Use package:sdl_gamepad instead of win32_gamepad (#163)

See more details at https://pub.dev/packages/sdl_gamepad Tested on: - [x] Windows (@Levi-Lesches) - [ ] MacOS (unplanned because we need new gamepads) - [x] Linux/Pi (@Levi-Lesches) --------- Co-authored-by: BinghamtonRover <[email protected]>
BinghamtonRover · Sep 25, 2024 · 9c7b0d6 · 9c7b0d6
1 parent 4226b63
commit 9c7b0d6
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Showing 15 changed files with 433 additions and 299 deletions.
diff --git a/SDL3.dll b/SDL3.dll
diff --git a/lib/services.dart b/lib/services.dart
@@ -14,12 +14,14 @@
 library services;
 
 import "src/services/files.dart";
-import "src/services/gamepad.dart";
+import "src/services/gamepad/service.dart";
 import "src/services/service.dart";
 
 export "src/services/socket.dart";
 export "src/services/files.dart";
-export "src/services/gamepad.dart";
+export "src/services/gamepad/gamepad.dart";
+export "src/services/gamepad/service.dart";
+export "src/services/gamepad/state.dart";
 export "src/services/serial.dart";
 
 /// A dependency injection service that manages the lifecycle of other services.

diff --git a/lib/src/models/rover/controller.dart b/lib/src/models/rover/controller.dart
@@ -13,104 +13,90 @@ import "package:rover_dashboard/services.dart";
 /// call [RoverControls.parseInputs] to see what actions can be done. Each command is then sent
 /// with [MessagesModel.sendMessage], which will either send them over the network or via serial.
 class Controller extends Model {
-	/// Reads the gamepad and controls the rover when triggered.
-	late final Timer gamepadTimer;
+  /// Reads the gamepad and controls the rover when triggered.
+  late final Timer gamepadTimer;
 
-	/// The index of the gamepad to read from. Does not match [Gamepad.controller].
-	final int gamepadIndex;
+  /// The index of the gamepad to read from. Does not match [Gamepad.controllerIndex].
+  final int index;
 
-	/// Defines what the current controls are for the current mode.
-	RoverControls controls;
+  /// Defines what the current controls are for the current mode.
+  RoverControls controls;
 
-	/// Maps button presses on [gamepad] to [controls].
-	Controller(this.gamepadIndex, this.controls);
+  /// Maps button presses on [gamepad] to [controls].
+  Controller(this.index, this.controls);
 
-	/// The gamepad to read from.
-	Gamepad get gamepad => services.gamepad.gamepads[gamepadIndex];
+  /// The gamepad to read from.
+  Gamepad get gamepad => services.gamepad.gamepads[index];
 
-	@override
-	Future<void> init() async {
-		gamepadTimer = Timer.periodic(gamepadDelay, _update);
-		models.settings.addListener(notifyListeners);
-	}
+  @override
+  Future<void> init() async {
+    gamepadTimer = Timer.periodic(gamepadDelay, _update);
+    models.settings.addListener(notifyListeners);
+  }
 
-	@override
-	void dispose() {
-		gamepadTimer.cancel();
-		models.settings.removeListener(notifyListeners);
-		controls.onDispose.forEach(models.messages.sendMessage);
-		super.dispose();
-	}
+  @override
+  void dispose() {
+    gamepadTimer.cancel();
+    models.settings.removeListener(notifyListeners);
+    controls.onDispose.forEach(models.messages.sendMessage);
+    super.dispose();
+  }
 
-	/// The current operating mode.
-	OperatingMode get mode => controls.mode;
+  /// The current operating mode.
+  OperatingMode get mode => controls.mode;
 
-	/// Whether this controller is ready to use.
-	bool get isConnected => gamepad.isConnected;
+  /// Whether this controller is ready to use.
+  bool get isConnected => gamepad.isConnected;
 
-	/// Changes the current mode this [gamepad] is controlling, and chooses a new [RoverControls].
-	void setMode(OperatingMode? mode) {
-		if (mode == null) return;
-    if (
-      mode != OperatingMode.none
-      && models.rover.controllers.any(
-        (other) => other.gamepadIndex != gamepadIndex && other.mode == mode,
-      )
-    ) {
+  /// Returns Whether another controller is set to the given mode.
+  bool otherControllerIs(OperatingMode mode) => models.rover.controllers
+    .any((other) => other.index != index && other.mode == mode);
+
+  /// Changes the current mode this [gamepad] is controlling, and chooses a new [RoverControls].
+  void setMode(OperatingMode? mode) {
+    if (mode == null) return;
+    if (mode != OperatingMode.none && otherControllerIs(mode)) {
       models.home.setMessage(severity: Severity.error, text: "Another controller is set to that mode");
       return;
-    }
-    if (
-      mode == OperatingMode.drive
-      && models.rover.controllers.any(
-        (other) => other.gamepadIndex != gamepadIndex && other.mode == OperatingMode.modernDrive,
-      )
-    ) {
+    } else if (mode == OperatingMode.drive && otherControllerIs(OperatingMode.modernDrive)) {
       models.home.setMessage(severity: Severity.error, text: "Cannot use both tank and drive controls");
       return;
-    }
-    if (
-      mode == OperatingMode.modernDrive
-      && models.rover.controllers.any(
-        (other) => other.gamepadIndex != gamepadIndex && other.mode == OperatingMode.drive,
-      )
-    ) {
+    } else if (mode == OperatingMode.modernDrive && otherControllerIs(OperatingMode.drive)) {
       models.home.setMessage(severity: Severity.error, text: "Cannot use both tank and drive controls");
       return;
-    }
-    if (mode == OperatingMode.cameras && !models.settings.dashboard.splitCameras) {
+    } else if (mode == OperatingMode.cameras && !models.settings.dashboard.splitCameras) {
       models.home.setMessage(severity: Severity.error, text: "Enable split camera controls in the settings");
       return;
     }
-		controls.onDispose.forEach(models.messages.sendMessage);
-		controls = RoverControls.forMode(mode);
-		gamepad.pulse();
-		notifyListeners();
-	}
+    controls.onDispose.forEach(models.messages.sendMessage);
+    controls = RoverControls.forMode(mode);
+    gamepad.pulse();
+    notifyListeners();
+  }
 
-	/// Connects the [gamepad] to the user's device.
-	Future<void> connect() async { 
-		await services.gamepad.connect(gamepadIndex);
-		if (gamepad.isConnected) {
-			models.home.setMessage(severity: Severity.info, text: "Connected to gamepad");
-		} else {
-			models.home.setMessage(severity: Severity.error, text: "No gamepad connected");
-		}
-		notifyListeners();
-	}
+  /// Connects the [gamepad] to the user's device.
+  Future<void> connect() async {
+    await services.gamepad.connect(index);
+    if (gamepad.isConnected) {
+      models.home.setMessage(severity: Severity.info, text: "Connected to gamepad");
+    } else {
+      models.home.setMessage(severity: Severity.error, text: "No gamepad connected");
+    }
+    notifyListeners();
+  }
 
-	/// Same as [setMode], but uses [OperatingMode.index] instead.
-	void setModeIndex(int index) => setMode(OperatingMode.values[index]);
+  /// Same as [setMode], but uses [OperatingMode.index] instead.
+  void setModeIndex(int index) => setMode(OperatingMode.values[index]);
 
-	/// Reads the gamepad, chooses commands, and sends them to the rover.
-	Future<void> _update([_]) async {
-		services.gamepad.update();
-		if (!gamepad.isConnected) return;
-		controls.updateState(gamepad.state);
-		final messages = controls.parseInputs(gamepad.state);
-		for (final message in messages) {
+  /// Reads the gamepad, chooses commands, and sends them to the rover.
+  Future<void> _update([_]) async {
+    final state = gamepad.getState();
+    if (!gamepad.isConnected || state == null) return;
+    controls.updateState(state);
+    final messages = controls.parseInputs(state);
+    for (final message in messages) {
       // print(message.toProto3Json());
-			models.messages.sendMessage(message);
-		}
-	}
+      models.messages.sendMessage(message);
+    }
+  }
 }
diff --git a/lib/src/services/gamepad.dart b/lib/src/services/gamepad.dart