def run():
sdl2.ext.init()
sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
window = sdl2.ext.Window("Controller test", size=(640, 480))
window.show()
running = True
if sdl2.joystick.SDL_NumJoysticks() < 1:
print("No joysticks plugged in")
return 0
joystick = sdl2.SDL_JoystickOpen(0)
print("Name:", sdl2.SDL_JoystickName(joystick))
print("NumAxes", sdl2.SDL_JoystickNumAxes(joystick))
print("Trackballs:", sdl2.SDL_JoystickNumBalls(joystick))
print("Buttons:", sdl2.SDL_JoystickNumButtons(joystick))
print("Hats:", sdl2.SDL_JoystickNumHats(joystick))
print("Haptic?:", sdl2.SDL_JoystickIsHaptic(joystick))
#sdl2.SDL_JoystickClose(joystick)
#return 0
while (running):
events = sdl2.ext.get_events()
for event in events:
if event.type == sdl2.SDL_JOYAXISMOTION:
print("=======================")
for axis in range(sdl2.SDL_JoystickNumAxes(joystick)):
print("Axis: %i, value: %i" %
(axis, sdl2.SDL_JoystickGetAxis(joystick, axis)))
if event.type == sdl2.SDL_JOYBUTTONDOWN:
print("=======================")
for button in range(sdl2.SDL_JoystickNumButtons(joystick)):
print(
"Button: %i, value: %i" %
(button, sdl2.SDL_JoystickGetButton(joystick, button)))
if event.type == sdl2.SDL_JOYHATMOTION:
print("=======================")
for hat in range(sdl2.SDL_JoystickNumHats(joystick)):
print("Hat: %i, value: %i" %
(hat, sdl2.SDL_JoystickGetHat(joystick, hat)))
if event.type == sdl2.SDL_QUIT:
running = False
break
window.refresh()
return 0
def direction(self):
return util.convert_sdl_hat(sdl2.SDL_JoystickGetHat(
self._joystick, self._index)
)
# pro['lt2'] = sdl2.SDL_JoystickGetAxis(js,6)
pro['lt2'] = sdl2.SDL_JoystickGetButton(js,6)
# right trigger axis
# pro['rt2'] = sdl2.SDL_JoystickGetAxis(js,7)
pro['rt2'] = sdl2.SDL_JoystickGetButton(js,7)
# get buttons
pro['Y'] = sdl2.SDL_JoystickGetButton(js,0)
pro['B'] = sdl2.SDL_JoystickGetButton(js,1)
pro['A'] = sdl2.SDL_JoystickGetButton(js,2)
pro['X'] = sdl2.SDL_JoystickGetButton(js,3)
pro['lt1'] = sdl2.SDL_JoystickGetButton(js,4)
pro['rt1'] = sdl2.SDL_JoystickGetButton(js,5)
# use share button as a quit
quit = sdl2.SDL_JoystickGetButton(js,8)
# get hat
pro['hat'] = sdl2.SDL_JoystickGetHat(js,0)
prettyPrintPRO(pro)
if quit == True:
break
time.sleep(0.3)
sdl2.SDL_JoystickClose(js)
print 'Bye ...'
def get(self):
if not self.valid:
return None
js = self.js
sdl2.SDL_JoystickUpdate()
share = sdl2.SDL_JoystickGetButton(js, 8)
if share:
exit(0)
ls = Axis(sdl2.SDL_JoystickGetAxis(js, 0),
sdl2.SDL_JoystickGetAxis(js, 1))
rs = Axis(sdl2.SDL_JoystickGetAxis(js, 2),
sdl2.SDL_JoystickGetAxis(js, 5))
triggers = Trigger(sdl2.SDL_JoystickGetAxis(js, 3),
sdl2.SDL_JoystickGetAxis(js, 4))
shoulder = [
sdl2.SDL_JoystickGetButton(js, 4),
sdl2.SDL_JoystickGetButton(js, 5)
]
stick = [
sdl2.SDL_JoystickGetButton(js, 10),
sdl2.SDL_JoystickGetButton(js, 11)
]
# I seem to have lost sensors
# a = Sensors(
# sdl2.SDL_JoystickGetAxis(js, 6),
# sdl2.SDL_JoystickGetAxis(js, 7),
# sdl2.SDL_JoystickGetAxis(js, 8)
# )
#
# g = Sensors(
# sdl2.SDL_JoystickGetAxis(js, 9),
# sdl2.SDL_JoystickGetAxis(js, 10),
# sdl2.SDL_JoystickGetAxis(js, 11)
# )
b = [
sdl2.SDL_JoystickGetButton(js, 0), # square
sdl2.SDL_JoystickGetButton(js, 3), # triangle
sdl2.SDL_JoystickGetButton(js, 2), # circle
sdl2.SDL_JoystickGetButton(js, 1) # x
]
hat = sdl2.SDL_JoystickGetHat(js, 0)
share = sdl2.SDL_JoystickGetButton(js, 8)
options = sdl2.SDL_JoystickGetButton(js, 9)
ps4 = PS4(ls, rs, triggers, hat, shoulder, stick, b, options, share)
# left axis
# x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
# ps4['leftStick'] = [x, y]
#
# # right axis
# x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
# ps4['rightStick'] = [x, y]
# # other axes
# ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
# ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
#
# # accels
# x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
# z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
# ps4.axes.accels = [x, y, z]
#
# # gyros
# x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
# y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
# z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
# ps4.axes.gyros = [x, y, z]
#
# # get buttons
# ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
# ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
# ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
# ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
# ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
# ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
# ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
# ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
# ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
# ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
# ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
# ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
# ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
# ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
#
# # get hat
# # [up right down left] = [1 2 4 8]
# ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
return ps4
def hat(self, index=0):
return SDL.SDL_JoystickGetHat(self.raw, index)
def read(self, verbose=False):
js = self.js
dt = self.sleep
ps4 = Msg.Joystick()
twist = Msg.Twist()
try:
sdl2.SDL_JoystickUpdate()
# left axis
x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
ps4.axes.leftStick = [x, y]
# right axis
x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
ps4.axes.rightStick = [x, y]
# other axes
ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
# accels
x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
ps4.axes.accels = [x, y, z]
# gyros
x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
ps4.axes.gyros = [x, y, z]
# get buttons
ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
# get hat
# [up right down left] = [1 2 4 8]
ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
#self.pub.pub('js', ps4)
x, y = ps4.axes.rightStick
twist.linear.set(x, y, 0)
x, y = ps4.axes.leftStick
twist.angular.set(x, y, 0)
# verbose = True
if verbose:
print(twist)
if (self.old_twist.angular
== twist.angular) and (self.old_twist.linear
== twist.linear):
# print('js no msg')
pass
else:
self.pub.pub(self.topic, twist)
self.old_twist = twist
# print('js message sent')
time.sleep(dt)
except (IOError, EOFError):
print('[-] Connection gone .... bye')
def run(self, verbose, rate):
js = self.js
dt = 1.0/rate
ps4 = Msg.Joystick()
while True:
try:
sdl2.SDL_JoystickUpdate()
# left axis
x = sdl2.SDL_JoystickGetAxis(js, 0) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 1) / 32768
ps4.axes.leftStick = [x, y]
# right axis
x = sdl2.SDL_JoystickGetAxis(js, 2) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 5) / 32768
ps4.axes.rightStick = [x, y]
# other axes
ps4.axes.L2 = sdl2.SDL_JoystickGetAxis(js, 3) / 32768
ps4.axes.R2 = sdl2.SDL_JoystickGetAxis(js, 4) / 32768
# accels
x = sdl2.SDL_JoystickGetAxis(js, 6) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 7) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 8) / 32768
ps4.axes.accels = [x, y, z]
# gyros
x = sdl2.SDL_JoystickGetAxis(js, 9) / 32768
y = sdl2.SDL_JoystickGetAxis(js, 10) / 32768
z = sdl2.SDL_JoystickGetAxis(js, 11) / 32768
ps4.axes.gyros = [x, y, z]
# get buttons
ps4.buttons.s = sdl2.SDL_JoystickGetButton(js, 0)
ps4.buttons.x = sdl2.SDL_JoystickGetButton(js, 1)
ps4.buttons.o = sdl2.SDL_JoystickGetButton(js, 2)
ps4.buttons.t = sdl2.SDL_JoystickGetButton(js, 3)
ps4.buttons.L1 = sdl2.SDL_JoystickGetButton(js, 4)
ps4.buttons.R1 = sdl2.SDL_JoystickGetButton(js, 5)
ps4.buttons.L2 = sdl2.SDL_JoystickGetButton(js, 6)
ps4.buttons.R2 = sdl2.SDL_JoystickGetButton(js, 7)
ps4.buttons.share = sdl2.SDL_JoystickGetButton(js, 8)
ps4.buttons.options = sdl2.SDL_JoystickGetButton(js, 9)
ps4.buttons.L3 = sdl2.SDL_JoystickGetButton(js, 10)
ps4.buttons.R3 = sdl2.SDL_JoystickGetButton(js, 11)
ps4.buttons.ps = sdl2.SDL_JoystickGetButton(js, 12)
ps4.buttons.pad = sdl2.SDL_JoystickGetButton(js, 13)
# get hat
# [up right down left] = [1 2 4 8]
ps4.buttons.hat = sdl2.SDL_JoystickGetHat(js, 0)
# print('b 12', sdl2.SDL_JoystickGetButton(js, 12))
# print('b 13', sdl2.SDL_JoystickGetButton(js, 13))
if verbose: print(Msg.Joystick.screen(ps4))
self.pub.pub('js', ps4)
time.sleep(dt)
except (IOError, EOFError):
print('[-] Connection gone .... bye')
break
# except Exception as e:
# print('Ooops:', e)
# else:
# raise Exception('Joystick: Something bad happened!')
# clean-up
sdl2.SDL_JoystickClose(js)
print('Bye ...')
for i in range(0, sdl2.SDL_NumJoySticks()):
joy = sdl2.SDL_JoystickOpen(i)
self.joysticks.append(joy)
print("joystick initialized")
"""
joy = sdl2.SDL_JoystickOpen(0)
while True:
sdl2.SDL_PumpEvents()
data = []
for i in range(0, 6):
data.append(int(sdl2.SDL_JoystickGetAxis(joy, i)))
for i in range(0, 11):
data.append(int(sdl2.SDL_JoystickGetButton(joy, i)))
data.append(int(sdl2.SDL_JoystickGetHat(joy, 0)))
msg = json.dumps(data)
jsnode.send("inputs-out", msg)
time.sleep(0.05)
print(data)
# Data array format:
## 16 bit signed ints:
# 0 | right joystick x
# 1 | right joystick y
# 2 | right trigger
# 3 | left joystick x
# 4 | left joystick y
# 5 | left trigger
## 1 bit (0 = unpressed, 1 = pressed)
# 6 | A
def get(self):
if not self.valid:
return None
js = self.js
sdl2.SDL_JoystickUpdate()
ls = Axis(sdl2.SDL_JoystickGetAxis(js, 0),
sdl2.SDL_JoystickGetAxis(js, 1))
rs = Axis(
sdl2.SDL_JoystickGetAxis(js, 3), # 2
sdl2.SDL_JoystickGetAxis(js, 4) # 5
)
triggers = Trigger(
sdl2.SDL_JoystickGetAxis(js, 2), # 3
sdl2.SDL_JoystickGetAxis(js, 5) # 4
)
# shoulder = [
# sdl2.SDL_JoystickGetButton(js, 4),
# sdl2.SDL_JoystickGetButton(js, 5)
# ]
# stick = [
# sdl2.SDL_JoystickGetButton(js, 10),
# sdl2.SDL_JoystickGetButton(js, 11)
# ]
b = (
sdl2.SDL_JoystickGetButton(js, 0), # square
sdl2.SDL_JoystickGetButton(js, 3), # triangle
sdl2.SDL_JoystickGetButton(js, 2), # circle
sdl2.SDL_JoystickGetButton(js, 1) # x
)
# print("6", sdl2.SDL_JoystickGetButton(js, 6)) # left trigger T/F
# print("7", sdl2.SDL_JoystickGetButton(js, 7)) # right trigger T/F
# for n in [10,11,12]:
# print(n, sdl2.SDL_JoystickGetButton(js, n))
#
# b_triggers = (
# sdl2.SDL_JoystickGetButton(js, 6)),
# sdl2.SDL_JoystickGetButton(js, 7)),
# )
ps = sdl2.SDL_JoystickGetButton(js, 10)
lb = (
sdl2.SDL_JoystickGetButton(js, 4), # L1
sdl2.SDL_JoystickGetButton(js, 6), # L2
sdl2.SDL_JoystickGetButton(js, 11) # L3
)
rb = (
sdl2.SDL_JoystickGetButton(js, 5), # R1
sdl2.SDL_JoystickGetButton(js, 7), # R2
sdl2.SDL_JoystickGetButton(js, 12) # R3
)
hat = sdl2.SDL_JoystickGetHat(js, 0)
share = sdl2.SDL_JoystickGetButton(js, 8)
option = sdl2.SDL_JoystickGetButton(js, 9)
# 'leftStick rightStick triggers leftButtons rightButtons hat buttons option share ps'
ps4 = PS4(ls, rs, triggers, lb, rb, hat, b, option, share, ps)
return ps4