body: web joystick

old-commit-hash: d7b849720cc6354543b60718414b2a07bf45a172
2026-07-02 03:52:11 +08:00 · 2022-04-13 14:29:17 -07:00
parent 93d0e6b65a
commit d9a94cc785
1 changed files with 45 additions and 0 deletions
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+from flask import Flask
+import cereal.messaging as messaging
+
+app = Flask(__name__)
+pm = messaging.PubMaster(['testJoystick'])
+
+index = """
+<html>
+<head>
+<script src="https://github.com/bobboteck/JoyStick/releases/download/v1.1.6/joy.min.js"></script>
+</head>
+<body>
+<div id="joyDiv" style="width:100%;height:100%"></div>
+<script type="text/javascript">
+// Create JoyStick object into the DIV 'joyDiv'
+var joy = new JoyStick('joyDiv');
+setInterval(function(){
+  var x = -joy.GetX()/100;
+  var y = joy.GetY()/100;
+  let xhr = new XMLHttpRequest();
+  xhr.open("GET", "/control/"+x+"/"+y);
+  xhr.send();
+}, 50);
+</script>
+"""
+
+@app.route("/")
+def hello_world():
+  return index
+
+@app.route("/control/<x>/<y>")
+def control(x, y):
+  x,y = float(x), float(y)
+  x = max(-1, min(1, x))
+  y = max(-1, min(1, y))
+  dat = messaging.new_message('testJoystick')
+  dat.testJoystick.axes = [y,x]
+  dat.testJoystick.buttons = [False]
+  pm.send('testJoystick', dat)
+  return ""
+
+if __name__ == '__main__':
+  app.run(host="0.0.0.0")
+