feat: 摇杆手型 HandStyle 支持（标准/单摇杆左/单摇杆右/坦克式），设置界面持久化

- AppSettings.kt: 添加 handStyle 字段，默认 STANDARD
- SettingsRepository.kt: 添加 KEY_HAND_STYLE 持久化键，setHandStyle() 方法，setAll() 包含手型
- JoystickController.kt: 添加 HandStyle 枚举，dualStickToAxisCommand() 按手型映射轴
- MainViewModel.kt: 轴指令循环传入当前 handStyle
- SettingsScreen.kt: 添加 HandStyleDropdown 下拉选择组件
- AGENTS.md: 同步更新手型文档

Generated by Mistral Vibe.
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>

AGENTS.md

@@ -35,7 +35,7 @@ com.example.m20_gamepad/
 │       └── StatusReports.kt     # 下行状态结构（基础状态、运控状态、设备状态等）
 ├── service/
 │   ├── RobotConnection.kt       # 连接状态机管理（连接/订阅/心跳/断线判定）
-│   └── JoystickController.kt    # 摇杆输入 → 协议指令映射
+│   └── JoystickController.kt    # 摇杆输入 → 协议指令映射，含 HandStyle 多手型支持
 ├── video/
 │   └── RtspVideoPlayer.kt       # RTSP 视频流播放（ExoPlayer + Composable 包装）
 ├── data/
@@ -91,12 +91,23 @@ Joystick(
 - 角度 270° = 正下 → X 负方向（后退）
 - 强度百分比 → [-1, 1] 比例值
 
-**映射公式（从左摇杆角度/强度到 X/Y）**:
+**标准手型（STANDARD）**：
 ```
-val x = power / 100.0 * cos(angle)   // 垂直分量
+左摇杆: X = sin(angle) * power/100,  Y = cos(angle) * power/100
-val y = power / 100.0 * sin(angle)   // 水平分量
+右摇杆: Yaw = cos(angle) * power/100
+```
+
+**单摇杆左（SINGLE_LEFT）**：左摇杆控制 X(前后) + Yaw(转向，类车操控)，右摇杆仅控制 Y(横移)
+
+**单摇杆右（SINGLE_RIGHT）**：左摇杆仅控制 Y(横移)，右摇杆控制 X(前后) + Yaw(转向，类车操控)
+
+**坦克式（TANK）**：两摇杆 up/down 差速计算 X/Yaw，无横移 Y
+```
+左履带 = sin(leftAngle) * leftScale
+右履带 = sin(rightAngle) * rightScale
+X = (左履带 + 右履带) / 2
+Yaw = (左履带 - 右履带) / 2
 ```
-右摇杆控制 Yaw（偏航角速度）。
 
 ---
 
@@ -117,6 +128,7 @@ val y = power / 100.0 * sin(angle)   // 水平分量
 | `rtsp_url` | String | `rtsp://10.21.31.103:554/stream` | RTSP 视频流地址 |
 | `video_codec` | Enum | `AUTO` | `AUTO` / `FORCE_HW` / `FORCE_SW_H264` / `FORCE_SW_H265` |
 | `video_resize_mode` | Enum | `ZOOM` | `FIT` / `ZOOM` / `FILL` |
+| `hand_style` | Enum | `STANDARD` | `STANDARD` / `SINGLE_LEFT` / `SINGLE_RIGHT` / `TANK` |
 
 ### 持久化
 
@@ -219,6 +231,7 @@ gradlew installDebug
 - [x] 休眠按钮状态约束：仅非站立状态（空闲/趴下/阻尼等）可切换休眠，站立/RL 控制时禁用
 - [x] RTSP 自动重连：`RtspVideoPlayer` 播放失败后自动重试，指数退避（初始 1s，最大 30s，倍率 2），URL/解码器变化时重置退避状态；覆盖层显示重试次数和倒计时
 - [x] 订阅请求清理：删除 `ProtocolClient.sendSubscriptionRequests()` 方法及 `connect()` 中的注释调用；同步删除 `ControlCommands.subscribeStatus()` 和 `SUB_*` 常量，彻底清除死代码
+- [x] 摇杆手型支持：`HandStyle` 枚举（标准/单摇杆左/单摇杆右/坦克式），映射到 `JoystickController.dualStickToAxisCommand()`，设置界面持久化存储，实时生效
 
 ### 待办
 

app/src/main/java/com/example/m20_gamepad/data/AppSettings.kt

@@ -1,5 +1,6 @@
 package com.example.m20_gamepad.data
 
+import com.example.m20_gamepad.service.HandStyle
 import com.example.m20_gamepad.video.VideoCodec
 
 /**
@@ -25,7 +26,8 @@ data class AppSettings(
     val robotPort: Int = DEFAULT_ROBOT_PORT,
     val rtspUrl: String = DEFAULT_RTSP_URL,
     val videoCodec: VideoCodec = VideoCodec.AUTO,
-    val videoResizeMode: VideoResizeMode = VideoResizeMode.ZOOM
+    val videoResizeMode: VideoResizeMode = VideoResizeMode.ZOOM,
+    val handStyle: HandStyle = HandStyle.STANDARD
 ) {
     companion object {
         const val DEFAULT_ROBOT_HOST = "10.21.41.1"

app/src/main/java/com/example/m20_gamepad/data/SettingsRepository.kt

@@ -7,6 +7,7 @@ import androidx.datastore.preferences.core.edit
 import androidx.datastore.preferences.core.intPreferencesKey
 import androidx.datastore.preferences.core.stringPreferencesKey
 import androidx.datastore.preferences.preferencesDataStore
+import com.example.m20_gamepad.service.HandStyle
 import com.example.m20_gamepad.video.VideoCodec
 import kotlinx.coroutines.flow.Flow
 import kotlinx.coroutines.flow.map
@@ -35,7 +36,8 @@ class SettingsRepository(context: Context) {
             robotPort = prefs[KEY_PORT] ?: AppSettings.DEFAULT_ROBOT_PORT,
             rtspUrl = prefs[KEY_RTSP_URL] ?: AppSettings.DEFAULT_RTSP_URL,
             videoCodec = VideoCodec.entries.getOrElse(prefs[KEY_CODEC] ?: 0) { VideoCodec.AUTO },
-            videoResizeMode = VideoResizeMode.entries.getOrElse(prefs[KEY_RESIZE_MODE] ?: 1) { VideoResizeMode.ZOOM }
+            videoResizeMode = VideoResizeMode.entries.getOrElse(prefs[KEY_RESIZE_MODE] ?: 1) { VideoResizeMode.ZOOM },
+            handStyle = HandStyle.entries.getOrElse(prefs[KEY_HAND_STYLE] ?: 0) { HandStyle.STANDARD }
         )
     }
 
@@ -55,6 +57,10 @@ class SettingsRepository(context: Context) {
         dataStore.edit { it[KEY_CODEC] = codec.ordinal }
     }
 
+    suspend fun setHandStyle(handStyle: HandStyle) {
+        dataStore.edit { it[KEY_HAND_STYLE] = handStyle.ordinal }
+    }
+
     /** 一次性写入全部设置（用于设置界面保存按钮） */
     suspend fun setAll(settings: AppSettings) {
         dataStore.edit { prefs ->
@@ -63,6 +69,7 @@ class SettingsRepository(context: Context) {
             prefs[KEY_RTSP_URL] = settings.rtspUrl.trim()
             prefs[KEY_CODEC] = settings.videoCodec.ordinal
             prefs[KEY_RESIZE_MODE] = settings.videoResizeMode.ordinal
+            prefs[KEY_HAND_STYLE] = settings.handStyle.ordinal
         }
     }
 
@@ -72,5 +79,6 @@ class SettingsRepository(context: Context) {
         private val KEY_RTSP_URL = stringPreferencesKey("rtsp_url")
         private val KEY_CODEC = intPreferencesKey("video_codec")
         private val KEY_RESIZE_MODE = intPreferencesKey("video_resize_mode")
+        private val KEY_HAND_STYLE = intPreferencesKey("hand_style")
     }
 }

app/src/main/java/com/example/m20_gamepad/service/JoystickController.kt

@@ -4,6 +4,20 @@ import com.example.m20_gamepad.network.models.ControlCommands
 import kotlin.math.cos
 import kotlin.math.sin
 
+/**
+ * 手型（摇杆-轴映射模式）。
+ */
+enum class HandStyle {
+    /** 标准：左摇杆 X/Y, 右摇杆 Yaw */
+    STANDARD,
+    /** 单摇杆左：左摇杆 X/Yaw（类车）, 右摇杆 Y */
+    SINGLE_LEFT,
+    /** 单摇杆右：左摇杆 Y, 右摇杆 X/Yaw（类车） */
+    SINGLE_RIGHT,
+    /** 坦克式：两摇杆 up/down 差速 X/Yaw, 无 Y, cos 忽略 */
+    TANK
+}
+
 /**
  * 摇杆输入 -> 协议轴指令映射。
  *
@@ -15,39 +29,59 @@ import kotlin.math.sin
  *
  * 协议轴定义：
  * - X 正 = 前进，Y 正 = 左移，Yaw 正 = 逆时针（左转）
- *
- * 映射公式：
- * - 左摇杆 X(前后) = sin(angle) * power/100
- * - 左摇杆 Y(左右) = cos(angle) * power/100
- * - 右摇杆 Yaw     = cos(angle) * power/100
  */
 object JoystickController {
 
-    /** 左摇杆角度/强度 -> 轴指令 JSON（X=前后, Y=左右） */
+    /**
-    fun leftStickToAxisCommand(angle: Double, power: Double): String {
+     * 根据手型将双摇杆输入映射为轴指令 JSON。
-        val scale = power / 100.0
+     *
-        val x = sin(angle) * scale
+     * @param handStyle 当前手型
-        val y = cos(angle) * scale
+     * @param leftAngle 左摇杆角度（弧度）
-        return ControlCommands.axisCommand(x = x, y = y)
+     * @param leftPower 左摇杆强度（0-100）
-    }
+     * @param rightAngle 右摇杆角度（弧度）
-
+     * @param rightPower 右摇杆强度（0-100）
-    /** 右摇杆角度/强度 -> 轴指令 JSON（Yaw=偏航） */
+     */
-    fun rightStickToAxisCommand(angle: Double, power: Double): String {
-        val yaw = cos(angle) * power / 100.0
-        return ControlCommands.axisCommand(yaw = yaw)
-    }
-
-    /** 双摇杆合并 -> 轴指令 JSON（左摇杆控制 X/Y，右摇杆控制 Yaw） */
     fun dualStickToAxisCommand(
+        handStyle: HandStyle,
         leftAngle: Double, leftPower: Double,
         rightAngle: Double, rightPower: Double
     ): String {
         val leftScale = leftPower / 100.0
         val rightScale = rightPower / 100.0
-        val x = sin(leftAngle) * leftScale
+
-        val y = cos(leftAngle) * leftScale
+        return when (handStyle) {
-        val yaw = cos(rightAngle) * rightScale
+            HandStyle.STANDARD -> {
-        return ControlCommands.axisCommand(x = x, y = y, yaw = yaw)
+                val x = sin(leftAngle) * leftScale
+                val y = cos(leftAngle) * leftScale
+                val yaw = cos(rightAngle) * rightScale
+                ControlCommands.axisCommand(x = x, y = y, yaw = yaw)
+            }
+            HandStyle.SINGLE_LEFT -> {
+                // 左摇杆：X(前后) + Yaw(转向)，类车操控
+                val x = sin(leftAngle) * leftScale
+                val yaw = cos(leftAngle) * leftScale
+                // 右摇杆：Y(横移)，仅左右有效
+                val y = cos(rightAngle) * rightScale
+                ControlCommands.axisCommand(x = x, y = y, yaw = yaw)
+            }
+            HandStyle.SINGLE_RIGHT -> {
+                // 左摇杆：Y(横移)，仅左右有效
+                val y = cos(leftAngle) * leftScale
+                // 右摇杆：X(前后) + Yaw(转向)，类车操控
+                val x = sin(rightAngle) * rightScale
+                val yaw = cos(rightAngle) * rightScale
+                ControlCommands.axisCommand(x = x, y = y, yaw = yaw)
+            }
+            HandStyle.TANK -> {
+                // 左摇杆 up/down → 左履带，右摇杆 up/down → 右履带
+                // cos 方向忽略 → 仅 sin 参与
+                val leftTrack = sin(leftAngle) * leftScale
+                val rightTrack = sin(rightAngle) * rightScale
+                val x = (leftTrack + rightTrack) / 2.0
+                val yaw = (leftTrack - rightTrack) / 2.0
+                ControlCommands.axisCommand(x = x, yaw = yaw)
+            }
+        }
     }
 
     /** 零速度指令（松手时发送，保持连接活跃） */

app/src/main/java/com/example/m20_gamepad/ui/MainViewModel.kt

@@ -348,6 +348,7 @@ class MainViewModel(
                 if (c != null && c.isConnected) {
                     val cmd = if (robot.canSendAxisCommand) {
                         JoystickController.dualStickToAxisCommand(
+                            settings.value.handStyle,
                             leftAngle, leftPower,
                             rightAngle, rightPower
                         )

app/src/main/java/com/example/m20_gamepad/ui/SettingsScreen.kt

@@ -38,6 +38,7 @@ import androidx.compose.ui.unit.dp
 import com.example.m20_gamepad.data.AppSettings
 import com.example.m20_gamepad.data.SettingsRepository
 import com.example.m20_gamepad.data.VideoResizeMode
+import com.example.m20_gamepad.service.HandStyle
 import com.example.m20_gamepad.video.VideoCodec
 import kotlinx.coroutines.flow.first
 import kotlinx.coroutines.launch
@@ -67,6 +68,7 @@ fun SettingsScreen(
     var rtspUrl by remember { mutableStateOf(AppSettings.DEFAULT_RTSP_URL) }
     var codec by remember { mutableStateOf(VideoCodec.AUTO) }
     var resizeMode by remember { mutableStateOf(VideoResizeMode.ZOOM) }
+    var handStyle by remember { mutableStateOf(HandStyle.STANDARD) }
     var hostError by remember { mutableStateOf<String?>(null) }
     var portError by remember { mutableStateOf<String?>(null) }
     var initialized by remember { mutableStateOf(false) }
@@ -79,6 +81,7 @@ fun SettingsScreen(
             rtspUrl = s.rtspUrl
             codec = s.videoCodec
             resizeMode = s.videoResizeMode
+            handStyle = s.handStyle
             initialized = true
         }
     }
@@ -170,6 +173,12 @@ fun SettingsScreen(
                 modifier = Modifier.fillMaxWidth()
             )
 
+            HandStyleDropdown(
+                selected = handStyle,
+                onSelect = { handStyle = it },
+                modifier = Modifier.fillMaxWidth()
+            )
+
             Spacer(Modifier.padding(top = 8.dp))
 
             // ---- 操作按钮 ----
@@ -193,7 +202,8 @@ fun SettingsScreen(
                                     robotPort = port,
                                     rtspUrl = rtspUrl,
                                     videoCodec = codec,
-                                    videoResizeMode = resizeMode
+                                    videoResizeMode = resizeMode,
+                                    handStyle = handStyle
                                 )
                             )
                             onSaved()
@@ -330,3 +340,60 @@ private fun ResizeModeDropdown(
         }
     }
 }
+
+@OptIn(ExperimentalMaterial3Api::class)
+@Composable
+private fun HandStyleDropdown(
+    selected: HandStyle,
+    onSelect: (HandStyle) -> Unit,
+    modifier: Modifier = Modifier
+) {
+    var expanded by remember { mutableStateOf(false) }
+    val options = HandStyle.entries
+    val labels = mapOf(
+        HandStyle.STANDARD to "标准（左摇杆 X/Y，右摇杆 Yaw）",
+        HandStyle.SINGLE_LEFT to "单摇杆左（左摇杆 X/Yaw，右摇杆 Y）",
+        HandStyle.SINGLE_RIGHT to "单摇杆右（左摇杆 Y，右摇杆 X/Yaw）",
+        HandStyle.TANK to "坦克式（两摇杆差速，无横移）"
+    )
+
+    Column(modifier = modifier) {
+        Text(
+            text = "摇杆手型",
+            style = androidx.compose.material3.MaterialTheme.typography.titleSmall,
+            color = androidx.compose.material3.MaterialTheme.colorScheme.primary
+        )
+        Spacer(Modifier.padding(top = 4.dp))
+        ExposedDropdownMenuBox(
+            expanded = expanded,
+            onExpandedChange = { expanded = it }
+        ) {
+            OutlinedTextField(
+                value = labels[selected] ?: selected.name,
+                onValueChange = {},
+                readOnly = true,
+                singleLine = true,
+                trailingIcon = {
+                    ExposedDropdownMenuDefaults.TrailingIcon(expanded)
+                },
+                modifier = Modifier
+                    .fillMaxWidth()
+                    .menuAnchor()
+            )
+            ExposedDropdownMenu(
+                expanded = expanded,
+                onDismissRequest = { expanded = false }
+            ) {
+                options.forEach { h ->
+                    DropdownMenuItem(
+                        text = { Text(labels[h] ?: h.name) },
+                        onClick = {
+                            onSelect(h)
+                            expanded = false
+                        }
+                    )
+                }
+            }
+        }
+    }
+}