|
|
|
|
#!/usr/bin/env python3
|
|
|
|
|
import time
|
|
|
|
|
import threading
|
|
|
|
|
from flask import Flask
|
|
|
|
|
|
|
|
|
|
import cereal.messaging as messaging
|
|
|
|
|
|
|
|
|
|
app = Flask(__name__)
|
|
|
|
|
pm = messaging.PubMaster(['testJoystick'])
|
|
|
|
|
|
|
|
|
|
index = """
|
|
|
|
|
<html>
|
|
|
|
|
<head>
|
|
|
|
|
<script src="https://github.com/bobboteck/JoyStick/releases/download/v1.1.6/joy.min.js"></script>
|
|
|
|
|
</head>
|
|
|
|
|
<body>
|
|
|
|
|
<div id="joyDiv" style="width:100%;height:100%"></div>
|
|
|
|
|
<script type="text/javascript">
|
|
|
|
|
// Create JoyStick object into the DIV 'joyDiv'
|
|
|
|
|
var joy = new JoyStick('joyDiv');
|
|
|
|
|
setInterval(function(){
|
|
|
|
|
var x = -joy.GetX()/100;
|
|
|
|
|
var y = joy.GetY()/100;
|
|
|
|
|
let xhr = new XMLHttpRequest();
|
|
|
|
|
xhr.open("GET", "/control/"+x+"/"+y);
|
|
|
|
|
xhr.send();
|
|
|
|
|
}, 50);
|
|
|
|
|
</script>
|
|
|
|
|
"""
|
|
|
|
|
|
|
|
|
|
@app.route("/")
|
|
|
|
|
def hello_world():
|
|
|
|
|
return index
|
|
|
|
|
|
|
|
|
|
last_send_time = time.monotonic()
|
|
|
|
|
@app.route("/control/<x>/<y>")
|
|
|
|
|
def control(x, y):
|
|
|
|
|
global last_send_time
|
|
|
|
|
x,y = float(x), float(y)
|
|
|
|
|
x = max(-1, min(1, x))
|
|
|
|
|
y = max(-1, min(1, y))
|
|
|
|
|
dat = messaging.new_message('testJoystick')
|
|
|
|
|
dat.testJoystick.axes = [y,x]
|
|
|
|
|
dat.testJoystick.buttons = [False]
|
|
|
|
|
pm.send('testJoystick', dat)
|
|
|
|
|
last_send_time = time.monotonic()
|
|
|
|
|
return ""
|
|
|
|
|
|
|
|
|
|
def handle_timeout():
|
|
|
|
|
while 1:
|
|
|
|
|
this_time = time.monotonic()
|
|
|
|
|
if (last_send_time+0.5) < this_time:
|
|
|
|
|
print("timeout, no web in %.2f s" % (this_time-last_send_time))
|
|
|
|
|
dat = messaging.new_message('testJoystick')
|
|
|
|
|
dat.testJoystick.axes = [0,0]
|
|
|
|
|
dat.testJoystick.buttons = [False]
|
|
|
|
|
pm.send('testJoystick', dat)
|
|
|
|
|
time.sleep(0.1)
|
|
|
|
|
|
|
|
|
|
def main():
|
|
|
|
|
threading.Thread(target=handle_timeout, daemon=True).start()
|
|
|
|
|
app.run(host="0.0.0.0")
|
|
|
|
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
|
main()
|
