Verison 1.0.3 Release

Based on Buildbotics 0.4.14

src/py/inevent/AbsAxisScaling.py

@@ -0,0 +1,106 @@
+################################################################################
+#                                                                              #
+#                This file is part of the Buildbotics firmware.                #
+#                                                                              #
+#                  Copyright (c) 2015 - 2018, Buildbotics LLC                  #
+#                             All rights reserved.                             #
+#                                                                              #
+#     This file ("the software") is free software: you can redistribute it     #
+#     and/or modify it under the terms of the GNU General Public License,      #
+#      version 2 as published by the Free Software Foundation. You should      #
+#      have received a copy of the GNU General Public License, version 2       #
+#     along with the software. If not, see <http://www.gnu.org/licenses/>.     #
+#                                                                              #
+#     The software is distributed in the hope that it will be useful, but      #
+#          WITHOUT ANY WARRANTY; without even the implied warranty of          #
+#      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU       #
+#               Lesser General Public License for more details.                #
+#                                                                              #
+#       You should have received a copy of the GNU Lesser General Public       #
+#                License along with the software.  If not, see                 #
+#                       <http://www.gnu.org/licenses/>.                        #
+#                                                                              #
+#                For information regarding this software email:                #
+#                  "Joseph Coffland" <joseph@buildbotics.com>                  #
+#                                                                              #
+################################################################################
+
+# The inevent Python module was adapted from pi3d.event from the pi3d
+# project.
+#
+# Copyright (c) 2016, Joseph Coffland, Cauldron Development LLC.
+# Copyright (c) 2015, Tim Skillman.
+# Copyright (c) 2015, Paddy Gaunt.
+# Copyright (c) 2015, Tom Ritchford.
+#
+# Permission is hereby granted, free of charge, to any person
+# obtaining a copy of this software and associated documentation files
+# (the "Software"), to deal in the Software without restriction,
+# including without limitation the rights to use, copy, modify, merge,
+# publish, distribute, sublicense, and/or sell copies of the Software,
+# and to permit persons to whom the Software is furnished to do so,
+# subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+# BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+# ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+import array
+import fcntl
+import struct
+from inevent import ioctl
+
+
+def EVIOCGABS(axis):
+  return ioctl._IOR(ord('E'), 0x40 + axis, "ffffff") # get abs value/limits
+
+
+
+class AbsAxisScaling(object):
+  """
+  Fetches and implements the EV_ABS axis scaling.
+
+  The constructor fetches the scaling values from the given stream for the
+  given axis using an ioctl.
+
+  There is a scale method, which scales a given value to the range -1..+1.
+  """
+
+  def __init__(self, stream, axis):
+    """
+    Fetch the scale values for this stream and fill in the instance
+    variables accordingly.
+    """
+    s = array.array("i", [1, 2, 3, 4, 5, 6])
+    try:
+      fcntl.ioctl(stream.filehandle, EVIOCGABS(axis), s)
+
+    except IOError:
+      self.value = self.minimum = self.maximum = self.fuzz = self.flat = \
+          self.resolution = 1
+
+    else:
+      self.value, self.minimum, self.maximum, self.fuzz, self.flat, \
+          self.resolution = struct.unpack("iiiiii", s)
+
+
+  def __str__(self):
+    return "Value {0} Min {1}, Max {2}, Fuzz {3}, Flat {4}, Res {5}".format(
+      self.value, self.minimum, self.maximum, self.fuzz, self.flat,
+      self.resolution)
+
+
+  def scale(self, value):
+    """
+    scales the given value into the range -1..+1
+    """
+    return (float(value) - float(self.minimum)) / \
+        float(self.maximum - self.minimum) * 2.0 - 1.0