mouse_click.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('world_intersect')
import rospy
from std_msgs.msg import Empty

import Xlib
import Xlib.display
from Xlib.protocol import rq
from Xlib import X
from Xlib.ext import record

class MouseClick:
        def __init__(self):
                #disp = Xlib.display.Display()
                self.disp = Xlib.display.Display(':0')
                self.click_pub = rospy.Publisher('click', Empty)

        def mouse_cb(self, evt):
                data = evt.data
                while len(data):
                        event, data = rq.EventField(None).parse_binary_value(data, self.disp.display, None, None)
                        if event.type == X.ButtonRelease:
                                self.click_pub.publish()        

        def start(self):
                ctx = self.disp.record_create_context(
                        0,
                        [record.AllClients],
                        [{
                                        'core_requests': (0, 0),
                                        'core_replies': (0, 0),
                                        'ext_requests': (0, 0, 0, 0),
                                        'ext_replies': (0, 0, 0, 0),
                                        'delivered_events': (0, 0),
                                        'device_events': (X.ButtonPressMask, X.ButtonReleaseMask),
                                        'errors': (0, 0),
                                        'client_started': False,
                                        'client_died': False,
                }])
                root = self.disp.screen().root
                root.grab_pointer(True, X.ButtonPressMask | X.ButtonReleaseMask, X.GrabModeAsync, X.GrabModeAsync, 0, 0, X.CurrentTime)
                self.disp.record_enable_context(ctx, self.mouse_cb)

if __name__ == '__main__':
        rospy.init_node('mouse_click')
        mc = MouseClick()
        mc.start()