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Code Issues Packages Projects Releases Wiki Activity

[commabody] Add new body teleop ui (#29119)

Browse Source 
* add new ui

* move body tele op ui to new dir

* fix codespell errors

* resolve mediablackhole pylint error

* fix import error

* style fixes

* use logging, not print

* fix js styling

* resolve comments
This commit is contained in:
Vivek Aithal
2023-08-04 13:56:46 -07:00
committed by GitHub
parent 7949dfe796
commit a7304d059c
13 changed files with 1000 additions and 80 deletions
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tools/joystick/web.py
-78
View File
@@ -1,78 +0,0 @@
#!/usr/bin/env python3
import time
import threading
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">
// Set up gamepad handlers
let gamepad = null;
window.addEventListener("gamepadconnected", function(e) {
gamepad = e.gamepad;
});
window.addEventListener("gamepaddisconnected", function(e) {
gamepad = null;
});
// Create JoyStick object into the DIV 'joyDiv'
var joy = new JoyStick('joyDiv');
setInterval(function(){
var x = -joy.GetX()/100;
var y = joy.GetY()/100;
if (x === 0 && y === 0 && gamepad !== null) {
let gamepadstate = navigator.getGamepads()[gamepad.index];
x = -gamepadstate.axes[0];
y = -gamepadstate.axes[1];
}
let xhr = new XMLHttpRequest();
xhr.open("GET", "/control/"+x+"/"+y);
xhr.send();
}, 50);
</script>
"""
@app.route("/")
def hello_world():
return index
last_send_time = time.monotonic()
@app.route("/control/<x>/<y>")
def control(x, y):
global last_send_time
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)
last_send_time = time.monotonic()
return ""
def handle_timeout():
while 1:
this_time = time.monotonic()
if (last_send_time+0.5) < this_time:
#print("timeout, no web in %.2f s" % (this_time-last_send_time))
dat = messaging.new_message('testJoystick')
dat.testJoystick.axes = [0,0]
dat.testJoystick.buttons = [False]
pm.send('testJoystick', dat)
time.sleep(0.1)
def main():
threading.Thread(target=handle_timeout, daemon=True).start()
app.run(host="0.0.0.0")
if __name__ == '__main__':
main()