区域赛版本

app.py

@@ -1,4 +1,4 @@
-from flask import Flask, render_template
+from flask import Flask, render_template, request
 from flask_socketio import SocketIO
 import toml
 from loguru import logger
@@ -23,6 +23,8 @@ processes = []
 
 time_record = None
 
+task_run_flag = False
+
 # 日志队列
 queue = Queue()
 # 跳过任务 干预任务调度
@@ -49,14 +51,25 @@ logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
 
 fileOptions_path = '/home/evan/Workplace/project_main'
 fileOptions_list = ['cfg_args.toml','cfg_main.toml', 'cfg_subtask.toml']
+cfg_args_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+
 
 @app.route('/')
 def index():
     return render_template('index.html')
 
-@app.route('/csdn')
+@app.route('/run')
-def csdn():
+def run():
-    return render_template('csdn.html')
+    mode_index = request.args.get('mode')
+    config_args = toml.load(cfg_args_path)
+    config_args['lane_mode']['mode_index'] = int(mode_index)
+    with open(cfg_args_path, 'w') as config_file:
+        toml.dump(config_args, config_file)
+    return render_template('index2.html')
+
+# @app.route('/csdn')
+# def csdn():
+#     return render_template('csdn.html')
 
 @socketio.on('operate')
 def operate_handle(data):
@@ -64,6 +77,7 @@ def operate_handle(data):
     global task_process
     global processes
     global time_record
+    global task_run_flag
     if data['type'] == 'save_config':
         f = open(os.path.join(fileOptions_path,data['file_name']), 'w')
         ret = toml.dump(data['content'], f)
@@ -99,6 +113,7 @@ def operate_handle(data):
     elif data['type'] == 'operate_task':
         # 任务函数
         if data['content'] == 'run':
+            task_run_flag = True
             if task_process != None:
                 task_process.terminate()
             time_record = time.perf_counter()
@@ -106,6 +121,7 @@ def operate_handle(data):
             task_process.start()
             logger.info("开启 task")
         elif data['content'] == 'stop':
+            task_run_flag = False
             task_process.terminate()
             logger.info(f"任务结束 用时{time.perf_counter() - time_record}s")
             logger.info("关闭  task")
@@ -125,6 +141,12 @@ def operate_handle(data):
     elif data['type'] == 'skip_task':
         logger.info(data)
         skip_task_queue.put(1)
+    # elif data['type'] == 'save_target_person':
+    #     config_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+    #     config_args = toml.load(config_path)
+    #     config_args['lane_mode']['mode_index'] = int(data['content'])
+    #     with open(config_path, 'w') as config_file:
+    #         toml.dump(config_args, config_file)
 
 @socketio.on('connect')
 def test_connect():
@@ -134,6 +156,7 @@ def test_connect():
     for item in fileOptions_list:
         config_data[item] = toml.load(os.path.join(fileOptions_path,item))
     socketio.emit('config_data', {'type': 'config_data', 'content': config_data})
+    socketio.emit('task_status', {'type': 'task_status', 'content': int(task_run_flag)})
 def thread_function():
     global queue
     while True:
@@ -146,6 +169,12 @@ def thread_function():
     
 if __name__ == '__main__':
 
+    config_path = os.path.join(fileOptions_path, 'cfg_args.toml')
+    config_args = toml.load(config_path)
+    config_args['lane_mode']['mode_index'] = 1
+    with open(config_path, 'w') as config_file:
+        toml.dump(config_args, config_file)
+
     log_file = "server_processes.log"
     log = open(log_file, "w")
     time.sleep(2)

cfg_args.toml

@@ -1,5 +1,5 @@
 [lane_mode]
-mode_index = 3
+mode_index = 1
 
 [task]
 Subtask_enable = true

cfg_main.toml

@@ -6,14 +6,14 @@ logger_format = "{time} {level} {message}"
 
 [find_counts]
 GetBlock_counts = 5
-PutBlock_counts = 8
+PutBlock_counts = 12
 GetBBall_counts = 5
 UpTower_counts = 3
 GetRBall_counts = 10
 PutBBall_counts = 15
 PutHanoi1_counts = 7
 PutHanoi2_counts = 2
-PutHanoi3_counts = 1
+PutHanoi3_counts = 5
 MoveArea1_counts = 6
 MoveArea2_counts = 1700
 KickAss_counts = 10

cfg_subtask.toml

@@ -1,5 +1,5 @@
 [get_block]
-pid_kp = 1.2
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 first_block = "blue"
@@ -15,17 +15,17 @@ pid_ki = 0
 pid_kd = 0
 
 [up_tower]
-pid_kp = 1.1
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 
 [get_rball]
-pid_kp = 0.8
+pid_kp = 1.5
 pid_ki = 0
 pid_kd = 0
 
 [put_bball]
-pid_kp = 1.6
+pid_kp = 2.0
 pid_ki = 0
 pid_kd = 0
 
@@ -42,7 +42,7 @@ pos_gap = 160
 first_target = "mp"
 
 [put_hanoi3]
-pid_kp = 1.3
+pid_kp = 1.7
 pid_ki = 0
 pid_kd = 0
 

cfg_subtask.toml.6_9.bak

@@ -35,7 +35,7 @@ pid_ki = 0
 pid_kd = 0
 
 [put_hanoi2]
-pid_kp = 1.0
+pid_kp = 2.0
 pid_ki = 0
 pid_kd = 0
 pos_gap = 160

main.py

@@ -27,21 +27,21 @@ act.axis.exec()
 
 # 向任务队列添加任务
 task_queue = queue.Queue()
-if cfg_main['task']['Subtask_enable'] is True:
+# if cfg_main['task']['Subtask_enable'] is True:
-    task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+#     task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-    task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+#     task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-    task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+#     task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-    task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable'])) 
+#     task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable'])) 
-    # TODO 添加一个空任务用于提前降 z 轴
+#     # TODO 添加一个空任务用于提前降 z 轴
-    task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable'])) 
+#     task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable'])) 
-    task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable'])) 
+#     task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable'])) 
-    task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable'])) 
+#     task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable'])) 
-    task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True))  # 无论是否进行任务，检测标识并转向都是必须进行的
+#     task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True))  # 无论是否进行任务，检测标识并转向都是必须进行的
-    task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable'])) 
+#     task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable'])) 
-    task_queue.put(sb.task("物资盘点三阶段", sb.put_hanoi3, cfg_main['find_counts']['PutHanoi3_counts'], enable = True))
+#     task_queue.put(sb.task("物资盘点三阶段", sb.put_hanoi3, cfg_main['find_counts']['PutHanoi3_counts'], enable = True))
-    task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable'])) 
+#     task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable'])) 
-    task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable'])) 
+#     task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable'])) 
-    task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable'])) 
+#     task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable'])) 
 # 将任务队列传入调度模块中
 task_queuem_t = sb.task_queuem(task_queue)
 

main_upper.py

@@ -40,6 +40,7 @@ def main_func(_queue, _skip_queue):
 
     # 配置日志输出
     logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
+    logger.info(cfg_args)
 
     act.axis.camera(0)
     act.axis.x2(140)
@@ -59,7 +60,7 @@ def main_func(_queue, _skip_queue):
         task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_args['task']['GetBBall_enable'])) 
         # # TODO 添加一个空任务用于提前降 z 轴
         task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_args['task']['UpTower_enable'])) 
-        task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_args['task']['GetRBall_enable'])) 
+        task_queue.put(sb.task("高空排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_args['task']['GetRBall_enable'])) 
         task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_args['task']['GetBBall_enable'] and cfg_args['task']['PutBBall_enable'])) 
         task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True))  # 无论是否进行任务，检测标识并转向都是必须进行的
         task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_args['task']['PutHanoi_enable'])) 

subtask.py

@@ -546,7 +546,7 @@ class put_block():
         ret, box = filter.get(tlabel.HOSPITAL)
         if ret > 0:
             width = box[0][2] - box[0][0]
-            if width > 130:
+            if width > 135:
                 return True
         return False
     def exec(self):
@@ -557,7 +557,7 @@ class put_block():
         by_cmd.send_distance_x(10, 100)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
-        by_cmd.send_position_axis_x(1, 20)
+        by_cmd.send_position_axis_x(1, 50) # 20
         time.sleep(1)
         by_cmd.send_angle_claw(63)
         time.sleep(1)
@@ -582,7 +582,7 @@ class put_block():
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
-        by_cmd.send_position_axis_x(1, 20)
+        by_cmd.send_position_axis_x(1, 50)
         time.sleep(1.5)
         by_cmd.send_angle_claw(45)
         time.sleep(1)
@@ -702,12 +702,12 @@ class up_tower():
         by_cmd.send_distance_x(-10, 120)
         time.sleep(1)
         # 上古參數
-        # by_cmd.send_distance_y(-10, 50)
+        by_cmd.send_distance_y(-10, 80)
         # 6_9 模型參數
-        by_cmd.send_distance_y(-10, 40)
+        # by_cmd.send_distance_y(-10, 40)
         # 7_12_3 模型參數
         # by_cmd.send_distance_y(-10, 50)
-        # time.sleep(1)
+        time.sleep(2)
         car_stop()
         # FIXME 如果下發 distance 後直接 car_stop，則 distance 執行時間僅由指令間處理延時決定
         # time.sleep(3)
@@ -758,21 +758,23 @@ class get_rball():
         # 靠近塔
         by_cmd.send_angle_scoop(20)
         # 上古參數
-        # by_cmd.send_distance_y(-15, 45) # 50
+        by_cmd.send_distance_y(-15, 70) # 50
         # 6_9 參數
-        by_cmd.send_distance_y(-15, 35)
+        # by_cmd.send_distance_y(-15, 35)
-        time.sleep(2)
+        # time.sleep(2)
         # 7_12_3 參數
         # by_cmd.send_distance_y(-15, 45)
-        # time.sleep(2)
+        time.sleep(2)
         car_stop()
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
         logger.info("抓红球")
-        # by_cmd.send_angle_scoop(15)
+        # by_cmd.send_angle_scoop(12)
         time.sleep(0.5)
         by_cmd.send_position_axis_z(30, 170)
         time.sleep(2.5)
+        by_cmd.send_angle_scoop(12)
+        time.sleep(0.5)
         by_cmd.send_angle_scoop(7)
         time.sleep(0.5)
         by_cmd.send_speed_y(15)
@@ -811,7 +813,7 @@ class put_bball():
         calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6)
         # by_cmd.send_distance_x(10, 10)
         # 向左运动
-        # by_cmd.send_distance_y(-10, 35)
+        by_cmd.send_distance_y(-10, 35)
         # by_cmd.send_angle_storage(10)
         # time.sleep(1)
 
@@ -944,7 +946,7 @@ class put_hanoi1():
     def after(self):
         # var.switch_lane_model = True
         if utils.direction == tlabel.RMARK:
-            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.3, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.2, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         else:
             var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         pass
@@ -1184,7 +1186,7 @@ class put_hanoi2():
         # while True:
         #     pass
         by_cmd.send_speed_x(12)
-        time.sleep(1.5)
+        time.sleep(1.2)
     def nexec(self):
         pass
     def after(self):
@@ -1194,6 +1196,7 @@ class put_hanoi2():
         else:
             var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"]) 
         # time.sleep(2)
+        var.task_speed = 13
         pass
 
 class put_hanoi3():
@@ -1485,7 +1488,7 @@ class kick_ass():
             ret, box = filter.get(tlabel.BASE)
             if ret:
                 error = (box[0][2] + box[0][0] - 320) / 2
-            by_cmd.send_speed_omega(-error * 0.8)
+                by_cmd.send_speed_omega(-error * 0.8)
             time.sleep(0.02)
         # by_cmd.send_speed_x(25)
         # time.sleep(4)

subtask_69.py

@@ -415,8 +415,8 @@ class task_queuem(task):
 class get_block1():
     def init(self):
         var.task_speed = 15
-        act.cmd.camera(0)
+        while (by_cmd.send_angle_camera(0) == -1):
-        act.cmd.z2(20, 60, 0)
+            pass
         filter.switch_camera(1)
         # if cfg['get_block']['first_block'] == "blue":
         #     self.target_label = tlabel.BBLOCK
@@ -439,8 +439,7 @@ class get_block1():
         if any(ret):
             return True
         return False
-
+    
-
     def exec(self):
         car_stop()
         if self.target_counts[0] > self.target_counts[1]:
@@ -771,8 +770,8 @@ class get_rball():
         logger.info("抓红球")
         # by_cmd.send_angle_scoop(15)
         time.sleep(0.5)
-        by_cmd.send_position_axis_z(30, 170)
+        by_cmd.send_position_axis_z(30, 190) #170
-        time.sleep(2.5)
+        time.sleep(3.5)
         by_cmd.send_angle_scoop(7)
         time.sleep(0.5)
         by_cmd.send_speed_y(15)
@@ -944,7 +943,7 @@ class put_hanoi1():
     def after(self):
         # var.switch_lane_model = True
         if utils.direction == tlabel.RMARK:
-            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.3, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.4, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         else:
             var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         pass
@@ -1185,6 +1184,7 @@ class put_hanoi2():
         #     pass
         by_cmd.send_speed_x(12)
         time.sleep(1.5)
+        var.task_speed = 10
     def nexec(self):
         pass
     def after(self):
@@ -1222,6 +1222,7 @@ class put_hanoi3():
     def nexec(self):
         pass
     def after(self):
+        var.task_speed = 0
         by_cmd.send_position_axis_x(1, 150)
         var.pid_turning.set(cfg["put_hanoi3"]["pid_kp"], cfg["put_hanoi3"]["pid_ki"], cfg["put_hanoi3"]["pid_kd"])
 

subtask_raw.py

@@ -557,7 +557,7 @@ class put_block():
         by_cmd.send_distance_x(10, 100)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
-        by_cmd.send_position_axis_x(1, 20)
+        by_cmd.send_position_axis_x(1, 50) # 20
         time.sleep(1)
         by_cmd.send_angle_claw(63)
         time.sleep(1)
@@ -582,7 +582,7 @@ class put_block():
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
-        by_cmd.send_position_axis_x(1, 20)
+        by_cmd.send_position_axis_x(1, 50)
         time.sleep(1.5)
         by_cmd.send_angle_claw(45)
         time.sleep(1)
@@ -702,12 +702,12 @@ class up_tower():
         by_cmd.send_distance_x(-10, 120)
         time.sleep(1)
         # 上古參數
-        # by_cmd.send_distance_y(-10, 50)
+        by_cmd.send_distance_y(-10, 60)
         # 6_9 模型參數
-        by_cmd.send_distance_y(-10, 40)
+        # by_cmd.send_distance_y(-10, 40)
         # 7_12_3 模型參數
         # by_cmd.send_distance_y(-10, 50)
-        # time.sleep(1)
+        time.sleep(1)
         car_stop()
         # FIXME 如果下發 distance 後直接 car_stop，則 distance 執行時間僅由指令間處理延時決定
         # time.sleep(3)
@@ -758,13 +758,13 @@ class get_rball():
         # 靠近塔
         by_cmd.send_angle_scoop(20)
         # 上古參數
-        # by_cmd.send_distance_y(-15, 45) # 50
+        by_cmd.send_distance_y(-15, 50) # 50
         # 6_9 參數
-        by_cmd.send_distance_y(-15, 35)
+        # by_cmd.send_distance_y(-15, 35)
-        time.sleep(2)
+        # time.sleep(2)
         # 7_12_3 參數
         # by_cmd.send_distance_y(-15, 45)
-        # time.sleep(2)
+        time.sleep(2)
         car_stop()
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
@@ -811,7 +811,7 @@ class put_bball():
         calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6)
         # by_cmd.send_distance_x(10, 10)
         # 向左运动
-        # by_cmd.send_distance_y(-10, 35)
+        by_cmd.send_distance_y(-10, 35)
         # by_cmd.send_angle_storage(10)
         # time.sleep(1)
 
@@ -944,7 +944,7 @@ class put_hanoi1():
     def after(self):
         # var.switch_lane_model = True
         if utils.direction == tlabel.RMARK:
-            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.1, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.2, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         else:
             var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         pass
@@ -1194,6 +1194,7 @@ class put_hanoi2():
         else:
             var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"]) 
         # time.sleep(2)
+        var.task_speed = 10
         pass
 
 class put_hanoi3():
@@ -1485,7 +1486,7 @@ class kick_ass():
             ret, box = filter.get(tlabel.BASE)
             if ret:
                 error = (box[0][2] + box[0][0] - 320) / 2
-            by_cmd.send_speed_omega(-error * 0.8)
+                by_cmd.send_speed_omega(-error * 0.8)
             time.sleep(0.02)
         # by_cmd.send_speed_x(25)
         # time.sleep(4)

templates/index.html

@@ -109,7 +109,7 @@
                     </el-col>
                     <el-col :xs="24" :sm="8">
                         <el-button @click="skipTask" type="success" style="width: 100%">
-                            强制跳转
+                            关闭
                         </el-button>
                     </el-col>
                 </el-row>
@@ -128,12 +128,16 @@
                 </el-button> -->
                 
                 <el-form v-if="showConfigForm && config" class="config-form">
+                    <el-button @click="saveConfig" type="primary" style="margin-top: 20px;">保存配置</el-button>
+                    <el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
+                        {{ showConfigForm ? '关闭' : '打开' }} 配置
+                    </el-button>
                     <div v-for="(section, sectionName) in config" :key="sectionName">
                         <h3>{{ sectionName }}</h3>
                         <el-row :gutter="20">
                             <el-col v-for="(value, key) in section" :key="key" :xs="24" :sm="12" :md="8" :lg="6">
                                 <el-form-item :label="key">
-                                    <el-select v-if="sectionName === 'kick_ass'" v-model="config[sectionName][key]">
+                                    <el-select v-if="sectionName === 'lane_mode'" v-model="config[sectionName][key]">
                                         <el-option
                                           v-for="item in target_person_options"
                                           :key="item.value"
@@ -162,10 +166,7 @@
                             </el-col>
                         </el-row>
                     </div>
-                    <el-button @click="saveConfig" type="primary" style="margin-top: 20px;">保存配置</el-button>
+                    
-                    <el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
-                        {{ showConfigForm ? '关闭' : '打开' }} 配置
-                    </el-button>
                 </el-form>
 
                 <h2 class="section-title">Log Display</h2>
@@ -197,16 +198,16 @@
                 timer: null,
                 target_person_options: [{
                   value: 1,
-                  label: '模式 1'
+                  label: '6_9'
                 }, {
                   value: 2,
-                  label: '模式 2'
+                  label: '7_10_2'
                 }, {
                   value: 3,
-                  label: '模式 3'
+                  label: '7_14_2'
                 }, {
                   value: 4,
-                  label: '模式 4'
+                  label: '7_15_4'
                 }],
             },
             methods: {

templates/index1.html

@@ -0,0 +1,139 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>btl143</title>
+    <link rel="stylesheet" href="static/index.css">
+    <script src="static/vue.js"></script>
+    <script src="static/index.js"></script>
+    <script src="static/socket.io.js"></script>
+    
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            background-color: #f5f7fa;
+        }
+        .app-container {
+            padding: 20px;
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+       
+        .button-group {
+            margin-bottom: 20px;
+        }
+        .full-screen-background {
+          background-color: #f0f0f0;
+          position: fixed;
+          top: 60px; /* Adjust based on button height and margin */
+          left: 0;
+          right: 0;
+          bottom: 0;
+          z-index: -1;
+        }
+
+        .counter-display {
+          padding: 20px;
+          text-align: center;
+          position: fixed;
+          top: 80px; /* Adjust based on your requirements */
+          left: 50%;
+          transform: translateX(-50%);
+          z-index: 1;
+        }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <el-container class="app-container">
+            <el-main>
+                <h1 class="section-title">btl143 upper</h1>
+                
+                
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button 
+                        @click="toggleTask" 
+                        :type="taskActive ? 'success' : 'danger'" 
+                        style="width: 100%">
+                        {{ taskActive ? `开启 task ${counter}` : `关闭 task ${counter}` }}
+                      </el-button>
+                    </el-col>
+                </el-row>
+                <div class="full-screen-background" @click="incrementCounter">
+                  <div class="counter-display">
+                  </div>
+                </div>
+
+            </el-main>
+        </el-container>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                taskActive: true,
+                counter: 1
+            },
+            methods: {
+                toggleTask() {
+                    if (this.taskActive) {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                    }
+                    else {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                    }
+                    this.taskActive = !this.taskActive;
+                },
+                incrementCounter() {
+                  this.counter += 1;
+                  if (this.counter == 5) {
+                    this.counter = 1;
+                  }
+                  this.socket.emit('operate', {type: 'save_target_person', content: this.counter});
+                },
+                startServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'run'});
+                },
+                stopServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'stop'});
+                },
+                restartServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'restart'});
+                },
+                startTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                },
+                stopTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                },
+                restartTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'restart'});
+                },
+                skipTask() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                }
+            },
+            mounted() {
+                this.socket = io('http://' + document.domain + ':5001');
+                this.socket.on('connect', () => {
+                    console.log('Connected to server');
+                });
+                this.socket.on('task_status', (data) => {
+                    if (data.content == 0) {
+                      this.taskActive = true
+                    } else {
+                      this.taskActive = false
+                    }
+
+                });
+                
+            }
+        });
+    </script>
+</body>
+</html>

templates/index2.html

@@ -0,0 +1,128 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>btl143</title>
+    <link rel="stylesheet" href="static/index.css">
+    <script src="static/vue.js"></script>
+    <script src="static/index.js"></script>
+    <script src="static/socket.io.js"></script>
+    
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            background-color: #f5f7fa;
+        }
+        .app-container {
+            padding: 20px;
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+       
+        .button-group {
+            margin-bottom: 20px;
+        }
+        .full-screen-background {
+          background-color: #f0f0f0;
+          position: fixed;
+          top: 60px; /* Adjust based on button height and margin */
+          left: 0;
+          right: 0;
+          bottom: 0;
+          z-index: -1;
+        }
+
+        .counter-display {
+          padding: 20px;
+          text-align: center;
+          position: fixed;
+          top: 80px; /* Adjust based on your requirements */
+          left: 50%;
+          transform: translateX(-50%);
+          z-index: 1;
+        }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <el-container class="app-container">
+            <el-main>
+                <h1 class="section-title">btl143 upper</h1>
+                
+                
+                <el-row :gutter="20" class="button-group">
+                    <el-col :xs="24" :sm="8">
+                        <el-button 
+                        @click="toggleTask" 
+                        :type="taskActive ? 'success' : 'danger'" 
+                        style="width: 100%">
+                        {{ taskActive ? `开启 task` : `关闭 task` }}
+                      </el-button>
+                    </el-col>
+                </el-row>
+
+            </el-main>
+        </el-container>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                taskActive: true,
+                counter: 1
+            },
+            methods: {
+                toggleTask() {
+                    if (this.taskActive) {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                    }
+                    else {
+                        this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                    }
+                    this.taskActive = !this.taskActive;
+                },
+                startServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'run'});
+                },
+                stopServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'stop'});
+                },
+                restartServer() {
+                    this.socket.emit('operate', {type: 'operate_server', content: 'restart'});
+                },
+                startTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'run'});
+                },
+                stopTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'stop'});
+                },
+                restartTask() {
+                    this.socket.emit('operate', {type: 'operate_task', content: 'restart'});
+                },
+                skipTask() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                }
+            },
+            mounted() {
+                this.socket = io('http://' + document.domain + ':5001');
+                this.socket.on('connect', () => {
+                    console.log('Connected to server');
+                });
+                this.socket.on('task_status', (data) => {
+                    if (data.content == 0) {
+                      this.taskActive = true
+                    } else {
+                      this.taskActive = false
+                    }
+
+                });
+                
+            }
+        });
+    </script>
+</body>
+</html>