openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
103
tools/bodyteleop/static/index.html
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103
tools/bodyteleop/static/index.html
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@@ -0,0 +1,103 @@
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<html>
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<head>
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<meta charset="UTF-8"/>
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>commabody</title>
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<link rel="stylesheet" href="/static/main.css">
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<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>
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<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.10.5/font/bootstrap-icons.css">
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<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>
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<script src="https://cdnjs.cloudflare.com/ajax/libs/moment.js/2.29.1/moment.min.js"></script>
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<script src="https://cdn.jsdelivr.net/npm/chart.js@^3"></script>
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<script src="https://cdn.jsdelivr.net/npm/moment@^2"></script>
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<script src="https://cdn.jsdelivr.net/npm/chartjs-adapter-moment@^1"></script>
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</head>
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<body>
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<div id="main">
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<p class="jumbo">comma body</p>
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<audio id="audio" autoplay="true"></audio>
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<video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
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<div id="icon-panel" class="row">
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<div class="col-sm-12 col-md-6 details">
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<div class="icon-sup-panel col-12">
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<div class="icon-sub-panel">
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<div class="icon-sub-sub-panel">
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<i class="bi bi-speaker-fill pre-blob"></i>
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<i class="bi bi-mic-fill pre-blob"></i>
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<i class="bi bi-camera-video-fill pre-blob"></i>
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</div>
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<p class="small">body</p>
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</div>
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<div class="icon-sub-panel">
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<div class="icon-sub-sub-panel">
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<i class="bi bi-speaker-fill pre-blob"></i>
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<i class="bi bi-mic-fill pre-blob"></i>
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</div>
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<p class="small">you</p>
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</div>
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</div>
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</div>
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<div class="col-sm-12 col-md-6 details">
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<div class="icon-sup-panel col-12">
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<div class="icon-sub-panel">
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<div class="icon-sub-sub-panel">
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<i id="ping-time" class="pre-blob1">-</i>
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</div>
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<p class="bi bi-arrow-repeat small"> ping time</p>
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</div>
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<div class="icon-sub-panel">
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<div class="icon-sub-sub-panel">
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<i id="battery" class="pre-blob1">-</i>
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</div>
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<p class="bi bi-battery-half small"> battery</p>
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</div>
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</div>
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</div>
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<!-- <div class="icon-sub-panel">
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<button type="button" id="start" class="btn btn-light btn-lg">Start</button>
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<button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
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</div> -->
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</div>
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<div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
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<div id="wasd" class="col-md-12 row">
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<div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
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<div class="wasd-row">
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<div class="keys" id="key-w">W</div>
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<div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
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</div>
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<div class="wasd-row">
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<div class="keys" id="key-a">A</div>
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<div class="keys" id="key-s">S</div>
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<div class="keys" id="key-d">D</div>
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</div>
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</div>
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<div class="col-md-6 col-sm-12 form-group plan-form">
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<label for="plan-text">Plan (w, a, s, d, t)</label>
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<label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
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<textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
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<button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
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</div>
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</div>
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</div>
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<div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
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<div class="panel row">
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<div class="col-sm-3" style="text-align: center;">
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<p>Play Sounds</p>
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</div>
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<div class="btn-group col-sm-8">
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<button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
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<button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
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<button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
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</div>
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</div>
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</div>
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<div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
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<div class="panel row">
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<div class="col-sm-6"><canvas id="chart-ping"></canvas></div>
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<div class="col-sm-6"><canvas id="chart-battery"></canvas></div>
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</div>
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</div>
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</div>
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<script src="/static/js/jsmain.js" type="module"></script>
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</body>
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</html>
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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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@@ -0,0 +1,209 @@
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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);
|
||||
}).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 offerRtcRequest(offer.sdp, offer.type);
|
||||
}).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 start(pc, dc) {
|
||||
pc = createPeerConnection(pc);
|
||||
|
||||
// add audio track
|
||||
navigator.mediaDevices.enumerateDevices()
|
||||
.then(function(devices) {
|
||||
const hasAudioInput = devices.find((device) => device.kind === "audioinput");
|
||||
var modifiedConstraints = {};
|
||||
modifiedConstraints.video = constraints.video;
|
||||
modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
|
||||
|
||||
return Promise.resolve(modifiedConstraints);
|
||||
})
|
||||
.then(function(constraints) {
|
||||
if (constraints.audio || constraints.video) {
|
||||
return navigator.mediaDevices.getUserMedia(constraints);
|
||||
} else{
|
||||
return Promise.resolve(null);
|
||||
}
|
||||
})
|
||||
.then(function(stream) {
|
||||
if (stream) {
|
||||
stream.getTracks().forEach(function(track) {
|
||||
pc.addTrack(track, stream);
|
||||
});
|
||||
}
|
||||
|
||||
return negotiate(pc);
|
||||
})
|
||||
.catch(function(err) {
|
||||
alert('Could not acquire media: ' + err);
|
||||
});
|
||||
|
||||
var parameters = {"ordered": true};
|
||||
dc = pc.createDataChannel('data', parameters);
|
||||
dc.onclose = function() {
|
||||
clearInterval(controlCommandInterval);
|
||||
clearInterval(latencyInterval);
|
||||
};
|
||||
|
||||
function sendJoystickOverDataChannel() {
|
||||
const {x, y} = getXY();
|
||||
var message = JSON.stringify({type: "testJoystick", data: {axes: [x, y], buttons: [false]}})
|
||||
dc.send(message);
|
||||
}
|
||||
function checkLatency() {
|
||||
const initialTime = new Date().getTime();
|
||||
pingHeadRequest().then(function() {
|
||||
const currentTime = new Date().getTime();
|
||||
if (Math.abs(currentTime - lastChannelMessageTime) < 1000) {
|
||||
const pingtime = currentTime - initialTime;
|
||||
pingPoints.push({'x': currentTime, 'y': pingtime});
|
||||
if (pingPoints.length > 1000) {
|
||||
pingPoints.shift();
|
||||
}
|
||||
chartPing.update();
|
||||
$("#ping-time").text((pingtime) + "ms");
|
||||
}
|
||||
})
|
||||
}
|
||||
dc.onopen = function() {
|
||||
controlCommandInterval = setInterval(sendJoystickOverDataChannel, 50);
|
||||
latencyInterval = setInterval(checkLatency, 1000);
|
||||
sendJoystickOverDataChannel();
|
||||
};
|
||||
|
||||
const textDecoder = new TextDecoder();
|
||||
var carStaterIndex = 0;
|
||||
dc.onmessage = function(evt) {
|
||||
const text = textDecoder.decode(evt.data);
|
||||
const msg = JSON.parse(text);
|
||||
if (carStaterIndex % 100 == 0 && msg.type === 'carState') {
|
||||
const batteryLevel = Math.round(msg.data.fuelGauge * 100);
|
||||
$("#battery").text(batteryLevel + "%");
|
||||
batteryPoints.push({'x': new Date().getTime(), 'y': batteryLevel});
|
||||
if (batteryPoints.length > 1000) {
|
||||
batteryPoints.shift();
|
||||
}
|
||||
chartBattery.update();
|
||||
}
|
||||
carStaterIndex += 1;
|
||||
lastChannelMessageTime = new Date().getTime();
|
||||
$(".pre-blob").addClass('blob');
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
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);
|
||||
}
|
||||
185
tools/bodyteleop/static/main.css
Normal file
185
tools/bodyteleop/static/main.css
Normal file
@@ -0,0 +1,185 @@
|
||||
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;
|
||||
}
|
||||
BIN
tools/bodyteleop/static/poster.png
Normal file
BIN
tools/bodyteleop/static/poster.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 8.1 KiB |
126
tools/bodyteleop/web.py
Normal file
126
tools/bodyteleop/web.py
Normal file
@@ -0,0 +1,126 @@
|
||||
import asyncio
|
||||
import dataclasses
|
||||
import json
|
||||
import logging
|
||||
import os
|
||||
import ssl
|
||||
import subprocess
|
||||
|
||||
from aiohttp import web, ClientSession
|
||||
import pyaudio
|
||||
import wave
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.system.webrtc.webrtcd import StreamRequestBody
|
||||
from openpilot.common.params import Params
|
||||
|
||||
logger = logging.getLogger("bodyteleop")
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
|
||||
TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
|
||||
WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
|
||||
|
||||
|
||||
## UTILS
|
||||
async def play_sound(sound):
|
||||
SOUNDS = {
|
||||
"engage": "selfdrive/assets/sounds/engage.wav",
|
||||
"disengage": "selfdrive/assets/sounds/disengage.wav",
|
||||
"error": "selfdrive/assets/sounds/warning_immediate.wav",
|
||||
}
|
||||
assert sound in SOUNDS
|
||||
|
||||
chunk = 5120
|
||||
with wave.open(os.path.join(BASEDIR, 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(),
|
||||
output=True,
|
||||
frames_per_buffer=chunk,
|
||||
stream_callback=callback)
|
||||
stream.start_stream()
|
||||
while stream.is_active():
|
||||
await asyncio.sleep(0)
|
||||
stream.stop_stream()
|
||||
stream.close()
|
||||
p.terminate()
|
||||
|
||||
## SSL
|
||||
def create_ssl_cert(cert_path, key_path):
|
||||
try:
|
||||
proc = subprocess.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"',
|
||||
stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True)
|
||||
proc.check_returncode()
|
||||
except subprocess.CalledProcessError as ex:
|
||||
raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex
|
||||
|
||||
|
||||
def create_ssl_context():
|
||||
cert_path = os.path.join(TELEOPDIR, "cert.pem")
|
||||
key_path = os.path.join(TELEOPDIR, "key.pem")
|
||||
if not os.path.exists(cert_path) or not os.path.exists(key_path):
|
||||
logger.info("Creating certificate...")
|
||||
create_ssl_cert(cert_path, key_path)
|
||||
else:
|
||||
logger.info("Certificate exists!")
|
||||
ssl_context = ssl.SSLContext(protocol=ssl.PROTOCOL_TLS_SERVER)
|
||||
ssl_context.load_cert_chain(cert_path, key_path)
|
||||
|
||||
return ssl_context
|
||||
|
||||
## ENDPOINTS
|
||||
async def index(request):
|
||||
with open(os.path.join(TELEOPDIR, "static", "index.html"), "r") as f:
|
||||
content = f.read()
|
||||
return web.Response(content_type="text/html", text=content)
|
||||
|
||||
|
||||
async def ping(request):
|
||||
return web.Response(text="pong")
|
||||
|
||||
|
||||
async def sound(request):
|
||||
params = await request.json()
|
||||
sound_to_play = params["sound"]
|
||||
|
||||
await play_sound(sound_to_play)
|
||||
return web.json_response({"status": "ok"})
|
||||
|
||||
|
||||
async def offer(request):
|
||||
params = await request.json()
|
||||
body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
|
||||
body_json = json.dumps(dataclasses.asdict(body))
|
||||
|
||||
logger.info("Sending offer to webrtcd...")
|
||||
webrtcd_url = f"http://{WEBRTCD_HOST}:{WEBRTCD_PORT}/stream"
|
||||
async with ClientSession() as session, session.post(webrtcd_url, data=body_json) as resp:
|
||||
assert resp.status == 200
|
||||
answer = await resp.json()
|
||||
return web.json_response(answer)
|
||||
|
||||
|
||||
def main():
|
||||
# Enable joystick debug mode
|
||||
Params().put_bool("JoystickDebugMode", True)
|
||||
|
||||
# App needs to be HTTPS for microphone and audio autoplay to work on the browser
|
||||
ssl_context = create_ssl_context()
|
||||
|
||||
app = web.Application()
|
||||
app.router.add_get("/", index)
|
||||
app.router.add_get("/ping", ping, allow_head=True)
|
||||
app.router.add_post("/offer", offer)
|
||||
app.router.add_post("/sound", sound)
|
||||
app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
|
||||
web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user