def get_ip_address(ifname):
"""
Returns the IPv4 address of the requested interface (thanks Martin Konecny, https://stackoverflow.com/a/24196955)
:param string interface: The interface to get the IPv4 address of.
:returns: The interface's IPv4 address.
"""
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(
fcntl.ioctl(s.fileno(), 0x8915,
struct.pack("256s", bytes(ifname[:15],
"utf-8")))[20:24]) # SIOCGIFADDR
def event_listener():
X = 0
Z = 0
# Iterate over the joystick devices.
print('Available devices:')
for fn in os.listdir('/dev/input'):
if fn.startswith('js'):
print(' /dev/input/%s' % (fn))
# We'll store the states here.
axis_states = {}
button_states = {}
# These constants were borrowed from linux/input.h
axis_map = []
button_map = []
# Open the joystick device.
# fn = '/dev/input/js0'
fn = '/dev/input/js1'
# fn = '/dev/input/js2'
print('Opening %s...' % fn)
jsdev = open(fn, 'rb')
# Get the device name.
#buf = bytearray(63)
buf = array.array('c', ['\0'] * 64)
ioctl(jsdev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len)
js_name = buf.tostring()
print('Device name: %s' % js_name)
# Get number of axes and buttons.
buf = array.array('B', [0])
ioctl(jsdev, 0x80016a11, buf) # JSIOCGAXES
num_axes = buf[0]
buf = array.array('B', [0])
ioctl(jsdev, 0x80016a12, buf) # JSIOCGBUTTONS
num_buttons = buf[0]
# Get the axis map.
buf = array.array('B', [0] * 0x40)
ioctl(jsdev, 0x80406a32, buf) # JSIOCGAXMAP
for axis in buf[:num_axes]:
axis_name = axis_names.get(axis, 'unknown(0x%02x)' % axis)
axis_map.append(axis_name)
axis_states[axis_name] = 0.0
# Get the button map.
buf = array.array('H', [0] * 200)
ioctl(jsdev, 0x80406a34, buf) # JSIOCGBTNMAP
for btn in buf[:num_buttons]:
btn_name = button_names.get(btn, 'unknown(0x%03x)' % btn)
button_map.append(btn_name)
button_states[btn_name] = 0
print('%d axes found: %s' % (num_axes, ', '.join(axis_map)))
print('%d buttons found: %s' % (num_buttons, ', '.join(button_map)))
# Main event loop
while True:
print("\n")
evbuf = jsdev.read(8)
if evbuf:
time, value, type, number = struct.unpack('IhBB', evbuf)
if type & 0x80:
print("(initial)", )
if type & 0x01:
button = button_map[number]
if button:
button_states[button] = value
if value:
print("%s pressed" % (button))
else:
print("%s released" % (button))
if ((("%s" % button) == 'base2') & (value == 0) &
(not (type & 0x80))):
s.close()
print("Connection Closed!")
exit()
if type & 0x02:
axis = axis_map[number]
if axis:
fvalue = value / 32767.0
axis_states[axis] = fvalue
# print "%s: %.3f " % (axis, fvalue)
if (axis == 'y') or (axis == 'rz'):
X = 1000 * fvalue
elif axis == 'z':
Z = 1000 * fvalue
T = "*%s| %.0f #" % (axis, 1000 * fvalue)
# print X,Z
motor_speed(X, Z)
