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Replace gamepad logic with useGamepad hook #3377

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Replace gamepad logic with useGamepad hook #3377

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c25896c
useGamepad hook
micheal-parks Dec 21, 2023
4e8d048
Merge branch 'main' into gamepad-rewrite
micheal-parks Dec 27, 2023
c58557c
update
micheal-parks Jan 23, 2024
3b26631
merge origin
micheal-parks Jan 23, 2024
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294 changes: 87 additions & 207 deletions web/frontend/src/components/gamepad/index.svelte
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
<script lang='ts'>

import { onDestroy, 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';
Expand All @@ -12,41 +11,43 @@ 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;
}
const req = new InputController.TriggerEventRequest();
req.setController(name);
req.setEvent(newEvent);
Expand All @@ -66,6 +67,7 @@ const sendEvent = (newEvent: InputController.Event) => {
};

let lastTS = Timestamp.fromDate(new Date());

const nextTS = () => {
let nowTS = Timestamp.fromDate(new Date());
if (lastTS.getSeconds() > nowTS.getSeconds() ||
Expand All @@ -80,197 +82,76 @@ 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 checkVal = (val?: number): number => {
if (!val && val !== 0) {
return Number.NaN;
}
return val;
};

const tick = () => {
const gamepad = currentGamepad;
if (!gamepad || !gamepad.connected) {
if (enabled) {
processEvents(false);
}
return;
}

prevStates = { ...prevStates, ...curStates };

// 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]!);
};

/*
* 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);
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);

if (enabled) {
processEvents(true);
}

handle = window.setTimeout(tick, 10);
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;
};

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();
});

onDestroy(() => clearTimeout(handle));

$: {
connectEvent(enabled);
}

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)
gamepad.directionalRight.on('change', onDirXChange)

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))
gamepad.clusterTop.on('change', ({ value }) => process('North', 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}>
<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' />
Expand All @@ -286,9 +167,9 @@ $: {
/>
</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)}
Expand All @@ -304,5 +185,4 @@ $: {
.subtitle {
color: var(--black-70);
}

</style>
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