146 lines
3.6 KiB
Lua
146 lines
3.6 KiB
Lua
package.loaded["draw"] = nil
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require("draw")
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CamShader = nil
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UIState = {
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showUI = true,
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}
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BotState = {
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lastMessage = 0,
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cpuBattery = nil,
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cpuBatteryCorrected = nil,
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servoBattery = nil,
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servoBatteryCorrected = nil,
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camfeed = nil,
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viewX = 0,
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viewY = 0,
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viewXSent = 0,
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viewYSent = 0,
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viewLastUpdate = 0,
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}
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Ping = {
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timeSent = 0,
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latency = "unknown",
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payload = nil,
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}
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ControllerState = {
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rightX = 0,
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rightY = 0
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}
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function love.update2()
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local now = love.timer.getTime()
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if now - Ping.timeSent > 5 then
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Ping.payload = ""
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for i = 0, 10 do
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Ping.payload = Ping.payload .. string.char(love.math.random(65, 91))
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end
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Ping.timeSent = now
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love.mqtt.send("command/ping", Ping.payload)
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print("Sending ping")
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end
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BotState.viewX = BotState.viewX + ControllerState.rightX * 0.02
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BotState.viewY = BotState.viewY + ControllerState.rightY * 0.02
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local viewDX, viewDY = math.abs(BotState.viewX - BotState.viewXSent), math.abs(BotState.viewY - BotState.viewYSent)
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if viewDX > 0.01 or viewDY > 0.01 and (now - BotState.viewLastUpdated) >= 0.05 then
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love.mqtt.send("command/set_camera_xy", toJSON({
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x = -BotState.viewX * 0.3 + 0.5,
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y = -BotState.viewY * 0.3 + 0.5
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}))
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BotState.viewXSent = BotState.viewX
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BotState.viewYSent = BotState.viewY
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BotState.viewLastUpdated = now
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end
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end
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function love.joystickaxis2(joystick, axis, value)
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if axis == 3 then
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ControllerState.rightX = value
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elseif axis == 4 then
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ControllerState.rightY = value
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end
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end
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-- function love.joystickaxis2(joystick, axis, value)
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-- if axis == 3 and value ~= ControllerState.viewX then
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-- ControllerState.viewX = value
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-- ControllerState.viewChanged = true
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-- elseif axis == 4 and value ~= ControllerState.viewY then
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-- ControllerState.viewY = value
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-- ControllerState.viewChanged = true
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-- end
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-- end
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function formatSafe(format, value, ...)
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if value == nil then
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return "unknown"
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end
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return string.format(format, value, ...)
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end
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function love.load()
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CamShader = love.graphics.newShader("client/camshader.glsl")
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love.graphics.setFont(love.graphics.newFont(20))
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love.window.setFullscreen(true)
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love.mqtt.subscribe("telemetry/#")
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end
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function love.mqtt.message(topic, payload)
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local oldTime = BotState.lastMessage
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BotState.lastMessage = love.timer.getTime()
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if topic == "telemetry/cpu_battery" then
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BotState.cpuBattery = tonumber(payload)
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BotState.cpuBatteryCorrected = BotState.cpuBattery / 2
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elseif topic == "telemetry/servo_battery" then
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BotState.servoBattery = tonumber(payload)
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BotState.servoBatteryCorrected = BotState.servoBattery / 2
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elseif topic == "telemetry/camfeed" then
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fileData = love.filesystem.newFileData(payload, "camfeed")
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BotState.camfeed = love.graphics.newImage(fileData)
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elseif topic == "telemetry/pong" then
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if payload == Ping.payload then
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local timeReceived = love.timer.getTime()
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Ping.latency = math.floor((timeReceived - Ping.timeSent) * 1000) .. "ms"
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end
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else
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print("Got unknown telemetry at " .. topic)
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BotState.lastMessage = oldTime
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end
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end
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function love.gamepadpressed2(joystick, button)
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print("Pressed gamepad button " .. button .. " on joystick " .. joystick:getName())
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if button == "back" then
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UIState.showUI = not UIState.showUI
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end
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end
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function toJSON(arg)
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local t = type(arg)
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if t == "number" then
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return tostring(arg)
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elseif t == "nil" then
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return "null"
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elseif t == "string" then
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return '"' .. arg .. '"'
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elseif t == "boolean" then
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return tostring(arg)
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elseif t == "table" then
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local fields = {}
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for key, value in pairs(arg) do
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fields[#fields+1] = string.format('"%s":%s', key, toJSON(value))
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end
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return '{' .. table.concat(fields, ',') .. '}'
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end
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end
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