#!/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 " >
/ / Set up gamepad handlers
let gamepad = null ;
window . addEventListener ( " gamepadconnected " , function ( e ) {
gamepad = e . gamepad ;
} ) ;
window . addEventListener ( " gamepaddisconnected " , function ( e ) {
gamepad = null ;
} ) ;
/ / Create JoyStick object into the DIV ' joyDiv '
var joy = new JoyStick ( ' joyDiv ' ) ;
setInterval ( function ( ) {
var x = - joy . GetX ( ) / 100 ;
var y = joy . GetY ( ) / 100 ;
if ( x == = 0 & & y == = 0 & & gamepad != = null ) {
let gamepadstate = navigator . getGamepads ( ) [ gamepad . index ] ;
x = - gamepadstate . axes [ 0 ] ;
y = - gamepadstate . axes [ 1 ] ;
}
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 ( )
