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legop3
2025-11-18 03:32:18 -05:00
parent e7793c8ef2
commit 6efa1b268f
8 changed files with 288 additions and 34 deletions
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webui/src/controls/inputs/GamepadInputManager.jsx
+77 -19
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@@ -2,7 +2,7 @@ import { useCallback, useEffect, useRef } from 'react';
import { useControlSystem } from '../ControlContext.jsx';
import { clampUnit } from '../controlMath.js';
import { useSettingsNamespace } from '../../settings/index.js';
import { INPUT_SETTINGS_DEFAULTS } from '../../settings/namespaces.js';
import { INPUT_SETTINGS_DEFAULTS, GAMEPAD_MAPPING_DEFAULT } from '../../settings/namespaces.js';
const SOURCE = 'gamepad';
@@ -44,25 +44,55 @@ export default function GamepadInputManager() {
},
} = useControlSystem();
const { value: inputSettings } = useSettingsNamespace('inputs', INPUT_SETTINGS_DEFAULTS);
const { value: mapping } = useSettingsNamespace('gamepadMapping', GAMEPAD_MAPPING_DEFAULT);
const gamepadSettings = inputSettings.gamepad ?? INPUT_SETTINGS_DEFAULTS.gamepad;
const driveDeadzone = Math.min(Math.max(gamepadSettings.driveDeadzone ?? 0.2, 0), 0.8);
const cameraDeadzone = Math.min(Math.max(gamepadSettings.cameraDeadzone ?? 0.25, 0), 0.9);
const servoStep = gamepadSettings.servoStep ?? INPUT_SETTINGS_DEFAULTS.gamepad.servoStep;
const auxReverseScale = gamepadSettings.auxReverseScale ?? INPUT_SETTINGS_DEFAULTS.gamepad.auxReverseScale;
const mappingReady =
Boolean(mapping?.drive?.horizontal) &&
Boolean(mapping?.drive?.vertical) &&
Boolean(mapping?.camera?.vertical) &&
Boolean(mapping?.triggers?.main) &&
Boolean(mapping?.triggers?.side) &&
Boolean(mapping?.buttons?.mainReverse) &&
Boolean(mapping?.buttons?.sideReverse) &&
Boolean(mapping?.buttons?.vacuum) &&
Boolean(mapping?.buttons?.allAux) &&
Boolean(mapping?.buttons?.driveMacro) &&
Boolean(mapping?.buttons?.dockMacro);
const rafRef = useRef(null);
const lastVectorRef = useRef({ x: 0, y: 0, boost: false });
const lastAuxRef = useRef({ main: 0, side: 0, vacuum: 0 });
const buttonStateRef = useRef(new Map());
const servoThrottleRef = useRef(0);
const handleButtonEdge = useCallback(
(index, pressed) => {
const prev = buttonStateRef.current.get(index) || false;
buttonStateRef.current.set(index, pressed);
return pressed && !prev;
},
[],
);
const handleButtonEdge = useCallback((key, pressed) => {
const prev = buttonStateRef.current.get(key) || false;
buttonStateRef.current.set(key, pressed);
return pressed && !prev;
}, []);
const getAxisValue = useCallback((pad, descriptor) => {
if (!descriptor) return 0;
const raw = pad.axes?.[descriptor.index] ?? 0;
return descriptor.invert ? -raw : raw;
}, []);
const getButtonValue = useCallback((pad, descriptor) => {
if (!descriptor) return 0;
const btn = pad.buttons?.[descriptor.index];
if (!btn) return 0;
return typeof btn.value === 'number' ? btn.value : btn.pressed ? 1 : 0;
}, []);
const isButtonPressed = useCallback((pad, descriptor) => {
if (!descriptor) return false;
const btn = pad.buttons?.[descriptor.index];
if (!btn) return false;
return btn.pressed || btn.value > 0.5;
}, []);
const pollGamepads = useCallback(() => {
if (typeof navigator === 'undefined' || !navigator.getGamepads) {
@@ -79,23 +109,34 @@ export default function GamepadInputManager() {
lastAuxRef.current = { main: 0, side: 0, vacuum: 0 };
setAuxMotors({ main: 0, side: 0, vacuum: 0 });
}
registerInputState(SOURCE, { connected: false });
registerInputState(SOURCE, { connected: false, mappingReady });
return;
}
const axisLX = clampUnit(applyDeadzone(pad.axes?.[0] ?? 0, driveDeadzone));
const axisLY = clampUnit(applyDeadzone(-(pad.axes?.[1] ?? 0), driveDeadzone));
if (!mappingReady) {
registerInputState(SOURCE, { connected: true, mappingReady: false });
return;
}
const axisLX = clampUnit(applyDeadzone(getAxisValue(pad, mapping.drive.horizontal), driveDeadzone));
const axisLY = clampUnit(applyDeadzone(-getAxisValue(pad, mapping.drive.vertical), driveDeadzone));
const vector = { x: axisLX, y: axisLY, boost: false };
if (!vectorsEqual(vector, lastVectorRef.current)) {
lastVectorRef.current = vector;
setDriveVector(vector, { source: SOURCE });
}
const main = computeTriggerSpeed(pad.buttons?.[7], pad.buttons?.[5]);
const side = computeTriggerSpeed(pad.buttons?.[6], pad.buttons?.[4], 127, auxReverseScale);
const vacuum = pad.buttons?.[1]?.pressed ? 127 : 0;
const mainMagnitude = Math.round(getButtonValue(pad, mapping.triggers.main) * 127);
const mainReverse = isButtonPressed(pad, mapping.buttons.mainReverse);
const main = mainReverse ? -mainMagnitude : mainMagnitude;
const sideMagnitude = Math.round(getButtonValue(pad, mapping.triggers.side) * 127);
const sideReverse = isButtonPressed(pad, mapping.buttons.sideReverse);
const side = sideReverse ? -Math.round(sideMagnitude * auxReverseScale) : sideMagnitude;
const vacuum = isButtonPressed(pad, mapping.buttons.vacuum) ? 127 : 0;
let aux = { main, side, vacuum };
if (pad.buttons?.[0]?.pressed) {
if (isButtonPressed(pad, mapping.buttons.allAux)) {
aux = { main: 127, side: 127, vacuum: 127 };
}
if (!auxEqual(aux, lastAuxRef.current)) {
@@ -103,18 +144,20 @@ export default function GamepadInputManager() {
setAuxMotors(aux);
}
const cameraAxis = clampUnit(applyDeadzone(-(pad.axes?.[3] ?? 0), cameraDeadzone));
const cameraAxis = clampUnit(applyDeadzone(-getAxisValue(pad, mapping.camera.vertical), cameraDeadzone));
const now = performance.now();
if (Math.abs(cameraAxis) > 0.25 && now - servoThrottleRef.current > 120) {
servoThrottleRef.current = now;
nudgeServo(cameraAxis > 0 ? servoStep : -servoStep);
}
if (handleButtonEdge(14, pad.buttons?.[14]?.pressed)) {
const driveMacroPressed = isButtonPressed(pad, mapping.buttons.driveMacro);
if (handleButtonEdge(`macro-${mapping.buttons.driveMacro.index}`, driveMacroPressed)) {
setMode('drive');
runMacro('drive-sequence');
}
if (handleButtonEdge(15, pad.buttons?.[15]?.pressed)) {
const dockMacroPressed = isButtonPressed(pad, mapping.buttons.dockMacro);
if (handleButtonEdge(`macro-${mapping.buttons.dockMacro.index}`, dockMacroPressed)) {
setMode('dock');
runMacro('seek-dock');
}
@@ -135,7 +178,22 @@ export default function GamepadInputManager() {
auxReverseScale,
cameraDeadzone,
driveDeadzone,
getAxisValue,
getButtonValue,
handleButtonEdge,
isButtonPressed,
mapping.buttons?.allAux,
mapping.buttons?.dockMacro,
mapping.buttons?.driveMacro,
mapping.buttons?.mainReverse,
mapping.buttons?.sideReverse,
mapping.buttons?.vacuum,
mapping.camera?.vertical,
mapping.drive?.horizontal,
mapping.drive?.vertical,
mapping.triggers?.main,
mapping.triggers?.side,
mappingReady,
nudgeServo,
registerInputState,
runMacro,