This commit is contained in:
[Valentino Heman Budiarto]
2026-10-06 18:42:39 +07:00
parent 271b3f8389
commit 213d1aa5eb
6 changed files with 676 additions and 124 deletions
+29
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@@ -0,0 +1,29 @@
import fs from 'fs';
import path from 'path';
// File JSON akan disimpan di root direktori proyek Next.js
const filePath = path.join(process.cwd(), 'perjalanan.json');
// Menerima data dari Tombol Y (Save)
export async function POST(req) {
try {
const data = await req.json();
fs.writeFileSync(filePath, JSON.stringify(data, null, 2));
return Response.json({ success: true, message: 'Data perjalanan berhasil disimpan!' });
} catch (error) {
return Response.json({ success: false, error: 'Gagal menyimpan data' }, { status: 500 });
}
}
// Membaca data untuk Tombol A & X (Playback)
export async function GET() {
try {
if (!fs.existsSync(filePath)) {
return Response.json([]); // Kembalikan array kosong jika belum ada rekaman
}
const fileData = fs.readFileSync(filePath, 'utf-8');
return Response.json(JSON.parse(fileData));
} catch (error) {
return Response.json({ success: false, error: 'Gagal membaca data' }, { status: 500 });
}
}
+8 -8
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@@ -1,20 +1,20 @@
import type { Metadata } from "next";
import { Geist, Geist_Mono } from "next/font/google";
import { Inter, Roboto_Mono } from "next/font/google";
import "./globals.css";
const geistSans = Geist({
variable: "--font-geist-sans",
const inter = Inter({
variable: "--font-inter",
subsets: ["latin"],
});
const geistMono = Geist_Mono({
variable: "--font-geist-mono",
const robotoMono = Roboto_Mono({
variable: "--font-roboto-mono",
subsets: ["latin"],
});
export const metadata: Metadata = {
title: "Create Next App",
description: "Generated by create next app",
title: "Robot UI",
description: "Robot Vision Control Dashboard",
};
export default function RootLayout({
@@ -25,7 +25,7 @@ export default function RootLayout({
return (
<html
lang="en"
className={`${geistSans.variable} ${geistMono.variable} h-full antialiased`}
className={`${inter.variable} ${robotoMono.variable} h-full antialiased`}
>
<body className="min-h-full flex flex-col">{children}</body>
</html>
+610 -107
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@@ -2,35 +2,289 @@
import { useState, useEffect, useRef } from 'react';
// ============================================================
// HELPER
// ============================================================
const sleep = (ms: number) =>
new Promise((resolve) => setTimeout(resolve, ms));
// ============================================================
// KONFIGURASI
// ============================================================
const RECORD_INTERVAL_MS = 50;
const DIRECTION_BRAKE_MS = 600;
const MAX_STEP_TIMEOUT_MS = 15000;
const LATENCY_COMPENSATION_TICKS = 3;
// ============================================================
// TYPE
// ============================================================
type Steering = {
x: number;
y: number;
};
type MotionType =
| 'FORWARD'
| 'REVERSE'
| 'TURN_LEFT'
| 'TURN_RIGHT'
| 'STOP';
type TrajectoryStep = {
x: number;
y: number;
target_ticks_l: number;
target_ticks_r: number;
motion?: MotionType;
sample_ms?: number;
};
export default function RobotDashboard() {
const PI_IP = '172.17.172.16';
const PI_IP = '192.168.0.105';
const streamUrl = `http://${PI_IP}:8080/stream`;
const [controlMode, setControlMode] = useState('gamepad');
const [gamepadStatus, setGamepadStatus] = useState("Menunggu Gamepad...");
const [controlMode, setControlMode] = useState('touch');
const [gamepadStatus, setGamepadStatus] = useState('Menunggu Gamepad...');
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); // State Fullscreen
const wsRef = useRef<any>(null);
const currentTicksRef = useRef({ l: 0, r: 0 });
const lastRecordedTicksRef = useRef({ l: 0, r: 0 });
const activeMotionRef = useRef<MotionType>('STOP');
const lastCommandRef = useRef({ x: 0, y: 0 });
const isRecordingRef = useRef(false);
const isPlayingRef = useRef(false);
const isSavingRef = useRef(false);
const trajectoryRef = useRef<TrajectoryStep[]>([]);
const prevBtnsRef = useRef({ A: false, B: false, Y: false, X: false });
const wsRef = useRef<WebSocket | null>(null);
const keysRef = useRef({ up: false, down: false, left: false, right: false });
const forceScanGamepad = () => {
if (typeof navigator !== "undefined" && navigator.getGamepads) {
const gamepads = navigator.getGamepads();
let activeGp = null;
for (let i = 0; i < gamepads.length; i++) {
if (gamepads[i] !== null) {
activeGp = gamepads[i];
const touchStateRef = useRef({ turn: 0, throttle: 0 });
const sendCommand = (x: number, y: number) => {
if (wsRef.current && wsRef.current.readyState === WebSocket.OPEN) {
wsRef.current.send(JSON.stringify({ x, y }));
}
};
const stopRobot = () => {
setSteering({ x: 0, y: 0 });
sendCommand(0, 0);
};
const getMotionType = (x: number, y: number): MotionType => {
const DEADZONE = 0.10;
const hasX = Math.abs(x) > DEADZONE;
const hasY = Math.abs(y) > DEADZONE;
if (!hasX && !hasY) return 'STOP';
if (hasY) return y > 0 ? 'FORWARD' : 'REVERSE';
return x > 0 ? 'TURN_RIGHT' : 'TURN_LEFT';
};
const executePlayback = async (reverse: boolean = false) => {
if (isPlayingRef.current || isSavingRef.current) return;
isPlayingRef.current = true;
setIsPlayingUI(true);
console.log(`Memulai Playback ${reverse ? 'REVERSE' : 'FORWARD'}...`);
try {
const res = await fetch(`/api/trajectory?_t=${Date.now()}`, { method: 'GET', cache: 'no-store' });
if (!res.ok) throw new Error(`HTTP Error ${res.status}`);
const data = (await res.json()) as TrajectoryStep[];
if (!Array.isArray(data) || data.length === 0) {
alert('Data perjalanan kosong! Rekam rute terlebih dahulu.');
return;
}
const routeData = reverse ? [...data].reverse() : data;
let lastActiveMotion: MotionType = 'STOP';
for (let i = 0; i < routeData.length; i++) {
if (!isPlayingRef.current) break;
const step = routeData[i];
const targetX = reverse ? -step.x : step.x;
const targetY = reverse ? -step.y : step.y;
const currentMotion = getMotionType(targetX, targetY);
if (currentMotion !== 'STOP' && lastActiveMotion !== 'STOP') {
const isReversal =
(lastActiveMotion === 'FORWARD' && currentMotion === 'REVERSE') ||
(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;
setSteering({ x: targetX, y: targetY });
sendCommand(targetX, targetY);
const startL = currentTicksRef.current.l;
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();
while (isPlayingRef.current) {
const currentDeltaL = Math.abs(currentTicksRef.current.l - startL);
const currentDeltaR = Math.abs(currentTicksRef.current.r - startR);
let stepFinished = false;
if (targetL > targetR) {
stepFinished = currentDeltaL >= compTargetL;
} else if (targetR > targetL) {
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);
}
}
console.log('Playback selesai!');
} catch (error) {
console.error('Gagal playback:', error);
} finally {
stopRobot();
isPlayingRef.current = false;
setIsPlayingUI(false);
}
};
const forceScanGamepad = () => {
if (typeof navigator === 'undefined' || !navigator.getGamepads) return;
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 ${res.status}`);
} catch (error) {
alert('Gagal menyimpan rute.');
} finally {
isSavingRef.current = false;
}
};
const handleTouchAction = (action: 'RECORD' | 'SAVE' | 'PLAY_FWD' | 'PLAY_REV') => {
if (action === 'PLAY_FWD') {
if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
else if (!isSavingRef.current && !isRecordingRef.current) executePlayback(false);
} else if (action === 'PLAY_REV') {
if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
else if (!isSavingRef.current && !isRecordingRef.current) executePlayback(true);
} else if (action === 'RECORD') {
if (!isRecordingRef.current && !isPlayingRef.current && !isSavingRef.current) {
isRecordingRef.current = true;
setIsRecordingUI(true);
trajectoryRef.current = [];
lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r };
activeMotionRef.current = 'STOP';
lastCommandRef.current = { x: 0, y: 0 };
stopRobot();
}
} else if (action === 'SAVE') {
if (isRecordingRef.current) {
isRecordingRef.current = false;
setIsRecordingUI(false);
saveTrajectory();
}
}
};
// Fungsi Full-Screen
const enterFullscreen = () => {
const elem = document.documentElement;
if (elem.requestFullscreen) {
elem.requestFullscreen();
}
};
const exitFullscreen = () => {
if (document.exitFullscreen) {
document.exitFullscreen();
}
};
useEffect(() => {
// Sinkronisasi status fullscreen dari sistem
const handleFullscreenChange = () => {
setIsFullscreen(!!document.fullscreenElement);
};
document.addEventListener('fullscreenchange', handleFullscreenChange);
const ws = new WebSocket(`ws://${PI_IP}:8765`);
ws.onopen = () => console.log("WebSocket Terhubung ke Pi!");
ws.onclose = () => console.log("WebSocket Terputus.");
ws.onmessage = (event) => {
try {
const data = JSON.parse(event.data);
if (data.ticks_l !== undefined && data.ticks_r !== undefined) {
const newTicks = { l: Number(data.ticks_l), r: Number(data.ticks_r) };
setTicks(newTicks);
currentTicksRef.current = newTicks;
}
} catch (error) {}
};
wsRef.current = ws;
const handleKeyDown = (e: KeyboardEvent) => {
@@ -39,151 +293,400 @@ export default function RobotDashboard() {
if (['ArrowLeft', 'a', 'A'].includes(e.key)) keysRef.current.left = true;
if (['ArrowRight', 'd', 'D'].includes(e.key)) keysRef.current.right = true;
};
const handleKeyUp = (e: KeyboardEvent) => {
if (['ArrowUp', 'w', 'W'].includes(e.key)) keysRef.current.up = false;
if (['ArrowDown', 's', 'S'].includes(e.key)) keysRef.current.down = false;
if (['ArrowLeft', 'a', 'A'].includes(e.key)) keysRef.current.left = false;
if (['ArrowRight', 'd', 'D'].includes(e.key)) keysRef.current.right = false;
};
window.addEventListener('keydown', handleKeyDown);
window.addEventListener('keyup', handleKeyUp);
const interval = setInterval(() => {
let currentX = 0;
let currentY = 0;
let currentX = 0; let currentY = 0;
let btnA = false; let btnB = false; let btnY = false; let btnX = false;
if (controlMode === 'gamepad') {
if (typeof navigator !== "undefined" && navigator.getGamepads) {
if (typeof navigator !== 'undefined' && navigator.getGamepads) {
const gamepads = navigator.getGamepads();
let activeGp = null;
let activeGp: Gamepad | null = null;
for (let i = 0; i < gamepads.length; i++) {
if (gamepads[i] !== null) {
activeGp = gamepads[i];
break;
if (gamepads[i]) { activeGp = gamepads[i]; break; }
}
}
if (activeGp) {
const rawX = activeGp.axes[0];
// SESUAI PERMINTAAN: RT(7) Maju, LT(6) Mundur
const maju = activeGp.buttons[7].value;
const mundur = activeGp.buttons[6].value;
// PERBAIKAN 1: Karena Pi minta nilai minus untuk maju, pengurangannya dibalik (mundur - maju)
const throttle = mundur - maju;
const rawX = activeGp.axes[0] || 0;
const maju = activeGp.buttons[7]?.value || 0;
const mundur = activeGp.buttons[6]?.value || 0;
currentX = Math.abs(rawX) > 0.15 ? Number(rawX.toFixed(2)) : 0;
currentY = Number(throttle.toFixed(2));
currentY = Number((mundur - maju).toFixed(2));
btnA = activeGp.buttons[0]?.pressed || false;
btnB = activeGp.buttons[1]?.pressed || false;
btnY = activeGp.buttons[3]?.pressed || false;
btnX = activeGp.buttons[2]?.pressed || false;
}
}
} else if (controlMode === 'keyboard') {
// PERBAIKAN 2: Keyboard disamakan. W/Up (maju) menghasilkan minus (-1), S/Down menghasilkan plus (+1)
currentY = (keysRef.current.down ? 1 : 0) - (keysRef.current.up ? 1 : 0);
currentX = (keysRef.current.right ? 1 : 0) - (keysRef.current.left ? 1 : 0);
} else if (controlMode === 'touch' || isFullscreen) {
// Kontrol layar sentuh aktif baik di mode touch biasa maupun fullscreen
currentX = touchStateRef.current.turn;
currentY = touchStateRef.current.throttle;
}
const currentMotion = getMotionType(currentX, currentY);
if (btnA && !prevBtnsRef.current.A && !isRecordingRef.current) {
if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
else if (!isSavingRef.current) executePlayback(false);
}
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 (isRecordingRef.current) {
if (currentMotion !== activeMotionRef.current) {
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,
});
}
lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r };
activeMotionRef.current = currentMotion;
}
if (currentMotion !== 'STOP') {
lastCommandRef.current = { x: currentX, y: currentY };
}
}
setSteering({ x: currentX, y: currentY });
if (wsRef.current && wsRef.current.readyState === 1) {
wsRef.current.send(JSON.stringify({ x: currentX, y: currentY }));
}
}, 100);
sendCommand(currentX, currentY);
}, RECORD_INTERVAL_MS);
return () => {
clearInterval(interval);
window.removeEventListener('keydown', handleKeyDown);
window.removeEventListener('keyup', handleKeyUp);
document.removeEventListener('fullscreenchange', handleFullscreenChange);
if (wsRef.current) wsRef.current.close();
};
}, [controlMode, PI_IP]);
}, [controlMode, PI_IP, isFullscreen]);
// --- PERBAIKAN 3: VISUALIZER ---
const maxRadius = 36;
const dotX = steering.x * maxRadius;
// Karena 'maju' nilainya sudah minus (-), dan di CSS nilai minus (-) membuat titik NAIK KE ATAS,
// maka kita HAPUS perkalian (* -1) yang sebelumnya. Sekarang titiknya akan maju sempurna!
const dotY = steering.y * maxRadius;
return (
<main className="min-h-screen bg-gray-900 text-white p-8 font-sans">
<div className="max-w-5xl mx-auto">
<header className="mb-8 border-b border-gray-700 pb-4 flex flex-col md:flex-row justify-between items-center gap-4">
<h1 className="text-3xl font-bold text-emerald-400">Robot Vision Control</h1>
<main
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"
style={{ WebkitTouchCallout: 'none', WebkitUserSelect: 'none' }}
>
<div className="max-w-5xl mx-auto space-y-4 md:space-y-6">
<div className="flex gap-2 bg-gray-800 p-1 rounded-lg border border-gray-700">
<button
onClick={() => setControlMode('gamepad')}
className={`py-2 px-4 rounded font-semibold transition-colors ${controlMode === 'gamepad' ? 'bg-emerald-500 text-gray-900' : 'text-gray-400 hover:text-white'}`}
>
🎮 Gamepad
</button>
<button
onClick={() => setControlMode('keyboard')}
className={`py-2 px-4 rounded font-semibold transition-colors ${controlMode === 'keyboard' ? 'bg-emerald-500 text-gray-900' : 'text-gray-400 hover:text-white'}`}
>
⌨️ Keyboard
</button>
{/* HEADER */}
<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="flex items-center gap-4 flex-wrap">
<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">
ROBOT VISION
</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 className="flex gap-2 bg-slate-950/50 p-1.5 rounded-xl border border-slate-800 text-xs font-medium">
<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>
<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>
<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>
<div className="grid grid-cols-1 lg:grid-cols-3 gap-6">
<div className="lg:col-span-2 bg-gray-800 rounded-xl p-4 border border-gray-700 shadow-xl">
<h2 className="text-lg font-semibold flex items-center gap-2 mb-4">
<span className="w-3 h-3 rounded-full bg-red-500 animate-pulse"></span>
Live Feed
<div className="grid grid-cols-1 lg:grid-cols-3 gap-4 md:gap-6">
{/* KOLOM KIRI (KAMERA & TOUCH CONTROLLER) */}
<div className="lg:col-span-2 flex flex-col gap-4 md:gap-6">
<div className="bg-slate-900/60 rounded-3xl p-3 md:p-4 border border-slate-800 shadow-xl backdrop-blur-sm">
<div className="flex justify-between items-center mb-2 px-2">
<h2 className="text-sm font-bold flex items-center gap-2 text-slate-300 uppercase tracking-widest">
<span className="w-2 h-2 rounded-full bg-red-500 animate-pulse"></span> Live Feed
</h2>
<div className="aspect-video bg-black rounded-lg overflow-hidden flex items-center justify-center border border-gray-900 relative">
{/* TOMBOL PEMICU FULL-SCREEN */}
<button
onClick={enterFullscreen}
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"
>
<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>
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">
{/* eslint-disable-next-line @next/next/no-img-element */}
<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>
{/* DUAL-PAD SPLIT CONTROLLER UI BAWAAN */}
{controlMode === 'touch' && (
<div className="bg-slate-900/80 p-4 md:p-6 rounded-3xl border border-slate-800 shadow-2xl flex flex-row justify-around items-center backdrop-blur-md select-none">
{/* SISI KIRI: BELOK */}
<div className="flex flex-col items-center gap-3">
<div className="text-[10px] text-slate-500 font-bold uppercase tracking-widest pointer-events-none">Steering</div>
<div className="flex gap-2 sm:gap-3 bg-slate-950/50 p-2 sm:p-2.5 rounded-[2rem] border border-slate-800/50 shadow-inner">
<button
onPointerDown={() => { touchStateRef.current.turn = -0.6; }}
onPointerUp={() => { touchStateRef.current.turn = 0; }}
onPointerLeave={() => { touchStateRef.current.turn = 0; }}
className="w-16 h-16 sm:w-20 sm:h-20 bg-gradient-to-b from-emerald-500 to-emerald-700 active:from-emerald-400 active:to-emerald-600 rounded-2xl shadow-[0_4px_15px_rgba(16,185,129,0.2)] flex items-center justify-center transition-transform active:scale-90 touch-none border border-emerald-400/20"
>
<svg xmlns="http://www.w3.org/2000/svg" className="h-8 w-8 sm:h-10 sm:w-10 text-white drop-shadow-md pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={3}>
<path strokeLinecap="round" strokeLinejoin="round" d="M10 19l-7-7m0 0l7-7m-7 7h18" />
</svg>
</button>
<button
onPointerDown={() => { touchStateRef.current.turn = 0.6; }}
onPointerUp={() => { touchStateRef.current.turn = 0; }}
onPointerLeave={() => { touchStateRef.current.turn = 0; }}
className="w-16 h-16 sm:w-20 sm:h-20 bg-gradient-to-b from-emerald-500 to-emerald-700 active:from-emerald-400 active:to-emerald-600 rounded-2xl shadow-[0_4px_15px_rgba(16,185,129,0.2)] flex items-center justify-center transition-transform active:scale-90 touch-none border border-emerald-400/20"
>
<svg xmlns="http://www.w3.org/2000/svg" className="h-8 w-8 sm:h-10 sm:w-10 text-white drop-shadow-md pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={3}>
<path strokeLinecap="round" strokeLinejoin="round" d="M14 5l7 7m0 0l-7 7m7-7H3" />
</svg>
</button>
</div>
</div>
{/* SISI KANAN: THROTTLE */}
<div className="flex flex-col items-center gap-3">
<div className="text-[10px] text-slate-500 font-bold uppercase tracking-widest pointer-events-none">Throttle</div>
<div className="flex flex-col gap-2 sm:gap-3 bg-slate-950/50 p-2 sm:p-2.5 rounded-[2rem] border border-slate-800/50 shadow-inner">
<button
onPointerDown={() => { touchStateRef.current.throttle = -0.6; }}
onPointerUp={() => { touchStateRef.current.throttle = 0; }}
onPointerLeave={() => { touchStateRef.current.throttle = 0; }}
className="w-20 h-12 sm:w-28 sm:h-14 bg-gradient-to-b from-emerald-500 to-emerald-700 active:from-emerald-400 active:to-emerald-600 rounded-2xl shadow-[0_4px_15px_rgba(16,185,129,0.2)] flex items-center justify-center transition-transform active:scale-90 touch-none border border-emerald-400/20"
>
<svg xmlns="http://www.w3.org/2000/svg" className="h-6 w-6 sm:h-8 sm:w-8 text-white drop-shadow-md pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={3}>
<path strokeLinecap="round" strokeLinejoin="round" d="M5 10l7-7m0 0l7 7m-7-7v18" />
</svg>
</button>
<button
onPointerDown={() => { touchStateRef.current.throttle = 0.6; }}
onPointerUp={() => { touchStateRef.current.throttle = 0; }}
onPointerLeave={() => { touchStateRef.current.throttle = 0; }}
className="w-20 h-12 sm:w-28 sm:h-14 bg-gradient-to-b from-amber-500 to-amber-700 active:from-amber-400 active:to-amber-600 rounded-2xl shadow-[0_4px_15px_rgba(245,158,11,0.2)] flex items-center justify-center transition-transform active:scale-90 touch-none border border-amber-400/20"
>
<svg xmlns="http://www.w3.org/2000/svg" className="h-6 w-6 sm:h-8 sm:w-8 text-white drop-shadow-md pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={3}>
<path strokeLinecap="round" strokeLinejoin="round" d="M19 14l-7 7m0 0l-7-7m7 7V3" />
</svg>
</button>
</div>
</div>
</div>
)}
</div>
{/* KOLOM KANAN (STATUS & AKSI RUTE) */}
<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>
<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">
<span>Status Kontrol</span>
{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> )}
</h2>
<div className="flex flex-col gap-4 md:gap-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">
{controlMode === 'touch' ? '📱 AKTIF: DUAL-PAD SENTUH' : controlMode === 'keyboard' ? '⌨️ AKTIF: W-A-S-D' : gamepadStatus}
</div>
<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 RUTE */}
<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">Memori Rute</div>
<div className="grid grid-cols-2 gap-3">
<button
onClick={() => handleTouchAction('RECORD')}
className="bg-gradient-to-b from-red-500 to-red-600 hover:from-red-400 hover:to-red-500 active:scale-95 text-white font-bold py-3 px-2 rounded-xl text-xs shadow-[0_4px_10px_rgba(239,68,68,0.2)] transition-all flex items-center justify-center gap-1 touch-none"
>
<svg xmlns="http://www.w3.org/2000/svg" className="h-4 w-4 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><circle cx="12" cy="12" r="10" /></svg>
<span className="pointer-events-none drop-shadow-sm">Rekam</span>
</button>
<button
onClick={() => handleTouchAction('SAVE')}
className="bg-gradient-to-b from-amber-500 to-amber-600 hover:from-amber-400 hover:to-amber-500 active:scale-95 text-white font-bold py-3 px-2 rounded-xl text-xs shadow-[0_4px_10px_rgba(245,158,11,0.2)] transition-all flex items-center justify-center gap-1 touch-none"
>
<svg xmlns="http://www.w3.org/2000/svg" className="h-4 w-4 pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={2}><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>
<span className="pointer-events-none drop-shadow-sm">Simpan</span>
</button>
<button
onClick={() => handleTouchAction('PLAY_FWD')}
className="bg-gradient-to-b from-emerald-500 to-emerald-600 hover:from-emerald-400 hover:to-emerald-500 active:scale-95 text-white font-bold py-3 px-2 rounded-xl text-[11px] shadow-[0_4px_10px_rgba(16,185,129,0.2)] transition-all flex items-center justify-center gap-1 touch-none"
>
<svg xmlns="http://www.w3.org/2000/svg" className="h-4 w-4 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M5 3l14 9-14 9V3z" /></svg>
<span className="pointer-events-none drop-shadow-sm">Play Fwd</span>
</button>
<button
onClick={() => handleTouchAction('PLAY_REV')}
className="bg-gradient-to-b from-blue-500 to-blue-600 hover:from-blue-400 hover:to-blue-500 active:scale-95 text-white font-bold py-3 px-2 rounded-xl text-[11px] shadow-[0_4px_10px_rgba(59,130,246,0.2)] transition-all flex items-center justify-center gap-1 touch-none"
>
<svg xmlns="http://www.w3.org/2000/svg" className="h-4 w-4 pointer-events-none" fill="none" viewBox="0 0 24 24" stroke="currentColor" strokeWidth={2}><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>
<span className="pointer-events-none drop-shadow-sm">Play Rev</span>
</button>
</div>
</div>
</div>
</div>
</div>
{/* OVERLAY LAYAR PENUH (FULL SCREEN) */}
{isFullscreen && (
<div className="fixed inset-0 z-[100] bg-black flex items-center justify-center overflow-hidden touch-none select-none">
{/* Live Feed Video Background */}
{/* eslint-disable-next-line @next/next/no-img-element */}
<img
src={streamUrl}
alt="Robot view"
className="w-full h-full object-cover"
onError={(e) => {
e.currentTarget.style.display = 'none';
e.currentTarget.parentElement!.innerHTML = '<div class="text-red-400 text-center p-4">Kamera gagal dimuat.<br/>Pastikan Pi dan HP berada dalam jaringan Tailscale/Wi-Fi yang sama.</div>';
}}
alt="Robot Fullscreen"
className="absolute inset-0 w-full h-full object-contain pointer-events-none"
onError={(e) => { e.currentTarget.style.display = 'none'; }}
/>
</div>
</div>
<div className="bg-gray-800 rounded-xl p-4 border border-gray-700 shadow-xl flex flex-col">
<h2 className="text-lg font-semibold mb-4 border-b border-gray-700 pb-2 flex justify-between items-center">
<span>Status Kontrol</span>
{controlMode === 'gamepad' && (
<button onClick={forceScanGamepad} className="text-xs bg-gray-700 hover:bg-gray-600 py-1 px-2 rounded">
Pindai Ulang
{/* Tombol Keluar (Pojok Kanan Atas) */}
<button
onClick={exitFullscreen}
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"
>
✕ Keluar
</button>
{/* AREA KONTROL OVERLAY */}
<div className="absolute inset-0 z-[101] flex flex-row items-end justify-between px-6 md:px-12 pb-6 md:pb-8 pointer-events-none">
{/* KIRI: Tombol Kiri & Kanan (Steering) */}
<div className="flex gap-1 md:gap-2 pointer-events-auto shadow-2xl rounded-2xl">
<button
onPointerDown={() => { touchStateRef.current.turn = -0.6; }}
onPointerUp={() => { touchStateRef.current.turn = 0; }}
onPointerLeave={() => { touchStateRef.current.turn = 0; }}
className="w-16 h-20 md:w-20 md:h-24 bg-red-600/50 active:bg-red-500 flex items-center justify-center rounded-l-xl border-r border-red-800/30 backdrop-blur-sm transition-colors"
>
<svg className="w-8 h-8 md:w-10 md:h-10 text-white/80 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M15 19l-7-7 7-7v14z"/></svg>
</button>
<button
onPointerDown={() => { touchStateRef.current.turn = 0.6; }}
onPointerUp={() => { touchStateRef.current.turn = 0; }}
onPointerLeave={() => { touchStateRef.current.turn = 0; }}
className="w-16 h-20 md:w-20 md:h-24 bg-red-600/50 active:bg-red-500 flex items-center justify-center rounded-r-xl backdrop-blur-sm transition-colors"
>
<svg className="w-8 h-8 md:w-10 md:h-10 text-white/80 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M9 5l7 7-7 7V5z"/></svg>
</button>
</div>
{/* TENGAH: 4 Tombol Aksi (D-Pad Style) */}
<div className="relative w-28 h-28 md:w-36 md:h-36 pointer-events-auto mb-2">
{/* Tombol Atas (Rekam) */}
<button onClick={() => handleTouchAction('RECORD')} className="absolute top-0 left-1/2 -translate-x-1/2 w-10 h-10 md:w-12 md:h-12 bg-red-600/50 active:bg-red-500 rounded-full flex items-center justify-center shadow-lg backdrop-blur-sm transition-colors">
<svg className="w-5 h-5 md:w-6 md:h-6 text-white/80 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><circle cx="12" cy="12" r="10" /></svg>
</button>
{/* Tombol Bawah (Simpan) */}
<button onClick={() => handleTouchAction('SAVE')} className="absolute bottom-0 left-1/2 -translate-x-1/2 w-10 h-10 md:w-12 md:h-12 bg-red-600/50 active:bg-red-500 rounded-full flex items-center justify-center shadow-lg backdrop-blur-sm transition-colors">
<svg className="w-5 h-5 md:w-6 md:h-6 text-white/80 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>
{/* Tombol Kiri (Play Rev) */}
<button onClick={() => handleTouchAction('PLAY_REV')} className="absolute left-0 top-1/2 -translate-y-1/2 w-10 h-10 md:w-12 md:h-12 bg-red-600/50 active:bg-red-500 rounded-full flex items-center justify-center shadow-lg backdrop-blur-sm transition-colors">
<svg className="w-5 h-5 md:w-6 md:h-6 text-white/80 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>
{/* Tombol Kanan (Play Fwd) */}
<button onClick={() => handleTouchAction('PLAY_FWD')} className="absolute right-0 top-1/2 -translate-y-1/2 w-10 h-10 md:w-12 md:h-12 bg-red-600/50 active:bg-red-500 rounded-full flex items-center justify-center shadow-lg backdrop-blur-sm transition-colors">
<svg className="w-5 h-5 md:w-6 md:h-6 text-white/80 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M5 3l14 9-14 9V3z" /></svg>
</button>
</div>
{/* KANAN: Tombol Atas & Bawah (Throttle) */}
<div className="flex flex-col gap-1 md:gap-2 pointer-events-auto shadow-2xl rounded-2xl">
<button
onPointerDown={() => { touchStateRef.current.throttle = -0.6; }}
onPointerUp={() => { touchStateRef.current.throttle = 0; }}
onPointerLeave={() => { touchStateRef.current.throttle = 0; }}
className="w-20 h-16 md:w-24 md:h-20 bg-red-600/50 active:bg-red-500 flex items-center justify-center rounded-t-xl border-b border-red-800/30 backdrop-blur-sm transition-colors"
>
<svg className="w-8 h-8 md:w-10 md:h-10 text-white/80 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M5 15l7-7 7 7H5z"/></svg>
</button>
<button
onPointerDown={() => { touchStateRef.current.throttle = 0.6; }}
onPointerUp={() => { touchStateRef.current.throttle = 0; }}
onPointerLeave={() => { touchStateRef.current.throttle = 0; }}
className="w-20 h-16 md:w-24 md:h-20 bg-red-600/50 active:bg-red-500 flex items-center justify-center rounded-b-xl backdrop-blur-sm transition-colors"
>
<svg className="w-8 h-8 md:w-10 md:h-10 text-white/80 pointer-events-none" fill="currentColor" viewBox="0 0 24 24"><path d="M19 9l-7 7-7-7h14z"/></svg>
</button>
</div>
</div>
</div>
)}
</h2>
<div className="flex-1 flex flex-col justify-center gap-6">
<div className="bg-gray-900 p-3 rounded border border-gray-700 text-sm font-mono text-center">
{controlMode === 'keyboard' ? '⌨️ AKTIF: Gunakan W-A-S-D atau Panah' : gamepadStatus}
</div>
<div className="bg-gray-900 p-4 rounded-lg flex flex-col items-center gap-4 border border-gray-700">
<div className="text-xs text-gray-400 text-center mb-2">Visualizer (X / Y)</div>
<div className="w-24 h-24 bg-gray-800 rounded-full border-2 border-gray-600 relative overflow-hidden flex items-center justify-center">
<div className="absolute w-full h-1px bg-gray-600"></div>
<div className="absolute h-full w-1px bg-gray-600"></div>
<div
className="w-6 h-6 bg-emerald-400 rounded-full absolute shadow-[0_0_10px_rgba(52,211,153,0.5)] transition-all duration-75"
style={{ transform: `translate(${dotX}px, ${dotY}px)` }}
></div>
</div>
<div className="font-mono text-sm mt-2 flex flex-col items-center text-emerald-400">
<span>X: {steering.x}</span>
<span>Y: {steering.y}</span>
</div>
</div>
</div>
</div>
</div>
</div>
</main>
);
}
+3 -1
View File
@@ -1,3 +1,5 @@
/** @type {import('next').NextConfig} */
const nextConfig = {};
const nextConfig = {
output: 'export',
};
export default nextConfig;
+9
View File
@@ -0,0 +1,9 @@
[
{
"x": 0,
"y": -0.6,
"target_ticks_l": 19,
"target_ticks_r": 23,
"motion": "REVERSE"
}
]
+14 -5
View File
@@ -1,7 +1,11 @@
{
"compilerOptions": {
"target": "ES2017",
"lib": ["dom", "dom.iterable", "esnext"],
"lib": [
"dom",
"dom.iterable",
"esnext"
],
"allowJs": true,
"skipLibCheck": true,
"strict": true,
@@ -11,7 +15,7 @@
"moduleResolution": "bundler",
"resolveJsonModule": true,
"isolatedModules": true,
"jsx": "react-jsx",
"jsx": "preserve",
"incremental": true,
"plugins": [
{
@@ -19,7 +23,9 @@
}
],
"paths": {
"@/*": ["./*"]
"@/*": [
"./*"
]
}
},
"include": [
@@ -28,7 +34,10 @@
"**/*.tsx",
".next/types/**/*.ts",
".next/dev/types/**/*.ts",
"**/*.mts"
"**/*.mts",
"next.config.mjs"
],
"exclude": ["node_modules"]
"exclude": [
"node_modules"
]
}