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Code Issues Packages Projects Releases Wiki Activity

remove webjoystick components that no longer work (#37798)

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* remove webjoystick components that no longer work

* remove audio track request
This commit is contained in:
stef
2026-04-10 09:57:22 -07:00
committed by GitHub
parent 9db432e8fb
commit 64e785d00f
5 changed files with 18 additions and 142 deletions
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67
tools/bodyteleop/static/index.html
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@@ -15,29 +15,23 @@
<body>
<div id="main">
<p class="jumbo">comma body</p>
<audio id="audio" autoplay="true"></audio>
<video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
<div id="icon-panel" class="row">
<div class="col-sm-12 col-md-6 details">
<div class="icon-sup-panel col-12">
<div class="icon-sub-panel">
<div class="icon-sub-sub-panel">
<i class="bi bi-speaker-fill pre-blob"></i>
<i class="bi bi-mic-fill pre-blob"></i>
<i class="bi bi-camera-video-fill pre-blob"></i>
</div>
<p class="small">body</p>
<div class="row" style="width: 100%; padding: 10px 10px 0px 10px;">
<div id="wasd" class="col-md-12 row">
<div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
<div class="wasd-row">
<div class="keys" id="key-w">W</div>
</div>
<div class="icon-sub-panel">
<div class="icon-sub-sub-panel">
<i class="bi bi-speaker-fill pre-blob"></i>
<i class="bi bi-mic-fill pre-blob"></i>
</div>
<p class="small">you</p>
<div class="wasd-row">
<div class="keys" id="key-a">A</div>
<div class="keys" id="key-s">S</div>
<div class="keys" id="key-d">D</div>
</div>
</div>
</div>
<div class="col-sm-12 col-md-6 details">
</div>
<div id="icon-panel" class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
<div class="col-12 details">
<div class="icon-sup-panel col-12">
<div class="icon-sub-panel">
<div class="icon-sub-sub-panel">
@@ -53,43 +47,6 @@
</div>
</div>
</div>
<!-- <div class="icon-sub-panel">
<button type="button" id="start" class="btn btn-light btn-lg">Start</button>
<button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
</div> -->
</div>
<div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
<div id="wasd" class="col-md-12 row">
<div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
<div class="wasd-row">
<div class="keys" id="key-w">W</div>
<div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
</div>
<div class="wasd-row">
<div class="keys" id="key-a">A</div>
<div class="keys" id="key-s">S</div>
<div class="keys" id="key-d">D</div>
</div>
</div>
<div class="col-md-6 col-sm-12 form-group plan-form">
<label for="plan-text">Plan (w, a, s, d, t)</label>
<label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
<textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
<button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
</div>
</div>
</div>
<div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
<div class="panel row">
<div class="col-sm-3" style="text-align: center;">
<p>Play Sounds</p>
</div>
<div class="btn-group col-sm-8">
<button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
<button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
<button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
</div>
</div>
</div>
<div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
<div class="panel row">

34
tools/bodyteleop/static/js/controls.js vendored
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@@ -18,37 +18,3 @@ export const handleKeyX = (key, setValue) => {
$("#pos-vals").text(x+","+y);
}
};
export async function executePlan() {
let plan = $("#plan-text").val();
const planList = [];
plan.split("\n").forEach(function(e){
let line = e.split(",").map(k=>parseInt(k));
if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
console.log("invalid plan");
}
else{
planList.push(line)
}
});
async function execute() {
for (var i = 0; i < planList.length; i++) {
let [w, a, s, d, t] = planList[i];
while(t > 0){
console.log(w, a, s, d, t);
if(w==1){$("#key-w").mousedown();}
if(a==1){$("#key-a").mousedown();}
if(s==1){$("#key-s").mousedown();}
if(d==1){$("#key-d").mousedown();}
await sleep(50);
$("#key-w").mouseup();
$("#key-a").mouseup();
$("#key-s").mouseup();
$("#key-d").mouseup();
t = t - 0.05;
}
}
}
execute();
}

10
tools/bodyteleop/static/js/jsmain.js
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@@ -1,5 +1,5 @@
import { handleKeyX, executePlan } from "./controls.js";
import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js";
import { handleKeyX } from "./controls.js";
import { start, stop, lastChannelMessageTime } from "./webrtc.js";
export var pc = null;
export var dc = null;
@@ -8,12 +8,6 @@ document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
$("#plan-button").click(executePlan);
$(".sound").click((e)=>{
const sound = $(e.target).attr('id').replace('sound-', '')
return playSoundRequest(sound);
});
setInterval( () => {
const dt = new Date().getTime();
if ((dt - lastChannelMessageTime) > 1000) {

42
tools/bodyteleop/static/js/webrtc.js
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@@ -15,15 +15,6 @@ export function offerRtcRequest(sdp, type) {
}
export function playSoundRequest(sound) {
return fetch('/sound', {
body: JSON.stringify({sound}),
headers: {'Content-Type': 'application/json'},
method: 'POST'
});
}
export function pingHeadRequest() {
return fetch('/', {
method: 'HEAD'
@@ -38,20 +29,18 @@ export function createPeerConnection(pc) {
pc = new RTCPeerConnection(config);
// connect audio / video
// connect video
pc.addEventListener('track', function(evt) {
console.log("Adding Tracks!")
if (evt.track.kind == 'video')
document.getElementById('video').srcObject = evt.streams[0];
else
document.getElementById('audio').srcObject = evt.streams[0];
});
return pc;
}
export function negotiate(pc) {
return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
return pc.createOffer({offerToReceiveVideo:true}).then(function(offer) {
return pc.setLocalDescription(offer);
}).then(function() {
return new Promise(function(resolve) {
@@ -90,14 +79,6 @@ function isMobile() {
export const constraints = {
audio: {
autoGainControl: false,
sampleRate: 48000,
sampleSize: 16,
echoCancellation: true,
noiseSuppression: true,
channelCount: 1
},
video: isMobile()
};
@@ -105,23 +86,8 @@ export const constraints = {
export function start(pc, dc) {
pc = createPeerConnection(pc);
// add audio track
navigator.mediaDevices.enumerateDevices()
.then(function(devices) {
const hasAudioInput = devices.find((device) => device.kind === "audioinput");
var modifiedConstraints = {};
modifiedConstraints.video = constraints.video;
modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
return Promise.resolve(modifiedConstraints);
})
.then(function(constraints) {
if (constraints.audio || constraints.video) {
return navigator.mediaDevices.getUserMedia(constraints);
} else{
return Promise.resolve(null);
}
})
// add a local video track on mobile
(constraints.video ? navigator.mediaDevices.getUserMedia(constraints) : Promise.resolve(null))
.then(function(stream) {
if (stream) {
stream.getTracks().forEach(function(track) {

7
tools/bodyteleop/static/main.css
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@@ -172,13 +172,6 @@ video {
display: none;
}
.plan-form {
display: flex;
flex-direction: column;
justify-content: space-between;
align-items: center;
}
.details {
display: flex;
padding: 0px 10px 0px 10px;