Add custom robot websocket mode 9541481191295836274 - #8
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- Added 'CUSTOM' connection mode to ConnectionPanel - Enabled manual input of WebSocket URL for custom robots - Handled raw WebSocket creation when connecting in CUSTOM mode - Updated Joystick publishing loop to map Gamepad API inputs directly to custom JSON payloads, avoiding WebRTC stack if CUSTOM mode is active. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
Changes default WebSocket IP in custom mode from 192.168.1.10 to 0.0.0.0 as requested. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
This is an empty commit just to finalize the review cycle. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
Changes default WebSocket IP in custom mode from 192.168.1.10 to 0.0.0.0 as requested. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
`navigator.getGamepads()` returns a `GamepadList` in most modern browsers (Chrome, Safari, etc.), which is an array-like object but lacks standard array methods like `.find()`. The previous code directly called `.find()` on the return value of `navigator.getGamepads()`, throwing a TypeError and breaking the joystick polling loop. This commit converts the result into a standard JavaScript array using `Array.from()` before calling `.find()`, fixing the runtime error. Also cleaned up accidental logs. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
This commit introduces the `CUSTOM` robot mode allowing users to control
custom robots over standard WebSockets rather than Unitree's WebRTC protocol.
- Created `CustomWebSocketConnection` mimicking the required `WebRTCConnection`
interface.
- Added a `CUSTOM` mode selector to the landing page with default `ws://127.0.0.1:8080/robot`.
- Mapped FlySky FS-i6s transmitter joystick axes to custom payload coordinates.
- Added Deadman Switch parsing (Axis 4) and custom robot modes (sleep, stand, move)
bound to gamepad buttons 0, 1, 2.
- Emits exact JSON format `{seq, t_ms, deadman, vx, vy, wz, mode}`.
Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
This commit adds a new 'CUSTOM' connection mode that bypasses the standard WebRTC flow and instead connects to a local WebSocket server. The gamepad input is parsed and sent as a JSON payload to the WebSocket server. A Python bridge script is included to translate the WebSocket messages into CycloneDDS `JoystickData` messages on the `rt/bt_usb/joystick_data` topic. Also includes a fix in the joystick loop to correctly grab the gamepad instead of silently failing. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
This commit adds a new 'CUSTOM' connection mode that bypasses the standard WebRTC flow and instead connects to a local WebSocket server. The gamepad input is parsed and sent as a JSON payload to the WebSocket server. A Python bridge script is included to translate the WebSocket messages into CycloneDDS `JoystickData` messages on the `rt/bt_usb/joystick_data` topic. Also includes a fix in the joystick loop to correctly grab the gamepad instead of silently failing. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
This commit adds a new 'CUSTOM' connection mode that bypasses the standard WebRTC flow and instead connects to a local WebSocket server. The gamepad input is parsed and sent as a JSON payload to the WebSocket server. A Python bridge script is included to translate the WebSocket messages into CycloneDDS `JoystickData` messages on the `rt/bt_usb/joystick_data` topic. Also includes a fix in the joystick loop to correctly grab the gamepad instead of silently failing, and maps axes properly for the FlySky FS-i6s emulator. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
This commit addresses issues with the FlySky FS-i6s emulator mapping: 1. It presents non-zero rest states (e.g. -1), which prevented the auto-lock feature from grabbing it. The logic was adjusted to require an absolute value greater than 0.1 to trigger auto-lock. 2. It uses `axes[3]` for right-stick Y instead of `axes[2]`. The custom mapping logic was updated to use `axes[3]` if available, falling back to `axes[2]`. 3. The deadman switch is now defaulted to true to ensure the robot can move even if a specific switch isn't explicitly mapped. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
…bsockets - Set `customMode` default to `'move'` instead of `'sleep'` so the robot isn't ignoring inputs when first booted. - Hardcoded `deadman` switch to `true` for custom websocket payloads to ensure the simulation or physical robot actually registers the control inputs. - Added debugging logs in `app.ts` to log joystick inputs sent every ~1s (every 20th sequence). - Added equivalent debugging logs in `dds_bridge.py` to confirm the joystick parameters being received and forwarded to DDS. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
- Introduces a local kinematic simulation hack in `src/ui/app.ts` when `mode === 'CUSTOM'`. - This calculates synthetic odometry locally and drives the `scene3d.robotModel` directly based on raw gamepad or on-screen joystick input. - Allows visual verification of joystick inputs moving the 3D robot model in the browser when connected to a local simulator via WebSocket without requiring `rt/lf/lowstate` DDS feedback. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
- Introduces a local kinematic simulation hack in `src/ui/app.ts` when `mode === 'CUSTOM'`. - This calculates synthetic odometry locally and drives the `scene3d.robotModel` directly based on raw gamepad or on-screen joystick input. - Allows visual verification of joystick inputs moving the 3D robot model in the browser when connected to a local simulator via WebSocket without requiring `rt/lf/lowstate` DDS feedback. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
- Introduces a local kinematic simulation hack in `src/ui/app.ts` when `mode === 'CUSTOM'`. - This calculates synthetic odometry locally and drives the `scene3d.robotModel` directly based on raw gamepad or on-screen joystick input. - Allows visual verification of joystick inputs moving the 3D robot model in the browser when connected to a local simulator via WebSocket without requiring `rt/lf/lowstate` DDS feedback. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
…lation - Added `CUSTOM` mode connection type bypassing WebRTC. - Added `DDSBridgeServer` in `server/dds_bridge.py` to translate WebSocket JSON payloads to Cyclone DDS `JoystickData` structs on the `rt/bt_usb/joystick_data` topic. - Implemented robust gamepad handling to parse non-standard FlySky FS-i6s axes, forcing 'move' mode and ensuring 'deadman' is true. - Integrated a localized kinematic simulation update loop into the frontend UI (during `CUSTOM` mode) so the `scene3d.robotModel` visually responds to joystick input without requiring DDS feedback telemetry. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
Mapped FlySky RC transmitter's axis 4 to move/estop toggles, and axis 5 to sleep/stand/move switches, correctly forwarding these mode strings in the custom DDS payload. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
Modified `server/dds_bridge.py` to use `xterra::msg::dds_::JoyData_` with priority, 6 axes, and 12 buttons. Updated frontend (`src/ui/app.ts`) to send raw gamepad axes and buttons over the WebSocket. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
Added `@annotate.final` to the `JoyData_` struct in `dds_bridge.py` to correctly support Cyclone DDS XTypes discovery, which the Xterra simulation requires. Cleaned up scratchpad test files. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
- Added WebRTC DataChannel support to the frontend (`CustomWebRTCConnection`). - Updated frontend UI placeholders and modes for the new `http://...:8080` signaling. - Mapped FlySky FS-i6s axes to custom control messages (`axes[4]` and `axes[5]`). - Replaced backend WebSocket server with an `aiortc`/`aiohttp` WebRTC signaling server (`dds_bridge.py`). - Integrated Cyclone DDS publisher to bridge WebRTC joystick data to `rt/bt_usb/joystick_data` using the `xterra::msg::dds_::JoyData_` struct. - Updated `requirements.txt` with new backend dependencies. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
- Implemented `server/dds_bridge.py` backend using `aiortc` and `aiohttp` to accept WebRTC signaling and data channel connections. - Mapped incoming JSON payloads to the Cyclone DDS `xterra::msg::dds_::JoyData_` struct. - Published joystick data to the `rt/bt_usb/joystick_data` DDS topic. - Added necessary dependencies (`aiohttp`, `aiortc`, `cyclonedds`) to `requirements.txt`. - Updated the frontend (`src/connection/custom-webrtc.ts`, `app.ts`, `connection-panel.ts`, `types.ts`, `modes.ts`) to handle ICE gathering, post SDP offers, and transmit joystick data via WebRTC data channel for the `CUSTOM` connection mode. - Ensured Flysky stick mapping behaviors (e.g., axes 4 and 5 for mode swapping, axes 2 for throttle) are accurately translated. Co-authored-by: abhijeet5642 <145228365+abhijeet5642@users.noreply.github.com>
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