def __init__(self, joystick_number=JOYSTICK_NUMBER):
"""
Makes a new joystick instance.
:param joystick_number: use if there is more than one joystick
:returns: the instance
:raises RuntimeWarning if no joystick is found or it is unknown type
"""
self.joy: Optional[joystick.Joystick] = None
self.numAxes: Optional[int] = None
self.numButtons: Optional[int] = None
self.axes = None
self.buttons = None
self.name: Optional[str] = None
self.joystick_number: int = joystick_number
self.lastTime = 0
self.lastActive = 0
self.run_user_model_pressed = False # only used to log changes to/from running user model
self._rev_was_pressed = False # to go to reverse mode or toggle out of it
self._auto_was_pressed = False # to toggle out of autodrive if we pressed Y on joy to enter it
joystick.init()
count = joystick.get_count()
if count < 1:
raise RuntimeWarning('no joystick(s) found')
self.platform = platform.system()
self.lastActive = time.time()
try:
self.joy = joystick.Joystick(self.joystick_number)
except:
if self.platform == 'Linux': # Linux list joysticks from 3 to 0 instead of 0 to 3
if self.joystick_number == 0:
self.joy = joystick.Joystick(3)
else:
self.joy = joystick.Joystick(4 - self.joystick_number)
self.joy.init()
self.numAxes = self.joy.get_numaxes()
self.numButtons = self.joy.get_numbuttons()
self.name = self.joy.get_name()
logger.info(f'joystick is named "{self.name}"')
if not self.name == my_joystick.XBOX_ONE_BLUETOOTH_JOYSTICK \
and not self.name == my_joystick.XBOX_360_WIRELESS_RECEIVER \
and not self.name == my_joystick.XBOX_ELITE \
and not self.name == my_joystick.XBOX_WIRED \
and not self.name == my_joystick.PS4_WIRELESS_CONTROLLER \
and not self.name == my_joystick.PS4_DUALSHOCK4:
logger.warning('Name: {}'.format(self.name))
logger.warning(
'Unknown joystick type {} found.'
'Add code to correctly map inputs by running my_joystick as main'
.format(self.name))
raise RuntimeWarning('unknown joystick type "{}" found'.format(
self.name))
logger.debug(
'joystick named "{}" found with {} axes and {} buttons'.format(
self.name, self.numAxes, self.numButtons))
def __init__( self, port=65001, rate=10 ):
"""
Initialize pygame based joystick interface
INPUTS:
port -- int -- udp port for communication
mode -- string -- either 0 which pushes events out
or 1 which polls at a given rate
rate -- float -- polling frequency
"""
self.DEBUG = []
self.port = port
self.rate = rate
# Initialize socket
self.sock = socket(AF_INET, SOCK_DGRAM)
display.init()
# Initialize joystick object
joystick.init()
num_joys = joystick.get_count()
if num_joys < 1:
print "No joysticks detected"
exit
self.j = joystick.Joystick(0)
self.j.init()
self.t0 = now()
def init(mapping, **kwargs):
global axis_mapping, extreme_values, imperfection_offsets, joystick, DO_CALIBRATE
choice = 0
if "joystick" in kwargs.iteritems():
choice = kwargs.iteritems()["joystick"]
pygame.init()
pygame.joystick.init()
if pygame.joystick.get_count() == 0:
return None
print "Number of joysticks:" + str(pygame.joystick.get_count())
#Copy axis mapping
axis_mapping = mapping
#init joystick
joystick = pygame.joystick.Joystick(choice)
joystick.init()
#initialise final values
for i in range(joystick.get_numaxes()):
extreme_values.append([0, 0])
imperfection_offsets.append(0.0)
if "calibration" in kwargs.iteritems() and kwargs.iteritems(
)["calibration"]:
extreme_values = kwargs.iteritems()["calibration"]["boundaries"]
imperfection_offsets = kwargs.iteritems()["calibration"]["offsets"]
DO_CALIBRATE = False
print "Axis count:" + str(joystick.get_numaxes())
print "Joystick name:" + str(joystick.get_name())
return joystick
def _load_joysticks( self, *args ): #Clear existing state graphics for i in xrange( self.num_joysticks ): self.states[i].clear() #Clear current list of joysticks self.joysticks = [] self.states = [] self.active_joysticks = [False] * 4 self.active_players = [False] * 4 #Reinitialize pygame.joystick to update joystick information js.quit() js.init() self.num_joysticks = js.get_count() #Create Joystick instance for each physical joystick for i in xrange( self.num_joysticks ): self.joysticks.append( js.Joystick( i ) ) self.joysticks[i].init() #Draw state information for i in xrange( self.num_joysticks ): self.states.append( ControllerState( i, self.graphics ) ) self.states[i].update(self.active_joysticks[i], self.active_players[i] )
def __init__(self, arbalet, runtime_control):
"""
Simple event manager duplicating the pygame events for the system (runtime hardware management) and the user (game control)
The get() method and the system-reserved _get() both poll the pygame event list to keep the list up-to-date and also avoid the pygame internal queue to be full
TODO: events pygame/touch to be merged into a unique format
:param enable_system_events: enable the acquisition of system events, must be False if no Arbalink polls the system event queue
:return:
"""
Thread.__init__(self)
self.setDaemon(True)
self._system_events = []
self._user_events = []
self._user_events_lock = RLock()
self._arbalet = arbalet
self._rate = Rate(self._arbalet.config['refresh_rate'])
self._runtime_control = runtime_control
self.running = False
# All joysticks are enabled by default
with self._arbalet.sdl_lock:
display.init()
joystick.init()
for j in range(joystick.get_count()):
joy = joystick.Joystick(j)
joy.init()
self.start()
def __init__(self, id=0, deadzone=.2):
'''
Creats controller object
'''
display.init()
joystick.init()
self.joystick = joystick.Joystick(id)
self.joystick.init()
self.deadzone = deadzone
# Controller Pressed Values
self.A = 0
self.B = 0
self.X = 0
self.Y = 0
self.LB = 0
self.RB = 0
self.SELECT = 0
self.START = 0
self.XBOX = 0
self.LS = 0
self.RS = 0
self.LX = 0
self.LY = 0
self.LT = 0
self.RT = 0
self.RX = 0
self.RY = 0
self.DX = 0
self.DY = 0
def __init__(self):
joystick.init()
self.count = joystick.get_count()
self.joysticks = []
for i in xrange(self.count):
controller = XboxController(i)
self.joysticks.append(controller)
def main(argv=[]):
display.init()
joystick.init()
if len(argv) > 1:
for sz in argv[1:]:
try:
joystick.Joystick(int(sz)).init()
except:
pass
else:
for i in xrange(joystick.get_count()):
joystick.Joystick(i).init()
e = event.wait()
while e.type != QUIT:
if e.type == JOYAXISMOTION:
print 'js', e.joy, 'axis', e.axis, round(e.value, P)
elif e.type == JOYBALLMOTION:
print 'js', e.joy, 'ball', e.ball, round(e.rel, P)
elif e.type == JOYHATMOTION:
print 'js', e.joy, 'hat', e.hat, h[e.value]
elif e.type == JOYBUTTONUP:
print 'js', e.joy, 'button', e.button, 'up'
elif e.type == JOYBUTTONDOWN:
print 'js', e.joy, 'button', e.button, 'down'
e = event.wait()
def initialize():
global joystick
print(f'Detected {pygame.joystick.get_count()} joysticks')
if pygame.joystick.get_count() > 0:
joystick = pygame.joystick.Joystick(0)
print(f'Initializing joystick {joystick.get_name()}')
joystick.init()
def pygame(self): # obsolete, lags maybe due to graphical stuff needed
from os import environ
environ["SDL_VIDEODRIVER"] = "dummy" # no window needed
from pygame import init, joystick, display
init()
display.set_mode((1,1)) # starts a mini widow
joystick.init()
count = joystick.get_count()
for jno in range(0,count): # initialize them all
js = joystick.Joystick(jno)
js.init()
# assign to multi player interfaces
from pygame.event import get
from pygame.locals import JOYAXISMOTION, JOYHATMOTION, JOYBUTTONDOWN, JOYBUTTONUP, QUIT
self.running = True
while self.running:
for event in get():
if QUIT == event.type:
self.kill()
elif hasattr(event,'joy'): # not a gamepad
interface = self.interfaces[event.joy]
# stick actions
# 0 == left stick x
# 1 == left stick y
# 2 == right stick x
# 3 == right stick y
# 5 == l2m
# 4 == r2m
if JOYAXISMOTION == event.type: # 7
self.running = interface.handler(event.type*10+event.axis,event.value)
# cross actions
# (-1,0) == left
# ( 1,0) == right
# (0, 1) == up
# (0,-1) == down
elif JOYHATMOTION == event.type: # 9
if((-1,0)== event.value):self.running = interface.handler(90,1)
elif((1,0)== event.value):self.running = interface.handler(91,1)
elif((0,-1)== event.value):self.running = interface.handler(92,1)
elif((0,1)== event.value):self.running = interface.handler(93,1)
else:self.running = interface.handler(94,0)
# button actions
# 0 == a
# 1 == b
# 3 == x
# 4 == y
# 6 == l1
# 7 == r1
# 8 == l2b
# 9 == r2b
# 10 == select
# 11 == start
# 13 == l3
# 14 == r3
elif JOYBUTTONUP == event.type: # 11 no value !
self.running = interface.handler(100+event.button,0)
elif JOYBUTTONDOWN == event.type: # 10 no value !
self.running = interface.handler(100+event.button,1)
self.display.quit()
def run(self):
count = 0
TCP_IP = '192.168.1.7'
TCP_PORT = 5005
BUFFER_SIZE = 1024
self.transmit = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.transmit.connect((TCP_IP, TCP_PORT))
joystick.init()
pygame.display.init()
if pygame.joystick.get_count() == 0:
self.changeText.emit("No joystick detected")
exit(0)
self.j = joystick.Joystick(0)
self.j.init()
adx = 'a'
ady = 'b'
switch = True
active = True
try:
while (1):
pygame.event.pump()
#self.changeText.emit(self.transmit.recv(1024))
on = self.j.get_button(1)
if on:
sleep(0.2)
if self.j.get_button(1):
if active == True:
active = False
self.changeText.emit('Idle')
else:
active = True
self.changeText.emit('Active')
if active:
change = self.j.get_button(0)
if change:
sleep(0.2)
if self.j.get_button(0):
if switch == True:
switch = False
self.changeText.emit('Arm')
else:
switch = True
self.changeText.emit('Motor')
if switch:
self.motorcode()
else:
self.arm()
except KeyboardInterrupt:
self.transmit.send('m4x4999y4999z')
def restart():
global joy_in, joystick_count
joystick.init()
joystick_count = joystick.get_count()
if joystick_count > 0:
joy_in = joystick.Joystick(0)
joy_in.init()
def init_joystick(self):
JoystickMgrBase.init_joystick(self)
pygame.init()
joystick.init()
self.joysticks = [
joystick.Joystick(idx) for idx in range(joystick.get_count())
]
map(lambda joystick: joystick.init(), self.joysticks)
eng.attach_obs(self.on_frame)
def __init__(self, id=0):
if not joystick.get_init():
joystick.init()
self.pygame_js = joystick.Joystick(id)
self.pygame_js.init()
# initialize all the buttons to False
for i in range(self.pygame_js.get_numbuttons()):
self.buttons[i] = Button(i, self.pygame_js.get_button)
def dualshock_handler():
joystick = Joystick(wii_joy_index)
joystick.init()
joy_x1 = joystick.get_axis(0)
joy_y1 = joystick.get_axis(1)
joy_x2 = joystick.get_axis(2)
joy_y2 = joystick.get_axis(3)
axes = [joy_x1, joy_y1, joy_x2, joy_y2]
for axis in axes:
print(axis)
def manual():
global manual_init
global joystick
if manual_init:
manual_init = False
joystick = pygame.joystick.Joystick(0)
joystick.init()
try:
jesses_handler(pygame.event.get(), joystick)
except KeyboardInterrupt:
motor_off()
def __init__(self, id=0):
joystick.init()
assert joystick.get_count()
self.joystick = joystick.Joystick(id)
self.id = id
self.joystick.init()
self.ctab = {
(0, -1): IController.LEFT,
(0, 1): IController.RIGHT,
(1, 0): IController.DOWN,
(-1, 0): IController.UP
}
def __init__(self, id=0):
joystick.init()
assert joystick.get_count()
self.joystick = joystick.Joystick(id)
self.id = id
self.joystick.init()
self.ctab = {
(0, -1): IController.LEFT,
(0, 1): IController.RIGHT,
(1, 0): IController.DOWN,
(-1, 0): IController.UP
}
def _init_controllers(self):
"""
Helper method: Setup available PS4 controllers
"""
if not joystick.get_init():
joystick.init()
for joy_id in range(joystick.get_count()):
js = joystick.Joystick(joy_id)
if PS4C.is_ps4_controller(js.get_name()):
js.init()
ps4ctrl = PS4C(js)
self._controllers.append(ps4ctrl)
def __init__(self):
super(PS4manager, self).__init__()
self._controllers = []
self._listen = False
# print("Initializing pygame")
pygame.init()
pygame.display.init()
joystick.init()
self._init_controllers()
def get_joystick_list(self):
"""Get a list of connected joysticks.
Returns:
List of strings describing connected joysticks.
"""
joystick.init()
joysticks = ['None']
for i in range(joystick.get_count()):
stick = joystick.Joystick(i)
joysticks.append("{0}: {1}".format(i, stick.get_name()))
return joysticks
def initialize_controllers(self):
""" Initialize Controllers/Joysticks """
joystick.init()
if joystick.get_count():
self._log.info('%s Controllers found', joystick.get_count())
self.num_controllers = joystick.get_count()
self.controllers = [joystick.Joystick(x) for x in range(self.num_controllers)]
for c in self.controllers:
self.vPosX.append(0)
self.vPosY.append(0)
c.init()
self._log.info('Initialized controller %s', c.get_name())
self._log.info('Initialized all controllers')
def __init__(self):
# Get controllers
joystick.init()
joys = [joystick.Joystick(x) for x in range(joystick.get_count())]
[js.init() for js in joys if not js.get_init()]
joy_gen = (js for js in joys if is_valid(js))
# Set attributes
self.controllers = [Controller(i, next(joy_gen, None)) for i in (1,2)]
self.players = [None,None]
self.buffers = [Input(), Input()]
self.triggered = [Input(), Input()]
self.zipable = self.players, self.controllers, \
self.buffers, self.triggered
def __init__(self):
try:
PJ.init() # initializes PJ module, NOT joystick itself
self.names = []
self.joystick = PJ.Joystick(0)
self.joystick.init()
##assuming just 1 joystick
self.names.append(PJ.Joystick(0).get_name())
#A is attack (space)
#B is pick up (s)
#x is set trap (a)
#y is drop (d)
#r is eat (e)
self.buttons = [
False for i in range(self.joystick.get_numbuttons())
]
##test
self.axishats = [False, False, False] # axis 0, 1; hat 0
self.button_pos = [(216, 74), (236, 92), (255, 74), (236, 56),
(608, 88), (476, 104), (606, 118), (476, 136),
(134, 56), (188, 56)]
# self.buttons = ['up', 'down', 'left', 'right', 'start', 'attack', 'pickup', 'settrap', 'drop', 'eat']
# self.key_map = {
# PG.K_UP : 'up',
# PG.K_DOWN : 'down',
# PG.K_LEFT : 'left',
# PG.K_RIGHT : 'right',
# PG.K_RETURN : 'start',
# PG.K_a : 'attack',
# PG.K_b : 'pickup',
# PG.K_x : 'settrap',
# PG.K_y : 'drop',
# PG.K_l : 'eat'
# }
self.keys_pressed = {}
for button in self.buttons:
self.keys_pressed[button] = False
self.joystick_config = {}
self.quit_attempt = False
except PG.error, err:
pass
def __init__(self):
try:
PJ.init() # initializes PJ module, NOT joystick itself
self.names = []
self.joystick = PJ.Joystick(0)
self.joystick.init()
##assuming just 1 joystick
self.names.append(PJ.Joystick(0).get_name())
#A is attack (space)
#B is pick up (s)
#x is set trap (a)
#y is drop (d)
#r is eat (e)
self.buttons = [False for i in range(self.joystick.get_numbuttons())]
##test
self.axishats = [False, False, False] # axis 0, 1; hat 0
self.button_pos = [(216, 74), (236, 92), (255, 74), (236, 56),
(608, 88), (476, 104), (606, 118), (476, 136),
(134, 56), (188, 56)]
# self.buttons = ['up', 'down', 'left', 'right', 'start', 'attack', 'pickup', 'settrap', 'drop', 'eat']
# self.key_map = {
# PG.K_UP : 'up',
# PG.K_DOWN : 'down',
# PG.K_LEFT : 'left',
# PG.K_RIGHT : 'right',
# PG.K_RETURN : 'start',
# PG.K_a : 'attack',
# PG.K_b : 'pickup',
# PG.K_x : 'settrap',
# PG.K_y : 'drop',
# PG.K_l : 'eat'
# }
self.keys_pressed = {}
for button in self.buttons:
self.keys_pressed[button] = False
self.joystick_config = {}
self.quit_attempt = False
except PG.error, err:
pass
def init():
"init the joystick"
global joystick
global lastaxisvalue
global lasthatvalue
try:
num = pygame.joystick.get_count()
if num > 0:
joystick = pygame.joystick.Joystick(0)
joystick.init()
lastaxisvalue = [None] * joystick.get_numaxes()
lasthatvalue = [[None, None]] * joystick.get_numhats()
except pygame.error:
joystick = None
def initialize_controllers(self):
""" Initialize Controllers/Joysticks """
joystick.init()
if joystick.get_count():
self._log.info('%s Controllers found', joystick.get_count())
self.num_controllers = joystick.get_count()
self.controllers = [
joystick.Joystick(x) for x in range(self.num_controllers)
]
for c in self.controllers:
self.vPosX.append(0)
self.vPosY.append(0)
c.init()
self._log.info('Initialized controller %s', c.get_name())
self._log.info('Initialized all controllers')
def refresh(self):
"""
Finds all connected gamepads. Must be called at the start of the run loop if there has been a change.
Will uninitialize and then initialize the joystick module
"""
if self.joystick:
self.joystick.quit()
self.joystick = None
joystick.quit()
joystick.init()
joyDictList = self.get_all_gamepads() # Must be fetched before initializing the ID, since otherwise we delete that ID afterwards, apparently the objects here are global!
self.initialize(clamp(self.joystick_id, 0, maxVal((joystick.get_count() - 1), 0)))
self.refreshedGamepad.emit(joyDictList)
self.statusChanged.emit(self.joystick.get_init() if self.joystick else False)
def initialize():
passed, failed = PG.init()
PJ.init()
Globals.SCREEN = PDI.set_mode((800, 600), PG.DOUBLEBUF | PG.HWSURFACE)
Globals.WIDTH = Globals.SCREEN.get_width()
Globals.HEIGHT = Globals.SCREEN.get_height()
Globals.FONT = PF.Font(None, 56)
Globals.STATE = Title.Title_Screen()
Globals.HERO = Player.Player()
Globals.HUD = HeadsUpDisplay.HeadsUpDisplay()
Globals.brightness = PG.Surface((800, 600))
PX.init()
Globals.MENU_MUSIC = PX.Sound(screen_start_sound)
Globals.MUSIC = PX.Sound(loop_sound)
def joystick_init(self): # Joystick's initialisation
joystick_count = pygame.joystick.get_count()
for count in range(joystick_count):
if joystick_count == 2:
self.joystick = pygame.joystick.Joystick(self.joy)
print("{}-->joystick count".format(joystick_count))
self.joystick.init()
self.check_joystick = True
elif joystick_count == 1:
joystick = pygame.joystick.Joystick(0)
joystick.init()
print("connected only 1 joystick - {}".format(joystick))
self.check_joystick = False
elif not joystick_count:
print("no joysticks connected")
self.check_joystick = False
def get_joysticks(joystick_number=None):
# Get the state of all the joystick
joystick_count = pygame.joystick.get_count()
return_joystick_status = {}
if joystick_number is not None and joystick_count >= joystick_number:
joystick = pygame.joystick.Joystick(joystick_number)
joystick.init()
return_joystick_status[str(joystick_number)] = {}
joystick_hats = joystick.get_numhats()
for hat in range(joystick_hats):
return_joystick_status[str(joystick_number)][
"hat " + str(hat)] = joystick.get_hat(hat)
joystick_buttons = joystick.get_numbuttons()
return_joystick_status[str(
joystick_number)]["buttons"] = [0] * joystick_buttons
for button in range(joystick_buttons):
return_joystick_status[str(joystick_number)]["buttons"][
button] = joystick.get_button(button)
joystick_axes = joystick.get_numaxes()
for axis in range(joystick_axes):
return_joystick_status[str(joystick_number)][
"axis " + str(axis)] = round(joystick.get_axis(axis), 3)
elif joystick_number is None:
for i in range(joystick_count):
joystick = pygame.joystick.Joystick(i)
joystick.init()
return_joystick_status[str(i)] = {}
joystick_hats = joystick.get_numhats()
for hat in range(joystick_hats):
return_joystick_status[str(i)][
"hat " + str(hat)] = joystick.get_hat(hat)
joystick_buttons = joystick.get_numbuttons()
return_joystick_status[str(i)]["buttons"] = [0] * joystick_buttons
for button in range(joystick_buttons):
return_joystick_status[str(
i)]["buttons"][button] = joystick.get_button(button)
joystick_axes = joystick.get_numaxes()
for axis in range(joystick_axes):
return_joystick_status[str(i)]["axis " + str(axis)] = round(
joystick.get_axis(axis), 3)
return return_joystick_status
def __init__(self, joystick_number=JOYSTICK_NUMBER):
"""
Makes a new joystick instance.
:param joystick_number: use if there is more than one joystick
:returns: the instance
:raises RuntimeWarning if no joystick is found or it is unknown type
"""
self.joy:Optional[joystick.Joystick]=None
self.car_command:car_command=car_command()
self.user_input:user_input = user_input()
self.default_car_command=car_command()
self.default_user_input=user_input()
self.numAxes:Optional[int]=None
self.numButtons:Optional[int]=None
self.axes=None
self.buttons=None
self.name:Optional[str]=None
self.joystick_number:int=joystick_number
self.lastTime = 0
self.lastActive = 0
self._rev_was_pressed=False # to go to reverse mode or toggle out of it
joystick.init()
count = joystick.get_count()
if count<1:
raise RuntimeWarning('no joystick(s) found')
self.lastActive=time.time()
if platform.system() == 'Linux':
if self.joystick_number == 0:
self.joy = joystick.Joystick(3) # TODO why?
else:
self.joy = joystick.Joystick(4 - self.joystick_number) # TODO why is this cryptic code needed? What does it do?
else:
self.joy = joystick.Joystick(self.joystick_number)
self.joy.init()
self.numAxes = self.joy.get_numaxes()
self.numButtons = self.joy.get_numbuttons()
self.name=self.joy.get_name()
if not self.name==my_joystick.XBOX_ONE_BLUETOOTH_JOYSTICK and not self.name==my_joystick.XBOX_ELITE and not self.name==my_joystick.XBOX_WIRED:
logger.warning('Name: {}'.format(self.name))
logger.warning('unknown joystick type {} found: add code to correctly map inputs by running my_joystick as main'.format(self.name))
raise RuntimeWarning('unknown joystick type {} found'.format(self.name))
logger.info('joystick named "{}" found with {} axes and {} buttons'.format(self.name, self.numAxes, self.numButtons))
def run():
pygame.init()
if not pygame.joystick.get_count():
print 'ERROR: joystick count is 0'
exit()
# dasboard_app = subprocess.Popen('python app.py d')
joystick = pygame.joystick.Joystick(0)
joystick.init()
joystick_num_buttons = joystick.get_numbuttons()
joystick_num_axes = joystick.get_numaxes()
print 'joystick found:', joystick.get_name()
print 'count buttons:', joystick_num_buttons
print 'count axes:', joystick_num_axes
# кнопки
JOY_STATE.extend([0 for jb in JoyButtons.BUTTONS])
# ползунки
JOY_STATE.extend([-1.0 if ja in (JoyButtons.JOY_LT, JoyButtons.JOY_RT) else 0.0 for ja in JoyButtons.JOYS])
sender = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
sender.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
sender.bind((settings.SOCKET_CLIENT_HOST, settings.SOCKET_CLIENT_PORT))
# нам нужны только события джойстика
pygame.event.set_allowed([JOYAXISMOTION, JOYBUTTONUP, JOYBUTTONDOWN, QUIT])
get = pygame.event.get
sleep = time.sleep
send_to = sender.sendto
host = settings.SERVER_HOST
port = settings.SERVER_PORT
while True:
# бесконечный сбор событий с геймпада
if process_events(get(), joystick_num_buttons):
# print(JOY_STATE)
send_to(','.join(str(i) for i in JOY_STATE), (host, port))
else:
break
sleep(0.1)
def setup_joystick():
pygame.init()
joystick.init()
if joystick.get_count() == 1:
stick = joystick.Joystick(0)
stick.init()
axisNum = stick.get_numaxes()
buttonNum = stick.get_numbuttons()
joystickMode = 'not active' # toggles to 'position' with 'j' key
print('joystick found with ' + str(axisNum) + ' axes and ' +
str(buttonNum) + ' buttons')
else:
stick = None
joystickMode = None
print('no joystick found, only PD control or no control possible')
return stick, joystickMode
def __init__(self, argparser):
Arbapp.__init__(self, argparser, True) # starting mock mode, init flags (-w and -ng) will be redirected to the server
init()
joystick.init()
self.joysticks = []
self.server_process = None
# Joysticks initialization
for i in range(joystick.get_count()):
joy = joystick.Joystick(i)
joy.init()
if joy.get_numbuttons()>0:
self.joysticks.append(joy)
else:
joy.quit()
print len(self.joysticks), 'joystick(s) with buttons found!'
def __init__(self):
print("")
print("Joystick initializing...")
if pygame.joystick.get_count() == 0:
print("ERROR! Did not found a joystick!")
time.sleep(2)
print("")
print("Keyboard initializing...")
self.keyboardcontrole()
else:
joystick = pygame.joystick.Joystick(0)
joystick.init()
print("Joysticks gevonden:", pygame.joystick.get_count(), "(", joystick.get_name(), ")")
print("Specs: assen:", joystick.get_numaxes(), ", knoppen:", joystick.get_numbuttons())
self.knoppen = joystick.get_numbuttons()
self.assen = joystick.get_numaxes()
self.ps3Connected = True
def wiimote_handler():
joystick = pygame.joystick.Joystick(wii_joy_index)
joystick.init()
joy_x = joystick.get_axis(0)
joy_y = joystick.get_axis(1)
joy_buttons = list()
for i in range(0, 8):
joy_button = joystick.get_button(i)
joy_buttons.append(joy_button)
pub_direction((joy_x, joy_y))
pub_arm(joy_buttons[0] - joy_buttons[1])
pub_shovel(joy_buttons[2] - joy_buttons[3])
pitch = joy_buttons[4] - joy_buttons[5]
yaw = joy_buttons[6] - joy_buttons[7]
pub_camera(pitch, yaw)
def __init__(self):
self.port = 'COM22' # change this to the com port for your Arduino
self.baud = 115200 # baudrate don't change
try:
self.ser = serial.Serial(self.port, self.baud)
print "Successfully opened Serial"
print
except serial.SerialException:
self.ser = None
print "Could not open Serial!"
print
# Initialize Joystick object
joystick.init()
pygame.display.init()
if joystick.get_count():
self.joy = joystick.Joystick(0)
self.joy.init()
else:
self.joy = None
self.x_axis = 0 # this is usually 0
self.throttle_axis = 1 # change this to the correct axis for the joystick
self.last_turn_val = 0
self.last_sheet_val = 47
self.auto_enabled = False # change to true to use PID
self.kite_tracker = KiteTracker(path='cam')
self.pos_list = []
self.pid = PID(3.0, 0.4, 1.2)
self.pid.setSetPoint(
0.0
) # Set-point corresponds to heading vector which has angle = 0.0 in its frame.
# create log file
self.logfile = datetime.datetime.strftime(
datetime.datetime.now(), '%Y-%m-%d_%H_%M_%S') + '_log.txt'
with open(logfile, 'w') as f:
f.write('time,command,turn_val,power_val\n')
def __init__(self, name='demo'):
"""Initialise pygame and load the parameters for the game indicated
by the `name` param. Start the clock for the screen's frame rate and
create a window surface for the game's screen size.
Create each of the screen objects referenced by the game and store
their state, ready to show.
"""
init()
joystick.init()
for i in range(joystick.get_count()):
joystick.Joystick(i).init()
State.game = util.load_cfg(name)
State.clock = Clock(10, State.game['frame_rate'])
State.window = display.set_mode(State.game['screen_size'])
self._last_joystick_action = None
self.create_screens()
def __init__(self):
self.port = 'COM22' # change this to the com port for your Arduino
self.baud = 115200 # baudrate don't change
try:
self.ser = serial.Serial(self.port, self.baud)
print "Successfully opened Serial"
print
except serial.SerialException:
self.ser = None
print "Could not open Serial!"
print
# Initialize Joystick object
joystick.init()
pygame.display.init()
if joystick.get_count():
self.joy = joystick.Joystick(0)
self.joy.init()
else:
self.joy = None
self.x_axis = 0 # this is usually 0
self.throttle_axis = 1 # change this to the correct axis for the joystick
self.last_turn_val = 0
self.last_sheet_val = 47
self.auto_enabled = False # change to true to use PID
self.kite_tracker = KiteTracker(path='cam')
self.pos_list = []
self.pid = PID(3.0, 0.4, 1.2)
self.pid.setSetPoint(0.0) # Set-point corresponds to heading vector which has angle = 0.0 in its frame.
# create log file
self.logfile = datetime.datetime.strftime(datetime.datetime.now(), '%Y-%m-%d_%H_%M_%S') + '_log.txt'
with open(logfile, 'w') as f:
f.write('time,command,turn_val,power_val\n')
def __init__(self, params):
'''Initialize internal variables'''
# Find us a joystick
pygame.init()
joystick.init()
if joystick.get_count() == 0:
raise OSError("No joysticks found!")
self.joystick = joystick.Joystick(0)
self.joystick.init()
self.i_j = 0
self.i_x = 0
self.i_y = 1
self.inv_x = True
self.inv_y = True
self.v_max = params[1]
self.w_max = params[2]
Controller.__init__(self, params[0])
import math
import numpy as np
import spiral_zipper_auto as sz
import ball_tracker as cm
# Specify module ID and the name we want to give each of them:
modules = {0xE4: 'T1',0xEA:'T2',0xDF:'T3',0xF8:'T4',0xF1:'T5',0xF2:'T6'}
if __name__=="__main__":
import sys
print "Initializing Spiral Zipper Demo"
# Initialize pygame and a joystick
pygame.init()
joystick.init()
joystick.Joystick(0).init()
# Optionally specify left and right modules through the command line.
if len(sys.argv) == 2:
modules = {int(sys.argv[1]) : 'T1', int(sys.argv[2]) : 'T2', int(sys.argv[3]) : 'T3',int(sys.argv[4]) : 'T4',int(sys.argv[5]) : 'T5',int(sys.argv[6]) : 'T6'}
# Create a CKBot cluster
c = L.Cluster()
c.populate( len(modules), modules )
# Limit module speed and torque for safety
torque_limit = 0.75
def main():
with serial.serial_for_url(SERIAL_PORT, BAUD_RATE, timeout=0) as xbee:
controller_state = ControllerState()
watchdog_timer = 0
joysticks = []
# Initialize pygame
pygame.joystick.init()
pygame.display.init()
if not pygame.joystick.get_count():
print "Please connect a joystick and run again."
print
quit()
print "%s joystick(s) detected." % pygame.joystick.get_count()
for i in range(pygame.joystick.get_count()):
joystick = pygame.joystick.Joystick(i)
joystick.init()
joysticks.append(joystick)
print "Joystick %d: " % (i) + joysticks[i].get_name()
# Set destination node
if XBEE_DESTINATION_NODE:
print 'Setting XBee destination node to %s' % XBEE_DESTINATION_NODE
xbee.write('+++')
time.sleep(.5)
xbee.write('ATDN')
xbee.write(XBEE_DESTINATION_NODE)
xbee.write('\r')
time.sleep(1)
print 'Destination node set'
# Run joystick listener loop
while True:
poll_started = datetime.now()
while True:
# Dequeue all joystick events and update state
e = pygame.event.poll()
if e.type in (pygame.JOYAXISMOTION, pygame.JOYBUTTONDOWN, pygame.JOYBUTTONUP, pygame.JOYHATMOTION):
controller_state.handleJoyEvent(e)
if e.type == pygame.NOEVENT:
break
#s = xbee.read(1000000)
#if s:
# print 'Incoming Serial:', s
# Sleep only long enough to keep the output at 50Hz
poll_ended = datetime.now()
sleep_time = FREQUENCY - ((poll_ended - poll_started).microseconds / 1000000.)
if sleep_time > 0.:
time.sleep(sleep_time)
# print controller_state
xbee.write(controller_state.serial_format())
write_ended = datetime.now()
watchdog_timer += (write_ended - poll_started).microseconds
# Print out the state every once in a while to make sure the program hasn't died
if watchdog_timer > 5 * 1000000:
print controller_state
watchdog_timer = 0
def goon():
global q, q_gui
if not dryrun:
t = threading.Thread(target=gcodespitter)
t.daemon = True
t.start()
st = 0
b0 = b1 = b2 = b3 = 0
correction = [[0, 0, 0], [0, 0, 0], [0, 0, 0]]
def print_(x):
print >> sys.stderr, x
calibd = skip_calib # False
if calibaction == CALIB_LOAD:
calibd = True
with open(calibfile, "r") as f:
correction = map(
lambda j: map(float, j), map(lambda x: map(lambda z: z.strip(), x.split(",")), f.readlines())
)
pygame.joystick.init() # initialize joystick module
pygame.joystick.get_init() # verify initialization (boolean)
joystick_count = pygame.joystick.get_count() # get number of joysticks
# it's for some case, important to get the joystick number ...
if joystick_count == 1:
joystick = pygame.joystick.Joystick(0)
joystick.get_name()
joystick.init()
joystick.get_init()
while True:
# time.sleep(0.00001)
if joystick_count == 1:
# verify initialization (maybe cool to do some error trapping with this so game doesn't crash
pygame.event.pump()
# So Now i can get my joystick Axis events
xax_ = joystick.get_axis(0)
yax_ = joystick.get_axis(1)
zax_ = joystick.get_axis(3)
buttons = joystick.get_numbuttons()
b0 = joystick.get_button(0)
b1 = joystick.get_button(1)
b2 = joystick.get_button(2)
b3 = joystick.get_button(3)
if st == 1:
print >> sys.stderr, "put joystick to center and press B0",
elif st == 3:
print >> sys.stderr, "put joystick to left and press B0",
elif st == 5:
print >> sys.stderr, "put joystick to right and press B0",
elif st == 7:
print >> sys.stderr, "put joystick to down and press B0",
elif st == 9:
print >> sys.stderr, "put joystick to up and press B0",
elif st == 11:
print >> sys.stderr, "put joystick to bottom and press B0",
elif st == 13:
print >> sys.stderr, "put joystick to top and press B0",
if not calibd:
st = calib(st, b0, (xax_, yax_, zax_), correction)
print >> sys.stderr, correction
if st == 14:
print >> sys.stderr, "CALIBRATED.",
calibd = True
if calibaction == CALIB_SAVE:
with open(calibfile, "w+") as f:
f.write("\n".join(map(lambda x: ",".join(map(str, x)), correction)))
continue
(xax, yax, zax) = correct(correction, (xax_, yax_, zax_))
# print >> sys.stderr, correction,
# print >> sys.stderr, (xax, yax, zax)
if not dryrun:
if b1 != b2:
if b1:
# q.put('G1 Z10', block=False)
put_nonblock(q, "G1 Z%f" % (zax))
if b2:
# q.put('G1 Z-10', block=False)
put_nonblock(q, "G1 Z%f" % (-zax))
# q.put('G1 Z-%f' % (zax), block=False)
if b3:
put_nonblock(q, "G1 X%f Y%f" % (xax, yax))
# q.put('G1 X%f Y%f' % (xax, yax), block=False)
print "q.join"
# q.join()
if b0:
put_nonblock(q_gui, "save")
import pygame import pygame.joystick as j import time #Initialize both joystick module and individual joystick j.init() js = j.Joystick(0) js.init() DISPLAY_WIDTH, DISPLAY_HEIGHT = 1000, 800 BLACK=(0,0,0) WHITE=(235,235,235) RED=(235,0,0) GREEN=(0,235,0) BLUE=(0,0,235) AQUA = ( 0, 255, 255) FUCHSIA= (255, 0, 255) GRAY = (128, 128, 128) LIGHT_GREEN = ( 0, 128, 0) LIME = ( 0, 255, 0) MAROON = (128, 0, 0) NAVY_BLUE = ( 0, 0, 128) OLIVE = (128, 128, 0) PURPLE = (128, 0, 128) SILVER = (192, 192, 192) TEAL = ( 0, 128, 128) YELLOW = (255, 255, 0) FPS=50 clock = pygame.time.Clock()
