def configAnalogInputs(controller):
global G_DEVICE_INFO
print "==========================================="
print "Please move ALL the inputs"
print "==========================================="
print "The order you move them will be mapped into Joy/axes."
print "If you want to finish analog mapping, please type 'q'"
analog_configs = []
while True:
ready = select.select([sys.stdin], [], [], 0.1)[0]
if ready:
line = sys.stdin.readline()
if line.startswith("q"):
print "We installed %d analog inputs" % (len(analog_configs))
G_DEVICE_INFO["analogs"] = analog_configs
return
while controller.poll():
data = controller.read(1)
for elem_set in data:
try:
(command, index, val) = MIDIParse(elem_set)
if (command, index) not in analog_configs:
print "(%d, %d) installing into %d" % (
command, index, len(analog_configs))
analog_configs.append((command, index))
except MIDIException, e:
print "(%d, %d, %d) is not supported" % (
elem_set[0][0], elem_set[0][1], elem_set[0][2])
def main():
global joy
pygame.midi.init()
rospy.init_node('midi_joy')
# parse the arg
argv = rospy.myargv()
if len(argv) == 0:
rospy.logfatal("You need to specify config yaml file")
sys.exit(1)
config_file = argv[1]
joy_pub = rospy.Publisher("/joy", Joy, queue_size=10)
autorepeat_rate = rospy.get_param("~autorepeat_rate", 0)
if autorepeat_rate == 0:
r = rospy.Rate(1000)
else:
r = rospy.Rate(autorepeat_rate)
with open(config_file, "r") as f:
config = yaml.load(f)
# open the device
controller = openMIDIInputByName(config["device_name"])
joy = Joy()
joy.axes = [0.0] * len(config["analogs"])
# automatically mapping to buttons from axes if it has NOTE_OFF or NOTE_ON MIDI commands
button_configs = [
c for c in config["analogs"]
if c[0] == MIDICommand.NOTE_ON or c[0] == MIDICommand.NOTE_OFF
]
if config.has_key("output"):
out_controller = openMIDIOutputByName(config["device_name"])
s = rospy.Subscriber(
"~set_feedback", JoyFeedbackArray,
lambda msg: feedback_array_cb(out_controller, config, msg))
joy.buttons = [0] * len(button_configs)
while not rospy.is_shutdown():
joy.header.stamp = rospy.Time.now()
p = False
while controller.poll():
data = controller.read(1)
for elem_set in data:
p = True
(command, ind, val) = MIDIParse(elem_set)
try:
index = config["analogs"].index((command, ind))
joy.axes[index] = val
if command == MIDICommand.NOTE_ON or command == MIDICommand.NOTE_OFF:
button_index = button_configs.index((command, ind))
if val == 0.0:
joy.buttons[button_index] = 0
else:
joy.buttons[button_index] = 1
except:
rospy.logwarn("unknown MIDI message: (%d, %d, %f)" %
(command, ind, val))
if (autorepeat_rate != 0) or p:
joy_pub.publish(joy)
r.sleep()
def main():
pygame.midi.init()
controller = pygame.midi.Input(int(sys.argv[1]))
while True:
while controller.poll():
data = controller.read(1)
for elem_set in data:
midi_command = elem_set[0][0]
print(elem_set[0], end=' ')
print("(0x%X, 0x%X, 0x%X)" %
(midi_command, elem_set[0][1], elem_set[0][2]),
end=' ')
print(MIDICommand.toStr(MIDICommand.detect(midi_command)))
print(MIDIParse(elem_set))
time.sleep(0.1)