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slopfixing / issue 001
This commit is contained in:
legop3
@@ -0,0 +1,723 @@
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"startTime": 9434.800000000745,
|
||||
"duration": 53
|
||||
}
|
||||
],
|
||||
"frameCount": 2103,
|
||||
"averageFrameMs": 22.205515929624347,
|
||||
"p95FrameMs": 16.799999999999272,
|
||||
"p99FrameMs": 100,
|
||||
"intervalDriftCount": 155,
|
||||
"averageIntervalDriftMs": 52.86322580645642,
|
||||
"p95IntervalDriftMs": 113.59999999776483,
|
||||
"p99IntervalDriftMs": 2354.099999997765
|
||||
},
|
||||
"consoleMessages": [
|
||||
{
|
||||
"type": "info",
|
||||
"text": "[socket] connecting to http://127.0.0.1:4173",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
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|
||||
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|
||||
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|
||||
"columnNumber": 63768
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
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|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "WebSocket connection to 'ws://127.0.0.1:4173/socket.io/?EIO=4&transport=websocket' failed: Error during WebSocket handshake: Unexpected response code: 200",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 0,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "error",
|
||||
"text": "connect_error undefined websocket error undefined",
|
||||
"location": {
|
||||
"url": "http://127.0.0.1:4173/assets/index-DhJId5qi.js",
|
||||
"line": 11,
|
||||
"column": 63988,
|
||||
"lineNumber": 11,
|
||||
"columnNumber": 63988
|
||||
}
|
||||
}
|
||||
],
|
||||
"failedRequests": [],
|
||||
"errorResponses": []
|
||||
}
|
||||
File diff suppressed because one or more lines are too long
@@ -12,7 +12,7 @@
|
||||
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
|
||||
<meta name="apple-mobile-web-app-title" content="Roomba Rover" />
|
||||
<title>Roomba Rover</title>
|
||||
<script type="module" crossorigin src="/assets/index-l3JqdlyF.js"></script>
|
||||
<script type="module" crossorigin src="/assets/index-DhJId5qi.js"></script>
|
||||
<link rel="stylesheet" crossorigin href="/assets/index-BVKa8Zph.css">
|
||||
</head>
|
||||
<body>
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
// Gamepad Input Manager
|
||||
// Purpose: Converts polled gamepad state into normalized control actions/commands. Scope: Integrates bindings, deadzone math, and dispatch callbacks for driving.
|
||||
import { useCallback, useEffect, useMemo, useRef } from 'react';
|
||||
import { useCallback, useEffect, useLayoutEffect, useMemo, useRef } from 'react';
|
||||
import { useControlSystem } from '../ControlContext.jsx';
|
||||
import { useSettingsNamespace } from '../../settings/index.js';
|
||||
import { GAMEPAD_SETTINGS_DEFAULTS, GAMEPAD_PROFILE_DEFAULT } from '../../settings/namespaces.js';
|
||||
@@ -73,30 +73,33 @@ export default function GamepadInputManager() {
|
||||
const lastAuxSentAtRef = useRef(0);
|
||||
const lastServoAtRef = useRef(0);
|
||||
const lastServoAngleRef = useRef(null);
|
||||
// The hub subscription is intentionally stable, so this ref is the bridge back to the latest
|
||||
// React values. Rewriting it after each commit is cheaper than tearing down browser gamepad
|
||||
// listeners every time settings, camera state, or control callbacks change.
|
||||
const latestRef = useRef(null);
|
||||
|
||||
const ensureProfile = useCallback(
|
||||
(padState) => {
|
||||
const signature = padState.signature ?? getPadSignature(padState);
|
||||
if (gamepadSettings?.profiles?.[signature] || profileCacheRef.current.has(signature)) {
|
||||
return;
|
||||
}
|
||||
profileCacheRef.current.add(signature);
|
||||
saveGamepadSettings((prev) => {
|
||||
const current = prev ?? GAMEPAD_SETTINGS_DEFAULTS;
|
||||
if (current.profiles?.[signature]) return current;
|
||||
const base = current?.defaults?.profile ?? GAMEPAD_PROFILE_DEFAULT;
|
||||
const nextProfile = createProfileForPad(padState, base);
|
||||
return {
|
||||
...current,
|
||||
profiles: {
|
||||
...(current.profiles ?? {}),
|
||||
[signature]: nextProfile,
|
||||
},
|
||||
};
|
||||
});
|
||||
},
|
||||
[gamepadSettings?.profiles, saveGamepadSettings],
|
||||
);
|
||||
const ensureProfile = useCallback((padState) => {
|
||||
const latest = latestRef.current;
|
||||
if (!latest) return;
|
||||
const signature = padState.signature ?? getPadSignature(padState);
|
||||
if (latest.gamepadSettings?.profiles?.[signature] || profileCacheRef.current.has(signature)) {
|
||||
return;
|
||||
}
|
||||
profileCacheRef.current.add(signature);
|
||||
latest.saveGamepadSettings((prev) => {
|
||||
const current = prev ?? GAMEPAD_SETTINGS_DEFAULTS;
|
||||
if (current.profiles?.[signature]) return current;
|
||||
const base = current?.defaults?.profile ?? GAMEPAD_PROFILE_DEFAULT;
|
||||
const nextProfile = createProfileForPad(padState, base);
|
||||
return {
|
||||
...current,
|
||||
profiles: {
|
||||
...(current.profiles ?? {}),
|
||||
[signature]: nextProfile,
|
||||
},
|
||||
};
|
||||
});
|
||||
}, []);
|
||||
|
||||
const handleButtonEdge = useCallback((key, pressed) => {
|
||||
const prev = buttonStateRef.current.get(key) || false;
|
||||
@@ -104,97 +107,118 @@ export default function GamepadInputManager() {
|
||||
return pressed && !prev;
|
||||
}, []);
|
||||
|
||||
const handleCameraAxis = useCallback(
|
||||
(axisValue, calibration) => {
|
||||
const config = state.camera?.config;
|
||||
if (!config) return;
|
||||
const now = typeof performance !== 'undefined' ? performance.now() : Date.now();
|
||||
const cameraMode = calibration?.cameraMode ?? 'absolute';
|
||||
const sensitivity = Math.max(1, Math.min(180, calibration?.cameraSensitivity ?? 60));
|
||||
if (cameraMode === 'velocity') {
|
||||
const dt = Math.min(50, now - lastServoAtRef.current || 16);
|
||||
const delta = axisValue * sensitivity * (dt / 1000);
|
||||
if (Math.abs(delta) < 0.01) return;
|
||||
const baseline =
|
||||
typeof lastServoAngleRef.current === 'number'
|
||||
? lastServoAngleRef.current
|
||||
: typeof state.camera?.angle === 'number'
|
||||
? state.camera.angle
|
||||
: typeof config.homeAngle === 'number'
|
||||
? config.homeAngle
|
||||
: 0;
|
||||
const nextAngle = baseline + delta;
|
||||
setServoAngle(nextAngle);
|
||||
lastServoAngleRef.current = nextAngle;
|
||||
lastServoAtRef.current = now;
|
||||
return;
|
||||
}
|
||||
const min = typeof config.minAngle === 'number' ? config.minAngle : -45;
|
||||
const max = typeof config.maxAngle === 'number' ? config.maxAngle : 45;
|
||||
const home = typeof config.homeAngle === 'number' ? config.homeAngle : (min + max) / 2;
|
||||
const angle =
|
||||
axisValue < 0
|
||||
? home + axisValue * (home - min)
|
||||
: home + axisValue * (max - home);
|
||||
if (
|
||||
typeof lastServoAngleRef.current === 'number' &&
|
||||
Math.abs(lastServoAngleRef.current - angle) < 0.35 &&
|
||||
now - lastServoAtRef.current < 80
|
||||
) {
|
||||
return;
|
||||
}
|
||||
const handleCameraAxis = useCallback((axisValue, calibration) => {
|
||||
const latest = latestRef.current;
|
||||
const config = latest?.cameraConfig;
|
||||
if (!latest || !config) return;
|
||||
const now = typeof performance !== 'undefined' ? performance.now() : Date.now();
|
||||
const cameraMode = calibration?.cameraMode ?? 'absolute';
|
||||
const sensitivity = Math.max(1, Math.min(180, calibration?.cameraSensitivity ?? 60));
|
||||
if (cameraMode === 'velocity') {
|
||||
const dt = Math.min(50, now - lastServoAtRef.current || 16);
|
||||
const delta = axisValue * sensitivity * (dt / 1000);
|
||||
if (Math.abs(delta) < 0.01) return;
|
||||
const baseline =
|
||||
typeof lastServoAngleRef.current === 'number'
|
||||
? lastServoAngleRef.current
|
||||
: typeof latest.cameraAngle === 'number'
|
||||
? latest.cameraAngle
|
||||
: typeof config.homeAngle === 'number'
|
||||
? config.homeAngle
|
||||
: 0;
|
||||
const nextAngle = baseline + delta;
|
||||
latest.setServoAngle(nextAngle);
|
||||
lastServoAngleRef.current = nextAngle;
|
||||
lastServoAtRef.current = now;
|
||||
lastServoAngleRef.current = angle;
|
||||
setServoAngle(angle);
|
||||
},
|
||||
[setServoAngle, state.camera?.angle, state.camera?.config],
|
||||
);
|
||||
return;
|
||||
}
|
||||
const min = typeof config.minAngle === 'number' ? config.minAngle : -45;
|
||||
const max = typeof config.maxAngle === 'number' ? config.maxAngle : 45;
|
||||
const home = typeof config.homeAngle === 'number' ? config.homeAngle : (min + max) / 2;
|
||||
const angle =
|
||||
axisValue < 0
|
||||
? home + axisValue * (home - min)
|
||||
: home + axisValue * (max - home);
|
||||
if (
|
||||
typeof lastServoAngleRef.current === 'number' &&
|
||||
Math.abs(lastServoAngleRef.current - angle) < 0.35 &&
|
||||
now - lastServoAtRef.current < 80
|
||||
) {
|
||||
return;
|
||||
}
|
||||
lastServoAtRef.current = now;
|
||||
lastServoAngleRef.current = angle;
|
||||
latest.setServoAngle(angle);
|
||||
}, []);
|
||||
|
||||
const activeSignature = useMemo(
|
||||
() => gamepadSettings?.activeSignature ?? null,
|
||||
[gamepadSettings?.activeSignature],
|
||||
);
|
||||
|
||||
useLayoutEffect(() => {
|
||||
// Layout timing matters because the requestAnimationFrame gamepad poll can run immediately
|
||||
// after React commits. Updating this ref before paint keeps the stable hub callback aligned
|
||||
// with the newest settings and control actions without resubscribing to the hub.
|
||||
latestRef.current = {
|
||||
activeSignature,
|
||||
cameraAngle: state.camera?.angle,
|
||||
cameraConfig: state.camera?.config,
|
||||
dockAssist,
|
||||
gamepadSettings,
|
||||
registerInputState,
|
||||
runMacro,
|
||||
saveGamepadSettings,
|
||||
setAuxMotors,
|
||||
setDriveVector,
|
||||
setMode,
|
||||
setServoAngle,
|
||||
toggleNightVision,
|
||||
};
|
||||
});
|
||||
|
||||
useEffect(() => {
|
||||
return subscribeGamepadHub((hubState) => {
|
||||
const activePad = pickActivePad(hubState.pads, activeSignature);
|
||||
const latest = latestRef.current;
|
||||
if (!latest) return;
|
||||
const activePad = pickActivePad(hubState.pads, latest.activeSignature);
|
||||
if (!activePad) {
|
||||
if (!areVectorsEqual(lastVectorRef.current, ZERO_VECTOR)) {
|
||||
lastVectorRef.current = ZERO_VECTOR;
|
||||
setDriveVector(ZERO_VECTOR, { source: SOURCE });
|
||||
latest.setDriveVector(ZERO_VECTOR, { source: SOURCE });
|
||||
}
|
||||
if (!areAuxEqual(lastAuxRef.current, ZERO_AUX)) {
|
||||
lastAuxRef.current = ZERO_AUX;
|
||||
setAuxMotors(ZERO_AUX);
|
||||
latest.setAuxMotors(ZERO_AUX);
|
||||
}
|
||||
buttonStateRef.current = new Map();
|
||||
reverseStateRef.current = { main: false, side: false };
|
||||
lastDriveSentAtRef.current = 0;
|
||||
lastAuxSentAtRef.current = 0;
|
||||
registerInputState(SOURCE, { connected: false });
|
||||
latest.registerInputState(SOURCE, { connected: false });
|
||||
return;
|
||||
}
|
||||
|
||||
if (isTextEntryActive()) {
|
||||
if (!areVectorsEqual(lastVectorRef.current, ZERO_VECTOR)) {
|
||||
lastVectorRef.current = ZERO_VECTOR;
|
||||
setDriveVector(ZERO_VECTOR, { source: SOURCE });
|
||||
latest.setDriveVector(ZERO_VECTOR, { source: SOURCE });
|
||||
}
|
||||
if (!areAuxEqual(lastAuxRef.current, ZERO_AUX)) {
|
||||
lastAuxRef.current = ZERO_AUX;
|
||||
setAuxMotors(ZERO_AUX);
|
||||
latest.setAuxMotors(ZERO_AUX);
|
||||
}
|
||||
buttonStateRef.current = new Map();
|
||||
reverseStateRef.current = { main: false, side: false };
|
||||
registerInputState(SOURCE, { connected: true, blocked: true });
|
||||
latest.registerInputState(SOURCE, { connected: true, blocked: true });
|
||||
return;
|
||||
}
|
||||
|
||||
ensureProfile(activePad);
|
||||
const signature = activePad.signature;
|
||||
const profile =
|
||||
gamepadSettings?.profiles?.[signature] ??
|
||||
gamepadSettings?.defaults?.profile ??
|
||||
latest.gamepadSettings?.profiles?.[signature] ??
|
||||
latest.gamepadSettings?.defaults?.profile ??
|
||||
GAMEPAD_PROFILE_DEFAULT;
|
||||
const outputs = computeGamepadOutputs(activePad, profile);
|
||||
|
||||
@@ -204,7 +228,7 @@ export default function GamepadInputManager() {
|
||||
if (idle || now - lastDriveSentAtRef.current >= DRIVE_RATE_MS) {
|
||||
lastVectorRef.current = outputs.driveVector;
|
||||
lastDriveSentAtRef.current = now;
|
||||
setDriveVector(outputs.driveVector, { source: SOURCE });
|
||||
latest.setDriveVector(outputs.driveVector, { source: SOURCE });
|
||||
}
|
||||
}
|
||||
|
||||
@@ -228,7 +252,7 @@ export default function GamepadInputManager() {
|
||||
if (isAuxIdle(aux) || now - lastAuxSentAtRef.current >= AUX_RATE_MS) {
|
||||
lastAuxRef.current = aux;
|
||||
lastAuxSentAtRef.current = now;
|
||||
setAuxMotors(aux);
|
||||
latest.setAuxMotors(aux);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -245,21 +269,21 @@ export default function GamepadInputManager() {
|
||||
}
|
||||
|
||||
if (outputs.buttons.driveMacro && handleButtonEdge('driveMacro', true)) {
|
||||
dockAssist.exitAssist();
|
||||
setMode('drive');
|
||||
runMacro('drive-sequence');
|
||||
latest.dockAssist.exitAssist();
|
||||
latest.setMode('drive');
|
||||
latest.runMacro('drive-sequence');
|
||||
} else if (!outputs.buttons.driveMacro) {
|
||||
handleButtonEdge('driveMacro', false);
|
||||
}
|
||||
|
||||
if (outputs.buttons.dockMacro && handleButtonEdge('dockMacro', true)) {
|
||||
dockAssist.toggleAssist();
|
||||
latest.dockAssist.toggleAssist();
|
||||
} else if (!outputs.buttons.dockMacro) {
|
||||
handleButtonEdge('dockMacro', false);
|
||||
}
|
||||
|
||||
if (outputs.buttons.nightVisionToggle && handleButtonEdge('nightVisionToggle', true)) {
|
||||
toggleNightVision();
|
||||
latest.toggleNightVision();
|
||||
} else if (!outputs.buttons.nightVisionToggle) {
|
||||
handleButtonEdge('nightVisionToggle', false);
|
||||
}
|
||||
@@ -268,7 +292,7 @@ export default function GamepadInputManager() {
|
||||
handleCameraAxis(outputs.cameraAxis, profile.calibration);
|
||||
}
|
||||
|
||||
registerInputState(SOURCE, {
|
||||
latest.registerInputState(SOURCE, {
|
||||
connected: true,
|
||||
signature,
|
||||
id: activePad.id,
|
||||
@@ -281,21 +305,7 @@ export default function GamepadInputManager() {
|
||||
bindings: outputs.sources,
|
||||
});
|
||||
});
|
||||
}, [
|
||||
activeSignature,
|
||||
ensureProfile,
|
||||
gamepadSettings?.defaults?.profile,
|
||||
gamepadSettings?.profiles,
|
||||
handleButtonEdge,
|
||||
handleCameraAxis,
|
||||
registerInputState,
|
||||
runMacro,
|
||||
setAuxMotors,
|
||||
setDriveVector,
|
||||
setMode,
|
||||
toggleNightVision,
|
||||
dockAssist,
|
||||
]);
|
||||
}, [ensureProfile, handleButtonEdge, handleCameraAxis]);
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
// Keyboard Input Manager
|
||||
// Purpose: Captures and translates keyboard events into normalized control intents. Scope: Owns keydown/keyup listeners and dispatch coordination for drive controls.
|
||||
import { useCallback, useEffect, useMemo, useRef } from 'react';
|
||||
import { useCallback, useEffect, useLayoutEffect, useMemo, useRef } from 'react';
|
||||
import { useControlSystem } from '../ControlContext.jsx';
|
||||
import { useChat } from '../../context/ChatContext.jsx';
|
||||
import { useSessionActions, useSessionSelector } from '../../context/SessionContext.jsx';
|
||||
@@ -103,7 +103,7 @@ export default function KeyboardInputManager() {
|
||||
const homeAssistant = useSessionSelector((state) => state.session?.homeAssistant || null);
|
||||
const dockAssist = useManualDockAssist();
|
||||
const { homeAssistantSetState } = useSessionActions();
|
||||
const { focusChat, blurChat, isChatFocused } = useChat();
|
||||
const { focusChat, isChatFocused } = useChat();
|
||||
const { value: inputSettings } = useSettingsNamespace('inputs', INPUT_SETTINGS_DEFAULTS);
|
||||
const { save: saveVideoSettings } = useSettingsNamespace('video', VIDEO_SETTINGS_DEFAULTS);
|
||||
const keymap = useMemo(() => normalizeKeymapEntries(state.keymap), [state.keymap]);
|
||||
@@ -142,19 +142,25 @@ export default function KeyboardInputManager() {
|
||||
const servoIntervalRef = useRef(null);
|
||||
const songIntervalRef = useRef(null);
|
||||
const hornActiveRef = useRef(false);
|
||||
// Global keyboard listeners must stay mounted while React state churns underneath them. This
|
||||
// ref is rewritten after every commit so the stable handlers can still use fresh settings,
|
||||
// keymaps, and action callbacks without making listener registration depend on those values.
|
||||
const latestRef = useRef(null);
|
||||
|
||||
const driveFromKeys = useCallback(() => {
|
||||
const latest = latestRef.current;
|
||||
if (!latest) return;
|
||||
const tokensSnapshot = new Set(activeTokensRef.current);
|
||||
const speedOptions = getKeyboardDriveSpeedOptions(tokensSnapshot, keymap, keyboardSpeeds);
|
||||
const vector = computeKeyboardDriveVector(tokensSnapshot, keymap);
|
||||
const aux = computeKeyboardAuxMotors(tokensSnapshot, keymap);
|
||||
const speedOptions = getKeyboardDriveSpeedOptions(tokensSnapshot, latest.keymap, latest.keyboardSpeeds);
|
||||
const vector = computeKeyboardDriveVector(tokensSnapshot, latest.keymap);
|
||||
const aux = computeKeyboardAuxMotors(tokensSnapshot, latest.keymap);
|
||||
if (
|
||||
vector.x !== lastVectorRef.current.x ||
|
||||
vector.y !== lastVectorRef.current.y ||
|
||||
vector.boost !== lastVectorRef.current.boost
|
||||
) {
|
||||
lastVectorRef.current = vector;
|
||||
setDriveVector(vector, { source: SOURCE, speedOptions });
|
||||
latest.setDriveVector(vector, { source: SOURCE, speedOptions });
|
||||
}
|
||||
if (
|
||||
aux.main !== lastAuxRef.current.main ||
|
||||
@@ -162,14 +168,14 @@ export default function KeyboardInputManager() {
|
||||
aux.vacuum !== lastAuxRef.current.vacuum
|
||||
) {
|
||||
lastAuxRef.current = aux;
|
||||
setAuxMotors(aux);
|
||||
latest.setAuxMotors(aux);
|
||||
}
|
||||
registerInputState(SOURCE, {
|
||||
latest.registerInputState(SOURCE, {
|
||||
keys: Array.from(tokensSnapshot),
|
||||
vector,
|
||||
aux,
|
||||
});
|
||||
}, [keymap, keyboardSpeeds, registerInputState, setAuxMotors, setDriveVector]);
|
||||
}, []);
|
||||
|
||||
const stopServoLoop = useCallback(() => {
|
||||
if (servoIntervalRef.current) {
|
||||
@@ -179,11 +185,13 @@ export default function KeyboardInputManager() {
|
||||
}, []);
|
||||
|
||||
const computeServoDirection = useCallback(() => {
|
||||
const latest = latestRef.current;
|
||||
if (!latest) return 0;
|
||||
const tokensSnapshot = new Set(activeTokensRef.current);
|
||||
const up = bindingActive(keymap.cameraUp, tokensSnapshot);
|
||||
const down = bindingActive(keymap.cameraDown, tokensSnapshot);
|
||||
const up = bindingActive(latest.keymap.cameraUp, tokensSnapshot);
|
||||
const down = bindingActive(latest.keymap.cameraDown, tokensSnapshot);
|
||||
return (up ? 1 : 0) - (down ? 1 : 0);
|
||||
}, [keymap]);
|
||||
}, []);
|
||||
|
||||
const ensureServoLoop = useCallback(() => {
|
||||
const direction = computeServoDirection();
|
||||
@@ -200,11 +208,16 @@ export default function KeyboardInputManager() {
|
||||
stopServoLoop();
|
||||
return;
|
||||
}
|
||||
nudgeServo(nextDirection * servoStep);
|
||||
servoIntervalRef.current = setTimeout(tick, servoRepeatMs);
|
||||
const latest = latestRef.current;
|
||||
if (!latest) {
|
||||
stopServoLoop();
|
||||
return;
|
||||
}
|
||||
latest.nudgeServo(nextDirection * latest.servoStep);
|
||||
servoIntervalRef.current = setTimeout(tick, latest.servoRepeatMs);
|
||||
};
|
||||
servoIntervalRef.current = setTimeout(tick, 0);
|
||||
}, [computeServoDirection, nudgeServo, servoRepeatMs, servoStep, stopServoLoop]);
|
||||
}, [computeServoDirection, stopServoLoop]);
|
||||
|
||||
const stopSongLoop = useCallback(() => {
|
||||
if (songIntervalRef.current) {
|
||||
@@ -214,27 +227,27 @@ export default function KeyboardInputManager() {
|
||||
}, []);
|
||||
|
||||
const computeSongDirection = useCallback(() => {
|
||||
const latest = latestRef.current;
|
||||
if (!latest) return 0;
|
||||
const tokensSnapshot = new Set(activeTokensRef.current);
|
||||
const up = bindingActive(keymap.songNoteUp, tokensSnapshot);
|
||||
const down = bindingActive(keymap.songNoteDown, tokensSnapshot);
|
||||
const up = bindingActive(latest.keymap.songNoteUp, tokensSnapshot);
|
||||
const down = bindingActive(latest.keymap.songNoteDown, tokensSnapshot);
|
||||
return (up ? 1 : 0) - (down ? 1 : 0);
|
||||
}, [keymap]);
|
||||
}, []);
|
||||
|
||||
const triggerSongChange = useCallback(
|
||||
(direction) => {
|
||||
if (direction === 0) return;
|
||||
const current = typeof state.song?.note === 'number' ? state.song.note : SONG_DEFAULT_NOTE;
|
||||
let next = current + direction;
|
||||
if (next > NOTE_MAX) {
|
||||
next = NOTE_MIN;
|
||||
} else if (next < NOTE_MIN) {
|
||||
next = NOTE_MAX;
|
||||
}
|
||||
const finalNote = setSongNote(next);
|
||||
sendSong([{ note: finalNote, duration: SONG_DEFAULT_DURATION }], { slot: 0 });
|
||||
},
|
||||
[sendSong, setSongNote, state.song],
|
||||
);
|
||||
const triggerSongChange = useCallback((direction) => {
|
||||
const latest = latestRef.current;
|
||||
if (!latest || direction === 0) return;
|
||||
const current = typeof latest.songNote === 'number' ? latest.songNote : SONG_DEFAULT_NOTE;
|
||||
let next = current + direction;
|
||||
if (next > NOTE_MAX) {
|
||||
next = NOTE_MIN;
|
||||
} else if (next < NOTE_MIN) {
|
||||
next = NOTE_MAX;
|
||||
}
|
||||
const finalNote = latest.setSongNote(next);
|
||||
latest.sendSong([{ note: finalNote, duration: SONG_DEFAULT_DURATION }], { slot: 0 });
|
||||
}, []);
|
||||
|
||||
const ensureSongLoop = useCallback(() => {
|
||||
const direction = computeSongDirection();
|
||||
@@ -258,6 +271,7 @@ export default function KeyboardInputManager() {
|
||||
}, [computeSongDirection, stopSongLoop, triggerSongChange]);
|
||||
|
||||
const resetAll = useCallback(() => {
|
||||
const latest = latestRef.current;
|
||||
activeTokensRef.current.clear();
|
||||
lastVectorRef.current = ZERO_VECTOR;
|
||||
lastAuxRef.current = ZERO_AUX;
|
||||
@@ -265,97 +279,131 @@ export default function KeyboardInputManager() {
|
||||
stopSongLoop();
|
||||
if (hornActiveRef.current) {
|
||||
hornActiveRef.current = false;
|
||||
stopHorn();
|
||||
latest?.stopHorn();
|
||||
}
|
||||
setMicPttActive(false);
|
||||
stopAllMotion();
|
||||
registerInputState(SOURCE, { keys: [], vector: ZERO_VECTOR, aux: ZERO_AUX });
|
||||
}, [registerInputState, setMicPttActive, stopAllMotion, stopHorn, stopServoLoop, stopSongLoop]);
|
||||
latest?.setMicPttActive(false);
|
||||
latest?.stopAllMotion();
|
||||
latest?.registerInputState(SOURCE, { keys: [], vector: ZERO_VECTOR, aux: ZERO_AUX });
|
||||
}, [stopServoLoop, stopSongLoop]);
|
||||
|
||||
const triggerHomeAssistantCycle = useCallback(
|
||||
(targetState) => {
|
||||
const ha = homeAssistant;
|
||||
if (!ha?.enabled || !ha?.connected) return;
|
||||
if (ha?.lightPolicy?.locked || ha?.lightPolicy?.lockedOn) return;
|
||||
const entities = ha.entities || [];
|
||||
const eligible = entities.filter(
|
||||
(ent) =>
|
||||
(ent.type === 'light' || ent.type === 'switch') &&
|
||||
ent.available !== false &&
|
||||
ent.state !== 'unavailable',
|
||||
);
|
||||
if (eligible.length === 0) return;
|
||||
if (targetState === 'on') {
|
||||
const next = eligible.find((ent) => ent.state !== 'on');
|
||||
if (next) {
|
||||
homeAssistantSetState(next.id, 'on').catch(() => {});
|
||||
}
|
||||
return;
|
||||
const triggerHomeAssistantCycle = useCallback((targetState) => {
|
||||
const latest = latestRef.current;
|
||||
const ha = latest?.homeAssistant;
|
||||
if (!ha?.enabled || !ha?.connected) return;
|
||||
if (ha?.lightPolicy?.locked || ha?.lightPolicy?.lockedOn) return;
|
||||
const entities = ha.entities || [];
|
||||
const eligible = entities.filter(
|
||||
(ent) =>
|
||||
(ent.type === 'light' || ent.type === 'switch') &&
|
||||
ent.available !== false &&
|
||||
ent.state !== 'unavailable',
|
||||
);
|
||||
if (eligible.length === 0) return;
|
||||
if (targetState === 'on') {
|
||||
const next = eligible.find((ent) => ent.state !== 'on');
|
||||
if (next) {
|
||||
latest.homeAssistantSetState(next.id, 'on').catch(() => {});
|
||||
}
|
||||
if (targetState === 'off') {
|
||||
for (let idx = eligible.length - 1; idx >= 0; idx -= 1) {
|
||||
const ent = eligible[idx];
|
||||
if (ent.state === 'on') {
|
||||
homeAssistantSetState(ent.id, 'off').catch(() => {});
|
||||
break;
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (targetState === 'off') {
|
||||
for (let idx = eligible.length - 1; idx >= 0; idx -= 1) {
|
||||
const ent = eligible[idx];
|
||||
if (ent.state === 'on') {
|
||||
latest.homeAssistantSetState(ent.id, 'off').catch(() => {});
|
||||
break;
|
||||
}
|
||||
}
|
||||
},
|
||||
[homeAssistantSetState, homeAssistant],
|
||||
);
|
||||
}
|
||||
}, []);
|
||||
|
||||
const cycleVideoFilter = useCallback(() => {
|
||||
// Update through the same settings namespace as the Page settings dropdown so the keyboard
|
||||
// shortcut and menu never maintain separate copies of the selected filter.
|
||||
saveVideoSettings((current) => ({
|
||||
const latest = latestRef.current;
|
||||
latest?.saveVideoSettings((current) => ({
|
||||
...(current ?? {}),
|
||||
colorFilter: nextVideoFilter(current?.colorFilter),
|
||||
}));
|
||||
}, [saveVideoSettings]);
|
||||
}, []);
|
||||
|
||||
useLayoutEffect(() => {
|
||||
// The assignment lives in a layout effect instead of render because the current React lint
|
||||
// rules reserve refs for effects and event handlers. Layout timing keeps the ref current
|
||||
// before the browser can deliver the next keyboard event after a committed render.
|
||||
latestRef.current = {
|
||||
actionTokens,
|
||||
dockAssist,
|
||||
focusChat,
|
||||
homeAssistant,
|
||||
homeAssistantSetState,
|
||||
isChatFocused,
|
||||
keyboardSpeeds,
|
||||
keymap,
|
||||
nudgeServo,
|
||||
registerInputState,
|
||||
runMacro,
|
||||
saveVideoSettings,
|
||||
sendSong,
|
||||
servoRepeatMs,
|
||||
servoStep,
|
||||
setAuxMotors,
|
||||
setDriveVector,
|
||||
setMicPttActive,
|
||||
setMode,
|
||||
setSongNote,
|
||||
songNote: state.song?.note,
|
||||
startHorn,
|
||||
stopAllMotion,
|
||||
stopHorn,
|
||||
toggleNightVision,
|
||||
};
|
||||
});
|
||||
|
||||
useEffect(() => {
|
||||
function handleKeyDown(event) {
|
||||
const latest = latestRef.current;
|
||||
if (!latest) return;
|
||||
if (isKeyboardCaptureLocked()) return;
|
||||
if (shouldIgnoreEvent(event)) return;
|
||||
const tokens = tokensForEvent(event);
|
||||
if (tokens.length === 0) return;
|
||||
const tokenSet = new Set(tokens);
|
||||
if (bindingActive(keymap.chatFocus, tokenSet)) {
|
||||
if (bindingActive(latest.keymap.chatFocus, tokenSet)) {
|
||||
event.preventDefault();
|
||||
resetAll();
|
||||
if (!isChatFocused) {
|
||||
focusChat();
|
||||
if (!latest.isChatFocused) {
|
||||
latest.focusChat();
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (tokens.some((token) => actionTokens.has(token))) {
|
||||
if (tokens.some((token) => latest.actionTokens.has(token))) {
|
||||
event.preventDefault();
|
||||
}
|
||||
const newlyPressed = tokens.filter((token) => !activeTokensRef.current.has(token));
|
||||
newlyPressed.forEach((token) => activeTokensRef.current.add(token));
|
||||
|
||||
if (newlyPressed.length > 0) {
|
||||
if (newlyPressed.some((token) => keymap.driveMacro?.has(token))) {
|
||||
dockAssist.exitAssist();
|
||||
setMode('drive');
|
||||
runMacro('drive-sequence');
|
||||
} else if (newlyPressed.some((token) => keymap.dockMacro?.has(token))) {
|
||||
dockAssist.toggleAssist();
|
||||
} else if (newlyPressed.some((token) => keymap.nightVisionToggle?.has(token))) {
|
||||
toggleNightVision();
|
||||
} else if (newlyPressed.some((token) => keymap.videoFilterCycle?.has(token))) {
|
||||
if (newlyPressed.some((token) => latest.keymap.driveMacro?.has(token))) {
|
||||
latest.dockAssist.exitAssist();
|
||||
latest.setMode('drive');
|
||||
latest.runMacro('drive-sequence');
|
||||
} else if (newlyPressed.some((token) => latest.keymap.dockMacro?.has(token))) {
|
||||
latest.dockAssist.toggleAssist();
|
||||
} else if (newlyPressed.some((token) => latest.keymap.nightVisionToggle?.has(token))) {
|
||||
latest.toggleNightVision();
|
||||
} else if (newlyPressed.some((token) => latest.keymap.videoFilterCycle?.has(token))) {
|
||||
cycleVideoFilter();
|
||||
} else if (newlyPressed.some((token) => keymap.hornHonk?.has(token))) {
|
||||
} else if (newlyPressed.some((token) => latest.keymap.hornHonk?.has(token))) {
|
||||
if (!hornActiveRef.current) {
|
||||
const started = startHorn();
|
||||
const started = latest.startHorn();
|
||||
hornActiveRef.current = Boolean(started);
|
||||
}
|
||||
} else if (newlyPressed.some((token) => keymap.micPtt?.has(token))) {
|
||||
setMicPttActive(true);
|
||||
} else if (newlyPressed.some((token) => keymap.homeAssistantOn?.has(token))) {
|
||||
} else if (newlyPressed.some((token) => latest.keymap.micPtt?.has(token))) {
|
||||
latest.setMicPttActive(true);
|
||||
} else if (newlyPressed.some((token) => latest.keymap.homeAssistantOn?.has(token))) {
|
||||
triggerHomeAssistantCycle('on');
|
||||
} else if (newlyPressed.some((token) => keymap.homeAssistantOff?.has(token))) {
|
||||
} else if (newlyPressed.some((token) => latest.keymap.homeAssistantOff?.has(token))) {
|
||||
triggerHomeAssistantCycle('off');
|
||||
}
|
||||
}
|
||||
@@ -366,15 +414,17 @@ export default function KeyboardInputManager() {
|
||||
}
|
||||
|
||||
function handleKeyUp(event) {
|
||||
const latest = latestRef.current;
|
||||
if (!latest) return;
|
||||
if (isKeyboardCaptureLocked()) return;
|
||||
const tokens = tokensForEvent(event);
|
||||
tokens.forEach((token) => activeTokensRef.current.delete(token));
|
||||
if (hornActiveRef.current && !bindingActive(keymap.hornHonk, activeTokensRef.current)) {
|
||||
if (hornActiveRef.current && !bindingActive(latest.keymap.hornHonk, activeTokensRef.current)) {
|
||||
hornActiveRef.current = false;
|
||||
stopHorn();
|
||||
latest.stopHorn();
|
||||
}
|
||||
if (!bindingActive(keymap.micPtt, activeTokensRef.current)) {
|
||||
setMicPttActive(false);
|
||||
if (!bindingActive(latest.keymap.micPtt, activeTokensRef.current)) {
|
||||
latest.setMicPttActive(false);
|
||||
}
|
||||
ensureServoLoop();
|
||||
ensureSongLoop();
|
||||
@@ -385,6 +435,9 @@ export default function KeyboardInputManager() {
|
||||
resetAll();
|
||||
}
|
||||
|
||||
// The global listeners are intentionally registered through stable handlers. High-frequency
|
||||
// control context updates should refresh latestRef.current, not force the browser to detach
|
||||
// and reattach window listeners while someone may be driving.
|
||||
window.addEventListener('keydown', handleKeyDown, { capture: true });
|
||||
window.addEventListener('keyup', handleKeyUp, { capture: true });
|
||||
window.addEventListener('blur', handleBlur);
|
||||
@@ -393,36 +446,7 @@ export default function KeyboardInputManager() {
|
||||
window.removeEventListener('keyup', handleKeyUp, { capture: true });
|
||||
window.removeEventListener('blur', handleBlur);
|
||||
};
|
||||
}, [
|
||||
actionTokens,
|
||||
blurChat,
|
||||
driveFromKeys,
|
||||
ensureServoLoop,
|
||||
ensureSongLoop,
|
||||
focusChat,
|
||||
isChatFocused,
|
||||
keymap.chatFocus,
|
||||
keymap.dockMacro,
|
||||
keymap.driveMacro,
|
||||
keymap.hornHonk,
|
||||
keymap.homeAssistantOff,
|
||||
keymap.homeAssistantOn,
|
||||
keymap.micPtt,
|
||||
keymap.nightVisionToggle,
|
||||
keymap.videoFilterCycle,
|
||||
resetAll,
|
||||
runMacro,
|
||||
setMicPttActive,
|
||||
setMode,
|
||||
stopAllMotion,
|
||||
stopSongLoop,
|
||||
startHorn,
|
||||
stopHorn,
|
||||
toggleNightVision,
|
||||
triggerHomeAssistantCycle,
|
||||
cycleVideoFilter,
|
||||
dockAssist,
|
||||
]);
|
||||
}, [cycleVideoFilter, driveFromKeys, ensureServoLoop, ensureSongLoop, resetAll, triggerHomeAssistantCycle]);
|
||||
|
||||
const latestResetAllRef = useRef(resetAll);
|
||||
useEffect(() => {
|
||||
|
||||
Reference in New Issue
Block a user