def update(self):
# sdl2.SDL_PumpEvents() # Pump, retreive events so they clear
sdl2.SDL_JoystickUpdate()
# Read all the joystick values
axisScale = 1 / 2**15
self.axis = [
sdl2.SDL_JoystickGetAxis(self.joy, i)
for i in range(sdl2.SDL_JoystickNumAxes(self.joy))
]
self.button = [
sdl2.SDL_JoystickGetButton(self.joy, i)
for i in range(sdl2.SDL_JoystickNumButtons(self.joy))
]
self.roll = axisScale * self.axis[0]
self.pitch = axisScale * self.axis[1]
self.throttle = axisScale * self.axis[2]
self.yaw = axisScale * self.axis[3]
self.flap = 0.0
self.autoEngage = 2 * self.button[0] - 1 # "Soc-Engage-Switch"
self.testMode = axisScale * self.axis[4] # "Test-Mode-Switch"
self.testSel = axisScale * self.axis[5] # "Test-Select-Switch"
self.trig = 2 * self.button[1] - 1 # "Trigger-Switch"
self.thrSafe = 2 * self.button[2] - 1 # "Throttle-Safety-Switch"
self.baseSel = axisScale * self.axis[
-1] # "Baseline-Select-Switch" (On Windows it came up as 6, on Linux 7...)
def update(self):
sdl2.SDL_JoystickUpdate()
button_array = (
self.a, self.b, self.x, self.y,
self.left_bumper, self.right_bumper,
self.start_button, self.select_button, self.center_button,
self.left_stick_button, self.right_stick_button)
axis_array = self._axises()
for event in sdl2.ext.get_events():
if event.type == sdl2.SDL_JOYBUTTONUP:
button_array[event.jbutton.button].process_event(
ButtonEvent(event.jbutton.timestamp, False))
elif event.type == sdl2.SDL_JOYBUTTONDOWN:
button_array[event.jbutton.button].process_event(
ButtonEvent(event.jbutton.timestamp, True))
elif event.type == sdl2.SDL_JOYAXISMOTION:
axis_array[event.jaxis.axis].process_event(
AxisEvent(event.jaxis.timestamp, event.jaxis.value))
elif event.type == sdl2.SDL_JOYHATMOTION:
self.hat.process_event(HatEvent(event.jhat.timestamp, event.jhat.value))
"Buttons": buttons,
"Hats": hats,
"Obj": joy,
}
joysticks.append(joystick)
joysticksSorted = sorted(joysticks, key=lambda k: k["Win ID"])
# Resolve the Sticks (Press Left Trigger)
print "\n-- RESOLVING THE STICKS --"
testRunning = True
print " > Press the LEFT Trigger"
while testRunning:
for joystick in joysticksSorted:
if joystick["Name"] == "T.16000M":
sdl2.SDL_JoystickUpdate()
if sdl2.SDL_JoystickGetButton(joystick["Obj"], 0):
print " Left Stick has Win ID: " + str(joystick["Win ID"])
joystick["Res Name"] = "Left Stick"
for otherJoystick in joysticksSorted:
if otherJoystick["Name"] == "T.16000M" and otherJoystick[
"Res Name"] == None:
otherJoystick["Res Name"] = "Right Stick"
print " Right Stick has Win ID: " + str(
otherJoystick["Win ID"])
testRunning = False
# Label the Control Panel
print "\n-- RESOLVING CONTROL PANEL --"
for joystick in joysticksSorted:
if joystick["Name"] == "Arduino Leonardo":
def get(self):
if not self.valid:
return None
js = self.js
sdl2.SDL_JoystickUpdate()
share = sdl2.SDL_JoystickGetButton(js, 8)
if share:
exit(0)
ls = Axis(sdl2.SDL_JoystickGetAxis(js, 0),
sdl2.SDL_JoystickGetAxis(js, 1))
rs = Axis(sdl2.SDL_JoystickGetAxis(js, 2),
sdl2.SDL_JoystickGetAxis(js, 5))
triggers = Trigger(sdl2.SDL_JoystickGetAxis(js, 3),
sdl2.SDL_JoystickGetAxis(js, 4))
shoulder = [
sdl2.SDL_JoystickGetButton(js, 4),
sdl2.SDL_JoystickGetButton(js, 5)
]
stick = [
sdl2.SDL_JoystickGetButton(js, 10),
sdl2.SDL_JoystickGetButton(js, 11)
]
# I seem to have lost sensors
# a = Sensors(
# sdl2.SDL_JoystickGetAxis(js, 6),
# sdl2.SDL_JoystickGetAxis(js, 7),
# sdl2.SDL_JoystickGetAxis(js, 8)
# )
#
# g = Sensors(
# sdl2.SDL_JoystickGetAxis(js, 9),
# sdl2.SDL_JoystickGetAxis(js, 10),
# sdl2.SDL_JoystickGetAxis(js, 11)
# )
b = [
sdl2.SDL_JoystickGetButton(js, 0), # square
sdl2.SDL_JoystickGetButton(js, 3), # triangle
sdl2.SDL_JoystickGetButton(js, 2), # circle
sdl2.SDL_JoystickGetButton(js, 1) # x
]
hat = sdl2.SDL_JoystickGetHat(js, 0)
share = sdl2.SDL_JoystickGetButton(js, 8)
options = sdl2.SDL_JoystickGetButton(js, 9)
ps4 = PS4(ls, rs, triggers, hat, shoulder, stick, b, options, share)
# left axis
# x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
# ps4['leftStick'] = [x, y]
#
# # right axis
# x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
# ps4['rightStick'] = [x, y]
# # other axes
# ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
# ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
#
# # accels
# x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
# z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
# ps4.axes.accels = [x, y, z]
#
# # gyros
# x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
# z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
# ps4.axes.gyros = [x, y, z]
#
# # get buttons
# ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
# ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
# ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
# ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
# ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
# ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
# ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
# ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
# ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
# ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
# ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
# ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
# ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
# ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
#
# # get hat
# # [up right down left] = [1 2 4 8]
# ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
return ps4
def read(self, verbose=False):
js = self.js
dt = self.sleep
ps4 = Msg.Joystick()
twist = Msg.Twist()
try:
sdl2.SDL_JoystickUpdate()
# left axis
x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
ps4.axes.leftStick = [x, y]
# right axis
x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
ps4.axes.rightStick = [x, y]
# other axes
ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
# accels
x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
ps4.axes.accels = [x, y, z]
# gyros
x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
ps4.axes.gyros = [x, y, z]
# get buttons
ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
# get hat
# [up right down left] = [1 2 4 8]
ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
#self.pub.pub('js', ps4)
x, y = ps4.axes.rightStick
twist.linear.set(x, y, 0)
x, y = ps4.axes.leftStick
twist.angular.set(x, y, 0)
# verbose = True
if verbose:
print(twist)
if (self.old_twist.angular
== twist.angular) and (self.old_twist.linear
== twist.linear):
# print('js no msg')
pass
else:
self.pub.pub(self.topic, twist)
self.old_twist = twist
# print('js message sent')
time.sleep(dt)
except (IOError, EOFError):
print('[-] Connection gone .... bye')
def run(self, verbose, rate):
js = self.js
dt = 1.0/rate
ps4 = Msg.Joystick()
while True:
try:
sdl2.SDL_JoystickUpdate()
# left axis
x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
ps4.axes.leftStick = [x, y]
# right axis
x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
ps4.axes.rightStick = [x, y]
# other axes
ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
# accels
x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
ps4.axes.accels = [x, y, z]
# gyros
x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
ps4.axes.gyros = [x, y, z]
# get buttons
ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
# get hat
# [up right down left] = [1 2 4 8]
ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
if verbose: print(Msg.Joystick.screen(ps4))
self.pub.pub('js', ps4)
time.sleep(dt)
except (IOError, EOFError):
print('[-] Connection gone .... bye')
break
# except Exception as e:
# print('Ooops:', e)
# else:
# raise Exception('Joystick: Something bad happened!')
# clean-up
sdl2.SDL_JoystickClose(js)
print('Bye ...')
def get(self):
ps4 = self.ps4
js = self.js
sdl2.SDL_JoystickUpdate()
# left axis
x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
ps4['leftStick'] = [-x, -y]
# right axis
x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
ps4['rightStick'] = [-x, -y]
# # other axes
# ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
# ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
#
# # accels
# x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
# z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
# ps4.axes.accels = [x, y, z]
#
# # gyros
# x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
# z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
# ps4.axes.gyros = [x, y, z]
#
# # get buttons
# ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
# ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
# ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
# ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
# ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
# ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
# ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
# ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
# ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
# ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
# ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
# ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
# ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
# ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
#
# # get hat
# # [up right down left] = [1 2 4 8]
# ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
# if verbose: # print(Msg.Joystick.screen(ps4))
# print(ps4.axes.accels)
# except (IOError, EOFError):
# print('[-] Connection gone .... bye')
# break
#
# except (KeyboardInterrupt, SystemExit):
# print('js bye ...')
# break
# except Exception as e:
# print('Ooops:', e)
# else:
# raise Exception('Joystick: Something bad happened!')
return ps4
def update(self):
sdl2.SDL_JoystickUpdate()
def read_axis(self, axis, smoothing):
sdl2.SDL_JoystickUpdate()
return sdl2.SDL_JoystickGetAxis(self.joy, axis) / smoothing
def get(self):
if not self.valid:
return None
js = self.js
sdl2.SDL_JoystickUpdate()
ls = Axis(sdl2.SDL_JoystickGetAxis(js, 0),
sdl2.SDL_JoystickGetAxis(js, 1))
rs = Axis(
sdl2.SDL_JoystickGetAxis(js, 3), # 2
sdl2.SDL_JoystickGetAxis(js, 4) # 5
)
triggers = Trigger(
sdl2.SDL_JoystickGetAxis(js, 2), # 3
sdl2.SDL_JoystickGetAxis(js, 5) # 4
)
# shoulder = [
# sdl2.SDL_JoystickGetButton(js, 4),
# sdl2.SDL_JoystickGetButton(js, 5)
# ]
# stick = [
# sdl2.SDL_JoystickGetButton(js, 10),
# sdl2.SDL_JoystickGetButton(js, 11)
# ]
b = (
sdl2.SDL_JoystickGetButton(js, 0), # square
sdl2.SDL_JoystickGetButton(js, 3), # triangle
sdl2.SDL_JoystickGetButton(js, 2), # circle
sdl2.SDL_JoystickGetButton(js, 1) # x
)
# print("6", sdl2.SDL_JoystickGetButton(js, 6)) # left trigger T/F
# print("7", sdl2.SDL_JoystickGetButton(js, 7)) # right trigger T/F
# for n in [10,11,12]:
# print(n, sdl2.SDL_JoystickGetButton(js, n))
#
# b_triggers = (
# sdl2.SDL_JoystickGetButton(js, 6)),
# sdl2.SDL_JoystickGetButton(js, 7)),
# )
ps = sdl2.SDL_JoystickGetButton(js, 10)
lb = (
sdl2.SDL_JoystickGetButton(js, 4), # L1
sdl2.SDL_JoystickGetButton(js, 6), # L2
sdl2.SDL_JoystickGetButton(js, 11) # L3
)
rb = (
sdl2.SDL_JoystickGetButton(js, 5), # R1
sdl2.SDL_JoystickGetButton(js, 7), # R2
sdl2.SDL_JoystickGetButton(js, 12) # R3
)
hat = sdl2.SDL_JoystickGetHat(js, 0)
share = sdl2.SDL_JoystickGetButton(js, 8)
option = sdl2.SDL_JoystickGetButton(js, 9)
# 'leftStick rightStick triggers leftButtons rightButtons hat buttons option share ps'
ps4 = PS4(ls, rs, triggers, lb, rb, hat, b, option, share, ps)
return ps4
