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