ps3joysim.py

Go to the documentation of this file.

#!/usr/bin/python
#***********************************************************
#* Software License Agreement (BSD License)
#*
#*  Copyright (c) 2009, Willow Garage, Inc.
#*  All rights reserved.
#*
#*  Redistribution and use in source and binary forms, with or without
#*  modification, are permitted provided that the following conditions
#*  are met:
#*
#*   * Redistributions of source code must retain the above copyright
#*     notice, this list of conditions and the following disclaimer.
#*   * Redistributions in binary form must reproduce the above
#*     copyright notice, this list of conditions and the following
#*     disclaimer in the documentation and/or other materials provided
#*     with the distribution.
#*   * Neither the name of the Willow Garage nor the names of its
#*     contributors may be used to endorse or promote products derived
#*     from this software without specific prior written permission.
#*
#*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
#*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
#*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
#*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
#*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
#*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
#*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
#*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#*  POSSIBILITY OF SUCH DAMAGE.
#***********************************************************
from bluetooth import *
import select
import fcntl
import os
import time
import sys                    
import traceback
import threading
import ps3joy
import socket
import signal

def mk_in_socket():
    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    sock.bind(("127.0.0.1",0))
    sock.listen(1)
    return sock,sock.getsockname()[1]

# Class to spawn the ps3joy.py infrastructure in its own thread
class driversim(threading.Thread):
    def __init__(self, intr, ctrl):
        threading.Thread.__init__(self)
        self.intr = intr
        self.ctrl = ctrl
        self.start()

    def run(self):
        self.cm = ps3joy.connection_manager(ps3joy.decoder())
        self.cm.listen(self.intr, self.ctrl)
        print "driversim exiting"

    def shutdown(self):
        self.cm.shutdown = True
                    
class joysim(threading.Thread):
    def __init__(self, intr, ctrl):
        threading.Thread.__init__(self)
        print "Starting joystick simulator on ports", intr, "and", ctrl
        self.intr = socket.socket()
        self.intr.connect(("127.0.0.1", intr))
        if self.intr == -1:
            raise "Error creating interrput socket."
        self.ctrl = socket.socket()
        self.ctrl.connect(("127.0.0.1", ctrl))
        if self.ctrl == -1:
            raise "Error creating control socket."
        self.active = False
        self.shutdown = False
        self.start()

    def run(self):
        while not self.active and not self.shutdown:
            (rd, wr, err) = select.select([self.ctrl], [], [], 1)
            if len(rd) == 1:
                cmd = self.ctrl.recv(128)
                if cmd == "\x53\xf4\x42\x03\x00\x00":
                    self.active = True
                    print "Got activate command"
                else:
                    print "Got unknown command (len=%i)"%len(cmd),
                    time.sleep(1);
                    for c in cmd:
                        print "%x"%ord(c),
                    print
        print "joyactivate exiting"

    def publishstate(self, ax, butt):
        if self.active:
            ranges = [255] * 17 + [8191] * 20
            axval = [ int((v + 1) * s / 2) for (v,s) in zip(ax, ranges)]
            buttout = []
            for i in range(0,2):
                newval = 0
                for j in range(0,8):
                    newval = (newval << 1)
                    if butt[i * 8 + j]:
                        newval = newval + 1
                buttout.append(newval)
            joy_coding = "!1B2x3B1x4B4x12B15x4H"
            #print buttout, axval
            self.intr.send(struct.pack(joy_coding, 161, *(buttout + [0] + axval)))
        else:
            print "Tried to publish while inactive"

if __name__ == "__main__":
    def stop_all_threads(a, b):
      #ds.shutdown()
      #js.shutdown = True
      #shutdown = True
      exit(0)

    signal.signal(signal.SIGINT, stop_all_threads)

    # Create sockets for the driver side and pass them to the driver
    (intr_in, intr_port) = mk_in_socket()
    (ctrl_in, ctrl_port) = mk_in_socket()

    ds = driversim(intr_in, ctrl_in)
   
    # Give the simulator a chance to get going
    time.sleep(2)
    
    # Call up the simulator telling it which ports to connect to.
    js = joysim(intr_port, ctrl_port)
    buttons1 = [True] * 16
    axes1 = [1, 0, -1, .5] * 5
    buttons2 = [False] * 16
    axes2 = [-1] * 20
    buttons3 = [False] * 16
    axes3 = [0] * 20
    shutdown = False
    while not js.active and not shutdown:
        time.sleep(0.2)
    #js.publishstate(axes2, buttons2)
    time.sleep(0.01)
    #js.publishstate(axes3, buttons3)
    time.sleep(0.01)
    while not shutdown:
        js.publishstate(axes1, buttons2)
        time.sleep(0.01)
        axes1[0] = -axes1[0]
        js.publishstate(axes2, buttons2)
        time.sleep(0.01)
       # js.publishstate(axes3, buttons3)
       # time.sleep(0.01)
    
    print "main exiting"

---

ps3joy
Author(s): Blaise Gassend and pascal@pabr.org
autogenerated on Fri Jan 11 09:34:15 2013