def publish_events(self):
if not rospy.is_shutdown():
print white(" Monitoring controller events! ")
try:
while not rospy.is_shutdown():
rospy.sleep(1.0 / self.reading_rate_hz)
(result, pControllerState) = (self.vrsystem.getControllerState(
self.left_id))
d = self.from_controller_state_to_dict(pControllerState)
# print '\n left controller:', self.last_unPacketNum_left, d['unPacketNum']
# print highlight_green('trigger value: ', d['trigger'])
# print 'trackpad', d['trackpad_pressed']
# print 'trigger', d['trigger']
if (self.last_unPacketNum_left != d['unPacketNum']):
self.last_unPacketNum_left = d['unPacketNum']
# print("Left controller:")
# self.pp.pprint(d)
if d['trigger'] == 1.0:
self.ltrigger_pressed.publish(True)
if d['trigger'] == 0.0:
self.ltrigger_pressed.publish(False)
(result, pControllerState) = (self.vrsystem.getControllerState(
self.right_id))
d = self.from_controller_state_to_dict(pControllerState)
# print 'right controller: ', self.last_unPacketNum_right, d['unPacketNum']
# print highlight_green('trigger value: ', d['trigger'])
# print 'trackpad', d['trackpad_pressed']
# print 'trigger', d['trigger']
if (self.last_unPacketNum_right != d['unPacketNum']):
self.last_unPacketNum_right = d['unPacketNum']
# print("Right controller:")
# self.pp.pprint(d)
if d['trigger'] == 1.0:
self.rtrigger_pressed.publish(True)
if d['trigger'] == 0.0:
self.rtrigger_pressed.publish(False)
if d['menu_button'] == 1.0:
self.rmenu_button.publish(True)
if d['menu_button'] == 0.0:
self.rmenu_button.publish(False)
if d['trackpad_pressed'] == 1.0:
self.rtrackpad.publish(True)
if d['trackpad_pressed'] == 0.0:
self.rtrackpad.publish(False)
except KeyboardInterrupt:
print white("Control+C pressed, shutting down...")
openvr.shutdown()
def waiting_for_connection():
print("\n\n")
print(
text.Text(" VIA Protocol",
color='#288D28',
shadow=False,
skew=1,
fsize=10))
print(bold(white("SENDER'S PLATFORM \n")))
print(
bold(
white(
"Check logs in Sender-log.txt when the communication has ended\n"
)))
print(bold(white("Type ':exit' to end the communication\n")))
print(bold(white("Waiting to connect")))
global connection
animation = "|/-\\"
idx = 0
while not connection:
print(animation[idx % len(animation)], end="\r")
idx += 1
time.sleep(0.1)
def __init__(self):
'''
Initialization of KeyPress object.
'''
rospy.init_node('ctrl_keypress')
self.reading_rate_hz = 10
self.last_unPacketNum_left = 0
self.last_unPacketNum_right = 0
self.vive_loc_ready = False
self.rtrigger_pressed = rospy.Publisher('ctrl_keypress/rtrigger',
Bool,
queue_size=1)
self.ltrigger_pressed = rospy.Publisher('ctrl_keypress/ltrigger',
Bool,
queue_size=1)
self.rmenu_button = rospy.Publisher('ctrl_keypress/rmenu_button',
Bool,
queue_size=1)
self.rtrackpad = rospy.Publisher('ctrl_keypress/rtrackpad',
Bool,
queue_size=1)
rospy.Subscriber('vive_localization/ready', Empty,
self.vive_localization_ready)
self.vrsystem = openvr.init(openvr.VRApplication_Other)
# self.vrsystem = openvr.VRSystem()
# Let system choose id's at first to make sure both controllers are
# found.
self.left_id, self.right_id = None, None
print white(' Waiting for Vive controllers ...')
try:
while (not rospy.is_shutdown()) and (self.left_id is None
or self.right_id is None):
self.left_id, self.right_id = (self.get_controller_ids(
self.vrsystem))
if self.left_id and self.right_id:
break
print white(' Waiting for Vive controllers ...')
time.sleep(1.0)
except KeyboardInterrupt:
print white('----Control+C pressed, shutting down... ----')
openvr.shutdown()
# print '==========================='
# print " Trigger id's: "
# print(" * Right controller ID: " + str(self.right_id))
# print(" * Left controller ID: " + str(self.left_id))
# print("===========================")
self.pp = pprint.PrettyPrinter(indent=4)
def exchange_public_keys():
global bobPublicKey
global sock
global connection
data, addr = sock.recvfrom(1024) # buffer size is 1024 bytes
connection = True
if (inception):
print(bold(white("\nConnection Established!!\n\n")))
sock.settimeout(2)
bobPublicKey = int(data.decode()[0:])
global alicePublicKey
global ip
alicePublicKey = (base**alicePrivateKey) % modulus
sock.sendto(str(alicePublicKey).encode(), addr)
ip = addr
def end_connection():
sock.close()
print(bold(white("\n\nConnection closed!!!")))
print(
text.Text(" END",
color='#288D28',
shadow=False,
skew=1,
fsize=10))
f.write(
"\n\n ------------------------------------------------------------------------------\n"
)
f.write("\n\nConnection Closed\n")
f.write("Total Messages : " + str(counter) + "\n")
f.write("Date and Iime : " +
str(datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")) +
"\n\n")
f.close()
def white(self):
return ansi(c.white(self.txt))