mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
guh
This commit is contained in:
legop3
@@ -30,19 +30,6 @@ const CODE_ALIASES = {
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Equal: '=',
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Backquote: '`',
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};
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const SPECIAL_CODE_FROM_KEY = {
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'[': 'BracketLeft',
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']': 'BracketRight',
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'\\': 'Backslash',
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';': 'Semicolon',
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"'": 'Quote',
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',': 'Comma',
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'.': 'Period',
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'/': 'Slash',
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'-': 'Minus',
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'=': 'Equal',
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'`': 'Backquote',
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};
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function shouldIgnoreEvent(event) {
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const target = event.target;
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@@ -56,25 +43,35 @@ function shouldIgnoreEvent(event) {
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);
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}
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function canonicalizeBinding(value) {
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function canonicalizeValue(value) {
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if (typeof value !== 'string') return '';
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const lower = value.toLowerCase();
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return KEY_ALIASES[lower] ?? lower;
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}
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function deriveCodeFromKey(key) {
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if (!key) return null;
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if (SPECIAL_CODE_FROM_KEY[key]) return SPECIAL_CODE_FROM_KEY[key];
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if (key.length === 1) {
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if (key >= 'a' && key <= 'z') {
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return `Key${key.toUpperCase()}`;
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}
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if (key >= '0' && key <= '9') {
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return `Digit${key}`;
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}
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function resolveCodeToken(code) {
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if (!code || typeof code !== 'string') return '';
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if (CODE_ALIASES[code]) return CODE_ALIASES[code];
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if (code.startsWith('Key') && code.length === 4) {
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return code.slice(3).toLowerCase();
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}
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if (key === 'shift') return null;
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return null;
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if (code.startsWith('Digit') && code.length === 6) {
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return code.slice(5);
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}
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if (code.startsWith('Numpad') && code.length > 6) {
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const suffix = code.slice(6);
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if (/^[0-9]$/.test(suffix)) return suffix;
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}
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return '';
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}
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function eventToTokens(event) {
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const tokens = new Set();
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const keyToken = canonicalizeValue(event?.key ?? '');
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if (keyToken) tokens.add(keyToken);
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const codeToken = resolveCodeToken(event?.code ?? '');
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if (codeToken) tokens.add(codeToken);
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return Array.from(tokens);
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}
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function normalizeKeymap(keymap = {}) {
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@@ -82,34 +79,14 @@ function normalizeKeymap(keymap = {}) {
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const values = Array.isArray(bindings) ? bindings : [bindings];
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const normalized = new Set();
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values.forEach((value) => {
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const canonical = canonicalizeBinding(String(value));
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if (canonical) {
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normalized.add(canonical);
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const derivedCode = deriveCodeFromKey(canonical);
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if (derivedCode) normalized.add(derivedCode);
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}
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const token = canonicalizeValue(String(value));
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if (token) normalized.add(token);
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});
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return [action, normalized];
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});
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return Object.fromEntries(entries);
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}
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function canonicalizeEventKey(event) {
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if (!event) return '';
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const code = event.code;
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if (code && CODE_ALIASES[code]) {
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return CODE_ALIASES[code];
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}
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const key = event.key ?? '';
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const lower = key.toLowerCase();
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return KEY_ALIASES[lower] ?? lower;
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}
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function bindingHas(bindingSet, key) {
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if (!bindingSet || bindingSet.size === 0) return false;
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return bindingSet.has(key);
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}
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function bindingActive(bindingSet, keys) {
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if (!bindingSet || bindingSet.size === 0) return false;
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for (const key of keys) {
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@@ -165,20 +142,6 @@ function computeAuxMotors(keys, keymap) {
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return { main, side, vacuum };
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}
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function vectorsEqual(a, b) {
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return (
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a &&
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b &&
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a.x === b.x &&
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a.y === b.y &&
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a.boost === b.boost
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);
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}
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function auxEqual(a, b) {
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return a && b && a.main === b.main && a.side === b.side && a.vacuum === b.vacuum;
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}
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export default function KeyboardInputManager() {
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const {
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state,
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@@ -193,36 +156,46 @@ export default function KeyboardInputManager() {
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},
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} = useControlSystem();
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const keymap = useMemo(() => normalizeKeymap(state.keymap), [state.keymap]);
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const servoStep = Math.abs(state.camera?.config?.nudgeDegrees) || 1;
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const pressedKeysRef = useRef(new Set());
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const actionTokens = useMemo(() => {
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const tokens = new Set();
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Object.values(keymap).forEach((bindingSet) => {
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if (!bindingSet) return;
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bindingSet.forEach((token) => tokens.add(token));
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});
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return tokens;
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}, [keymap]);
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const servoStep = useMemo(
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() => Math.abs(state.camera?.config?.nudgeDegrees || 1),
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[state.camera?.config?.nudgeDegrees],
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);
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const activeKeysRef = useRef(new Set());
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const lastVectorRef = useRef(ZERO_VECTOR);
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const lastAuxRef = useRef(ZERO_AUX);
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const cameraHoldRef = useRef(new Set());
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const servoIntervalRef = useRef(null);
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const actionKeys = useMemo(() => {
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const entries = Object.values(keymap);
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const set = new Set();
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entries.forEach((bindingSet) => {
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bindingSet?.forEach((binding) => set.add(binding));
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});
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return set;
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}, [keymap]);
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const driveFromKeys = useCallback(() => {
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const keys = pressedKeysRef.current;
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const vector = computeDriveVector(keys, keymap);
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const aux = computeAuxMotors(keys, keymap);
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if (!vectorsEqual(vector, lastVectorRef.current)) {
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const keysSnapshot = new Set(activeKeysRef.current);
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const vector = computeDriveVector(keysSnapshot, keymap);
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const aux = computeAuxMotors(keysSnapshot, keymap);
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if (
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vector.x !== lastVectorRef.current.x ||
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vector.y !== lastVectorRef.current.y ||
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vector.boost !== lastVectorRef.current.boost
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) {
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lastVectorRef.current = vector;
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setDriveVector(vector, { source: SOURCE });
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}
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if (!auxEqual(aux, lastAuxRef.current)) {
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if (
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aux.main !== lastAuxRef.current.main ||
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aux.side !== lastAuxRef.current.side ||
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aux.vacuum !== lastAuxRef.current.vacuum
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) {
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lastAuxRef.current = aux;
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setAuxMotors(aux);
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}
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registerInputState(SOURCE, {
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keys: Array.from(keys),
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keys: Array.from(keysSnapshot),
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vector,
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aux,
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});
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@@ -235,36 +208,39 @@ export default function KeyboardInputManager() {
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}
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}, []);
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const startServoLoop = useCallback(() => {
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if (servoIntervalRef.current) return;
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const computeServoDirection = useCallback(() => {
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const keysSnapshot = new Set(activeKeysRef.current);
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const up = bindingActive(keymap.cameraUp, keysSnapshot);
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const down = bindingActive(keymap.cameraDown, keysSnapshot);
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return (up ? 1 : 0) - (down ? 1 : 0);
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}, [keymap]);
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const ensureServoLoop = useCallback(() => {
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const direction = computeServoDirection();
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if (direction === 0) {
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stopServoLoop();
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return;
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}
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if (servoIntervalRef.current) {
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return;
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}
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const tick = () => {
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const up = cameraHoldRef.current.has('up') ? 1 : 0;
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const down = cameraHoldRef.current.has('down') ? 1 : 0;
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const direction = up - down;
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if (direction === 0) {
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servoIntervalRef.current = null;
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const nextDirection = computeServoDirection();
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if (nextDirection === 0) {
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stopServoLoop();
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return;
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}
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nudgeServo(direction * servoStep);
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nudgeServo(nextDirection * servoStep);
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servoIntervalRef.current = setTimeout(tick, SERVO_REPEAT_MS);
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};
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servoIntervalRef.current = setTimeout(tick, 0);
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}, [nudgeServo, servoStep]);
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const updateServoHold = useCallback(() => {
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if (cameraHoldRef.current.size === 0) {
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stopServoLoop();
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} else {
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startServoLoop();
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}
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}, [startServoLoop, stopServoLoop]);
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}, [computeServoDirection, nudgeServo, servoStep, stopServoLoop]);
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const resetAll = useCallback(() => {
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pressedKeysRef.current.clear();
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cameraHoldRef.current.clear();
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stopServoLoop();
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activeKeysRef.current.clear();
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lastVectorRef.current = ZERO_VECTOR;
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lastAuxRef.current = ZERO_AUX;
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stopServoLoop();
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stopAllMotion();
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registerInputState(SOURCE, { keys: [], vector: ZERO_VECTOR, aux: ZERO_AUX });
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}, [registerInputState, stopAllMotion, stopServoLoop]);
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@@ -272,55 +248,32 @@ export default function KeyboardInputManager() {
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useEffect(() => {
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function handleKeyDown(event) {
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if (shouldIgnoreEvent(event)) return;
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const key = canonicalizeEventKey(event);
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const codeToken = event.code;
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if (!key) return;
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if (actionKeys.has(key) || (codeToken && actionKeys.has(codeToken))) {
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const tokens = eventToTokens(event);
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if (tokens.length === 0) return;
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if (tokens.some((token) => actionTokens.has(token))) {
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event.preventDefault();
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}
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pressedKeysRef.current.add(key);
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if (codeToken) {
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pressedKeysRef.current.add(codeToken);
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}
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const newlyPressed = tokens.filter((token) => !activeKeysRef.current.has(token));
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newlyPressed.forEach((token) => activeKeysRef.current.add(token));
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if (bindingHas(keymap.driveMacro, key)) {
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setMode('drive');
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runMacro('drive-sequence');
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} else if (bindingHas(keymap.dockMacro, key)) {
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setMode('dock');
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runMacro('seek-dock');
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} else if (bindingHas(keymap.cameraUp, key)) {
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cameraHoldRef.current.add('up');
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updateServoHold();
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} else if (bindingHas(keymap.cameraDown, key)) {
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cameraHoldRef.current.add('down');
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updateServoHold();
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if (newlyPressed.length > 0) {
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if (newlyPressed.some((token) => keymap.driveMacro?.has(token))) {
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setMode('drive');
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runMacro('drive-sequence');
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} else if (newlyPressed.some((token) => keymap.dockMacro?.has(token))) {
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setMode('dock');
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runMacro('seek-dock');
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}
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}
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ensureServoLoop();
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driveFromKeys();
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}
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function handleKeyUp(event) {
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const key = canonicalizeEventKey(event);
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const codeToken = event.code;
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if (key) {
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pressedKeysRef.current.delete(key);
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}
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if (codeToken) {
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pressedKeysRef.current.delete(codeToken);
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}
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if (bindingHas(keymap.cameraUp, key) || (codeToken && bindingHas(keymap.cameraUp, codeToken))) {
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cameraHoldRef.current.delete('up');
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updateServoHold();
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} else if (
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bindingHas(keymap.cameraDown, key) ||
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(codeToken && bindingHas(keymap.cameraDown, codeToken))
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) {
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cameraHoldRef.current.delete('down');
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updateServoHold();
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}
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const tokens = eventToTokens(event);
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tokens.forEach((token) => activeKeysRef.current.delete(token));
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ensureServoLoop();
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driveFromKeys();
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}
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@@ -336,7 +289,7 @@ export default function KeyboardInputManager() {
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window.removeEventListener('keyup', handleKeyUp);
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window.removeEventListener('blur', handleBlur);
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};
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}, [actionKeys, driveFromKeys, keymap, resetAll, runMacro, setMode, updateServoHold]);
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}, [actionTokens, driveFromKeys, ensureServoLoop, keymap.dockMacro, keymap.driveMacro, resetAll, runMacro, setMode]);
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useEffect(() => {
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resetAll();
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