guh

2026-09-16 09:31:20 -04:00 · 2025-11-17 21:18:43 -05:00
parent 2303fd3c7b
commit dc6a4b3c3a
22 changed files with 1318 additions and 493 deletions
@@ -0,0 +1,143 @@
+import { useCallback, useEffect, useRef } from 'react';
+import { useControlSystem } from '../ControlContext.jsx';
+import { clampUnit } from '../controlMath.js';
+
+const SOURCE = 'gamepad';
+const DEADZONE = 0.2;
+
+function applyDeadzone(value) {
+  return Math.abs(value) < DEADZONE ? 0 : value;
+}
+
+function computeTriggerSpeed(button, reverseButton, max = 127, reverseScale = 1) {
+  if (!button) return 0;
+  const value = typeof button.value === 'number' ? button.value : button.pressed ? 1 : 0;
+  if (value < 0.05) return 0;
+  const direction = reverseButton?.pressed ? -1 : 1;
+  return Math.round(value * max * direction * reverseScale);
+}
+
+function vectorsEqual(a, b) {
+  return (
+    a &&
+    b &&
+    a.x === b.x &&
+    a.y === b.y &&
+    a.boost === b.boost
+  );
+}
+
+function auxEqual(a, b) {
+  return a && b && a.main === b.main && a.side === b.side && a.vacuum === b.vacuum;
+}
+
+export default function GamepadInputManager() {
+  const {
+    actions: {
+      setMode,
+      setDriveVector,
+      setAuxMotors,
+      nudgeServo,
+      runMacro,
+      registerInputState,
+    },
+  } = useControlSystem();
+  const rafRef = useRef(null);
+  const lastVectorRef = useRef({ x: 0, y: 0, boost: false });
+  const lastAuxRef = useRef({ main: 0, side: 0, vacuum: 0 });
+  const buttonStateRef = useRef(new Map());
+  const servoThrottleRef = useRef(0);
+
+  const handleButtonEdge = useCallback(
+    (index, pressed) => {
+      const prev = buttonStateRef.current.get(index) || false;
+      buttonStateRef.current.set(index, pressed);
+      return pressed && !prev;
+    },
+    [],
+  );
+
+  const pollGamepads = useCallback(() => {
+    if (typeof navigator === 'undefined' || !navigator.getGamepads) {
+      return;
+    }
+    const pads = navigator.getGamepads();
+    const pad = pads && Array.from(pads).find(Boolean);
+    if (!pad) {
+      if (!vectorsEqual(lastVectorRef.current, { x: 0, y: 0, boost: false })) {
+        lastVectorRef.current = { x: 0, y: 0, boost: false };
+        setDriveVector({ x: 0, y: 0, boost: false }, { source: SOURCE });
+      }
+      if (!auxEqual(lastAuxRef.current, { main: 0, side: 0, vacuum: 0 })) {
+        lastAuxRef.current = { main: 0, side: 0, vacuum: 0 };
+        setAuxMotors({ main: 0, side: 0, vacuum: 0 });
+      }
+      registerInputState(SOURCE, { connected: false });
+      return;
+    }
+
+    const axisLX = clampUnit(applyDeadzone(pad.axes?.[0] ?? 0));
+    const axisLY = clampUnit(applyDeadzone(-(pad.axes?.[1] ?? 0)));
+    const vector = { x: axisLX, y: axisLY, boost: false };
+    if (!vectorsEqual(vector, lastVectorRef.current)) {
+      lastVectorRef.current = vector;
+      setDriveVector(vector, { source: SOURCE });
+    }
+
+    const main = computeTriggerSpeed(pad.buttons?.[7], pad.buttons?.[5]);
+    const side = computeTriggerSpeed(pad.buttons?.[6], pad.buttons?.[4], 127, 0.55);
+    const vacuum = pad.buttons?.[1]?.pressed ? 127 : 0;
+    let aux = { main, side, vacuum };
+    if (pad.buttons?.[0]?.pressed) {
+      aux = { main: 127, side: 127, vacuum: 127 };
+    }
+    if (!auxEqual(aux, lastAuxRef.current)) {
+      lastAuxRef.current = aux;
+      setAuxMotors(aux);
+    }
+
+    const cameraAxis = clampUnit(applyDeadzone(-(pad.axes?.[3] ?? 0)));
+    const now = performance.now();
+    if (Math.abs(cameraAxis) > 0.25 && now - servoThrottleRef.current > 120) {
+      servoThrottleRef.current = now;
+      nudgeServo(cameraAxis > 0 ? 2 : -2);
+    }
+
+    if (handleButtonEdge(14, pad.buttons?.[14]?.pressed)) {
+      setMode('drive');
+      runMacro('drive-sequence');
+    }
+    if (handleButtonEdge(15, pad.buttons?.[15]?.pressed)) {
+      setMode('dock');
+      runMacro('seek-dock');
+    }
+
+    registerInputState(SOURCE, {
+      connected: true,
+      id: pad.id,
+      index: pad.index,
+      axes: [axisLX, axisLY, cameraAxis],
+      buttons: {
+        a: pad.buttons?.[0]?.pressed || false,
+        b: pad.buttons?.[1]?.pressed || false,
+        lb: pad.buttons?.[4]?.pressed || false,
+        rb: pad.buttons?.[5]?.pressed || false,
+      },
+    });
+  }, [handleButtonEdge, nudgeServo, registerInputState, runMacro, setAuxMotors, setDriveVector, setMode]);
+
+  useEffect(() => {
+    function loop() {
+      pollGamepads();
+      rafRef.current = requestAnimationFrame(loop);
+    }
+    rafRef.current = requestAnimationFrame(loop);
+    return () => {
+      if (rafRef.current) {
+        cancelAnimationFrame(rafRef.current);
+      }
+    };
+  }, [pollGamepads]);
+
+  return null;
+}