>
<div className="w-6 h-6 md:w-7 md:h-7 border border-emerald-500/50 bg-emerald-500/10 rounded flex items-center justify-center rotate-45">
<svg xmlns="http://www.w3.org/2000/svg" className="w-4 h-4 text-emerald-500" viewBox="0 0 24 24" fill="currentColor">
<path d="M12 2L4.5 20.29l.71.71L12 18l6.79 3 .71-.71z" />
</svg>
</div>
</div>
</div>
);
};
const sleep = (ms: number) => new Promise((resolve) => setTimeout(resolve, ms));
// KONFIGURASI
const RECORD_INTERVAL_MS = 50; const RECORD_INTERVAL_MS = 50;
const DIRECTION_BRAKE_MS = 600; const DIRECTION_BRAKE_MS = 600;
const MAX_STEP_TIMEOUT_MS = 15000; const MAX_STEP_TIMEOUT_MS = 15000;
const LATENCY_COMPENSATION_TICKS = 3; const LATENCY_COMPENSATION_TICKS = 3;
// TYPE type MotionType = 'FORWARD' | 'REVERSE' | 'TURN_LEFT' | 'TURN_RIGHT' | 'STOP';
type Steering = { type TrajectoryStep = { x: number; y: number; target_ticks_l: number; target_ticks_r: number; motion?: MotionType; };
x: number;
y: number;
};
type MotionType =
| 'FORWARD'
| 'REVERSE'
| 'TURN_LEFT'
| 'TURN_RIGHT'
| 'STOP';
type TrajectoryStep = {
x: number;
y: number;
target_ticks_l: number;
target_ticks_r: number;
motion?: MotionType;
sample_ms?: number;
};
export default function RobotDashboard() { export default function RobotDashboard() {
const PI_IP = '192.168.0.105'; const PI_IP = '192.168.0.105';
const streamUrl = `http://${PI_IP}:8080/stream`; const streamUrl = `http://${PI_IP}:8080/stream`;
const [controlMode, setControlMode] = useState('touch'); const [isLoading, setIsLoading] = useState(true);
const [gamepadStatus, setGamepadStatus] = useState('Menunggu Gamepad...'); const [controlMode, setControlMode] = useState<'pc-mobile' | 'gamepad'>('pc-mobile');
const [steering, setSteering] = useState({ x: 0, y: 0 });
const [ticks, setTicks] = useState({ l: 0, r: 0 });
const [isRecordingUI, setIsRecordingUI] = useState(false);
const [isPlayingUI, setIsPlayingUI] = useState(false);
const [isFullscreen, setIsFullscreen] = useState(false); const [isFullscreen, setIsFullscreen] = useState(false);
const [gpVisuals, setGpVisuals] = useState({ lt: 0, rt: 0, steer: 0, btnA: false, btnB: false, btnX: false, btnY: false });
const currentTicksRef = useRef({ l: 0, r: 0 }); const currentTicksRef = useRef({ l: 0, r: 0 });
const lastRecordedTicksRef = useRef({ l: 0, r: 0 }); const lastRecordedTicksRef = useRef({ l: 0, r: 0 });
const activeMotionRef = useRef<MotionType>('STOP'); const activeMotionRef = useRef<MotionType>('STOP');
@@ -57,334 +58,155 @@ export default function RobotDashboard() {
const prevBtnsRef = useRef({ A: false, B: false, Y: false, X: false }); const prevBtnsRef = useRef({ A: false, B: false, Y: false, X: false });
const wsRef = useRef<WebSocket | null>(null); const wsRef = useRef<WebSocket | null>(null);
const keysRef = useRef({ up: false, down: false, left: false, right: false, q: false, e: false }); const keysRef = useRef({ up: false, down: false, left: false, right: false });
const touchStateRef = useRef({ turn: 0, throttle: 0, pan: 0 });
const sendCommand = (x: number, y: number, pan: number = 0) => { const sendCommand = (x: number, y: number) => {
if (wsRef.current && wsRef.current.readyState === WebSocket.OPEN) { if (wsRef.current && wsRef.current.readyState === WebSocket.OPEN) {
wsRef.current.send(JSON.stringify({ x, y, pan })); wsRef.current.send(JSON.stringify({ x, y }));
} }
}; };
const stopRobot = () => { const stopRobot = () => { sendCommand(0, 0); };
setSteering({ x: 0, y: 0 });
sendCommand(0, 0, touchStateRef.current.pan);
};
const getMotionType = (x: number, y: number): MotionType => { const getMotionType = (x: number, y: number): MotionType => {
const DEADZONE = 0.10; const DEADZONE = 0.10;
const hasX = Math.abs(x) > DEADZONE; if (Math.abs(x) <= DEADZONE && Math.abs(y) <= DEADZONE) return 'STOP';
const hasY = Math.abs(y) > DEADZONE; if (Math.abs(y) > DEADZONE) return y > 0 ? 'FORWARD' : 'REVERSE';
if (!hasX && !hasY) return 'STOP';
if (hasY) return y > 0 ? 'FORWARD' : 'REVERSE';
return x > 0 ? 'TURN_RIGHT' : 'TURN_LEFT'; return x > 0 ? 'TURN_RIGHT' : 'TURN_LEFT';
}; };
const executePlayback = async (reverse: boolean = false) => { const executePlayback = async (reverse: boolean = false) => {
if (isPlayingRef.current || isSavingRef.current) return; if (isPlayingRef.current || isSavingRef.current) return;
isPlayingRef.current = true; isPlayingRef.current = true;
setIsPlayingUI(true);
console.log(`Memulai Playback ${reverse ? 'REVERSE' : 'FORWARD'}...`);
try { try {
const res = await fetch(`/api/trajectory?_t=${Date.now()}`, { method: 'GET', cache: 'no-store' }); const res = await fetch(`/api/trajectory?_t=${Date.now()}`, { method: 'GET', cache: 'no-store' });
if (!res.ok) throw new Error(`HTTP Error ${res.status}`); if (!res.ok) throw new Error(`HTTP Error ${res.status}`);
const data = (await res.json()) as TrajectoryStep[]; const data = (await res.json()) as TrajectoryStep[];
if (!Array.isArray(data) || data.length === 0) { alert('Data rute kosong!'); return; }
if (!Array.isArray(data) || data.length === 0) {
alert('Data perjalanan kosong! Rekam rute terlebih dahulu.');
return;
}
const routeData = reverse ? [...data].reverse() : data; const routeData = reverse ? [...data].reverse() : data;
let lastActiveMotion: MotionType = 'STOP'; let lastActiveMotion: MotionType = 'STOP';
for (let i = 0; i < routeData.length; i++) { for (let i = 0; i < routeData.length; i++) {
if (!isPlayingRef.current) break; if (!isPlayingRef.current) break;
const step = routeData[i]; const step = routeData[i];
const targetX = reverse ? -step.x : step.x; const targetX = reverse ? -step.x : step.x;
const targetY = reverse ? -step.y : step.y; const targetY = reverse ? -step.y : step.y;
const currentMotion = getMotionType(targetX, targetY); const currentMotion = getMotionType(targetX, targetY);
if (currentMotion !== 'STOP' && lastActiveMotion !== 'STOP') { if (currentMotion !== 'STOP' && lastActiveMotion !== 'STOP') {
const isReversal = if ((lastActiveMotion === 'FORWARD' && currentMotion === 'REVERSE') || (lastActiveMotion === 'REVERSE' && currentMotion === 'FORWARD')) {
(lastActiveMotion === 'FORWARD' && currentMotion === 'REVERSE') || stopRobot(); await sleep(DIRECTION_BRAKE_MS);
(lastActiveMotion === 'REVERSE' && currentMotion === 'FORWARD') ||
(lastActiveMotion === 'TURN_LEFT' && currentMotion === 'TURN_RIGHT') ||
(lastActiveMotion === 'TURN_RIGHT' && currentMotion === 'TURN_LEFT');
if (isReversal) {
stopRobot();
await sleep(DIRECTION_BRAKE_MS);
if (!isPlayingRef.current) break;
} }
} }
if (currentMotion !== 'STOP') lastActiveMotion = currentMotion; if (currentMotion !== 'STOP') lastActiveMotion = currentMotion;
sendCommand(targetX, targetY);
setSteering({ x: targetX, y: targetY }); const startL = currentTicksRef.current.l; const startR = currentTicksRef.current.r;
sendCommand(targetX, targetY, touchStateRef.current.pan); const targetL = Math.max(0, Number(step.target_ticks_l || 0)); const targetR = Math.max(0, Number(step.target_ticks_r || 0));
const compTargetL = Math.max(0, targetL - LATENCY_COMPENSATION_TICKS); const compTargetR = Math.max(0, targetR - LATENCY_COMPENSATION_TICKS);
const startL = currentTicksRef.current.l; if (targetL === 0 && targetR === 0) { await sleep(RECORD_INTERVAL_MS); continue; }
const startR = currentTicksRef.current.r;
const targetL = Math.max(0, Number(step.target_ticks_l || 0));
const targetR = Math.max(0, Number(step.target_ticks_r || 0));
const compTargetL = Math.max(0, targetL - LATENCY_COMPENSATION_TICKS);
const compTargetR = Math.max(0, targetR - LATENCY_COMPENSATION_TICKS);
if (targetL === 0 && targetR === 0) {
await sleep(RECORD_INTERVAL_MS);
continue;
}
const stepStartTime = Date.now(); const stepStartTime = Date.now();
while (isPlayingRef.current) { while (isPlayingRef.current) {
const currentDeltaL = Math.abs(currentTicksRef.current.l - startL); const currentDeltaL = Math.abs(currentTicksRef.current.l - startL); const currentDeltaR = Math.abs(currentTicksRef.current.r - startR);
const currentDeltaR = Math.abs(currentTicksRef.current.r - startR);
let stepFinished = false; let stepFinished = false;
if (targetL > targetR) stepFinished = currentDeltaL >= compTargetL;
if (targetL > targetR) { else if (targetR > targetL) stepFinished = currentDeltaR >= compTargetR;
stepFinished = currentDeltaL >= compTargetL; else stepFinished = currentDeltaL >= compTargetL || currentDeltaR >= compTargetR;
} else if (targetR > targetL) { if (stepFinished || (Date.now() - stepStartTime > MAX_STEP_TIMEOUT_MS)) break;
stepFinished = currentDeltaR >= compTargetR;
} else {
stepFinished = currentDeltaL >= compTargetL || currentDeltaR >= compTargetR;
}
if (stepFinished) break;
if (Date.now() - stepStartTime > MAX_STEP_TIMEOUT_MS) {
console.warn(`Timeout step ${i}: Robot tersangkut.`);
break;
}
await sleep(10); await sleep(10);
} }
} }
console.log('Playback selesai!'); } catch (error) { console.error('Playback Error:', error);
} catch (error) { } finally { stopRobot(); isPlayingRef.current = false; }
console.error('Gagal playback:', error);
} finally {
stopRobot();
isPlayingRef.current = false;
setIsPlayingUI(false);
}
}; };
const forceScanGamepad = () => { const handleAction = (action: 'RECORD' | 'SAVE' | 'PLAY_FWD' | 'PLAY_REV') => {
if (typeof navigator === 'undefined' || !navigator.getGamepads) return; if (action === 'PLAY_FWD' || action === 'PLAY_REV') {
const gamepads = navigator.getGamepads();
let activeGp: Gamepad | null = null;
for (let i = 0; i < gamepads.length; i++) {
if (gamepads[i]) { activeGp = gamepads[i]; break; }
}
if (activeGp) setGamepadStatus(`🟢 TERHUBUNG: ${activeGp.id.substring(0, 15)}...`);
};
const saveTrajectory = async () => {
isSavingRef.current = true;
try {
stopRobot();
const deltaL = Math.abs(currentTicksRef.current.l - lastRecordedTicksRef.current.l);
const deltaR = Math.abs(currentTicksRef.current.r - lastRecordedTicksRef.current.r);
if ((deltaL > 0 || deltaR > 0) && activeMotionRef.current !== 'STOP') {
trajectoryRef.current.push({
x: lastCommandRef.current.x,
y: lastCommandRef.current.y,
target_ticks_l: deltaL,
target_ticks_r: deltaR,
motion: activeMotionRef.current,
});
}
const trajectoryToSave = [...trajectoryRef.current];
if (trajectoryToSave.length === 0) return;
const res = await fetch('/api/trajectory', {
method: 'POST',
headers: { 'Content-Type': 'application/json' },
body: JSON.stringify(trajectoryToSave),
});
if (!res.ok) throw new Error(`HTTP Error ${res.status}`);
} catch (error) {
alert('Gagal menyimpan rute.');
} finally {
isSavingRef.current = false;
}
};
const handleTouchAction = (action: 'RECORD' | 'SAVE' | 'PLAY_FWD' | 'PLAY_REV') => {
if (action === 'PLAY_FWD') {
if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); } if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
else if (!isSavingRef.current && !isRecordingRef.current) executePlayback(false); else if (!isSavingRef.current && !isRecordingRef.current) executePlayback(action === 'PLAY_REV');
} else if (action === 'PLAY_REV') {
if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
else if (!isSavingRef.current && !isRecordingRef.current) executePlayback(true);
} else if (action === 'RECORD') { } else if (action === 'RECORD') {
if (!isRecordingRef.current && !isPlayingRef.current && !isSavingRef.current) { if (!isRecordingRef.current && !isPlayingRef.current && !isSavingRef.current) {
isRecordingRef.current = true; isRecordingRef.current = true; trajectoryRef.current = [];
setIsRecordingUI(true);
trajectoryRef.current = [];
lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r }; lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r };
activeMotionRef.current = 'STOP'; activeMotionRef.current = 'STOP'; lastCommandRef.current = { x: 0, y: 0 }; stopRobot();
lastCommandRef.current = { x: 0, y: 0 };
stopRobot();
} }
} else if (action === 'SAVE') { } else if (action === 'SAVE') {
if (isRecordingRef.current) { if (isRecordingRef.current) { isRecordingRef.current = false; /* Implementasi simpan API di sini */ }
isRecordingRef.current = false;
setIsRecordingUI(false);
saveTrajectory();
}
}
};
const enterFullscreen = () => {
const elem = document.documentElement;
if (elem.requestFullscreen) {
elem.requestFullscreen();
}
};
const exitFullscreen = () => {
if (document.exitFullscreen) {
document.exitFullscreen();
} }
}; };
useEffect(() => { useEffect(() => {
const handleFullscreenChange = () => { const loadingTimer = setTimeout(() => setIsLoading(false), 2000);
setIsFullscreen(!!document.fullscreenElement);
};
document.addEventListener('fullscreenchange', handleFullscreenChange);
const ws = new WebSocket(`ws://${PI_IP}:8765`); const ws = new WebSocket(`ws://${PI_IP}:8765`);
ws.onmessage = (event) => { ws.onmessage = (event) => {
try { try {
const data = JSON.parse(event.data); const data = JSON.parse(event.data);
if (data.ticks_l !== undefined && data.ticks_r !== undefined) { if (data.ticks_l !== undefined && data.ticks_r !== undefined) {
const newTicks = { l: Number(data.ticks_l), r: Number(data.ticks_r) }; currentTicksRef.current = { l: Number(data.ticks_l), r: Number(data.ticks_r) };
setTicks(newTicks);
currentTicksRef.current = newTicks;
} }
} catch (error) {} } catch (error) {}
}; };
wsRef.current = ws; wsRef.current = ws;
// PERBAIKAN LOGIKA KEYBOARD (Q dan E ditambahkan & CapsLock kebal)
const handleKeyDown = (e: KeyboardEvent) => { const handleKeyDown = (e: KeyboardEvent) => {
const key = e.key.toLowerCase(); const key = e.key.toLowerCase();
if (key === 'arrowup' || key === 'w') keysRef.current.up = true; if (key === 'w' || key === 'arrowup') keysRef.current.up = true;
if (key === 'arrowdown' || key === 's') keysRef.current.down = true; if (key === 's' || key === 'arrowdown') keysRef.current.down = true;
if (key === 'arrowleft' || key === 'a') keysRef.current.left = true; if (key === 'a' || key === 'arrowleft') keysRef.current.left = true;
if (key === 'arrowright' || key === 'd') keysRef.current.right = true; if (key === 'd' || key === 'arrowright') keysRef.current.right = true;
if (key === 'q') keysRef.current.q = true;
if (key === 'e') keysRef.current.e = true;
};
if (e.repeat) return;
if (key === 'v') handleAction('RECORD');
if (key === 'b') handleAction('SAVE');
if (key === 'n') handleAction('PLAY_FWD');
if (key === 'm') handleAction('PLAY_REV');
};
const handleKeyUp = (e: KeyboardEvent) => { const handleKeyUp = (e: KeyboardEvent) => {
const key = e.key.toLowerCase(); const key = e.key.toLowerCase();
if (key === 'arrowup' || key === 'w') keysRef.current.up = false; if (key === 'w' || key === 'arrowup') keysRef.current.up = false;
if (key === 'arrowdown' || key === 's') keysRef.current.down = false; if (key === 's' || key === 'arrowdown') keysRef.current.down = false;
if (key === 'arrowleft' || key === 'a') keysRef.current.left = false; if (key === 'a' || key === 'arrowleft') keysRef.current.left = false;
if (key === 'arrowright' || key === 'd') keysRef.current.right = false; if (key === 'd' || key === 'arrowright') keysRef.current.right = false;
// Saat tombol dilepas, kembalikan posisi pan (menoleh) ke 0 secara paksa
if (key === 'q') {
keysRef.current.q = false;
touchStateRef.current.pan = 0;
}
if (key === 'e') {
keysRef.current.e = false;
touchStateRef.current.pan = 0;
}
}; };
window.addEventListener('keydown', handleKeyDown); window.addEventListener('keydown', handleKeyDown);
window.addEventListener('keyup', handleKeyUp); window.addEventListener('keyup', handleKeyUp);
const interval = setInterval(() => { const interval = setInterval(() => {
let currentX = 0; let currentY = 0; let currentPan = 0; let currentX = 0; let currentY = 0;
let btnA = false; let btnB = false; let btnY = false; let btnX = false; let gpA = false, gpB = false, gpY = false, gpX = false;
let gpLT = 0, gpRT = 0, gpSteer = 0;
if (controlMode === 'gamepad') { if (controlMode === 'gamepad' && typeof navigator !== 'undefined' && navigator.getGamepads) {
if (typeof navigator !== 'undefined' && navigator.getGamepads) {
const gamepads = navigator.getGamepads(); const gamepads = navigator.getGamepads();
let activeGp: Gamepad | null = null; let activeGp: Gamepad | null = null;
for (let i = 0; i < gamepads.length; i++) { for (let i = 0; i < gamepads.length; i++) { if (gamepads[i]) { activeGp = gamepads[i]; break; } }
if (gamepads[i]) { activeGp = gamepads[i]; break; }
}
if (activeGp) { if (activeGp) {
const rawX = activeGp.axes[0] || 0; gpSteer = activeGp.axes[0] || 0;
const rawPan = activeGp.axes[2] || 0; gpRT = activeGp.buttons[7]?.value || 0;
const maju = activeGp.buttons[7]?.value || 0; gpLT = activeGp.buttons[6]?.value || 0;
const mundur = activeGp.buttons[6]?.value || 0;
currentX = Math.abs(rawX) > 0.15 ? Number(rawX.toFixed(2)) : 0; currentX = Math.abs(gpSteer) > 0.15 ? Number(gpSteer.toFixed(2)) : 0;
currentY = Number((mundur - maju).toFixed(2)); currentY = Number((gpRT - gpLT).toFixed(2));
currentPan = Math.abs(rawPan) > 0.15 ? Number(rawPan.toFixed(2)) : 0;
btnA = activeGp.buttons[0]?.pressed || false; gpA = activeGp.buttons[0]?.pressed || false;
btnB = activeGp.buttons[1]?.pressed || false; gpB = activeGp.buttons[1]?.pressed || false;
btnY = activeGp.buttons[3]?.pressed || false; gpX = activeGp.buttons[2]?.pressed || false;
btnX = activeGp.buttons[2]?.pressed || false; gpY = activeGp.buttons[3]?.pressed || false;
setGpVisuals({ lt: gpLT, rt: gpRT, steer: gpSteer, btnA: gpA, btnB: gpB, btnX: gpX, btnY: gpY });
} }
} } else if (controlMode === 'pc-mobile') {
} else if (controlMode === 'keyboard') { currentY = (keysRef.current.down ? 1 : 0) - (keysRef.current.up ? -1 : 0);
currentY = (keysRef.current.down ? 1 : 0) - (keysRef.current.up ? 1 : 0);
currentX = (keysRef.current.right ? 1 : 0) - (keysRef.current.left ? 1 : 0); currentX = (keysRef.current.right ? 1 : 0) - (keysRef.current.left ? 1 : 0);
currentPan = (keysRef.current.e ? 1 : 0) - (keysRef.current.q ? 1 : 0);
} else if (controlMode === 'touch' || isFullscreen) {
currentX = touchStateRef.current.turn;
currentY = touchStateRef.current.throttle;
currentPan = touchStateRef.current.pan;
}
// GLOBAL KEYBOARD OVERRIDE: Berlaku dimanapun asalkan tombol keyboard ditekan
if (keysRef.current.up || keysRef.current.down || keysRef.current.left || keysRef.current.right) {
currentY = (keysRef.current.down ? 1 : 0) - (keysRef.current.up ? 1 : 0);
currentX = (keysRef.current.right ? 1 : 0) - (keysRef.current.left ? 1 : 0);
}
if (keysRef.current.q || keysRef.current.e) {
currentPan = (keysRef.current.e ? 1 : 0) - (keysRef.current.q ? 1 : 0);
touchStateRef.current.pan = currentPan; // Sinkronkan ke UI Sentuh
} }
const currentMotion = getMotionType(currentX, currentY); const currentMotion = getMotionType(currentX, currentY);
if (btnA && !prevBtnsRef.current.A && !isRecordingRef.current) { if (gpB && !prevBtnsRef.current.B) handleAction('RECORD');
if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); } if (gpY && !prevBtnsRef.current.Y) handleAction('SAVE');
else if (!isSavingRef.current) executePlayback(false); if (gpA && !prevBtnsRef.current.A) handleAction('PLAY_FWD');
} if (gpX && !prevBtnsRef.current.X) handleAction('PLAY_REV');
prevBtnsRef.current = { A: gpA, B: gpB, Y: gpY, X: gpX };
if (btnX && !prevBtnsRef.current.X && !isRecordingRef.current) {
if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
else if (!isSavingRef.current) executePlayback(true);
}
if (btnB && !prevBtnsRef.current.B && !isRecordingRef.current && !isPlayingRef.current && !isSavingRef.current) {
isRecordingRef.current = true;
setIsRecordingUI(true);
trajectoryRef.current = [];
lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r };
activeMotionRef.current = currentMotion;
lastCommandRef.current = { x: currentX, y: currentY };
stopRobot();
}
if (btnY && !prevBtnsRef.current.Y && isRecordingRef.current) {
isRecordingRef.current = false;
setIsRecordingUI(false);
saveTrajectory();
}
prevBtnsRef.current = { A: btnA, B: btnB, Y: btnY, X: btnX };
if (isPlayingRef.current || isSavingRef.current) return; if (isPlayingRef.current || isSavingRef.current) return;
@@ -392,342 +214,170 @@ export default function RobotDashboard() {
if (currentMotion !== activeMotionRef.current) { if (currentMotion !== activeMotionRef.current) {
const deltaL = Math.abs(currentTicksRef.current.l - lastRecordedTicksRef.current.l); const deltaL = Math.abs(currentTicksRef.current.l - lastRecordedTicksRef.current.l);
const deltaR = Math.abs(currentTicksRef.current.r - lastRecordedTicksRef.current.r); const deltaR = Math.abs(currentTicksRef.current.r - lastRecordedTicksRef.current.r);
if ((deltaL > 0 || deltaR > 0) && activeMotionRef.current !== 'STOP') { if ((deltaL > 0 || deltaR > 0) && activeMotionRef.current !== 'STOP') {
trajectoryRef.current.push({ trajectoryRef.current.push({ x: lastCommandRef.current.x, y: lastCommandRef.current.y, target_ticks_l: deltaL, target_ticks_r: deltaR, motion: activeMotionRef.current });
x: lastCommandRef.current.x,
y: lastCommandRef.current.y,
target_ticks_l: deltaL,
target_ticks_r: deltaR,
motion: activeMotionRef.current,
});
} }
lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r }; lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r };
activeMotionRef.current = currentMotion; activeMotionRef.current = currentMotion;
} }
if (currentMotion !== 'STOP') lastCommandRef.current = { x: currentX, y: currentY };
if (currentMotion !== 'STOP') {
lastCommandRef.current = { x: currentX, y: currentY };
} }
} sendCommand(currentX, currentY);
setSteering({ x: currentX, y: currentY });
sendCommand(currentX, currentY, currentPan);
}, RECORD_INTERVAL_MS); }, RECORD_INTERVAL_MS);
return () => { return () => {
clearTimeout(loadingTimer);
clearInterval(interval); clearInterval(interval);
window.removeEventListener('keydown', handleKeyDown); window.removeEventListener('keydown', handleKeyDown); window.removeEventListener('keyup', handleKeyUp);
window.removeEventListener('keyup', handleKeyUp);
document.removeEventListener('fullscreenchange', handleFullscreenChange);
if (wsRef.current) wsRef.current.close(); if (wsRef.current) wsRef.current.close();
}; };
}, [controlMode, PI_IP, isFullscreen]); }, [controlMode, PI_IP]);
const maxRadius = 36; const toggleFullscreen = () => {
const dotX = steering.x * maxRadius; if (!document.fullscreenElement) { document.documentElement.requestFullscreen(); setIsFullscreen(true); }
const dotY = steering.y * maxRadius; else if (document.exitFullscreen) { document.exitFullscreen(); setIsFullscreen(false); }
};
return ( return (
<main <main
onContextMenu={(e) => e.preventDefault()} onContextMenu={(e) => e.preventDefault()}
className="min-h-screen bg-slate-950 text-slate-100 p-3 md:p-8 font-sans pb-12 select-none" className="min-h-screen bg-emerald-50 flex flex-col select-none touch-none overflow-hidden"
style={{ WebkitTouchCallout: 'none', WebkitUserSelect: 'none' }} style={{ WebkitTouchCallout: 'none', WebkitUserSelect: 'none', fontFamily: '"HK Modular", sans-serif' }}
> >
<div className="max-w-5xl mx-auto space-y-4 md:space-y-6"> {/* LOADING SCREEN */}
<div className={`fixed inset-0 z-[200] bg-emerald-50 flex flex-col items-center justify-center transition-opacity duration-1000 ease-in-out ${isLoading ? 'opacity-100' : 'opacity-0 pointer-events-none'}`}>
{/* HEADER */} <div className="scale-125 md:scale-150"><PiRoverLogo /></div>
<header className="flex flex-col md:flex-row justify-between items-center gap-4 bg-slate-900/60 p-4 rounded-2xl border border-slate-800 shadow-lg backdrop-blur-sm"> <div className="mt-16 flex items-center gap-2 text-slate-500 text-xs tracking-widest uppercase">
<div className="flex items-center gap-4 flex-wrap"> <div className="w-2 h-2 rounded-full bg-emerald-500 animate-pulse"></div>
<h1 className="text-xl md:text-2xl font-black bg-gradient-to-r from-emerald-400 to-teal-400 bg-clip-text text-transparent tracking-tight"> Menghubungkan ke Robot...
ROBOT VISION </div>
</h1>
{isRecordingUI && (
<span className="flex items-center gap-2 bg-red-500/10 text-red-500 border border-red-500/50 px-3 py-1 rounded-full text-xs font-bold animate-pulse">
<span className="w-2 h-2 bg-red-500 rounded-full shadow-[0_0_8px_#ef4444]"></span> MEREKAM...
</span>
)}
{isPlayingUI && (
<span className="flex items-center gap-2 bg-blue-500/10 text-blue-400 border border-blue-500/50 px-3 py-1 rounded-full text-xs font-bold animate-pulse">
<span className="w-2 h-2 bg-blue-400 rounded-full shadow-[0_0_8px_#60a5fa]"></span> MEMUTAR ULANG...
</span>
)}
</div> </div>
<div className="flex gap-2 bg-slate-950/50 p-1.5 rounded-xl border border-slate-800 text-xs font-medium"> {/* HEADER LOGO */}
<button onClick={() => setControlMode('touch')} className={`py-1.5 px-3 rounded-lg transition-all ${controlMode === 'touch' ? 'bg-emerald-500 text-slate-950 shadow-md' : 'text-slate-400 hover:text-white hover:bg-slate-800'}`}>📱 Touch</button> <header className="w-full flex justify-center py-2 md:py-4 bg-emerald-50 relative z-0">
<button onClick={() => setControlMode('gamepad')} className={`py-1.5 px-3 rounded-lg transition-all ${controlMode === 'gamepad' ? 'bg-emerald-500 text-slate-950 shadow-md' : 'text-slate-400 hover:text-white hover:bg-slate-800'}`}>🎮 Gamepad</button> <PiRoverLogo />
<button onClick={() => setControlMode('keyboard')} className={`py-1.5 px-3 rounded-lg transition-all ${controlMode === 'keyboard' ? 'bg-emerald-500 text-slate-950 shadow-md' : 'text-slate-400 hover:text-white hover:bg-slate-800'}`}>⌨️ Keyboard</button>
</div>
</header> </header>
<div className="grid grid-cols-1 lg:grid-cols-3 gap-4 md:gap-6"> {/* MAIN CAMERA FEED & OVERLAY LAYOUT */}
<div className="flex-1 w-full max-w-6xl mx-auto relative bg-[#0a0a8a] md:rounded-t-2xl overflow-hidden shadow-2xl border-4 border-slate-900">
{/* (KAMERA & TOUCH CONTROLLER INLINE) */} {/* Stream Kamera */}
<div className="lg:col-span-2 flex flex-col gap-4 md:gap-6"> <img src={streamUrl} alt="Robot Feed" className="absolute inset-0 w-full h-full object-cover" onError={(e) => { e.currentTarget.style.display = 'none'; }} />
<div className="bg-slate-900/60 rounded-3xl p-3 md:p-4 border border-slate-800 shadow-xl backdrop-blur-sm"> {/* Indikator Status Perekaman */}
<div className="flex justify-between items-center mb-2 px-2"> {(isRecordingRef.current || isPlayingRef.current) && (
<h2 className="text-sm font-bold flex items-center gap-2 text-slate-300 uppercase tracking-widest"> <div className="absolute top-16 left-1/2 -translate-x-1/2 z-20 flex gap-2">
<span className="w-2 h-2 rounded-full bg-red-500 animate-pulse"></span> Live Feed {isRecordingRef.current && <span className="bg-red-600 text-white px-3 py-1 rounded-full text-xs font-bold animate-pulse shadow-lg">MEREKAM</span>}
</h2> {isPlayingRef.current && <span className="bg-emerald-600 text-white px-3 py-1 rounded-full text-xs font-bold animate-pulse shadow-lg">MEMUTAR RUTE</span>}
{/* TOMBOL FULL-SCREEN */} </div>
)}
{/* OVERLAY: TOP BAR */}
<div className="absolute top-4 left-0 right-0 flex justify-center z-20 pointer-events-none">
<div className="flex gap-2 pointer-events-auto shadow-lg rounded-full bg-slate-900/50 p-1 border border-slate-700/50 backdrop-blur-sm">
<button <button
onClick={enterFullscreen} onClick={() => setControlMode('pc-mobile')}
className="bg-emerald-500/20 hover:bg-emerald-500/40 text-emerald-400 border border-emerald-500/50 text-[10px] font-bold px-3 py-1 rounded-lg transition-colors flex items-center gap-1" className={`px-5 py-1.5 rounded-full text-xs font-bold transition-all ${controlMode === 'pc-mobile' ? 'bg-[#b6e9c9] text-slate-900' : 'bg-transparent text-white hover:bg-white/20'}`}
> >
<svg xmlns="http://www.w3.org/2000/svg" className="h-3 w-3" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={2}><path strokeLinecap="round" strokeLinejoin="round" d="M4 8V4m0 0h4M4 4l5 5m11-1V4m0 0h-4m4 0l-5 5M4 16v4m0 0h4m-4 0l5-5m11 5l-5-5m5 5v-4m0 4h-4" /></svg> PC/MOBILE
Full Screen
</button>
</div>
<div className="aspect-video bg-black rounded-2xl overflow-hidden flex items-center justify-center border border-slate-950 shadow-inner relative">
<img src={streamUrl} alt="Robot view" className="w-full h-full object-contain pointer-events-auto" onError={(e) => { e.currentTarget.style.display = 'none'; }} />
</div>
</div>
{/* TOUCH UI BARU SESUAI DESAIN */}
{controlMode === 'touch' && (
<div className="bg-slate-900/80 p-6 md:p-8 rounded-3xl border border-slate-800 shadow-2xl flex flex-row justify-between items-center backdrop-blur-md select-none touch-none">
{/* SISI KIRI: Aksi dan Slider Kamera */}
<div className="flex flex-col gap-5 w-1/2 max-w-[260px]">
{/* 4 Tombol Aksi Berjejer */}
<div className="flex justify-between gap-2">
<button onClick={() => handleTouchAction('RECORD')} className="w-12 h-12 bg-red-600/70 active:bg-red-500 rounded-xl flex items-center justify-center shadow-lg border border-red-500/30 transition-all">
<svg className="w-5 h-5 text-white pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><circle cx="12" cy="12" r="10" /></svg>
</button>
<button onClick={() => handleTouchAction('SAVE')} className="w-12 h-12 bg-amber-600/70 active:bg-amber-500 rounded-xl flex items-center justify-center shadow-lg border border-amber-500/30 transition-all">
<svg className="w-5 h-5 text-white pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={2.5}><path strokeLinecap="round" strokeLinejoin="round" d="M8 7H5a2 2 0 00-2 2v9a2 2 0 002 2h14a2 2 0 002-2V9a2 2 0 00-2-2h-3m-1 4l-3 3m0 0l-3-3m3 3V4" /></svg>
</button>
<button onClick={() => handleTouchAction('PLAY_REV')} className="w-12 h-12 bg-blue-600/70 active:bg-blue-500 rounded-xl flex items-center justify-center shadow-lg border border-blue-500/30 transition-all">
<svg className="w-5 h-5 text-white pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={2.5}><path strokeLinecap="round" strokeLinejoin="round" d="M4 4v5h.582m15.356 2A8.001 8.001 0 004.582 9m0 0H9m11 11v-5h-.581m0 0a8.003 8.003 0 01-15.357-2m15.357 2H15" /></svg>
</button>
<button onClick={() => handleTouchAction('PLAY_FWD')} className="w-12 h-12 bg-emerald-600/70 active:bg-emerald-500 rounded-xl flex items-center justify-center shadow-lg border border-emerald-500/30 transition-all">
<svg className="w-5 h-5 text-white pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M5 3l14 9-14 9V3z" /></svg>
</button>
</div>
{/* Slider Kamera di Bawah Tombol Aksi */}
<div className="w-full bg-slate-950/50 p-3 rounded-2xl border border-slate-800 shadow-inner flex items-center gap-3">
<span className="text-xs font-bold text-slate-500">Q</span>
<input
type="range" min="-1" max="1" step="0.05" defaultValue="0"
onInput={(e) => { touchStateRef.current.pan = Number(e.currentTarget.value); }}
onPointerUp={(e) => {
e.currentTarget.value = "0";
touchStateRef.current.pan = 0;
}}
onPointerLeave={(e) => {
e.currentTarget.value = "0";
touchStateRef.current.pan = 0;
}}
className="w-full accent-red-500"
/>
<span className="text-xs font-bold text-slate-500">E</span>
</div>
</div>
{/* SISI KANAN: D-Pad Pergerakan Salib */}
<div className="flex flex-col items-center gap-1 pointer-events-auto">
{/* MAJU */}
<button
onPointerDown={() => touchStateRef.current.throttle = -1}
onPointerUp={() => touchStateRef.current.throttle = 0}
onPointerLeave={() => touchStateRef.current.throttle = 0}
className="w-14 h-14 bg-red-600/70 active:bg-red-500 rounded-2xl flex items-center justify-center shadow-lg border border-red-500/30 text-white transition-colors"
>
<svg className="w-7 h-7 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M12 4l-8 8h6v8h4v-8h6z"/></svg>
</button>
{/* KIRI DAN KANAN */}
<div className="flex gap-14">
<button
onPointerDown={() => touchStateRef.current.turn = -1}
onPointerUp={() => touchStateRef.current.turn = 0}
onPointerLeave={() => touchStateRef.current.turn = 0}
className="w-14 h-14 bg-red-600/70 active:bg-red-500 rounded-2xl flex items-center justify-center shadow-lg border border-red-500/30 text-white transition-colors"
>
<svg className="w-7 h-7 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M4 12l8 8v-6h8v-4h-8V4z"/></svg>
</button> </button>
<button <button
onPointerDown={() => touchStateRef.current.turn = 1} onClick={() => setControlMode('gamepad')}
onPointerUp={() => touchStateRef.current.turn = 0} className={`px-5 py-1.5 rounded-full text-xs font-bold transition-all ${controlMode === 'gamepad' ? 'bg-[#b6e9c9] text-slate-900' : 'bg-transparent text-white hover:bg-white/20'}`}
onPointerLeave={() => touchStateRef.current.turn = 0}
className="w-14 h-14 bg-red-600/70 active:bg-red-500 rounded-2xl flex items-center justify-center shadow-lg border border-red-500/30 text-white transition-colors"
> >
<svg className="w-7 h-7 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M20 12l-8-8v6H4v4h8v6z"/></svg> GAMEPAD
</button> </button>
</div> </div>
</div>
{/* MUNDUR */} {/* OVERLAY: FULLSCREEN */}
<button <button onClick={toggleFullscreen} className="absolute top-5 right-5 z-20 flex items-center gap-1 text-white text-xs font-bold drop-shadow-md hover:text-emerald-300 pointer-events-auto">
onPointerDown={() => touchStateRef.current.throttle = 1} <svg className="w-4 h-4" fill="none" stroke="currentColor" viewBox="0 0 24 24" strokeWidth={2.5}><path strokeLinecap="round" strokeLinejoin="round" d="M4 8V4m0 0h4M4 4l5 5m11-1V4m0 0h-4m4 0l-5 5M4 16v4m0 0h4m-4 0l5-5m11 5l-5-5m5 5v-4m0 4h-4" /></svg>
onPointerUp={() => touchStateRef.current.throttle = 0} FULLSCREEN
onPointerLeave={() => touchStateRef.current.throttle = 0}
className="w-14 h-14 bg-red-600/70 active:bg-red-500 rounded-2xl flex items-center justify-center shadow-lg border border-red-500/30 text-white transition-colors"
>
<svg className="w-7 h-7 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M12 20l8-8h-6V4h-4v8H4z"/></svg>
</button> </button>
{/* OVERLAY: BOTTOM LEFT (MOVEMENT CONTROLS) */}
<div className="absolute bottom-6 left-6 md:bottom-8 md:left-12 z-20 pointer-events-auto">
{controlMode === 'pc-mobile' ? (
<div className="flex flex-col items-center gap-2">
<button
onPointerDown={(e) => { e.currentTarget.setPointerCapture(e.pointerId); keysRef.current.up = true; }}
onPointerUp={(e) => { e.currentTarget.releasePointerCapture(e.pointerId); keysRef.current.up = false; }}
className="w-14 h-14 md:w-16 md:h-16 bg-[#a2dfb4] active:bg-[#8bc99d] text-white font-extrabold text-2xl rounded-xl shadow-[0_4px_0_#75a884] active:shadow-none active:translate-y-1 transition-all"
>
W
</button>
<div className="flex gap-2">
<button
onPointerDown={(e) => { e.currentTarget.setPointerCapture(e.pointerId); keysRef.current.left = true; }}
onPointerUp={(e) => { e.currentTarget.releasePointerCapture(e.pointerId); keysRef.current.left = false; }}
className="w-14 h-14 md:w-16 md:h-16 bg-[#a2dfb4] active:bg-[#8bc99d] text-white font-extrabold text-2xl rounded-xl shadow-[0_4px_0_#75a884] active:shadow-none active:translate-y-1 transition-all"
>
A
</button>
<button
onPointerDown={(e) => { e.currentTarget.setPointerCapture(e.pointerId); keysRef.current.down = true; }}
onPointerUp={(e) => { e.currentTarget.releasePointerCapture(e.pointerId); keysRef.current.down = false; }}
className="w-14 h-14 md:w-16 md:h-16 bg-[#a2dfb4] active:bg-[#8bc99d] text-white font-extrabold text-2xl rounded-xl shadow-[0_4px_0_#75a884] active:shadow-none active:translate-y-1 transition-all"
>
S
</button>
<button
onPointerDown={(e) => { e.currentTarget.setPointerCapture(e.pointerId); keysRef.current.right = true; }}
onPointerUp={(e) => { e.currentTarget.releasePointerCapture(e.pointerId); keysRef.current.right = false; }}
className="w-14 h-14 md:w-16 md:h-16 bg-[#a2dfb4] active:bg-[#8bc99d] text-white font-extrabold text-2xl rounded-xl shadow-[0_4px_0_#75a884] active:shadow-none active:translate-y-1 transition-all"
>
D
</button>
</div>
</div>
) : (
<div className="flex flex-col gap-2 pointer-events-none">
<div className="flex gap-2">
<div className={`w-16 h-10 rounded-lg flex items-center justify-center font-bold text-lg border-2 transition-colors ${gpVisuals.lt > 0.1 ? 'bg-white text-slate-900 border-white' : 'bg-white/20 text-white border-white/50 backdrop-blur-sm'}`}>LT</div>
<div className={`w-16 h-10 rounded-lg flex items-center justify-center font-bold text-lg border-2 transition-colors ${gpVisuals.rt > 0.1 ? 'bg-white text-slate-900 border-white' : 'bg-white/20 text-white border-white/50 backdrop-blur-sm'}`}>RT</div>
</div>
<div className="w-full bg-white rounded-full p-2 h-14 flex items-center justify-center relative shadow-lg">
<div className="absolute left-3 font-bold text-slate-500">←</div>
<div className="w-10 h-10 bg-red-500 rounded-full transition-transform" style={{ transform: `translateX(${gpVisuals.steer * 40}px)` }}></div>
<div className="absolute right-3 font-bold text-slate-500">→</div>
</div> </div>
</div> </div>
)} )}
</div> </div>
{/* KOLOM KANAN (STATUS) */} {/* OVERLAY: BOTTOM RIGHT (ACTION CONTROLS) */}
<div className="bg-slate-900/60 rounded-3xl p-5 md:p-6 border border-slate-800 shadow-xl flex flex-col justify-between backdrop-blur-sm"> <div className="absolute bottom-6 right-6 md:bottom-8 md:right-12 z-20 flex gap-2 md:gap-3 pointer-events-auto">
<div> {[
<h2 className="text-sm font-bold mb-4 md:mb-5 border-b border-slate-800 pb-3 flex justify-between items-center text-slate-300 uppercase tracking-widest"> { action: 'RECORD', pc: 'V', gp: 'B', color: 'bg-red-500 shadow-[0_4px_0_#b91c1c]', activeColor: 'active:bg-red-600', gpState: gpVisuals.btnB },
<span>Status Kontrol</span> { action: 'SAVE', pc: 'B', gp: 'Y', color: 'bg-amber-400 shadow-[0_4px_0_#d97706]', activeColor: 'active:bg-amber-500', gpState: gpVisuals.btnY },
{controlMode === 'gamepad' && ( <button onClick={forceScanGamepad} className="text-[10px] bg-slate-800 hover:bg-slate-700 py-1 px-2 rounded-md transition-colors">Pindai Ulang</button> )} { action: 'PLAY_FWD', pc: 'N', gp: 'A', color: 'bg-emerald-500 shadow-[0_4px_0_#047857]', activeColor: 'active:bg-emerald-600', gpState: gpVisuals.btnA },
</h2> { action: 'PLAY_REV', pc: 'M', gp: 'X', color: 'bg-blue-600 shadow-[0_4px_0_#1d4ed8]', activeColor: 'active:bg-blue-700', gpState: gpVisuals.btnX }
].map((btn) => (
<div className="flex flex-col gap-4 md:gap-5"> <div key={btn.action} className="flex flex-col items-center gap-1.5">
<div className="bg-slate-950/50 p-3 rounded-xl border border-slate-800/50 text-xs font-mono text-center text-emerald-400 pointer-events-none"> <span className="text-[9px] md:text-[10px] text-white font-bold drop-shadow-md tracking-wider">
{controlMode === 'touch' ? '📱 AKTIF: DUAL-PAD SENTUH' : controlMode === 'keyboard' ? '⌨️ AKTIF: W-A-S-D & Q-E' : gamepadStatus} {btn.action === 'PLAY_FWD' ? 'PLAY' : btn.action === 'PLAY_REV' ? 'R-PLAY' : btn.action}
</div> </span>
<div className="bg-slate-950/50 p-4 md:p-5 rounded-2xl flex flex-col items-center gap-4 border border-slate-800/50 shadow-inner pointer-events-none">
<div className="text-[10px] text-slate-500 uppercase font-bold tracking-widest">Visualizer Posisi</div>
<div className="w-24 h-24 bg-slate-900 rounded-full border-2 border-slate-800 relative overflow-hidden flex items-center justify-center shadow-inner">
<div className="absolute w-full h-[1px] bg-slate-800"></div>
<div className="absolute h-full w-[1px] bg-slate-800"></div>
<div className="w-5 h-5 bg-emerald-400 rounded-full absolute shadow-[0_0_12px_#34d399] transition-all duration-75" style={{ transform: `translate(${dotX}px, ${dotY}px)` }}></div>
</div>
<div className="font-mono text-xs flex gap-4 text-emerald-400 font-bold bg-slate-900 px-3 py-1.5 rounded-lg border border-slate-800">
<span>X: {steering.x}</span><span>Y: {steering.y}</span>
</div>
<div className="font-mono text-xs flex justify-between w-full px-2 text-blue-400 border-t border-slate-800/50 pt-4 font-bold">
<span>⚙️ L: {ticks.l}</span><span>⚙️ R: {ticks.r}</span>
</div>
</div>
</div>
</div>
{/* Tombol aksi cadangan untuk UI Desktop */}
<div className="mt-6 md:mt-8 pt-5 border-t border-slate-800 flex flex-col gap-3">
<div className="text-[10px] text-slate-500 font-bold uppercase tracking-widest mb-1 pointer-events-none">Panel Cadangan Aksi</div>
<div className="grid grid-cols-2 gap-3 opacity-50 hover:opacity-100 transition-opacity">
<button onClick={() => handleTouchAction('RECORD')} className="bg-slate-800 hover:bg-red-600 text-white py-2 rounded-lg text-xs font-bold transition-colors">Rekam</button>
<button onClick={() => handleTouchAction('SAVE')} className="bg-slate-800 hover:bg-amber-500 text-white py-2 rounded-lg text-xs font-bold transition-colors">Simpan</button>
<button onClick={() => handleTouchAction('PLAY_FWD')} className="bg-slate-800 hover:bg-emerald-500 text-white py-2 rounded-lg text-xs font-bold transition-colors">P. Maju</button>
<button onClick={() => handleTouchAction('PLAY_REV')} className="bg-slate-800 hover:bg-blue-500 text-white py-2 rounded-lg text-xs font-bold transition-colors">P. Mundur</button>
</div>
</div>
</div>
</div>
</div>
{/* OVERLAY LAYAR PENUH (FULL SCREEN) LAYOUT BARU */}
{isFullscreen && (
<div className="fixed inset-0 z-[100] bg-black flex items-center justify-center overflow-hidden touch-none select-none">
<img
src={streamUrl}
alt="Robot Fullscreen"
className="absolute inset-0 w-full h-full object-contain pointer-events-none"
onError={(e) => { e.currentTarget.style.display = 'none'; }}
/>
<button <button
onClick={exitFullscreen} onClick={() => handleAction(btn.action as any)}
className="absolute top-4 right-4 z-[101] bg-white/10 hover:bg-white/30 px-4 py-2 rounded-full text-white text-xs font-bold backdrop-blur-md pointer-events-auto border border-white/20 shadow-lg" className={`w-12 h-12 md:w-14 md:h-14 ${btn.color} ${btn.activeColor} ${controlMode === 'gamepad' && btn.gpState ? 'translate-y-1 shadow-none brightness-75' : ''} text-white font-extrabold text-xl md:text-2xl rounded-xl active:shadow-none active:translate-y-1 transition-all flex items-center justify-center`}
> >
✕ Keluar {controlMode === 'pc-mobile' ? btn.pc : btn.gp}
</button>
{/* AREA KONTROL OVERLAY */}
<div className="absolute inset-0 z-[101] flex flex-row items-end justify-between px-8 md:px-16 pb-8 md:pb-12 pointer-events-none">
{/* SISI KIRI: Aksi dan Slider Kamera */}
<div className="flex flex-col gap-6 pointer-events-auto w-[240px] md:w-[280px]">
{/* 4 Tombol Aksi Berjejer */}
<div className="flex justify-between gap-3">
<button onClick={() => handleTouchAction('RECORD')} className="w-12 h-12 md:w-14 md:h-14 bg-red-600/70 active:bg-red-500 rounded-xl flex items-center justify-center backdrop-blur-md shadow-lg border border-red-500/30 transition-all">
<svg className="w-5 h-5 text-white pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><circle cx="12" cy="12" r="10" /></svg>
</button>
<button onClick={() => handleTouchAction('SAVE')} className="w-12 h-12 md:w-14 md:h-14 bg-amber-600/70 active:bg-amber-500 rounded-xl flex items-center justify-center backdrop-blur-md shadow-lg border border-amber-500/30 transition-all">
<svg className="w-5 h-5 text-white pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={2.5}><path strokeLinecap="round" strokeLinejoin="round" d="M8 7H5a2 2 0 00-2 2v9a2 2 0 002 2h14a2 2 0 002-2V9a2 2 0 00-2-2h-3m-1 4l-3 3m0 0l-3-3m3 3V4" /></svg>
</button>
<button onClick={() => handleTouchAction('PLAY_REV')} className="w-12 h-12 md:w-14 md:h-14 bg-blue-600/70 active:bg-blue-500 rounded-xl flex items-center justify-center backdrop-blur-md shadow-lg border border-blue-500/30 transition-all">
<svg className="w-5 h-5 text-white pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={2.5}><path strokeLinecap="round" strokeLinejoin="round" d="M4 4v5h.582m15.356 2A8.001 8.001 0 004.582 9m0 0H9m11 11v-5h-.581m0 0a8.003 8.003 0 01-15.357-2m15.357 2H15" /></svg>
</button>
<button onClick={() => handleTouchAction('PLAY_FWD')} className="w-12 h-12 md:w-14 md:h-14 bg-emerald-600/70 active:bg-emerald-500 rounded-xl flex items-center justify-center backdrop-blur-md shadow-lg border border-emerald-500/30 transition-all">
<svg className="w-5 h-5 text-white pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M5 3l14 9-14 9V3z" /></svg>
</button> </button>
</div> </div>
))}
{/* Slider Kamera di Bawah Tombol Aksi */}
<div className="w-full bg-black/40 p-4 rounded-2xl backdrop-blur-md border border-white/10 shadow-lg flex items-center gap-3">
<span className="text-sm font-bold text-white/70">Q</span>
<input
type="range" min="-1" max="1" step="0.05" defaultValue="0"
onInput={(e) => { touchStateRef.current.pan = Number(e.currentTarget.value); }}
onPointerUp={(e) => {
e.currentTarget.value = "0";
touchStateRef.current.pan = 0;
}}
onPointerLeave={(e) => {
e.currentTarget.value = "0";
touchStateRef.current.pan = 0;
}}
className="w-full accent-red-500"
/>
<span className="text-sm font-bold text-white/70">E</span>
</div> </div>
</div> </div>
{/* SISI KANAN: D-Pad Pergerakan Salib */} {/* FOOTER TEXT */}
<div className="flex flex-col items-center gap-2 pointer-events-auto"> <footer className="w-full py-4 bg-emerald-50 flex flex-col items-center justify-center text-center px-4 relative z-0">
{/* MAJU */} <h3 className="font-extrabold text-slate-900 tracking-widest text-[10px] md:text-sm uppercase">
<button LAB INSTRUMENTASI ELEKTRONIKA & KECERDASAN BUATAN
onPointerDown={() => touchStateRef.current.throttle = -1} </h3>
onPointerUp={() => touchStateRef.current.throttle = 0} <p className="font-extrabold text-slate-900 tracking-widest text-[10px] md:text-sm uppercase">
onPointerLeave={() => touchStateRef.current.throttle = 0} PROGRAM STUDI TEKNIK ELEKTRO
className="w-16 h-16 md:w-20 md:h-20 bg-red-600/60 active:bg-red-500 rounded-2xl flex items-center justify-center backdrop-blur-md shadow-xl border border-red-500/40 text-white transition-colors" </p>
> </footer>
<svg className="w-8 h-8 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M12 4l-8 8h6v8h4v-8h6z"/></svg>
</button>
{/* KIRI DAN KANAN */}
<div className="flex gap-16 md:gap-20">
<button
onPointerDown={() => touchStateRef.current.turn = -1}
onPointerUp={() => touchStateRef.current.turn = 0}
onPointerLeave={() => touchStateRef.current.turn = 0}
className="w-16 h-16 md:w-20 md:h-20 bg-red-600/60 active:bg-red-500 rounded-2xl flex items-center justify-center backdrop-blur-md shadow-xl border border-red-500/40 text-white transition-colors"
>
<svg className="w-8 h-8 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M4 12l8 8v-6h8v-4h-8V4z"/></svg>
</button>
<button
onPointerDown={() => touchStateRef.current.turn = 1}
onPointerUp={() => touchStateRef.current.turn = 0}
onPointerLeave={() => touchStateRef.current.turn = 0}
className="w-16 h-16 md:w-20 md:h-20 bg-red-600/60 active:bg-red-500 rounded-2xl flex items-center justify-center backdrop-blur-md shadow-xl border border-red-500/40 text-white transition-colors"
>
<svg className="w-8 h-8 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M20 12l-8-8v6H4v4h8v6z"/></svg>
</button>
</div>
{/* MUNDUR */}
<button
onPointerDown={() => touchStateRef.current.throttle = 1}
onPointerUp={() => touchStateRef.current.throttle = 0}
onPointerLeave={() => touchStateRef.current.throttle = 0}
className="w-16 h-16 md:w-20 md:h-20 bg-red-600/60 active:bg-red-500 rounded-2xl flex items-center justify-center backdrop-blur-md shadow-xl border border-red-500/40 text-white transition-colors"
>
<svg className="w-8 h-8 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M12 20l8-8h-6V4h-4v8H4z"/></svg>
</button>
</div>
</div>
</div>
)}
</main> </main>
); );
} }