def _handle_video_mouse_move(self, pos, orig_button):
"""User is moving mouse in the window while the button is down
(for performance, these events are not sent when button is up)
@p pos - current mouse position
@p orig_button - button from the click event
This function is rate-limited.
"""
if not self._mouse_click_info:
self.logger.debug('Ignoring spurious mouse move')
return
# How much we moved (in screen coordinates) -- so the range is
# (-0.5..0.5) for each axis.
delta_screen = add_pair(pos, self._mouse_click_info[0], -1.0)
# Convert to new servo position by multiplying by arbitrary factor
new_pos = add_pair(self._mouse_click_info[1], delta_screen,
25.0)
if False:
self.logger.debug(
'Moving turret to (%+.1f, %+.1f) deg in response '
'to mouse move at (%+.4f, %+.4f)',
new_pos[0], new_pos[1], delta_screen[0], delta_screen[1])
self.control_dict['turret'] = new_pos
self._send_control()
def _handle_video_mouse_move(self, pos, orig_button):
"""User is moving mouse in the window while the button is down
(for performance, these events are not sent when button is up)
@p pos - current mouse position
@p orig_button - button from the click event
This function is rate-limited.
"""
if not self._mouse_click_info:
self.logger.debug('Ignoring spurious mouse move')
return
# How much we moved (in screen coordinates) -- so the range is
# (-0.5..0.5) for each axis.
delta_screen = add_pair(pos, self._mouse_click_info[0], -1.0)
# Convert to new servo position by multiplying by arbitrary factor
new_pos = add_pair(self._mouse_click_info[1], delta_screen, 25.0)
if False:
self.logger.debug(
'Moving turret to (%+.1f, %+.1f) deg in response '
'to mouse move at (%+.4f, %+.4f)', new_pos[0], new_pos[1],
delta_screen[0], delta_screen[1])
self.control_dict['turret'] = new_pos
self._send_control()
def _handle_key_press(self, base_name, modifiers):
arrows = self._ARROW_KEYS.get(base_name)
if arrows:
base_name = 'Arrows'
name = modifiers + base_name
speed = self.ui_state['speed']
if name in self._GAIT_KEYS:
dx, dy, dr = self._GAIT_KEYS[name]
gait = RIPPLE_COMMAND.copy()
gait['translate_x_mm_s'] = dx * 0.7 * speed
gait['translate_y_mm_s'] = dy * 1.0 * speed
gait['rotate_deg_s'] = dr * 0.3 * speed
self.control_dict['gait'] = gait
self.key_gait_active = True
elif name in self._Z_KEYS:
dz = self._Z_KEYS[name]
self._add_z(dz)
elif name in ['g']:
change = self._MAX_Z_VALUE - self._MIN_Z_VALUE
if RIPPLE_COMMAND['body_z_mm'] == self._MIN_Z_VALUE:
self._add_z(change)
else:
self._add_z(-change)
elif name in self._SPEED_KEYS:
dspeed = self._SPEED_KEYS[name]
self.ui_state['speed'] += dspeed
self.ui_state['speed'] = max(
self._MIN_SPEED_VALUE,
min(self._MAX_SPEED_VALUE, self.ui_state['speed']))
elif name in ['h', 'S-question']:
self._print_help()
elif name == 'l':
self.control_dict['laser_on'] ^= 1
self.logger.info('Laser set to %d',
self.control_dict['laser_on'])
elif name in ['m', 'S-M']:
val = self.control_dict['agitator_mode']
if name == 'm' and val != 1:
val, val_str = 1, 'auto'
elif name == 'S-M' and val != 2:
val, val_str = 2, 'force-on'
else:
val, val_str = 0, 'off'
self.control_dict['agitator_mode'] = val
self.logger.info('Agitator mode to %s(%d) (pwm %.3f)',
val_str, val,
self.control_dict['agitator_pwm'])
elif name == 'S-G':
self.control_dict['green_led_on'] ^= 1
self.logger.info('Green LED set to %d',
self.control_dict['green_led_on'])
elif name in ['Return']:
self._prepare_fire_command(FCMD.now1)
elif name == 'c':
self.control_dict['turret'] = (0.0, 0.0)
self.logger.info('Centered turret')
elif name in ['C-Arrows', 'C-S-Arrows']:
# Ctrl + arrows to move reticle center
step = 1.0 if ('S-' in modifiers) else 0.25
self.ui_state['reticle_offset'] = add_pair(
self.ui_state['reticle_offset'], arrows, step)
self.logger.info('Reticle center offset: %.3f, %.3f' %
self.ui_state['reticle_offset'])
elif name == 'C-r':
self.ui_state['reticle_offset'] = (0, 0)
self.logger.info('Zeroed out reticle center offset')
elif name in ['Arrows', 'S-Arrows']:
# Move turret
step = 5.0 if ('S-' in modifiers) else 0.5
if self.control_dict.get('turret') is None:
self.logger.warn('Cannot move turret -- center it first')
else:
self.control_dict['turret'] = new = add_pair(
self.control_dict['turret'], arrows, step)
self.logger.debug('Moving turret to (%+.1f, %+.1f) deg '
'in response to keys',
new[0], new[1])
elif name == 'C-S-M-Arrows':
# Method will do its own logging
step = 0.25
self.c_cal.tweak_fixups(arrows[0] * step, arrows[1] * step)
elif name == 't':
newmode = (self.ui_state['reticle_mode'] + 1) % 3
self.ui_state['reticle_mode'] = newmode
self.logger.info('Set reticle_mode=%r', newmode)
elif name == 'KP_Add':
self.ui_state['msg_font_size'] += 1
elif name == 'KP_Subtract':
self.ui_state['msg_font_size'] = max(
4, self.ui_state['msg_font_size'] - 1)
elif name in ['S-parenleft', 'S-parenright', 'S-asterisk']:
newval = max(
0,
self.ui_state['fire_duration'] +
(-0.05 if name == 'S-parenleft' else
0.05 if name == 'S-parenright' else 0))
self.ui_state['fire_duration'] = newval
self.logger.info('Fire duration set to %.2f sec', newval)
elif name == 'Escape':
if self.osd_logsaver and self.osd_logsaver.data:
numlines = len(self.osd_logsaver.data)
self.logger.info('Cleared on-screen display (%d lines)',
numlines)
self._log_event('cli-log-osd-cleared', numlines=numlines)
del self.osd_logsaver.data[:]
else:
self.ui_state['status_on'] ^= True
self.logger.debug('Set status_on=%r',
self.ui_state['status_on'])
elif name in self._FIRE_COMMANDS:
self.ui_state['autofire_mode'] = newval = self._FIRE_COMMANDS[name]
self.logger.info('Right-button autofire mode %d', newval)
if newval == FCMD.off:
# Halt firing immediately when autofire is disabled
self.control_dict['fire_cmd'] = None
elif base_name in ['Shift_R', 'Shift_L',
'Control_R', 'Control_L',
'Alt_R', 'Alt_L']:
# Ignore modifiers
pass
else:
self.logger.debug('Unknown key %r' % name)
self._state_updated()
self._send_control()
def _handle_key_press(self, base_name, modifiers):
arrows = self._ARROW_KEYS.get(base_name)
if arrows:
base_name = 'Arrows'
name = modifiers + base_name
speed = self.ui_state['speed']
if name in self._GAIT_KEYS:
dx, dy, dr = self._GAIT_KEYS[name]
gait = RIPPLE_COMMAND.copy()
gait['translate_x_mm_s'] = dx * 0.7 * speed
gait['translate_y_mm_s'] = dy * 1.0 * speed
gait['rotate_deg_s'] = dr * 0.3 * speed
self.control_dict['gait'] = gait
self.key_gait_active = True
elif name in self._Z_KEYS:
dz = self._Z_KEYS[name]
self._add_z(dz)
elif name in ['g']:
change = self._MAX_Z_VALUE - self._MIN_Z_VALUE
if RIPPLE_COMMAND['body_z_mm'] == self._MIN_Z_VALUE:
self._add_z(change)
else:
self._add_z(-change)
elif name in self._SPEED_KEYS:
dspeed = self._SPEED_KEYS[name]
self.ui_state['speed'] += dspeed
self.ui_state['speed'] = max(
self._MIN_SPEED_VALUE,
min(self._MAX_SPEED_VALUE, self.ui_state['speed']))
elif name in ['h', 'S-question']:
self._print_help()
elif name == 'l':
self.control_dict['laser_on'] ^= 1
self.logger.info('Laser set to %d', self.control_dict['laser_on'])
elif name in ['m', 'S-M']:
val = self.control_dict['agitator_mode']
if name == 'm' and val != 1:
val, val_str = 1, 'auto'
elif name == 'S-M' and val != 2:
val, val_str = 2, 'force-on'
else:
val, val_str = 0, 'off'
self.control_dict['agitator_mode'] = val
self.logger.info('Agitator mode to %s(%d) (pwm %.3f)', val_str,
val, self.control_dict['agitator_pwm'])
elif name == 'S-G':
self.control_dict['green_led_on'] ^= 1
self.logger.info('Green LED set to %d',
self.control_dict['green_led_on'])
elif name in ['Return']:
self._prepare_fire_command(FCMD.now1)
elif name == 'c':
self.control_dict['turret'] = (0.0, 0.0)
self.logger.info('Centered turret')
elif name in ['C-Arrows', 'C-S-Arrows']:
# Ctrl + arrows to move reticle center
step = 1.0 if ('S-' in modifiers) else 0.25
self.ui_state['reticle_offset'] = add_pair(
self.ui_state['reticle_offset'], arrows, step)
self.logger.info('Reticle center offset: %.3f, %.3f' %
self.ui_state['reticle_offset'])
elif name == 'C-r':
self.ui_state['reticle_offset'] = (0, 0)
self.logger.info('Zeroed out reticle center offset')
elif name in ['Arrows', 'S-Arrows']:
# Move turret
step = 5.0 if ('S-' in modifiers) else 0.5
if self.control_dict.get('turret') is None:
self.logger.warn('Cannot move turret -- center it first')
else:
self.control_dict['turret'] = new = add_pair(
self.control_dict['turret'], arrows, step)
self.logger.debug(
'Moving turret to (%+.1f, %+.1f) deg '
'in response to keys', new[0], new[1])
elif name == 'C-S-M-Arrows':
# Method will do its own logging
step = 0.25
self.c_cal.tweak_fixups(arrows[0] * step, arrows[1] * step)
elif name == 't':
newmode = (self.ui_state['reticle_mode'] + 1) % 3
self.ui_state['reticle_mode'] = newmode
self.logger.info('Set reticle_mode=%r', newmode)
elif name == 'KP_Add':
self.ui_state['msg_font_size'] += 1
elif name == 'KP_Subtract':
self.ui_state['msg_font_size'] = max(
4, self.ui_state['msg_font_size'] - 1)
elif name in ['S-parenleft', 'S-parenright', 'S-asterisk']:
newval = max(
0, self.ui_state['fire_duration'] +
(-0.05 if name == 'S-parenleft' else
0.05 if name == 'S-parenright' else 0))
self.ui_state['fire_duration'] = newval
self.logger.info('Fire duration set to %.2f sec', newval)
elif name == 'Escape':
if self.osd_logsaver and self.osd_logsaver.data:
numlines = len(self.osd_logsaver.data)
self.logger.info('Cleared on-screen display (%d lines)',
numlines)
self._log_event('cli-log-osd-cleared', numlines=numlines)
del self.osd_logsaver.data[:]
else:
self.ui_state['status_on'] ^= True
self.logger.debug('Set status_on=%r',
self.ui_state['status_on'])
elif name in self._FIRE_COMMANDS:
self.ui_state['autofire_mode'] = newval = self._FIRE_COMMANDS[name]
self.logger.info('Right-button autofire mode %d', newval)
if newval == FCMD.off:
# Halt firing immediately when autofire is disabled
self.control_dict['fire_cmd'] = None
elif base_name in [
'Shift_R', 'Shift_L', 'Control_R', 'Control_L', 'Alt_R',
'Alt_L'
]:
# Ignore modifiers
pass
else:
self.logger.debug('Unknown key %r' % name)
self._state_updated()
self._send_control()
