class JoystickReader:
"""
Thread that will read input from devices/joysticks and send control-set
ponts to the Crazyflie
"""
inputConfig = []
def __init__(self, do_device_discovery=True):
# TODO: Should be OS dependant
self.inputdevice = PyGameReader()
self.maxRPAngle = 0
self.thrustDownSlew = 0
self.thrustSlewEnabled = False
self.slewEnableLimit = 0
self.maxYawRate = 0
self.detectAxis = False
self.emergencyStop = False
self.oldThrust = 0
self._trim_roll = Config().get("trim_roll")
self._trim_pitch = Config().get("trim_pitch")
# TODO: The polling interval should be set from config file
self.readTimer = PeriodicTimer(0.01, self.readInput)
if do_device_discovery:
self._discovery_timer = PeriodicTimer(1.0, self._do_device_discovery)
self._discovery_timer.start()
self._available_devices = {}
# Check if user config exists, otherwise copy files
if not os.path.isdir(ConfigManager().configs_dir):
logger.info("No user config found, copying dist files")
os.makedirs(ConfigManager().configs_dir)
for f in glob.glob(sys.path[0] +
"/cfclient/configs/input/[A-Za-z]*.json"):
shutil.copy2(f, ConfigManager().configs_dir)
ConfigManager().get_list_of_configs()
self.input_updated = Caller()
self.rp_trim_updated = Caller()
self.emergency_stop_updated = Caller()
self.device_discovery = Caller()
self.device_error = Caller()
def _do_device_discovery(self):
devs = self.getAvailableDevices()
if len(devs):
self.device_discovery.call(devs)
self._discovery_timer.stop()
def getAvailableDevices(self):
"""List all available input devices."""
devs = self.inputdevice.getAvailableDevices()
for d in devs:
self._available_devices[d["name"]] = d["id"]
return devs
def enableRawReading(self, deviceId):
"""
Enable raw reading of the input device with id deviceId. This is used
to get raw values for setting up of input devices. Values are read
without using a mapping.
"""
self.inputdevice.enableRawReading(deviceId)
def disableRawReading(self):
"""Disable raw reading of input device."""
self.inputdevice.disableRawReading()
def readRawValues(self):
""" Read raw values from the input device."""
return self.inputdevice.readRawValues()
def start_input(self, device_name, config_name):
"""
Start reading input from the device with name device_name using config
config_name
"""
try:
device_id = self._available_devices[device_name]
self.inputdevice.start_input(
device_id,
ConfigManager().get_config(config_name))
self.readTimer.start()
except Exception:
self.device_error.call(
"Error while opening/initializing input device\n\n%s" %
(traceback.format_exc()))
def stop_input(self):
"""Stop reading from the input device."""
self.readTimer.stop()
def set_yaw_limit(self, maxRate):
"""Set a new max yaw rate value."""
self.maxYawRate = maxRate
def set_rp_limit(self, maxAngle):
"""Set a new max roll/pitch value."""
self.maxRPAngle = maxAngle
def set_thrust_slew_limiting(self, thrustDownSlew, slewLimit):
"""Set new values for limit where the slewrate control kicks in and
for the slewrate."""
self.thrustDownSlew = thrustDownSlew
self.slewEnableLimit = slewLimit
if (thrustDownSlew > 0):
self.thrustSlewEnabled = True
else:
self.thrustSlewEnabled = False
def set_thrust_limits(self, minThrust, maxThrust):
"""Set a new min/max thrust limit."""
self.minThrust = minThrust
self.maxThrust = maxThrust
def _update_trim_roll(self, trim_roll):
"""Set a new value for the roll trim."""
self._trim_roll = trim_roll
def _update_trim_pitch(self, trim_pitch):
"""Set a new value for the trim trim."""
self._trim_pitch = trim_pitch
def readInput(self):
"""Read input data from the selected device"""
try:
data = self.inputdevice.readInput()
roll = data["roll"] * self.maxRPAngle
pitch = data["pitch"] * self.maxRPAngle
thrust = data["thrust"]
yaw = data["yaw"]
raw_thrust = data["thrust"]
emergency_stop = data["estop"]
trim_roll = data["rollcal"]
trim_pitch = data["pitchcal"]
if self.emergencyStop != emergency_stop:
self.emergencyStop = emergency_stop
self.emergency_stop_updated.call(self.emergencyStop)
# Thust limiting (slew, minimum and emergency stop)
if raw_thrust < 0.05 or emergency_stop:
thrust = 0
else:
thrust = self.minThrust + thrust * (self.maxThrust -
self.minThrust)
if (self.thrustSlewEnabled == True and
self.slewEnableLimit > thrust and not
emergency_stop):
if self.oldThrust > self.slewEnableLimit:
self.oldThrust = self.slewEnableLimit
if thrust < (self.oldThrust - (self.thrustDownSlew / 100)):
thrust = self.oldThrust - self.thrustDownSlew / 100
if raw_thrust < 0 or thrust < self.minThrust:
thrust = 0
self.oldThrust = thrust
# Yaw deadband
# TODO: Add to input device config?
if yaw < -0.2 or yaw > 0.2:
if yaw < 0:
yaw = (yaw + 0.2) * self.maxYawRate * 1.25
else:
yaw = (yaw - 0.2) * self.maxYawRate * 1.25
else:
self.yaw = 0
if trim_roll != 0 or trim_pitch != 0:
self._trim_roll += trim_roll
self._trim_pitch += trim_pitch
self.rp_trim_updated.call(self._trim_roll, self._trim_pitch)
trimmed_roll = roll + self._trim_roll
trimmed_pitch = pitch + self._trim_pitch
self.input_updated.call(trimmed_roll, trimmed_pitch, yaw, thrust)
except Exception:
logger.warning("Exception while reading inputdevice: %s",
traceback.format_exc())
self.device_error.call(
"Error reading from input device\n\n%s" %
traceback.format_exc())
self.readTimer.stop()
class JoystickReader:
"""
Thread that will read input from devices/joysticks and send control-set
ponts to the Crazyflie
"""
inputConfig = []
def __init__(self, do_device_discovery=True):
# TODO: Should be OS dependant
self.inputdevice = PyGameReader()
self.maxRPAngle = 0
self.thrustDownSlew = 0
self.thrustSlewEnabled = False
self.slewEnableLimit = 0
self.maxYawRate = 0
self.detectAxis = False
self.emergencyStop = False
self.oldThrust = 0
self._trim_roll = Config().get("trim_roll")
self._trim_pitch = Config().get("trim_pitch")
# TODO: The polling interval should be set from config file
self.readTimer = PeriodicTimer(0.01, self.readInput)
if do_device_discovery:
self._discovery_timer = PeriodicTimer(1.0,
self._do_device_discovery)
self._discovery_timer.start()
self._available_devices = {}
# Check if user config exists, otherwise copy files
if not os.path.isdir(ConfigManager().configs_dir):
logger.info("No user config found, copying dist files")
os.makedirs(ConfigManager().configs_dir)
for f in glob.glob(sys.path[0] +
"/cfclient/configs/input/[A-Za-z]*.json"):
shutil.copy2(f, ConfigManager().configs_dir)
ConfigManager().get_list_of_configs()
self.input_updated = Caller()
self.rp_trim_updated = Caller()
self.emergency_stop_updated = Caller()
self.device_discovery = Caller()
self.device_error = Caller()
def _do_device_discovery(self):
devs = self.getAvailableDevices()
if len(devs):
self.device_discovery.call(devs)
self._discovery_timer.stop()
def getAvailableDevices(self):
"""List all available input devices."""
devs = self.inputdevice.getAvailableDevices()
for d in devs:
self._available_devices[d["name"]] = d["id"]
return devs
def enableRawReading(self, deviceId):
"""
Enable raw reading of the input device with id deviceId. This is used
to get raw values for setting up of input devices. Values are read
without using a mapping.
"""
self.inputdevice.enableRawReading(deviceId)
def disableRawReading(self):
"""Disable raw reading of input device."""
self.inputdevice.disableRawReading()
def readRawValues(self):
""" Read raw values from the input device."""
return self.inputdevice.readRawValues()
def start_input(self, device_name, config_name):
"""
Start reading input from the device with name device_name using config
config_name
"""
try:
device_id = self._available_devices[device_name]
self.inputdevice.start_input(
device_id,
ConfigManager().get_config(config_name))
self.readTimer.start()
except Exception:
self.device_error.call(
"Error while opening/initializing input device\n\n%s" %
(traceback.format_exc()))
def stop_input(self):
"""Stop reading from the input device."""
self.readTimer.stop()
def set_yaw_limit(self, maxRate):
"""Set a new max yaw rate value."""
self.maxYawRate = maxRate
def set_rp_limit(self, maxAngle):
"""Set a new max roll/pitch value."""
self.maxRPAngle = maxAngle
def set_thrust_slew_limiting(self, thrustDownSlew, slewLimit):
"""Set new values for limit where the slewrate control kicks in and
for the slewrate."""
self.thrustDownSlew = thrustDownSlew
self.slewEnableLimit = slewLimit
if (thrustDownSlew > 0):
self.thrustSlewEnabled = True
else:
self.thrustSlewEnabled = False
def set_thrust_limits(self, minThrust, maxThrust):
"""Set a new min/max thrust limit."""
self.minThrust = minThrust
self.maxThrust = maxThrust
def _update_trim_roll(self, trim_roll):
"""Set a new value for the roll trim."""
self._trim_roll = trim_roll
def _update_trim_pitch(self, trim_pitch):
"""Set a new value for the trim trim."""
self._trim_pitch = trim_pitch
def readInput(self):
"""Read input data from the selected device"""
try:
data = self.inputdevice.readInput()
roll = data["roll"] * self.maxRPAngle
pitch = data["pitch"] * self.maxRPAngle
thrust = data["thrust"]
yaw = data["yaw"]
raw_thrust = data["thrust"]
emergency_stop = data["estop"]
trim_roll = data["rollcal"]
trim_pitch = data["pitchcal"]
if self.emergencyStop != emergency_stop:
self.emergencyStop = emergency_stop
self.emergency_stop_updated.call(self.emergencyStop)
# Thust limiting (slew, minimum and emergency stop)
if raw_thrust < 0.05 or emergency_stop:
thrust = 0
else:
thrust = self.minThrust + thrust * (self.maxThrust -
self.minThrust)
if (self.thrustSlewEnabled == True
and self.slewEnableLimit > thrust and not emergency_stop):
if self.oldThrust > self.slewEnableLimit:
self.oldThrust = self.slewEnableLimit
if thrust < (self.oldThrust - (self.thrustDownSlew / 100)):
thrust = self.oldThrust - self.thrustDownSlew / 100
if raw_thrust < 0 or thrust < self.minThrust:
thrust = 0
self.oldThrust = thrust
# Yaw deadband
# TODO: Add to input device config?
if yaw < -0.2 or yaw > 0.2:
if yaw < 0:
yaw = (yaw + 0.2) * self.maxYawRate * 1.25
else:
yaw = (yaw - 0.2) * self.maxYawRate * 1.25
else:
self.yaw = 0
if trim_roll != 0 or trim_pitch != 0:
self._trim_roll += trim_roll
self._trim_pitch += trim_pitch
self.rp_trim_updated.call(self._trim_roll, self._trim_pitch)
trimmed_roll = roll + self._trim_roll
trimmed_pitch = pitch + self._trim_pitch
self.input_updated.call(trimmed_roll, trimmed_pitch, yaw, thrust)
except Exception:
logger.warning("Exception while reading inputdevice: %s",
traceback.format_exc())
self.device_error.call("Error reading from input device\n\n%s" %
traceback.format_exc())
self.readTimer.stop()
