Youwen Wu
GitHub
commit
a454d3085e
95 changed files with 1181 additions and 537 deletions
21
README.md
21
README.md
|
|
@ -32,20 +32,23 @@ If you would like to contribute to Jankboard 2, there's only a few simple steps
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|||
- If you don't have access to a development environment that supports running standalone executables (eg. Github Codespaces), you can try running `npm run dev` instead of `npm run tauri dev`, which will open a development server at `localhost:5173` with the frontend running in the web. However, this may break at any time as critical functionality is more directly attached to the Rust backend.
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||||
- If for some reason you need to install and use the Python backend while we are migrating to Rust, run `poetry install --no-root` in the root directory of the project to install dependencies. You can start the server with `poetry run flask --app app/server.py run --host localhost --port 1280` (it must be running at port `1280` for the frontend to detect it).
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## Current progress
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## Current progress and improvements over (original) Jankboard
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- Basic UI layout complete
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- Media player working with a few small issues
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- App system working smoothly
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- Camera feed likely working
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- Frontend syncs basic telemetry data with robot through the same Socket-IO code that powered Jankboard v1
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- Notification service installed, with Toast and audio capability
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- Layout, toasts/notifications, music player, and app system ported.
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- Toast and audio cue system is much more robust
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- Transitions added almost everywhere to make things smoother
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- Tauri app created successfully, currently still using Flask backend
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- Visualization vastly improved with Threlte (Three.js) powered 3D robot simulation
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- Robot model ported successfully via massive optimization through polygon decimation
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- Added settings app with options to disable certain features and developer tools for testing
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## TODO
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- Camera cutout overlay
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- Overhaul audio player system
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- Robot visualization (3D, in Threlte).
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- Overhaul backend
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- Overhaul visualization (especially camera)
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- Overhaul backend in Rust
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- Further integrate telemetry (like GPWS, collision warning, etc)
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- Finish re-creating / adding various voice alerts and sequences
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- Create dynamic voice prompt system to support new languages very easily
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- Add dynamic voice prompt fallback to support incremental voice prompt migration
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24
client/package-lock.json
generated
24
client/package-lock.json
generated
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@ -9,8 +9,10 @@
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"version": "0.0.0",
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||||
"dependencies": {
|
||||
"@fontsource/roboto": "^5.0.8",
|
||||
"@tauri-apps/api": "^1.5.3",
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||||
"@threlte/core": "^7.1.0",
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"@threlte/extras": "^8.8.0",
|
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"camera-controls": "^2.8.3",
|
||||
"howler": "^2.2.4",
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"material-icons": "^1.13.12",
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"material-symbols": "^0.15.0",
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|
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@ -810,6 +812,20 @@
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"vite": "^5.0.0"
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||||
}
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||||
},
|
||||
"node_modules/@tauri-apps/api": {
|
||||
"version": "1.5.3",
|
||||
"resolved": "https://registry.npmjs.org/@tauri-apps/api/-/api-1.5.3.tgz",
|
||||
"integrity": "sha512-zxnDjHHKjOsrIzZm6nO5Xapb/BxqUq1tc7cGkFXsFkGTsSWgCPH1D8mm0XS9weJY2OaR73I3k3S+b7eSzJDfqA==",
|
||||
"engines": {
|
||||
"node": ">= 14.6.0",
|
||||
"npm": ">= 6.6.0",
|
||||
"yarn": ">= 1.19.1"
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},
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"funding": {
|
||||
"type": "opencollective",
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"url": "https://opencollective.com/tauri"
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}
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},
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||||
"node_modules/@tauri-apps/cli": {
|
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"version": "1.5.10",
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"resolved": "https://registry.npmjs.org/@tauri-apps/cli/-/cli-1.5.10.tgz",
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@ -1300,6 +1316,14 @@
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"node": ">= 6"
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}
|
||||
},
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"node_modules/camera-controls": {
|
||||
"version": "2.8.3",
|
||||
"resolved": "https://registry.npmjs.org/camera-controls/-/camera-controls-2.8.3.tgz",
|
||||
"integrity": "sha512-zFjqUR6onLkG+z1A6vAWfzovxZxWVSvp6e5t3lfZgfgPZtX3n74aykNAUaoRbq8Y3tOxadHkDjbfGDOP9hFf2w==",
|
||||
"peerDependencies": {
|
||||
"three": ">=0.126.1"
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}
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},
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||||
"node_modules/caniuse-lite": {
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||||
"version": "1.0.30001588",
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"resolved": "https://registry.npmjs.org/caniuse-lite/-/caniuse-lite-1.0.30001588.tgz",
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@ -29,8 +29,10 @@
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},
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"dependencies": {
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"@fontsource/roboto": "^5.0.8",
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"@tauri-apps/api": "^1.5.3",
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||||
"@threlte/core": "^7.1.0",
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"@threlte/extras": "^8.8.0",
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"camera-controls": "^2.8.3",
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"howler": "^2.2.4",
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"material-icons": "^1.13.12",
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"material-symbols": "^0.15.0",
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176
client/src-tauri/Cargo.lock
generated
176
client/src-tauri/Cargo.lock
generated
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@ -66,10 +66,14 @@ checksum = "5ad32ce52e4161730f7098c077cd2ed6229b5804ccf99e5366be1ab72a98b4e1"
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|||
name = "app"
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||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"network-tables",
|
||||
"serde",
|
||||
"serde_json",
|
||||
"tauri",
|
||||
"tauri-build",
|
||||
"tokio",
|
||||
"tracing",
|
||||
"tracing-subscriber",
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||||
]
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||||
[[package]]
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||||
|
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@ -788,6 +792,12 @@ dependencies = [
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|||
"syn 2.0.50",
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||||
]
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[[package]]
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name = "futures-sink"
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||||
version = "0.3.30"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
|
||||
|
||||
[[package]]
|
||||
name = "futures-task"
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||||
version = "0.3.30"
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||||
|
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@ -802,6 +812,7 @@ checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
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|||
dependencies = [
|
||||
"futures-core",
|
||||
"futures-macro",
|
||||
"futures-sink",
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"futures-task",
|
||||
"pin-project-lite",
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||||
"pin-utils",
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||||
|
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@ -1184,6 +1195,12 @@ version = "0.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "21dec9db110f5f872ed9699c3ecf50cf16f423502706ba5c72462e28d3157573"
|
||||
|
||||
[[package]]
|
||||
name = "httparse"
|
||||
version = "1.8.0"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "d897f394bad6a705d5f4104762e116a75639e470d80901eed05a860a95cb1904"
|
||||
|
||||
[[package]]
|
||||
name = "iana-time-zone"
|
||||
version = "0.1.60"
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||||
|
|
@ -1528,6 +1545,17 @@ dependencies = [
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|||
"simd-adler32",
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||||
]
|
||||
|
||||
[[package]]
|
||||
name = "mio"
|
||||
version = "0.8.10"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8f3d0b296e374a4e6f3c7b0a1f5a51d748a0d34c85e7dc48fc3fa9a87657fe09"
|
||||
dependencies = [
|
||||
"libc",
|
||||
"wasi 0.11.0+wasi-snapshot-preview1",
|
||||
"windows-sys 0.48.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "ndk"
|
||||
version = "0.6.0"
|
||||
|
|
@ -1556,6 +1584,26 @@ dependencies = [
|
|||
"jni-sys",
|
||||
]
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||||
|
||||
[[package]]
|
||||
name = "network-tables"
|
||||
version = "0.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b7d34242b4ee3505f5d9f6eeb8cc409cfa1f18a517825c78e6001fe304c3977b"
|
||||
dependencies = [
|
||||
"futures-util",
|
||||
"parking_lot",
|
||||
"rand 0.8.5",
|
||||
"rmp",
|
||||
"rmp-serde",
|
||||
"rmpv",
|
||||
"serde",
|
||||
"serde_json",
|
||||
"thiserror",
|
||||
"tokio",
|
||||
"tokio-tungstenite",
|
||||
"tracing",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "new_debug_unreachable"
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||||
version = "1.0.4"
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||||
|
|
@ -1721,6 +1769,12 @@ dependencies = [
|
|||
"windows-targets 0.48.5",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "paste"
|
||||
version = "1.0.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
|
||||
|
||||
[[package]]
|
||||
name = "percent-encoding"
|
||||
version = "2.3.1"
|
||||
|
|
@ -2142,6 +2196,40 @@ version = "0.8.2"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
|
||||
|
||||
[[package]]
|
||||
name = "rmp"
|
||||
version = "0.8.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7f9860a6cc38ed1da53456442089b4dfa35e7cedaa326df63017af88385e6b20"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"num-traits",
|
||||
"paste",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rmp-serde"
|
||||
version = "1.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bffea85eea980d8a74453e5d02a8d93028f3c34725de143085a844ebe953258a"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"rmp",
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rmpv"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2e0e0214a4a2b444ecce41a4025792fc31f77c7bb89c46d253953ea8c65701ec"
|
||||
dependencies = [
|
||||
"num-traits",
|
||||
"rmp",
|
||||
"serde",
|
||||
"serde_bytes",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustc-demangle"
|
||||
version = "0.1.23"
|
||||
|
|
@ -2247,6 +2335,15 @@ dependencies = [
|
|||
"serde_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_bytes"
|
||||
version = "0.11.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8b8497c313fd43ab992087548117643f6fcd935cbf36f176ffda0aacf9591734"
|
||||
dependencies = [
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_derive"
|
||||
version = "1.0.197"
|
||||
|
|
@ -2352,6 +2449,17 @@ dependencies = [
|
|||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "sha1"
|
||||
version = "0.10.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e3bf829a2d51ab4a5ddf1352d8470c140cadc8301b2ae1789db023f01cedd6ba"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"cpufeatures",
|
||||
"digest",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "sha2"
|
||||
version = "0.10.8"
|
||||
|
|
@ -2372,6 +2480,15 @@ dependencies = [
|
|||
"lazy_static",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "signal-hook-registry"
|
||||
version = "1.4.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d8229b473baa5980ac72ef434c4415e70c4b5e71b423043adb4ba059f89c99a1"
|
||||
dependencies = [
|
||||
"libc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "simd-adler32"
|
||||
version = "0.3.7"
|
||||
|
|
@ -2399,6 +2516,16 @@ version = "1.13.1"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e6ecd384b10a64542d77071bd64bd7b231f4ed5940fba55e98c3de13824cf3d7"
|
||||
|
||||
[[package]]
|
||||
name = "socket2"
|
||||
version = "0.5.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "05ffd9c0a93b7543e062e759284fcf5f5e3b098501104bfbdde4d404db792871"
|
||||
dependencies = [
|
||||
"libc",
|
||||
"windows-sys 0.52.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "soup2"
|
||||
version = "0.2.1"
|
||||
|
|
@ -2895,8 +3022,38 @@ checksum = "61285f6515fa018fb2d1e46eb21223fff441ee8db5d0f1435e8ab4f5cdb80931"
|
|||
dependencies = [
|
||||
"backtrace",
|
||||
"bytes",
|
||||
"libc",
|
||||
"mio",
|
||||
"num_cpus",
|
||||
"parking_lot",
|
||||
"pin-project-lite",
|
||||
"signal-hook-registry",
|
||||
"socket2",
|
||||
"tokio-macros",
|
||||
"windows-sys 0.48.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tokio-macros"
|
||||
version = "2.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5b8a1e28f2deaa14e508979454cb3a223b10b938b45af148bc0986de36f1923b"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.50",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tokio-tungstenite"
|
||||
version = "0.18.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "54319c93411147bced34cb5609a80e0a8e44c5999c93903a81cd866630ec0bfd"
|
||||
dependencies = [
|
||||
"futures-util",
|
||||
"log",
|
||||
"tokio",
|
||||
"tungstenite",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -3037,6 +3194,25 @@ dependencies = [
|
|||
"serde_json",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tungstenite"
|
||||
version = "0.18.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "30ee6ab729cd4cf0fd55218530c4522ed30b7b6081752839b68fcec8d0960788"
|
||||
dependencies = [
|
||||
"base64 0.13.1",
|
||||
"byteorder",
|
||||
"bytes",
|
||||
"http",
|
||||
"httparse",
|
||||
"log",
|
||||
"rand 0.8.5",
|
||||
"sha1",
|
||||
"thiserror",
|
||||
"url",
|
||||
"utf-8",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.17.0"
|
||||
|
|
|
|||
|
|
@ -18,6 +18,10 @@ tauri-build = { version = "1.5.1", features = [] }
|
|||
serde_json = "1.0"
|
||||
serde = { version = "1.0", features = ["derive"] }
|
||||
tauri = { version = "1.6.0", features = [] }
|
||||
tokio = { version = "1.23.0", features = ["full"] }
|
||||
tracing = "0.1"
|
||||
tracing-subscriber = { version = "0.3.16", features = ["env-filter"] }
|
||||
network-tables = { version = "=0.1.3", features = ["client-v4"] }
|
||||
|
||||
[features]
|
||||
# this feature is used for production builds or when `devPath` points to the filesystem and the built-in dev server is disabled.
|
||||
|
|
|
|||
|
|
@ -1,8 +1,30 @@
|
|||
// Prevents additional console window on Windows in release, DO NOT REMOVE!!
|
||||
#![cfg_attr(not(debug_assertions), windows_subsystem = "windows")]
|
||||
|
||||
fn main() {
|
||||
tauri::Builder::default()
|
||||
.run(tauri::generate_context!())
|
||||
.expect("error while running tauri application");
|
||||
use tauri::Manager;
|
||||
mod telemetry;
|
||||
|
||||
#[derive(Clone, serde::Serialize)]
|
||||
struct Payload {
|
||||
message: String,
|
||||
}
|
||||
|
||||
fn main() {
|
||||
let rt = tokio::runtime::Runtime::new().expect("Failed to create Tokio runtime");
|
||||
|
||||
rt.block_on(async {
|
||||
tauri::Builder::default()
|
||||
.setup(|app| {
|
||||
// create app handle and send it to our event listeners
|
||||
let app_handle = app.app_handle();
|
||||
|
||||
tokio::spawn(async move {
|
||||
crate::telemetry::subscribe_topics(app_handle.clone()).await;
|
||||
});
|
||||
|
||||
Ok(())
|
||||
})
|
||||
.run(tauri::generate_context!())
|
||||
.expect("failed to run app")
|
||||
})
|
||||
}
|
||||
|
|
|
|||
75
client/src-tauri/src/telemetry.rs
Normal file
75
client/src-tauri/src/telemetry.rs
Normal file
|
|
@ -0,0 +1,75 @@
|
|||
use network_tables::v4::client_config::Config;
|
||||
use network_tables::v4::{Client, SubscriptionOptions};
|
||||
use serde_json::to_string;
|
||||
use std::net::{Ipv4Addr, SocketAddrV4};
|
||||
use tauri::{AppHandle, Manager};
|
||||
use tokio::time::{sleep, Duration};
|
||||
|
||||
const NTABLE_IP: (u8, u8, u8, u8) = (10, 12, 80, 2);
|
||||
const NTABLE_PORT: u16 = 5810;
|
||||
|
||||
pub async fn subscribe_topics(app_handle: AppHandle) {
|
||||
loop {
|
||||
// I hope this doesn't lead to a catastrophic infinite loop failure
|
||||
let client = loop {
|
||||
match Client::try_new_w_config(
|
||||
SocketAddrV4::new(
|
||||
Ipv4Addr::new(NTABLE_IP.0, NTABLE_IP.1, NTABLE_IP.2, NTABLE_IP.3),
|
||||
NTABLE_PORT,
|
||||
),
|
||||
Config {
|
||||
..Default::default()
|
||||
},
|
||||
)
|
||||
.await
|
||||
{
|
||||
Ok(client) => {
|
||||
println!("Client created");
|
||||
app_handle
|
||||
.emit_all("telemetry_connected", "connected")
|
||||
.expect("Failed to emit telemetry_status connected event");
|
||||
break client; // Exit the loop if the client is successfully created
|
||||
}
|
||||
Err(e) => {
|
||||
println!("Failed to create client: {}. Retrying in 3 seconds...", e);
|
||||
app_handle
|
||||
.emit_all("telemetry_status", "disconnected")
|
||||
.expect("Failed to emit telemetry_status disconnected event");
|
||||
|
||||
sleep(Duration::from_secs(3)).await; // Wait for 3 seconds before retrying
|
||||
continue; // Continue the loop to retry
|
||||
}
|
||||
};
|
||||
};
|
||||
|
||||
let mut subscription = client
|
||||
.subscribe_w_options(
|
||||
&["/SmartDashboard"],
|
||||
Some(SubscriptionOptions {
|
||||
all: Some(true),
|
||||
prefix: Some(true),
|
||||
..Default::default()
|
||||
}),
|
||||
)
|
||||
.await
|
||||
.expect("Failed to subscribe");
|
||||
while let Some(message) = subscription.next().await {
|
||||
let mut modified_message = message.clone();
|
||||
|
||||
if let Some(stripped) = modified_message.topic_name.strip_prefix("/SmartDashboard/") {
|
||||
modified_message.topic_name = stripped.to_string();
|
||||
}
|
||||
|
||||
let json_message = to_string(&modified_message).expect("Failed to serialize message");
|
||||
app_handle
|
||||
.emit_all("telemetry_data", json_message.clone())
|
||||
.expect("Failed to send telemetry message");
|
||||
|
||||
println!("{}", json_message);
|
||||
}
|
||||
println!("disconnected");
|
||||
app_handle
|
||||
.emit_all("telemetry_status", "disconnected")
|
||||
.expect("Failed to emit telemetry_disconnected event");
|
||||
}
|
||||
}
|
||||
|
|
@ -6,13 +6,14 @@
|
|||
import AppBar from './lib/Apps/AppBar.svelte'
|
||||
import { appList } from './lib/Apps/appList'
|
||||
import { initializeTelemetry } from './lib/utils/initializeTelemetry'
|
||||
import { onMount } from 'svelte'
|
||||
import { onDestroy, onMount } from 'svelte'
|
||||
import { Toaster } from 'svelte-french-toast'
|
||||
import { initializationSequence } from './lib/Sequences/sequences'
|
||||
import Loading from './lib/Loading/Loading.svelte'
|
||||
import { settingsStore } from './lib/stores/settingsStore'
|
||||
import getSettings from './lib/utils/getSettings'
|
||||
import { Canvas } from '@threlte/core'
|
||||
import { emit } from '@tauri-apps/api/event'
|
||||
|
||||
let activeApp: App = 'camera'
|
||||
let topics: TelemetryTopics = {
|
||||
|
|
@ -32,6 +33,7 @@
|
|||
}
|
||||
|
||||
let loading = $settingsStore.fastStartup ? false : true
|
||||
let unlistenAll: () => void
|
||||
|
||||
onMount(() => {
|
||||
let savedSettings = getSettings()
|
||||
|
|
@ -40,11 +42,21 @@
|
|||
}
|
||||
window.ResizeObserver = ResizeObserver
|
||||
// disabled while migrating away from python
|
||||
initializeTelemetry(topics, 200)
|
||||
initializeTelemetry(topics, 200).then((unsubFunction: () => void) => {
|
||||
unlistenAll = unsubFunction
|
||||
})
|
||||
setTimeout(() => {
|
||||
loading = false
|
||||
initializationSequence()
|
||||
}, 3000)
|
||||
|
||||
settingsStore.subscribe(value => {
|
||||
localStorage.setItem('settings', JSON.stringify(value))
|
||||
})
|
||||
})
|
||||
|
||||
onDestroy(() => {
|
||||
unlistenAll && unlistenAll()
|
||||
})
|
||||
</script>
|
||||
|
||||
|
|
|
|||
|
|
@ -21,6 +21,8 @@
|
|||
overflow: auto; /* or 'scroll' if you always want scrollability */
|
||||
scrollbar-width: none; /* Hide scrollbar for Firefox */
|
||||
-ms-overflow-style: none; /* Hide scrollbar for IE 10+ and Edge */
|
||||
|
||||
overscroll-behavior: none;
|
||||
}
|
||||
body::-webkit-scrollbar {
|
||||
display: none;
|
||||
|
|
|
|||
5
client/src/globals.d.ts
vendored
5
client/src/globals.d.ts
vendored
|
|
@ -49,11 +49,12 @@ interface TelemetryData {
|
|||
'jerk-x': number
|
||||
'jerk-y': number
|
||||
'voltage': number
|
||||
'acc-profile': Mode | '-999'
|
||||
'gear': Gear | '-999'
|
||||
'acc-profile': Mode
|
||||
'gear': Gear
|
||||
'ebrake': boolean
|
||||
'reorient': boolean
|
||||
'gpws': boolean
|
||||
'connected': boolean
|
||||
}
|
||||
|
||||
type CardinalDirection =
|
||||
|
|
|
|||
|
|
@ -1,4 +1,9 @@
|
|||
<script lang="ts">
|
||||
import { onDestroy } from 'svelte'
|
||||
import {
|
||||
cameraControls,
|
||||
cameraState,
|
||||
} from '../../Dashboard/Visualization/CameraControls/utils/cameraStore'
|
||||
import AppContainer from '../AppContainer.svelte'
|
||||
import { simulateMotion } from './simulateMotion'
|
||||
import {
|
||||
|
|
@ -6,6 +11,16 @@
|
|||
increaseSpeedTo,
|
||||
setStationaryTelemetry,
|
||||
} from './telemetrySimulators'
|
||||
|
||||
let value: typeof $cameraState.mode = $cameraState.mode
|
||||
|
||||
$: {
|
||||
cameraState.set('mode', value)
|
||||
}
|
||||
const unsubscribe = cameraState.subscribe(state => {
|
||||
if (value !== state.mode) value = state.mode
|
||||
})
|
||||
onDestroy(unsubscribe)
|
||||
</script>
|
||||
|
||||
<AppContainer
|
||||
|
|
@ -49,6 +64,11 @@
|
|||
<button class="button" on:click={simulateMotion}>
|
||||
Simulate random motion
|
||||
</button>
|
||||
<select bind:value class="bg-slate-300">
|
||||
<option value="orbit">Orbit</option>
|
||||
<option value="follow-facing">Follow Facing</option>
|
||||
<option value="follow-direction">Follow Direction</option>
|
||||
</select>
|
||||
</AppContainer>
|
||||
|
||||
<style lang="postcss">
|
||||
|
|
|
|||
|
|
@ -1,15 +1,18 @@
|
|||
import { get } from 'svelte/store'
|
||||
import { telemetryStore } from '../../stores/telemetryStore'
|
||||
import { increaseRotationTo, increaseSpeedTo } from './telemetrySimulators'
|
||||
|
||||
// simulate some turning for testing
|
||||
export const simulateMotion = () => {
|
||||
let delay = Math.random() * 4500 + 500
|
||||
let randOffset = Math.random() * 360
|
||||
telemetryStore.update({
|
||||
...get(telemetryStore),
|
||||
'orientation': randOffset,
|
||||
'chassis-x-speed': Math.random() * 4 * (Math.random() < 0.5 ? -1 : 1),
|
||||
'chassis-y-speed': Math.random() * 4 * (Math.random() < 0.5 ? -1 : 1),
|
||||
})
|
||||
|
||||
increaseSpeedTo(
|
||||
Math.random() * 4 * (Math.random() < 0.5 ? -1 : 1),
|
||||
Math.random() * 4 * (Math.random() < 0.5 ? -1 : 1)
|
||||
)
|
||||
|
||||
increaseRotationTo(randOffset)
|
||||
|
||||
setTimeout(simulateMotion, delay)
|
||||
}
|
||||
|
|
|
|||
|
|
@ -18,6 +18,7 @@ export const setStationaryTelemetry = () => {
|
|||
'ebrake': false,
|
||||
'reorient': false,
|
||||
'gpws': false,
|
||||
'connected': true,
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -37,7 +38,7 @@ export const increaseSpeedTo = async (targetX: number, targetY: number) => {
|
|||
}
|
||||
}
|
||||
|
||||
const delay = () => new Promise(resolve => setTimeout(resolve, 1000)) // Assuming a 100ms tick for demonstration
|
||||
const delay = () => new Promise(resolve => setTimeout(resolve, 500)) // Assuming a 100ms tick for demonstration
|
||||
const lerp = (start: number, end: number, alpha: number) =>
|
||||
start + (end - start) * alpha
|
||||
|
||||
|
|
@ -68,3 +69,47 @@ export const changeGear = (gear: Gear) => {
|
|||
gear: gear,
|
||||
})
|
||||
}
|
||||
|
||||
let cancelPreviousCall = () => {} // Function to cancel the previous interpolation
|
||||
|
||||
const getAngle = () => {
|
||||
return get(telemetryStore)['orientation']
|
||||
}
|
||||
|
||||
const setAngle = (angle: number) => {
|
||||
telemetryStore.update({
|
||||
...get(telemetryStore),
|
||||
orientation: angle,
|
||||
})
|
||||
}
|
||||
|
||||
export const increaseRotationTo = async (targetAngle: number) => {
|
||||
let isCancelled = false
|
||||
cancelPreviousCall() // Cancel any ongoing interpolation
|
||||
cancelPreviousCall = () => {
|
||||
isCancelled = true
|
||||
} // Setup cancellation for the current call
|
||||
|
||||
const lerp = (start: number, end: number, alpha: number) =>
|
||||
start + (end - start) * alpha
|
||||
const tick = () => new Promise(resolve => setTimeout(resolve, 1000)) // Assuming a 100ms tick for demonstration
|
||||
|
||||
let currentAngle = getAngle() // Assume getAngle() retrieves the current angle
|
||||
|
||||
const steps = 10 // Number of steps for the interpolation
|
||||
for (let i = 1; i <= steps; i++) {
|
||||
if (isCancelled) return // Exit if a new target angle is set
|
||||
|
||||
const alpha = i / steps // Calculate interpolation fraction
|
||||
|
||||
// Interpolate angle
|
||||
const nextAngle = lerp(currentAngle, targetAngle, alpha)
|
||||
|
||||
setAngle(nextAngle) // Update angle
|
||||
|
||||
await tick() // Wait for state update synchronization
|
||||
|
||||
// Update current angle for the next iteration
|
||||
currentAngle = nextAngle
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
import { Notifications } from '../../Notifications/notifications'
|
||||
import { settingsStore } from '../../stores/settingsStore'
|
||||
import AppContainer from '../AppContainer.svelte'
|
||||
import SettingsSelector from './SettingsSelector.svelte'
|
||||
import SettingsInput from './SettingsInput.svelte'
|
||||
import SettingsToggle from './SettingsToggle.svelte'
|
||||
|
||||
|
|
@ -20,6 +21,7 @@
|
|||
class="flex gap-6 bg-blue-200 bg-opacity-25 backdrop-blur-xl media-background rounded-3xl flex-wrap px-10 py-20"
|
||||
>
|
||||
<h1 class="text-5xl font-medium text-slate-100 basis-full">Settings</h1>
|
||||
<p class="text-slate-300">Hover over setting names to see helpful tooltips</p>
|
||||
<h2 class="text-2xl font-medium text-slate-200 mt-4 basis-full">General</h2>
|
||||
<div class="flex flex-col gap-2">
|
||||
<SettingsToggle
|
||||
|
|
@ -39,6 +41,17 @@
|
|||
>
|
||||
RNG Weight
|
||||
</SettingsInput>
|
||||
<SettingsSelector
|
||||
setting="voiceLang"
|
||||
options={['en-US', 'en-RU']}
|
||||
tooltip="Selects the language/locale used for Jankboard voice prompts. Does not affect application language (ie. Jankboard itself will always be in English)."
|
||||
>Voice Prompt Language</SettingsSelector
|
||||
>
|
||||
<SettingsToggle
|
||||
setting="sentry"
|
||||
tooltip="Sentry mode protects the robot and operator from foreign threats."
|
||||
>Sentry Mode</SettingsToggle
|
||||
>
|
||||
<button
|
||||
class="mt-10 px-4 py-2 bg-amber-600 hover:brightness-75 text-medium rounded-lg w-min"
|
||||
on:click={resetSettings}>Reset</button
|
||||
|
|
|
|||
46
client/src/lib/Apps/Settings/SettingsSelector.svelte
Normal file
46
client/src/lib/Apps/Settings/SettingsSelector.svelte
Normal file
|
|
@ -0,0 +1,46 @@
|
|||
<!--
|
||||
@component
|
||||
|
||||
A selector component that updates settings with the selected value. Designed
|
||||
to be used with settings which have a fixed amount of set values. Only works with
|
||||
settings with number or string values. Prefer the Toggle input type for boolean
|
||||
settings.
|
||||
|
||||
@param setting - The setting to be toggled
|
||||
@param options - The options to be shown in the selector. Must be possible (valid)
|
||||
values for the setting.
|
||||
@param tooltip - Helpful tooltip for the setting
|
||||
-->
|
||||
<script lang="ts">
|
||||
import { settingsStore } from '../../stores/settingsStore'
|
||||
import type { SettingsStoreData } from '../../stores/settingsStore'
|
||||
import { tooltip as tooltipAction } from '@svelte-plugins/tooltips'
|
||||
|
||||
export let setting: keyof SettingsStoreData
|
||||
export let options: string[] | number[]
|
||||
export let tooltip: string = ''
|
||||
|
||||
if (typeof setting !== 'string') {
|
||||
throw new Error('Selector setting must be a string')
|
||||
}
|
||||
|
||||
let selected: string | number = $settingsStore[setting] as string | number
|
||||
|
||||
// Setting is guaranteed to be string by guard clause above
|
||||
// @ts-expect-error
|
||||
$: selected && settingsStore.update(setting, selected)
|
||||
</script>
|
||||
|
||||
<div class="flex gap-2 my-1">
|
||||
<select bind:value={selected} class="w-min bg-slate-400 text-md">
|
||||
{#each options as option}
|
||||
<option value={option}>{option}</option>
|
||||
{/each}
|
||||
</select>
|
||||
<label
|
||||
class="text-xl font-medium text-slate-100"
|
||||
for={setting}
|
||||
use:tooltipAction={{ content: tooltip, action: 'hover', arrow: false }}
|
||||
><slot /></label
|
||||
>
|
||||
</div>
|
||||
|
|
@ -4,6 +4,7 @@
|
|||
@param accx - Acceleration in x
|
||||
@param accy - Acceleration in y
|
||||
@param orientation - Heading in degrees
|
||||
@param placeholder - Whether or not to show the placeholder skeleton
|
||||
|
||||
Displays the heading direction and acceleration as human readable text
|
||||
-->
|
||||
|
|
@ -15,9 +16,9 @@
|
|||
export let accx: number
|
||||
export let accy: number
|
||||
export let orientation: number
|
||||
export let placeholder: boolean
|
||||
|
||||
$: accResolved = Math.hypot(accx, accy)
|
||||
$: placeholder = accx === -999 && accy === -999
|
||||
</script>
|
||||
|
||||
<div class="flex flex-col gap-2 text-center">
|
||||
|
|
|
|||
|
|
@ -29,11 +29,18 @@
|
|||
selectedGear={$telemetryReadonlyStore.gear}
|
||||
selectedMode={$telemetryReadonlyStore['acc-profile']}
|
||||
voltage={$telemetryReadonlyStore.voltage}
|
||||
placeholder={!$telemetryReadonlyStore.connected}
|
||||
/>
|
||||
<div class="h-0.5 mt-1 w-full bg-slate-300 border-0"></div>
|
||||
<div class="mt-8 flex justify-between">
|
||||
<Speedometer speed={speedResolved} />
|
||||
<SpeedLimit speedLimit={-999} />
|
||||
<Speedometer
|
||||
speed={speedResolved}
|
||||
placeholder={!$telemetryReadonlyStore.connected}
|
||||
/>
|
||||
<SpeedLimit
|
||||
speedLimit={5}
|
||||
placeholder={!$telemetryReadonlyStore.connected}
|
||||
/>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
|
@ -47,6 +54,7 @@
|
|||
accx={$telemetryReadonlyStore['accx']}
|
||||
accy={$telemetryReadonlyStore['accy']}
|
||||
orientation={$telemetryReadonlyStore['orientation']}
|
||||
placeholder={!$telemetryReadonlyStore.connected}
|
||||
/>
|
||||
</div>
|
||||
<MediaDisplay />
|
||||
|
|
|
|||
|
|
@ -2,13 +2,13 @@
|
|||
@component
|
||||
|
||||
@param speedLimit - Speed limit in Miles Per Hour (MPH)
|
||||
@param placeholder - Whether or not to show the placeholder skeleton
|
||||
|
||||
Displays the speed limit
|
||||
-->
|
||||
<script lang="ts">
|
||||
export let speedLimit: number = 5.0
|
||||
|
||||
$: placeholder = speedLimit === -999
|
||||
export let speedLimit: number
|
||||
export let placeholder: boolean
|
||||
</script>
|
||||
|
||||
<div
|
||||
|
|
@ -16,19 +16,17 @@
|
|||
>
|
||||
<div
|
||||
class="px-3 py-1 border-black rounded-xl border-2 flex flex-col text-center gap-1 transition-all"
|
||||
>
|
||||
<div class="text-lg font-medium">SPEED<br />LIMIT</div>
|
||||
<div
|
||||
class="text-2xl font-bold transition"
|
||||
class:speed-limit-placeholder={placeholder}
|
||||
>
|
||||
{speedLimit}
|
||||
<div class="text-lg font-medium">SPEED<br />LIMIT</div>
|
||||
<div class="text-2xl font-bold transition">
|
||||
{speedLimit.toFixed(1)}
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<style lang="postcss">
|
||||
.speed-limit-placeholder {
|
||||
@apply text-neutral-200 bg-neutral-200 animate-pulse rounded-lg;
|
||||
@apply text-neutral-300 bg-neutral-300 animate-pulse rounded-lg;
|
||||
}
|
||||
</style>
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
@component
|
||||
|
||||
@param speed - Speed in meters per second
|
||||
@param placeholder - Whether or not to show the placeholder skeleton
|
||||
|
||||
Displays the speed in miles per hour
|
||||
-->
|
||||
|
|
@ -10,10 +11,9 @@
|
|||
import { mps2mph } from '../utils/unitConversions'
|
||||
|
||||
export let speed: number = 0.0
|
||||
export let placeholder: boolean
|
||||
|
||||
$: formatted = mps2mph(speed).toFixed(1)
|
||||
|
||||
$: placeholder = speed === Math.hypot(-999, -999)
|
||||
</script>
|
||||
|
||||
<div class="flex flex-col gap-4">
|
||||
|
|
@ -24,10 +24,5 @@
|
|||
>
|
||||
{placeholder ? '-----' : formatted}
|
||||
</div>
|
||||
<div
|
||||
class="text-2xl font-medium transition"
|
||||
class:placeholder={speed === Math.hypot(-999, -999)}
|
||||
>
|
||||
MPH
|
||||
</div>
|
||||
<div class="text-2xl font-medium transition" class:placeholder>MPH</div>
|
||||
</div>
|
||||
|
|
|
|||
|
|
@ -1,9 +1,8 @@
|
|||
<script lang="ts">
|
||||
export let voltage: number
|
||||
export let placeholder: boolean
|
||||
|
||||
$: formatted = voltage.toFixed(1)
|
||||
|
||||
$: placeholder = voltage === -999
|
||||
</script>
|
||||
|
||||
<span class="flex gap-1">
|
||||
|
|
|
|||
|
|
@ -1,18 +1,53 @@
|
|||
<script lang="ts">
|
||||
export let selectedGear: Gear | '-999'
|
||||
import {
|
||||
shiftedInAutoSequence,
|
||||
shiftedInDriveSequence,
|
||||
shiftedInLowSequence,
|
||||
shiftedInNeutralSequence,
|
||||
shiftedInParkSequence,
|
||||
shiftedInReverseSequence,
|
||||
} from '../../Sequences/sequences'
|
||||
|
||||
export let selectedGear: Gear
|
||||
export let placeholder: boolean
|
||||
|
||||
const shift = (selectedGear: Gear) => {
|
||||
switch (selectedGear) {
|
||||
case 'park':
|
||||
shiftedInParkSequence()
|
||||
break
|
||||
case 'reverse':
|
||||
shiftedInReverseSequence()
|
||||
break
|
||||
case 'neutral':
|
||||
shiftedInNeutralSequence()
|
||||
break
|
||||
case 'low':
|
||||
shiftedInLowSequence()
|
||||
break
|
||||
case 'auto':
|
||||
shiftedInAutoSequence()
|
||||
break
|
||||
case 'drive':
|
||||
shiftedInDriveSequence()
|
||||
break
|
||||
}
|
||||
}
|
||||
|
||||
$: shift(selectedGear)
|
||||
</script>
|
||||
|
||||
<div class="flex justify-center w-full transition">
|
||||
<div
|
||||
class="flex flex-row gap-2 text-neutral-400 text-xl font-bold"
|
||||
class:placeholder={selectedGear === '-999'}
|
||||
class:placeholder
|
||||
>
|
||||
<div class:highlighted={selectedGear === 'park'}>P</div>
|
||||
<div class:highlighted={selectedGear === 'reverse'}>R</div>
|
||||
<div class:highlighted={selectedGear === 'neutral'}>N</div>
|
||||
<div class:highlighted={selectedGear === 'low'}>L</div>
|
||||
<div class:highlighted={selectedGear === 'auto'}>A</div>
|
||||
<div class:highlighted={selectedGear === 'drive'}>D</div>
|
||||
<div class:highlighted={selectedGear === 'park' && !placeholder}>P</div>
|
||||
<div class:highlighted={selectedGear === 'reverse' && !placeholder}>R</div>
|
||||
<div class:highlighted={selectedGear === 'neutral' && !placeholder}>N</div>
|
||||
<div class:highlighted={selectedGear === 'low' && !placeholder}>L</div>
|
||||
<div class:highlighted={selectedGear === 'auto' && !placeholder}>A</div>
|
||||
<div class:highlighted={selectedGear === 'drive' && !placeholder}>D</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
|
|
|||
|
|
@ -2,29 +2,45 @@
|
|||
@component
|
||||
|
||||
@param selectedMode - Selected mode
|
||||
@param placeholder - Whether or not to show the placeholder skeleton
|
||||
|
||||
Displays the drive mode
|
||||
-->
|
||||
<script lang="ts">
|
||||
import { fade } from 'svelte/transition'
|
||||
import {
|
||||
modeChillSequence,
|
||||
modeCruiseSequence,
|
||||
modeLudicrousSequence,
|
||||
} from '../../Sequences/sequences'
|
||||
|
||||
export let selectedMode: Mode | '-999'
|
||||
export let selectedMode: Mode
|
||||
export let placeholder: boolean
|
||||
|
||||
let modeText = ''
|
||||
|
||||
$: switch (selectedMode) {
|
||||
const setModeText = (selectedMode: Mode) => {
|
||||
switch (selectedMode) {
|
||||
case 'chill':
|
||||
modeText = 'CHILL'
|
||||
modeChillSequence()
|
||||
break
|
||||
case 'cruise':
|
||||
modeText = 'CRUISE'
|
||||
modeCruiseSequence()
|
||||
break
|
||||
case 'ludicrous':
|
||||
modeText = 'LUDICROUS'
|
||||
modeLudicrousSequence()
|
||||
break
|
||||
case '-999':
|
||||
}
|
||||
}
|
||||
|
||||
$: {
|
||||
if (placeholder) {
|
||||
modeText = 'DISCONNECTED'
|
||||
break
|
||||
} else {
|
||||
setModeText(selectedMode)
|
||||
}
|
||||
}
|
||||
</script>
|
||||
|
||||
|
|
|
|||
|
|
@ -4,6 +4,7 @@
|
|||
@param selectedGear - Selected gear
|
||||
@param selectedMode - Selected mode
|
||||
@param voltage - Battery voltage
|
||||
@param placeholder - Whether or not to show placeholder skeleton UIs
|
||||
|
||||
Displays the top bar of the dashboard
|
||||
-->
|
||||
|
|
@ -13,19 +14,20 @@
|
|||
import GearSelector from './GearSelector.svelte'
|
||||
import ModeSelector from './ModeSelector.svelte'
|
||||
|
||||
export let selectedGear: Gear | '-999'
|
||||
export let selectedMode: Mode | '-999'
|
||||
export let selectedGear: Gear
|
||||
export let selectedMode: Mode
|
||||
export let voltage: number
|
||||
export let placeholder: boolean
|
||||
</script>
|
||||
|
||||
<div class="flex flex-row w-full justify-between">
|
||||
<div>
|
||||
<GearSelector {selectedGear} />
|
||||
<GearSelector {selectedGear} {placeholder} />
|
||||
</div>
|
||||
<div>
|
||||
<ModeSelector {selectedMode} />
|
||||
<ModeSelector {selectedMode} {placeholder} />
|
||||
</div>
|
||||
<div>
|
||||
<BatteryDisplay {voltage} />
|
||||
<BatteryDisplay {voltage} {placeholder} />
|
||||
</div>
|
||||
</div>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,103 @@
|
|||
<script context="module" lang="ts">
|
||||
let installed = false
|
||||
</script>
|
||||
|
||||
<script lang="ts">
|
||||
import {
|
||||
T,
|
||||
forwardEventHandlers,
|
||||
useTask,
|
||||
useParent,
|
||||
useThrelte,
|
||||
} from '@threlte/core'
|
||||
import type {
|
||||
CameraControlsEvents,
|
||||
CameraControlsProps,
|
||||
CameraControlsSlots,
|
||||
} from './CameraControls.svelte'
|
||||
|
||||
type $$Props = CameraControlsProps
|
||||
type $$Events = CameraControlsEvents
|
||||
type $$Slots = CameraControlsSlots
|
||||
|
||||
import CameraControls from 'camera-controls'
|
||||
import {
|
||||
Box3,
|
||||
Matrix4,
|
||||
Quaternion,
|
||||
Raycaster,
|
||||
Sphere,
|
||||
Spherical,
|
||||
Vector2,
|
||||
Vector3,
|
||||
Vector4,
|
||||
type PerspectiveCamera,
|
||||
} from 'three'
|
||||
// @ts-expect-error
|
||||
import { DEG2RAD } from 'three/src/math/MathUtils'
|
||||
import { cameraState } from './utils/cameraStore'
|
||||
|
||||
const subsetOfTHREE = {
|
||||
Vector2,
|
||||
Vector3,
|
||||
Vector4,
|
||||
Quaternion,
|
||||
Matrix4,
|
||||
Spherical,
|
||||
Box3,
|
||||
Sphere,
|
||||
Raycaster,
|
||||
}
|
||||
|
||||
if (!installed) {
|
||||
CameraControls.install({ THREE: subsetOfTHREE })
|
||||
installed = true
|
||||
}
|
||||
|
||||
const parent = useParent()
|
||||
|
||||
if (!$parent) {
|
||||
throw new Error('CameraControls must be a child of a ThreeJS camera')
|
||||
}
|
||||
|
||||
const { renderer, invalidate } = useThrelte()
|
||||
|
||||
let autoRotate = true
|
||||
export let autoRotateSpeed = 1
|
||||
|
||||
export const ref = new CameraControls(
|
||||
$parent as PerspectiveCamera,
|
||||
renderer?.domElement
|
||||
)
|
||||
|
||||
const getControls = () => ref
|
||||
|
||||
useTask(
|
||||
delta => {
|
||||
if (autoRotate && $cameraState.mode === 'orbit') {
|
||||
getControls().azimuthAngle += 4 * delta * DEG2RAD * autoRotateSpeed
|
||||
}
|
||||
const updated = getControls().update(delta)
|
||||
if (updated) invalidate()
|
||||
},
|
||||
{
|
||||
autoInvalidate: false,
|
||||
}
|
||||
)
|
||||
|
||||
const forwardingComponent = forwardEventHandlers()
|
||||
</script>
|
||||
|
||||
<T
|
||||
is={ref}
|
||||
on:controlstart={e => {
|
||||
autoRotate = false
|
||||
}}
|
||||
on:controlend={() => {
|
||||
autoRotate = true
|
||||
}}
|
||||
{...$$restProps}
|
||||
bind:this={$forwardingComponent}
|
||||
>
|
||||
<slot {ref} />
|
||||
</T>
|
||||
16
client/src/lib/Dashboard/Visualization/CameraControls/CameraControls.svelte.d.ts
vendored
Normal file
16
client/src/lib/Dashboard/Visualization/CameraControls/CameraControls.svelte.d.ts
vendored
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
import type { Events, Props, Slots } from '@threlte/core'
|
||||
import CC from 'camera-controls'
|
||||
import type { SvelteComponent } from 'svelte'
|
||||
|
||||
export type CameraControlsProps = Props<CC> & {
|
||||
autoRotate?: boolean
|
||||
autoRotateSpeed?: number
|
||||
}
|
||||
export type CameraControlsEvents = Events<CC>
|
||||
export type CameraControlsSlots = Slots<CC>
|
||||
|
||||
export default class CameraControls extends SvelteComponent<
|
||||
CameraControlsProps,
|
||||
CameraControlsEvents,
|
||||
CameraControlsSlots
|
||||
> {}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
import type CameraControls from 'camera-controls'
|
||||
import { writable } from 'svelte/store'
|
||||
import type { Mesh } from 'three'
|
||||
|
||||
export const cameraControls = writable<CameraControls>()
|
||||
export const mesh = writable<Mesh>()
|
||||
|
||||
type CameraMode =
|
||||
| 'orbit'
|
||||
| 'follow-facing'
|
||||
| 'follow-direction'
|
||||
| 'follow-position'
|
||||
| 'showcase'
|
||||
|
||||
interface CameraState {
|
||||
mode: CameraMode
|
||||
}
|
||||
|
||||
const { set, update, subscribe } = writable<CameraState>({
|
||||
mode: 'orbit',
|
||||
})
|
||||
|
||||
const createCameraState = () => {
|
||||
return {
|
||||
update,
|
||||
subscribe,
|
||||
set: (prop: keyof CameraState, val: any) =>
|
||||
update(state => ({ ...state, [prop]: val })),
|
||||
reset: () => set({ mode: 'orbit' }),
|
||||
}
|
||||
}
|
||||
|
||||
export const cameraState = createCameraState()
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
import { useThrelteUserContext } from '@threlte/core'
|
||||
import { writable, type Writable } from 'svelte/store'
|
||||
import type { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
|
||||
|
||||
type ControlsContext = {
|
||||
orbitControls: Writable<OrbitControls | undefined>
|
||||
}
|
||||
|
||||
/**
|
||||
* ### `useControlsContext`
|
||||
*
|
||||
* This hook is used to register the `OrbitControls` instance with the
|
||||
* `ControlsContext`. We're using this context to enable and disable the
|
||||
* controls when the user is interacting with the TransformControls.
|
||||
*/
|
||||
export const useControlsContext = (): ControlsContext => {
|
||||
return useThrelteUserContext<ControlsContext>('threlte-controls', {
|
||||
orbitControls: writable<OrbitControls | undefined>(undefined),
|
||||
})
|
||||
}
|
||||
|
|
@ -1,165 +0,0 @@
|
|||
<script lang="ts">
|
||||
import { createEventDispatcher, onDestroy } from 'svelte'
|
||||
import {
|
||||
Camera,
|
||||
Vector2,
|
||||
Vector3,
|
||||
Quaternion,
|
||||
Object3D,
|
||||
type Object3DEventMap,
|
||||
Group,
|
||||
} from 'three'
|
||||
import { useThrelte, useParent, useTask } from '@threlte/core'
|
||||
|
||||
export let object: Group<Object3DEventMap>
|
||||
export let rotateSpeed = 1.0
|
||||
export let shouldOrbit: boolean
|
||||
|
||||
$: if (object) {
|
||||
// console.log(object)
|
||||
// object.position.y = 10
|
||||
// // Calculate the direction vector towards (0, 0, 0)
|
||||
// const target = new Vector3(0, 0, 0)
|
||||
// const direction = target.clone().sub(object.position).normalize()
|
||||
// // Extract the forward direction from the object's current rotation matrix
|
||||
// const currentDirection = new Vector3(0, 1, 0)
|
||||
// currentDirection.applyQuaternion(object.quaternion)
|
||||
// // Calculate the axis and angle to rotate the object
|
||||
// const rotationAxis = currentDirection.clone().cross(direction).normalize()
|
||||
// const rotationAngle = Math.acos(currentDirection.dot(direction))
|
||||
// // Rotate the object using rotateOnAxis()
|
||||
// object.rotateOnAxis(rotationAxis, rotationAngle)
|
||||
}
|
||||
|
||||
export let idealOffset = { x: -0.5, y: 2, z: -3 }
|
||||
export let idealLookAt = { x: 0, y: 1, z: 5 }
|
||||
|
||||
const currentPosition = new Vector3()
|
||||
const currentLookAt = new Vector3()
|
||||
|
||||
let isOrbiting = false
|
||||
let pointerDown = false
|
||||
|
||||
const rotateStart = new Vector2()
|
||||
const rotateEnd = new Vector2()
|
||||
const rotateDelta = new Vector2()
|
||||
|
||||
const axis = new Vector3(0, 1, 0)
|
||||
const rotationQuat = new Quaternion()
|
||||
|
||||
const { renderer, invalidate } = useThrelte()
|
||||
|
||||
const domElement = renderer.domElement
|
||||
const camera = useParent()
|
||||
|
||||
const dispatch = createEventDispatcher()
|
||||
|
||||
const isCamera = (p: any): p is Camera => {
|
||||
return p.isCamera
|
||||
}
|
||||
|
||||
if (!isCamera($camera)) {
|
||||
throw new Error(
|
||||
'Parent missing: <PointerLockControls> need to be a child of a <Camera>'
|
||||
)
|
||||
}
|
||||
|
||||
// This is basically your update function
|
||||
useTask(delta => {
|
||||
// the object's position is bound to the prop
|
||||
if (!object) return
|
||||
|
||||
// then we calculate our ideal's
|
||||
const offset = vectorFromObject(idealOffset)
|
||||
const lookAt = vectorFromObject(idealLookAt)
|
||||
|
||||
// camera is based on character so we rotation character first
|
||||
// rotationQuat.setFromAxisAngle(axis, rotateSpeed * delta)
|
||||
// object.quaternion.multiply(rotationQuat)
|
||||
|
||||
// and how far we should move towards them
|
||||
const t = 1.0 - Math.pow(0.001, delta)
|
||||
currentPosition.lerp(offset, t)
|
||||
currentLookAt.lerp(lookAt, t)
|
||||
|
||||
// typescript HACKS! never do this! How does this work? who knows!
|
||||
const robotPosition = vectorFromObject(
|
||||
object as unknown as { x: number; y: number; z: number }
|
||||
)
|
||||
|
||||
const horizontalOffsetDistance = 15 // Distance behind the leading vector
|
||||
const direction = new Vector3(0, 0, 1) // Default forward direction in Three.js is negative z-axis, so behind is positive z-axis
|
||||
const verticalOffset = new Vector3(0, -5, 0)
|
||||
|
||||
// Calculate the offset vector
|
||||
const offsetVector = direction
|
||||
.normalize()
|
||||
.multiplyScalar(horizontalOffsetDistance)
|
||||
.add(verticalOffset)
|
||||
|
||||
// If the leading object is rotating, apply its rotation to the offset vector
|
||||
const rotatedOffsetVector = offsetVector.applyQuaternion(object.quaternion)
|
||||
|
||||
const leftOffset = -1.5
|
||||
function shiftVectorLeft(
|
||||
vector: Vector3,
|
||||
amount: number,
|
||||
upDirection = axis
|
||||
): void {
|
||||
// Calculate the left direction. Assuming 'up' is the global up direction or a custom up vector.
|
||||
// This creates a vector pointing to the "left" of the original vector, in a 3D context.
|
||||
let leftDirection = new Vector3()
|
||||
.crossVectors(upDirection, vector)
|
||||
.normalize()
|
||||
|
||||
// Scale the left direction by the desired amount
|
||||
leftDirection.multiplyScalar(amount)
|
||||
|
||||
// Add the scaled left direction to the original vector, mutating it
|
||||
vector.add(leftDirection)
|
||||
}
|
||||
|
||||
shiftVectorLeft(rotatedOffsetVector, leftOffset)
|
||||
|
||||
// Calculate the trailing vector's position
|
||||
const trailingVector = robotPosition.clone().sub(rotatedOffsetVector)
|
||||
|
||||
function shiftVectorLeftNonMutate(
|
||||
vector: Vector3,
|
||||
amount: number,
|
||||
upDirection = axis
|
||||
): Vector3 {
|
||||
// Create a new vector to avoid mutating the original vector
|
||||
let shiftedVector = vector.clone()
|
||||
|
||||
// Calculate the left direction. Assuming 'up' is the global up direction or a custom up vector.
|
||||
// This creates a vector pointing to the "left" of the original vector, in a 3D context.
|
||||
let leftDirection = new Vector3()
|
||||
.crossVectors(upDirection, vector)
|
||||
.normalize()
|
||||
|
||||
// Scale the left direction by the desired amount and add it to the original vector
|
||||
leftDirection.multiplyScalar(amount)
|
||||
shiftedVector.add(leftDirection)
|
||||
|
||||
return shiftedVector
|
||||
}
|
||||
|
||||
if (!shouldOrbit) {
|
||||
// then finally set the camera, a bit behind the model
|
||||
$camera!.position.copy(trailingVector)
|
||||
// Rotate the offset around the Y-axis
|
||||
$camera!.lookAt(shiftVectorLeftNonMutate(currentLookAt, -leftOffset))
|
||||
}
|
||||
})
|
||||
|
||||
function vectorFromObject(vec: { x: number; y: number; z: number }) {
|
||||
const { x, y, z } = vec
|
||||
const ideal = new Vector3(x, y, z)
|
||||
ideal.applyQuaternion(object.quaternion)
|
||||
ideal.add(
|
||||
new Vector3(object.position.x, object.position.y, object.position.z)
|
||||
)
|
||||
return ideal
|
||||
}
|
||||
</script>
|
||||
|
|
@ -1,155 +1,154 @@
|
|||
<script lang="ts">
|
||||
import { T, useTask } from '@threlte/core'
|
||||
import { ContactShadows, Float, Grid, OrbitControls } from '@threlte/extras'
|
||||
import Robot from './models/RobotDecimated.svelte'
|
||||
import Controls from './Controls.svelte'
|
||||
import { Grid } from '@threlte/extras'
|
||||
import CameraControls from './CameraControls/CameraControls.svelte'
|
||||
import {
|
||||
Vector3,
|
||||
type Camera,
|
||||
type Group,
|
||||
type Object3D,
|
||||
type Object3DEventMap,
|
||||
} from 'three'
|
||||
import {
|
||||
telemetryReadonlyStore,
|
||||
telemetryStore,
|
||||
} from '../../stores/telemetryStore'
|
||||
import { get } from 'svelte/store'
|
||||
import { Vector2 } from 'three'
|
||||
import { SmoothMotionController } from './smoothMotionController'
|
||||
cameraControls,
|
||||
mesh,
|
||||
cameraState,
|
||||
} from './CameraControls/utils/cameraStore'
|
||||
import { Vector3 } from 'three'
|
||||
import { onMount } from 'svelte'
|
||||
import RobotDecimated from './models/RobotDecimated.svelte'
|
||||
import { telemetryReadonlyStore } from '../../stores/telemetryStore'
|
||||
import { DEG2RAD } from 'three/src/math/MathUtils.js'
|
||||
|
||||
/* This is the root scene where the robot visualization is built.
|
||||
It renders an infinite grid (it's not actually infinite, but we shouldn't run out
|
||||
of space in realistic use), and a 3D model of the robot. The camera is locked
|
||||
to the model, and the model is rotated to match the robot's orientation.
|
||||
A PID controller is used to smoothly rotate the model to match the robot's
|
||||
orientation and dampen out jittering. How does it work? Who knows!
|
||||
75% percent of this was created while reading
|
||||
https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation,
|
||||
and rest was generated by AI!
|
||||
The rest of this codebase is remarkably jank-free, but this visualization module
|
||||
is the most esoteric and jank code ever written.
|
||||
*/
|
||||
const SPEED_MULTIPLIER = 4
|
||||
const axis = new Vector3(0, 1, 0)
|
||||
|
||||
let shouldOrbit = true
|
||||
const follow = (delta: number) => {
|
||||
// the object's position is bound to the prop
|
||||
if (!$mesh || !$cameraControls) return
|
||||
|
||||
// CONSTANTS
|
||||
const maxAngularVelocity = 2 // Max angular velocity, in radians per second
|
||||
const stoppingThreshold = 0.005 // Threshold in radians for when to consider the rotation close enough to stop
|
||||
const offsetPosition = new Vector3()
|
||||
offsetPosition.copy($mesh.position)
|
||||
const offsetVector = new Vector3(2.5, 0, -2)
|
||||
offsetVector.applyAxisAngle(axis, $mesh.rotation.y)
|
||||
offsetPosition.add(offsetVector)
|
||||
|
||||
// Proportional control factor
|
||||
const kP = 2 // Adjust this value based on responsiveness and stability needs
|
||||
const followDirection = () => {
|
||||
const angle = Math.atan2(
|
||||
$telemetryReadonlyStore['chassis-y-speed'],
|
||||
$telemetryReadonlyStore['chassis-x-speed']
|
||||
)
|
||||
|
||||
// Sync robot orientation with target rotation
|
||||
let targetRot = 0
|
||||
|
||||
// Updates rotation to match target with PID controller (intended to be invoked in useTask)
|
||||
let rot = 0 // (initial) rotation in radians
|
||||
let angularVelocity = 0
|
||||
const updateRotation = (delta: number) => {
|
||||
let angleDifference = targetRot - rot
|
||||
|
||||
// Normalize angle difference to the range [-π, π]
|
||||
angleDifference = ((angleDifference + Math.PI) % (2 * Math.PI)) - Math.PI
|
||||
|
||||
// Calculate the desired angular velocity based on the angle difference
|
||||
let desiredVelocity =
|
||||
Math.sign(angleDifference) *
|
||||
Math.min(maxAngularVelocity, Math.abs(kP * angleDifference))
|
||||
|
||||
// If the object is very close to the target, adjust the desired velocity to zero to prevent overshooting
|
||||
if (Math.abs(angleDifference) < stoppingThreshold) {
|
||||
desiredVelocity = 0
|
||||
$cameraControls.setLookAt(
|
||||
offsetPosition.x - 13 * Math.sin(angle),
|
||||
offsetPosition.y + 4,
|
||||
offsetPosition.z - 13 * Math.cos(angle),
|
||||
offsetPosition.x,
|
||||
offsetPosition.y,
|
||||
offsetPosition.z,
|
||||
true
|
||||
)
|
||||
$cameraControls.zoomTo(1.1, true)
|
||||
}
|
||||
|
||||
// Adjust angular velocity towards desired velocity
|
||||
angularVelocity = desiredVelocity
|
||||
const followFacing = () => {
|
||||
if ($cameraState.mode === 'follow-facing') {
|
||||
$cameraControls.setLookAt(
|
||||
offsetPosition.x + 13 * Math.sin($mesh.rotation.y),
|
||||
offsetPosition.y + 5,
|
||||
offsetPosition.z + 13 * Math.cos($mesh.rotation.y),
|
||||
offsetPosition.x,
|
||||
offsetPosition.y + 2,
|
||||
offsetPosition.z,
|
||||
true
|
||||
)
|
||||
}
|
||||
$cameraControls.zoomTo(1.2, true)
|
||||
}
|
||||
|
||||
// Update rotation
|
||||
rot += angularVelocity * delta
|
||||
const orbit = () => {
|
||||
$cameraControls.zoomTo(0.8, true)
|
||||
$cameraControls.moveTo(
|
||||
offsetPosition.x + 4 * Math.sin($mesh.rotation.y),
|
||||
offsetPosition.y + 3,
|
||||
offsetPosition.z * Math.cos($mesh.rotation.y),
|
||||
true
|
||||
)
|
||||
}
|
||||
|
||||
// Normalize rot to the range [0, 2π]
|
||||
if (rot < 0) rot += 2 * Math.PI
|
||||
else if (rot > 2 * Math.PI) rot -= 2 * Math.PI
|
||||
|
||||
// Snap to the target rotation to prevent tiny oscillations if close enough
|
||||
if (Math.abs(angleDifference) < stoppingThreshold) {
|
||||
rot = targetRot
|
||||
angularVelocity = 0
|
||||
switch ($cameraState.mode) {
|
||||
case 'follow-direction':
|
||||
followDirection()
|
||||
break
|
||||
case 'follow-facing':
|
||||
followFacing()
|
||||
break
|
||||
case 'orbit':
|
||||
orbit()
|
||||
break
|
||||
default:
|
||||
orbit()
|
||||
break
|
||||
}
|
||||
}
|
||||
|
||||
let robotPos: Vector3 = new Vector3(0, 0, 0)
|
||||
let gridFadeDistance = 30
|
||||
|
||||
const robotPosition = new Vector2(0, 0) // Initial position
|
||||
const initialVelocity = { x: 0, y: 0 } // Initial velocity
|
||||
// The smooth motion controller utilizes a cubic hermite spline to interpolate between
|
||||
// the current simulation velocity and the robot's actual velocity
|
||||
const controller = new SmoothMotionController(robotPosition, initialVelocity)
|
||||
|
||||
onMount(() => {
|
||||
telemetryReadonlyStore.subscribe(value => {
|
||||
targetRot = (value['orientation'] * Math.PI) / 180 // convert deg to rad
|
||||
controller.setTargetVelocity({
|
||||
x: value['chassis-x-speed'],
|
||||
y: value['chassis-y-speed'],
|
||||
})
|
||||
shouldOrbit = value.gear === 'park' || value.gear === '-999'
|
||||
if (shouldOrbit) {
|
||||
robotPos = new Vector3(0, 0, 0)
|
||||
controller.reset()
|
||||
const fadeGridIn = (delta: number) => {
|
||||
if (gridFadeDistance < 100) {
|
||||
gridFadeDistance += delta * 40
|
||||
}
|
||||
}
|
||||
|
||||
const fadeGridOut = (delta: number) => {
|
||||
if (gridFadeDistance > 30) {
|
||||
gridFadeDistance -= delta * 40
|
||||
}
|
||||
}
|
||||
})
|
||||
})
|
||||
|
||||
useTask(delta => {
|
||||
if (!shouldOrbit) {
|
||||
updateRotation(delta)
|
||||
/* TODO: standardize a scale (meters : grid lengths) so we can have
|
||||
accurate positioning of sensor detected objects */
|
||||
// update position data for robot model
|
||||
$mesh.position.x +=
|
||||
$telemetryReadonlyStore['chassis-y-speed'] * delta * SPEED_MULTIPLIER
|
||||
$mesh.position.z +=
|
||||
$telemetryReadonlyStore['chassis-x-speed'] * delta * SPEED_MULTIPLIER
|
||||
$mesh.rotation.y = $telemetryReadonlyStore.orientation * DEG2RAD
|
||||
|
||||
controller.update(delta)
|
||||
robotPos.x = controller.getPosition().x
|
||||
robotPos.z = controller.getPosition().y
|
||||
if ($cameraState.mode === 'orbit') {
|
||||
fadeGridOut(delta)
|
||||
} else {
|
||||
fadeGridIn(delta)
|
||||
}
|
||||
|
||||
// run the follow function
|
||||
follow(delta)
|
||||
})
|
||||
|
||||
let capsule: Group<Object3DEventMap>
|
||||
let capRef: Group<Object3DEventMap>
|
||||
$: if (capsule) {
|
||||
capRef = capsule
|
||||
}
|
||||
onMount(() => {})
|
||||
</script>
|
||||
|
||||
<T.PerspectiveCamera makeDefault position={[0, 8, -20]} fov={30} on:create>
|
||||
<OrbitControls
|
||||
autoRotateSpeed={1.5}
|
||||
target.y={1.5}
|
||||
autoRotate
|
||||
enableDamping
|
||||
<T.PerspectiveCamera makeDefault position={[12, 10, 12]}>
|
||||
<CameraControls
|
||||
on:create={({ ref }) => {
|
||||
$cameraControls = ref
|
||||
}}
|
||||
autoRotateSpeed={3}
|
||||
/>
|
||||
<Controls {shouldOrbit} bind:object={capRef} rotateSpeed={angularVelocity} />
|
||||
</T.PerspectiveCamera>
|
||||
|
||||
<T.DirectionalLight intensity={0.8} position.x={5} position.y={10} />
|
||||
<T.AmbientLight intensity={0.2} />
|
||||
<T.DirectionalLight position={[3, 10, 7]} />
|
||||
<T.AmbientLight color={'#f0f0f0'} intensity={0.1} />
|
||||
|
||||
<RobotDecimated
|
||||
scale={[10, 10, 10]}
|
||||
position.y={0}
|
||||
on:create={({ ref }) => {
|
||||
// @ts-expect-error
|
||||
$mesh = ref
|
||||
}}
|
||||
/>
|
||||
|
||||
<Grid
|
||||
position.y={1}
|
||||
cellColor="#ffffff"
|
||||
sectionColor="#ffffff"
|
||||
sectionThickness={0}
|
||||
fadeDistance={100}
|
||||
sectionColor={'#ff3e00'}
|
||||
sectionThickness={1}
|
||||
bind:fadeDistance={gridFadeDistance}
|
||||
cellSize={6}
|
||||
sectionSize={24}
|
||||
cellColor={'#cccccc'}
|
||||
infiniteGrid
|
||||
/>
|
||||
|
||||
<ContactShadows scale={10} blur={2} far={2.5} opacity={0.5} />
|
||||
|
||||
<Robot
|
||||
position.y={1}
|
||||
position.z={robotPos.z}
|
||||
position.x={robotPos.x}
|
||||
scale={[5, 5, 5]}
|
||||
bind:ref={capsule}
|
||||
rotation.y={rot}
|
||||
/>
|
||||
|
|
|
|||
|
|
@ -1,54 +0,0 @@
|
|||
import { Vector2 } from 'three'
|
||||
|
||||
interface Velocity {
|
||||
x: number
|
||||
y: number
|
||||
}
|
||||
|
||||
export class SmoothMotionController {
|
||||
private currentPosition: Vector2
|
||||
private currentVelocity: Vector2
|
||||
private targetVelocity: Velocity
|
||||
private dampingFactor: number
|
||||
|
||||
constructor(
|
||||
initialPosition: Vector2,
|
||||
initialVelocity: Velocity,
|
||||
dampingFactor: number = 0.1
|
||||
) {
|
||||
this.currentPosition = initialPosition
|
||||
this.currentVelocity = new Vector2(initialVelocity.x, initialVelocity.y)
|
||||
this.targetVelocity = { ...initialVelocity }
|
||||
this.dampingFactor = dampingFactor
|
||||
}
|
||||
|
||||
setTargetVelocity(velocity: Velocity) {
|
||||
this.targetVelocity = velocity
|
||||
}
|
||||
|
||||
update(delta: number) {
|
||||
// Apply cubic interpolation to smoothly transition the current velocity towards the target velocity
|
||||
this.currentVelocity.x +=
|
||||
(this.targetVelocity.x - this.currentVelocity.x) *
|
||||
this.dampingFactor *
|
||||
delta
|
||||
this.currentVelocity.y +=
|
||||
(this.targetVelocity.y - this.currentVelocity.y) *
|
||||
this.dampingFactor *
|
||||
delta
|
||||
|
||||
// Update position based on the current velocity and the time delta
|
||||
this.currentPosition.x += this.currentVelocity.x * delta * 3
|
||||
this.currentPosition.y += this.currentVelocity.y * delta * 3
|
||||
}
|
||||
|
||||
getPosition(): Vector2 {
|
||||
return this.currentPosition
|
||||
}
|
||||
|
||||
public reset() {
|
||||
this.currentPosition = new Vector2(0, 0)
|
||||
this.currentVelocity = new Vector2(0, 0)
|
||||
this.targetVelocity = { x: 0, y: 0 }
|
||||
}
|
||||
}
|
||||
|
|
@ -1,113 +1,147 @@
|
|||
import { toast } from 'svelte-french-toast'
|
||||
import type { ToastOptions } from 'svelte-french-toast'
|
||||
import InfoIcon from './InfoIcon.svelte'
|
||||
import { Howl } from 'howler'
|
||||
import WarnIcon from './WarnIcon.svelte'
|
||||
import { toast } from "svelte-french-toast";
|
||||
import type { ToastOptions } from "svelte-french-toast";
|
||||
import InfoIcon from "./InfoIcon.svelte";
|
||||
import { Howl } from "howler";
|
||||
import WarnIcon from "./WarnIcon.svelte";
|
||||
|
||||
interface NotificationOptions extends ToastOptions {
|
||||
withAudio?: boolean
|
||||
src?: string
|
||||
onComplete?: () => void
|
||||
withAudio?: boolean;
|
||||
src?: string;
|
||||
onComplete?: () => void;
|
||||
}
|
||||
|
||||
// get colors from https://tailwindcss.com/docs/customizing-colors
|
||||
export class Notifications {
|
||||
private static readonly defaultDuration = 3000
|
||||
private static readonly defaultDuration = 3000;
|
||||
|
||||
public static success(message: string, options?: NotificationOptions) {
|
||||
if (options?.withAudio && !options.src)
|
||||
throw new Error('No audio source provided')
|
||||
throw new Error("No audio source provided");
|
||||
|
||||
const onComplete = () => {
|
||||
if (options?.onComplete) options.onComplete()
|
||||
}
|
||||
if (options?.onComplete) options.onComplete();
|
||||
};
|
||||
|
||||
const sendToast = (duration: number) => {
|
||||
toast.success(message, {
|
||||
style:
|
||||
'padding: 25px; font-size: 1.5rem; background-color: #15803d; color: #fafafa; gap: 0.5rem; user-select: none; max-width: 70vw;',
|
||||
"padding: 25px; font-size: 1.5rem; background-color: #15803d; color: #fafafa; gap: 0.5rem; user-select: none; max-width: 70vw;",
|
||||
duration,
|
||||
...options,
|
||||
})
|
||||
}
|
||||
});
|
||||
};
|
||||
|
||||
if (options?.withAudio && options?.src) {
|
||||
let sound: Howl
|
||||
let sound: Howl;
|
||||
sound = new Howl({
|
||||
src: [options.src],
|
||||
preload: true,
|
||||
autoplay: true,
|
||||
onload: () => {
|
||||
let duration = sound.duration() * 1000
|
||||
sendToast(duration)
|
||||
setTimeout(onComplete, duration)
|
||||
let duration = sound.duration() * 1000;
|
||||
sendToast(duration);
|
||||
setTimeout(onComplete, duration);
|
||||
},
|
||||
})
|
||||
});
|
||||
} else {
|
||||
sendToast(this.defaultDuration)
|
||||
setTimeout(onComplete, this.defaultDuration)
|
||||
sendToast(this.defaultDuration);
|
||||
setTimeout(onComplete, this.defaultDuration);
|
||||
}
|
||||
}
|
||||
public static error(message: string, options?: NotificationOptions) {
|
||||
if (options?.withAudio && !options.src)
|
||||
throw new Error("No audio source provided");
|
||||
|
||||
const onComplete = () => {
|
||||
if (options?.onComplete) options.onComplete();
|
||||
};
|
||||
|
||||
const sendToast = (duration: number) => {
|
||||
toast.error(message, {
|
||||
style:
|
||||
"padding: 25px; font-size: 1.5rem; background-color: #dc2626; color: #fafafa; gap: 0.5rem; user-select: none; max-width: 70vw;",
|
||||
duration,
|
||||
...options,
|
||||
});
|
||||
};
|
||||
|
||||
if (options?.withAudio && options?.src) {
|
||||
let sound: Howl;
|
||||
sound = new Howl({
|
||||
src: [options.src],
|
||||
preload: true,
|
||||
autoplay: true,
|
||||
onload: () => {
|
||||
let duration = sound.duration() * 1000;
|
||||
sendToast(duration);
|
||||
setTimeout(onComplete, duration);
|
||||
},
|
||||
});
|
||||
} else {
|
||||
sendToast(this.defaultDuration);
|
||||
setTimeout(onComplete, this.defaultDuration);
|
||||
}
|
||||
}
|
||||
public static info(message: string, options?: NotificationOptions) {
|
||||
const onComplete = () => {
|
||||
if (options?.onComplete) options.onComplete()
|
||||
}
|
||||
if (options?.onComplete) options.onComplete();
|
||||
};
|
||||
|
||||
const sendToast = (duration: number) => {
|
||||
toast(message, {
|
||||
style:
|
||||
'padding: 25px; font-size: 1.5rem; gap: 0.5rem; user-select: none; max-width-600px; max-width: 70vw;',
|
||||
"padding: 25px; font-size: 1.5rem; gap: 0.5rem; user-select: none; max-width-600px; max-width: 70vw;",
|
||||
icon: InfoIcon,
|
||||
duration,
|
||||
...options,
|
||||
})
|
||||
}
|
||||
});
|
||||
};
|
||||
if (options?.withAudio && options?.src) {
|
||||
let sound: Howl
|
||||
let sound: Howl;
|
||||
sound = new Howl({
|
||||
src: [options.src],
|
||||
preload: true,
|
||||
autoplay: true,
|
||||
onload: () => {
|
||||
let duration = sound.duration() * 1000
|
||||
sendToast(duration)
|
||||
setTimeout(onComplete, duration)
|
||||
let duration = sound.duration() * 1000;
|
||||
sendToast(duration);
|
||||
setTimeout(onComplete, duration);
|
||||
},
|
||||
})
|
||||
});
|
||||
} else {
|
||||
sendToast(this.defaultDuration)
|
||||
setTimeout(onComplete, this.defaultDuration)
|
||||
sendToast(this.defaultDuration);
|
||||
setTimeout(onComplete, this.defaultDuration);
|
||||
}
|
||||
}
|
||||
public static warn(message: string, options?: NotificationOptions) {
|
||||
const onComplete = () => {
|
||||
if (options?.onComplete) options.onComplete()
|
||||
}
|
||||
if (options?.onComplete) options.onComplete();
|
||||
};
|
||||
|
||||
const sendToast = (duration: number) => {
|
||||
toast(message, {
|
||||
style:
|
||||
'padding: 25px; font-size: 1.5rem; background-color: #f59e0b; color: #fafafa; gap: 0.5rem; user-select: none; max-width: 70vw;',
|
||||
"padding: 25px; font-size: 1.5rem; background-color: #f59e0b; color: #fafafa; gap: 0.5rem; user-select: none; max-width: 70vw;",
|
||||
icon: WarnIcon,
|
||||
duration,
|
||||
...options,
|
||||
})
|
||||
}
|
||||
});
|
||||
};
|
||||
if (options?.withAudio && options?.src) {
|
||||
let sound: Howl
|
||||
let sound: Howl;
|
||||
sound = new Howl({
|
||||
src: [options.src],
|
||||
preload: true,
|
||||
autoplay: true,
|
||||
onload: () => {
|
||||
let duration = sound.duration() * 1000
|
||||
sendToast(duration)
|
||||
setTimeout(onComplete, duration)
|
||||
let duration = sound.duration() * 1000;
|
||||
sendToast(duration);
|
||||
setTimeout(onComplete, duration);
|
||||
},
|
||||
})
|
||||
});
|
||||
} else {
|
||||
sendToast(this.defaultDuration)
|
||||
setTimeout(onComplete, this.defaultDuration)
|
||||
sendToast(this.defaultDuration);
|
||||
setTimeout(onComplete, this.defaultDuration);
|
||||
}
|
||||
}
|
||||
public static playAudio(src: string, onComplete: () => void = () => {}) {
|
||||
|
|
@ -116,8 +150,8 @@ export class Notifications {
|
|||
preload: true,
|
||||
autoplay: true,
|
||||
onload: () => {
|
||||
setTimeout(onComplete, 1000 * sound.duration())
|
||||
setTimeout(onComplete, 1000 * sound.duration());
|
||||
},
|
||||
})
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -20,6 +20,7 @@ import { settingsStore } from '../stores/settingsStore'
|
|||
import { get } from 'svelte/store'
|
||||
import getVoicePath from '../utils/getVoicePath'
|
||||
import { tick } from 'svelte'
|
||||
import { cameraState } from '../Dashboard/Visualization/CameraControls/utils/cameraStore'
|
||||
|
||||
// await a "tick" (a svelte update frame) at the start of every sequence so that
|
||||
// state is synced and no weird side effects occur
|
||||
|
|
@ -28,30 +29,34 @@ export const initializationSequence = async () => {
|
|||
await tick()
|
||||
Notifications.info('Jankboard initialized!', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('jankboard-initialized', 'en'),
|
||||
})
|
||||
setTimeout(() => {
|
||||
if (get(settingsStore).goWoke) return
|
||||
src: getVoicePath('jankboard-initialized'),
|
||||
onComplete: () => {
|
||||
if (get(settingsStore).goWoke) {
|
||||
sequenceStore.update('initializationComplete', true)
|
||||
periodicSequence()
|
||||
return
|
||||
}
|
||||
Notifications.success('LittenOS is online', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('littenos-is-online', 'en'),
|
||||
})
|
||||
setTimeout(() => {
|
||||
src: getVoicePath('littenos-is-online'),
|
||||
onComplete: () => {
|
||||
Notifications.warn('Breaching Monte Vista codebase', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('breaching-monte-vista', 'en'),
|
||||
})
|
||||
setTimeout(() => {
|
||||
src: getVoicePath('breaching-monte-vista'),
|
||||
onComplete: () => {
|
||||
Notifications.playAudio(
|
||||
getVoicePath('hello-virtual-assistant', 'en'),
|
||||
getVoicePath('hello-virtual-assistant'),
|
||||
() => {
|
||||
sequenceStore.update('initializationComplete', true)
|
||||
periodicSequence()
|
||||
}
|
||||
)
|
||||
}, 3000)
|
||||
}, 3000)
|
||||
}, 3000)
|
||||
},
|
||||
})
|
||||
},
|
||||
})
|
||||
},
|
||||
})
|
||||
}
|
||||
|
||||
let counter = 1
|
||||
|
|
@ -108,7 +113,7 @@ export const criticalFailureIminentSequence = async () => {
|
|||
await tick()
|
||||
Notifications.error('Critical robot failure imminent', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('critical-robot-failure', 'en'),
|
||||
src: getVoicePath('critical-robot-failure'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -116,7 +121,7 @@ export const collisionDetectedSequence = async () => {
|
|||
await tick()
|
||||
Notifications.error('Collision detected', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('collision-detected', 'en'),
|
||||
src: getVoicePath('collision-detected'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -124,7 +129,7 @@ export const collisionImminentSequence = async () => {
|
|||
await tick()
|
||||
Notifications.error('Collision imminent', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('collision-imminent', 'en'),
|
||||
src: getVoicePath('collision-imminent'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -133,7 +138,7 @@ export const cruiseControlEngagedSequence = async () => {
|
|||
await tick()
|
||||
Notifications.success('Cruise control engaged', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('cruise-control-engaged', 'en'),
|
||||
src: getVoicePath('cruise-control-engaged'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -142,7 +147,7 @@ export const retardSequence = async () => {
|
|||
await tick()
|
||||
Notifications.warn('Retard', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('retard', 'en'),
|
||||
src: getVoicePath('retard'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -151,7 +156,7 @@ const breaching254Sequence = async () => {
|
|||
await tick()
|
||||
Notifications.warn('Breaching 254 mainframe', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('breaching-254-mainframe', 'en'),
|
||||
src: getVoicePath('breaching-254-mainframe'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -160,7 +165,7 @@ const breaching1323Sequence = async () => {
|
|||
await tick()
|
||||
Notifications.warn('Breaching 1323 mainframe', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('breaching-1323-mainframe', 'en'),
|
||||
src: getVoicePath('breaching-1323-mainframe'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -169,7 +174,7 @@ const bullyingRohanSequence = async () => {
|
|||
await tick()
|
||||
Notifications.info('Bullying Rohan', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('bullying-rohan', 'en'),
|
||||
src: getVoicePath('bullying-rohan'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -177,7 +182,7 @@ export const userErrorDetectedSequence = async () => {
|
|||
await tick()
|
||||
Notifications.error('User error detected', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('user-error-detected', 'en'),
|
||||
src: getVoicePath('user-error-detected'),
|
||||
})
|
||||
}
|
||||
|
||||
|
|
@ -188,8 +193,9 @@ export const infotainmentBootupSequence = async () => {
|
|||
get(sequenceStore).infotainmentStartedFirstTime ||
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
infotainmentStarted
|
||||
)
|
||||
) {
|
||||
return
|
||||
}
|
||||
|
||||
infotainmentStarted = true
|
||||
await tick()
|
||||
|
|
@ -197,17 +203,17 @@ export const infotainmentBootupSequence = async () => {
|
|||
const sequence = () => {
|
||||
Notifications.info('Infotainment system buffering', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('infotainment-system-buffering', 'en'),
|
||||
})
|
||||
setTimeout(() => {
|
||||
src: getVoicePath('infotainment-system-buffering'),
|
||||
onComplete: () => {
|
||||
Notifications.success('Infotainment system online', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('infotainment-system-online', 'en'),
|
||||
src: getVoicePath('infotainment-system-online'),
|
||||
onComplete: () => {
|
||||
sequenceStore.update('infotainmentStartedFirstTime', true)
|
||||
},
|
||||
})
|
||||
}, 3000)
|
||||
},
|
||||
})
|
||||
}
|
||||
|
||||
if (!get(sequenceStore).initializationComplete) {
|
||||
|
|
@ -256,7 +262,7 @@ export const musicPlayerBootupSequence = async () => {
|
|||
waitForInfotainmentBootup(() => {
|
||||
Notifications.info('Downloading copyrighted music...', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('downloading-copyrighted-music', 'en'),
|
||||
src: getVoicePath('downloading-copyrighted-music'),
|
||||
})
|
||||
})
|
||||
}
|
||||
|
|
@ -274,7 +280,7 @@ export const gbaEmulatorBootupSequence = async () => {
|
|||
waitForInfotainmentBootup(() => {
|
||||
Notifications.info('Loading pirated Nintendo ROMs', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('loading-pirated-nintendo', 'en'),
|
||||
src: getVoicePath('loading-pirated-nintendo'),
|
||||
})
|
||||
})
|
||||
}
|
||||
|
|
@ -292,16 +298,135 @@ export const doomBootupSequence = async () => {
|
|||
waitForInfotainmentBootup(() => {
|
||||
Notifications.success('Doom Engaged', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('doom-engaged', 'en'),
|
||||
src: getVoicePath('doom-engaged'),
|
||||
})
|
||||
})
|
||||
}
|
||||
|
||||
const bypassCoprocessorRestrictionsSequence = async () => {
|
||||
if (get(settingsStore).disableAnnoyances) return
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
await tick()
|
||||
Notifications.warn('Bypassing coprocessor restrictions', {
|
||||
withAudio: true,
|
||||
src: getVoicePath('bypassing-coprocessor-restrictions', 'en'),
|
||||
src: getVoicePath('bypassing-coprocessor-restrictions'),
|
||||
})
|
||||
}
|
||||
|
||||
export const shiftedInParkSequence = async () => {
|
||||
await tick()
|
||||
cameraState.set('mode', 'orbit')
|
||||
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
Notifications.playAudio(getVoicePath('parked-brakes-engaged'), () => {
|
||||
if (!get(settingsStore).sentry) return
|
||||
|
||||
Notifications.playAudio(getVoicePath('sentry-mode-engaged'))
|
||||
Notifications.warn('Sentry mode engaged. Threats will be neutralized')
|
||||
})
|
||||
}
|
||||
|
||||
export const shiftedInReverseSequence = async () => {
|
||||
await tick()
|
||||
|
||||
cameraState.set('mode', 'follow-direction')
|
||||
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
Notifications.playAudio(getVoicePath('reverse'))
|
||||
}
|
||||
|
||||
export const shiftedInNeutralSequence = async () => {
|
||||
await tick()
|
||||
|
||||
cameraState.set('mode', 'orbit')
|
||||
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
Notifications.playAudio(getVoicePath('neutral-brakes-engaged'))
|
||||
}
|
||||
|
||||
export const shiftedInLowSequence = async () => {
|
||||
await tick()
|
||||
|
||||
cameraState.set('mode', 'follow-facing')
|
||||
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
Notifications.playAudio(getVoicePath('shifted-into-low'))
|
||||
}
|
||||
|
||||
export const shiftedInAutoSequence = async () => {
|
||||
await tick()
|
||||
|
||||
cameraState.set('mode', 'follow-direction')
|
||||
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
Notifications.playAudio(getVoicePath('shifted-into-automatic'))
|
||||
}
|
||||
|
||||
export const shiftedInDriveSequence = async () => {
|
||||
await tick()
|
||||
|
||||
cameraState.set('mode', 'follow-facing')
|
||||
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
Notifications.playAudio(getVoicePath('shifted-into-drive'))
|
||||
}
|
||||
|
||||
export const modeChillSequence = async () => {
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
await tick()
|
||||
|
||||
Notifications.playAudio(getVoicePath('set-acceleration-profile-chill'))
|
||||
}
|
||||
|
||||
export const modeCruiseSequence = async () => {
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
await tick()
|
||||
|
||||
Notifications.playAudio(getVoicePath('cruise-control-engaged'))
|
||||
}
|
||||
|
||||
export const modeLudicrousSequence = async () => {
|
||||
if (
|
||||
get(settingsStore).disableAnnoyances ||
|
||||
!get(sequenceStore).initializationComplete
|
||||
)
|
||||
return
|
||||
await tick()
|
||||
|
||||
Notifications.playAudio(getVoicePath('set-acceleration-profile-ludicrous'))
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,11 +2,15 @@
|
|||
|
||||
import { writable } from 'svelte/store'
|
||||
|
||||
type SupportedLanguage = 'en-US' | 'en-RU'
|
||||
|
||||
export interface SettingsStoreData {
|
||||
disableAnnoyances: boolean
|
||||
goWoke: boolean
|
||||
fastStartup: boolean
|
||||
randomWeight: number
|
||||
voiceLang: SupportedLanguage
|
||||
sentry: boolean
|
||||
}
|
||||
|
||||
export const defaults: SettingsStoreData = {
|
||||
|
|
@ -14,6 +18,8 @@ export const defaults: SettingsStoreData = {
|
|||
goWoke: false, // go woke (for showing parents or other officials where DEI has taken over), disables "offensive" sequences
|
||||
fastStartup: false, // skip the loading splash screen (for development purposes. Setting this from within the app has no effect.)
|
||||
randomWeight: 1, // the weight of random events (multiplied by the original probability)
|
||||
voiceLang: 'en-US',
|
||||
sentry: true,
|
||||
}
|
||||
|
||||
const createSequenceStore = () => {
|
||||
|
|
|
|||
|
|
@ -1,20 +1,21 @@
|
|||
import { writable, readonly } from 'svelte/store'
|
||||
import { writable, readonly, get } from 'svelte/store'
|
||||
|
||||
let defaults: TelemetryData = {
|
||||
'orientation': -999,
|
||||
'chassis-x-speed': -999,
|
||||
'chassis-y-speed': -999,
|
||||
'accx': -999,
|
||||
'accy': -999,
|
||||
'accz': -999,
|
||||
'jerk-x': -999,
|
||||
'jerk-y': -999,
|
||||
'voltage': -999,
|
||||
'acc-profile': '-999',
|
||||
'gear': '-999',
|
||||
'orientation': 0,
|
||||
'chassis-x-speed': 0,
|
||||
'chassis-y-speed': 0,
|
||||
'accx': 0,
|
||||
'accy': 0,
|
||||
'accz': 0,
|
||||
'jerk-x': 0,
|
||||
'jerk-y': 0,
|
||||
'voltage': 0,
|
||||
'acc-profile': 'chill',
|
||||
'gear': 'park',
|
||||
'ebrake': false,
|
||||
'reorient': false,
|
||||
'gpws': false,
|
||||
'connected': false,
|
||||
}
|
||||
|
||||
const createTelemetryStore = () => {
|
||||
|
|
@ -27,6 +28,16 @@ const createTelemetryStore = () => {
|
|||
return store
|
||||
})
|
||||
},
|
||||
set: (key: keyof TelemetryData, value: any) => {
|
||||
let newObj = {
|
||||
...get(telemetryStore),
|
||||
}
|
||||
newObj = {
|
||||
...newObj,
|
||||
[key]: value,
|
||||
}
|
||||
set(newObj)
|
||||
},
|
||||
reset: () => set(defaults),
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,3 +1,6 @@
|
|||
import { get } from 'svelte/store'
|
||||
import { settingsStore } from '../stores/settingsStore'
|
||||
|
||||
/**
|
||||
* Retrieves the voice audio path for the given audio file.
|
||||
*
|
||||
|
|
@ -5,7 +8,13 @@
|
|||
* @param lang - the language of the audio
|
||||
* @return the path of the audio file
|
||||
*/
|
||||
type SupportedLanguage = 'en' | 'rus'
|
||||
export default function getVoicePath(audio: string, lang: SupportedLanguage) {
|
||||
type SupportedLanguage = 'en-US' | 'en-RU'
|
||||
|
||||
export default function getVoicePath(audio: string, lang?: SupportedLanguage) {
|
||||
console.log(get(settingsStore).voiceLang)
|
||||
if (!lang) {
|
||||
return `/static/voices/${get(settingsStore).voiceLang}/${audio}.wav`
|
||||
}
|
||||
|
||||
return `/static/voices/${lang}/${audio}.wav`
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,5 +1,6 @@
|
|||
import { io } from 'socket.io-client'
|
||||
import { get } from 'svelte/store'
|
||||
import { telemetryStore } from '../stores/telemetryStore'
|
||||
import { emit, listen } from '@tauri-apps/api/event'
|
||||
|
||||
/**
|
||||
* Connects to sockets and subscribes to specified topics to receive telemetry data.
|
||||
|
|
@ -14,7 +15,7 @@ const onUpdate = (data: TelemetryData) => {
|
|||
// console.log(data)
|
||||
}
|
||||
|
||||
export const initializeTelemetry = (
|
||||
export const initializeTelemetry = async (
|
||||
topics: TelemetryTopics,
|
||||
refreshRate: number
|
||||
) => {
|
||||
|
|
@ -25,20 +26,24 @@ export const initializeTelemetry = (
|
|||
)
|
||||
}
|
||||
|
||||
const socket = io('localhost:1280')
|
||||
socket.on('connect', () => {
|
||||
console.log('Socket-IO connected!')
|
||||
socket.emit('subscribe', topics)
|
||||
console.log(`Subscribing to topics: ${JSON.stringify(topics)}`)
|
||||
const unlistenStatus = await listen('telemetry_status', event => {
|
||||
if (event.payload === 'connected') {
|
||||
telemetryStore.set('connected', false)
|
||||
} else if (event.payload === 'disconnected') {
|
||||
telemetryStore.set('connected', false)
|
||||
}
|
||||
})
|
||||
|
||||
socket.on('subscribed', () => {
|
||||
console.log('Successfully subscribed to requested topics!')
|
||||
socket.emit('request_data', { refresh_rate: refreshRate })
|
||||
console.log(`Refreshing at ${refreshRate} Hz`)
|
||||
const unlistenTelemetry = await listen('telemetry_data', event => {
|
||||
const data = JSON.parse(event.payload as string)
|
||||
// console.log(JSON.parse)
|
||||
telemetryStore.set(data['topic_name'], data['data'])
|
||||
})
|
||||
|
||||
socket.on('telemetry_data', (data: string) => {
|
||||
onUpdate(JSON.parse(data))
|
||||
})
|
||||
const unlistenAll = () => {
|
||||
unlistenStatus()
|
||||
unlistenTelemetry()
|
||||
}
|
||||
|
||||
return unlistenAll
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue