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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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server/public/assets/index-DFvdwweA.js
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server/public/assets/index-NGdTJyVK.js
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server/public/index.html
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@@ -5,8 +5,8 @@
<link rel="icon" type="image/svg+xml" href="/vite.svg" /> <link rel="icon" type="image/svg+xml" href="/vite.svg" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" /> <meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>webui</title> <title>webui</title>
<script type="module" crossorigin src="/assets/index-NGdTJyVK.js"></script> <script type="module" crossorigin src="/assets/index-DFvdwweA.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-ZYHUqx5G.css"> <link rel="stylesheet" crossorigin href="/assets/index-DxO2_uri.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
webui/src/components/AdvancedSettings.jsx
+3 -1
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@@ -4,6 +4,7 @@ import AuthPanel from './AuthPanel.jsx';
import AdminPanel from './AdminPanel.jsx'; import AdminPanel from './AdminPanel.jsx';
import KeymapSettings from './KeymapSettings.jsx'; import KeymapSettings from './KeymapSettings.jsx';
import InputSettings from './InputSettings.jsx'; import InputSettings from './InputSettings.jsx';
import GamepadMappingSettings from './GamepadMappingSettings.jsx';
const manualTabs = [ const manualTabs = [
{ key: 'start', label: 'Start OI' }, { key: 'start', label: 'Start OI' },
@@ -35,7 +36,8 @@ export default function AdvancedSettings() {
return ( return (
<div className="space-y-1"> <div className="space-y-1">
<KeymapSettings /> <KeymapSettings />
<InputSettings /> {/* <InputSettings /> */}
<GamepadMappingSettings />
<section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100"> <section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
<p className="text-xs text-slate-400">Manual OI commands</p> <p className="text-xs text-slate-400">Manual OI commands</p>
<div className="mt-1 flex flex-wrap gap-1"> <div className="mt-1 flex flex-wrap gap-1">
webui/src/components/GamepadMappingSettings.jsx
+172
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@@ -0,0 +1,172 @@
import { useEffect, useMemo, useState } from 'react';
import { useSettingsNamespace } from '../settings/index.js';
import { GAMEPAD_MAPPING_DEFAULT } from '../settings/namespaces.js';
function useGamepad() {
const [connected, setConnected] = useState(false);
useEffect(() => {
function updateStatus() {
const pads = navigator.getGamepads?.();
setConnected(Boolean(pads && Array.from(pads).some(Boolean)));
}
updateStatus();
window.addEventListener('gamepadconnected', updateStatus);
window.addEventListener('gamepaddisconnected', updateStatus);
const id = setInterval(updateStatus, 2000);
return () => {
window.removeEventListener('gamepadconnected', updateStatus);
window.removeEventListener('gamepaddisconnected', updateStatus);
clearInterval(id);
};
}, []);
return connected;
}
const ACTIONS = [
{ id: 'driveHorizontal', label: 'Drive horizontal', type: 'axis', section: 'Drive stick', path: ['drive', 'horizontal'] },
{ id: 'driveVertical', label: 'Drive vertical', type: 'axis', section: 'Drive stick', path: ['drive', 'vertical'] },
{ id: 'cameraVertical', label: 'Camera vertical', type: 'axis', section: 'Camera stick', path: ['camera', 'vertical'] },
{ id: 'mainTrigger', label: 'Main brush trigger', type: 'button', section: 'Brush triggers', path: ['triggers', 'main'] },
{ id: 'mainReverse', label: 'Main reverse button', type: 'button', section: 'Brush triggers', path: ['buttons', 'mainReverse'] },
{ id: 'sideTrigger', label: 'Side brush trigger', type: 'button', section: 'Brush triggers', path: ['triggers', 'side'] },
{ id: 'sideReverse', label: 'Side reverse button', type: 'button', section: 'Brush triggers', path: ['buttons', 'sideReverse'] },
{ id: 'vacuum', label: 'Vacuum button', type: 'button', section: 'Auxiliary buttons', path: ['buttons', 'vacuum'] },
{ id: 'allAux', label: 'All aux forward button', type: 'button', section: 'Auxiliary buttons', path: ['buttons', 'allAux'] },
{ id: 'driveMacro', label: 'Drive macro button', type: 'button', section: 'Mode buttons', path: ['buttons', 'driveMacro'] },
{ id: 'dockMacro', label: 'Dock macro button', type: 'button', section: 'Mode buttons', path: ['buttons', 'dockMacro'] },
];
function formatAxis(value) {
if (!value) return 'Unassigned';
return `Axis ${value.index}${value.invert ? ' (invert)' : ''}`;
}
function formatButton(value) {
if (!value) return 'Unassigned';
return `Button ${value.index}`;
}
function updatePath(mapping, path, updater) {
const [group, key] = path;
const next = { ...(mapping ?? GAMEPAD_MAPPING_DEFAULT) };
next[group] = { ...(next[group] ?? GAMEPAD_MAPPING_DEFAULT[group]) };
next[group][key] = updater(next[group][key]);
return next;
}
export default function GamepadMappingSettings() {
const gamepadConnected = useGamepad();
const { value: mapping, save, reset } = useSettingsNamespace('gamepadMapping', GAMEPAD_MAPPING_DEFAULT);
const [capture, setCapture] = useState(null);
useEffect(() => {
if (!capture) return undefined;
let raf;
const scan = () => {
const pads = navigator.getGamepads?.();
const pad = pads && Array.from(pads).find(Boolean);
if (pad) {
if (capture.type === 'axis') {
for (let i = 0; i < pad.axes.length; i += 1) {
const value = pad.axes[i];
if (Math.abs(value) > 0.55) {
save((prev) => updatePath(prev, capture.path, () => ({ index: i, invert: value < 0 })));
setCapture(null);
return;
}
}
} else if (capture.type === 'button') {
for (let i = 0; i < pad.buttons.length; i += 1) {
const btn = pad.buttons[i];
if (btn && (btn.pressed || btn.value > 0.6)) {
save((prev) => updatePath(prev, capture.path, () => ({ index: i })));
setCapture(null);
return;
}
}
}
}
raf = requestAnimationFrame(scan);
};
raf = requestAnimationFrame(scan);
return () => {
if (raf) cancelAnimationFrame(raf);
};
}, [capture, save]);
const grouped = useMemo(() => {
return ACTIONS.reduce((acc, action) => {
const list = acc[action.section] || (acc[action.section] = []);
list.push(action);
return acc;
}, {});
}, []);
const getValueLabel = (action) => {
const [group, key] = action.path;
const stored = mapping?.[group]?.[key] ?? null;
return action.type === 'axis' ? formatAxis(stored) : formatButton(stored);
};
const handleClear = (action) => {
save((prev) => updatePath(prev, action.path, () => null));
};
return (
<section className="rounded-sm bg-[#1d232b] p-1 text-sm text-slate-100">
<div className="flex items-center justify-between">
<div>
<p className="text-xs font-semibold uppercase tracking-wide text-slate-400">Gamepad mapping</p>
<p className="text-[0.65rem] text-slate-500">
{gamepadConnected ? 'Press buttons or move sticks when prompted.' : 'Connect a controller to configure.'}
</p>
{capture && (
<p className="mt-1 text-[0.7rem] text-emerald-400">Capturing {capture.label}…</p>
)}
</div>
<button
type="button"
onClick={() => reset()}
className="rounded-sm bg-black/40 px-2 py-1 text-xs uppercase tracking-wide text-slate-200 hover:bg-black/60"
>
Clear all
</button>
</div>
<div className="mt-2 space-y-2">
{Object.entries(grouped).map(([section, actions]) => (
<div key={section} className="rounded border border-white/5 p-1">
<p className="text-[0.7rem] uppercase tracking-wide text-slate-500">{section}</p>
<div className="mt-1 space-y-1">
{actions.map((action) => (
<div key={action.id} className="flex items-center justify-between rounded bg-black/30 px-1 py-1 text-xs">
<div>
<p className="font-semibold text-slate-100">{action.label}</p>
<p className="text-[0.65rem] text-slate-400">{getValueLabel(action)}</p>
</div>
<div className="flex items-center gap-1">
<button
type="button"
onClick={() => handleClear(action)}
className="rounded bg-slate-800 px-2 py-1 text-[0.65rem] uppercase tracking-wide"
>
Clear
</button>
<button
type="button"
onClick={() => setCapture(action)}
className={`rounded px-2 py-1 text-[0.65rem] uppercase tracking-wide ${capture?.id === action.id ? 'bg-emerald-500 text-emerald-950' : 'bg-slate-700 text-slate-100'}`}
>
{capture?.id === action.id ? 'Waiting…' : 'Capture'}
</button>
</div>
</div>
))}
</div>
</div>
))}
</div>
</section>
);
}
webui/src/controls/inputs/GamepadInputManager.jsx
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@@ -2,7 +2,7 @@ import { useCallback, useEffect, useRef } from 'react';
import { useControlSystem } from '../ControlContext.jsx'; import { useControlSystem } from '../ControlContext.jsx';
import { clampUnit } from '../controlMath.js'; import { clampUnit } from '../controlMath.js';
import { useSettingsNamespace } from '../../settings/index.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'; const SOURCE = 'gamepad';
@@ -44,25 +44,55 @@ export default function GamepadInputManager() {
}, },
} = useControlSystem(); } = useControlSystem();
const { value: inputSettings } = useSettingsNamespace('inputs', INPUT_SETTINGS_DEFAULTS); 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 gamepadSettings = inputSettings.gamepad ?? INPUT_SETTINGS_DEFAULTS.gamepad;
const driveDeadzone = Math.min(Math.max(gamepadSettings.driveDeadzone ?? 0.2, 0), 0.8); 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 cameraDeadzone = Math.min(Math.max(gamepadSettings.cameraDeadzone ?? 0.25, 0), 0.9);
const servoStep = gamepadSettings.servoStep ?? INPUT_SETTINGS_DEFAULTS.gamepad.servoStep; const servoStep = gamepadSettings.servoStep ?? INPUT_SETTINGS_DEFAULTS.gamepad.servoStep;
const auxReverseScale = gamepadSettings.auxReverseScale ?? INPUT_SETTINGS_DEFAULTS.gamepad.auxReverseScale; 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 rafRef = useRef(null);
const lastVectorRef = useRef({ x: 0, y: 0, boost: false }); const lastVectorRef = useRef({ x: 0, y: 0, boost: false });
const lastAuxRef = useRef({ main: 0, side: 0, vacuum: 0 }); const lastAuxRef = useRef({ main: 0, side: 0, vacuum: 0 });
const buttonStateRef = useRef(new Map()); const buttonStateRef = useRef(new Map());
const servoThrottleRef = useRef(0); const servoThrottleRef = useRef(0);
const handleButtonEdge = useCallback( const handleButtonEdge = useCallback((key, pressed) => {
(index, pressed) => { const prev = buttonStateRef.current.get(key) || false;
const prev = buttonStateRef.current.get(index) || false; buttonStateRef.current.set(key, pressed);
buttonStateRef.current.set(index, pressed); return pressed && !prev;
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(() => { const pollGamepads = useCallback(() => {
if (typeof navigator === 'undefined' || !navigator.getGamepads) { if (typeof navigator === 'undefined' || !navigator.getGamepads) {
@@ -79,23 +109,34 @@ export default function GamepadInputManager() {
lastAuxRef.current = { main: 0, side: 0, vacuum: 0 }; lastAuxRef.current = { main: 0, side: 0, vacuum: 0 };
setAuxMotors({ main: 0, side: 0, vacuum: 0 }); setAuxMotors({ main: 0, side: 0, vacuum: 0 });
} }
registerInputState(SOURCE, { connected: false }); registerInputState(SOURCE, { connected: false, mappingReady });
return; return;
} }
const axisLX = clampUnit(applyDeadzone(pad.axes?.[0] ?? 0, driveDeadzone)); if (!mappingReady) {
const axisLY = clampUnit(applyDeadzone(-(pad.axes?.[1] ?? 0), driveDeadzone)); 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 }; const vector = { x: axisLX, y: axisLY, boost: false };
if (!vectorsEqual(vector, lastVectorRef.current)) { if (!vectorsEqual(vector, lastVectorRef.current)) {
lastVectorRef.current = vector; lastVectorRef.current = vector;
setDriveVector(vector, { source: SOURCE }); setDriveVector(vector, { source: SOURCE });
} }
const main = computeTriggerSpeed(pad.buttons?.[7], pad.buttons?.[5]); const mainMagnitude = Math.round(getButtonValue(pad, mapping.triggers.main) * 127);
const side = computeTriggerSpeed(pad.buttons?.[6], pad.buttons?.[4], 127, auxReverseScale); const mainReverse = isButtonPressed(pad, mapping.buttons.mainReverse);
const vacuum = pad.buttons?.[1]?.pressed ? 127 : 0; 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 }; let aux = { main, side, vacuum };
if (pad.buttons?.[0]?.pressed) { if (isButtonPressed(pad, mapping.buttons.allAux)) {
aux = { main: 127, side: 127, vacuum: 127 }; aux = { main: 127, side: 127, vacuum: 127 };
} }
if (!auxEqual(aux, lastAuxRef.current)) { if (!auxEqual(aux, lastAuxRef.current)) {
@@ -103,18 +144,20 @@ export default function GamepadInputManager() {
setAuxMotors(aux); 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(); const now = performance.now();
if (Math.abs(cameraAxis) > 0.25 && now - servoThrottleRef.current > 120) { if (Math.abs(cameraAxis) > 0.25 && now - servoThrottleRef.current > 120) {
servoThrottleRef.current = now; servoThrottleRef.current = now;
nudgeServo(cameraAxis > 0 ? servoStep : -servoStep); 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'); setMode('drive');
runMacro('drive-sequence'); 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'); setMode('dock');
runMacro('seek-dock'); runMacro('seek-dock');
} }
@@ -135,7 +178,22 @@ export default function GamepadInputManager() {
auxReverseScale, auxReverseScale,
cameraDeadzone, cameraDeadzone,
driveDeadzone, driveDeadzone,
getAxisValue,
getButtonValue,
handleButtonEdge, 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, nudgeServo,
registerInputState, registerInputState,
runMacro, runMacro,
webui/src/settings/namespaces.js
+22
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@@ -10,3 +10,25 @@ export const INPUT_SETTINGS_DEFAULTS = {
joystickSmoothing: 0.15, joystickSmoothing: 0.15,
}, },
}; };
export const GAMEPAD_MAPPING_DEFAULT = {
drive: {
horizontal: null,
vertical: null,
},
camera: {
vertical: null,
},
triggers: {
main: null,
side: null,
},
buttons: {
mainReverse: null,
sideReverse: null,
vacuum: null,
allAux: null,
driveMacro: null,
dockMacro: null,
},
};