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