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Added fixes for Wayland #666

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Added fixes for Wayland #666

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cf6970d
added fixes for wayland (still works on x11, haven't tested on mac os)
Crypt1cG Mar 20, 2024
aecb416
Merge remote-tracking branch 'origin/integration' into wayland_fixes
qhdwight Apr 4, 2024
5605f6c
Format
qhdwight Apr 4, 2024
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4 changes: 4 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,10 @@ if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clan
endif ()
endif ()

if (DEFINED ENV{WAYLAND_DISPLAY})
add_definitions(-D_GLFW_WAYLAND)
endif ()

if (MROVER_IS_JETSON)
add_definitions(-DMROVER_IS_JETSON)
endif ()
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5 changes: 4 additions & 1 deletion scripts/build_dawn.sh
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Expand Up @@ -2,6 +2,8 @@

git submodule update --init deps/dawn

DAWN_USE_WAYLAND=$( [ ! -z "${WAYLAND_DISPLAY}" ] && echo "ON" || echo "OFF" )

pushd deps/dawn || exit
CC=clang CXX=clang++ cmake \
-B out/Release \
Expand All @@ -20,5 +22,6 @@ CC=clang CXX=clang++ cmake \
-D DAWN_USE_GLFW=OFF \
-D TINT_BUILD_CMD_TOOLS=OFF \
-D TINT_BUILD_DOCS=OFF \
-D TINT_BUILD_TESTS=OFF
-D TINT_BUILD_TESTS=OFF \
-D DAWN_USE_WAYLAND="$DAWN_USE_WAYLAND"
cmake --build out/Release
6 changes: 1 addition & 5 deletions src/teleoperation/backend/consumers.py
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Expand Up @@ -604,11 +604,7 @@ def drive_status_callback(self, msg):
)

def cmd_vel_callback(self, msg):
self.send(
text_data=json.dumps(
{"type": "cmd_vel", "linear_x": msg.linear.x, "angular_z": msg.angular.z}
)
)
self.send(text_data=json.dumps({"type": "cmd_vel", "linear_x": msg.linear.x, "angular_z": msg.angular.z}))

def gps_fix_callback(self, msg):
self.send(
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