Verison 1.0.3 Release

Based on Buildbotics 0.4.14

src/py/inevent/JogHandler.py

@@ -0,0 +1,153 @@
+################################################################################
+#                                                                              #
+#                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>                  #
+#                                                                              #
+################################################################################
+
+import logging
+
+from inevent.Constants import *
+
+
+log = logging.getLogger('inevent')
+log.setLevel(logging.INFO)
+
+
+def axes_to_string(axes):
+    s = ''
+    for axis in axes:
+        if s: s += ', '
+        else: s = '('
+        s += '{:6.3f}'.format(axis)
+    return s + ')'
+
+
+def event_to_string(event, state):
+    s = '{} {}: '.format(event.get_source(), event.get_type_name())
+
+    if event.type == EV_ABS:
+        s += axes_to_string(state.get_joystick3d()) + ' ' + \
+            axes_to_string(state.get_joystickR3d()) + ' ' + \
+            '({:2.0f}, {:2.0f}) '.format(*state.get_hat())
+
+    if event.type == EV_REL:
+        s += '({:d}, {:d}) '.format(*state.get_mouse()) + \
+            '({:d}, {:d})'.format(*state.get_wheel())
+
+    if event.type == EV_KEY:
+        state = 'pressed' if event.value else 'released'
+        s += '0x{:x} {}'.format(event.code, state)
+
+    return s
+
+
+class JogHandler:
+    def __init__(self, config):
+        self.config = config
+        self.reset()
+
+
+    def changed(self):
+        log.info(axes_to_string(self.axes) + ' x {:d}'.format(self.speed))
+
+
+    def up(self): log.debug('up')
+    def down(self): log.debug('down')
+    def left(self): log.debug('left')
+    def right(self): log.debug('right')
+
+
+    def reset(self):
+        self.axes = [0.0, 0.0, 0.0, 0.0]
+        self.speed = 3
+        self.vertical_lock = 0
+        self.horizontal_lock = 0
+
+
+    def clear(self):
+        self.reset()
+        self.changed()
+
+
+    def get_config(self, name):
+        if name in self.config: return self.config[name]
+        return self.config['default']
+
+
+    def event(self, event, state, dev_name):
+        if event.type not in [EV_ABS, EV_REL, EV_KEY]: return
+
+        config = self.get_config(dev_name)
+        changed = False
+
+        # Process event
+        if event.type == EV_ABS and event.code in config['axes']:
+            pass
+
+        elif event.type == EV_ABS and event.code in config['arrows']:
+            axis = config['arrows'].index(event.code)
+
+            if event.value < 0:
+                if axis == 1: self.up()
+                else: self.left()
+
+            elif 0 < event.value:
+                if axis == 1: self.down()
+                else: self.right()
+
+        elif event.type == EV_KEY and event.code in config['speed']:
+            old_speed = self.speed
+            self.speed = config['speed'].index(event.code) + 1
+            if self.speed != old_speed: changed = True
+
+        elif event.type == EV_KEY and event.code in config['lock']:
+            index = config['lock'].index(event.code)
+
+            self.horizontal_lock, self.vertical_lock = False, False
+
+            if event.value:
+                if index == 0: self.horizontal_lock = True
+                if index == 1: self.vertical_lock = True
+
+        log.debug(event_to_string(event, state))
+
+        # Update axes
+        old_axes = list(self.axes)
+
+        for axis in range(4):
+            self.axes[axis] = event.stream.state.abs[config['axes'][axis]]
+            self.axes[axis] *= config['dir'][axis]
+
+            if abs(self.axes[axis]) < config['deadband']:
+                self.axes[axis] = 0
+
+            if self.horizontal_lock and axis not in [0, 3]:
+                self.axes[axis] = 0
+
+            if self.vertical_lock and axis not in [1, 2]:
+                self.axes[axis] = 0
+
+        if old_axes != self.axes: changed = True
+
+        if changed: self.changed()