完成全部功能

android/app/build.gradle.kts

@@ -1,3 +1,6 @@
+import java.util.Properties
+import java.io.FileInputStream
+
 plugins {
     id("com.android.application")
     id("kotlin-android")
@@ -5,6 +8,12 @@ plugins {
     id("dev.flutter.flutter-gradle-plugin")
 }
 
+val keystoreProperties = Properties()
+val keystorePropertiesFile = rootProject.file("key.properties")
+if (keystorePropertiesFile.exists()) {
+    keystoreProperties.load(FileInputStream(keystorePropertiesFile))
+}
+
 android {
     namespace = "com.example.marscar_controller"
     compileSdk = flutter.compileSdkVersion
@@ -21,7 +30,7 @@ android {
 
     defaultConfig {
         // TODO: Specify your own unique Application ID (https://developer.android.com/studio/build/application-id.html).
-        applicationId = "com.example.marscar_controller"
+        applicationId = "cn.meowdream.marscar_controller"
         // You can update the following values to match your application needs.
         // For more information, see: https://flutter.dev/to/review-gradle-config.
         minSdk = flutter.minSdkVersion
@@ -30,6 +39,14 @@ android {
         versionName = flutter.versionName
     }
 
+    signingConfigs {
+        create("release") {
+            keyAlias = keystoreProperties["keyAlias"] as String
+            keyPassword = keystoreProperties["keyPassword"] as String
+            storeFile = keystoreProperties["storeFile"]?.let { file(it) }
+            storePassword = keystoreProperties["storePassword"] as String
+        }
+    }
     buildTypes {
         release {
             // TODO: Add your own signing config for the release build.

android/app/src/main/AndroidManifest.xml

@@ -1,6 +1,6 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android">
     <application
-        android:label="marscar_controller"
+        android:label="宇宙级飞船奶牛抓捕队"
         android:name="${applicationName}"
         android:icon="@mipmap/ic_launcher">
         <activity
@@ -47,4 +47,5 @@
     <uses-permission android:name="android.permission.READ_MEDIA_VIDEO" />
     <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
+    <uses-permission android:name="android.permission.VIBRATE"/>
 </manifest>

lib/pages/home_page.dart

@@ -34,8 +34,8 @@ class _HomePageState extends State<HomePage> {
 
   @override
   Widget build(BuildContext context) {
-    carIpController.text = '192.168.137.122';
+    carIpController.text = '192.168.137.34';
-    cameraIpController.text = '192.168.137.138';
+    cameraIpController.text = '192.168.137.121';
     GlobalSettingState globalSettingState = context.watch<GlobalSettingState>();
     return Scaffold(
       body: globalSettingState.cameraIP != '' && globalSettingState.carIP != '' ?

lib/pages/player_page.dart

@@ -10,6 +10,7 @@ import 'package:media_kit/media_kit.dart';
 import 'package:media_kit_video/media_kit_video.dart';
 import 'package:provider/provider.dart';
 import 'package:fl_chart/fl_chart.dart';
+import 'package:marscar_controller/pages/square_joystick.dart';
 
 class PlayerPage extends StatefulWidget {
   const PlayerPage({super.key});  
@@ -26,7 +27,7 @@ class _PlayerPageState extends State<PlayerPage> {
 
   Timer? _reconnectionTimer;
 
-  final int callBackPeriod = 20;
+  final int callBackPeriod = 10;
 
   RawDatagramSocket? _udpSocket;
   
@@ -52,12 +53,11 @@ class _PlayerPageState extends State<PlayerPage> {
   Timer? _connectionHealthTimer;
   DateTime? _lastMessageReceivedTime;
 
-  String _fpsInfo = 'FPS: N/A';
   String _bitrateInfo = '速率: N/A';
   Timer? _infoTimer;
 
-  double maxPawRateScale = 1.0;
+  double maxPawRateScale = 0.35;
-  Set<double> _pawScaleSelection = {1.0};
+  Set<double> _pawScaleSelection = {0.35};
 
   @override
   void initState() {
@@ -196,16 +196,10 @@ class _PlayerPageState extends State<PlayerPage> {
     final nativePlayer = player.platform as NativePlayer;
     try {
       final bitrate = await nativePlayer.getProperty('video-bitrate');
-      final fps = await nativePlayer.getProperty('video-fps');
-
       if (mounted) {
         setState(() {
           final bitrateInKbps = (double.tryParse(bitrate) ?? 0) / 1024;
           _bitrateInfo = '速率: ${bitrateInKbps.toStringAsFixed(0)} Kbps';
-          final double? fpsValue = double.tryParse(fps);
-          if (fpsValue != null) {
-            _fpsInfo = 'FPS: ${fpsValue.toStringAsFixed(1)}';
-          }
         });
       }
     } catch (e) {
@@ -317,7 +311,7 @@ class _PlayerPageState extends State<PlayerPage> {
                 final avgLatency = _latencyReadings.reduce((a, b) => a + b) / _latencyReadings.length;
                 if (mounted) {
                   setState(() {
-                    _pingResult = '图传延迟: ${avgLatency.toStringAsFixed(0)} ms';
+                    _pingResult = '图传信号延迟: ${avgLatency.toStringAsFixed(0)} ms';
 
                     _videoLatencyHistory.add(FlSpot(DateTime.now().millisecondsSinceEpoch.toDouble(), avgLatency));
                     if (_videoLatencyHistory.length > _maxHistoryCount) {
@@ -412,7 +406,7 @@ class _PlayerPageState extends State<PlayerPage> {
               left: 0,
               child: Center(
                 child: Container(
-                  width: 300,
+                  width: 400,
                   clipBehavior: Clip.antiAlias,
                   decoration: BoxDecoration(
                     borderRadius: BorderRadius.circular(8),
@@ -422,7 +416,7 @@ class _PlayerPageState extends State<PlayerPage> {
                     collapsedIconColor: Colors.white,
                     iconColor: Colors.white,
                     title: Text(
-                      '$_pingResult $_bitrateInfo $_fpsInfo\n$_controlLatencyResult',
+                      '$_pingResult $_bitrateInfo\n$_controlLatencyResult',
                       style: const TextStyle(color: Colors.white, fontSize: 12),
                       textAlign: TextAlign.center,
                     ),
@@ -438,7 +432,7 @@ class _PlayerPageState extends State<PlayerPage> {
                             ),
                             const SizedBox(height: 8),
                             SizedBox(
-                              height: 120,
+                              height: 80,
                               child: LineChart(
                                 LineChartData(
                                   lineBarsData: [
@@ -505,7 +499,7 @@ class _PlayerPageState extends State<PlayerPage> {
                             ),
                             const SizedBox(height: 8),
                             SizedBox(
-                              height: 120,
+                              height: 80,
                               child: LineChart(
                                 LineChartData(
                                   lineBarsData: [
@@ -569,160 +563,86 @@ class _PlayerPageState extends State<PlayerPage> {
             Positioned(
               left: 64,
               bottom: 32,
-              child: Joystick(
+              child: SizedBox(
-                includeInitialAnimation: false,
+                width: 160,
-                period: Duration(milliseconds: callBackPeriod),
+                height: 160,
-                stick: CircleAvatar(
+                child: SquareJoystick(
-                  radius: 20,
+                  onChanged: (Offset position) {
-                  backgroundColor: Color.fromARGB(200, 255, 255, 255),
+                    setState(() {
+                      lx = position.dx * 127 + 127.5;
+                      ly = position.dy * 127 + 127.5;
+                    });
+                  },
                 ),
-                base: JoystickSquareBase(
-                  size: 160,
-                  decoration: JoystickBaseDecoration(
-                    color: Color.fromARGB(60, 200, 200, 200),
-                  )
-                ),
-                stickOffsetCalculator: const RectangleStickOffsetCalculator(),
-                listener: (details) {
-                  setState(() {
-                    lx = details.x * 127 + 127.5;
-                    ly = details.y * 127 + 127.5;
-                  });
-                },
               ),
             ),
             Positioned(
               right: 128,
               bottom: 180,
-              child: Joystick(
+              child: SizedBox(
-                includeInitialAnimation: false,
+                width: 160,
-                period: Duration(milliseconds: callBackPeriod),
+                height: 160,
-                stick: CircleAvatar(
+                child: Joystick2D(
-                  radius: 20,
+                  onChanged: (Offset position) {
-                  backgroundColor: Color.fromARGB(200, 255, 255, 255),
+                    if(position.dx == 0 && position.dy == 0) {
+                      left = right = forward = backward = 0;
+                    } else {
+                      var angle = -atan2(position.dy, position.dx), pi_18 = pi / 18.0;
+                      setState(() {
+                        left = angle < - pi_18 * 12 || angle > pi_18 * 12 ? position.dx * maxPawRateScale : 0;
+                        right = angle > - pi_18 * 6 && angle < pi_18 * 6 ? position.dx * maxPawRateScale : 0;
+                        forward = angle > pi_18 * 3 && angle < pi_18 * 15 ? -position.dy * maxPawRateScale : 0;
+                        backward = angle > - pi_18 * 15 && angle < - pi_18 * 3 ? -position.dy * maxPawRateScale : 0;
+                      });
+                    }
+                  },
                 ),
-                base: Container(
-                  width: 160,
-                  height: 160,
-                  decoration: BoxDecoration(
-                    color: Color.fromARGB(60, 200, 200, 200),
-                    shape: BoxShape.circle,
-                    border: BoxBorder.all(
-                      color: Theme.of(context).colorScheme.outline,
-                      width: 1
-                    )
-                  ),
-                ),
-                listener: (details) {
-                  if(details.x == 0 && details.y == 0) {
-                    left = right = forward = backward = 0;
-                  } else {
-                    var angle = -atan2(details.y, details.x), pi_18 = pi / 18.0;
-                    setState(() {
-                      left = angle < - pi_18 * 12 || angle > pi_18 * 12 ? details.x * maxPawRateScale : 0;
-                      right = angle > - pi_18 * 6 && angle < pi_18 * 6 ? details.x * maxPawRateScale : 0;
-                      forward = angle > pi_18 * 3 && angle < pi_18 * 15 ? -details.y * maxPawRateScale : 0;
-                      backward = angle > - pi_18 * 15 && angle < - pi_18 * 3 ? -details.y * maxPawRateScale : 0;
-                    });
-                  }                  
-                },
               ),
             ),
             Positioned(
               bottom: 180,
-              right: 64,
+              right: 54,
-              child: Joystick(
+              child: SizedBox(
-                includeInitialAnimation: false,
+                width: 60,
-                period: Duration(milliseconds: callBackPeriod),
+                height: 160,
-                mode: JoystickMode.vertical,
+                child: VerticalJoystick(
-                stick: CircleAvatar(
+                  onChanged: (double y) {
-                  radius: 20,
+                    setState(() {
-                  backgroundColor: Color.fromARGB(200, 255, 255, 255),
+                      up = y < 0 ? -y * maxPawRateScale * 0.6 : 0;
+                      down = y > 0 ? -y * maxPawRateScale * 0.6 : 0;
+                    });
+                  },
                 ),
-                base: Container(
-                  width: 32,
-                  height: 160,
-                  decoration: BoxDecoration(
-                    color: Color.fromARGB(60, 255, 255, 255),
-                    borderRadius: const BorderRadius.all(
-                      Radius.circular(20)
-                    ),
-                    border: BoxBorder.all(
-                      color: Theme.of(context).colorScheme.outline,
-                      width: 1
-                    )
-                  )
-                ),
-                listener: (details) {
-                  setState(() {
-                    up = details.y < 0 ? -details.y * maxPawRateScale * 0.6 : 0;
-                    down = details.y > 0 ? -details.y * maxPawRateScale * 0.6 : 0;
-                  });
-                },
               ),
             ),
             Positioned(
-              bottom: 100,
+              bottom: 90,
               right: 64,
-              child: Joystick(
+              child: SizedBox(
-                includeInitialAnimation: false,
+                width: 160,
-                period: Duration(milliseconds: callBackPeriod),
+                height: 60,
-                mode: JoystickMode.horizontal,
+                child: HorizontalJoystick(
-                stick: CircleAvatar(
+                  onChanged: (double x) {
-                  radius: 20,
+                    setState(() {
-                  backgroundColor: Color.fromARGB(200, 255, 255, 255),
+                      ry = x * 127 + 127.5;
+                    });
+                  },
                 ),
-                base: Container(
-                  width: 160,
-                  height: 32,
-                  decoration: BoxDecoration(
-                    color: Color.fromARGB(60, 255, 255, 255),
-                    borderRadius: const BorderRadius.all(
-                      Radius.circular(20)
-                    ),
-                    border: BoxBorder.all(
-                      color: Theme.of(context).colorScheme.outline,
-                      width: 1
-                    )
-                  )
-                ),
-                listener: (details) {
-                  setState(() {
-                    ry = details.x * 127 + 127.5;
-                  });
-                },
               ),
             ),
             Positioned(
-              bottom: 40,
+              bottom: 30,
               right: 64,
-              child: Joystick(
+              child: SizedBox(
-                includeInitialAnimation: false,
+                width: 160,
-                period: Duration(milliseconds: callBackPeriod),
+                height: 60,
-                mode: JoystickMode.horizontal,
+                child: HorizontalJoystick(
-                stick: CircleAvatar(
+                  onChanged: (double x) {
-                  radius: 20,
+                    setState(() {
-                  backgroundColor: Color.fromARGB(200, 255, 255, 255),
+                      rx = x * 127 / 2 + 127.5;
+                    });
+                  },
                 ),
-                base: Container(
-                  width: 160,
-                  height: 32,
-                  decoration: BoxDecoration(
-                    color: Color.fromARGB(60, 255, 255, 255),
-                    borderRadius: const BorderRadius.all(
-                      Radius.circular(20)
-                    ),
-                    border: BoxBorder.all(
-                      color: Theme.of(context).colorScheme.outline,
-                      width: 1
-                    )
-                  )
-                ),
-                listener: (details) {
-                  setState(() {
-                    rx = details.x * 127 / 2 + 127.5;
-                  });
-                },
               ),
             ),
             Positioned(
@@ -799,9 +719,9 @@ class _PlayerPageState extends State<PlayerPage> {
                 child: SegmentedButton<double>(
                   segments: const <ButtonSegment<double>>[
                     ButtonSegment<double>(value: 0.05, label: Text('精确')),
-                    ButtonSegment<double>(value: 0.2, label: Text('缓慢')),
+                    ButtonSegment<double>(value: 0.10, label: Text('缓慢')),
-                    ButtonSegment<double>(value: 0.5, label: Text('默认')),
+                    ButtonSegment<double>(value: 0.35, label: Text('默认')),
-                    ButtonSegment<double>(value: 1.0, label: Text('狂暴')),
+                    ButtonSegment<double>(value: 0.5, label: Text('狂暴')),
                   ],
                   selected: _pawScaleSelection,
                   onSelectionChanged: (Set<double> newSelection) {

lib/pages/square_joystick.dart

@@ -0,0 +1,478 @@
+import 'package:flutter/material.dart';
+
+class Joystick2D extends StatefulWidget {
+  final ValueChanged<Offset> onChanged;
+  
+  const Joystick2D({
+    super.key,
+    required this.onChanged,
+  });
+
+  @override
+  State<Joystick2D> createState() => _Joystick2DState();
+}
+
+class _Joystick2DState extends State<Joystick2D> {
+  Offset _stickPosition = Offset.zero;
+  bool _active = false;
+
+  void _onPanUpdate(Offset localPosition, Size size) {
+    final center = size.center(Offset.zero);
+    final delta = localPosition - center;
+    final distance = delta.distance;
+    final maxDistance = size.width / 2;
+
+    final constrainedDelta = distance > maxDistance
+        ? Offset(
+            delta.dx * maxDistance / distance,
+            delta.dy * maxDistance / distance,
+          )
+        : delta;
+
+    setState(() {
+      _stickPosition = constrainedDelta;
+      _active = true;
+    });
+    
+    final normalized = Offset(
+      constrainedDelta.dx / maxDistance,
+      constrainedDelta.dy / maxDistance,
+    );
+    
+    widget.onChanged(normalized);
+  }
+
+  void _resetJoystick() {
+    setState(() {
+      _stickPosition = Offset.zero;
+      _active = false;
+    });
+    widget.onChanged(Offset.zero);
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return GestureDetector(
+      behavior: HitTestBehavior.opaque,
+      onPanStart: (details) {
+        final box = context.findRenderObject() as RenderBox;
+        final localPosition = box.globalToLocal(details.globalPosition);
+        _onPanUpdate(localPosition, box.size);
+      },
+      onPanUpdate: (details) {
+        final box = context.findRenderObject() as RenderBox;
+        final localPosition = box.globalToLocal(details.globalPosition);
+        _onPanUpdate(localPosition, box.size);
+      },
+      onPanEnd: (_) => _resetJoystick(),
+      onPanCancel: _resetJoystick,
+      child: CustomPaint(
+        painter: JoystickPainter(
+          stickPosition: _stickPosition,
+          active: _active,
+        ),
+      ),
+    );
+  }
+}
+
+class JoystickPainter extends CustomPainter {
+  final Offset stickPosition;
+  final bool active;
+
+  JoystickPainter({required this.stickPosition, required this.active});
+
+  @override
+  void paint(Canvas canvas, Size size) {
+    final center = size.center(Offset.zero);
+    final radius = size.width / 2;
+    const stickRadius = 20.0;
+
+    canvas.drawCircle(
+      center,
+      radius,
+      Paint()
+        ..color = active ? Colors.white.withValues(alpha: 0.3) : Colors.white.withValues(alpha: 0.1)
+        ..style = PaintingStyle.fill,
+    );
+
+    canvas.drawCircle(
+      center,
+      radius,
+      Paint()
+        ..color = Colors.grey
+        ..style = PaintingStyle.stroke
+        ..strokeWidth = 2.0,
+    );
+
+    canvas.drawCircle(
+      center + stickPosition,
+      stickRadius,
+      Paint()
+        ..color = active ? Colors.white : Colors.grey
+        ..style = PaintingStyle.fill,
+    );
+  }
+
+  @override
+  bool shouldRepaint(JoystickPainter oldDelegate) {
+    return stickPosition != oldDelegate.stickPosition || active != oldDelegate.active;
+  }
+}
+
+class SquareJoystick extends StatefulWidget {
+  final ValueChanged<Offset> onChanged;
+  
+  const SquareJoystick({
+    super.key,
+    required this.onChanged,
+  });
+
+  @override
+  State<SquareJoystick> createState() => _SquareJoystickState();
+}
+
+class _SquareJoystickState extends State<SquareJoystick> {
+  Offset _stickPosition = Offset.zero;
+  bool _active = false;
+
+  void _onPanUpdate(Offset localPosition, Size size) {
+    final center = size.center(Offset.zero);
+    var dx = localPosition.dx - center.dx;
+    var dy = localPosition.dy - center.dy;
+    
+    final maxDistance = size.width / 2;
+    dx = dx.clamp(-maxDistance, maxDistance);
+    dy = dy.clamp(-maxDistance, maxDistance);
+
+    setState(() {
+      _stickPosition = Offset(dx, dy);
+      _active = true;
+    });
+    
+    final normalized = Offset(
+      dx / maxDistance,
+      dy / maxDistance,
+    );
+    
+    widget.onChanged(normalized);
+  }
+
+  void _resetJoystick() {
+    setState(() {
+      _stickPosition = Offset.zero;
+      _active = false;
+    });
+    widget.onChanged(Offset.zero);
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return GestureDetector(
+      behavior: HitTestBehavior.opaque,
+      onPanStart: (details) {
+        final box = context.findRenderObject() as RenderBox;
+        final localPosition = box.globalToLocal(details.globalPosition);
+        _onPanUpdate(localPosition, box.size);
+      },
+      onPanUpdate: (details) {
+        final box = context.findRenderObject() as RenderBox;
+        final localPosition = box.globalToLocal(details.globalPosition);
+        _onPanUpdate(localPosition, box.size);
+      },
+      onPanEnd: (_) => _resetJoystick(),
+      onPanCancel: _resetJoystick,
+      child: CustomPaint(
+        painter: SquareJoystickPainter(
+          stickPosition: _stickPosition,
+          active: _active,
+        ),
+      ),
+    );
+  }
+}
+
+class SquareJoystickPainter extends CustomPainter {
+  final Offset stickPosition;
+  final bool active;
+
+  SquareJoystickPainter({required this.stickPosition, required this.active});
+
+  @override
+  @override
+  void paint(Canvas canvas, Size size) {
+    final center = size.center(Offset.zero);
+    const stickRadius = 20.0;
+    final squareRect = Rect.fromCenter(
+      center: center,
+      width: size.width,
+      height: size.height,
+    );
+
+    final roundedRect = RRect.fromRectAndRadius(
+      squareRect,
+      Radius.circular(size.width / 8),
+    );
+
+    canvas.drawRRect(
+      roundedRect,
+      Paint()
+        ..color =
+            active ? Colors.white.withValues(alpha: 0.3) : Colors.white.withValues(alpha: 0.1)
+        ..style = PaintingStyle.fill,
+    );
+
+    canvas.drawRRect(
+      roundedRect,
+      Paint()
+        ..color = Colors.grey
+        ..style = PaintingStyle.stroke
+        ..strokeWidth = 2.0,
+    );
+
+    canvas.drawCircle(
+      center + stickPosition,
+      stickRadius,
+      Paint()
+        ..color = active ? Colors.white : Colors.grey
+        ..style = PaintingStyle.fill,
+    );
+  }
+
+  @override
+  bool shouldRepaint(SquareJoystickPainter oldDelegate) {
+    return stickPosition != oldDelegate.stickPosition || active != oldDelegate.active;
+  }
+}
+
+class HorizontalJoystick extends StatefulWidget {
+  final ValueChanged<double> onChanged;
+  
+  const HorizontalJoystick({
+    super.key,
+    required this.onChanged,
+  });
+
+  @override
+  State<HorizontalJoystick> createState() => _HorizontalJoystickState();
+}
+
+class _HorizontalJoystickState extends State<HorizontalJoystick> {
+  double _stickPosition = 0.0;
+  bool _active = false;
+
+  void _onPanUpdate(Offset localPosition, Size size) {
+    final centerX = size.width / 2;
+    final dx = (localPosition.dx - centerX).clamp(-centerX, centerX);
+    
+    setState(() {
+      _stickPosition = dx;
+      _active = true;
+    });
+    
+    final normalized = dx / centerX;
+    widget.onChanged(normalized);
+  }
+
+  void _resetJoystick() {
+    setState(() {
+      _stickPosition = 0.0;
+      _active = false;
+    });
+    widget.onChanged(0.0);
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return GestureDetector(
+      behavior: HitTestBehavior.opaque,
+      onPanStart: (details) {
+        final box = context.findRenderObject() as RenderBox;
+        _onPanUpdate(box.globalToLocal(details.globalPosition), box.size);
+      },
+      onPanUpdate: (details) {
+        final box = context.findRenderObject() as RenderBox;
+        _onPanUpdate(box.globalToLocal(details.globalPosition), box.size);
+      },
+      onPanEnd: (_) => _resetJoystick(),
+      onPanCancel: _resetJoystick,
+      child: CustomPaint(
+        painter: HorizontalJoystickPainter(
+          stickPosition: _stickPosition,
+          active: _active,
+        ),
+      ),
+    );
+  }
+}
+
+class HorizontalJoystickPainter extends CustomPainter {
+  final double stickPosition;
+  final bool active;
+
+  HorizontalJoystickPainter({required this.stickPosition, required this.active});
+
+  @override
+  void paint(Canvas canvas, Size size) {
+    final center = size.center(Offset.zero);
+    const stickRadius = 15.0;
+    final trackHeight = size.height / 2;
+
+    canvas.drawRRect(
+      RRect.fromRectAndRadius(
+        Rect.fromCenter(
+          center: center,
+          width: size.width,
+          height: trackHeight,
+        ),
+        Radius.circular(trackHeight / 2),
+      ),
+      Paint()
+        ..color = active ? Colors.white.withValues(alpha: 0.3) : Colors.white.withValues(alpha: 0.1),
+    );
+
+    canvas.drawRRect(
+      RRect.fromRectAndRadius(
+        Rect.fromCenter(
+          center: center,
+          width: size.width,
+          height: trackHeight,
+        ),
+        Radius.circular(trackHeight / 2),
+      ),
+      Paint()
+        ..color = Colors.grey
+        ..style = PaintingStyle.stroke
+        ..strokeWidth = 2.0,
+    );
+
+    canvas.drawCircle(
+      Offset(center.dx + stickPosition, center.dy),
+      stickRadius * 1.333,
+      Paint()
+        ..color = active ? Colors.white : Colors.grey
+        ..style = PaintingStyle.fill,
+    );
+  }
+
+  @override
+  bool shouldRepaint(HorizontalJoystickPainter oldDelegate) {
+    return stickPosition != oldDelegate.stickPosition || active != oldDelegate.active;
+  }
+}
+
+class VerticalJoystick extends StatefulWidget {
+  final ValueChanged<double> onChanged;
+  
+  const VerticalJoystick({
+    super.key,
+    required this.onChanged,
+  });
+
+  @override
+  State<VerticalJoystick> createState() => _VerticalJoystickState();
+}
+
+class _VerticalJoystickState extends State<VerticalJoystick> {
+  double _stickPosition = 0.0;
+  bool _active = false;
+
+  void _onPanUpdate(Offset localPosition, Size size) {
+    final centerY = size.height / 2;
+    final dy = (localPosition.dy - centerY).clamp(-centerY, centerY);
+    
+    setState(() {
+      _stickPosition = dy;
+      _active = true;
+    });
+    
+    final normalized = dy / centerY;
+    widget.onChanged(normalized);
+  }
+
+  void _resetJoystick() {
+    setState(() {
+      _stickPosition = 0.0;
+      _active = false;
+    });
+    widget.onChanged(0.0);
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return GestureDetector(
+      behavior: HitTestBehavior.opaque,
+      onPanStart: (details) {
+        final box = context.findRenderObject() as RenderBox;
+        _onPanUpdate(box.globalToLocal(details.globalPosition), box.size);
+      },
+      onPanUpdate: (details) {
+        final box = context.findRenderObject() as RenderBox;
+        _onPanUpdate(box.globalToLocal(details.globalPosition), box.size);
+      },
+      onPanEnd: (_) => _resetJoystick(),
+      onPanCancel: _resetJoystick,
+      child: CustomPaint(
+        painter: VerticalJoystickPainter(
+          stickPosition: _stickPosition,
+          active: _active,
+        ),
+      ),
+    );
+  }
+}
+
+class VerticalJoystickPainter extends CustomPainter {
+  final double stickPosition;
+  final bool active;
+
+  VerticalJoystickPainter({required this.stickPosition, required this.active});
+
+  @override
+  void paint(Canvas canvas, Size size) {
+    final center = size.center(Offset.zero);
+    const stickRadius = 15.0;
+    final trackWidth = size.width / 2;
+
+    canvas.drawRRect(
+      RRect.fromRectAndRadius(
+        Rect.fromCenter(
+          center: center,
+          width: trackWidth,
+          height: size.height,
+        ),
+        Radius.circular(trackWidth / 2),
+      ),
+      Paint()
+        ..color = active ? Colors.white.withValues(alpha: 0.3) : Colors.white.withValues(alpha: 0.1),
+    );
+
+    canvas.drawRRect(
+      RRect.fromRectAndRadius(
+        Rect.fromCenter(
+          center: center,
+          width: trackWidth,
+          height: size.height,
+        ),
+        Radius.circular(trackWidth / 2),
+      ),
+      Paint()
+        ..color = Colors.grey
+        ..style = PaintingStyle.stroke
+        ..strokeWidth = 2.0,
+    );
+
+    canvas.drawCircle(
+      Offset(center.dx, center.dy + stickPosition),
+      stickRadius * 1.333,
+      Paint()
+        ..color = active ? Colors.white : Colors.grey
+        ..style = PaintingStyle.fill,
+    );
+  }
+
+  @override
+  bool shouldRepaint(VerticalJoystickPainter oldDelegate) {
+    return stickPosition != oldDelegate.stickPosition || active != oldDelegate.active;
+  }
+}

pubspec.lock

@@ -41,6 +41,22 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.4.0"
+  checked_yaml:
+    dependency: transitive
+    description:
+      name: checked_yaml
+      sha256: "959525d3162f249993882720d52b7e0c833978df229be20702b33d48d91de70f"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.0.4"
+  cli_util:
+    dependency: transitive
+    description:
+      name: cli_util
+      sha256: ff6785f7e9e3c38ac98b2fb035701789de90154024a75b6cb926445e83197d1c
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.4.2"
   clock:
     dependency: transitive
     description:
@@ -142,6 +158,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "0.2.2"
+  flutter_launcher_icons:
+    dependency: "direct dev"
+    description:
+      name: flutter_launcher_icons
+      sha256: "10f13781741a2e3972126fae08393d3c4e01fa4cd7473326b94b72cf594195e7"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.14.4"
   flutter_lints:
     dependency: "direct dev"
     description:
@@ -184,6 +208,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "4.5.4"
+  json_annotation:
+    dependency: transitive
+    description:
+      name: json_annotation
+      sha256: "1ce844379ca14835a50d2f019a3099f419082cfdd231cd86a142af94dd5c6bb1"
+      url: "https://pub.dev"
+    source: hosted
+    version: "4.9.0"
   leak_tracker:
     dependency: transitive
     description:
@@ -565,6 +597,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "6.5.0"
+  yaml:
+    dependency: transitive
+    description:
+      name: yaml
+      sha256: b9da305ac7c39faa3f030eccd175340f968459dae4af175130b3fc47e40d76ce
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.1.3"
 sdks:
   dart: ">=3.8.1 <4.0.0"
   flutter: ">=3.27.4"

pubspec.yaml

@@ -54,6 +54,7 @@ dev_dependencies:
   # package. See that file for information about deactivating specific lint
   # rules and activating additional ones.
   flutter_lints: ^5.0.0
+  flutter_launcher_icons: "^0.14.4"
 
 # For information on the generic Dart part of this file, see the
 # following page: https://dart.dev/tools/pub/pubspec
@@ -67,9 +68,8 @@ flutter:
   uses-material-design: true
 
   # To add assets to your application, add an assets section, like this:
-  # assets:
+  assets:
-  #   - images/a_dot_burr.jpeg
+    - assets/images/
-  #   - images/a_dot_ham.jpeg
 
   # An image asset can refer to one or more resolution-specific "variants", see
   # https://flutter.dev/to/resolution-aware-images

test/widget_test.dart

@@ -1,30 +0,0 @@
-// This is a basic Flutter widget test.
-//
-// To perform an interaction with a widget in your test, use the WidgetTester
-// utility in the flutter_test package. For example, you can send tap and scroll
-// gestures. You can also use WidgetTester to find child widgets in the widget
-// tree, read text, and verify that the values of widget properties are correct.
-
-import 'package:flutter/material.dart';
-import 'package:flutter_test/flutter_test.dart';
-
-import 'package:marscar_controller/main.dart';
-
-void main() {
-  testWidgets('Counter increments smoke test', (WidgetTester tester) async {
-    // Build our app and trigger a frame.
-    await tester.pumpWidget(const MyApp());
-
-    // Verify that our counter starts at 0.
-    expect(find.text('0'), findsOneWidget);
-    expect(find.text('1'), findsNothing);
-
-    // Tap the '+' icon and trigger a frame.
-    await tester.tap(find.byIcon(Icons.add));
-    await tester.pump();
-
-    // Verify that our counter has incremented.
-    expect(find.text('0'), findsNothing);
-    expect(find.text('1'), findsOneWidget);
-  });
-}