970 enable rc controller in webui

donkeycar/parts/controller.py

@@ -15,7 +15,10 @@
 
 class Joystick(object):
     '''
-    An interface to a physical joystick
+    An interface to a physical joystick.
+    The joystick holds available buttons
+    and axis; both their names and values
+    and can be polled to state changes.
     '''
     def __init__(self, dev_fn='/dev/input/js0'):
         self.axis_states = {}
@@ -29,6 +32,10 @@ def __init__(self, dev_fn='/dev/input/js0'):
 
 
     def init(self):
+        """
+        Query available buttons and axes given
+        a path in the linux device tree.
+        """
         try:
             from fcntl import ioctl
         except ModuleNotFoundError:
@@ -294,7 +301,12 @@ def pulse_width(self, high):
         else:
             return 0.0
 
-    def run(self):
+    def run(self, mode=None, recording=None):
+        """
+        :param mode: default user/mode
+        :param recording: default recording mode
+        """
+
         i = 0
         for channel in self.channels:
             # signal is a value in [0, (MAX_OUT-MIN_OUT)]
@@ -312,13 +324,15 @@ def run(self):
         if (self.signals[2] - self.jitter) > 0:  
             self.mode = 'local'
         else:
-            self.mode = 'user'
+            # pass though value if provided
+            self.mode = mode if mode is not None else 'user'
 
         # check throttle channel
         if ((self.signals[1] - self.jitter) > 0) and self.RECORD: # is throttle above jitter level? If so, turn on auto-record 
             is_action = True
         else:
-            is_action = False
+            # pass through default value
+            is_action = recording if recording is not None else False
         return self.signals[0], self.signals[1], self.mode, is_action
 
     def shutdown(self):
@@ -803,6 +817,7 @@ def __init__(self, *args, **kwargs):
 
 class JoystickController(object):
     '''
+    Class to map joystick buttons and axes to functions.
     JoystickController is a base class. You will not use this class directly,
     but instantiate a flavor based on your joystick type. See classes following this.
 
@@ -825,9 +840,11 @@ def __init__(self, poll_delay=0.0,
                  dev_fn='/dev/input/js0',
                  auto_record_on_throttle=True):
 
+        self.img_arr = None
         self.angle = 0.0
         self.throttle = 0.0
         self.mode = 'user'
+        self.mode_latch = None
         self.poll_delay = poll_delay
         self.running = True
         self.last_throttle_axis_val = 0
@@ -1073,6 +1090,7 @@ def toggle_mode(self):
             self.mode = 'local'
         else:
             self.mode = 'user'
+        self.mode_latch = self.mode
         print('new mode:', self.mode)
 
 
@@ -1088,9 +1106,25 @@ def chaos_monkey_off(self):
         self.chaos_monkey_steering = None
 
 
-    def run_threaded(self, img_arr=None):
+    def run_threaded(self, img_arr=None, mode=None, recording=None):
+        """
+        :param img_arr: current camera image or None
+        :param mode: default user/mode
+        :param recording: default recording mode
+        """
         self.img_arr = img_arr
 
+        #
+        # enforce defaults if they are not none.
+        #
+        if mode is not None:
+            self.mode = mode
+        if self.mode_latch is not None:
+            self.mode = self.mode_latch
+            self.mode_latch = None
+        if recording is not None:
+            self.recording = recording
+
         '''
         process E-Stop state machine
         '''
@@ -1118,9 +1152,8 @@ def run_threaded(self, img_arr=None):
         return self.angle, self.throttle, self.mode, self.recording
 
 
-    def run(self, img_arr=None):
-        raise Exception("We expect for this part to be run with the threaded=True argument.")
-        return None, None, None, None
+    def run(self, img_arr=None, mode=None, recording=None):
+        return self.run_threaded(img_arr, mode, recording)
 
 
     def shutdown(self):
@@ -1131,7 +1164,9 @@ def shutdown(self):
 
 class JoystickCreatorController(JoystickController):
     '''
-    A Controller object helps create a new controller object and mapping
+    A Controller object helps create a new controller object and mapping.
+    This is used in management/joystic_creator when mapping
+    a custom joystick.
     '''
     def __init__(self, *args, **kwargs):
         super(JoystickCreatorController, self).__init__(*args, **kwargs)

donkeycar/parts/robohat.py

@@ -133,10 +133,30 @@ def update(self):
                 print("MM1: Error reading serial input!")
                 break
 
-    def run(self, img_arr=None):
-        return self.run_threaded()
+    def run(self, img_arr=None, mode=None, recording=None):
+        """
+        :param img_arr: current camera image or None
+        :param mode: default user/mode
+        :param recording: default recording mode
+        """
+        return self.run_threaded(img_arr, mode, recording)
+
+    def run_threaded(self, img_arr=None, mode=None, recording=None):
+        """
+        :param img_arr: current camera image
+        :param mode: default user/mode
+        :param recording: default recording mode
+        """
+        self.img_arr = img_arr
+
+        #
+        # enforce defaults if they are not none.
+        #
+        if mode is not None:
+            self.mode = mode
+        if recording is not None:
+            self.recording = recording
 
-    def run_threaded(self, img_arr=None):
         return self.angle, self.throttle, self.mode, self.recording
 
 

donkeycar/parts/web_controller/templates/static/main.js

@@ -37,10 +37,6 @@ var driveHandler = new function() {
     this.load = function() {
       driveURL = '/drive'
       socket = new WebSocket('ws://' + location.host + '/wsDrive');
-
-      socket.onmessage = function (event) {
-          console.log(event.data);
-      };
 
       setBindings()
 
@@ -52,7 +48,7 @@ var driveHandler = new function() {
 
       var manager = nipplejs.create(joystick_options);
       bindNipple(manager)
-      
+
       if(!!navigator.getGamepads){
         console.log("Device has gamepad support.")
         hasGamepad = true;
@@ -69,8 +65,49 @@ var driveHandler = new function() {
       }
     };
 
+    //
+    // Update a state object with the given data.
+    // This will only update existing fields in 
+    // the state; it will not add new fields that
+    // may exist in the data but not the state.
+    //
+    var updateState = function(state, data) {
+        let changed = false;
+        if(typeof data === 'object') {
+            const keys = Object.keys(data)
+            keys.forEach(key => {
+                //
+                // state must already have the key;
+                // we are not adding new fields to the state,
+                // we are only updating existing fields.
+                //
+                if(state.hasOwnProperty(key) && state[key] !== data[key]) {
+                    if(typeof state[key] === 'object') {
+                        // recursively update the state's object field
+                        changed = updateState(state[key], data[key]) && changed;
+                    } else {
+                        state[key] = data[key];
+                        changed = true;
+                    }
+                }
+            });
+        }
+        return changed;
+    }
 
     var setBindings = function() {
+      //
+      // when server sends a message with state changes
+      // then update our local state and 
+      // if there were any changes then redraw the UI.
+      //
+      socket.onmessage = function (event) {
+        console.log(event.data);
+        const data = JSON.parse(event.data);
+        if(updateState(state, data)) {
+            updateUI();
+        }
+      };
 
       $(document).keydown(function(e) {
           if(e.which == 32) { toggleBrake() }  // 'space'  brake
@@ -79,9 +116,10 @@ var driveHandler = new function() {
           if(e.which == 75) { throttleDown() } // 'k'  slow down
           if(e.which == 74) { angleLeft() } // 'j' turn left
           if(e.which == 76) { angleRight() } // 'l' turn right
-          if(e.which == 65) { updateDriveMode('auto') } // 'a' turn on auto mode
-          if(e.which == 68) { updateDriveMode('user') } // 'd' turn on manual mode
-          if(e.which == 83) { updateDriveMode('auto_angle') } // 'a' turn on auto mode
+          if(e.which == 65) { updateDriveMode('local') } // 'a' turn on local mode (full _A_uto)
+          if(e.which == 85) { updateDriveMode('user') } // 'u' turn on manual mode (_U_user)
+          if(e.which == 83) { updateDriveMode('local_angle') } // 's' turn on local mode (auto _S_teering)
+          if(e.which == 77) { toggleDriveMode() } // 'm' toggle drive mode (_M_ode)
       });
 
       $('#mode_select').on('change', function () {
@@ -250,17 +288,33 @@ var driveHandler = new function() {
       //drawLine(state.tele.user.angle, state.tele.user.throttle)
     };
 
-    var postDrive = function() {
-
-        //Send angle and throttle values
-        data = JSON.stringify({ 'angle': state.tele.user.angle,
-                                'throttle':state.tele.user.throttle,
-                                'drive_mode':state.driveMode,
-                                'recording': state.recording})
-        console.log(data)
-        // $.post(driveURL, data)
-        socket.send(data)
-        updateUI()
+    const ALL_POST_FIELDS = ['angle', 'throttle', 'drive_mode', 'recording'];
+
+    //
+    // Set any changed properties to the server
+    // via the websocket connection
+    //
+    var postDrive = function(fields=[]) {
+
+        if(fields.length === 0) {
+            fields = ALL_POST_FIELDS;
+        }
+
+        let data = {}
+        fields.forEach(field => {
+            switch (field) {
+                case 'angle': data['angle'] = state.tele.user.angle; break;
+                case 'throttle': data['throttle'] = state.tele.user.throttle; break;
+                case 'drive_mode': data['drive_mode'] = state.driveMode; break;
+                case 'recording': data['recording'] = state.recording; break;
+                default: console.log(`Unexpected post field: '${field}'`); break;
+            }
+        });
+        if(data) {
+            console.log(`Posting ${data}`);
+            socket.send(JSON.stringify(data))
+            updateUI()
+        }
     };
 
     var applyDeadzone = function(number, threshold){
@@ -405,18 +459,34 @@ var driveHandler = new function() {
 
     var updateDriveMode = function(mode){
       state.driveMode = mode;
-      postDrive()
+      postDrive(["drive_mode"])
     };
 
+    var toggleDriveMode = function() {
+      switch(state.driveMode) {
+        case "user": {
+            updateDriveMode("local_angle");
+            break;
+        }
+        case "local_angle": {
+            updateDriveMode("local");
+            break;
+        }
+        default: {
+            updateDriveMode("user");
+            break;
+        }
+      }
+    }
+
     var toggleRecording = function(){
       state.recording = !state.recording
-      postDrive()
+      postDrive(['recording']);
     };
 
     var toggleBrake = function(){
       state.brakeOn = !state.brakeOn;
       initialGamma = null;
-
 
       if (state.brakeOn) {
         brake();
@@ -431,7 +501,6 @@ var driveHandler = new function() {
           state.driveMode = 'user';
           postDrive()
 
-
       i++
       if (i < 5) {
         setTimeout(function () {

donkeycar/parts/web_controller/templates/vehicle.html

@@ -10,7 +10,7 @@
         <div class="form-inline">
           <div class="form-group">
             <label class="group-label">
-              Control Mode
+              Control Mode Help
               <a data-toggle="modal" class="btn btn-primary btn-xs" data-target="#aboutControlModes">
                 <span class="glyphicon glyphicon-info-sign"></span>
               </a>
@@ -85,18 +85,18 @@
         </div>
 
         <form>
-          <label>Mode &amp; Pilot</label>
+          <label>Pilot Mode [m]</label>
           <div class="form-group">
             <select id="mode_select" class="form-control">
-              <option disabled selected> Select Mode </option>
-              <option value="user">User (d)</option>
-              <option value="local">Local Pilot (d)</option>
-              <option value="local_angle">Local Angle (d)</option>
+              <option disabled selected> Select Mode [m]</option>
+              <option value="user">User [u]</option>
+              <option value="local">Full Auto [a]</option>
+              <option value="local_angle">Auto Steering [s]</option>
             </select>
           </div>
           <div class="form-group">
             <button type="button" id="record_button" class="btn btn-info btn-block">
-              Start Recording (r)
+              Start Recording [r]
             </button>
           </div>
         </form>
@@ -155,8 +155,19 @@ <h4 class="modal-title" id="myModalLabel">About Control Modes</h4>
           </p>
           <p>
             <strong>Device tilt</strong> control is enabled for devices with <a href="https://developer.mozilla.org/en-US/docs/Web/API/Detecting_device_orientation">device orientation sensors</a>, and should work with most modern smartphones. Hold your device in landscape mode, tilt  forward/backward for throttle and left/right for steering.
-          </p> 
-
+          </p>
+          <p>
+            <strong>Pilot Mode</strong> can be toggled or chosen using the keyboard.
+            <ul>
+              <li>Toggle Pilot <b>M</b>ode: <code>M</code></li> 
+              <li><b>U</b>ser Mode: <code>U</code></li> 
+              <li>Auto <b>S</b>teering  Mode: <code>S</code></li> 
+              <li>Full <b>A</b>uto Mode: <code>A</code></li> 
+            </ul>
+          </p>
+          <p>
+            <strong>Recording</strong> can be toggled using the keyboard.
+            <ul><li>Toggle <b>R</b>ecording: <code>R</code></li></ul>
         </div>
         <div class="modal-footer">
           <button type="button" class="btn btn-primary" data-dismiss="modal">Close</button>