def __init__(self):
self.thread = None
options = load_options()
if options.hidraw:
raise ValueError("HID mode not supported")
backend = HidrawBackend(Daemon.logger)
else:
subprocess.run(["hciconfig", "hciX", "up"])
backend = BluetoothBackend(Daemon.logger)
backend.setup()
self.thread = create_controller_thread(1, options.controllers[0])
self.thread.controller.setup_device(next(backend.devices))
self.shim = ActionShim(self.thread.controller)
self.thread.controller.actions.append(self.shim)
self.shim.enable()
self._color = (None, None, None)
self._rumble = (None, None)
self._flash = (None, None)
# ensure we get a value before returning
while self.shim.values is None:
pass
class ds4_driver_BLE(ControllerRos):
def __init__(self, ros2_node):
super(ds4_driver_BLE, self).__init__(ros2_node)
self.ros2_node = ros2_node
# Publish Connect Status
self.DS4_Connect_Status = self.ros2_node.create_publisher(
Int32, "ds4_connect_status")
#
# self.device_addr = rospy.get_param('~device_addr', None)
self.device_addr = None
backend_type = 'bluetooth'
#backend_type = rospy.get_param('~backend', 'hidraw')
# Connect Status
self.Status = Int32()
self.Status.data = 0
# backend_type
if backend_type == 'bluetooth':
self.backend = BluetoothBackend(Logger('backend'))
else:
self.backend = HidrawBackend(Logger('backend'))
self.ds4_connect()
def ds4_connect(self):
try:
self.backend.setup()
except BackendError as err:
#rospy.logerr(err)
ros2_node.get_logger().info('Error')
sys.exit(1)
#
print('Wait....')
for device in self.backend.devices:
self.ros2_node.get_logger().info('I heard: "%s"' %
format(device.name))
#rospy.loginfo('Connected to {0}'.format(device.name))
if self.device_addr in (None, '', device.device_addr):
self.setup_device(device)
break
#rospy.loginfo('Waiting for specified controller')
self.ros2_node.get_logger().info(
'Waiting for specified controller')
# DS4 Connect Status
# Status = Int32()
self.Status.data = 1
self.DS4_Connect_Status.publish(self.Status)
# Status
# self.DS4_Connect_Status.publish(Status)
def ds4_Not_connect(self):
# DS4 Connect Status
# Status = Int32()
self.Status.data = 0
self.DS4_Connect_Status.publish(self.Status)
# Status
# self.DS4_Connect_Status.publish(Status)
#
self.ros2_node.get_logger().info('Disconnected...')
# self.exit()
self.loop.stop()
self.ds4_connect()
# Run
self.loop.register_event('device-report', self.cb_report)
self.loop.register_event('device-cleanup', self.ds4_Not_connect)
self.run()
'''
if self.is_alive():
self.join()
'''
def ds4_Start(self):
if not self.is_alive():
self.start()
self.loop.register_event('device-report', self.cb_report)
self.loop.register_event('device-cleanup', self.ds4_Not_connect)
def Send_Connect_Status(self):
self.DS4_Connect_Status.publish(self.Status)