def __init__(self, tracker = None, probeYaw = False, probePitch = False):
# ------------ Connecting to wii remote.
self.mote = None
self.tracker = tracker
self.monitor = xwiimote.monitor(True, True)
while self.mote == None:
self.mote = self.monitor.poll()
rospy.sleep(1)
# ------------ Setting up wii remote.
self.mote = xwiimote.iface(self.mote)
self.mote.open(self.mote.available() | xwiimote.IFACE_WRITABLE)
self.mote.open(self.mote.available() | xwiimote.IFACE_ACCEL)
self.mote.open(self.mote.available() | xwiimote.IFACE_MOTION_PLUS)
self.poller = poll()
self.poller.register(self.mote.get_fd(), POLLIN)
self.event = xwiimote.event()
# ------------ Parameters, data, etc.
self.current = [0,0,0]
self.resting = [0,0,0]
self.last_reading = rospy.Time.now()
self.last_button_press = rospy.Time.now()
self.target = [30, 0, -20] # just for testing purposes
self.index = 0 # ditto
self.rumble_proportion = 0
self.probeYaw = probeYaw
self.probePitch = probePitch
# ----------- ROS Publishers/subscribers.
self.button_pub = rospy.Publisher("/wii_buttons", Int32, queue_size=10)
self.orientation_pub = rospy.Publisher("/wii_orientation", Int32MultiArray, queue_size=10)
rospy.Subscriber("/wii_rumble", Float32, self.set_rumble)
def get_first_wiimote(logger):
ent = None
try:
ent = xwiimote.monitor(True, True).poll()
except SystemError as e:
logger.error("Unable to init monitor: ", e)
return ent
def setup_monitor(self):
# setup monitor
try:
mon = xwiimote.monitor(True, True)
print("mon fd", mon.get_fd(False))
return mon
except SystemError as e:
print("ooops, cannot create monitor (", e, ")")
def __init__(self):
self.mote = None
self.monitor = xwiimote.monitor(True, True)
while self.mote == None:
self.mote = self.monitor.poll()
rospy.sleep(1)
self.mote = xwiimote.iface(self.mote)
self.mote.open(self.mote.available() | xwiimote.IFACE_WRITABLE)
self.poller = poll()
self.poller.register(self.mote.get_fd(), POLLIN)
self.event = xwiimote.event()
def _wait_for_balanceboard(self):
print "Waiting for balanceboard to connect.."
monitor = xwiimote.monitor(True, False)
t = time.time()
print "Start searching for WiiBalanceBoard device..."
while time.time() - t < 30:
monitor.get_fd(False)
device = monitor.poll()
if device != None and self._device_is_balanceboard(device):
return device
else:
print "Found non-WiiBalanceBoard device"
print "Waiting.."
return device
def get_balance_board_iface():
mon = xwiimote.monitor(True, True)
wiimote_path = mon.poll()
while wiimote_path is not None:
dev = xwiimote.iface(wiimote_path)
if dev.get_extension() == 'balanceboard':
mask = dev.available() | xwiimote.IFACE_BALANCE_BOARD
dev.open(mask)
yield dev
dev.close()
break
wiimote_path = mon.poll()
else:
raise BalanceBoardConnectionError
def _wait_for_balanceboard(self):
print "Waiting for balanceboard to connect.."
monitor = xwiimote.monitor(True, False)
t = time.time()
print "Start searching for WiiBalanceBoard device..."
while time.time()-t < 30:
monitor.get_fd(False)
device = monitor.poll()
if device != None and self._device_is_balanceboard(device):
return device
else:
print "Found non-WiiBalanceBoard device"
print "Waiting.."
return device
def WaitForBoard():
print("Waiting for board to connect...")
mon = xwiimote.monitor(True, False)
dev = None
while True:
print('waiting for board')
mon.get_fd(True) # blocks
connected = mon.poll()
if connected == None:
continue
elif IsBoard(connected):
print("Found board.")
dev = connected
break
else:
print("Waiting...")
return dev
def wait4bb():
"""Wait for balance board."""
print("Waiting for balance board to connect.")
mon = xwiimote.monitor(True, False)
devpath = None
while True:
mon.get_fd(True) # blocks
connected = mon.poll()
if connected == None:
continue
elif dev_is_balanceboard(connected):
print("Found balanceboard:", connected)
devpath = connected
break
else:
print("Found non-balanceboard device:", connected)
print("Still waiting...")
return devpath
def wait_for_balanceboard():
print("Waiting for balanceboard to connect..")
mon = xwiimote.monitor(True, False)
dev = None
while True:
mon.get_fd(True) # blocks
connected = mon.poll()
if connected == None:
continue
elif dev_is_balanceboard(connected):
print("Found balanceboard:", connected)
dev = connected
break
else:
print("Found non-balanceboard device:", connected)
print("Waiting..")
return dev
# test with
# sudo LD_LIBRARY_PATH=<prefix>/lib PYTHONPATH=<prefix>/lib/python2.7/site-packages python ./swig/python/xwiimote_test.py
import errno
from time import sleep
from select import poll, POLLIN
from inspect import getmembers
from pprint import pprint
import xwiimote
# display a constant
print "=== " + xwiimote.NAME_CORE + " ==="
# list wiimotes and remember the first one
try:
mon = xwiimote.monitor(True, True)
print "mon fd", mon.get_fd(False)
ent = mon.poll()
firstwiimote = ent
while ent is not None:
print "Found device: " + ent
ent = mon.poll()
except SystemError as e:
print "ooops, cannot create monitor (", e, ")"
# continue only if there is a wiimote
if firstwiimote is None:
print "No wiimote to read"
exit(0)
# create a new iface
return False
#
p = select.poll()
# watched wiimotes
wiimotes = {
'all': [],
xwiimote.IFACE_CLASSIC_CONTROLLER: [],
xwiimote.IFACE_DRUMS: [],
xwiimote.IFACE_GUITAR: []
}
try:
mon = xwiimote.monitor(True, False)
newmotes = read_monitor(mon, wiimotes)
for dev in newmotes:
p.register(dev.get_fd(), select.POLLIN)
print_wiimotes(wiimotes)
except SystemError as e:
print "ooops, cannot create monitor (", e, ")"
exit(1)
# register devices
mon_fd = mon.get_fd(False)
p.register(mon_fd, select.POLLIN)
revt = xwiimote.event()
try:
while True:
dev.open(ext)
currents.append(dev)
return True
except IOError:
print "Ooops, unable to open the device"
return False
#
p = select.poll()
# watched wiimotes
wiimotes = {'all':[], xwiimote.IFACE_CLASSIC_CONTROLLER:[], xwiimote.IFACE_DRUMS:[], xwiimote.IFACE_GUITAR:[]}
try:
mon = xwiimote.monitor(True, False)
newmotes = read_monitor(mon, wiimotes)
for dev in newmotes:
p.register(dev.get_fd(), select.POLLIN)
print_wiimotes(wiimotes)
except SystemError as e:
print "ooops, cannot create monitor (", e, ")"
exit(1)
# register devices
mon_fd = mon.get_fd(False)
p.register(mon_fd, select.POLLIN)
revt = xwiimote.event()
try:
while True: