def __init__(self, DEBUG=False):
threading.Thread.__init__(self)
# Set debugging flag
self.debug = DEBUG
# Setup variables to maintain real time left and right axis values
self.left_value = 0
self.right_value = 0
# Setup connection flag as initially False
self.connected = False
# Maps internal button integer number to human-readable syntax
self.button_map = {
"1": "DUP", "2": "DDOWN", "3": "DLEFT", "4": "DRIGHT",
"5": "START", "6": "BACK", "7": "LJOYTOGGLE", "8": "RJOYTOGGLE",
"9": "LB", "10": "RB", "13": "A", "14": "B", "15": "X", "16": "Y",
}
# Maps button to state, initalize as all unpressed
self.button_states = {
"A": False,
}
self.actuator_up = False
self.actuator_down = False
self.joy_trigger = False
# Maps human-readable syntax to internal button number
self.inv_button_map = {v: k for k, v in self.button_map.items()}
self.joysticks = XInputJoystick.enumerate_devices()
self.j = None
# Flag for running thread to exit
self.exit = False
# Flag for parent app to keep track of recording
self.recording = False
# Use start button as recording button. When first pressed, recording is true, when pressed again recording is false
self.start_last_state = False
self.start_curr_state = False
# Queue of commands
self.commands = deque()
# Set status string that can be passed to parent GUI
self.status = 'Controller Connection: Disconnected'
def __init__(self, dev_num=0, send_socket_port=63636, rec_socket_port=63637, socket_ip="localhost"):
self.send_socket = TCPSendSocket(tcp_port=send_socket_port, tcp_ip=socket_ip, send_type=JSON)
self.rec_socket = TCPReceiveSocket(tcp_port=rec_socket_port, tcp_ip=socket_ip, handler_function=self.on_receive)
joysticks = XInputJoystick.enumerate_devices()
device_numbers = list(map(attrgetter('device_number'), joysticks))
print('found %d devices: %s' % (len(joysticks), device_numbers))
if not joysticks:
sys.exit(0)
self.joystick = joysticks[dev_num]
print('using %d' % self.joystick.device_number)
@self.joystick.event
def on_button(button, pressed):
self.send_socket.send_data([button, pressed])
@self.joystick.event
def on_axis(axis, value):
self.send_socket.send_data([axis, value])
from drone_command import CommandThread
import sys
from xinput import XInputJoystick
import time
# l_thumb_x -> aile
# l_thumb_y -> elev
# r_thumb_x -> rotation
# r_thumb_y -> throttle
if __name__ == '__main__':
controller = CommandThread()
joystick = XInputJoystick(0)
@joystick.event
def on_button(button, pressed):
print('button', button, pressed)
controller.shutdown()
left_speed = 0
right_speed = 0
@joystick.event
def on_axis(axis, value):
updateVals = False
if axis == "r_thumb_y":
joystick.throttle = value
updateVals = True
elif axis == "r_thumb_x":
from xinput import XInputJoystick
from Tkinter import Tk
from gui import ControllerGUI
from drone_video import VideoThread
from xinput import *
import time
import sys
root = Tk()
controllerGUI = ControllerGUI(root)
joystick = XInputJoystick(0)
@joystick.event
def on_button(button, pressed):
#print('button', button, pressed)
# LT
if button == 9 and pressed == 1:
controllerGUI.connectDrone()
# RT
if button == 10 and pressed == 1:
controllerGUI.disconnectDrone()
# X
if button == 15 and pressed == 1:
controllerGUI.disconnectDrone()
print "**** Exiting ****"
time.sleep(0.5)
sys.exit(0)
# A
def sample_first_joystick():
"""
Grab 1st available gamepad, logging changes to the screen.
L & R analogue triggers set the vibration motor speed.
"""
joysticks = XInputJoystick.enumerate_devices()
device_numbers = list(map(attrgetter('device_number'), joysticks))
print('found %d devices: %s' % (len(joysticks), device_numbers))
if not joysticks:
sys.exit(0)
j0 = joysticks[int(sys.argv[1])]
print('using %d' % j0.device_number)
battery = j0.get_battery_information()
print(battery)
@j0.event
def on_button(button, pressed):
print(HUMANITY_X + ' button:', button, pressed)
payload = json.dumps({"button": button, "value": pressed})
client.publish(HUMANITY_X, payload)
time.sleep(0.1)
@j0.event
def on_axis(axis, value):
left_speed = 0
right_speed = 0
print('axis', axis, round(value * 1000))
if abs(value * 1000) >= 10:
if axis == "left_trigger":
left_speed = value
elif axis == "right_trigger":
right_speed = value
payload = json.dumps({"axis": axis, "value": round(value * 1000)})
client.publish(HUMANITY_X, payload)
# j1 = joysticks[1]
# print('using %d' % j1.device_number)
# battery = j1.get_battery_information()
# print(battery)
# @j1.event
# def on_button(button, pressed):
# print('humanity 2 button:', button, pressed)
# payload = json.dumps({"button" : button, "value": pressed } )
# client.publish(HUMANITY_2, payload)
# time.sleep(0.1)
# @j1.event
# def on_axis(axis, value):
# left_speed = 0
# right_speed = 0
# print('axis', axis, round(value*1000))
# if abs(value *1000) >= 10:
# if axis == "left_trigger":
# left_speed = value
# elif axis == "right_trigger":
# right_speed = value
# payload = json.dumps({"axis" : axis, "value": round(value*1000)} )
# client.publish(HUMANITY_2, payload)
while True:
j0.dispatch_events()
#j1.dispatch_events()
time.sleep(.01)
if client.is_connected():
print("disconnected")
def __init__(self):
threading.Thread.__init__(self)
# Grabs 1st available gamepad, logging changes to the screen
self.joysticks = XInputJoystick.enumerate_devices()
self.device_numbers = list(map(attrgetter('device_number'), self.joysticks))
self.l_joy_record = []
self.r_joy_record = []
self.state = 'normal'
self.button_map = {
"1": "DUP",
"2": "DDOWN",
"3": "DLEFT",
"4": "DRIGHT",
"5": "START",
"6": "BACK",
"7": "LJOYTOGGLE",
"8": "RJOYTOGGLE",
"9": "LB",
"10": "RB",
"13": "A",
"14": "B",
"15": "X",
"16": "Y",
}
self.inv_button_map = {v: k for k, v in self.button_map.items()}
self.button_state_map = {
"0": "RELEASE",
"1": "PRESSED",
}
print('found %d controller devices: %s' % (len(self.joysticks), self.device_numbers))
if not self.joysticks:
print("No joysticks found, exiting")
return None
# Use first joystick
self.j = self.joysticks[0]
print('Using device %d' % self.j.device_number)
print('Press back button on controller to quit.')
self.j.quit = False
self.commands = deque()
@self.j.event
def on_button(button, pressed):
#print('button %s %s' % (button_map[str(button)], button_state_map[str(pressed)]))
self.j.quit = (button == int(self.inv_button_map['BACK']) and pressed)
if (button == int(self.inv_button_map['START']) and pressed):
if self.state == 'normal':
self.state = 'record'
print("Starting to record")
self.l_joy_record[:] = []
self.r_joy_record[:] = []
elif self.state == 'record':
self.state = 'normal'
print("End record")
for index in range(0, len(self.l_joy_record)):
print(("L:%1.5f , R:%1.5f") % (self.l_joy_record[index],
self.r_joy_record[index]))
@self.j.event
def on_axis(axis, value):
left_speed = 0
right_speed = 0
#print('axis', axis, value)
if self.state == 'record':
if axis == 'l_thumb_y':
self.l_joy_record.append(value)
if len(self.r_joy_record) > 0:
self.r_joy_record.append(self.r_joy_record[-1])
else:
self.r_joy_record.append(0)
value_convert = int(round(sensitivity_scale(value, 0.5, -0.5, 0.5, -127, 127)))
if (abs(value_convert) <= 10):
value_convert = 0
self.commands.append(
('L', value_convert)
)
elif axis == 'r_thumb_y':
self.r_joy_record.append(value)
if len(self.l_joy_record) > 0:
self.l_joy_record.append(self.l_joy_record[-1])
else:
self.l_joy_record.append(0)
value_convert = int(round(sensitivity_scale(value, 0.5, -0.5, 0.5, -127, 127)))
if (abs(value_convert) <= 10):
value_convert = 0
self.commands.append(
('R', value_convert)
)
if axis == "left_trigger":
left_speed = value
elif axis == "right_trigger":
right_speed = value
self.j.set_vibration(left_speed, right_speed)
def connect(self):
"""
Attempt connection to a joystick
Returns True if connection succeeded
Returns False if connection fails
"""
# Grabs 1st available gamepad, logging changes to the screen
self.joysticks = XInputJoystick.enumerate_devices()
self.device_numbers = list(map(attrgetter('device_number'), self.joysticks))
if self.debug:
print('found %d controller devices: %s' % (len(self.joysticks), self.device_numbers))
# Attempt to connect to first joystick
if not self.joysticks:
if self.debug:
self.status = 'Controller Connection: No controller found'
print("No joysticks found, exiting")
self.connected = False
return False
else:
self.j = self.joysticks[0]
self.connected = True
self.status = 'Controller Connection: Connected'
""" Define event handlers for axis and buttons """
@self.j.event
def on_button(button, pressed):
#self.exit = (button == self.get_button_num('BACK') and pressed)
if button == self.get_button_num('START'):
self.start_curr_state = pressed
if self.start_curr_state != self.start_last_state and pressed:
self.recording = not self.recording
self.start_last_state = self.start_curr_state
if button == self.get_button_num('A'):
if pressed:
self.button_states['A'] = True
else:
self.button_states['A'] = False
elif button == self.get_button_num('DUP'):
if pressed:
if self.button_states['A']:
print("Actuator up")
self.actuator_up = True
elif button == self.get_button_num('DDOWN'):
if pressed:
if self.button_states['A']:
print('Actuator down')
self.actuator_down = True
@self.j.event
def on_axis(axis, value):
left_speed = 0
right_speed = 0
if axis == 'l_thumb_y':
# Maps analog values of -0.5 to 0.5 to -127 to 127 for motor control
value_convert = int(round(sensitivity_scale(value, 0.5, -0.5, 0.5, -127, 127)))
# Account for noisy deadzone in middle of joysticks
if (abs(value_convert) <= 10):
value_convert = 0
self.left_value = value_convert
elif axis == 'r_thumb_y':
# Maps analog values of -0.5 to 0.5 to -127 to 127 for motor control
value_convert = int(round(sensitivity_scale(value, 0.5, -0.5, 0.5, -127, 127)))
# Account for noisy deadzone in middle of joysticks
if (abs(value_convert) <= 10):
value_convert = 0
self.right_value = value_convert
elif axis == 'right_trigger':
if value > 0.7:
self.joy_trigger = True
else:
self.joy_trigger = False
if self.debug:
print('Using device %d' % self.j.device_number)
print('Press back button on controller to quit.')
return True
def __init__(self):
threading.Thread.__init__(self)
# Grabs 1st available gamepad, logging changes to the screen
self.joysticks = XInputJoystick.enumerate_devices()
self.device_numbers = list(
map(attrgetter('device_number'), self.joysticks))
self.l_joy_record = []
self.r_joy_record = []
self.state = 'normal'
self.button_map = {
"1": "DUP",
"2": "DDOWN",
"3": "DLEFT",
"4": "DRIGHT",
"5": "START",
"6": "BACK",
"7": "LJOYTOGGLE",
"8": "RJOYTOGGLE",
"9": "LB",
"10": "RB",
"13": "A",
"14": "B",
"15": "X",
"16": "Y",
}
self.inv_button_map = {v: k for k, v in self.button_map.items()}
self.button_state_map = {
"0": "RELEASE",
"1": "PRESSED",
}
print('found %d controller devices: %s' %
(len(self.joysticks), self.device_numbers))
if not self.joysticks:
print("No joysticks found, exiting")
return None
# Use first joystick
self.j = self.joysticks[0]
print('Using device %d' % self.j.device_number)
print('Press back button on controller to quit.')
self.j.quit = False
self.commands = deque()
@self.j.event
def on_button(button, pressed):
#print('button %s %s' % (button_map[str(button)], button_state_map[str(pressed)]))
self.j.quit = (button == int(self.inv_button_map['BACK'])
and pressed)
if (button == int(self.inv_button_map['START']) and pressed):
if self.state == 'normal':
self.state = 'record'
print("Starting to record")
self.l_joy_record[:] = []
self.r_joy_record[:] = []
elif self.state == 'record':
self.state = 'normal'
print("End record")
for index in range(0, len(self.l_joy_record)):
print(
("L:%1.5f , R:%1.5f") % (self.l_joy_record[index],
self.r_joy_record[index]))
@self.j.event
def on_axis(axis, value):
left_speed = 0
right_speed = 0
#print('axis', axis, value)
if self.state == 'record':
if axis == 'l_thumb_y':
self.l_joy_record.append(value)
if len(self.r_joy_record) > 0:
self.r_joy_record.append(self.r_joy_record[-1])
else:
self.r_joy_record.append(0)
value_convert = int(
round(
sensitivity_scale(value, 0.5, -0.5, 0.5, -127,
127)))
if (abs(value_convert) <= 10):
value_convert = 0
self.commands.append(('L', value_convert))
elif axis == 'r_thumb_y':
self.r_joy_record.append(value)
if len(self.l_joy_record) > 0:
self.l_joy_record.append(self.l_joy_record[-1])
else:
self.l_joy_record.append(0)
value_convert = int(
round(
sensitivity_scale(value, 0.5, -0.5, 0.5, -127,
127)))
if (abs(value_convert) <= 10):
value_convert = 0
self.commands.append(('R', value_convert))
if axis == "left_trigger":
left_speed = value
elif axis == "right_trigger":
right_speed = value
self.j.set_vibration(left_speed, right_speed)