mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-17 01:50:47 -04:00
guh
This commit is contained in:
legop3
@@ -1,340 +0,0 @@
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/* global Buffer */
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import { useCallback, useEffect, useMemo, useRef, useState } from 'react';
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import { useSocket } from '../context/SocketContext.jsx';
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import { useSession } from '../context/SessionContext.jsx';
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const OI_COMMANDS = {
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start: [128],
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safe: [131],
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full: [132],
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passive: [128],
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dock: [143],
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};
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const AUX_LIMITS = {
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main: [-127, 127],
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side: [-127, 127],
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vacuum: [0, 127],
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};
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const COMMAND_DELAY_MS = 200;
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const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
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function clamp(value, min, max) {
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return Math.max(min, Math.min(max, value));
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}
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function computeSpeeds(keys) {
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const forward = keys.has('w');
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const backward = keys.has('s');
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const left = keys.has('a');
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const right = keys.has('d');
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const fast = keys.has('shift');
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const base = fast ? 300 : 150;
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let leftSpeed = 0;
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let rightSpeed = 0;
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if (forward && !backward) {
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leftSpeed += base;
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rightSpeed += base;
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} else if (backward && !forward) {
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leftSpeed -= base;
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rightSpeed -= base;
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}
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if (left && !right) {
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leftSpeed -= base;
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rightSpeed += base;
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} else if (right && !left) {
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leftSpeed += base;
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rightSpeed -= base;
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}
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if (!forward && !backward && (left || right)) {
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leftSpeed = left ? -base : base;
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rightSpeed = left ? base : -base;
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}
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return {
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left: clamp(leftSpeed, -500, 500),
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right: clamp(rightSpeed, -500, 500),
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};
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}
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function clampUnit(value) {
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if (typeof value !== 'number' || Number.isNaN(value)) return 0;
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return Math.max(-1, Math.min(1, value));
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}
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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' && ['w', 'a', 's', 'd', 'Shift'].includes(event.key))
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);
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}
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function bytesToBase64(bytes) {
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const binary = String.fromCharCode(...bytes);
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if (typeof btoa === 'function') return btoa(binary);
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if (typeof Buffer !== 'undefined') {
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return Buffer.from(bytes).toString('base64');
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}
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throw new Error('No base64 encoder available');
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}
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export function useDriveControls() {
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const socket = useSocket();
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const { session } = useSession();
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const roverId = session?.assignment?.roverId;
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const keysRef = useRef(new Set());
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const lastSpeedsRef = useRef({ left: 0, right: 0 });
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const [currentSpeeds, setCurrentSpeeds] = useState(() => ({ left: 0, right: 0 }));
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const [servoAngle, setServoAngle] = useState(null);
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const emitCommand = useCallback(
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(payload, cb) => {
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if (!roverId) return;
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socket.emit('command', { roverId, ...payload }, cb);
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},
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[socket, roverId],
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);
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const currentRosterEntry = useMemo(() => {
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if (!roverId || !Array.isArray(session?.roster)) return null;
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return session.roster.find((entry) => String(entry.id) === String(roverId)) || null;
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}, [roverId, session?.roster]);
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const servoConfig = useMemo(() => {
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if (!currentRosterEntry?.cameraServo || !currentRosterEntry.cameraServo.enabled) {
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return null;
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}
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return currentRosterEntry.cameraServo;
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}, [currentRosterEntry]);
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const enableSensorStream = useCallback(() => {
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if (!roverId) return;
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emitCommand({
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type: 'sensorStream',
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data: { sensorStream: { enable: true } },
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});
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}, [emitCommand, roverId]);
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const sendDriveUpdate = useCallback(() => {
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if (!roverId) return;
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const speeds = computeSpeeds(keysRef.current);
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const last = lastSpeedsRef.current;
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if (speeds.left === last.left && speeds.right === last.right) return;
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lastSpeedsRef.current = speeds;
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setCurrentSpeeds(speeds);
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emitCommand({
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type: 'drive',
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data: { driveDirect: speeds },
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});
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}, [emitCommand, roverId]);
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const driveWithVector = useCallback(
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({ x = 0, y = 0, boost = false } = {}) => {
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if (!roverId) return;
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const base = boost ? 400 : 250;
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const forward = clampUnit(y) * base;
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const turn = clampUnit(x) * base;
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const speeds = {
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left: clamp(Math.round(forward + turn), -500, 500),
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right: clamp(Math.round(forward - turn), -500, 500),
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};
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lastSpeedsRef.current = speeds;
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setCurrentSpeeds(speeds);
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emitCommand({
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type: 'drive',
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data: { driveDirect: speeds },
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});
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},
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[emitCommand, roverId],
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);
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const sendMotorPwm = useCallback(
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({ main = 0, side = 0, vacuum = 0 } = {}) => {
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if (!roverId) return;
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const payload = {
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main: clamp(main, AUX_LIMITS.main[0], AUX_LIMITS.main[1]),
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side: clamp(side, AUX_LIMITS.side[0], AUX_LIMITS.side[1]),
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vacuum: clamp(vacuum, AUX_LIMITS.vacuum[0], AUX_LIMITS.vacuum[1]),
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};
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emitCommand({
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type: 'motors',
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data: { motorPwm: payload },
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});
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},
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[emitCommand, roverId],
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);
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const stopMotors = useCallback(() => {
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if (!roverId) return;
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keysRef.current.clear();
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lastSpeedsRef.current = { left: 0, right: 0 };
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setCurrentSpeeds(lastSpeedsRef.current);
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sendMotorPwm({ main: 0, side: 0, vacuum: 0 });
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}, [roverId, sendMotorPwm]);
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const sendOiCommand = useCallback(
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(key) => {
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if (!roverId) return;
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const bytes = OI_COMMANDS[key];
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if (!bytes) return;
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emitCommand({
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type: 'raw',
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data: { raw: bytesToBase64(bytes) },
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});
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enableSensorStream();
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},
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[emitCommand, enableSensorStream, roverId],
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);
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const runStartDockFull = useCallback(async () => {
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if (!roverId) return;
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for (const key of ['start', 'dock', 'full']) {
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sendOiCommand(key);
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// brief pause so the commands aren't collapsed by the rover
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await sleep(COMMAND_DELAY_MS);
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}
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}, [roverId, sendOiCommand]);
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const seekDock = useCallback(() => {
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sendOiCommand('dock');
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}, [sendOiCommand]);
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const setAuxMotors = useCallback(
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(values) => {
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if (!roverId) return;
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sendMotorPwm(values);
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},
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[roverId, sendMotorPwm],
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);
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const sendServoCommand = useCallback(
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(payload) => {
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if (!roverId || !servoConfig) return;
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emitCommand({
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type: 'servo',
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data: { servo: payload },
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});
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},
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[emitCommand, roverId, servoConfig],
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);
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const applyServoAngle = useCallback(
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(angle) => {
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if (!servoConfig) return;
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const min = typeof servoConfig.minAngle === 'number' ? servoConfig.minAngle : -45;
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const max = typeof servoConfig.maxAngle === 'number' ? servoConfig.maxAngle : 45;
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const clamped = clamp(angle, min, max);
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setServoAngle(clamped);
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sendServoCommand({ angle: clamped });
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},
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[sendServoCommand, servoConfig],
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);
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const nudgeServo = useCallback(
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(delta) => {
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if (!servoConfig) return;
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const min = typeof servoConfig.minAngle === 'number' ? servoConfig.minAngle : -45;
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const max = typeof servoConfig.maxAngle === 'number' ? servoConfig.maxAngle : 45;
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const midpoint = (min + max) / 2;
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const step =
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typeof delta === 'number' && !Number.isNaN(delta) && delta !== 0
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? delta
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: servoConfig.nudgeDegrees || 1;
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const baseline =
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typeof servoAngle === 'number'
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? servoAngle
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: servoConfig.homeAngle ?? midpoint;
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applyServoAngle(baseline + step);
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},
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[applyServoAngle, servoAngle, servoConfig],
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);
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useEffect(() => {
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if (!servoConfig) {
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setServoAngle(null);
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if (roverId) {
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// eslint-disable-next-line no-console
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console.debug('Camera servo unavailable for rover', roverId, {
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rosterEntry: currentRosterEntry,
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});
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}
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return;
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}
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const min = typeof servoConfig.minAngle === 'number' ? servoConfig.minAngle : -45;
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const max = typeof servoConfig.maxAngle === 'number' ? servoConfig.maxAngle : 45;
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const initial =
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typeof servoConfig.homeAngle === 'number' ? servoConfig.homeAngle : (min + max) / 2;
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setServoAngle(clamp(initial, min, max));
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}, [currentRosterEntry, roverId, servoConfig]);
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useEffect(() => {
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if (!roverId) {
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keysRef.current.clear();
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lastSpeedsRef.current = { left: 0, right: 0 };
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setCurrentSpeeds(lastSpeedsRef.current);
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return undefined;
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}
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function onKeyDown(event) {
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if (shouldIgnoreEvent(event)) return;
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const key = event.key.toLowerCase();
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if (!['w', 'a', 's', 'd', 'shift'].includes(key)) return;
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if (keysRef.current.has(key)) return;
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keysRef.current.add(key);
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sendDriveUpdate();
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}
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function onKeyUp(event) {
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const key = event.key.toLowerCase();
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if (!keysRef.current.has(key)) return;
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keysRef.current.delete(key);
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sendDriveUpdate();
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}
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window.addEventListener('keydown', onKeyDown);
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window.addEventListener('keyup', onKeyUp);
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enableSensorStream();
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return () => {
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window.removeEventListener('keydown', onKeyDown);
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window.removeEventListener('keyup', onKeyUp);
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};
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}, [roverId, sendDriveUpdate, enableSensorStream]);
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return {
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roverId,
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speeds: currentSpeeds,
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stopMotors,
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sendOiCommand,
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runStartDockFull,
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seekDock,
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setAuxMotors,
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driveWithVector,
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servo: {
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enabled: Boolean(roverId && servoConfig),
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config: servoConfig,
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angle:
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typeof servoAngle === 'number'
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? servoAngle
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: servoConfig?.homeAngle ?? servoConfig?.minAngle ?? 0,
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setAngle: applyServoAngle,
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nudge: nudgeServo,
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goHome: () => {
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if (!servoConfig) return;
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applyServoAngle(servoConfig.homeAngle ?? 0);
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},
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},
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};
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}
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