def generate_force(self, force):
if force > 0.005:
force = min(1, force)
print "left", force
dir = -1
maxlevel = 0x7fff
minlevel = 0x1000
level = minlevel + int((maxlevel - minlevel) * force)
elif force < -0.005:
force = -force
force = min(1, force)
print "right", force
dir = 1
maxlevel = 0x7fff
minlevel = 0x1000
level = minlevel + int((maxlevel - minlevel) * force)
else:
print "center"
dir = 0
level = 0
efx = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_CONSTANT, constant= \
sdl2.SDL_HapticConstant(type=sdl2.SDL_HAPTIC_CONSTANT, direction= \
sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_CARTESIAN, dir=(dir,0,0)), \
length=sdl2.SDL_HAPTIC_INFINITY, level=level, attack_length=0, fade_length=0))
sdl2.SDL_HapticUpdateEffect(self.haptic, self.effect_id, efx)
def __init__(self, stage):
'''Constructor'''
self.WARM_UP = 0
self.QUALIFYING = 1
self.RACE = 2
self.UNKNOWN = 3
self.stage = stage
self.parser = msgParser.MsgParser()
self.state = carState.CarState()
self.control = carControl.CarControl()
self.steer_lock = 0.785398
self.max_speed = 100
self.prev_rpm = None
# Initialize the joysticks
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK | sdl2.SDL_INIT_HAPTIC)
assert sdl2.SDL_NumJoysticks() > 0
assert sdl2.SDL_NumHaptics() > 0
self.joystick = sdl2.SDL_JoystickOpen(0)
self.haptic = sdl2.SDL_HapticOpen(0)
assert sdl2.SDL_JoystickNumAxes(self.joystick) == 3
assert sdl2.SDL_HapticQuery(self.haptic) & sdl2.SDL_HAPTIC_CONSTANT
# Initialize force feedback
efx = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_CONSTANT, constant= \
sdl2.SDL_HapticConstant(type=sdl2.SDL_HAPTIC_CONSTANT, direction= \
sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_CARTESIAN, dir=(0,0,0)), \
length=sdl2.SDL_HAPTIC_INFINITY, level=0, attack_length=0, fade_length=0))
self.effect_id = sdl2.SDL_HapticNewEffect(self.haptic, efx)
sdl2.SDL_HapticRunEffect(self.haptic, self.effect_id, 1)
sdl2.SDL_HapticSetAutocenter(self.haptic, 0)
sdl2.SDL_HapticSetGain(self.haptic, 100)
self.stats = sensorstats.Stats(inevery=8)
is_wheel_connected = False
lights = False
gear = 0
if is_wheel_connected:
isMoving = False
sdl2.SDL_Init(sdl2.SDL_INIT_TIMER | sdl2.SDL_INIT_JOYSTICK
| sdl2.SDL_INIT_HAPTIC)
joystick = sdl2.SDL_JoystickOpen(0)
haptic = sdl2.SDL_HapticOpen(0)
print("wheel - succesfully opened")
efx = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_CONSTANT, constant= \
sdl2.SDL_HapticConstant(type=sdl2.SDL_HAPTIC_CONSTANT, direction= \
sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_CARTESIAN, dir=(0, 0, 0)), \
length=sdl2.SDL_HAPTIC_INFINITY, level=0, attack_length=0, fade_length=0))
effect_id = sdl2.SDL_HapticNewEffect(haptic, efx)
sdl2.SDL_HapticRunEffect(haptic, effect_id, 1)
sdl2.SDL_HapticSetAutocenter(haptic, 0)
sdl2.SDL_HapticSetGain(haptic, 100)
# Wykrywanie początkowego biegu:
if sdl2.SDL_JoystickGetButton(joystick, 14) == 1:
gear = -1
elif sdl2.SDL_JoystickGetButton(joystick, 15) == 1:
gear = 1
else:
gear = 0
# capture = cv2.VideoCapture('http://192.168.0.11:8080/video')
capture = cv2.VideoCapture('http://192.168.0.11:4747/video')
def __init__(self):
sdl2.SDL_Init(sdl2.SDL_INIT_TIMER | sdl2.SDL_INIT_JOYSTICK
| sdl2.SDL_INIT_HAPTIC)
#print("Trying to find haptics")
if (sdl2.SDL_NumHaptics() == 0):
print("No haptic devices found (Driving kit not connected).")
sdl2.SDL_Quit()
for index in range(0, sdl2.SDL_NumHaptics()):
print("Found", index, ":", sdl2.SDL_HapticName(index))
index = 0
self.haptic = sdl2.SDL_HapticOpen(index)
if self.haptic == None:
print("Unable to open device")
sdl2.SDL_Quit()
exit(0)
else:
#print("Using device", index)
pass
self.nefx = 0
self.efx = [0] * 12
self.id = [0] * 12
supported = sdl2.SDL_HapticQuery(self.haptic)
if (supported & sdl2.SDL_HAPTIC_SINE):
print(" effect", self.nefx, "Sine Wave")
self.efx[self.nefx] = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_SINE, periodic= \
sdl2.SDL_HapticPeriodic(type=sdl2.SDL_HAPTIC_SINE, direction=sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_POLAR, dir=(9000,0,0)), \
period=1000, magnitude=0x4000, length=5000, attack_length=1000, fade_length=1000))
self.id[self.nefx] = sdl2.SDL_HapticNewEffect(
self.haptic, self.efx[self.nefx])
self.nefx += 1
if (supported & sdl2.SDL_HAPTIC_TRIANGLE):
print(" effect", self.nefx, "Triangle")
self.efx[self.nefx] = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_TRIANGLE, periodic= \
sdl2.SDL_HapticPeriodic(type=sdl2.SDL_HAPTIC_SINE, direction=sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_CARTESIAN, dir=(1,0,0)), \
period=1000, magnitude=0x4000, length=5000, attack_length=1000, fade_length=1000))
self.id[self.nefx] = sdl2.SDL_HapticNewEffect(
self.haptic, self.efx[self.nefx])
self.nefx += 1
if (supported & sdl2.SDL_HAPTIC_SAWTOOTHUP):
print(" effect", self.nefx, "Sawtooth Up")
self.efx[self.nefx] = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_SAWTOOTHUP, periodic= \
sdl2.SDL_HapticPeriodic(type=sdl2.SDL_HAPTIC_SAWTOOTHUP, direction=sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_POLAR, dir=(9000,0,0)), \
period=500, magnitude=0x5000, length=5000, attack_length=1000, fade_length=1000))
self.id[self.nefx] = sdl2.SDL_HapticNewEffect(
self.haptic, self.efx[self.nefx])
self.nefx += 1
if (supported & sdl2.SDL_HAPTIC_SAWTOOTHDOWN):
print(" effect", self.nefx, "Sawtooth Down")
self.efx[self.nefx] = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_SAWTOOTHDOWN, periodic= \
sdl2.SDL_HapticPeriodic(type=sdl2.SDL_HAPTIC_SAWTOOTHDOWN, direction=sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_CARTESIAN, dir=(1,0,0)), \
period=500, magnitude=0x5000, length=5000, attack_length=1000, fade_length=1000))
self.id[self.nefx] = sdl2.SDL_HapticNewEffect(
self.haptic, self.efx[self.nefx])
self.nefx += 1
if (supported & sdl2.SDL_HAPTIC_RAMP):
print(" effect", self.nefx, "Ramp")
self.efx[self.nefx] = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_RAMP, ramp= \
sdl2.SDL_HapticRamp(type=sdl2.SDL_HAPTIC_RAMP, direction=sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_POLAR, dir=(9000,0,0)), \
start=0x5000, end=0x0000, length=5000, attack_length=1000, fade_length=1000))
self.id[self.nefx] = sdl2.SDL_HapticNewEffect(
self.haptic, self.efx[self.nefx])
self.nefx += 1
if (supported & sdl2.SDL_HAPTIC_CONSTANT):
print(" effect", self.nefx, "Constant Force")
self.efx[self.nefx] = sdl2.SDL_HapticEffect(type=sdl2.SDL_HAPTIC_CONSTANT, constant= \
sdl2.SDL_HapticConstant(type=sdl2.SDL_HAPTIC_CONSTANT, direction=sdl2.SDL_HapticDirection(type=sdl2.SDL_HAPTIC_CARTESIAN, dir=(1,0,0)), \
length=5000, level=0x4000, attack_length=1000, fade_length=1000))
self.id[self.nefx] = sdl2.SDL_HapticNewEffect(
self.haptic, self.efx[self.nefx])
self.nefx += 1