class Joystick(object):
def __init__(self):
self.force_scale = rospy.get_param("~force_scale", 600)
self.torque_scale = rospy.get_param("~torque_scale", 500)
self.remote = RemoteControl("joystick", "/wrench/rc")
self.reset()
rospy.Subscriber("joy", Joy, self.joy_recieved)
def reset(self):
'''
Used to reset the state of the controller. Sometimes when it
disconnects then comes back online, the settings are all out of whack.
'''
self.last_raise_kill = False
self.last_clear_kill = False
self.last_station_hold_state = False
self.last_rc_control = False
self.last_emergency_control = False
self.last_keyboard_control = False
self.last_back = False
self.last_auto_control = False
self.thruster_deploy_count = 0
self.thruster_retract_count = 0
self.start_count = 0
self.last_joy = None
self.active = False
self.remote.clear_wrench()
def check_for_timeout(self, joy):
if self.last_joy is None:
self.last_joy = joy
return
if joy.axes == self.last_joy.axes and joy.buttons == self.last_joy.buttons:
# No change in state
if rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(
15 * 60):
# The controller times out after 15 minutes
if self.active:
rospy.logwarn(
"Controller Timed out. Hold start to resume.")
self.reset()
else:
joy.header.stamp = rospy.Time.now(
) # In the sim, stamps weren't working right
self.last_joy = joy
def joy_recieved(self, joy):
self.check_for_timeout(joy)
# Assigns readable names to the buttons that are used
start = joy.buttons[7]
back = joy.buttons[6]
raise_kill = bool(joy.buttons[1]) # B
clear_kill = bool(joy.buttons[2]) # X
station_hold = bool(joy.buttons[0]) # A
rc_control = bool(joy.buttons[11]) # d-pad left
emergency_control = bool(joy.buttons[13]) # d-pad up
keyboard_control = bool(joy.buttons[14]) # d-pad down
auto_control = bool(joy.buttons[12]) # d-pad right
thruster_retract = bool(joy.buttons[4]) # LB
thruster_deploy = bool(joy.buttons[5]) # RB
if back and not self.last_back:
rospy.loginfo('Back pressed. Going inactive')
self.reset()
return
# Reset controller state if only start is pressed down about 1 second
self.start_count += start
if self.start_count > 5:
rospy.loginfo("Resetting controller state")
self.reset()
self.active = True
if not self.active:
self.remote.clear_wrench()
return
if thruster_retract:
self.thruster_retract_count += 1
else:
self.thruster_retract_count = 0
if thruster_deploy:
self.thruster_deploy_count += 1
else:
self.thruster_deploy_count = 0
if self.thruster_retract_count > 10:
self.remote.retract_thrusters()
self.thruster_retract_count = 0
elif self.thruster_deploy_count > 10:
self.remote.deploy_thrusters()
self.thruster_deploy_count = 0
if raise_kill and not self.last_raise_kill:
self.remote.kill()
if clear_kill and not self.last_clear_kill:
self.remote.clear_kill()
if station_hold and not self.last_station_hold_state:
self.remote.station_hold()
if rc_control and not self.last_rc_control:
self.remote.select_rc_control()
if emergency_control and not self.last_emergency_control:
self.remote.select_emergency_control()
if keyboard_control and not self.last_keyboard_control:
self.remote.select_keyboard_control()
if auto_control and not self.last_auto_control:
self.remote.select_autonomous_control()
self.last_back = back
self.last_raise_kill = raise_kill
self.last_clear_kill = clear_kill
self.last_station_hold_state = station_hold
self.last_rc_control = rc_control
self.last_emergency_control = emergency_control
self.last_keyboard_control = keyboard_control
self.last_auto_control = auto_control
# Scale joystick input to force and publish a wrench
x = joy.axes[1] * self.force_scale
y = joy.axes[0] * self.force_scale
rotation = joy.axes[3] * self.torque_scale
self.remote.publish_wrench(x, y, rotation, rospy.Time.now())
class Joystick(object):
def __init__(self):
self.force_scale = rospy.get_param("/joystick_wrench/force_scale", 600)
self.torque_scale = rospy.get_param("/joystick_wrench/torque_scale",
500)
self.remote = RemoteControl("emergency", "/wrench/emergency")
rospy.Subscriber("joy_emergency", Joy, self.joy_recieved)
self.active = False
self.reset()
def reset(self):
'''
Used to reset the state of the controller. Sometimes when it
disconnects then comes back online, the settings are all out of whack.
'''
self.last_raise_kill = False
self.last_clear_kill = False
self.last_station_hold_state = False
self.last_emergency_control = False
self.last_go_inactive = False
self.thruster_deploy_count = 0
self.thruster_retract_count = 0
self.start_count = 0
self.last_joy = None
self.active = False
self.remote.clear_wrench()
def check_for_timeout(self, joy):
if self.last_joy is None:
self.last_joy = joy
return
if joy.axes == self.last_joy.axes and joy.buttons == self.last_joy.buttons:
# No change in state
if rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(
15 * 60):
# The controller times out after 15 minutes
if self.active:
rospy.logwarn(
"Controller Timed out. Hold start to resume.")
self.reset()
else:
joy.header.stamp = rospy.Time.now(
) # In the sim, stamps weren't working right
self.last_joy = joy
def joy_recieved(self, joy):
self.last_time = rospy.Time.now()
self.check_for_timeout(joy)
# Assigns readable names to the buttons that are used
start = joy.buttons[7]
go_inactive = joy.buttons[6]
raise_kill = bool(joy.buttons[1])
clear_kill = bool(joy.buttons[2])
station_hold = bool(joy.buttons[0])
emergency_control = bool(joy.buttons[13])
thruster_retract = bool(joy.buttons[4])
thruster_deploy = bool(joy.buttons[5])
if go_inactive and not self.last_go_inactive:
rospy.loginfo('Go inactive pressed. Going inactive')
self.reset()
return
# Reset controller state if only start is pressed down about 1 seconds
self.start_count += start
if self.start_count > 5:
rospy.loginfo("Resetting controller state")
self.reset()
self.active = True
if not self.active:
return
if thruster_retract:
self.thruster_retract_count += 1
else:
self.thruster_retract_count = 0
if thruster_deploy:
self.thruster_deploy_count += 1
else:
self.thruster_deploy_count = 0
if self.thruster_retract_count > 10:
self.remote.retract_thrusters()
self.thruster_retract_count = 0
elif self.thruster_deploy_count > 10:
self.remote.deploy_thrusters()
self.thruster_deploy_count = 0
if raise_kill and not self.last_raise_kill:
self.remote.kill()
if clear_kill and not self.last_clear_kill:
self.remote.clear_kill()
if station_hold and not self.last_station_hold_state:
self.remote.station_hold()
if emergency_control and not self.last_emergency_control:
self.remote.select_emergency_control()
self.last_raise_go_inactive = go_inactive
self.last_raise_kill = raise_kill
self.last_clear_kill = clear_kill
self.last_station_hold_state = station_hold
self.last_emergency_control = emergency_control
# Scale joystick input to force and publish a wrench
x = joy.axes[1] * self.force_scale
y = joy.axes[0] * self.force_scale
rotation = joy.axes[3] * self.torque_scale
self.remote.publish_wrench(x, y, rotation, joy.header.stamp)
def die_check(self, event):
'''
Publishes zeros after 2 seconds of no update
in case node navigator_emergency_xbee dies
'''
if self.active:
# No new instructions after 2 seconds
if rospy.Time.now() - self.last_time > rospy.Duration(2):
# Zero the wrench, reset
self.reset()
