def __init__(self,wiiid,index):
self.conf = ConfSaver("." + self.__class__.__name__)
self.wii = None
self.mode = None
self.accbase = None
self.lastbutton = 0
self.id = wiiid
self.index = index
self.init_values()
self.antbuttons = 0
class Wiimote():
def __init__(self,wiiid,index):
self.conf = ConfSaver("." + self.__class__.__name__)
self.wii = None
self.mode = None
self.accbase = None
self.lastbutton = 0
self.id = wiiid
self.index = index
self.init_values()
self.antbuttons = 0
def init_values(self):
self.mode = self.conf.init_set("mode", cwiid.RPT_BTN |cwiid.RPT_ACC)
def init_log(self,parent):
self.label = parent + '.' + "WiiCommand_"+ str(self.index)
logclass = getLogClass(label = self.label)()
self.log = logclass.log
def __normalizedata__(self,data):
index = 0
nd = [0] *len(data)
for adata in data:
nd[index] = 1.0*(adata - self.accbase[0][index])/(self.accbase[1][index]-self.accbase[0][index])
index +=1
return nd
def get_calibration(self):
return self.wii.get_acc_cal(cwiid.EXT_NONE)
def set_mode(self):
self.__set_rptmode__()
self.__set_rcvmode__()
def connect(self):
#log.info("Connecting to: " + str(self.id))
self.wii = cwiid.Wiimote(self.id)
self.wii.led = cwiid.LED1_ON | cwiid.LED3_ON
#self.wii.enable(cwiid.FLAG_MOTIONPLUS)
#self.wii.enable(cwiid.)
self.set_mode()
self.accbase = self.wii.get_acc_cal(cwiid.EXT_NONE)
self.init_time = time.time()
def __set_rcvmode__(self):
"""Set the way Wii will send data"""
#log.info("Setting Receive Mode: " + str(mode))
self.wii.disable(cwiid.FLAG_MESG_IFC)
self.wii.enable(cwiid.FLAG_NONBLOCK|cwiid.FLAG_CONTINUOUS)
self.wii.enable(cwiid.FLAG_MOTIONPLUS)
#FLAG_NONBLOCK
#=======================================================================
# if rcv_mode == 1:
# self.wii.enable(cwiid.FLAG_CONTINUOUS)
#=======================================================================
def __set_rptmode__(self):
"""Set """
self.log.info("Setting Report Mode: " + str(self.mode))
#self.wii.rpt_mode = cwiid.RPT_BTN |cwiid.RPT_ACC
self.wii.rpt_mode = self.mode
def get_rptmode(self):
ret = 0
if self.mode & cwiid.RPT_IR:
ret |=commons.IR
if self.mode & cwiid.RPT_ACC:
ret |=commons.ACC
if self.mode & cwiid.RPT_MOTIONPLUS:
ret |=commons.MOVE
return ret
def add_rptmode(self,mode):
if mode == commons.ACC:
mode = cwiid.RPT_ACC
if mode == commons.IR:
mode = cwiid.RPT_IR
if mode == commons.MOVE:
mode = cwiid.RPT_MOTIONPLUS
self.log.info("Adding Report Mode: " + str(mode))
self.mode |= mode
self.conf.setval('mode',self.mode)
self.wii.rpt_mode = self.mode
def del_rptmode(self,mode):
self.log.info("Deleting Report Mode: " + str(mode))
if mode == commons.ACC:
mode = cwiid.RPT_ACC
if mode == commons.IR:
mode = cwiid.RPT_IR
if mode == commons.MOVE:
mode = cwiid.RPT_MOTIONPLUS
self.mode ^= mode
self.conf.setval('mode',self.mode)
self.wii.rpt_mode = self.mode
# cwiid.RPT_ACC |
#cwiid.RPT_MOTIONPLUS |
#Here we should return a stable value:
#(Data_type,(Button Data,time))
#(Data_type,(Acc_Data,time))
def get_value(self):
"""Get a Value from wiimote"""
retdata = {}
self.dataant ={}
self.data = self.wii.state
#self.log.debug("Retreiving Data from Wiimote: " + str(self.id))
#log.info("Info: " + str(self.data))
utime = time.time() - self.init_time
retdata['time'] = utime
try:
if self.mode & cwiid.RPT_BTN:
if self.antbuttons != self.data['buttons']:
retdata['buttons'] = self.data['buttons']
self.antbuttons = self.data['buttons']
else:
retdata['buttons'] = 0
if self.mode & cwiid.RPT_ACC:
retdata['acc'] = {}
aux = self.__normalizedata__(self.data['acc'])
retdata['acc']['AccX'] = aux[0]
retdata['acc']['AccY'] = aux[1]
retdata['acc']['AccZ'] = aux[2]
if self.mode & cwiid.RPT_MOTIONPLUS:
retdata['vel'] = {}
aux = self.__get_motion_data__()
retdata['vel']['Pitch'] = aux[0]
retdata['vel']['Roll'] = aux[1]
retdata['vel']['Yaw'] = aux[2]
#retdata['motion'] = self.get_motion_data()
if self.mode & cwiid.RPT_IR:
#To return in a dictionary form
retdata['IR'] = {}
ir = self.data['ir_src']
if ir[0]:
retdata['IR']['Pos1X'] = ir[0][0]
retdata['IR']['Pos1Y'] = ir[0][1]
if ir[1]:
retdata['IR']['Pos2X'] = ir[1][0]
retdata['IR']['Pos2Y'] = ir[1][1]
if ir[2]:
retdata['IR']['Pos3X'] = ir[2][0]
retdata['IR']['Pos3Y'] = ir[2][1]
if ir[3]:
retdata['IR']['Pos4X'] = ir[3][0]
retdata['IR']['Pos4Y'] = ir[3][1]
self.dataant = self.data
except KeyError:
pass
#data = self.wii.get_mesg()
#if data['buttons'] or self.lastbutton:
#=======================================================================
# normalized_acc = self.normalizedata(self.data['acc'])
# if self.data['buttons'] != self.lastbutton:
# self.lastbutton = self.data['buttons']
# motiondata = self.get_motion_data()
# #retdata = (WiiMoteConn.WII_BTN,(self.data['buttons'],self.data['acc'],motiondata,time.time()))
# retdata = (self.data['buttons'],normalized_acc,motiondata,utime)
# else:
# motiondata = self.get_motion_data()
# #retdata =(WiiMoteConn.WII_PLUS,(0x0,self.data['acc'],motiondata,time.time()))
# retdata =(0x0,normalized_acc,motiondata,utime)
# return retdata
#=======================================================================
#print retdata
return retdata
def __get_motion_data__(self):
try:
motiondata = self.data['motionplus']['angle_rate']
except:
motiondata = (0,0,0)
finally:
return motiondata
def disconnect(self):
self.wii.close()
def __del__(self):
del(self.conf)
