From c25896ceca5b5967ad0f77494b14ce7c7bf2a525 Mon Sep 17 00:00:00 2001
From: Micheal Parks <micheal.parks@outlook.com>
Date: Thu, 21 Dec 2023 15:36:02 -0500
Subject: [PATCH 1/2] useGamepad hook

---
 .../src/components/gamepad/index.svelte       | 265 +++++-------------
 1 file changed, 75 insertions(+), 190 deletions(-)

diff --git a/web/frontend/src/components/gamepad/index.svelte b/web/frontend/src/components/gamepad/index.svelte
index 2d841320c3a..10a4b979698 100644
--- a/web/frontend/src/components/gamepad/index.svelte
+++ b/web/frontend/src/components/gamepad/index.svelte
@@ -1,48 +1,52 @@
 <script lang='ts'>
-
-import { onMount } from 'svelte';
+import { useGamepad } from '@threlte/extras';
 import { Timestamp } from 'google-protobuf/google/protobuf/timestamp_pb';
 import { ConnectionClosedError } from '@viamrobotics/rpc';
 import { inputControllerApi as InputController, type ServiceError } from '@viamrobotics/sdk';
 import { notify } from '@viamrobotics/prime';
 import { rcLogConditionally } from '@/lib/log';
 import Collapse from '@/lib/components/collapse.svelte';
-import { useRobotClient, useDisconnect } from '@/hooks/robot-client';
+import { useRobotClient } from '@/hooks/robot-client';
 
 export let name: string;
 
 const { robotClient } = useRobotClient();
+const gamepad = useGamepad();
 
-let gamepadIdx: number | null = null;
-let gamepadConnectedPrev = false;
 let enabled = false;
 
-const curStates : Record<string, number> = ({
-  X: Number.NaN,
-  Y: Number.NaN,
-  RX: Number.NaN,
-  RY: Number.NaN,
-  Z: Number.NaN,
-  RZ: Number.NaN,
-  Hat0X: Number.NaN,
-  Hat0Y: Number.NaN,
-  South: Number.NaN,
-  East: Number.NaN,
-  West: Number.NaN,
-  North: Number.NaN,
-  LT: Number.NaN,
-  RT: Number.NaN,
-  LThumb: Number.NaN,
-  RThumb: Number.NaN,
-  Select: Number.NaN,
-  Start: Number.NaN,
-  Menu: Number.NaN,
-});
-
-let handle = -1;
-let prevStates: Record<string, number> = {};
+const gamepadKeys = [
+  'X',
+  'Y',
+  'RX',
+  'RY',
+  'Z',
+  'RZ',
+  'Hat0X',
+  'Hat0Y',
+  'South',
+  'East',
+  'West',
+  'North',
+  'LT',
+  'RT',
+  'LThumb',
+  'RThumb',
+  'Select',
+  'Start',
+  'Menu',
+] as const;
 
 let lastError = Date.now();
+
+const round = (num: number, decimals = 4): number => {
+  return Math.round(num * 10 ** decimals) / 10 ** decimals;
+}
+
+const isAxis = (key: string) => {
+  return ['X', 'Y', 'RX', 'RY'].includes(key)
+}
+
 const sendEvent = (newEvent: InputController.Event) => {
   if (!enabled) {
     return;
@@ -66,6 +70,7 @@ const sendEvent = (newEvent: InputController.Event) => {
 };
 
 let lastTS = Timestamp.fromDate(new Date());
+
 const nextTS = () => {
   let nowTS = Timestamp.fromDate(new Date());
   if (lastTS.getSeconds() > nowTS.getSeconds() ||
@@ -80,132 +85,52 @@ const nextTS = () => {
   return nowTS;
 };
 
-$: currentGamepad = gamepadIdx === null ? null : navigator.getGamepads()[gamepadIdx];
-
-const connectEvent = (con: boolean) => {
-  const gamepad = currentGamepad;
-  if (
-    (con && (!gamepad || !gamepad.connected)) ||
-    (!con && !gamepadConnectedPrev)
-  ) {
-    return;
-  }
-
+const updateConnection = (connected: boolean) => {
   const nowTS = nextTS();
-  try {
-    for (const ctrl of Object.keys(curStates)) {
-      const newEvent = new InputController.Event();
-      nowTS.setNanos(nowTS.getNanos() + 1);
-      newEvent.setTime(nowTS);
-      newEvent.setEvent(con ? 'Connect' : 'Disconnect');
-      newEvent.setValue(0);
-
-      if ((/X|Y|Z$/u).test(ctrl)) {
-        newEvent.setControl(`Absolute${ctrl}`);
-      } else {
-        newEvent.setControl(`Button${ctrl}`);
-      }
-
-      sendEvent(newEvent);
-    }
-  } finally {
+  for (const key of gamepadKeys) {
+    const event = new InputController.Event();
+    nowTS.setNanos(nowTS.getNanos() + 1);
+    event.setTime(nowTS);
+    event.setEvent(connected ? 'Connect' : 'Disconnect');
+    event.setValue(0);
+    event.setControl(isAxis(key) ? `Absolute${key}` : `Button${key}`);
+    sendEvent(event);
     lastTS = nowTS;
   }
 };
 
-const processEvents = (connected: boolean) => {
-  if (!connected) {
-    for (const key of Object.keys(curStates)) {
-      curStates[key] = Number.NaN;
-    }
-
-    if (gamepadConnectedPrev) {
-      connectEvent(false);
-      gamepadConnectedPrev = false;
-    }
-    return;
-  } else if (!gamepadConnectedPrev) {
-    connectEvent(true);
-    gamepadConnectedPrev = true;
-  }
-
+const process = (key: typeof gamepadKeys[number], value: number) => {
   const nowTS = nextTS();
-
-  try {
-    for (const [key, value] of Object.entries(curStates)) {
-      if (value === prevStates[key] || (Number.isNaN(value) && Number.isNaN(prevStates[key]))) {
-        continue;
-      }
-      const newEvent = new InputController.Event();
-      nowTS.setNanos(nowTS.getNanos() + 1);
-      newEvent.setTime(nowTS);
-      if ((/X|Y|Z$/u).test(key)) {
-        newEvent.setControl(`Absolute${key}`);
-        newEvent.setEvent('PositionChangeAbs');
-      } else {
-        newEvent.setControl(`Button${key}`);
-        newEvent.setEvent(value ? 'ButtonPress' : 'ButtonRelease');
-      }
-
-      if (Number.isNaN(value)) {
-        newEvent.setEvent('Disconnect');
-        newEvent.setValue(0);
-      } else {
-        newEvent.setValue(value);
-      }
-      sendEvent(newEvent);
-    }
-  } finally {
-    lastTS = nowTS;
-  }
+  const event = new InputController.Event();
+  nowTS.setNanos(nowTS.getNanos() + 1);
+  event.setTime(nowTS);
+  event.setControl(isAxis(key) ? `Absolute${key}` : `Button${key}`);
+  event.setEvent(isAxis(key) ? 'PositionChangeAbs' : `Button${value === 0 ? 'Release' : 'Press'}`);
+  event.setValue(value === 0 ? 0 : round(value));
+  sendEvent(event);
+  lastTS = nowTS;
 };
 
-const checkVal = (val?: number): number => {
-  if (!val && val !== 0) {
-    return Number.NaN;
-  }
-  return val;
-};
+gamepad.leftStick.on('change', ({ value }) => process('X', value.x))
+gamepad.leftStick.on('change', ({ value }) => process('Y', value.y))
+gamepad.rightStick.on('change', ({ value }) => process('RX', value.x))
+gamepad.rightStick.on('change', ({ value }) => process('RY', value.y))
 
-const tick = () => {
-  const gamepad = currentGamepad;
-  if (!gamepad || !gamepad.connected) {
-    if (enabled) {
-      processEvents(false);
-    }
-    return;
-  }
+gamepad.leftTrigger.on('change', ({ value }) => process('Z', value))
+gamepad.rightTrigger.on('change', ({ value }) => process('RZ', value))
 
-  prevStates = { ...prevStates, ...curStates };
+const onDirXChange = () => process('Hat0X', -gamepad.directionalLeft.value + gamepad.directionalRight.value)
+gamepad.directionalLeft.on('change', onDirXChange)
+gamepad.directionalRight.on('change', onDirXChange)
 
-  // eslint-disable-next-line unicorn/no-unsafe-regex
-  const re = /^-?\d+(?:.\d{0,4})?/u;
-  const trunc = (val?: number): number => {
-    const checkedVal = checkVal(val);
-    if (Number.isNaN(checkedVal)) {
-      return checkedVal;
-    }
-    const match = checkedVal.toString().match(re);
-    if (match && match.length === 0) {
-      return checkedVal;
-    }
-    return Number(match![0]!);
-  };
+const onDirYChange = () => process('Hat0Y', -gamepad.directionalTop.value + gamepad.directionalBottom.value)
+gamepad.directionalTop.on('change', onDirYChange)
+gamepad.directionalBottom.on('change', onDirYChange)
+
+gamepad.clusterBottom.on('change', ({ value }) => process('South', value))
+gamepad.clusterRight.on('change', ({ value }) => process('East', value))
+gamepad.clusterLeft.on('change', ({ value }) => process('West', value))
 
-  /*
-   * TODO(RSDK-881): this ought to detect actual controller mappings; for now
-   * just try to not fail.
-   */
-  curStates.X = trunc(gamepad.axes[0]);
-  curStates.Y = trunc(gamepad.axes[1]);
-  curStates.RX = trunc(gamepad.axes[2]);
-  curStates.RY = trunc(gamepad.axes[3]);
-  curStates.Z = trunc(gamepad.buttons[6]?.value);
-  curStates.RZ = trunc(gamepad.buttons[7]?.value);
-  curStates.Hat0X = trunc((checkVal(gamepad.buttons[14]?.value) * -1) + checkVal(gamepad.buttons[15]?.value));
-  curStates.Hat0Y = trunc((checkVal(gamepad.buttons[12]?.value) * -1) + checkVal(gamepad.buttons[13]?.value));
-  curStates.South = trunc(gamepad.buttons[0]?.value);
-  curStates.East = trunc(gamepad.buttons[1]?.value);
   curStates.West = trunc(gamepad.buttons[2]?.value);
   curStates.North = trunc(gamepad.buttons[3]?.value);
   curStates.LT = trunc(gamepad.buttons[4]?.value);
@@ -216,47 +141,8 @@ const tick = () => {
   curStates.RThumb = trunc(gamepad.buttons[11]?.value);
   curStates.Menu = trunc(gamepad.buttons[16]?.value);
 
-  if (enabled) {
-    processEvents(true);
-  }
-
-  handle = window.setTimeout(tick, 10);
-};
-
-onMount(() => {
-  window.addEventListener('gamepadconnected', (event) => {
-    if (gamepadIdx) {
-      return;
-    }
-    gamepadIdx = event.gamepad.index;
-    tick();
-  });
-  window.addEventListener('gamepaddisconnected', (event) => {
-    if (gamepadIdx === event.gamepad.index || !currentGamepad?.connected) {
-      gamepadIdx = null;
-    }
-  });
-  // initial search
-  const pads = navigator.getGamepads();
-  for (const pad of pads) {
-    if (pad) {
-      gamepadIdx = pad.index;
-      break;
-    }
-  }
-
-  if (!gamepadIdx) {
-    return;
-  }
-  prevStates = { ...prevStates, ...curStates };
-  tick();
-});
-
-useDisconnect(() => clearTimeout(handle));
-
-$: {
-  connectEvent(enabled);
-}
+$: connected = gamepad.connected
+$: updateConnection($connected && enabled);
 
 </script>
 
@@ -264,13 +150,13 @@ $: {
   <svelte:fragment slot='title'>
     <v-breadcrumbs crumbs="input_controller" />
 
-    {#if currentGamepad?.connected}
-      ({currentGamepad.id})
+    {#if $connected}
+      ({gamepad.raw?.id})
     {/if}
   </svelte:fragment>
 
   <div slot="header">
-    {#if currentGamepad?.connected && enabled}
+    {#if $connected && enabled}
       <v-badge variant='green' label='Enabled' />
     {:else}
       <v-badge variant='gray' label='Disabled' />
@@ -286,9 +172,9 @@ $: {
       />
     </div>
 
-    {#if currentGamepad?.connected}
+    {#if $connected}
       <div class="flex h-full w-full flex-row justify-between gap-2">
-        {#each Object.keys(curStates) as stateName, value}
+        {#each Object.keys({}) as stateName, value}
           <div class="ml-0 flex w-[8ex] flex-col text-center">
             <p class="subtitle m-0">{stateName}</p>
             {value.toFixed((/X|Y|Z$/u).test(stateName.toString()) ? 4 : 0)}
@@ -304,5 +190,4 @@ $: {
 .subtitle {
   color: var(--black-70);
 }
-
 </style>

From c58557ce71bd6e1579950aefe3975b5c1e47b33f Mon Sep 17 00:00:00 2001
From: Micheal Parks <micheal.parks@outlook.com>
Date: Tue, 23 Jan 2024 12:41:17 -0500
Subject: [PATCH 2/2] update

---
 .../src/components/gamepad/index.svelte       | 21 +++++++------------
 1 file changed, 8 insertions(+), 13 deletions(-)

diff --git a/web/frontend/src/components/gamepad/index.svelte b/web/frontend/src/components/gamepad/index.svelte
index 10a4b979698..98053e54546 100644
--- a/web/frontend/src/components/gamepad/index.svelte
+++ b/web/frontend/src/components/gamepad/index.svelte
@@ -48,9 +48,6 @@ const isAxis = (key: string) => {
 }
 
 const sendEvent = (newEvent: InputController.Event) => {
-  if (!enabled) {
-    return;
-  }
   const req = new InputController.TriggerEventRequest();
   req.setController(name);
   req.setEvent(newEvent);
@@ -115,9 +112,13 @@ gamepad.leftStick.on('change', ({ value }) => process('X', value.x))
 gamepad.leftStick.on('change', ({ value }) => process('Y', value.y))
 gamepad.rightStick.on('change', ({ value }) => process('RX', value.x))
 gamepad.rightStick.on('change', ({ value }) => process('RY', value.y))
+gamepad.leftStickButton.on('change', ({ value }) => process('LThumb', value))
+gamepad.rightStickButton.on('change', ({ value }) => process('RThumb', value))
 
 gamepad.leftTrigger.on('change', ({ value }) => process('Z', value))
 gamepad.rightTrigger.on('change', ({ value }) => process('RZ', value))
+gamepad.leftBumper.on('change', ({ value }) => process('LT', value))
+gamepad.rightBumper.on('change', ({ value }) => process('RT', value))
 
 const onDirXChange = () => process('Hat0X', -gamepad.directionalLeft.value + gamepad.directionalRight.value)
 gamepad.directionalLeft.on('change', onDirXChange)
@@ -130,20 +131,14 @@ gamepad.directionalBottom.on('change', onDirYChange)
 gamepad.clusterBottom.on('change', ({ value }) => process('South', value))
 gamepad.clusterRight.on('change', ({ value }) => process('East', value))
 gamepad.clusterLeft.on('change', ({ value }) => process('West', value))
+gamepad.clusterTop.on('change', ({ value }) => process('North', value))
 
-  curStates.West = trunc(gamepad.buttons[2]?.value);
-  curStates.North = trunc(gamepad.buttons[3]?.value);
-  curStates.LT = trunc(gamepad.buttons[4]?.value);
-  curStates.RT = trunc(gamepad.buttons[5]?.value);
-  curStates.Select = trunc(gamepad.buttons[8]?.value);
-  curStates.Start = trunc(gamepad.buttons[9]?.value);
-  curStates.LThumb = trunc(gamepad.buttons[10]?.value);
-  curStates.RThumb = trunc(gamepad.buttons[11]?.value);
-  curStates.Menu = trunc(gamepad.buttons[16]?.value);
+gamepad.select.on('change', ({ value }) => process('Select', value))
+gamepad.start.on('change', ({ value }) => process('Start', value))
+gamepad.center.on('change', ({ value }) => process('Menu', value))
 
 $: connected = gamepad.connected
 $: updateConnection($connected && enabled);
-
 </script>
 
 <Collapse title={name}>