class MouseHandler:
def __init__(self, min_angle=50, max_angle=180):
self.root = Display().screen().root
screen_width = self.root.get_geometry().width
screen_height = self.root.get_geometry().height
self.stiffness_mapper = interp1d([0, screen_height],
[50, -30])
self.angle_mapper = interp1d([0, screen_width],
[min_angle, max_angle])
self.last_command = None
self.last_update_time = None
def get_cmd_from_mouse_position(self):
qp = self.root.query_pointer()
angle = self.angle_mapper(qp.root_x)
stiffness = self.stiffness_mapper(qp.root_y)
if [angle, stiffness] != self.last_command:
position_changed = True
self.last_command = [angle, stiffness]
self.last_update_time = time()
else:
position_changed = False
return angle, stiffness, position_changed
def continuous_control(self, controller, timeout=float('inf')):
self.last_update_time = time()
while time() - self.last_update_time < timeout:
sleep(0.001)
angle, stiffness, position_changed = self.get_cmd_from_mouse_position()
if not position_changed:
continue
try:
controller.send(angle, stiffness)
print(f'angle: {angle:3.0f} stiffness: {stiffness:3.0f}')
except OutOfRangeError:
print('servo out of range')
def primitiveScreenDepth(rcvr, context, vm):
from Xlib.display import Display
root = Display().screen().root
return integer.create(root.get_geometry().depth, vm.memory)
