chenlin
3ad29356c9
集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。
67 lines
1.8 KiB
TypeScript
67 lines
1.8 KiB
TypeScript
import { Pause, Play, RotateCcw, StepForward } from 'lucide-react';
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import { Button, IconButton, Select } from '../../components/ui';
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export function SimulationControls({
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paused,
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ready,
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speed,
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loading,
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externalControl = false,
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onTogglePause,
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onStep,
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onReset,
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onSpeed,
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}: {
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paused: boolean;
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ready: boolean;
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speed: number;
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loading: boolean;
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externalControl?: boolean;
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onTogglePause: () => void;
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onStep: () => void;
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onReset: () => void;
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onSpeed: (speed: number) => void;
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}) {
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return (
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<div aria-label="仿真控制" className="flex flex-wrap items-center justify-center gap-1">
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<Button
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variant="ghost"
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onClick={onTogglePause}
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disabled={!ready}
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aria-label={paused ? '▶ 播放' : '⏸ 暂停'}
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icon={paused ? <Play className="h-3.5 w-3.5" /> : <Pause className="h-3.5 w-3.5" />}
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>
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{paused ? '播放' : '暂停'}
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</Button>
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<IconButton
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tooltip="单步（暂停时可用）"
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aria-label="单步"
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onClick={onStep}
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disabled={!ready || !paused || externalControl}
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>
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<StepForward className="h-3.5 w-3.5" />
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</IconButton>
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<IconButton
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tooltip="重置仿真（R；地图编辑时 R 为缩放）"
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aria-label="重置"
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onClick={onReset}
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disabled={!ready}
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>
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<RotateCcw className="h-3.5 w-3.5" />
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</IconButton>
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<Select
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aria-label="仿真速度"
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value={speed}
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disabled={loading || externalControl}
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onChange={(event) => onSpeed(Number(event.target.value))}
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className="w-[70px]"
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>
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<option value={0.25}>0.25×</option>
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<option value={0.5}>0.5×</option>
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<option value={1}>1×</option>
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<option value={2}>2×</option>
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<option value={4}>4×</option>
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</Select>
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</div>
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);
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}
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