def command(websocket):
x = 0
y = 0
w = 0
for buf in log_queue:
websocket.send(buf)
game_config = ConfigManager.instance("game")
def get_game_options():
return [
("field_id", [game_config.get_value("global", "field_id"),"A","B","Z"]),
("robot_id", [game_config.get_value("global", "robot_id"),"A","B"]),
("target goal color", [game_config.get_value("global", "target goal color"),"yellow","blue"]),
("gameplay status", [game_config.get_value("global", "gameplay status"),"disabled", "enabled"]),
]
game_options = get_game_options()
settings_packet = json.dumps(dict(
action = "settings-packet",
sliders = ConfigManager.as_list("imgrec"),
options = game_options
))
websocket.send(settings_packet)
while not websocket.closed:
websockets.add(websocket)
gevent.sleep(0.01)
msg = websocket.receive()
if not msg:
websockets.remove(websocket)
logger.info("WebSocket connection presumably closed, %d left connected" % len(websockets))
break
response = json.loads(msg)
action = response.pop("action", None)
if not action:
logger.info("Unknown action")
continue
if action == "gamepad":
controls = response.pop("data")
x = controls.pop("controller0.axis0", x) * 0.99
y = controls.pop("controller0.axis1", y) * 0.99
w = controls.pop("controller0.axis2", w) * 0.7
# Kick the ball
if controls.get("controller0.button7", None):
gameplay.arduino.kick()
# Toggle autonomy
if controls.get("controller0.button4", None):
gameplay.toggle()
# Manual control of the robot
if not gameplay.alive:
gameplay.arduino.set_xyw(x,-y,-w)
# TODO: slders
elif action == "record_toggle":
print("TOGGLING RECORDER")
recorder.toggle()
elif action == "record_enable":
recorder.enable()
elif action == "record_disable":
recorder.disable()
elif action == "set_settings":
for k, v in response.items():
ConfigManager.set_config_value(k, v)
print(response.items())
elif action == "set_options":
for k, v in response.items():
game_config.get_option("global", k).set_value(v)
game_config.save()
print(response.items())
else:
logger.error("Unhandled action: %s", action)
websockets.remove(websocket)
logger.info("WebSocket connection closed, %d left connected", len(websockets))
return b""
