PybricksGamepads/bots.html at main · StrayCatNZ/PybricksGamepads · GitHub

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<!DOCTYPE html><html><head><meta name='viewport' content='width=device-width, initial-scale=1'><title>=^..^= Lego Gamepads</title>
<style>
    .axes {
        padding: 1em;
    }

    .buttons {
        margin-left: 1em;
    }

    /*meter*/.axis {
        min-width: 200px;
        margin: 1em;
    }

    .button {
        display: inline-block;
        width: 1em;
        text-align: center;
        padding: 1em;
        border-radius: 20px;
        border: 1px solid black;
        background-image: url(data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAIAAACQd1PeAAAAAXNSR0IArs4c6QAAAAxJREFUCNdjYPjPAAACAgEAqiqeJwAAAABJRU5ErkJggg==);
        background-size: 0% 0%;
        background-position: 50% 50%;
        background-repeat: no-repeat;
    }

    .pressed {
        border: 1px solid red;
    }

    .touched::after {
        content: "touch";
        display: block;
        position: absolute;
        margin-top: -0.2em;
        margin-left: -0.5em;
        font-size: 0.8em;
        opacity: 0.7;
    }

    .hidden {
        display: none;
    }

    .margins {
      margin: 0.8em;
    }
</style>
</head>
<body>
    <h2 id="start">Press a button on your controller to start</h2>
<script>

var service_uuid = "c5f50001-8280-46da-89f4-6d8051e4aeef";
var char_uuid = "c5f50002-8280-46da-89f4-6d8051e4aeef";

var service_uuid_lwp = "00001623-1212-efde-1623-785feabcd123";
var char_uuid_lwp = "00001624-1212-efde-1623-785feabcd123";

var ledPort = 0x31;

function findHubAndConnect(gamepad)
{
    navigator.bluetooth.requestDevice({ filters: [{ services: [service_uuid] }, { services: [service_uuid_lwp] }] })
    .then(device => {
        console.log(`Connecting To [${device.name}] ...`);
        buttons[gamepad.index].innerText = `Connecting To [${device.name}] ...`;
        device.addEventListener('gattserverdisconnected', () => {
            console.log(`Hub disconnected.`);
            buttons[gamepad.index].innerText = `Disconnected From [${device.name}], Trying To Reconnect...`;
            hubs[gamepad.index] = null;
            delayedConnect(100, gamepad, device);
        });
        clearTimeout(timers[gamepad.index]);
        misc[gamepad.index].reconnect = 0;
        return connect(gamepad, device);
    })
    .catch(error => {
    })
}

function delayedConnect(delay, gamepad, device)
{
    console.log(`Trying to reconnect...`);
    clearTimeout(timers[gamepad.index]);
    timers[gamepad.index] = setTimeout(connect, delay, gamepad, device);
}

function connect(gamepad, device)
{
  return device.gatt.connect().then(server => {
        console.log(`Connected server: [${server}].`);
//        return server.getPrimaryService(service_uuid);

        server.getPrimaryService(service_uuid).then(service => {
            console.log(`Connected service: [${service}].`);
            return service.getCharacteristic(char_uuid);
        })
        .then(ch => {
            console.log(`Connected characteristic: [${ch}].`);

            var decoder = new TextDecoder();

            ch.addEventListener('characteristicvaluechanged',(event) => {
              hubReady = true;
              var b = event.target.value;
              if (b.getUint8(0) == 1)
              {
                statuses[gamepad.index].innerText = decoder.decode(b.buffer.slice(1, -1));
              }
            });
            ch.startNotifications();

            ch.writeValueWithResponse(new Uint8Array([1]))
            .then(r => {
                console.log("Sending updates :3");
            })
            .catch(error => {
                console.log('write value error: ' + error);
                console.log("Sending updates anyway :3");
            })
            .then(r => {
                hubs[gamepad.index] = (gp) => sendData(ch, gp);
                buttons[gamepad.index].innerText = "Connected to " +  ch.service.device.name;
            });
        })

        server.getPrimaryService(service_uuid_lwp).then(service => {
            console.log(`Connected service: [${service}].`);
            return service.getCharacteristic(char_uuid_lwp);
        })
        .then(ch => {
            console.log(`Connected characteristic: [${ch}].`);

            ch.addEventListener('characteristicvaluechanged',(event) => {
              hubReady = true;
              var b = event.target.value;
              if (b.getUint8(0) == 0x0F && b.getUint8(2) == 0x04 && b.getUint8(4) == 0x01 && b.getUint8(5) == 0x17)
                ledPort = b.getUint8(3);
            });
            ch.startNotifications();

            ch.writeValueWithoutResponse(new Uint8Array([0x06, 0x00, 0x61, 0x01, 0x00, 0x01]))
            .then(r => {
                console.log("Sending stuff");
            })
            .catch(error => {
                console.log('write value error: ' + error);
            })
            .then(r => {
                return ch.writeValueWithoutResponse(new Uint8Array([0x0a, 0x00, 0x41, ledPort, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00]));
            })
            .then(r => {
                return ch.writeValueWithoutResponse(new Uint8Array([0x0a, 0x00, 0x81, ledPort, 0x11, 0x51, 0x01].concat(mode_colors[0])));
            })
            .then(r => {
                var state = { mode:0 };
                hubs[gamepad.index] = (gp) => sendDataLWP(ch, gp, state);
                buttons[gamepad.index].innerText = "Connected to " +  ch.service.device.name;
            });

        })

    })
    .catch(error => {
        misc[gamepad.index].reconnect++;
        if (misc[gamepad.index].reconnect > 10)
        {
          buttons[gamepad.index].innerText = "Disconnected... :("
          misc[gamepad.index].reconnect = 0
        }
        else
        {
          delayedConnect(1000, gamepad, device);
        }
    })
}

function sendData(characteristic, gp) {
    if (characteristic)
    {
        var btns = gp.buttons.map((v)=>Math.round(v.value * 127));
        var axs = gp.axes.map((v)=>Math.round(v * 127))
        var data = [0x06, btns.length, axs.length].concat(btns, axs);

        hubReady = false;
        characteristic.writeValueWithResponse(new Uint8Array(data))

        .then(_ => {
          //console.log('Sent: ' + data);
        })
        .catch(error => {
          //console.log('send_data() error: ' + error);
        });
    } else {
        //console.log('Ignored sending data because service is not connected.');
    }
}

function clamp(v, min, max) {
  return Math.min(Math.max(v, min), max);
}

mode_colors = [[0x00, 0xff, 0x00], [0xff, 0x00, 0xff]]

function sendDataLWP(characteristic, gp, state)
{
  if (characteristic)
  {
    var speed = gp.buttons[7].value - gp.buttons[6].value;
    var turn = gp.axes[2] + gp.axes[0];

    if (gp.buttons[9].value > 0 && state.buttons[9].value <= 0)
    {
      state.mode += 1;
      if (state.mode > 1)
        state.mode = 0;

      characteristic.writeValueWithoutResponse(new Uint8Array([0x0a, 0x00, 0x81, ledPort, 0x11, 0x51, 0x01].concat(mode_colors[state.mode])));
    }
    else
    {
      if (state.mode == 1)
        speed -= gp.axes[1] + gp.axes[3];

      var m1 = clamp(-speed - turn, -1, 1);
      var m2 = clamp(-speed + turn, -1, 1);

      characteristic.writeValueWithoutResponse(new Int8Array([0x08, 0x00, 0x81, 0x10, 0x00, 0x02, Math.round(m1 * 100), -Math.round(m2 * 100)]));
    }

    state.buttons = gp.buttons;
  }

}

/*
 * Gamepad API Test
 * Written in 2013 by Ted Mielczarek <ted@mielczarek.org>
 *
 * To the extent possible under law, the author(s) have dedicated all copyright and related and neighboring rights to this software to the public domain worldwide. This software is distributed without any warranty.
 *
 * You should have received a copy of the CC0 Public Domain Dedication along with this software. If not, see <http://creativecommons.org/publicdomain/zero/1.0/>.
 */
var haveEvents = 'GamepadEvent' in window;
var haveWebkitEvents = 'WebKitGamepadEvent' in window;
var controllers = {};
var hubs = {};
var buttons = {};
var statuses = {};
var timers = {};
var misc = {};
var hubReady = false;
var rAF = window.mozRequestAnimationFrame ||
  window.webkitRequestAnimationFrame ||
  window.requestAnimationFrame;

function connecthandler(e) {
  addgamepad(e.gamepad);
}
function addgamepad(gamepad) {
  controllers[gamepad.index] = gamepad; var d = document.createElement("div");
  hubs[gamepad.index] = null;
  d.setAttribute("id", "controller" + gamepad.index);
  var t = document.createElement("h1");
  t.appendChild(document.createTextNode("gamepad: " + gamepad.id));
  d.appendChild(t);
  var btn = document.createElement("button");
  btn.setAttribute("id", "hub_btn_" + gamepad.index);
  btn.innerText = "Connect To Hub";
  btn.className = "margins";
  btn.onpointerdown =  (e) => findHubAndConnect(controllers[gamepad.index]);
  buttons[gamepad.index] = btn;
  d.appendChild(btn);
  var status = document.createElement("span");
  status.innerText = "Waiting for status..."
  status.className = "margins";
  d.appendChild(status);
  statuses[gamepad.index] = status;
  var b = document.createElement("div");
  b.className = "buttons";
  for (var i=0; i<gamepad.buttons.length; i++) {
    var e = document.createElement("span");
    e.className = "button";
    e.innerHTML = i;
    b.appendChild(e);
  }
  d.appendChild(b);
  var a = document.createElement("div");
  a.className = "axes";
  for (i=0; i<gamepad.axes.length; i++) {
    e = document.createElement("meter");
    e.className = "axis";
    e.setAttribute("min", "-1");
    e.setAttribute("max", "1");
    e.setAttribute("value", "0");
    e.innerHTML = i;
    a.appendChild(e);
  }
  d.appendChild(a);
  document.getElementById("start").style.display = "none";
  document.body.appendChild(d);
  console.log("Gamepad added " + gamepad.index);
  //rAF(updateStatus);

  misc[gamepad.index] = {reconnect:0};
}

function disconnecthandler(e) {
  removegamepad(e.gamepad);
  clearTimeout(timers[e.gamepad.index]);
}

function removegamepad(gamepad) {
  console.log("Gamepad removed");
  var d = document.getElementById("controller" + gamepad.index);
  document.body.removeChild(d);
  delete controllers[gamepad.index];
}

function updateStatus() {
  scangamepads();
  for (j in controllers) {
    var controller = controllers[j];
    var d = document.getElementById("controller" + j);
    var buttons = d.getElementsByClassName("button");
    for (var i=0; i<controller.buttons.length; i++) {
      var b = buttons[i];
      var val = controller.buttons[i];
      var pressed = val == 1.0;
      var touched = false;
      if (typeof(val) == "object") {
        pressed = val.pressed;
        if ('touched' in val) {
          touched = val.touched;
        }
        val = val.value;
      }
      var pct = Math.round(val * 100) + "%";
      b.style.backgroundSize = pct + " " + pct;
      b.className = "button";
      if (pressed) {
        b.className += " pressed";
      }
      if (touched) {
        b.className += " touched";
      }
    }

    var axes = d.getElementsByClassName("axis");
    for (var i=0; i<controller.axes.length; i++) {
      var a = axes[i];
      a.innerHTML = i + ": " + controller.axes[i].toFixed(4);
      a.setAttribute("value", controller.axes[i]);
    }

    if (hubs[controller.index])
      hubs[controller.index](controller);

  }
  //rAF(updateStatus);
  setTimeout(updateStatus, 50);
}

function scangamepads() {
  var gamepads = navigator.getGamepads ? navigator.getGamepads() : (navigator.webkitGetGamepads ? navigator.webkitGetGamepads() : []);
  for (var i = 0; i < gamepads.length; i++) {
    if (gamepads[i] && (gamepads[i].index in controllers)) {
      controllers[gamepads[i].index] = gamepads[i];
    }
  }
}

if (haveEvents) {
  window.addEventListener("gamepadconnected", connecthandler);
  window.addEventListener("gamepaddisconnected", disconnecthandler);
} else if (haveWebkitEvents) {
  window.addEventListener("webkitgamepadconnected", connecthandler);
  window.addEventListener("webkitgamepaddisconnected", disconnecthandler);
} else {
  setInterval(scangamepads, 500);
}

updateStatus();
</script>
</body>
</html>