733 lines
37 KiB
TypeScript
733 lines
37 KiB
TypeScript
'use client';
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import { useState, useEffect, useRef } from 'react';
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const sleep = (ms: number) =>
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new Promise((resolve) => setTimeout(resolve, ms));
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// KONFIGURASI
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const RECORD_INTERVAL_MS = 50;
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const DIRECTION_BRAKE_MS = 600;
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const MAX_STEP_TIMEOUT_MS = 15000;
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const LATENCY_COMPENSATION_TICKS = 3;
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// TYPE
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type Steering = {
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x: number;
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y: number;
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};
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type MotionType =
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| 'FORWARD'
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| 'REVERSE'
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| 'TURN_LEFT'
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| 'TURN_RIGHT'
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| 'STOP';
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type TrajectoryStep = {
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x: number;
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y: number;
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target_ticks_l: number;
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target_ticks_r: number;
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motion?: MotionType;
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sample_ms?: number;
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};
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export default function RobotDashboard() {
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const PI_IP = '192.168.0.105';
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const streamUrl = `http://${PI_IP}:8080/stream`;
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const [controlMode, setControlMode] = useState('touch');
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const [gamepadStatus, setGamepadStatus] = useState('Menunggu Gamepad...');
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const [steering, setSteering] = useState({ x: 0, y: 0 });
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const [ticks, setTicks] = useState({ l: 0, r: 0 });
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const [isRecordingUI, setIsRecordingUI] = useState(false);
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const [isPlayingUI, setIsPlayingUI] = useState(false);
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const [isFullscreen, setIsFullscreen] = useState(false);
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const currentTicksRef = useRef({ l: 0, r: 0 });
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const lastRecordedTicksRef = useRef({ l: 0, r: 0 });
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const activeMotionRef = useRef<MotionType>('STOP');
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const lastCommandRef = useRef({ x: 0, y: 0 });
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const isRecordingRef = useRef(false);
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const isPlayingRef = useRef(false);
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const isSavingRef = useRef(false);
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const trajectoryRef = useRef<TrajectoryStep[]>([]);
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const prevBtnsRef = useRef({ A: false, B: false, Y: false, X: false });
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const wsRef = useRef<WebSocket | null>(null);
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const keysRef = useRef({ up: false, down: false, left: false, right: false, q: false, e: false });
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const touchStateRef = useRef({ turn: 0, throttle: 0, pan: 0 });
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const sendCommand = (x: number, y: number, pan: number = 0) => {
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if (wsRef.current && wsRef.current.readyState === WebSocket.OPEN) {
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wsRef.current.send(JSON.stringify({ x, y, pan }));
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}
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};
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const stopRobot = () => {
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setSteering({ x: 0, y: 0 });
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sendCommand(0, 0, touchStateRef.current.pan);
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};
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const getMotionType = (x: number, y: number): MotionType => {
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const DEADZONE = 0.10;
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const hasX = Math.abs(x) > DEADZONE;
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const hasY = Math.abs(y) > DEADZONE;
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if (!hasX && !hasY) return 'STOP';
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if (hasY) return y > 0 ? 'FORWARD' : 'REVERSE';
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return x > 0 ? 'TURN_RIGHT' : 'TURN_LEFT';
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};
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const executePlayback = async (reverse: boolean = false) => {
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if (isPlayingRef.current || isSavingRef.current) return;
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isPlayingRef.current = true;
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setIsPlayingUI(true);
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console.log(`Memulai Playback ${reverse ? 'REVERSE' : 'FORWARD'}...`);
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try {
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const res = await fetch(`/api/trajectory?_t=${Date.now()}`, { method: 'GET', cache: 'no-store' });
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if (!res.ok) throw new Error(`HTTP Error ${res.status}`);
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const data = (await res.json()) as TrajectoryStep[];
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if (!Array.isArray(data) || data.length === 0) {
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alert('Data perjalanan kosong! Rekam rute terlebih dahulu.');
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return;
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}
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const routeData = reverse ? [...data].reverse() : data;
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let lastActiveMotion: MotionType = 'STOP';
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for (let i = 0; i < routeData.length; i++) {
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if (!isPlayingRef.current) break;
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const step = routeData[i];
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const targetX = reverse ? -step.x : step.x;
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const targetY = reverse ? -step.y : step.y;
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const currentMotion = getMotionType(targetX, targetY);
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if (currentMotion !== 'STOP' && lastActiveMotion !== 'STOP') {
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const isReversal =
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(lastActiveMotion === 'FORWARD' && currentMotion === 'REVERSE') ||
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(lastActiveMotion === 'REVERSE' && currentMotion === 'FORWARD') ||
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(lastActiveMotion === 'TURN_LEFT' && currentMotion === 'TURN_RIGHT') ||
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(lastActiveMotion === 'TURN_RIGHT' && currentMotion === 'TURN_LEFT');
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if (isReversal) {
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stopRobot();
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await sleep(DIRECTION_BRAKE_MS);
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if (!isPlayingRef.current) break;
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}
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}
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if (currentMotion !== 'STOP') lastActiveMotion = currentMotion;
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setSteering({ x: targetX, y: targetY });
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sendCommand(targetX, targetY, touchStateRef.current.pan);
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const startL = currentTicksRef.current.l;
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const startR = currentTicksRef.current.r;
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const targetL = Math.max(0, Number(step.target_ticks_l || 0));
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const targetR = Math.max(0, Number(step.target_ticks_r || 0));
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const compTargetL = Math.max(0, targetL - LATENCY_COMPENSATION_TICKS);
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const compTargetR = Math.max(0, targetR - LATENCY_COMPENSATION_TICKS);
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if (targetL === 0 && targetR === 0) {
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await sleep(RECORD_INTERVAL_MS);
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continue;
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}
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const stepStartTime = Date.now();
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while (isPlayingRef.current) {
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const currentDeltaL = Math.abs(currentTicksRef.current.l - startL);
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const currentDeltaR = Math.abs(currentTicksRef.current.r - startR);
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let stepFinished = false;
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if (targetL > targetR) {
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stepFinished = currentDeltaL >= compTargetL;
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} else if (targetR > targetL) {
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stepFinished = currentDeltaR >= compTargetR;
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} else {
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stepFinished = currentDeltaL >= compTargetL || currentDeltaR >= compTargetR;
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}
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if (stepFinished) break;
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if (Date.now() - stepStartTime > MAX_STEP_TIMEOUT_MS) {
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console.warn(`Timeout step ${i}: Robot tersangkut.`);
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break;
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}
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await sleep(10);
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}
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}
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console.log('Playback selesai!');
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} catch (error) {
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console.error('Gagal playback:', error);
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} finally {
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stopRobot();
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isPlayingRef.current = false;
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setIsPlayingUI(false);
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}
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};
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const forceScanGamepad = () => {
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if (typeof navigator === 'undefined' || !navigator.getGamepads) return;
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const gamepads = navigator.getGamepads();
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let activeGp: Gamepad | null = null;
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for (let i = 0; i < gamepads.length; i++) {
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if (gamepads[i]) { activeGp = gamepads[i]; break; }
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}
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if (activeGp) setGamepadStatus(`🟢 TERHUBUNG: ${activeGp.id.substring(0, 15)}...`);
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};
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const saveTrajectory = async () => {
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isSavingRef.current = true;
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try {
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stopRobot();
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const deltaL = Math.abs(currentTicksRef.current.l - lastRecordedTicksRef.current.l);
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const deltaR = Math.abs(currentTicksRef.current.r - lastRecordedTicksRef.current.r);
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if ((deltaL > 0 || deltaR > 0) && activeMotionRef.current !== 'STOP') {
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trajectoryRef.current.push({
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x: lastCommandRef.current.x,
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y: lastCommandRef.current.y,
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target_ticks_l: deltaL,
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target_ticks_r: deltaR,
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motion: activeMotionRef.current,
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});
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}
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const trajectoryToSave = [...trajectoryRef.current];
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if (trajectoryToSave.length === 0) return;
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const res = await fetch('/api/trajectory', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify(trajectoryToSave),
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});
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if (!res.ok) throw new Error(`HTTP Error ${res.status}`);
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} catch (error) {
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alert('Gagal menyimpan rute.');
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} finally {
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isSavingRef.current = false;
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}
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};
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const handleTouchAction = (action: 'RECORD' | 'SAVE' | 'PLAY_FWD' | 'PLAY_REV') => {
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if (action === 'PLAY_FWD') {
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if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
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else if (!isSavingRef.current && !isRecordingRef.current) executePlayback(false);
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} else if (action === 'PLAY_REV') {
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if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
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else if (!isSavingRef.current && !isRecordingRef.current) executePlayback(true);
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} else if (action === 'RECORD') {
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if (!isRecordingRef.current && !isPlayingRef.current && !isSavingRef.current) {
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isRecordingRef.current = true;
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setIsRecordingUI(true);
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trajectoryRef.current = [];
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lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r };
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activeMotionRef.current = 'STOP';
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lastCommandRef.current = { x: 0, y: 0 };
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stopRobot();
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}
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} else if (action === 'SAVE') {
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if (isRecordingRef.current) {
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isRecordingRef.current = false;
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setIsRecordingUI(false);
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saveTrajectory();
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}
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}
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};
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const enterFullscreen = () => {
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const elem = document.documentElement;
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if (elem.requestFullscreen) {
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elem.requestFullscreen();
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}
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};
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const exitFullscreen = () => {
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if (document.exitFullscreen) {
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document.exitFullscreen();
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}
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};
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useEffect(() => {
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const handleFullscreenChange = () => {
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setIsFullscreen(!!document.fullscreenElement);
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};
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document.addEventListener('fullscreenchange', handleFullscreenChange);
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const ws = new WebSocket(`ws://${PI_IP}:8765`);
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ws.onmessage = (event) => {
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try {
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const data = JSON.parse(event.data);
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if (data.ticks_l !== undefined && data.ticks_r !== undefined) {
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const newTicks = { l: Number(data.ticks_l), r: Number(data.ticks_r) };
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setTicks(newTicks);
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currentTicksRef.current = newTicks;
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}
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} catch (error) {}
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};
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wsRef.current = ws;
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// PERBAIKAN LOGIKA KEYBOARD (Q dan E ditambahkan & CapsLock kebal)
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const handleKeyDown = (e: KeyboardEvent) => {
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const key = e.key.toLowerCase();
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if (key === 'arrowup' || key === 'w') keysRef.current.up = true;
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if (key === 'arrowdown' || key === 's') keysRef.current.down = true;
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if (key === 'arrowleft' || key === 'a') keysRef.current.left = true;
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if (key === 'arrowright' || key === 'd') keysRef.current.right = true;
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if (key === 'q') keysRef.current.q = true;
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if (key === 'e') keysRef.current.e = true;
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};
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const handleKeyUp = (e: KeyboardEvent) => {
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const key = e.key.toLowerCase();
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if (key === 'arrowup' || key === 'w') keysRef.current.up = false;
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if (key === 'arrowdown' || key === 's') keysRef.current.down = false;
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if (key === 'arrowleft' || key === 'a') keysRef.current.left = false;
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if (key === 'arrowright' || key === 'd') keysRef.current.right = false;
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// Saat tombol dilepas, kembalikan posisi pan (menoleh) ke 0 secara paksa
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if (key === 'q') {
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keysRef.current.q = false;
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touchStateRef.current.pan = 0;
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}
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if (key === 'e') {
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keysRef.current.e = false;
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touchStateRef.current.pan = 0;
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}
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};
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window.addEventListener('keydown', handleKeyDown);
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window.addEventListener('keyup', handleKeyUp);
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const interval = setInterval(() => {
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let currentX = 0; let currentY = 0; let currentPan = 0;
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let btnA = false; let btnB = false; let btnY = false; let btnX = false;
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if (controlMode === 'gamepad') {
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if (typeof navigator !== 'undefined' && navigator.getGamepads) {
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const gamepads = navigator.getGamepads();
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let activeGp: Gamepad | null = null;
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for (let i = 0; i < gamepads.length; i++) {
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if (gamepads[i]) { activeGp = gamepads[i]; break; }
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}
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if (activeGp) {
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const rawX = activeGp.axes[0] || 0;
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const rawPan = activeGp.axes[2] || 0;
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const maju = activeGp.buttons[7]?.value || 0;
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const mundur = activeGp.buttons[6]?.value || 0;
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currentX = Math.abs(rawX) > 0.15 ? Number(rawX.toFixed(2)) : 0;
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currentY = Number((mundur - maju).toFixed(2));
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currentPan = Math.abs(rawPan) > 0.15 ? Number(rawPan.toFixed(2)) : 0;
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btnA = activeGp.buttons[0]?.pressed || false;
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btnB = activeGp.buttons[1]?.pressed || false;
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btnY = activeGp.buttons[3]?.pressed || false;
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btnX = activeGp.buttons[2]?.pressed || false;
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}
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}
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} else if (controlMode === 'keyboard') {
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currentY = (keysRef.current.down ? 1 : 0) - (keysRef.current.up ? 1 : 0);
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currentX = (keysRef.current.right ? 1 : 0) - (keysRef.current.left ? 1 : 0);
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currentPan = (keysRef.current.e ? 1 : 0) - (keysRef.current.q ? 1 : 0);
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} else if (controlMode === 'touch' || isFullscreen) {
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currentX = touchStateRef.current.turn;
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currentY = touchStateRef.current.throttle;
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currentPan = touchStateRef.current.pan;
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}
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// GLOBAL KEYBOARD OVERRIDE: Berlaku dimanapun asalkan tombol keyboard ditekan
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if (keysRef.current.up || keysRef.current.down || keysRef.current.left || keysRef.current.right) {
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currentY = (keysRef.current.down ? 1 : 0) - (keysRef.current.up ? 1 : 0);
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currentX = (keysRef.current.right ? 1 : 0) - (keysRef.current.left ? 1 : 0);
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}
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if (keysRef.current.q || keysRef.current.e) {
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currentPan = (keysRef.current.e ? 1 : 0) - (keysRef.current.q ? 1 : 0);
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touchStateRef.current.pan = currentPan; // Sinkronkan ke UI Sentuh
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}
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const currentMotion = getMotionType(currentX, currentY);
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if (btnA && !prevBtnsRef.current.A && !isRecordingRef.current) {
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if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
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else if (!isSavingRef.current) executePlayback(false);
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}
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if (btnX && !prevBtnsRef.current.X && !isRecordingRef.current) {
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if (isPlayingRef.current) { isPlayingRef.current = false; stopRobot(); }
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else if (!isSavingRef.current) executePlayback(true);
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}
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if (btnB && !prevBtnsRef.current.B && !isRecordingRef.current && !isPlayingRef.current && !isSavingRef.current) {
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isRecordingRef.current = true;
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setIsRecordingUI(true);
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trajectoryRef.current = [];
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lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r };
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activeMotionRef.current = currentMotion;
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lastCommandRef.current = { x: currentX, y: currentY };
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stopRobot();
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}
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if (btnY && !prevBtnsRef.current.Y && isRecordingRef.current) {
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isRecordingRef.current = false;
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setIsRecordingUI(false);
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saveTrajectory();
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}
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prevBtnsRef.current = { A: btnA, B: btnB, Y: btnY, X: btnX };
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if (isPlayingRef.current || isSavingRef.current) return;
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if (isRecordingRef.current) {
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if (currentMotion !== activeMotionRef.current) {
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const deltaL = Math.abs(currentTicksRef.current.l - lastRecordedTicksRef.current.l);
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const deltaR = Math.abs(currentTicksRef.current.r - lastRecordedTicksRef.current.r);
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if ((deltaL > 0 || deltaR > 0) && activeMotionRef.current !== 'STOP') {
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trajectoryRef.current.push({
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x: lastCommandRef.current.x,
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y: lastCommandRef.current.y,
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target_ticks_l: deltaL,
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target_ticks_r: deltaR,
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motion: activeMotionRef.current,
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});
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}
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lastRecordedTicksRef.current = { l: currentTicksRef.current.l, r: currentTicksRef.current.r };
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activeMotionRef.current = currentMotion;
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}
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if (currentMotion !== 'STOP') {
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lastCommandRef.current = { x: currentX, y: currentY };
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}
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}
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setSteering({ x: currentX, y: currentY });
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sendCommand(currentX, currentY, currentPan);
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}, RECORD_INTERVAL_MS);
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return () => {
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clearInterval(interval);
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window.removeEventListener('keydown', handleKeyDown);
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window.removeEventListener('keyup', handleKeyUp);
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document.removeEventListener('fullscreenchange', handleFullscreenChange);
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if (wsRef.current) wsRef.current.close();
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};
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}, [controlMode, PI_IP, isFullscreen]);
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const maxRadius = 36;
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const dotX = steering.x * maxRadius;
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const dotY = steering.y * maxRadius;
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return (
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<main
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onContextMenu={(e) => e.preventDefault()}
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className="min-h-screen bg-slate-950 text-slate-100 p-3 md:p-8 font-sans pb-12 select-none"
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style={{ WebkitTouchCallout: 'none', WebkitUserSelect: 'none' }}
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>
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<div className="max-w-5xl mx-auto space-y-4 md:space-y-6">
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{/* HEADER */}
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<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">
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<div className="flex items-center gap-4 flex-wrap">
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<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">
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ROBOT VISION
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</h1>
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{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-4 md:gap-6">
|
|
|
|
{/* (KAMERA & TOUCH CONTROLLER INLINE) */}
|
|
<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>
|
|
{/* TOMBOL 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">
|
|
<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
|
|
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="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-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>
|
|
</div>
|
|
</div>
|
|
)}
|
|
</div>
|
|
|
|
{/* KOLOM KANAN (STATUS) */}
|
|
<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 & Q-E' : 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 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
|
|
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-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>
|
|
</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>
|
|
|
|
{/* SISI KANAN: D-Pad Pergerakan Salib */}
|
|
<div className="flex flex-col items-center gap-2 pointer-events-auto">
|
|
{/* MAJU */}
|
|
<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 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>
|
|
);
|
|
} |