class JoystickUpdate(threading.Thread):
'''
classdocs
'''
def setDevice(self, devicePath):
self.devicePath = devicePath
def getJoystick(self):
return self.joy
def run(self):
self.joy = Joystick()
self.joy.init(self.devicePath)
while(1):
#time.sleep(1)
print "Updating Joystick"
self.joy.update()
class RemoteControl:
deadzone = 4000
def __init__(self):
self.udp_client = UDPClient()
self.joystick = Joystick()
self.auto = False
@classmethod
def adapt(cls, value):
if value > cls.deadzone:
return (value - cls.deadzone) * 100.0 / (32768 - cls.deadzone)
elif value < -cls.deadzone:
return (value + cls.deadzone) * 100.0 / (32768 - cls.deadzone)
else:
return 0.0
def update(self):
self.joystick.update()
left_drive = self.adapt(self.joystick.axis.get(1, 0))
right_drive = self.adapt(self.joystick.axis.get(4, 0))
self.auto = (self.auto or self.joystick.button.get(0, False)) and not self.joystick.button.get(1, False)
self.udp_client.write("%.2f,%.2f,%d" % (left_drive, right_drive, self.auto))
prev_dir = -1
prev_speed = -1
while True:
#speed = int(input("speed:"))
#print("speed:", speed)
#dir_input = int(input("direction:"))
#direction = 0
#if dir_input == 1:
# direction = 1
#elif dir_input == 0:
# direction = 0
#print("dir:",direction)
joystick.update()
speed = 0
direction = int(0)
if (joystick.button[0] == True):
data = int(sensor_ser.readline().decode())
print("auto mode!")
print("data", data)
if data < 10:
speed = 0
elif data >= 10:
speed = 255
elif (joystick.button[1] == False):
speed = int(joystick.axis[1])
analogs = [x for x in g.actions if g.actions[x][1] == Joystick.ANALOG]
buttons = [x for x in g.actions if g.actions[x][1] == Joystick.BUTTON]
print("Press ENTER to begin test")
raw_input()
for i in range(3, 0, -1):
print(i)
time.sleep(1)
print("Testing analog actions:")
for a in analogs:
print(a)
for i in range(0, 256, 4):
g.update({a: i})
time.sleep(0.02)
for b in buttons:
print(b)
g.update({b: 1})
time.sleep(0.5)
for b in buttons:
for c in buttons:
if c != b:
print(b + " + " + c)
g.update({b: 1, c: 1})
time.sleep(0.5)
print("Reset")
class Input:
def __init__(self, device: Device) -> None:
self.device = device
self.type = device.type
self.binds: Dict[str, Callable] = dict()
if device.type == "keyboard":
self.keyboard = Keyboard()
for action, how in device.actions.items():
if type(how) is str:
self.keyboard.bind(Input.str_to_key(how), action)
elif type(how) is list and "repeat" in how:
self.keyboard.bind(Input.str_to_key(how[0]), action, True)
else:
raise Exception("invalid binding: {}".format(how))
elif device.type == "joystick":
self.joystick = Joystick(device.joystick)
for action, how in device.actions.items():
invalid = True
if type(how) is int:
self.joystick.bind_button(how, action)
invalid = False
elif type(how) is list:
if (
len(how) >= 3
and type(how[0]) is str
and how[0] == "axis"
):
repeat = "repeat" in how
axis = int(how[1])
direction = 0
if how[2] in ("+", "-"):
if how[2] == "-":
direction = -1
elif how[2] == "+":
direction = 1
invalid = False
self.joystick.bind_axis(
axis, direction, action, repeat
)
if invalid:
raise Exception("invalid binding: {}".format(how))
def bind(self, binds: Dict[str, Callable]) -> None:
self.binds = binds
def update(self) -> List[str]:
if self.type == "dummy":
return []
actions: List[str] = list()
if self.type == "keyboard":
actions = self.keyboard.update()
elif self.type == "joystick":
actions = self.joystick.update()
for action in actions:
if action in self.binds:
self.binds[action]()
return actions
@staticmethod
def str_to_key(key: str) -> int:
keys = {
"esc": pg.K_ESCAPE,
"enter": pg.K_RETURN,
"up": pg.K_UP,
"down": pg.K_DOWN,
"right": pg.K_RIGHT,
"left": pg.K_LEFT,
"x": pg.K_x,
"z": pg.K_z,
"lshift": pg.K_LSHIFT,
"space": pg.K_SPACE,
"c": pg.K_c,
}
if key in keys:
return keys[key]
else:
raise Exception("invalid key: {}".format(key))
