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 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 __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,
logger: object,
idx: int,
name: str,
ndigit: int = 2) -> None:
"""
Constructor.
Params:
dispatcher: The application event dispatcher.
logger: The application logger.
idx: The index of the controller from 0 to
pygame.joystick.get_count().
name: The controller name.
ndigit: The digit number for the axis precision.
Default: 2.
"""
self._logger = logger.getLogger(f"CTRL_{idx}")
self._idx = idx
self._ndigit = ndigit
self._isCalibrated = False
self._logger.info(f"creating controller {name}")
self._joystick = joystick.Joystick(idx)
self._joystick.init()
filename = f"{name.lower().replace(' ', '_')}.json"
configFilePath = os.path.join(self.CONFIG_ROOT_DIR, filename)
with open(configFilePath) as configFile:
self._config = json.load(configFile)
def set_parameters(self, params):
"""Set joystick and its axes"""
if self.i_j != params.i_j and \
params.i_j < joystick.get_count() and \
params.i_j >= 0:
self.i_j = params.i_j
self.joystick.quit()
self.joystick = joystick.Joystick(self.i_j)
self.joystick.init()
if self.i_x != params.i_x and \
params.i_x < self.joystick.get_numaxes() and \
params.i_x >= 0:
self.i_x = params.i_x
if self.i_y != params.i_y and \
params.i_y < self.joystick.get_numaxes() and \
params.i_y >= 0 and \
params.i_y != self.i_x:
self.i_y = params.i_y
if self.i_x == self.i_y:
if self.i_x + 1 >= self.joystick.get_numaxes():
self.i_y = self.i_x - 1
else:
self.i_y = self.i_x + 1
self.inv_x = params.inv_x
self.inv_y = params.inv_y
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 create_gamepad(device_index):
stick = joystick.Joystick(device_index)
instance = stick.get_instance_id()
if instance in controllers:
print("Duplicate", instance)
return
group = w2d.Group([
scene.layers[0].add_sprite('gamepad_base'), scene.layers[0].add_sprite(
'stick', pos=LSTICK_CENTER), scene.layers[0].add_sprite(
'stick', pos=RSTICK_CENTER), scene.layers[0].add_sprite(
'button', pos=(72, -19)), scene.layers[0].add_sprite(
'button', pos=(89, -36)), scene.layers[0].add_sprite(
'button', pos=(56, -36)),
scene.layers[0].add_sprite('button', pos=(72, -52)),
scene.layers[0].add_label(stick.get_name(),
pos=(0, 80),
color='black',
fontsize=14,
align="center")
],
pos=(midline, len(controllers) * 200 + 100),
scale=0.01)
for button, color in zip(group[3:7], colors):
button.color = darker(color)
button.on_color = color
w2d.animate(group, tween="out_elastic", scale=1.0)
controllers[stick.get_instance_id()] = (stick, group)
def __init__(self):
self.world = b2World(gravity=(0, 0))
for x, y, ex, ey in ( #50x80 field with 4 static objects (walls) TODO add 2; locations are in (cx,cy,w/2,h/2)
(-27.5, 0, .5, 13.5),
(27.5, 0, .5, 13.5),
(0, -14, 27, .5),
(0, 14, 27, .5),
):
body = self.world.CreateStaticBody(
position=(x, y),
shapes=b2PolygonShape(box=(ex, ey)),
) #friction .2
self.robot = self.world.CreateDynamicBody(position=(-20, 0))
box = self.robot.CreatePolygonFixture(
box=(3, 3), density=100, friction=.7
) #TODO use right parameters; 100 kg? 3'x3f; friction does NOTHING for now
self.robot.linearDamping = .7
self.robot.angularDamping = 1.4
self.joy = None
if joystick.get_count() < 1:
print "warning: no joystick"
self.joy = None
else:
self.joy = joystick.Joystick(0)
self.joy.init()
print "joystick", self.joy.get_name()
def on_start(self):
"Initialize joysticks"
self.joystick = []
for x in range(joystick.get_count()):
j = joystick.Joystick(x)
j.init()
if self.test_mode:
print 'Joystick_Input enabled joystick #' + str(x) + \
': ' + j.get_name()
self.joystick.append(j)
if not joystick.get_count():
if self.test_mode:
print 'Joystick_Input: No Joysticks to Initialize'
if self.test_mode:
# create a mini component because we don't want to slow down
# joystick response unless we're in test_mode
class Joystick_Test_Component(Component):
@component_method
def handle_joybuttondown(self, event):
print event
@component_method
def handle_joybuttonup(self, event):
print event
@component_method
def handle_joyaxismotion(self, event):
print event
self.owner.components.add(Joystick_Test_Component())
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 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 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 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__(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 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 __init__(self):
'''
Constructor
'''
pygame.init()
# Initialise all joysticks.
for j in range(0, joystick.get_count()):
stick = joystick.Joystick(j)
stick.init()
# Pre-fill _last_button_state with 0
self._last_button_state = [[
False for b in range(joystick.Joystick(j).get_numbuttons())
] for j in range(joystick.get_count())]
self._last_button_time = [[
0 for b in range(joystick.Joystick(j).get_numbuttons())
] for j in range(joystick.get_count())]
QtCore.QThread.__init__(self)
# Are we exiting the loop?
self._exiting = False
def __init__(self, jnum):
self.jnum = jnum
self.j = joystick.Joystick(jnum)
self.j.init()
if self.j.get_numaxes() == 5:
self.type = "XBOX"
elif self.j.get_numaxes() == 4:
self.type = "PS2"
else:
self.type = "CHEAP"
def app(list_joysticks, list_bluetooth, joy, device):
if list_joysticks:
joystick.init()
print('Joysticks:')
for i in range(joystick.get_count()):
j = joystick.Joystick(i)
print(j.get_id(), j.get_name())
if list_bluetooth:
ble = Adafruit_BluefruitLE.get_provider()
ble.initialize()
ble.run_mainloop_with(lambda: list_bluetooth_devices(ble))
if device is not None:
ble = Adafruit_BluefruitLE.get_provider()
ble.initialize()
ble.run_mainloop_with(lambda: get_device(ble, device))
return
bluetooth = get_device(ble, device)
bluetooth.connect()
atexit.register(bluetooth.disconnect)
UART.discover(bluetooth)
uart = UART(bluetooth)
if joy is not None:
os.environ['SDL_VIDEODRIVER'] = 'dummy'
pygame.init()
joystick.init()
j = joystick.Joystick(joy)
j.init()
print('Axes:', j.get_numaxes())
while True:
pygame.event.get()
for i in range(j.get_numaxes()):
if bluetooth and uart:
uart.write('{}{}\n'.format(i, j.get_axis(i)))
print(' '.join(
[str(j.get_axis(i)) for i in range(j.get_numaxes())]),
end='\r')
time.sleep(0.05)
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 initialize(self, id):
"""Initializes the selected joystick"""
try:
if self.joystick:
self.joystick.quit()
self.joystick_id = id
self.joystick = joystick.Joystick(id)
self.joystick.init()
except:
self.joystick_id = -1
print("Invalid joystick num/ID,", id, "!")
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 readjoythread():
"""Read joystick loop and pass result onto processor"""
global channelsglb, trimglb
output = [0, 0, 0, 0, 0, 0]
trim = [0, 0, 0, 0, 0, 0]
joystick.init()
joystick.Joystick(0).init()
time.sleep(1)
for evt in pygame.event.get():
time.sleep(.02)
for i in range(0, len(JOY_AXIES)):
if JOY_AXIES[i] > -1:
output[JOY_AXIES[i]] = round(joystick.Joystick(0).get_axis(i), 4)
if output[JOY_AXIES[i]] is None:
output[JOY_AXIES[i]] = 0
for chan in JOY_BUTTONS:
output[chan] = -1
channelsglb = output[:]
while RUNNING:
haschanged = False
evt = event.wait()
if evt.type == JOYAXISMOTION:
if evt.axis < len(JOY_AXIES) and JOY_AXIES[evt.axis] > -1:
output[JOY_AXIES[evt.axis]] = round(evt.value, 4)
haschanged = True
if evt.type == JOYHATMOTION:
trim[0] = trim[0] + round((evt.value[0] * .01), 4)
trim[1] = trim[1] + 0 - (round((evt.value[1] * .01), 4))
haschanged = True
elif evt.type == JOYBUTTONUP or evt.type == JOYBUTTONDOWN:
if evt.button < len(JOY_BUTTONS) and JOY_BUTTONS[evt.button] > -1:
output[JOY_BUTTONS[
evt.button]] = -1 if evt.type == JOYBUTTONUP else 1
haschanged = True
if haschanged:
channelsglb = output[:]
trimglb = trim[:]
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 create_players(self):
level = self
player1 = KnightController(level.spawn_pc())
if joystick.get_count() > 0:
self.controllers.append(
JoyController(player1, joystick.Joystick(0)))
else:
self.controllers.append(KeyboardController(player1.update))
self.controllers.append(player1)
if joystick.get_count() > 1:
print("2-player game")
player1.knight.pos.x *= 0.5
player2 = KnightController(level.spawn_pc(color=(0.4, 0.9, 1.1,
1)))
player2.knight.pos.x += player1.pos.x
self.controllers.append(
JoyController(player2, joystick.Joystick(1)))
self.controllers.append(player2)
else:
print("1-player game")
def get_all_gamepads(self):
"""
Finds all connected joysticks
Returns a dictionary with pygame id of joystick as key and name as value
"""
joysticks = {}
for i in range(joystick.get_count()):
stick = joystick.Joystick(i)
stick.init()
joysticks[i] = stick.get_name()
stick.quit()
return joysticks
def __init__(self, jnum):
self.rstick = True
self.jnum = jnum
js[jnum] = joystick.Joystick(jnum)
js[self.jnum].init()
if js[self.jnum].get_numaxes() == 5:
self.type = "XBOX"
elif js[self.jnum].get_numaxes() == 4:
self.type = "PS2"
else:
self.type = "CHEAP"
self.rstick = False
self.binarystick = self.type == "CHEAP"
def _listConnected(cls) -> tuple:
"""
List the connected controller.
Params:
logger: The logger.
Returns:
The list of connected controller.
"""
connected = []
for ctrlrId in range(joystick.get_count()):
ctrlrName = joystick.Joystick(ctrlrId).get_name()
connected.append(ctrlrName)
return tuple(connected)
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 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