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import struct
import os
os.environ['PYGAME_HIDE_SUPPORT_PROMPT'] = "hide" # Disable pygame welcome message
import pygame
import time
class Button:
def __init__(self) -> None:
self.pressed = False
self.on_pressed = False
self.on_released = False
self.data = 0
self.click_count = 0 # 记录连续点击次数
self.last_pressed_time = 0 # 上次按下时间
def __call__(self, data) -> None:
current_time = time.perf_counter()
# print('before',self.data)
self.pressed = (data != 0)
self.on_pressed = self.pressed and self.data == 0
self.on_released = not self.pressed and self.data != 0
# print('after',self.data)
# 处理连续点击
if self.on_pressed:
# print('on_pressed')
# print('on_pressed current_time',current_time)
# print('on_pressed last_pressed_time',self.last_pressed_time)
# print('on_pressed diff',current_time-self.last_pressed_time)
if current_time - self.last_pressed_time <= 0.3: # 0.1 秒以内的连续点击
self.click_count += 1
# print(self.click_count)
else:
self.click_count = 0 # 超过时间间隔，重置计数器
self.last_pressed_time = current_time
self.data = data
def reset_click_count(self):
"""手动重置连续点击计数器"""
self.click_count = 0
class Axis:
def __init__(self) -> None:
self.data = 0.0
self.pressed = False
self.on_pressed = False
self.on_released = False
self.smooth = 0.03
self.deadzone = 0.01
self.threshold = 0.5
def __call__(self, data) -> None:
data_deadzone = 0.0 if math.fabs(data) < self.deadzone else data
new_data = self.data * (1 - self.smooth) + data_deadzone * self.smooth
self.pressed = math.fabs(new_data) > self.threshold
self.on_pressed = self.pressed and math.fabs(self.data) < self.threshold
self.on_released = not self.pressed and math.fabs(self.data) > self.threshold
self.data = new_data
class Joystick:
def __init__(self) -> None:
# Buttons
self.back = Button()
self.start = Button()
# self.LS = Button()
# self.RS = Button()
self.LB = Button()
self.RB = Button()
self.LT = Button()
self.RT = Button()
self.A = Button()
self.B = Button()
self.X = Button()
self.Y = Button()
self.up = Button()
self.down = Button()
self.left = Button()
self.right = Button()
self.F1 = Button()
self.F2 = Button()
# Axes
# self.LT = Axis()
# self.RT = Axis()
self.lx = Axis()
self.ly = Axis()
self.rx = Axis()
self.ry = Axis()
self.last_active_time = time.perf_counter() # 最后一次活动时间
self.inactive_timeout = 0.5 # 超时时间（单位：秒）
def update(self):
"""
Update the current handle key based on the original data
Used to update flag bits such as on_pressed
Examples:
>>> new_A_data = 1
>>> self.A( new_A_data )
"""
pass
def extract(self, wireless_remote):
"""
Extract data from unitree_joystick
wireless_remote: uint8_t[40]
"""
# Buttons
button1 = [int(data) for data in f'{wireless_remote[2]:08b}']
button2 = [int(data) for data in f'{wireless_remote[3]:08b}']
self.LT(button1[2])
self.RT(button1[3])
self.back(button1[4])
self.start(button1[5])
self.LB(button1[6])
self.RB(button1[7])
self.left(button2[0])
self.down(button2[1])
self.right(button2[2])
self.up(button2[3])
self.Y(button2[4])
self.X(button2[5])
self.B(button2[6])
self.A(button2[7])
# Axes
self.lx( struct.unpack('f', bytes(wireless_remote[4:8]))[0] )
self.rx( struct.unpack('f', bytes(wireless_remote[8:12]))[0] )
self.ry( struct.unpack('f', bytes(wireless_remote[12:16]))[0] )
self.ly( struct.unpack('f', bytes(wireless_remote[20:24]))[0] )
# 检查是否有按键按下
if any([
self.LT.pressed, self.RT.pressed, self.back.pressed, self.start.pressed,
self.LB.pressed, self.RB.pressed, self.left.pressed, self.down.pressed,
self.right.pressed, self.up.pressed, self.Y.pressed, self.X.pressed,
self.B.pressed, self.A.pressed
]):
self.last_active_time = time.perf_counter() # 更新最后一次活动时间
elif time.perf_counter() - self.last_active_time > self.inactive_timeout:
# 超过设定的超时时间未按下任何键，重置所有按键的点击计数
self.reset_all_click_counts()
self.last_active_time = time.perf_counter() # 重置最后活动时间
def reset_all_click_counts(self):
"""重置所有按键的连续点击计数器"""
for button in [
self.LT, self.RT, self.back, self.start, self.LB, self.RB,
self.left, self.down, self.right, self.up, self.Y, self.X, self.B, self.A
]:
button.reset_click_count()
def combine(self):
"""
Merge data from Joystick to wireless_remote
"""
# prepare an empty list
wireless_remote = [0 for _ in range(40)]
# Buttons
wireless_remote[2] = int(''.join([f'{key}' for key in [
0, 0, round(self.LT.data), round(self.RT.data),
self.back.data, self.start.data, self.LB.data, self.RB.data,
]]), 2)
wireless_remote[3] = int(''.join([f'{key}' for key in [
self.left.data, self.down.data, self.right.data,
self.up.data, self.Y.data, self.X.data, self.B.data, self.A.data,
]]), 2)
# Axes
sticks = [self.lx.data, self.rx.data, self.ry.data, self.ly.data]
packs = list(map(lambda x: struct.pack('f', x), sticks))
wireless_remote[4:8] = packs[0]
wireless_remote[8:12] = packs[1]
wireless_remote[12:16] = packs[2]
wireless_remote[20:24] = packs[3]
return wireless_remote
class PyGameJoystick(Joystick):
def __init__(self) -> None:
super().__init__()
pygame.init()
pygame.joystick.init()
if pygame.joystick.get_count() <= 0:
raise Exception("No joystick found!")
self._joystick = pygame.joystick.Joystick(0)
self._joystick.init()
def print(self):
print("\naxes: ")
for i in range(self._joystick.get_numaxes()):
print(self._joystick.get_axis(i), end=" ")
print("\nbuttons: ")
for i in range(self._joystick.get_numbuttons()):
print(self._joystick.get_button(i), end=" ")
print("\nhats: ")
for i in range(self._joystick.get_numhats()):
print(self._joystick.get_hat(i), end=" ")
print("\nballs: ")
for i in range(self._joystick.get_numballs()):
print(self._joystick.get_ball(i), end=" ")
print("\n")
class LogicJoystick(PyGameJoystick):
""" Logic F710 """
def __init__(self) -> None:
super().__init__()
def update(self):
pygame.event.pump()
self.back(self._joystick.get_button(6))
self.start(self._joystick.get_button(7))
self.LS(self._joystick.get_button(9))
self.RS(self._joystick.get_button(10))
self.LB(self._joystick.get_button(4))
self.RB(self._joystick.get_button(5))
self.A(self._joystick.get_button(0))
self.B(self._joystick.get_button(1))
self.X(self._joystick.get_button(2))
self.Y(self._joystick.get_button(3))
self.LT((self._joystick.get_axis(2) + 1)/2)
self.RT((self._joystick.get_axis(5) + 1)/2)
self.rx(self._joystick.get_axis(3))
self.ry(-self._joystick.get_axis(4))
# Logitech controller has 2 modes
# mode 1: light down
self.up(1 if self._joystick.get_hat(0)[1] > 0.5 else 0)
self.down(1 if self._joystick.get_hat(0)[1] < -0.5 else 0)
self.left(1 if self._joystick.get_hat(0)[0] < -0.5 else 0)
self.right(1 if self._joystick.get_hat(0)[0] > 0.5 else 0)
self.lx(self._joystick.get_axis(0))
self.ly(-self._joystick.get_axis(1))
# mode 2: light up
# self.up(1 if self._joystick.get_axis(1) < -0.5 else 0)
# self.down(1 if self._joystick.get_axis(0) > 0.5 else 0)
# self.left(1 if self._joystick.get_axis(0) < -0.5 else 0)
# self.right(1 if self._joystick.get_axis(0) > 0.5 else 0)
# self.lx(self._joystick.get_hat(0)[1])
# self.ly(self._joystick.get_hat(0)[1])
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