mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 22:23:56 +08:00
This reverts commit a7304d059c.
This commit is contained in:
Harald Schäfer
@@ -23,7 +23,7 @@ repos:
|
||||
exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
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args:
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||||
# if you've got a short variable name that's getting flagged, add it here
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||||
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
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- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup
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- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
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- repo: local
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hooks:
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@@ -72,7 +72,7 @@ procs = [
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
|
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PythonProcess("webjoystick", "tools.bodyteleop.web", onroad=False, callback=notcar),
|
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PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar),
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]
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managed_processes = {p.name: p for p in procs}
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4
tools/bodyteleop/.gitignore
vendored
4
tools/bodyteleop/.gitignore
vendored
@@ -1,4 +0,0 @@
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av
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av-10.0.0/*
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key.pem
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cert.pem
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@@ -1,158 +0,0 @@
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import asyncio
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import io
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import numpy as np
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import pyaudio
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import wave
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from aiortc.contrib.media import MediaBlackhole
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from aiortc.mediastreams import AudioStreamTrack, MediaStreamError, MediaStreamTrack
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from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
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from aiortc.rtcrtpsender import RTCRtpSender
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from av import CodecContext, Packet
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from pydub import AudioSegment
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import cereal.messaging as messaging
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AUDIO_RATE = 16000
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SOUNDS = {
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'engage': '../../selfdrive/assets/sounds/engage.wav',
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'disengage': '../../selfdrive/assets/sounds/disengage.wav',
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'error': '../../selfdrive/assets/sounds/warning_immediate.wav',
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}
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|
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|
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def force_codec(pc, sender, forced_codec='video/VP9', stream_type="video"):
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codecs = RTCRtpSender.getCapabilities(stream_type).codecs
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codec = [codec for codec in codecs if codec.mimeType == forced_codec]
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transceiver = next(t for t in pc.getTransceivers() if t.sender == sender)
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transceiver.setCodecPreferences(codec)
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|
||||
|
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class EncodedBodyVideo(MediaStreamTrack):
|
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kind = "video"
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|
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_start: float
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_timestamp: int
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def __init__(self):
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super().__init__()
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sock_name = 'livestreamDriverEncodeData'
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messaging.context = messaging.Context()
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self.sock = messaging.sub_sock(sock_name, None, conflate=True)
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self.pts = 0
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async def recv(self) -> Packet:
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while True:
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msg = messaging.recv_one_or_none(self.sock)
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if msg is not None:
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break
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await asyncio.sleep(0.005)
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|
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evta = getattr(msg, msg.which())
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self.last_idx = evta.idx.encodeId
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packet = Packet(evta.header + evta.data)
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packet.time_base = VIDEO_TIME_BASE
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packet.pts = self.pts
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self.pts += 0.05 * VIDEO_CLOCK_RATE
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return packet
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|
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|
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class WebClientSpeaker(MediaBlackhole):
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def __init__(self):
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super().__init__()
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self.p = pyaudio.PyAudio()
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self.buffer = io.BytesIO()
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self.channels = 2
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self.stream = self.p.open(format=pyaudio.paInt16, channels=self.channels, rate=48000, frames_per_buffer=9600, output=True, stream_callback=self.pyaudio_callback)
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def pyaudio_callback(self, in_data, frame_count, time_info, status):
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if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2:
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buff = np.zeros((frame_count, 2), dtype=np.int16).tobytes()
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elif self.buffer.getbuffer().nbytes > 115200: # 3x the usual read size
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self.buffer.seek(0)
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buff = self.buffer.read(frame_count * self.channels * 4)
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buff = buff[:frame_count * self.channels * 2]
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self.buffer.seek(2)
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else:
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self.buffer.seek(0)
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buff = self.buffer.read(frame_count * self.channels * 2)
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self.buffer.seek(2)
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return (buff, pyaudio.paContinue)
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|
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async def consume(self, track):
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while True:
|
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try:
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frame = await track.recv()
|
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except MediaStreamError:
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||||
return
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bio = bytes(frame.planes[0])
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self.buffer.write(bio)
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async def start(self):
|
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for track, task in self._MediaBlackhole__tracks.items(): # pylint: disable=access-member-before-definition
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if task is None:
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self._MediaBlackhole__tracks[track] = asyncio.ensure_future(self.consume(track))
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|
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async def stop(self):
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for task in self._MediaBlackhole__tracks.values(): # pylint: disable=access-member-before-definition
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if task is not None:
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task.cancel()
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self._MediaBlackhole__tracks = {}
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self.stream.stop_stream()
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self.stream.close()
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||||
self.p.terminate()
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||||
|
||||
|
||||
class BodyMic(AudioStreamTrack):
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def __init__(self):
|
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super().__init__()
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self.sample_rate = AUDIO_RATE
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self.AUDIO_PTIME = 0.020 # 20ms audio packetization
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self.samples = int(self.AUDIO_PTIME * self.sample_rate)
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self.FORMAT = pyaudio.paInt16
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self.CHANNELS = 2
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self.RATE = self.sample_rate
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self.CHUNK = int(AUDIO_RATE * 0.020)
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self.p = pyaudio.PyAudio()
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self.mic_stream = self.p.open(format=self.FORMAT, channels=1, rate=self.RATE, input=True, frames_per_buffer=self.CHUNK)
|
||||
|
||||
self.codec = CodecContext.create('pcm_s16le', 'r')
|
||||
self.codec.sample_rate = self.RATE
|
||||
self.codec.channels = 2
|
||||
self.audio_samples = 0
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||||
self.chunk_number = 0
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||||
|
||||
async def recv(self):
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mic_data = self.mic_stream.read(self.CHUNK)
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mic_sound = AudioSegment(mic_data, sample_width=2, channels=1, frame_rate=self.RATE)
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mic_sound = AudioSegment.from_mono_audiosegments(mic_sound, mic_sound)
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mic_sound += 3 # increase volume by 3db
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packet = Packet(mic_sound.raw_data)
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||||
frame = self.codec.decode(packet)[0]
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frame.pts = self.audio_samples
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self.audio_samples += frame.samples
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self.chunk_number = self.chunk_number + 1
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||||
return frame
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|
||||
|
||||
async def play_sound(sound):
|
||||
chunk = 5120
|
||||
with wave.open(SOUNDS[sound], 'rb') as wf:
|
||||
def callback(in_data, frame_count, time_info, status):
|
||||
data = wf.readframes(frame_count)
|
||||
return data, pyaudio.paContinue
|
||||
|
||||
p = pyaudio.PyAudio()
|
||||
stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
|
||||
channels=wf.getnchannels(),
|
||||
rate=wf.getframerate(),
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||||
output=True,
|
||||
frames_per_buffer=chunk,
|
||||
stream_callback=callback)
|
||||
stream.start_stream()
|
||||
while stream.is_active():
|
||||
await asyncio.sleep(0)
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||||
stream.stop_stream()
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||||
stream.close()
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||||
p.terminate()
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||||
@@ -1,103 +0,0 @@
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="UTF-8"/>
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>commabody</title>
|
||||
<link rel="stylesheet" href="/static/main.css">
|
||||
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/css/bootstrap.min.css" integrity="sha512-SbiR/eusphKoMVVXysTKG/7VseWii+Y3FdHrt0EpKgpToZeemhqHeZeLWLhJutz/2ut2Vw1uQEj2MbRF+TVBUA==" crossorigin="anonymous" referrerpolicy="no-referrer" /><script src="https://code.jquery.com/jquery-3.6.0.min.js"></script>
|
||||
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.10.5/font/bootstrap-icons.css">
|
||||
<script src="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/js/bootstrap.min.js" integrity="sha512-1/RvZTcCDEUjY/CypiMz+iqqtaoQfAITmNSJY17Myp4Ms5mdxPS5UV7iOfdZoxcGhzFbOm6sntTKJppjvuhg4g==" crossorigin="anonymous" referrerpolicy="no-referrer"></script>
|
||||
<script src="https://cdnjs.cloudflare.com/ajax/libs/moment.js/2.29.1/moment.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/chart.js@^3"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/moment@^2"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/chartjs-adapter-moment@^1"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="main">
|
||||
<p class="jumbo">comma body</p>
|
||||
<audio id="audio" autoplay="true"></audio>
|
||||
<video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
|
||||
<div id="icon-panel" class="row">
|
||||
<div class="col-sm-12 col-md-6 details">
|
||||
<div class="icon-sup-panel col-12">
|
||||
<div class="icon-sub-panel">
|
||||
<div class="icon-sub-sub-panel">
|
||||
<i class="bi bi-speaker-fill pre-blob"></i>
|
||||
<i class="bi bi-mic-fill pre-blob"></i>
|
||||
<i class="bi bi-camera-video-fill pre-blob"></i>
|
||||
</div>
|
||||
<p class="small">body</p>
|
||||
</div>
|
||||
<div class="icon-sub-panel">
|
||||
<div class="icon-sub-sub-panel">
|
||||
<i class="bi bi-speaker-fill pre-blob"></i>
|
||||
<i class="bi bi-mic-fill pre-blob"></i>
|
||||
</div>
|
||||
<p class="small">you</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="col-sm-12 col-md-6 details">
|
||||
<div class="icon-sup-panel col-12">
|
||||
<div class="icon-sub-panel">
|
||||
<div class="icon-sub-sub-panel">
|
||||
<i id="ping-time" class="pre-blob1">-</i>
|
||||
</div>
|
||||
<p class="bi bi-arrow-repeat small"> ping time</p>
|
||||
</div>
|
||||
<div class="icon-sub-panel">
|
||||
<div class="icon-sub-sub-panel">
|
||||
<i id="battery" class="pre-blob1">-</i>
|
||||
</div>
|
||||
<p class="bi bi-battery-half small"> battery</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<!-- <div class="icon-sub-panel">
|
||||
<button type="button" id="start" class="btn btn-light btn-lg">Start</button>
|
||||
<button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
|
||||
</div> -->
|
||||
</div>
|
||||
<div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
|
||||
<div id="wasd" class="col-md-12 row">
|
||||
<div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
|
||||
<div class="wasd-row">
|
||||
<div class="keys" id="key-w">W</div>
|
||||
<div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
|
||||
</div>
|
||||
<div class="wasd-row">
|
||||
<div class="keys" id="key-a">A</div>
|
||||
<div class="keys" id="key-s">S</div>
|
||||
<div class="keys" id="key-d">D</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="col-md-6 col-sm-12 form-group plan-form">
|
||||
<label for="plan-text">Plan (w, a, s, d, t)</label>
|
||||
<label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
|
||||
<textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
|
||||
<button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
|
||||
<div class="panel row">
|
||||
<div class="col-sm-3" style="text-align: center;">
|
||||
<p>Play Sounds</p>
|
||||
</div>
|
||||
<div class="btn-group col-sm-8">
|
||||
<button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
|
||||
<button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
|
||||
<button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
|
||||
<div class="panel row">
|
||||
<div class="col-sm-6"><canvas id="chart-ping"></canvas></div>
|
||||
<div class="col-sm-6"><canvas id="chart-battery"></canvas></div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<script src="/static/js/jsmain.js" type="module"></script>
|
||||
</body>
|
||||
</html>
|
||||
54
tools/bodyteleop/static/js/controls.js
vendored
54
tools/bodyteleop/static/js/controls.js
vendored
@@ -1,54 +0,0 @@
|
||||
const keyVals = {w: 0, a: 0, s: 0, d: 0}
|
||||
|
||||
export function getXY() {
|
||||
let x = -keyVals.w + keyVals.s
|
||||
let y = -keyVals.d + keyVals.a
|
||||
return {x, y}
|
||||
}
|
||||
|
||||
export const handleKeyX = (key, setValue) => {
|
||||
if (['w', 'a', 's', 'd'].includes(key)){
|
||||
keyVals[key] = setValue;
|
||||
let color = "#333";
|
||||
if (setValue === 1){
|
||||
color = "#e74c3c";
|
||||
}
|
||||
$("#key-"+key).css('background', color);
|
||||
const {x, y} = getXY();
|
||||
$("#pos-vals").text(x+","+y);
|
||||
}
|
||||
};
|
||||
|
||||
export async function executePlan() {
|
||||
let plan = $("#plan-text").val();
|
||||
const planList = [];
|
||||
plan.split("\n").forEach(function(e){
|
||||
let line = e.split(",").map(k=>parseInt(k));
|
||||
if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
|
||||
console.log("invalid plan");
|
||||
}
|
||||
else{
|
||||
planList.push(line)
|
||||
}
|
||||
});
|
||||
|
||||
async function execute() {
|
||||
for (var i = 0; i < planList.length; i++) {
|
||||
let [w, a, s, d, t] = planList[i];
|
||||
while(t > 0){
|
||||
console.log(w, a, s, d, t);
|
||||
if(w==1){$("#key-w").mousedown();}
|
||||
if(a==1){$("#key-a").mousedown();}
|
||||
if(s==1){$("#key-s").mousedown();}
|
||||
if(d==1){$("#key-d").mousedown();}
|
||||
await sleep(50);
|
||||
$("#key-w").mouseup();
|
||||
$("#key-a").mouseup();
|
||||
$("#key-s").mouseup();
|
||||
$("#key-d").mouseup();
|
||||
t = t - 0.05;
|
||||
}
|
||||
}
|
||||
}
|
||||
execute();
|
||||
}
|
||||
@@ -1,23 +0,0 @@
|
||||
import { handleKeyX, executePlan } from "./controls.js";
|
||||
import { start, stop, last_ping } from "./webrtc.js";
|
||||
|
||||
export var pc = null;
|
||||
export var dc = null;
|
||||
|
||||
document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
|
||||
document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
|
||||
$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
|
||||
$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
|
||||
$("#plan-button").click(executePlan);
|
||||
|
||||
setInterval( () => {
|
||||
const dt = new Date().getTime();
|
||||
if ((dt - last_ping) > 1000) {
|
||||
$(".pre-blob").removeClass('blob');
|
||||
$("#battery").text("-");
|
||||
$("#ping-time").text('-');
|
||||
$("video")[0].load();
|
||||
}
|
||||
}, 5000);
|
||||
|
||||
start(pc, dc);
|
||||
@@ -1,53 +0,0 @@
|
||||
export const pingPoints = [];
|
||||
export const batteryPoints = [];
|
||||
|
||||
function getChartConfig(pts, color, title, ymax=100) {
|
||||
return {
|
||||
type: 'line',
|
||||
data: {
|
||||
datasets: [{
|
||||
label: title,
|
||||
data: pts,
|
||||
borderWidth: 1,
|
||||
borderColor: color,
|
||||
backgroundColor: color,
|
||||
fill: 'origin'
|
||||
}]
|
||||
},
|
||||
options: {
|
||||
scales: {
|
||||
x: {
|
||||
type: 'time',
|
||||
time: {
|
||||
unit: 'minute',
|
||||
displayFormats: {
|
||||
second: 'h:mm a'
|
||||
}
|
||||
},
|
||||
grid: {
|
||||
color: '#222', // Grid lines color
|
||||
},
|
||||
ticks: {
|
||||
source: 'data',
|
||||
fontColor: 'rgba(255, 255, 255, 1.0)', // Y-axis label color
|
||||
}
|
||||
},
|
||||
y: {
|
||||
beginAtZero: true,
|
||||
max: ymax,
|
||||
grid: {
|
||||
color: 'rgba(255, 255, 255, 0.1)', // Grid lines color
|
||||
},
|
||||
ticks: {
|
||||
fontColor: 'rgba(255, 255, 255, 0.7)', // Y-axis label color
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
const ctxPing = document.getElementById('chart-ping');
|
||||
const ctxBattery = document.getElementById('chart-battery');
|
||||
export const chartPing = new Chart(ctxPing, getChartConfig(pingPoints, 'rgba(192, 57, 43, 0.7)', 'Controls Ping Time (ms)', 250));
|
||||
export const chartBattery = new Chart(ctxBattery, getChartConfig(batteryPoints, 'rgba(41, 128, 185, 0.7)', 'Battery %', 100));
|
||||
@@ -1,217 +0,0 @@
|
||||
import { getXY } from "./controls.js";
|
||||
import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js";
|
||||
|
||||
export let dcInterval = null;
|
||||
export let batteryInterval = null;
|
||||
export let last_ping = null;
|
||||
|
||||
|
||||
export function createPeerConnection(pc) {
|
||||
var config = {
|
||||
sdpSemantics: 'unified-plan'
|
||||
};
|
||||
|
||||
pc = new RTCPeerConnection(config);
|
||||
|
||||
// connect audio / video
|
||||
pc.addEventListener('track', function(evt) {
|
||||
console.log("Adding Tracks!")
|
||||
if (evt.track.kind == 'video')
|
||||
document.getElementById('video').srcObject = evt.streams[0];
|
||||
else
|
||||
document.getElementById('audio').srcObject = evt.streams[0];
|
||||
});
|
||||
return pc;
|
||||
}
|
||||
|
||||
|
||||
export function negotiate(pc) {
|
||||
return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
|
||||
return pc.setLocalDescription(offer);
|
||||
}).then(function() {
|
||||
return new Promise(function(resolve) {
|
||||
if (pc.iceGatheringState === 'complete') {
|
||||
resolve();
|
||||
}
|
||||
else {
|
||||
function checkState() {
|
||||
if (pc.iceGatheringState === 'complete') {
|
||||
pc.removeEventListener('icegatheringstatechange', checkState);
|
||||
resolve();
|
||||
}
|
||||
}
|
||||
pc.addEventListener('icegatheringstatechange', checkState);
|
||||
}
|
||||
});
|
||||
}).then(function() {
|
||||
var offer = pc.localDescription;
|
||||
return fetch('/offer', {
|
||||
body: JSON.stringify({
|
||||
sdp: offer.sdp,
|
||||
type: offer.type,
|
||||
}),
|
||||
headers: {
|
||||
'Content-Type': 'application/json'
|
||||
},
|
||||
method: 'POST'
|
||||
});
|
||||
}).then(function(response) {
|
||||
console.log(response);
|
||||
return response.json();
|
||||
}).then(function(answer) {
|
||||
return pc.setRemoteDescription(answer);
|
||||
}).catch(function(e) {
|
||||
alert(e);
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
function isMobile() {
|
||||
let check = false;
|
||||
(function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera);
|
||||
return check;
|
||||
};
|
||||
|
||||
|
||||
export const constraints = {
|
||||
audio: {
|
||||
autoGainControl: false,
|
||||
sampleRate: 48000,
|
||||
sampleSize: 16,
|
||||
echoCancellation: true,
|
||||
noiseSuppression: true,
|
||||
channelCount: 1
|
||||
},
|
||||
video: isMobile()
|
||||
};
|
||||
|
||||
|
||||
export function createDummyVideoTrack() {
|
||||
const canvas = document.createElement('canvas');
|
||||
const context = canvas.getContext('2d');
|
||||
|
||||
const frameWidth = 5; // Set the width of the frame
|
||||
const frameHeight = 5; // Set the height of the frame
|
||||
canvas.width = frameWidth;
|
||||
canvas.height = frameHeight;
|
||||
|
||||
context.fillStyle = 'black';
|
||||
context.fillRect(0, 0, frameWidth, frameHeight);
|
||||
|
||||
const stream = canvas.captureStream();
|
||||
const videoTrack = stream.getVideoTracks()[0];
|
||||
|
||||
return videoTrack;
|
||||
}
|
||||
|
||||
|
||||
export function start(pc, dc) {
|
||||
pc = createPeerConnection(pc);
|
||||
|
||||
if (constraints.audio || constraints.video) {
|
||||
// add audio track
|
||||
navigator.mediaDevices.getUserMedia(constraints).then(function(stream) {
|
||||
stream.getTracks().forEach(function(track) {
|
||||
pc.addTrack(track, stream);
|
||||
// only audio?
|
||||
// if (track.kind === 'audio'){
|
||||
// pc.addTrack(track, stream);
|
||||
// }
|
||||
});
|
||||
return negotiate(pc);
|
||||
}, function(err) {
|
||||
alert('Could not acquire media: ' + err);
|
||||
});
|
||||
|
||||
// add a fake video?
|
||||
// const dummyVideoTrack = createDummyVideoTrack();
|
||||
// const dummyMediaStream = new MediaStream();
|
||||
// dummyMediaStream.addTrack(dummyVideoTrack);
|
||||
// pc.addTrack(dummyVideoTrack, dummyMediaStream);
|
||||
|
||||
} else {
|
||||
negotiate(pc);
|
||||
}
|
||||
|
||||
// setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000)
|
||||
// var video = document.querySelector('video');
|
||||
// var print = function (e, f){console.log(e, f); video.requestVideoFrameCallback(print);};
|
||||
// video.requestVideoFrameCallback(print);
|
||||
|
||||
|
||||
var parameters = {"ordered": true};
|
||||
dc = pc.createDataChannel('data', parameters);
|
||||
dc.onclose = function() {
|
||||
console.log("data channel closed");
|
||||
clearInterval(dcInterval);
|
||||
clearInterval(batteryInterval);
|
||||
};
|
||||
function controlCommand() {
|
||||
const {x, y} = getXY();
|
||||
const dt = new Date().getTime();
|
||||
var message = JSON.stringify({type: 'control_command', x, y, dt});
|
||||
dc.send(message);
|
||||
}
|
||||
|
||||
function batteryLevel() {
|
||||
var message = JSON.stringify({type: 'battery_level'});
|
||||
dc.send(message);
|
||||
}
|
||||
|
||||
dc.onopen = function() {
|
||||
dcInterval = setInterval(controlCommand, 50);
|
||||
batteryInterval = setInterval(batteryLevel, 10000);
|
||||
controlCommand();
|
||||
batteryLevel();
|
||||
$(".sound").click((e)=>{
|
||||
const sound = $(e.target).attr('id').replace('sound-', '')
|
||||
dc.send(JSON.stringify({type: 'play_sound', sound}));
|
||||
});
|
||||
};
|
||||
|
||||
let val_print_idx = 0;
|
||||
dc.onmessage = function(evt) {
|
||||
const data = JSON.parse(evt.data);
|
||||
if(val_print_idx == 0 && data.type === 'ping_time') {
|
||||
const dt = new Date().getTime();
|
||||
const pingtime = dt - data.incoming_time;
|
||||
pingPoints.push({'x': dt, 'y': pingtime});
|
||||
if (pingPoints.length > 1000) {
|
||||
pingPoints.shift();
|
||||
}
|
||||
chartPing.update();
|
||||
$("#ping-time").text((pingtime) + "ms");
|
||||
last_ping = dt;
|
||||
$(".pre-blob").addClass('blob');
|
||||
}
|
||||
val_print_idx = (val_print_idx + 1 ) % 20;
|
||||
if(data.type === 'battery_level') {
|
||||
$("#battery").text(data.value + "%");
|
||||
batteryPoints.push({'x': new Date().getTime(), 'y': data.value});
|
||||
if (batteryPoints.length > 1000) {
|
||||
batteryPoints.shift();
|
||||
}
|
||||
chartBattery.update();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
export function stop(pc, dc) {
|
||||
if (dc) {
|
||||
dc.close();
|
||||
}
|
||||
if (pc.getTransceivers) {
|
||||
pc.getTransceivers().forEach(function(transceiver) {
|
||||
if (transceiver.stop) {
|
||||
transceiver.stop();
|
||||
}
|
||||
});
|
||||
}
|
||||
pc.getSenders().forEach(function(sender) {
|
||||
sender.track.stop();
|
||||
});
|
||||
setTimeout(function() {
|
||||
pc.close();
|
||||
}, 500);
|
||||
}
|
||||
@@ -1,185 +0,0 @@
|
||||
body {
|
||||
background: #333 !important;
|
||||
color: #fff !important;
|
||||
display: flex;
|
||||
justify-content: center;
|
||||
align-items: start;
|
||||
}
|
||||
|
||||
p {
|
||||
margin: 0px !important;
|
||||
}
|
||||
|
||||
i {
|
||||
font-style: normal;
|
||||
}
|
||||
|
||||
.small {
|
||||
font-size: 1em !important
|
||||
}
|
||||
|
||||
.jumbo {
|
||||
font-size: 8rem;
|
||||
}
|
||||
|
||||
|
||||
@media (max-width: 600px) {
|
||||
.small {
|
||||
font-size: 0.5em !important
|
||||
}
|
||||
.jumbo {
|
||||
display: none;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#main {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
align-content: center;
|
||||
justify-content: center;
|
||||
align-items: center;
|
||||
font-size: 30px;
|
||||
width: 100%;
|
||||
max-width: 1200px;
|
||||
}
|
||||
|
||||
video {
|
||||
width: 95%;
|
||||
}
|
||||
|
||||
.pre-blob {
|
||||
display: flex;
|
||||
background: #333;
|
||||
border-radius: 50%;
|
||||
margin: 10px;
|
||||
height: 45px;
|
||||
width: 45px;
|
||||
justify-content: center;
|
||||
align-items: center;
|
||||
font-size: 1rem;
|
||||
}
|
||||
|
||||
.blob {
|
||||
background: rgba(231, 76, 60,1.0);
|
||||
box-shadow: 0 0 0 0 rgba(231, 76, 60,1.0);
|
||||
animation: pulse 2s infinite;
|
||||
}
|
||||
|
||||
@keyframes pulse {
|
||||
0% {
|
||||
box-shadow: 0 0 0 0px rgba(192, 57, 43, 1);
|
||||
}
|
||||
100% {
|
||||
box-shadow: 0 0 0 20px rgba(192, 57, 43, 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
.icon-sup-panel {
|
||||
display: flex;
|
||||
flex-direction: row;
|
||||
justify-content: space-around;
|
||||
align-items: center;
|
||||
background: #222;
|
||||
border-radius: 10px;
|
||||
padding: 5px;
|
||||
margin: 5px 0px 5px 0px;
|
||||
}
|
||||
|
||||
.icon-sub-panel {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
justify-content: space-between;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
#icon-panel {
|
||||
display: flex;
|
||||
width: 100%;
|
||||
justify-content: space-between;
|
||||
margin-top: 5px;
|
||||
}
|
||||
|
||||
.icon-sub-sub-panel {
|
||||
display: flex;
|
||||
flex-direction: row;
|
||||
}
|
||||
|
||||
.keys, #key-val {
|
||||
background: #333;
|
||||
padding: 2rem;
|
||||
margin: 5px;
|
||||
color: #fff;
|
||||
display: flex;
|
||||
justify-content: center;
|
||||
align-items: center;
|
||||
border-radius: 10px;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
#key-val {
|
||||
pointer-events: none;
|
||||
background: #fff;
|
||||
color: #333;
|
||||
line-height: 1;
|
||||
font-size: 20px;
|
||||
flex-direction: column;
|
||||
}
|
||||
|
||||
.wasd-row {
|
||||
display: flex;
|
||||
flex-direction: row;
|
||||
justify-content: center;
|
||||
align-items: stretch;
|
||||
}
|
||||
|
||||
#wasd {
|
||||
margin: 5px 0px 5px 0px;
|
||||
background: #222;
|
||||
border-radius: 10px;
|
||||
width: 100%;
|
||||
padding: 20px;
|
||||
display: flex;
|
||||
flex-direction: row;
|
||||
justify-content: space-around;
|
||||
align-items: stretch;
|
||||
|
||||
user-select: none;
|
||||
-webkit-touch-callout: none;
|
||||
-webkit-user-select: none;
|
||||
-khtml-user-select: none;
|
||||
-moz-user-select: none;
|
||||
-ms-user-select: none;
|
||||
touch-action: manipulation;
|
||||
}
|
||||
|
||||
.panel {
|
||||
display: flex;
|
||||
justify-content: center;
|
||||
margin: 5px 0px 5px 0px !important;
|
||||
background: #222;
|
||||
border-radius: 10px;
|
||||
width: 100%;
|
||||
padding: 10px;
|
||||
}
|
||||
|
||||
#ping-time, #battery {
|
||||
font-size: 25px;
|
||||
}
|
||||
|
||||
#stop {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.plan-form {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
justify-content: space-between;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.details {
|
||||
display: flex;
|
||||
padding: 0px 10px 0px 10px;
|
||||
}
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 8.1 KiB |
@@ -1,201 +0,0 @@
|
||||
import asyncio
|
||||
import json
|
||||
import logging
|
||||
import os
|
||||
import ssl
|
||||
import uuid
|
||||
import time
|
||||
|
||||
from common.basedir import BASEDIR
|
||||
from aiohttp import web
|
||||
from aiortc import RTCPeerConnection, RTCSessionDescription
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
|
||||
|
||||
logger = logging.getLogger("pc")
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
|
||||
pcs = set()
|
||||
pm, sm = None, None
|
||||
TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
|
||||
|
||||
|
||||
async def index(request):
|
||||
content = open(TELEOPDIR + "/static/index.html", "r").read()
|
||||
now = time.monotonic()
|
||||
request.app['mutable_vals']['last_send_time'] = now
|
||||
request.app['mutable_vals']['last_override_time'] = now
|
||||
request.app['mutable_vals']['prev_command'] = []
|
||||
request.app['mutable_vals']['find_person'] = False
|
||||
|
||||
return web.Response(content_type="text/html", text=content)
|
||||
|
||||
|
||||
async def control_body(data, app):
|
||||
now = time.monotonic()
|
||||
if (data['type'] == 'dummy_controls') and (now < (app['mutable_vals']['last_send_time'] + 0.2)):
|
||||
return
|
||||
if (data['type'] == 'control_command') and (app['mutable_vals']['prev_command'] == [data['x'], data['y']] and data['x'] == 0 and data['y'] == 0):
|
||||
return
|
||||
|
||||
logger.info(str(data))
|
||||
x = max(-1.0, min(1.0, data['x']))
|
||||
y = max(-1.0, min(1.0, data['y']))
|
||||
dat = messaging.new_message('testJoystick')
|
||||
dat.testJoystick.axes = [x, y]
|
||||
dat.testJoystick.buttons = [False]
|
||||
pm.send('testJoystick', dat)
|
||||
app['mutable_vals']['last_send_time'] = now
|
||||
if (data['type'] == 'control_command'):
|
||||
app['mutable_vals']['last_override_time'] = now
|
||||
app['mutable_vals']['prev_command'] = [data['x'], data['y']]
|
||||
|
||||
|
||||
async def dummy_controls_msg(app):
|
||||
while True:
|
||||
if 'last_send_time' in app['mutable_vals']:
|
||||
this_time = time.monotonic()
|
||||
if (app['mutable_vals']['last_send_time'] + 0.2) < this_time:
|
||||
await control_body({'type': 'dummy_controls', 'x': 0, 'y': 0}, app)
|
||||
await asyncio.sleep(0.2)
|
||||
|
||||
|
||||
async def start_background_tasks(app):
|
||||
app['bgtask_dummy_controls_msg'] = asyncio.create_task(dummy_controls_msg(app))
|
||||
|
||||
|
||||
async def stop_background_tasks(app):
|
||||
app['bgtask_dummy_controls_msg'].cancel()
|
||||
await app['bgtask_dummy_controls_msg']
|
||||
|
||||
|
||||
async def offer(request):
|
||||
logger.info("\n\n\nnewoffer!\n\n")
|
||||
|
||||
params = await request.json()
|
||||
offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
|
||||
speaker = WebClientSpeaker()
|
||||
blackhole = MediaBlackhole()
|
||||
|
||||
pc = RTCPeerConnection()
|
||||
pc_id = "PeerConnection(%s)" % uuid.uuid4()
|
||||
pcs.add(pc)
|
||||
|
||||
def log_info(msg, *args):
|
||||
logger.info(pc_id + " " + msg, *args)
|
||||
|
||||
log_info("Created for %s", request.remote)
|
||||
|
||||
@pc.on("datachannel")
|
||||
def on_datachannel(channel):
|
||||
request.app['mutable_vals']['remote_channel'] = channel
|
||||
|
||||
@channel.on("message")
|
||||
async def on_message(message):
|
||||
data = json.loads(message)
|
||||
if data['type'] == 'control_command':
|
||||
await control_body(data, request.app)
|
||||
times = {
|
||||
'type': 'ping_time',
|
||||
'incoming_time': data['dt'],
|
||||
'outgoing_time': int(time.time() * 1000),
|
||||
}
|
||||
channel.send(json.dumps(times))
|
||||
if data['type'] == 'battery_level':
|
||||
sm.update(timeout=0)
|
||||
if sm.updated['carState']:
|
||||
channel.send(json.dumps({'type': 'battery_level', 'value': int(sm['carState'].fuelGauge * 100)}))
|
||||
if data['type'] == 'play_sound':
|
||||
logger.info(f"Playing sound: {data['sound']}")
|
||||
await play_sound(data['sound'])
|
||||
if data['type'] == 'find_person':
|
||||
request.app['mutable_vals']['find_person'] = data['value']
|
||||
|
||||
@pc.on("connectionstatechange")
|
||||
async def on_connectionstatechange():
|
||||
log_info("Connection state is %s", pc.connectionState)
|
||||
if pc.connectionState == "failed":
|
||||
await pc.close()
|
||||
pcs.discard(pc)
|
||||
|
||||
@pc.on('track')
|
||||
def on_track(track):
|
||||
logger.info(f"Track received: {track.kind}")
|
||||
if track.kind == "audio":
|
||||
speaker.addTrack(track)
|
||||
elif track.kind == "video":
|
||||
blackhole.addTrack(track)
|
||||
|
||||
@track.on("ended")
|
||||
async def on_ended():
|
||||
log_info("Remote %s track ended", track.kind)
|
||||
if track.kind == "audio":
|
||||
await speaker.stop()
|
||||
elif track.kind == "video":
|
||||
await blackhole.stop()
|
||||
|
||||
video_sender = pc.addTrack(EncodedBodyVideo())
|
||||
force_codec(pc, video_sender, forced_codec='video/H264')
|
||||
_ = pc.addTrack(BodyMic())
|
||||
|
||||
await pc.setRemoteDescription(offer)
|
||||
await speaker.start()
|
||||
await blackhole.start()
|
||||
answer = await pc.createAnswer()
|
||||
await pc.setLocalDescription(answer)
|
||||
|
||||
return web.Response(
|
||||
content_type="application/json",
|
||||
text=json.dumps(
|
||||
{"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
|
||||
),
|
||||
)
|
||||
|
||||
|
||||
async def on_shutdown(app):
|
||||
coros = [pc.close() for pc in pcs]
|
||||
await asyncio.gather(*coros)
|
||||
pcs.clear()
|
||||
|
||||
|
||||
async def run(cmd):
|
||||
proc = await asyncio.create_subprocess_shell(
|
||||
cmd,
|
||||
stdout=asyncio.subprocess.PIPE,
|
||||
stderr=asyncio.subprocess.PIPE
|
||||
)
|
||||
stdout, stderr = await proc.communicate()
|
||||
logger.info("Created key and cert!")
|
||||
if stdout:
|
||||
logger.info(f'[stdout]\n{stdout.decode()}')
|
||||
if stderr:
|
||||
logger.info(f'[stderr]\n{stderr.decode()}')
|
||||
|
||||
|
||||
def main():
|
||||
global pm, sm
|
||||
pm = messaging.PubMaster(['testJoystick'])
|
||||
sm = messaging.SubMaster(['carState', 'logMessage'])
|
||||
# App needs to be HTTPS for microphone and audio autoplay to work on the browser
|
||||
cert_path = TELEOPDIR + '/cert.pem'
|
||||
key_path = TELEOPDIR + '/key.pem'
|
||||
if (not os.path.exists(cert_path)) or (not os.path.exists(key_path)):
|
||||
asyncio.run(run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"'))
|
||||
else:
|
||||
logger.info("Certificate exists!")
|
||||
ssl_context = ssl.SSLContext()
|
||||
ssl_context.load_cert_chain(cert_path, key_path)
|
||||
app = web.Application()
|
||||
app['mutable_vals'] = {}
|
||||
app.on_shutdown.append(on_shutdown)
|
||||
app.router.add_post("/offer", offer)
|
||||
app.router.add_get("/", index)
|
||||
app.router.add_static('/static', TELEOPDIR + '/static')
|
||||
app.on_startup.append(start_background_tasks)
|
||||
app.on_cleanup.append(stop_background_tasks)
|
||||
web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
78
tools/joystick/web.py
Executable file
78
tools/joystick/web.py
Executable file
@@ -0,0 +1,78 @@
|
||||
#!/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()
|
||||
Reference in New Issue
Block a user