From 23c61600de7855a5d9d7e43124520986527c80ce Mon Sep 17 00:00:00 2001
From: jkpete <1031139173@qq.com>
Date: Sun, 14 Dec 2025 11:51:38 +0800
Subject: [PATCH] fixed track control

---
 Components/Pages/Control.razor        | 197 +-------------------------
 Script/Model/ModelControlServer.cs    |   3 -
 Script/Model/ModelSerialTest.cs       |  78 ++--------
 Script/Protocol/RequestTrackEngine.cs |  33 +++++
 4 files changed, 50 insertions(+), 261 deletions(-)

diff --git a/Components/Pages/Control.razor b/Components/Pages/Control.razor
index 6776c80..aa1726a 100644
--- a/Components/Pages/Control.razor
+++ b/Components/Pages/Control.razor
@@ -5,93 +5,13 @@
 @implements IEGFramework
 @rendermode InteractiveServer
 
-<PageTitle>空轨控制</PageTitle>
+<PageTitle>靶机控制</PageTitle>
 
-<h1>空轨控制</h1>
+<h1>靶机控制</h1>
 
 <div class="control-panel">
-    <div class="status-display">
-        <p>当前位置: <strong>@dataActionStatus.Position</strong> / 25</p>
-        <p>旋转角度: <strong>@dataActionStatus.Rotate</strong>°</p>
-        <p>当前定位点: <strong>@(currentLocationName ?? "无")</strong></p>
-    </div>
 
     <div class="control-section">
-        <h3>位置控制</h3>
-        <div class="slider-container">
-            <div class="position-markers">
-                @foreach (var marker in locationMarkers)
-                {
-                    <div class="position-marker" 
-                         style="left: @((marker.Key / 25.0) * 100)%; 
-                                 background-color: @GetMarkerColor(marker.Value)"
-                         title="@marker.Key - @GetLocationName(marker.Key)">
-                    </div>
-                }
-            </div>
-            <input type="range" 
-                   class="form-range location-slider" 
-                   min="0" 
-                   max="25" 
-                   step="1" 
-                   value="@dataActionStatus.Position" 
-                   @oninput="OnPositionSliderInput"
-                   disabled="@isMoving" />
-            <span class="slider-value">@dataActionStatus.Position</span>
-        </div>
-        <button class="btn btn-secondary mt-2" @onclick="MoveToPosition" disabled="@isMoving">
-            @(isMoving ? "移动中..." : "开始移动")
-        </button>
-        <br />
-        <button class="btn btn-secondary mt-2" @onclick="@ModelTrackControl.EnableTrack" >启用通讯
-        </button>
-        <button class="btn btn-secondary mt-2" @onclick="@ModelTrackControl.StartTrack" >前进
-        </button>
-        <button class="btn btn-secondary mt-2" @onclick="@ModelTrackControl.BackTrack" >后退
-        </button>
-        <button class="btn btn-secondary mt-2" @onclick="@ModelTrackControl.StartSlowTrack" >缓速前进
-        </button>
-        <button class="btn btn-secondary mt-2" @onclick="@ModelTrackControl.BackSlowTrack" >缓速后退
-        </button>
-        <button class="btn btn-secondary mt-2" @onclick="@ModelTrackControl.StopTrack" >停止
-        </button>
-        <button class="btn btn-secondary mt-2" @onclick="@ModelTrackControl.BreakTrack" >刹车
-        </button>
-        <br />
-        <button class="btn btn-secondary mt-2" @onclick="StartScanColor" >开启扫描
-        </button>
-        <button class="btn btn-secondary mt-2" @onclick="@ModelTrackControl.StopScanColor" >结束扫描
-        </button>
-        
-
-    </div>
-
-    <div class="control-section">
-        <h3>快速定位</h3>
-        <div class="location-buttons">
-            @foreach (var location in locationMarkers)
-            {
-                <button class="btn location-btn" 
-                        style="background-color: @GetMarkerColor(location.Value); color: white"
-                        @onclick="e => MoveToLocation(location.Key)"
-                        disabled="@isMoving">
-                    @GetLocationName(location.Key)
-                </button>
-            }
-        </div>
-    </div>
-
-    <div class="control-section">
-        <h3>颜色显示</h3>
-        <div class="color-display" style="background-color: @GetColorValue(CurrentColor)">
-            <span>RGB: @((int)(CurrentColor.X * 255)), @((int)(CurrentColor.Y * 255)), @((int)(CurrentColor.Z * 255))
-            HSV: @((int)(CurrentHSV.X)), @((int)(CurrentHSV.Y)), @((int)(CurrentHSV.Z))
-            </span>
-        </div>
-    </div>
-
-    <div class="control-section">
-        <h3>靶机控制</h3>
         <button class="btn @(isTargetActive ? "btn-danger" : "btn-success")" 
                 @onclick="ToggleTarget"
                 disabled="@isTargetOperationInProgress">
@@ -123,92 +43,12 @@
     private bool isMoving = false;
     private bool isTargetActive = false;
     private bool isTargetOperationInProgress = false;
-    private int targetPosition;
-    private string? currentLocationName;
-    private Vector3 CurrentColor = new Vector3(0.5f, 0.5f, 0.5f); // 默认灰色
-    private Vector3 CurrentHSV = new Vector3();
-
     public ModelTrackControl ModelTrackControl { set; get; }
-
-    // 定义定位点字典
-    private Dictionary<int, Vector3> locationMarkers = new Dictionary<int, Vector3>
-    {
-        { 0, new Vector3(0.3f, 0.8f, 0.12f) },     // 浅绿 - 起点
-        { 7, new Vector3(0.1f, 0.5f, 0.2f) },    // 深绿色 - 中间点1
-        { 10, new Vector3(0.0f, 0.5f, 1.0f) },   // 蓝色 - 中间点2
-        { 15, new Vector3(0.5f, 0.2f, 0.75f) },   // 紫色 - 中间点3
-        { 25, new Vector3(0.8f, 0.2f, 0.5f) }    // 洋红色 - 终点
-    };
-
     protected override void OnInitialized()
     {
-        UpdateCurrentLocationName();
         ModelTrackControl = this.GetModule<ModelTrackControl>();
     }
 
-    private void OnPositionSliderInput(ChangeEventArgs e)
-    {
-        if (int.TryParse(e.Value?.ToString(), out int value))
-        {
-            // 寻找最近的定位点
-            var nearestLocation = locationMarkers.Keys
-                .OrderBy(x => Math.Abs(x - value))
-                .First();
-            
-            targetPosition = nearestLocation;
-            UpdateCurrentLocationName(targetPosition);
-        }
-    }
-
-    
-    private async Task StartScanColor(){
-        if(ModelTrackControl.IsScanning) return;
-        ModelTrackControl.StartScanColor();
-        StateHasChanged();
-        while(ModelTrackControl.IsScanning){
-            // 更新颜色显示
-            UpdateCurrentColor();
-            
-            StateHasChanged();
-            await Task.Delay(50);
-        }
-    }
-
-    private async Task MoveToPosition()
-    {
-        if (isMoving) return;
-        
-        isMoving = true;
-        StateHasChanged();
-        
-        // 模拟移动过程
-        int steps = Math.Abs(targetPosition - dataActionStatus.Position);
-        int direction = targetPosition > dataActionStatus.Position ? 1 : -1;
-        
-        while(ModelTrackControl.MoveStatus != StatusTrack.Stop)
-        {
-            if(targetPosition!=dataActionStatus.Position){
-                dataActionStatus.Position += direction;
-            }
-            
-            // 更新颜色显示
-            UpdateCurrentColor();
-            
-            StateHasChanged();
-            await Task.Delay(50);
-        }
-        
-        UpdateCurrentLocationName();
-        isMoving = false;
-    }
-
-    private async Task MoveToLocation(int position)
-    {
-        targetPosition = position;
-        this.ModelTrackControl.MoveToPosition(position);
-        await MoveToPosition();
-    }
-
     private async Task ToggleTarget()
     {
         if (isTargetOperationInProgress) return;
@@ -233,39 +73,6 @@
         StateHasChanged();
     }
 
-    private string GetMarkerColor(Vector3 colorVector)
-    {
-        // 将Vector3转换为CSS颜色值
-        return $"rgb({(int)(colorVector.X * 255)}, {(int)(colorVector.Y * 255)}, {(int)(colorVector.Z * 255)})";
-    }
-    
-    private string GetColorValue(Vector3 colorVector)
-    {
-        // 将Vector3转换为CSS颜色值
-        return $"rgb({(int)(colorVector.X * 255)}, {(int)(colorVector.Y * 255)}, {(int)(colorVector.Z * 255)})";
-    }
-
-    private string GetLocationName(int position)
-    {
-        return locationMarkers.ContainsKey(position) ? 
-            $"定位点 {position}" : 
-            position.ToString();
-    }
-
-    private void UpdateCurrentLocationName(int? position = null)
-    {
-        int pos = position ?? dataActionStatus.Position;
-        currentLocationName = locationMarkers.ContainsKey(pos) ? 
-            $"定位点 {pos}" : 
-            null;
-    }
-    
-    private void UpdateCurrentColor()
-    {
-        // 根据传感器检测到的颜色进行更新
-        CurrentColor = this.ModelTrackControl.GetColor();
-        CurrentHSV = this.ModelTrackControl.GetColorHSV();
-    }
 }
 
 <style>
diff --git a/Script/Model/ModelControlServer.cs b/Script/Model/ModelControlServer.cs
index 5905a9d..a2a3014 100644
--- a/Script/Model/ModelControlServer.cs
+++ b/Script/Model/ModelControlServer.cs
@@ -35,9 +35,6 @@ public class ModelControlServer : EGModule, IEGFramework
                         Position = this.GetModule<ModelTrackControl>().CurrentPosition
                     }, sender, type);
                     return;
-                case (int)TypeControlFunction.TrackMove:
-                    this.GetModule<ModelTrackControl>().MoveToPosition(data.Position);
-                    break;
             }
         }
         this.EGSendMessage(new RequestControl()
diff --git a/Script/Model/ModelSerialTest.cs b/Script/Model/ModelSerialTest.cs
index ef86654..91336be 100644
--- a/Script/Model/ModelSerialTest.cs
+++ b/Script/Model/ModelSerialTest.cs
@@ -8,17 +8,13 @@ public class ModelSerialTest : EGModule,IEGFramework
     public const int BAUD_RATE_ENGINE = 9600;
     public const int BAUD_RATE_COLOR = 38400;
 
-    public const string PORT_LINUX_0 = "/dev/ttyUSB0";
-    public const string PORT_LINUX_1 = "/dev/ttyUSB1";
+    public const string PORT_LINUX = "/dev/ttyUSB0";
 
-    public const string PORT_WIN_0 = "COM2";
-    public const string PORT_WIN_1 = "COM5";
+    public const string PORT_WIN = "COM2";
 
-    public bool IsLinux = true;
-
-    public string TestPort0 { set; get; } = PORT_LINUX_0;
-    public string TestPort1 { set; get; } = PORT_LINUX_1;
+    public bool IsLinux = false;
 
+    public string TestPort { set; get; } = PORT_LINUX;
     public string ColorSerialPort { set; get; } = "";
     public string EngineSerialPort { set; get; } = "";
 
@@ -27,14 +23,11 @@ public class ModelSerialTest : EGModule,IEGFramework
     public IUnRegister EngineInitEvent{ set; get; }
 
     public override void Init()
-    {
-        ColorSensorInitEvent = this.EGRegisterMessageEvent<ResponseColorSensor>(OnColorSensorInit);
-        this.EGOnMessage<ResponseColorSensor>();
-        this.EGOnMessage<ResponseTrack>();
+    {;
+        this.EGOnMessage<ResponseTarget>();
         if (!IsLinux)
         {
-            TestPort0 = PORT_WIN_0;
-            TestPort1 = PORT_WIN_1;
+            TestPort = PORT_WIN;
         }
         InitSerialPort();
         // throw new NotImplementedException();
@@ -42,66 +35,25 @@ public class ModelSerialTest : EGModule,IEGFramework
 
     public async void InitSerialPort()
     {
-        this.EGSerialPort().Open(TestPort0, 38400);
-        this.EGSendMessage(new RequestColorSingleRead(), TestPort0, ProtocolType.SerialPort);
+        this.EGSerialPort().Open(TestPort, 9600);
+        this.EGSendMessage(new RequestTargetReadEnabled(), TestPort, ProtocolType.SerialPort);
+        EngineInitEvent = this.EGRegisterMessageEvent<ResponseTarget>(OnEngineInit);
         await Task.Delay(2000);
-        if(ColorSerialPort == "")
+        if(EngineSerialPort == "")
         {
-            this.EGSerialPort().Close(TestPort0);
-            this.EGSerialPort().Open(TestPort1, 38400);
-            this.EGSendMessage(new RequestColorSingleRead(), TestPort1, ProtocolType.SerialPort);
-            await Task.Delay(2000);
-            if(ColorSerialPort == "")
-            {
-                this.EGSerialPort().Close(TestPort1);
-                EG.Print("Color sensor init failed,Time out.");
-            }
-            else
-            {
-                EG.Print("_"+this.EGSerialPort().SerialPortDevices.ContainsKey(TestPort0));
-                this.EGSerialPort().Open(TestPort0, 9600);
-                this.EGSendMessage(new RequestTrackReadEnabled(), TestPort0, ProtocolType.SerialPort);
-                EngineInitEvent = this.EGRegisterMessageEvent<ResponseTrack>(OnEngineInit);
-                await Task.Delay(2000);
-                if(EngineSerialPort == "")
-                {
-                    this.EGSerialPort().Close(TestPort0);
-                    EG.Print("Engine init failed USB0,Time out.");
-                }
-            }
-        }
-        else
-        {
-            this.EGSerialPort().Open(TestPort1, 9600);
-            this.EGSendMessage(new RequestTrackReadEnabled(), TestPort1, ProtocolType.SerialPort);
-            EngineInitEvent = this.EGRegisterMessageEvent<ResponseTrack>(OnEngineInit);
-            await Task.Delay(2000);
-            if(EngineSerialPort == "")
-            {
-                this.EGSerialPort().Close(TestPort1);
-                EG.Print("Engine init failed USB1,Time out.");
-            }
+            this.EGSerialPort().Close(TestPort);
+            EG.Print("Engine init failed USB,Time out.");
         }
     }
 
-    public void OnColorSensorInit(ResponseColorSensor res, string sender, ProtocolType type)
-    {
-        if (type == ProtocolType.SerialPort)
-        {
-            ColorSensorInitEvent.UnRegister();
-            this.ColorSerialPort = sender;
-            EG.Print("Color sensor init success!");
-        }
-    }
-    
-    public void OnEngineInit(ResponseTrack res,string sender,ProtocolType type)
+    public void OnEngineInit(ResponseTarget res,string sender,ProtocolType type)
     {
         if (type == ProtocolType.SerialPort)
         {
             EngineInitEvent.UnRegister();
             this.EngineSerialPort = sender;
             EG.Print("Engine sensor init success!");
-            this.GetModule<ModelTrackControl>().ResetTrack();
+            // this.GetModule<ModelTrackControl>().ResetTrack();
         }
     }
 
diff --git a/Script/Protocol/RequestTrackEngine.cs b/Script/Protocol/RequestTrackEngine.cs
index fde01cb..7466aa1 100644
--- a/Script/Protocol/RequestTrackEngine.cs
+++ b/Script/Protocol/RequestTrackEngine.cs
@@ -81,6 +81,39 @@ public class RequestTrackReadEnabled: ModbusRTU_ReadHoldingRegisters, IEGFramewo
 
 
 public class ResponseTrack : ModbusRTU_Response, IEGFramework
+{
+    public uint ResValue { set; get; }
+    public override bool TrySetData(string protocolData, byte[] protocolBytes)
+    {
+        bool result = base.TrySetData(protocolData, protocolBytes);
+        if (!result)
+        {
+            return false;
+        }
+        if (this.HoldingRegister != null && this.HoldingRegister.Length >= 1)
+        {
+            ResValue = HoldingRegister[0];
+        }
+        else
+        {
+            return false;
+        }
+        return result;
+    }
+}
+
+
+public class RequestTargetReadEnabled: ModbusRTU_ReadHoldingRegisters, IEGFramework
+{
+    public RequestTargetReadEnabled()
+    {
+        this.DeviceAddress = 0x01;
+        this.RegisterAddress = 0x44;
+        this.ReadCount = 0x01;
+    }
+}
+
+public class ResponseTarget : ModbusRTU_Response, IEGFramework
 {
     public uint ResValue { set; get; }
     public override bool TrySetData(string protocolData, byte[] protocolBytes)