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