Lucy/lucy_webapp/app/static/app/js/control.js.old

*
############
# COMMANDS #
############

COMMAND_CONTINUE
COMMAND_STOP
COMMAND_RIDE_FORWARD
COMMAND_FORWARD_STEER_LEFT
COMMAND_FORWARD_STEER_RIGHT
COMMAND_RIDE_BACKWARD
COMMAND_BACKWARD_STEER_LEFT
COMMAND_BACKWARD_STEER_RIGHT
COMMAND_TURN_LEFT
COMMAND_TURN_RIGHT

COMMAND_SEND_STATE

COMMAND_SET_PWM_BYTE
COMMAND_SET_SPEED_LEVEL
COMMAND_SET_SAFE_STOP_INTENSITY
COMMAND_SET_FREE_SPACE_MULTIPLIER
*/


var pressed_keys = new Set();
var old_pressed_keys = null;
var command = null;
// pressed_keys.add("UP");

setInterval(function(){ 
	document.getElementById("keys").innerHTML = Array.from(pressed_keys).join(' '); 
}, 50);

setInterval(function(){ 
	document.getElementById("command").innerHTML = command; 
}, 50)

setInterval(function(){ 
	if (document.visibilityState == "visible") {
		send_command('COMMAND_CONTINUE'); 
	}
}, 1000);


document.addEventListener('keydown', function(event) {
	switch (event.code){
		case 'ArrowUp':
			pressed_keys.add("UP");
			break;
		case 'ArrowDown':
			pressed_keys.add("DOWN");
			break;
		case 'ArrowLeft':
			pressed_keys.add("LEFT");
			break;
		case 'ArrowRight':
			pressed_keys.add("RIGHT");
			break;
	}

	update_state();
});

document.addEventListener('keyup', function(event) {
	switch (event.code){
		case 'ArrowUp':
			pressed_keys.delete("UP");
			break;
		case 'ArrowDown':
			pressed_keys.delete("DOWN");
			break;
		case 'ArrowLeft':
			pressed_keys.delete("LEFT");
			break;
		case 'ArrowRight':
			pressed_keys.delete("RIGHT");
			break;
	}

	update_state();
});


function update_state() {
	if (!old_pressed_keys == pressed_keys)
		old_pressed_keys = new Set(pressed_keys);
	else
		return;

	if (pressed_keys.size == 0) {
      	command = "COMMAND_STOP";
   		return;
   	}
    else if (pressed_keys.size > 2) {
        command = null;
    	return;
    }
	else {
		command = map_key_with_command(pressed_keys);
		send_command(command)
    }
}

function map_key_with_command(pressed_keys) {
	if (pressed_keys.has("UP")) {
    	if (pressed_keys.size == 1)
    		return "COMMAND_RIDE_FORWARD";
        else if (pressed_keys.has("LEFT"))
        	return "COMMAND_FORWARD_STEER_LEFT";
        else if (pressed_keys.has("RIGHT"))
        	return "COMMAND_FORWARD_STEER_RIGHT";
        else if (pressed_keys.has("DOWN")) {
        	return "COMMAND_STOP";
        }
    }

    else if (pressed_keys.has("DOWN")) {
    	if (pressed_keys.size == 1)
    		return "COMMAND_RIDE_BACKWARD";
        else if (pressed_keys.has("LEFT"))
        	return "COMMAND_BACKWARD_STEER_LEFT";
        else if (pressed_keys.has("RIGHT"))
        	return "COMMAND_BACKWARD_STEER_RIGHT";
    }
                          
    else if (pressed_keys.has("LEFT")) {
    	return "COMMAND_TURN_LEFT";
    }

    else if (pressed_keys.has("RIGHT")) {
    	return "COMMAND_TURN_RIGHT";
    }

    return null;
}

function send_command(command) {
	$.post(
		send_command_url,
		{
			command : command
		},
		function(response){
    		if (response.status == "ERROR") {
    			alert(response.message);
    		}
	});
}