openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
54
tools/bodyteleop/static/js/controls.js
vendored
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54
tools/bodyteleop/static/js/controls.js
vendored
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const keyVals = {w: 0, a: 0, s: 0, d: 0}
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export function getXY() {
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let x = -keyVals.w + keyVals.s
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let y = -keyVals.d + keyVals.a
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return {x, y}
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}
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export const handleKeyX = (key, setValue) => {
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if (['w', 'a', 's', 'd'].includes(key)){
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keyVals[key] = setValue;
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let color = "#333";
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if (setValue === 1){
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color = "#e74c3c";
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}
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$("#key-"+key).css('background', color);
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const {x, y} = getXY();
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$("#pos-vals").text(x+","+y);
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}
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};
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export async function executePlan() {
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let plan = $("#plan-text").val();
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const planList = [];
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plan.split("\n").forEach(function(e){
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let line = e.split(",").map(k=>parseInt(k));
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if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
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console.log("invalid plan");
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}
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else{
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planList.push(line)
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}
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});
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async function execute() {
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for (var i = 0; i < planList.length; i++) {
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let [w, a, s, d, t] = planList[i];
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while(t > 0){
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console.log(w, a, s, d, t);
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if(w==1){$("#key-w").mousedown();}
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if(a==1){$("#key-a").mousedown();}
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if(s==1){$("#key-s").mousedown();}
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if(d==1){$("#key-d").mousedown();}
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await sleep(50);
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$("#key-w").mouseup();
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$("#key-a").mouseup();
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$("#key-s").mouseup();
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$("#key-d").mouseup();
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t = t - 0.05;
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}
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}
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}
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execute();
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}
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27
tools/bodyteleop/static/js/jsmain.js
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27
tools/bodyteleop/static/js/jsmain.js
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import { handleKeyX, executePlan } from "./controls.js";
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import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js";
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export var pc = null;
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export var dc = null;
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document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
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document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
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$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
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$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
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$("#plan-button").click(executePlan);
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$(".sound").click((e)=>{
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const sound = $(e.target).attr('id').replace('sound-', '')
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return playSoundRequest(sound);
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});
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setInterval( () => {
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const dt = new Date().getTime();
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if ((dt - lastChannelMessageTime) > 1000) {
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$(".pre-blob").removeClass('blob');
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$("#battery").text("-");
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$("#ping-time").text('-');
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$("video")[0].load();
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}
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}, 5000);
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start(pc, dc);
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53
tools/bodyteleop/static/js/plots.js
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53
tools/bodyteleop/static/js/plots.js
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export const pingPoints = [];
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export const batteryPoints = [];
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function getChartConfig(pts, color, title, ymax=100) {
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return {
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type: 'line',
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data: {
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datasets: [{
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label: title,
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data: pts,
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borderWidth: 1,
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borderColor: color,
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backgroundColor: color,
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fill: 'origin'
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}]
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},
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options: {
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scales: {
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x: {
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type: 'time',
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time: {
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unit: 'minute',
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displayFormats: {
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second: 'h:mm a'
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}
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},
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grid: {
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color: '#222', // Grid lines color
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},
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ticks: {
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source: 'data',
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fontColor: 'rgba(255, 255, 255, 1.0)', // Y-axis label color
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}
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},
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y: {
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beginAtZero: true,
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max: ymax,
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grid: {
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color: 'rgba(255, 255, 255, 0.1)', // Grid lines color
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},
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ticks: {
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fontColor: 'rgba(255, 255, 255, 0.7)', // Y-axis label color
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}
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}
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}
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}
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}
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}
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const ctxPing = document.getElementById('chart-ping');
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const ctxBattery = document.getElementById('chart-battery');
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export const chartPing = new Chart(ctxPing, getChartConfig(pingPoints, 'rgba(192, 57, 43, 0.7)', 'Controls Ping Time (ms)', 250));
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export const chartBattery = new Chart(ctxBattery, getChartConfig(batteryPoints, 'rgba(41, 128, 185, 0.7)', 'Battery %', 100));
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209
tools/bodyteleop/static/js/webrtc.js
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209
tools/bodyteleop/static/js/webrtc.js
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import { getXY } from "./controls.js";
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import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js";
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export let controlCommandInterval = null;
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export let latencyInterval = null;
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export let lastChannelMessageTime = null;
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export function offerRtcRequest(sdp, type) {
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return fetch('/offer', {
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body: JSON.stringify({sdp: sdp, type: type}),
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headers: {'Content-Type': 'application/json'},
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method: 'POST'
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});
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}
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export function playSoundRequest(sound) {
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return fetch('/sound', {
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body: JSON.stringify({sound}),
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headers: {'Content-Type': 'application/json'},
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method: 'POST'
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});
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}
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export function pingHeadRequest() {
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return fetch('/', {
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method: 'HEAD'
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});
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}
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export function createPeerConnection(pc) {
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var config = {
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sdpSemantics: 'unified-plan'
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};
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pc = new RTCPeerConnection(config);
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// connect audio / video
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pc.addEventListener('track', function(evt) {
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console.log("Adding Tracks!")
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if (evt.track.kind == 'video')
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document.getElementById('video').srcObject = evt.streams[0];
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else
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document.getElementById('audio').srcObject = evt.streams[0];
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});
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return pc;
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}
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export function negotiate(pc) {
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return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
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return pc.setLocalDescription(offer);
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}).then(function() {
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return new Promise(function(resolve) {
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if (pc.iceGatheringState === 'complete') {
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resolve();
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}
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else {
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function checkState() {
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if (pc.iceGatheringState === 'complete') {
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pc.removeEventListener('icegatheringstatechange', checkState);
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resolve();
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}
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}
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pc.addEventListener('icegatheringstatechange', checkState);
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}
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});
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}).then(function() {
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var offer = pc.localDescription;
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return offerRtcRequest(offer.sdp, offer.type);
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}).then(function(response) {
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console.log(response);
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return response.json();
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}).then(function(answer) {
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return pc.setRemoteDescription(answer);
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}).catch(function(e) {
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alert(e);
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});
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}
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function isMobile() {
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let check = false;
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(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);
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return check;
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};
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export const constraints = {
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audio: {
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autoGainControl: false,
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sampleRate: 48000,
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sampleSize: 16,
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echoCancellation: true,
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noiseSuppression: true,
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channelCount: 1
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},
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video: isMobile()
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};
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export function start(pc, dc) {
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pc = createPeerConnection(pc);
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// add audio track
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navigator.mediaDevices.enumerateDevices()
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.then(function(devices) {
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const hasAudioInput = devices.find((device) => device.kind === "audioinput");
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var modifiedConstraints = {};
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modifiedConstraints.video = constraints.video;
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modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
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return Promise.resolve(modifiedConstraints);
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})
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.then(function(constraints) {
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if (constraints.audio || constraints.video) {
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return navigator.mediaDevices.getUserMedia(constraints);
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} else{
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return Promise.resolve(null);
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}
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})
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.then(function(stream) {
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if (stream) {
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stream.getTracks().forEach(function(track) {
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pc.addTrack(track, stream);
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});
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}
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return negotiate(pc);
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})
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.catch(function(err) {
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alert('Could not acquire media: ' + err);
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});
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var parameters = {"ordered": true};
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dc = pc.createDataChannel('data', parameters);
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dc.onclose = function() {
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clearInterval(controlCommandInterval);
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clearInterval(latencyInterval);
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};
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function sendJoystickOverDataChannel() {
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const {x, y} = getXY();
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var message = JSON.stringify({type: "testJoystick", data: {axes: [x, y], buttons: [false]}})
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dc.send(message);
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}
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function checkLatency() {
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const initialTime = new Date().getTime();
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pingHeadRequest().then(function() {
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const currentTime = new Date().getTime();
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if (Math.abs(currentTime - lastChannelMessageTime) < 1000) {
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const pingtime = currentTime - initialTime;
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pingPoints.push({'x': currentTime, 'y': pingtime});
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if (pingPoints.length > 1000) {
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pingPoints.shift();
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}
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chartPing.update();
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$("#ping-time").text((pingtime) + "ms");
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}
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})
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}
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dc.onopen = function() {
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controlCommandInterval = setInterval(sendJoystickOverDataChannel, 50);
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latencyInterval = setInterval(checkLatency, 1000);
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sendJoystickOverDataChannel();
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};
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const textDecoder = new TextDecoder();
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var carStaterIndex = 0;
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dc.onmessage = function(evt) {
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const text = textDecoder.decode(evt.data);
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const msg = JSON.parse(text);
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if (carStaterIndex % 100 == 0 && msg.type === 'carState') {
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const batteryLevel = Math.round(msg.data.fuelGauge * 100);
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$("#battery").text(batteryLevel + "%");
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batteryPoints.push({'x': new Date().getTime(), 'y': batteryLevel});
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if (batteryPoints.length > 1000) {
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batteryPoints.shift();
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}
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chartBattery.update();
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}
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carStaterIndex += 1;
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lastChannelMessageTime = new Date().getTime();
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$(".pre-blob").addClass('blob');
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};
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}
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export function stop(pc, dc) {
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if (dc) {
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dc.close();
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}
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if (pc.getTransceivers) {
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pc.getTransceivers().forEach(function(transceiver) {
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if (transceiver.stop) {
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transceiver.stop();
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}
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});
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}
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pc.getSenders().forEach(function(sender) {
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sender.track.stop();
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});
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setTimeout(function() {
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pc.close();
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}, 500);
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}
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Reference in New Issue
Block a user