commit all stuff

package.json

@@ -9,6 +9,7 @@
   },
   "dependencies": {
     "core-js": "^3.8.3",
+    "lodash": "^4.17.21",
     "vue": "^3.2.13"
   },
   "devDependencies": {

src/App.vue

@@ -1,26 +1,153 @@
 <template>
-  <img alt="Vue logo" src="./assets/logo.png">
+  <div id="main">
-  <HelloWorld msg="Welcome to Your Vue.js App"/>
+    <form id="connection" @submit.prevent="connectionFormSubmit">
+      <input type="text" v-model="host">
+      <input type="submit" :value="isConnected ? 'Disconnect' : 'Connect'">
+    </form>
+    <div id="camera-view" v-if="isConnected" style="float:left;">
+      <img v-if="camera_image_src !== null" :src="camera_image_src" alt="Camera View">
+    </div>
+    <div id="controls" v-if="isConnected" style="float: right">
+      <input type="range" v-model="driveThrottle">
+      <JoyStick @change="joystickChanged" />
+    </div>
+  </div>
 </template>
 
 <script>
-import HelloWorld from './components/HelloWorld.vue'
+import JoyStick from "@/components/JoyStick";
+const _ = require('lodash');
 
 export default {
   name: 'App',
-  components: {
+  components: {JoyStick},
-    HelloWorld
+  data () {
+    return {
+      connection: null,
+      host: 'rc-car-esp32.local',
+      camera_image_src: null,
+      stickData: {
+        x: 0,
+        y: 0,
+        speed: 0,
+        angle: 0
+      },
+      steerValue: 'straight',
+      driveSide: 'stop',
+      driveThrottle: 0,
+    }
+  },
+  computed: {
+    isConnected() {
+      return this.connection instanceof WebSocket;
+    },
+    command_str() {
+      return `${this.driveSide}|${this.driveThrottle}|${this.steerValue}`;
+    }
+  },
+  methods: {
+    connectionFormSubmit() {
+      if (!this.isConnected) {
+        this.connection = new WebSocket(`ws://${this.host}`)
+
+        this.connection.onmessage = _.throttle((event) => {
+          if (event.data instanceof Blob) {
+            this.camera_image_src = URL.createObjectURL(event.data);
+          }
+        }, 10);
+
+        this.connection.onopen = () => {
+          console.log("Successfully connected to the websocket server.");
+        };
+        this.connection.onclose = () => {
+          console.log("Connection to the websocket server closed.");
+        };
+      }
+      else {
+        this.connection.close();
+        this.connection = null;
+      }
+    },
+    joystickChanged: _.throttle(function (data) {
+      this.stickData = data;
+    }, 100),
+    scale(number, fromLeft, fromRight, toLeft, toRight) {
+      return toLeft + (number - fromLeft) / (fromRight - fromLeft) * (toRight - toLeft);
+    },
+    handleKeyDown: function (e) {
+      const keyCode = String(e.keyCode || e.code || e.keyIdentifier);
+
+      if (keyCode === "37") {
+        this.steerValue = 'left';
+      }
+      if (keyCode === "39") {
+        this.steerValue = 'right';
+      }
+      if (keyCode === "38") {
+        this.driveSide = 'forward';
+      }
+      if (keyCode === "40") {
+        this.driveSide = 'backward';
+      }
+
+    },
+    handleKeyUp: function (e) {
+      const keyCode = String(e.keyCode || e.code || e.keyIdentifier);
+
+      if (keyCode === "37" || keyCode === "39") {
+        this.steerValue = 'straight';
+      }
+      if (keyCode === "38" || keyCode === "40") {
+        this.driveSide = 'stop';
+      }
+    }
+  },
+  watch: {
+    stickData(newValues) {
+      const xDeadzone = 5;
+      const yDeadzone = 5;
+
+      const true_values = {
+        x: this.scale(newValues.x, -96, 96, 0, 100),
+        y: this.scale(newValues.y, 96, -96, 0, 100)
+      };
+
+      if (_.inRange(true_values.x, 50 - xDeadzone, 50 + xDeadzone)) {
+        this.steerValue = 'straight';
+      }
+      else if (true_values.x > 50) {
+        this.steerValue = 'right';
+      }
+      else if (true_values.x < 50) {
+        this.steerValue = 'left';
+      }
+
+      if (_.inRange(true_values.y, 50 - yDeadzone, 50 + yDeadzone)) {
+        this.driveSide = 'stop';
+        this.driveThrottle = 0;
+      }
+      else if (_.inRange(true_values.y, 50 - yDeadzone, 0)) {
+        this.driveThrottle = this.scale(true_values.y, 50, 0, 0, 100);
+        this.driveSide = 'backward';
+      }
+      if (_.inRange(true_values.y, 50 + yDeadzone, 100)) {
+        this.driveThrottle = this.scale(true_values.y, 50, 100, 0, 100);
+        this.driveSide = 'forward';
+      }
+    },
+    command_str(newCmd) {
+      if (this.isConnected && this.connection.readyState === WebSocket.OPEN) {
+        this.connection.send(newCmd);
+      }
+    }
+  },
+  mounted() {
+    window.addEventListener('keydown', this.handleKeyDown);
+    window.addEventListener('keyup', this.handleKeyUp);
   }
 }
 </script>
 
 <style>
-#app {
+
-  font-family: Avenir, Helvetica, Arial, sans-serif;
-  -webkit-font-smoothing: antialiased;
-  -moz-osx-font-smoothing: grayscale;
-  text-align: center;
-  color: #2c3e50;
-  margin-top: 60px;
-}
 </style>

src/components/HelloWorld.vue

@@ -1,58 +0,0 @@
-<template>
-  <div class="hello">
-    <h1>{{ msg }}</h1>
-    <p>
-      For a guide and recipes on how to configure / customize this project,<br>
-      check out the
-      <a href="https://cli.vuejs.org" target="_blank" rel="noopener">vue-cli documentation</a>.
-    </p>
-    <h3>Installed CLI Plugins</h3>
-    <ul>
-      <li><a href="https://github.com/vuejs/vue-cli/tree/dev/packages/%40vue/cli-plugin-babel" target="_blank" rel="noopener">babel</a></li>
-      <li><a href="https://github.com/vuejs/vue-cli/tree/dev/packages/%40vue/cli-plugin-eslint" target="_blank" rel="noopener">eslint</a></li>
-    </ul>
-    <h3>Essential Links</h3>
-    <ul>
-      <li><a href="https://vuejs.org" target="_blank" rel="noopener">Core Docs</a></li>
-      <li><a href="https://forum.vuejs.org" target="_blank" rel="noopener">Forum</a></li>
-      <li><a href="https://chat.vuejs.org" target="_blank" rel="noopener">Community Chat</a></li>
-      <li><a href="https://twitter.com/vuejs" target="_blank" rel="noopener">Twitter</a></li>
-      <li><a href="https://news.vuejs.org" target="_blank" rel="noopener">News</a></li>
-    </ul>
-    <h3>Ecosystem</h3>
-    <ul>
-      <li><a href="https://router.vuejs.org" target="_blank" rel="noopener">vue-router</a></li>
-      <li><a href="https://vuex.vuejs.org" target="_blank" rel="noopener">vuex</a></li>
-      <li><a href="https://github.com/vuejs/vue-devtools#vue-devtools" target="_blank" rel="noopener">vue-devtools</a></li>
-      <li><a href="https://vue-loader.vuejs.org" target="_blank" rel="noopener">vue-loader</a></li>
-      <li><a href="https://github.com/vuejs/awesome-vue" target="_blank" rel="noopener">awesome-vue</a></li>
-    </ul>
-  </div>
-</template>
-
-<script>
-export default {
-  name: 'HelloWorld',
-  props: {
-    msg: String
-  }
-}
-</script>
-
-<!-- Add "scoped" attribute to limit CSS to this component only -->
-<style scoped>
-h3 {
-  margin: 40px 0 0;
-}
-ul {
-  list-style-type: none;
-  padding: 0;
-}
-li {
-  display: inline-block;
-  margin: 0 10px;
-}
-a {
-  color: #42b983;
-}
-</style>

src/components/JoyStick.vue

@@ -0,0 +1,127 @@
+<style>
+.vue-joystick {
+  display: inline-block;
+  background: white;
+  height: 256px;
+  width: 256px;
+  border-radius: 50%;
+  position: relative;
+  border: solid 4px var(--color);
+}
+.vue-joystick::before,
+.vue-joystick::after {
+  content: "";
+  position: absolute;
+}
+.vue-joystick::before {
+  left: 0;
+  right: 0;
+  margin: -32px;
+  background: var(--color);
+  height: 64px;
+  width: 64px;
+  border-radius: 50%;
+  transform: translateX(var(--x)) translateY(var(--y));
+}
+.vue-joystick::after {
+  left: 126px;
+  bottom: 128px;
+  border-radius: 10px;
+  width: 4px;
+  background: var(--color);
+  transform: rotate(var(--angle));
+  transform-origin: bottom center;
+  height: var(--speed);
+}
+</style>
+<template>
+  <div
+      class="vue-joystick"
+      :style="style"
+      @touchmove="handleTouch"
+      @mousemove="handleMove"
+      @mousedown="handleStart"
+      @mouseup="handleRelease"
+      @touchend="handleRelease"
+  ></div>
+</template>
+<script>
+export default {
+  props: {
+    color: {
+      type: String,
+      default: "#25B"
+    }
+  },
+  data() {
+    return {
+      x: 0,
+      y: 0,
+      angle: 0,
+      speed: 0,
+      isMouseDown: false
+    };
+  },
+  computed: {
+    style() {
+      return {
+        "--x": `${this.x + 128}px`,
+        "--y": `${this.y + 128}px`,
+        "--speed": `${this.speed}px`,
+        "--angle": `${this.angle}deg`,
+        "--color": `${this.color}`
+      };
+    }
+  },
+  methods: {
+    handleStart() {
+      this.isMouseDown = true;
+    },
+    handleTouch({ touches: [touch] }) {
+      const { clientX, clientY } = touch;
+      const { offsetLeft, offsetTop } = this.$el;
+      const x = Math.round(clientX - offsetLeft - 128);
+      const y = Math.round(clientY - offsetTop - 128);
+      this.updatePosition(x, y);
+    },
+    handleMove({ clientX, clientY }) {
+      if (!this.isMouseDown) {
+        return;
+      }
+      const { offsetLeft, offsetTop } = this.$el;
+      const x = Math.round(clientX - offsetLeft - 128);
+      const y = Math.round(clientY - offsetTop - 128);
+      this.updatePosition(x, y);
+    },
+    handleRelease() {
+      this.emitAll("release");
+      this.isMouseDown = false;
+      this.updatePosition(0, 0);
+    },
+    updatePosition(x, y) {
+      const offset = 128 - 32;
+      const radians = Math.atan2(y, x);
+      const angle = Math.round((radians * 180) / Math.PI, 4);
+      this.angle = angle + (angle > 90 ? -270 : 90);
+      this.speed = Math.min(
+          Math.round(Math.sqrt(Math.pow(y, 2) + Math.pow(x, 2))),
+          128
+      );
+      this.x = this.speed > offset ? Math.cos(radians) * offset : x;
+      this.y = this.speed >= offset ? Math.sin(radians) * offset : y;
+      this.emitAll();
+    },
+    emitAll(name = "change") {
+      this.$emit(name, {
+        x: this.x,
+        y: this.y,
+        speed: this.speed,
+        angle: this.angle
+      });
+    }
+  },
+  mounted() {
+    this.emitAll();
+  }
+};
+</script>