UI: 增大摇杆尺寸至180dp；视频全屏延展（ZOOM模式）并加入缩放模式设置项
- 左右摇杆 Modifier.size 140dp -> 180dp (MainScreen.kt) - RtspVideoPlayer 新增 resizeMode: VideoResizeMode 参数，默认 ZOOM - 新增 VideoResizeMode 枚举 (FIT/ZOOM/FILL) 及 Media3 常量映射 - 设置界面新增"视频缩放模式"下拉选项，持久化到 DataStore - AGENTS.md 更新已完成项和配置项表格 Generated by Mistral Vibe. Co-Authored-By: Mistral Vibe <vibe@mistral.ai>
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Generated
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@@ -4,10 +4,10 @@
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<selectionStates>
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<SelectionState runConfigName="app">
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<option name="selectionMode" value="DROPDOWN" />
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<DropdownSelection timestamp="2026-07-17T08:19:04.728150600Z">
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<DropdownSelection timestamp="2026-07-17T11:46:26.977945400Z">
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<Target type="DEFAULT_BOOT">
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<handle>
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<DeviceId pluginId="Default" identifier="serial=192.168.137.221:5555;connection=f0ff1c4d" />
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<DeviceId pluginId="LocalEmulator" identifier="path=C:\Users\evan\.android\avd\Medium_Phone.avd" />
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</handle>
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</Target>
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</DropdownSelection>
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Generated
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@@ -0,0 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="VcsDirectoryMappings">
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<mapping directory="$PROJECT_DIR$" vcs="Git" />
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</component>
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</project>
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@@ -115,7 +115,8 @@ val y = power / 100.0 * sin(angle) // 水平分量
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| `robot_host` | String | `10.21.31.103` | 机器人 IP 地址 |
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| `robot_port` | Int | `30000` | 机器人 UDP 端口 |
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| `rtsp_url` | String | `rtsp://10.21.31.103:554/stream` | RTSP 视频流地址 |
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| `video_codec` | Enum | `AUTO` | `AUTO` / `FORCE_SW_H264` / `FORCE_SW_H265` |
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| `video_codec` | Enum | `AUTO` | `AUTO` / `FORCE_HW` / `FORCE_SW_H264` / `FORCE_SW_H265` |
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| `video_resize_mode` | Enum | `ZOOM` | `FIT` / `ZOOM` / `FILL` |
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### 持久化
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@@ -187,14 +188,14 @@ val y = power / 100.0 * sin(angle) // 水平分量
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- [x] 状态上报 UI 展示：StatusPanel.kt（异常列表+错误码映射 ErrorCodes.kt、运控状态 Roll/Pitch/Yaw/速度/高度、设备温度电机/驱动器最高温、电池左右电压/电量/温度），顶部状态栏 Info 按钮触发底部弹出面板；指令失败/状态机拒绝通过 Snackbar 反馈
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- [x] 更多控制按钮：Mode（常规/导航/辅助）、步态（基础/楼梯/平地敏捷/楼梯敏捷）、照明（前/后灯开/关）、充电（开始/结束）、休眠（休眠/唤醒）。底部控制区可纵向滚动，点击"更多"展开全部控制选项
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- [x] RTSP 解码器策略实现：`VideoCodec` 枚举含 `AUTO`/`FORCE_HW`/`FORCE_SW_H264`/`FORCE_SW_H265`；`toMediaCodecSelector()` 映射到对应 `MediaCodecSelector`；`DefaultLoadControl` 最小缓冲（100ms起播，总缓冲<500ms，无回退缓存，时间优先于大小阈值）；`FORCE_HW` 模式对所有 MIME 仅保留硬件加速解码器
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- [x] 摇杆尺寸增大：左右摇杆从 140dp 增大到 180dp，提升操控精度
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- [x] 视频缩放模式：`VideoResizeMode` 枚举（FIT/ZOOM/FILL），设置界面新增"视频缩放模式"下拉选项，持久化保存，实时生效
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### 待办
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- [ ] UI 布局：增加 logo 图作为底图，无视频流时显示底图
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- [ ] UI 布局：视频默认延展与屏幕等大（填充全屏）
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- [ ] UI 布局：header 部分虽已避开状态栏，但底色与屏幕顶端视觉不吸附，需优化视觉传达效果
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- [ ] UI 布局：功能按钮均布在四周，充分利用屏幕空间，优化单手操作体验
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- [ ] UI 布局：增大摇杆尺寸，提高操控精度和舒适度
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- [ ] UI 布局：开关灯合并为一个按键，通过图标/颜色表示置位状态，需配合机器人回报状态同步
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- [ ] 状态栏：增加 ICMP 延迟测量显示，显示当前 WiFi 强度和延迟 ms
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- [ ] 状态机修复：趴下状态和空闲状态均允许切换站立状态，切换站立后自动进入 RL 控制状态
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@@ -2,6 +2,18 @@ package com.example.m20_gamepad.data
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import com.example.m20_gamepad.video.VideoCodec
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/**
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* 视频缩放模式。
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*/
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enum class VideoResizeMode {
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/** 等比缩放，完整显示（留黑边） */
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FIT,
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/** 等比缩放，填充全屏（裁切多余部分） */
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ZOOM,
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/** 拉伸填满全屏 */
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FILL
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}
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/**
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* 应用配置数据类。
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*
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@@ -12,7 +24,8 @@ data class AppSettings(
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val robotHost: String = DEFAULT_ROBOT_HOST,
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val robotPort: Int = DEFAULT_ROBOT_PORT,
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val rtspUrl: String = DEFAULT_RTSP_URL,
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val videoCodec: VideoCodec = VideoCodec.AUTO
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val videoCodec: VideoCodec = VideoCodec.AUTO,
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val videoResizeMode: VideoResizeMode = VideoResizeMode.ZOOM
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) {
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companion object {
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const val DEFAULT_ROBOT_HOST = "10.21.31.103"
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@@ -34,7 +34,8 @@ class SettingsRepository(context: Context) {
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robotHost = prefs[KEY_HOST] ?: AppSettings.DEFAULT_ROBOT_HOST,
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robotPort = prefs[KEY_PORT] ?: AppSettings.DEFAULT_ROBOT_PORT,
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rtspUrl = prefs[KEY_RTSP_URL] ?: AppSettings.DEFAULT_RTSP_URL,
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videoCodec = VideoCodec.entries.getOrElse(prefs[KEY_CODEC] ?: 0) { VideoCodec.AUTO }
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videoCodec = VideoCodec.entries.getOrElse(prefs[KEY_CODEC] ?: 0) { VideoCodec.AUTO },
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videoResizeMode = VideoResizeMode.entries.getOrElse(prefs[KEY_RESIZE_MODE] ?: 1) { VideoResizeMode.ZOOM }
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)
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}
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@@ -61,6 +62,7 @@ class SettingsRepository(context: Context) {
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prefs[KEY_PORT] = settings.robotPort.coerceIn(1, 65535)
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prefs[KEY_RTSP_URL] = settings.rtspUrl.trim()
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prefs[KEY_CODEC] = settings.videoCodec.ordinal
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prefs[KEY_RESIZE_MODE] = settings.videoResizeMode.ordinal
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}
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}
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@@ -69,5 +71,6 @@ class SettingsRepository(context: Context) {
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private val KEY_PORT = intPreferencesKey("robot_port")
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private val KEY_RTSP_URL = stringPreferencesKey("rtsp_url")
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private val KEY_CODEC = intPreferencesKey("video_codec")
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private val KEY_RESIZE_MODE = intPreferencesKey("video_resize_mode")
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}
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}
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@@ -103,6 +103,7 @@ fun MainScreen(
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RtspVideoPlayer(
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url = settings.rtspUrl,
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codec = settings.videoCodec,
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resizeMode = settings.videoResizeMode,
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modifier = Modifier.fillMaxSize()
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)
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@@ -255,7 +256,7 @@ private fun BottomControls(
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) {
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// 左摇杆（X/Y 移动）
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Joystick(
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modifier = Modifier.size(140.dp),
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modifier = Modifier.size(180.dp),
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type = JoystickType.EIGHT_AXIS,
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padColor = Color(0x55808080),
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buttonColor = Color(0xCCFFFFFF),
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@@ -273,7 +274,7 @@ private fun BottomControls(
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// 右摇杆（Yaw 旋转）
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Joystick(
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modifier = Modifier.size(140.dp),
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modifier = Modifier.size(180.dp),
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type = JoystickType.EIGHT_AXIS,
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padColor = Color(0x55808080),
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buttonColor = Color(0xCCFFFFFF),
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@@ -37,6 +37,7 @@ import androidx.compose.ui.text.input.KeyboardType
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import androidx.compose.ui.unit.dp
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import com.example.m20_gamepad.data.AppSettings
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import com.example.m20_gamepad.data.SettingsRepository
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import com.example.m20_gamepad.data.VideoResizeMode
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import com.example.m20_gamepad.video.VideoCodec
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import kotlinx.coroutines.flow.first
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import kotlinx.coroutines.launch
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@@ -65,6 +66,7 @@ fun SettingsScreen(
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var portText by remember { mutableStateOf(AppSettings.DEFAULT_ROBOT_PORT.toString()) }
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var rtspUrl by remember { mutableStateOf(AppSettings.DEFAULT_RTSP_URL) }
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var codec by remember { mutableStateOf(VideoCodec.AUTO) }
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var resizeMode by remember { mutableStateOf(VideoResizeMode.ZOOM) }
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var hostError by remember { mutableStateOf<String?>(null) }
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var portError by remember { mutableStateOf<String?>(null) }
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var initialized by remember { mutableStateOf(false) }
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@@ -76,6 +78,7 @@ fun SettingsScreen(
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portText = s.robotPort.toString()
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rtspUrl = s.rtspUrl
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codec = s.videoCodec
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resizeMode = s.videoResizeMode
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initialized = true
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}
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}
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@@ -161,6 +164,12 @@ fun SettingsScreen(
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modifier = Modifier.fillMaxWidth()
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)
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ResizeModeDropdown(
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selected = resizeMode,
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onSelect = { resizeMode = it },
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modifier = Modifier.fillMaxWidth()
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)
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Spacer(Modifier.padding(top = 8.dp))
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// ---- 操作按钮 ----
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@@ -183,7 +192,8 @@ fun SettingsScreen(
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robotHost = host,
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robotPort = port,
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rtspUrl = rtspUrl,
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videoCodec = codec
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videoCodec = codec,
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videoResizeMode = resizeMode
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)
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)
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onSaved()
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@@ -264,3 +274,59 @@ private fun CodecDropdown(
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}
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}
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}
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@OptIn(ExperimentalMaterial3Api::class)
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@Composable
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private fun ResizeModeDropdown(
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selected: VideoResizeMode,
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onSelect: (VideoResizeMode) -> Unit,
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modifier: Modifier = Modifier
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) {
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var expanded by remember { mutableStateOf(false) }
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val options = VideoResizeMode.entries
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val labels = mapOf(
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VideoResizeMode.FIT to "等比缩放（留黑边）",
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VideoResizeMode.ZOOM to "等比缩放（填充全屏）",
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VideoResizeMode.FILL to "拉伸填充"
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)
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Column(modifier = modifier) {
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Text(
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text = "视频缩放模式",
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style = androidx.compose.material3.MaterialTheme.typography.titleSmall,
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color = androidx.compose.material3.MaterialTheme.colorScheme.primary
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)
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Spacer(Modifier.padding(top = 4.dp))
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ExposedDropdownMenuBox(
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expanded = expanded,
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onExpandedChange = { expanded = it }
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) {
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OutlinedTextField(
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value = labels[selected] ?: selected.name,
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onValueChange = {},
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readOnly = true,
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singleLine = true,
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trailingIcon = {
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ExposedDropdownMenuDefaults.TrailingIcon(expanded)
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},
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modifier = Modifier
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.fillMaxWidth()
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.menuAnchor()
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)
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ExposedDropdownMenu(
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expanded = expanded,
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onDismissRequest = { expanded = false }
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) {
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options.forEach { m ->
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DropdownMenuItem(
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text = { Text(labels[m] ?: m.name) },
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onClick = {
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onSelect(m)
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expanded = false
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}
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)
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}
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}
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}
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}
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}
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@@ -23,7 +23,9 @@ import androidx.media3.exoplayer.DefaultRenderersFactory
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import androidx.media3.exoplayer.ExoPlayer
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import androidx.media3.exoplayer.mediacodec.MediaCodecInfo
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import androidx.media3.exoplayer.mediacodec.MediaCodecSelector
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import androidx.media3.ui.AspectRatioFrameLayout
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import androidx.media3.ui.PlayerView
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import com.example.m20_gamepad.data.VideoResizeMode
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/**
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* 视频解码器选择策略。
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@@ -58,12 +60,14 @@ sealed class RtspState {
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*
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* @param url RTSP 流地址，如 `rtsp://10.21.31.103:554/stream`
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* @param codec 解码器选择策略
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* @param resizeMode 视频缩放模式，默认 ZOOM（等比填充全屏）
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* @param modifier 布局修饰符
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*/
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@Composable
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fun RtspVideoPlayer(
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url: String,
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codec: VideoCodec = VideoCodec.AUTO,
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resizeMode: VideoResizeMode = VideoResizeMode.ZOOM,
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modifier: Modifier = Modifier
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) {
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val context = LocalContext.current
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@@ -132,6 +136,7 @@ fun RtspVideoPlayer(
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factory = { ctx ->
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PlayerView(ctx).apply {
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useController = false
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this.resizeMode = resizeMode.toMedia3ResizeMode()
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this.player = player
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setShutterBackgroundColor(android.graphics.Color.BLACK)
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}
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@@ -139,6 +144,7 @@ fun RtspVideoPlayer(
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// player 引用变化时（codec 重建）更新 PlayerView
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update = { view ->
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view.player = player
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view.resizeMode = resizeMode.toMedia3ResizeMode()
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}
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)
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@@ -222,4 +228,13 @@ private fun forceHardware(): MediaCodecSelector = object : MediaCodecSelector {
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mimeType, requiresSecureDecoder, requiresTunnelingDecoder
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).filter { it.hardwareAccelerated }
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}
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}
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// ==================== 缩放模式映射 ====================
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/** 将 [VideoResizeMode] 映射为 [AspectRatioFrameLayout] 的 resizeMode 常量。 */
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private fun VideoResizeMode.toMedia3ResizeMode(): Int = when (this) {
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VideoResizeMode.FIT -> AspectRatioFrameLayout.RESIZE_MODE_FIT
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VideoResizeMode.ZOOM -> AspectRatioFrameLayout.RESIZE_MODE_ZOOM
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VideoResizeMode.FILL -> AspectRatioFrameLayout.RESIZE_MODE_FILL
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}
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