mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 17:40:46 -04:00
guh
This commit is contained in:
legop3
@@ -0,0 +1,143 @@
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import { useCallback, useEffect, useRef } from 'react';
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import { useControlSystem } from '../ControlContext.jsx';
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import { clampUnit } from '../controlMath.js';
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const SOURCE = 'gamepad';
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const DEADZONE = 0.2;
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function applyDeadzone(value) {
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return Math.abs(value) < DEADZONE ? 0 : value;
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}
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function computeTriggerSpeed(button, reverseButton, max = 127, reverseScale = 1) {
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if (!button) return 0;
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const value = typeof button.value === 'number' ? button.value : button.pressed ? 1 : 0;
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if (value < 0.05) return 0;
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const direction = reverseButton?.pressed ? -1 : 1;
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return Math.round(value * max * direction * reverseScale);
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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 GamepadInputManager() {
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const {
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actions: {
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setMode,
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setDriveVector,
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setAuxMotors,
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nudgeServo,
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runMacro,
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registerInputState,
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},
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} = useControlSystem();
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const rafRef = useRef(null);
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const lastVectorRef = useRef({ x: 0, y: 0, boost: false });
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const lastAuxRef = useRef({ main: 0, side: 0, vacuum: 0 });
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const buttonStateRef = useRef(new Map());
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const servoThrottleRef = useRef(0);
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const handleButtonEdge = useCallback(
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(index, pressed) => {
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const prev = buttonStateRef.current.get(index) || false;
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buttonStateRef.current.set(index, pressed);
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return pressed && !prev;
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},
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[],
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);
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const pollGamepads = useCallback(() => {
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if (typeof navigator === 'undefined' || !navigator.getGamepads) {
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return;
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}
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const pads = navigator.getGamepads();
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const pad = pads && Array.from(pads).find(Boolean);
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if (!pad) {
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if (!vectorsEqual(lastVectorRef.current, { x: 0, y: 0, boost: false })) {
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lastVectorRef.current = { x: 0, y: 0, boost: false };
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setDriveVector({ x: 0, y: 0, boost: false }, { source: SOURCE });
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}
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if (!auxEqual(lastAuxRef.current, { main: 0, side: 0, vacuum: 0 })) {
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lastAuxRef.current = { main: 0, side: 0, vacuum: 0 };
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setAuxMotors({ main: 0, side: 0, vacuum: 0 });
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}
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registerInputState(SOURCE, { connected: false });
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return;
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}
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const axisLX = clampUnit(applyDeadzone(pad.axes?.[0] ?? 0));
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const axisLY = clampUnit(applyDeadzone(-(pad.axes?.[1] ?? 0)));
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const vector = { x: axisLX, y: axisLY, boost: false };
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if (!vectorsEqual(vector, lastVectorRef.current)) {
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lastVectorRef.current = vector;
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setDriveVector(vector, { source: SOURCE });
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}
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const main = computeTriggerSpeed(pad.buttons?.[7], pad.buttons?.[5]);
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const side = computeTriggerSpeed(pad.buttons?.[6], pad.buttons?.[4], 127, 0.55);
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const vacuum = pad.buttons?.[1]?.pressed ? 127 : 0;
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let aux = { main, side, vacuum };
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if (pad.buttons?.[0]?.pressed) {
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aux = { main: 127, side: 127, vacuum: 127 };
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}
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if (!auxEqual(aux, lastAuxRef.current)) {
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lastAuxRef.current = aux;
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setAuxMotors(aux);
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}
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const cameraAxis = clampUnit(applyDeadzone(-(pad.axes?.[3] ?? 0)));
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const now = performance.now();
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if (Math.abs(cameraAxis) > 0.25 && now - servoThrottleRef.current > 120) {
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servoThrottleRef.current = now;
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nudgeServo(cameraAxis > 0 ? 2 : -2);
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}
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if (handleButtonEdge(14, pad.buttons?.[14]?.pressed)) {
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setMode('drive');
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runMacro('drive-sequence');
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}
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if (handleButtonEdge(15, pad.buttons?.[15]?.pressed)) {
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setMode('dock');
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runMacro('seek-dock');
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}
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registerInputState(SOURCE, {
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connected: true,
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id: pad.id,
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index: pad.index,
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axes: [axisLX, axisLY, cameraAxis],
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buttons: {
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a: pad.buttons?.[0]?.pressed || false,
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b: pad.buttons?.[1]?.pressed || false,
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lb: pad.buttons?.[4]?.pressed || false,
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rb: pad.buttons?.[5]?.pressed || false,
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},
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});
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}, [handleButtonEdge, nudgeServo, registerInputState, runMacro, setAuxMotors, setDriveVector, setMode]);
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useEffect(() => {
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function loop() {
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pollGamepads();
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rafRef.current = requestAnimationFrame(loop);
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}
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rafRef.current = requestAnimationFrame(loop);
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return () => {
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if (rafRef.current) {
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cancelAnimationFrame(rafRef.current);
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}
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};
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}, [pollGamepads]);
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return null;
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}
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@@ -0,0 +1,202 @@
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import { useCallback, useEffect, useMemo, useRef } from 'react';
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import { useControlSystem } from '../ControlContext.jsx';
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const SOURCE = 'keyboard';
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const ZERO_VECTOR = { x: 0, y: 0, boost: false };
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const ZERO_AUX = { main: 0, side: 0, vacuum: 0 };
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function shouldIgnoreEvent(event) {
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const target = event.target;
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if (!target) return false;
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const tag = target.tagName;
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return (
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tag === 'INPUT' ||
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tag === 'TEXTAREA' ||
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target.isContentEditable ||
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tag === 'SELECT'
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);
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}
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function normalizeKeymap(keymap = {}) {
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const entries = Object.entries(keymap).map(([action, bindings]) => {
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const values = Array.isArray(bindings) ? bindings : [bindings];
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const normalized = new Set(values.map((value) => String(value).toLowerCase()));
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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 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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if (bindingSet.has(key)) return true;
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}
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return false;
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}
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function computeDriveVector(keys, keymap) {
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const forward = bindingActive(keymap.driveForward, keys);
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const backward = bindingActive(keymap.driveBackward, keys);
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const left = bindingActive(keymap.driveLeft, keys);
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const right = bindingActive(keymap.driveRight, keys);
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const boost = bindingActive(keymap.boostModifier, keys);
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const slow = bindingActive(keymap.slowModifier, keys);
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let y = 0;
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if (forward && !backward) y = 1;
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else if (backward && !forward) y = -1;
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let x = 0;
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if (left && !right) x = -1;
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else if (right && !left) x = 1;
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const scale = slow ? 0.4 : 1;
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return {
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x: x * scale,
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y: y * scale,
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boost: boost && !slow,
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};
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}
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function computeAuxMotors(keys, keymap) {
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const allForward = bindingActive(keymap.auxAllForward, keys);
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if (allForward) {
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return { main: 127, side: 127, vacuum: 127 };
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}
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const main = bindingActive(keymap.auxMainForward, keys)
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? 127
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: bindingActive(keymap.auxMainReverse, keys)
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? -127
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: 0;
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const side = bindingActive(keymap.auxSideForward, keys)
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? 127
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: bindingActive(keymap.auxSideReverse, keys)
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? -70
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: 0;
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const vacuum = bindingActive(keymap.auxVacuumFast, keys)
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? 127
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: bindingActive(keymap.auxVacuumSlow, keys)
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? 50
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: 0;
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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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actions: {
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setMode,
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setDriveVector,
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setAuxMotors,
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nudgeServo,
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runMacro,
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stopAllMotion,
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registerInputState,
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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 lastVectorRef = useRef(ZERO_VECTOR);
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const lastAuxRef = useRef(ZERO_AUX);
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const updateFromKeys = 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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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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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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vector,
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aux,
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});
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}, [keymap, registerInputState, setAuxMotors, setDriveVector]);
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const resetAll = useCallback(() => {
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pressedKeysRef.current.clear();
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lastVectorRef.current = ZERO_VECTOR;
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lastAuxRef.current = ZERO_AUX;
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stopAllMotion();
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registerInputState(SOURCE, { keys: [], vector: ZERO_VECTOR, aux: ZERO_AUX });
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}, [registerInputState, stopAllMotion]);
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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 = event.key?.toLowerCase();
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if (!key) return;
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if (pressedKeysRef.current.has(key)) return;
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pressedKeysRef.current.add(key);
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if (bindingHas(keymap.driveMacro, key)) {
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event.preventDefault();
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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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event.preventDefault();
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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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event.preventDefault();
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nudgeServo(servoStep);
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} else if (bindingHas(keymap.cameraDown, key)) {
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event.preventDefault();
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nudgeServo(-servoStep);
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}
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updateFromKeys();
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}
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function handleKeyUp(event) {
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const key = event.key?.toLowerCase();
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if (!key || !pressedKeysRef.current.has(key)) return;
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pressedKeysRef.current.delete(key);
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updateFromKeys();
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}
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function handleBlur() {
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resetAll();
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}
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window.addEventListener('keydown', handleKeyDown);
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window.addEventListener('keyup', handleKeyUp);
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window.addEventListener('blur', handleBlur);
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return () => {
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window.removeEventListener('keydown', handleKeyDown);
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window.removeEventListener('keyup', handleKeyUp);
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window.removeEventListener('blur', handleBlur);
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};
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}, [keymap, nudgeServo, resetAll, runMacro, servoStep, setMode, updateFromKeys]);
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useEffect(() => {
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resetAll();
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}, [state.roverId, resetAll]);
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return null;
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}
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