def __init__(self):
self.js = SDLJoystick()
assert self.js.get_count()!=0, 'NOJOYSTICK'
self.js.init_joy(0)
self._btninfo = [{VAL:0, STATE:NORMAL, TIM:0.0} for _ in range(12)]
self._toggle_info = {'sd':0,
}
self.ctrls = {'roll':1500, 'pitch':1500, 'yaw':1500, 'throttle':1500,
'ctrltype':0, 'sd':0}
class JoyCtrl():
def __init__(self):
self.js = SDLJoystick()
assert self.js.get_count()!=0, 'NOJOYSTICK'
self.js.init_joy(0)
self._btninfo = [{VAL:0, STATE:NORMAL, TIM:0.0} for _ in range(12)]
self._toggle_info = {'sd':0,
}
self.ctrls = {'roll':1500, 'pitch':1500, 'yaw':1500, 'throttle':1500,
'ctrltype':0, 'sd':0}
def release(self):
self.js.quit()
def get_ctrl(self):
self.refresh_event()
self.ctrls['roll'] = +(self.js.get_axis(0)+256) / 200 + 1500
self.ctrls['pitch'] = -(self.js.get_axis(1)+256) / 200 + 1500
self.ctrls['yaw'] = -(self.js.get_axis(3)+256) / 200 + 1500
self.ctrls['throttle'] = self.js.get_hat(0)[1] * 250 + 1500
rst = self.get_btn()
self.ctrls['ctrltype'] = rst[0]
self.ctrls['sd'] = int(not self.ctrls['sd']) if self._if_rising('sd', rst[2]) else self.ctrls['sd']
return self.ctrls
def _if_rising(self, key, val):
if self._toggle_info[key] != val:
self._toggle_info[key] = val
if val == 1:
return True
else:
return False
else:
return False
def refresh_event(self):
self.js.refresh_event()
def get_button(self):
''' 获得按钮状态，无消抖功能
'''
#self.refresh_event()
rtn = [9]*12
for i in range(12):
val = self.js.get_button(i)
rtn[i] = val
return rtn
def get_btn(self):
''' 获得按钮状态，有消抖功能
'''
self.refresh_event()
rtn = [9]*12
for i in range(12):
val = self.js.get_button(i)
if self._btninfo[i][STATE] == NORMAL:
if val != self._btninfo[i][VAL]:
self._btninfo[i][STATE] = CHANGING
self._btninfo[i][TIM] = time.clock() + DELAY
elif self._btninfo[i][STATE] == CHANGING:
if val == self._btninfo[i][VAL]:
self._btninfo[i][STATE] = NORMAL
if val != self._btninfo[i][VAL] and time.clock() >= self._btninfo[i][TIM]:
self._btninfo[i][STATE] = NORMAL
self._btninfo[i][VAL] = val
rtn[i] = self._btninfo[i][VAL]
return rtn
