def open(self):
self._j = sdl2.SDL_JoystickOpen(self._index)
btn_count = sdl2.SDL_JoystickNumButtons(self._j)
self.axes = list(0 for i in range(sdl2.SDL_JoystickNumAxes(self._j)))
self.buttons = list(0 for i in range(btn_count + 4))
def __new__(cls, identifier=None, instance_id=None, *args, **kwargs):
# Check init
if not get_init():
init()
# Create the object
joy = super().__new__(cls)
if instance_id is not None:
# Create the underlying joystick from the instance id.
# SDL_JOYDEVICEREMOVED and all other SDL_JOY#### events give the instance id
joy.joystick = sdl2.SDL_JoystickFromInstanceID(instance_id)
# print('Instance ID:', raw_joystick, SDL_JoystickGetAttached(raw_joystick))
else:
# Create the underlying joystick from the enumerated identifier
# SDL_JOYDEVICEADDED and SDL_NumJoysticks use open
if identifier is None:
identifier = 0
if isinstance(identifier, str):
# Get the joystick from the name or None if not found!
for i in range(sdl2.SDL_NumJoysticks()):
raw_joystick = sdl2.SDL_JoystickOpen(i)
try:
if sdl2.SDL_JoystickName(raw_joystick).decode(
'utf-8') == identifier:
joy.joystick = raw_joystick
break
except:
pass
else:
joy.joystick = sdl2.SDL_JoystickOpen(identifier)
# print('ID:', raw_joystick, SDL_JoystickGetAttached(raw_joystick))
try:
joy.identifier = sdl2.SDL_JoystickID(
sdl2.SDL_JoystickInstanceID(joy.joystick)).value
# joy.identifier = SDL_JoystickInstanceID(raw_joystick)
joy.name = sdl2.SDL_JoystickName(joy.joystick).decode('utf-8')
joy.numaxes = sdl2.SDL_JoystickNumAxes(joy.joystick)
joy.numbuttons = sdl2.SDL_JoystickNumButtons(joy.joystick)
joy.numhats = sdl2.SDL_JoystickNumHats(joy.joystick)
joy.numballs = sdl2.SDL_JoystickNumBalls(joy.joystick)
joy.init_keys()
except:
pass
# Try to get the gamepad object
try:
joy.gamecontroller = sdl2.SDL_GameControllerOpen(joy.identifier)
# FromInstanceId does not Attach!
# joy.gamecontroller = SDL_GameControllerFromInstanceID(SDL_JoystickInstanceID(joy.joystick)
# print('ID:', SDL_GameControllerGetAttached(joy.gamecontroller))
except:
joy.gamecontroller = None
try:
joy.guid = get_guid(
joy.joystick
) # Using this is more reliable for the GameController stuff
except:
pass
return joy
def poll_sdl_events(self):
import ctypes as c
sdl.SDL_JoystickEventState(sdl.SDL_ENABLE)
self.num_gamepads = sdl.SDL_NumJoysticks()
self.active_gamepads = {}
while self.pending:
event = sdl.SDL_Event()
while sdl.SDL_PollEvent(c.byref(event)):
if event.type == sdl.SDL_JOYBUTTONDOWN:
button = event.jbutton
self.gamepad_input = button.which
self.gamepad_pressed = button.button
self.gamepad_type = "button"
elif event.type == sdl.SDL_JOYAXISMOTION:
axis = event.jaxis
if event.jaxis.value < -16000:
self.gamepad_input = axis.which
self.gamepad_pressed = axis.axis
self.gamepad_type = "Naxis"
elif event.jaxis.value > 16000:
self.gamepad_input = axis.which
self.gamepad_pressed = axis.axis
self.gamepad_type = "Paxis"
elif event.type == sdl.SDL_JOYDEVICEADDED:
n = event.jdevice.which
device = sdl.SDL_JoystickOpen(n)
joy_id = sdl.SDL_JoystickInstanceID(device)
self.active_gamepads[joy_id] = device
name = sdl.SDL_JoystickName(device).decode("utf-8")
page = 1
while page < 5:
self.pages_list[page][1].insert(
n, str(n),
str(n) + ": " + name)
if self.gamepads_stored[page][1] == name:
self.pages_list[page][1].set_active_id(
str(self.gamepads_stored[page][0]))
page += 1
log.info(f"Controller added: {name}")
log.info(
f"Current active controllers: {sdl.SDL_NumJoysticks()}"
)
elif event.type == sdl.SDL_JOYDEVICEREMOVED:
joy_id = event.jdevice.which
device = self.active_gamepads[joy_id]
if sdl.SDL_JoystickGetAttached(device):
sdl.SDL_JoystickClose(device)
name = sdl.SDL_JoystickName(device).decode("utf-8")
page = 1
while page < 5:
if self.gamepads_stored[page][1] == name:
self.pages_list[page][1].set_active_id("-1")
self.pages_list[page][1].remove(
self.gamepads_stored[page][0])
page += 1
log.info(f"Controller removed: {name}")
self.active_gamepads.pop(joy_id)
log.info(
f"Current active controllers: {sdl.SDL_NumJoysticks()}"
)
import sdl2
last_pos1 = 0
last_pos2 = 0
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
joystick = sdl2.SDL_JoystickOpen(0)
print(joystick)
while True:
sdl2.SDL_PumpEvents()
pos1 = sdl2.SDL_JoystickGetAxis(joystick, 1)
pos2 = sdl2.SDL_JoystickGetAxis(joystick, 3)
if (pos1 != last_pos1 or pos2 != last_pos2):
print(str(pos1) + ',' + str(pos2))
last_pos1, last_pos2 = pos1, pos2
def __init__(self, app):
self.app = app
self.ui = self.app.ui
# read from binds.cfg file or create it from template
# exec results in edit_binds, a dict whose keys are keys+mods
# and whose values are bound functions
self.edit_bind_src = None
# bad probs if a command isn't in binds.cfg, so just blow it away
# if the template is newer than it
# TODO: better solution is find any binds in template but not binds.cfg
# and add em
binds_filename = self.app.config_dir + BINDS_FILENAME
binds_outdated = not os.path.exists(
binds_filename) or os.path.getmtime(
binds_filename) < os.path.getmtime(BINDS_TEMPLATE_FILENAME)
if not binds_outdated and os.path.exists(binds_filename):
exec(open(binds_filename).read())
self.app.log('Loaded key binds from %s' % binds_filename)
else:
default_data = open(BINDS_TEMPLATE_FILENAME).readlines()[1:]
new_binds = open(binds_filename, 'w')
new_binds.writelines(default_data)
new_binds.close()
self.app.log('Created new key binds file %s' % binds_filename)
exec(''.join(default_data))
if not self.edit_bind_src:
self.app.log('No bind data found, Is binds.cfg.default present?')
exit()
# associate key + mod combos with methods
self.edit_binds = {}
for bind_string in self.edit_bind_src:
bind = self.parse_key_bind(bind_string)
if not bind:
continue
# bind data could be a single item (string) or a list/tuple
bind_data = self.edit_bind_src[bind_string]
if type(bind_data) is str:
bind_fnames = ['BIND_%s' % bind_data]
else:
bind_fnames = ['BIND_%s' % s for s in bind_data]
bind_functions = []
for bind_fname in bind_fnames:
if not hasattr(self, bind_fname):
continue
bind_functions.append(getattr(self, bind_fname))
self.edit_binds[bind] = bind_functions
# get controller(s)
# TODO: use kewl SDL2 gamepad system
js_init = sdl2.SDL_InitSubSystem(sdl2.SDL_INIT_JOYSTICK)
if js_init != 0:
self.app.log(
"SDL2: Couldn't initialize joystick subsystem, code %s" %
js_init)
return
sticks = sdl2.SDL_NumJoysticks()
#self.app.log('%s gamepads found' % sticks)
self.gamepad = None
self.gamepad_left_x, self.gamepad_left_y = 0, 0
# for now, just grab first pad
if sticks > 0:
pad = sdl2.SDL_JoystickOpen(0)
pad_name = sdl2.SDL_JoystickName(pad).decode('utf-8')
pad_axes = sdl2.SDL_JoystickNumAxes(pad)
pad_buttons = sdl2.SDL_JoystickNumButtons(pad)
self.app.log('Gamepad found: %s with %s axes, %s buttons' %
(pad_name, pad_axes, pad_buttons))
self.gamepad = pad
# before main loop begins, set initial mouse position -
# SDL_GetMouseState returns 0,0 if the mouse hasn't yet moved
# in the new window!
wx, wy = ctypes.c_int(0), ctypes.c_int(0)
sdl2.SDL_GetWindowPosition(self.app.window, wx, wy)
wx, wy = int(wx.value), int(wy.value)
mx, my = ctypes.c_int(0), ctypes.c_int(0)
sdl2.mouse.SDL_GetGlobalMouseState(mx, my)
mx, my = int(mx.value), int(my.value)
self.app.mouse_x, self.app.mouse_y = mx - wx, my - wy
# set flag so we know whether handle_input's SDL_GetMouseState result
# is accurate :/
self.mouse_has_moved = False
import sdl2
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
joystick = sdl2.SDL_JoystickOpen(0)
joystick2 = sdl2.SDL_JoystickOpen(1)
player = {
'gamepad': joystick2,
'stick_range': 65536, # max stick position - min stick position
'stick_center': 0,
'left_shoulder_btn': 8,
'right_shoulder_btn': 9
}
while True:
sdl2.SDL_PumpEvents()
btns = {}
for i in range(15):
btns[i] = sdl2.SDL_JoystickGetButton(joystick2, i)
joy_x = (sdl2.SDL_JoystickGetAxis(player['gamepad'], 0) -
player['stick_center']) * 200 / player['stick_range']
print(joy_x, (sdl2.SDL_JoystickGetAxis(joystick2, 0) - 0) * 200 / 65000,
sdl2.SDL_JoystickGetAxis(joystick2, 1), btns)
if sdl2.SDL_JoystickGetButton(player['gamepad'],
player['left_shoulder_btn']):
break
from jaraco.nxt import *
from jaraco.nxt.messages import *
import time
import sdl2
import math
# initialise joysticking
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
# create configs
AntoBot = {
'tty': '/dev/tty.NXT-DevB',
'gamepad_num': 0,
'gamepad': sdl2.SDL_JoystickOpen(0),
'stick_range': 32768, # max stick position - min stick position
'stick_center': 17268,
'left_shoulder_btn': 4,
'right_shoulder_btn': 5,
'invert_y': 1,
'abort_btn': 3
}
AddyBot = {
'tty': '/dev/tty.Addy-DevB',
'gamepad_num': 1,
'gamepad': sdl2.SDL_JoystickOpen(1), # sixaxis
'stick_range': 65536, # max stick position - min stick position
'stick_center': 0,
'left_shoulder_btn': 8,
def recordButtonClick(self):
self.isRecording = not self.isRecording
if (self.isRecording):
self.recordTimeStarted = time.time()
self.recordNTimesRecorded += 1
self.recordSampleNumber = 1
self.recordData = []
if not os.path.exists(self.recordEntryText.get()):
os.makedirs(self.recordEntryText.get())
self.recordDirectory = self.recordEntryText.get() + '/' + str(
self.recordNTimesRecorded)
if not os.path.exists(self.recordDirectory):
os.makedirs(self.recordDirectory)
self.recordButtonText.set("Stop Recording")
else:
if (len(self.recordData) > 0):
with open(
self.recordDirectory + '/' +
str(self.recordSampleNumber), 'wb') as self.handle:
pickle.dump(self.recordData, self.handle)
self.recordButtonText.set("Start Recording")
if (__name__ == '__main__'):
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
globalJoystick = sdl2.SDL_JoystickOpen(0)
globalJoystickInput = JoystickInput_SDL(globalJoystick)
app = App()
app.root.mainloop()
sdl2.SDL_Quit()
def update(self, event):
if event.type == sdl2.SDL_JOYDEVICEADDED:
self.device = sdl2.SDL_JoystickOpen(event.jdevice.which)
return ('info', 'The joystick is connected')
elif event.type == sdl2.SDL_JOYDEVICEREMOVED:
self.device = None
return ('info', 'The joystick is removed')
elif event.type == sdl2.SDL_JOYAXISMOTION:
# print(self.axis_map[event.jaxis.axis], event.jaxis.value)
# ignore left up button
self.axis[self.axis_map[
event.jaxis.axis]] = event.jaxis.value / AXISMAXVALUE
# move the platform
button_and_type = self.axis_map[event.jaxis.axis]
con = None
if button_and_type[0] == 'R':
if self.con_right is not None:
con = self.con_right
else:
if self.con_left is not None:
con = self.con_left
if con is not None:
if button_and_type[-1] == 'H':
action = 'move_to_x'
elif button_and_type[-1] == 'V':
action = 'move_to_y'
else:
if event.jaxis.value > 0:
con.spindle_up()
else:
con.spindle_down()
return
value = event.jaxis.value / AXISMAXVALUE * PLATFORM_LIMIT
getattr(con, action)(value)
else:
return ('info', 'The servo platforms are not connected.')
elif event.type == sdl2.SDL_JOYBUTTONDOWN:
# print("Button down:", event.jbutton.button)
self.button[self.button_map[event.jbutton.button]] = True
btn = self.button_map[event.jbutton.button]
if btn == 'A':
self.current_con = self.con_left
elif btn == 'B':
self.current_con = self.con_right
elif btn == 'X':
if self.current_con is not None:
self.current_con.go_home()
else:
return ('warning',
'Please select target you want to operate first.')
elif btn == 'Y':
if self.current_con is not None:
self.current_con.set_here_home()
else:
return ('warning',
'Please select target you want to operate first.')
elif event.type == sdl2.SDL_JOYBUTTONUP:
# print("Button up:", event.jbutton.button)
self.button[self.button_map[event.jbutton.button]] = False
elif event.type == sdl2.SDL_JOYHATMOTION:
# print("Hat motion",self.hat_map[event.jhat.value])
hat_value = self.hat_map[event.jhat.value]
if self.current_con is not None:
sign = 1 if self.current_con is self.con_left else -1
if hat_value == 'D':
self.current_con.move_y(1 * sign)
elif hat_value == 'U':
self.current_con.move_y(-1 * sign)
elif hat_value == 'L':
self.current_con.move_x(1 * sign)
elif hat_value == 'R':
self.current_con.move_x(-1 * sign)
else:
return ('warning',
'Please select target you want to operate first.')
import cPickle as pickle
except:
import pickle
# ______ Constants & configuration ______ #
# initialise joysticking
error = sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
numsticks = sdl2.SDL_NumJoysticks()
print("{} Sticks found".format(numsticks+1))
for stick in range(numsticks):
name = sdl2.SDL_JoystickNameForIndex(stick)
print("Name of stick {} is {}".format(stick, name))
if name == b"PLAYSTATION(R)3 Controller":
gamepad_obj = sdl2.SDL_JoystickOpen(stick)
if sdl2.SDL_JoystickNumAxes(gamepad_obj) == 4:
# Let's do a test read
sdl2.SDL_PumpEvents()
result = sdl2.SDL_JoystickGetAxis(gamepad_obj, 0)
if result < -30000:
print("Stick {} disconnected".format(stick))
else:
print("Selected stick {}".format(stick))
break
# Gamepad config
gamepad = SIXAXIS.copy() # Copy dict from settings
gamepad['gp_object'] = gamepad_obj
# Robot configuration, bind sticks and buttons to motors
import os
"""
Importing SDL2 in Windows could lead to an ImportError if DLL is not found.
Let's force it to search in the current directory.
"""
if os.name == 'nt':
os.environ['PYSDL2_DLL_PATH'] = os.curdir
import sdl2
import events
def onJoystickMotion(event, world):
print('axis motion')
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
njoysticks = sdl2.SDL_NumJoysticks()
if njoysticks < 1:
raise RuntimeError(f'No joysticks connected!')
print('Joysticks available:')
for i in range(njoysticks):
joy = sdl2.SDL_JoystickOpen(i)
print(f' - {sdl2.SDL_JoystickName(joy).decode()}')
joy = sdl2.SDL_JoystickOpen(0)
def open_joystick(self, id):
self.joy = sdl2.SDL_JoystickOpen(id)
self.check_SDL_Error()
def stamperChildFunction(qTo,
qFrom,
windowSize=[200, 200],
windowPosition=[0, 0],
windowColor=[255, 255, 255],
doBorder=True):
import sdl2
import sdl2.ext
import sys
import time
try:
import appnope
appnope.nope()
except:
pass
sdl2.SDL_Init(sdl2.SDL_INIT_TIMER)
timeFreq = 1.0 / sdl2.SDL_GetPerformanceFrequency()
sdl2.SDL_Init(sdl2.SDL_INIT_VIDEO)
if doBorder:
flags = sdl2.SDL_WINDOW_SHOWN
else:
flags = sdl2.SDL_WINDOW_BORDERLESS | sdl2.SDL_WINDOW_SHOWN
window = sdl2.ext.Window("pyStamper",
size=windowSize,
position=windowPosition,
flags=flags)
windowID = sdl2.SDL_GetWindowID(window.window)
windowSurf = sdl2.SDL_GetWindowSurface(window.window)
red = sdl2.pixels.SDL_Color(r=255, g=0, b=0, a=255)
green = sdl2.pixels.SDL_Color(r=0, g=255, b=0, a=255)
black = sdl2.pixels.SDL_Color(r=0, g=0, b=0, a=255)
white = sdl2.pixels.SDL_Color(r=255, g=255, b=255, a=255)
if doBorder:
sdl2.ext.fill(windowSurf.contents, green)
else:
sdl2.ext.fill(
windowSurf.contents,
sdl2.pixels.SDL_Color(r=windowColor[0],
g=windowColor[1],
b=windowColor[2],
a=255))
window.refresh()
for i in range(10):
sdl2.SDL_PumpEvents() #to show the windows
sdl2.SDL_Init(
sdl2.SDL_INIT_JOYSTICK) #uncomment if you want joystick input
sdl2.SDL_JoystickOpen(0) #uncomment if you want joystick input
lostFocus = True
lostColors = [red, black, red, white]
lastRefreshTime = time.time()
while True:
if lostFocus and doBorder:
if time.time() > (lastRefreshTime + (2.0 / 60)):
sdl2.ext.fill(windowSurf.contents, lostColors[0])
window.refresh()
lostColors.append(lostColors.pop(0))
lastRefreshTime = time.time()
sdl2.SDL_PumpEvents()
if not qTo.empty():
message = qTo.get()
if message == 'quit':
sys.exit()
elif message == 'raise':
sdl2.SDL_RaiseWindow(window.window)
for event in sdl2.ext.get_events():
if event.type == sdl2.SDL_WINDOWEVENT:
if event.window.windowID == windowID:
if (event.window.event == sdl2.SDL_WINDOWEVENT_CLOSE):
qFrom.put({
'type': 'key',
'time': event.window.timestamp * timeFreq,
'value': 'escape'
})
sys.exit()
elif event.window.event == sdl2.SDL_WINDOWEVENT_FOCUS_LOST:
lostFocus = True
elif event.window.event == sdl2.SDL_WINDOWEVENT_FOCUS_GAINED:
lostFocus = False
if doBorder:
sdl2.ext.fill(windowSurf.contents, green)
window.refresh()
else:
message = {}
if event.type == sdl2.SDL_KEYDOWN:
message['type'] = 'key'
message['time'] = event.key.timestamp * timeFreq
message['value'] = sdl2.SDL_GetKeyName(
event.key.keysym.sym).lower()
message['keysym'] = event.key.keysym
qFrom.put(message)
elif event.type == sdl2.SDL_JOYAXISMOTION:
message['type'] = 'axis'
message['axis'] = event.jaxis.axis
message['time'] = event.jaxis.timestamp * timeFreq
message['value'] = event.jaxis.value
qFrom.put(message)
elif event.type == sdl2.SDL_JOYBUTTONDOWN:
message['type'] = 'button'
message['time'] = event.jbutton.timestamp * timeFreq
message['value'] = event.jbutton.button
qFrom.put(message)