openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

tools/bodyteleop/static/js/controls.js

@@ -0,0 +1,54 @@
+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();
+}