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jetson_gamepad_control.py
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jetson_gamepad_control.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Mon Apr 22 23:14:59 2019
@author: tom
"""
import asyncio
from evdev import InputDevice #, ff, ecodes
class xbox_one():
def __init__(self, file = '/dev/input/event0'):
#self.event_value = 0
self.power_on = True
self.device_file = InputDevice(file)
self.joystick_left_y = 0 # values are mapped to [-1 ... 1]
self.joystick_left_x = 0 # values are mapped to [-1 ... 1]
self.joystick_right_x = 0 # values are mapped to [-1 ... 1]
self.trigger_right = 0 # values are mapped to [0 ... 1]
self.trigger_left = 0 # values are mapped to [0 ... 1]
self.button_x = False
self.button_y = False
self.button_b = False
self.button_a = False
self.rumble_effect = 0
self.effect1_id = 0 # light rumble, played continuously
self.effect2_id = 0 # strong rumble, played once
#self.load_effects()
# def load_effects(self):
# #effect 1, light rumble
# rumble = ff.Rumble(strong_magnitude=0x0000, weak_magnitude=0x500)
# duration_ms = 300
# effect = ff.Effect(ecodes.FF_RUMBLE, -1, 0, ff.Trigger(0, 0), ff.Replay(duration_ms, 0), ff.EffectType(ff_rumble_effect=rumble))
# self.effect1_id = self.device_file.upload_effect(effect)
# # effect 2, strong rumble
# rumble = ff.Rumble(strong_magnitude=0xc000, weak_magnitude=0x0000)
# duration_ms = 200
# effect = ff.Effect(ecodes.FF_RUMBLE, -1, 0, ff.Trigger(0, 0), ff.Replay(duration_ms, 0), ff.EffectType(ff_rumble_effect=rumble))
# self.effect2_id = self.device_file.upload_effect(effect)
async def read_gamepad_input(self): # asyncronus read-out of events
max_abs_joystick_left_x = 0xFFFF/2
uncertainty_joystick_left_x = 2500
max_abs_joystick_left_y = 0xFFFF/2
uncertainty_joystick_left_y = 2500
max_abs_joystick_right_x = 0xFFFF/2
uncertainty_joystick_right_x = 2000
max_trigger = 1023
async for event in self.device_file.async_read_loop():
if not(self.power_on): #stop reading device when power_on = false
break
if event.type == 3: # type is analog trigger or joystick
if event.code == 1: # left joystick y-axis
if -event.value > uncertainty_joystick_left_y:
self.joystick_left_y = (-event.value - uncertainty_joystick_left_y) / (max_abs_joystick_left_y - uncertainty_joystick_left_y + 1)
elif -event.value < -uncertainty_joystick_left_y:
self.joystick_left_y = (-event.value + uncertainty_joystick_left_y) / (max_abs_joystick_left_y - uncertainty_joystick_left_y + 1)
else:
self.joystick_left_y = 0
elif event.code == 0: # left joystick x-axis
if event.value > uncertainty_joystick_left_x:
self.joystick_left_x = (event.value - uncertainty_joystick_left_x) / (max_abs_joystick_left_x - uncertainty_joystick_left_x + 1)
elif event.value < -uncertainty_joystick_left_x:
self.joystick_left_x = (event.value + uncertainty_joystick_left_x) / (max_abs_joystick_left_x - uncertainty_joystick_left_x + 1)
else:
self.joystick_left_x = 0
elif event.code == 3: # right joystick x-axis
if event.value > uncertainty_joystick_right_x:
self.joystick_right_x = (event.value - uncertainty_joystick_right_x) / (max_abs_joystick_right_x - uncertainty_joystick_right_x + 1)
elif event.value < -uncertainty_joystick_right_x:
self.joystick_right_x = (event.value + uncertainty_joystick_right_x) / (max_abs_joystick_right_x - uncertainty_joystick_right_x + 1)
else:
self.joystick_right_x = 0
elif event.code == 5: # right trigger
self.trigger_right = event.value / max_trigger
elif event.code == 2: # left trigger
self.trigger_left = event.value / max_trigger
if (event.type == 1): # type is button
if event.code == 307: # button "X" pressed ?
self.button_x = True
if event.code == 308: # button "Y" pressed ?
if event.value == 1:
self.button_y = True
if event.code == 305: # button "B" pressed ?
if event.value == 1:
self.button_b = True
if event.code == 304: # button "A" pressed ?
if event.value == 1:
self.button_a = True
# async def rumble(self): # asyncronus control of force feed back effects
# repeat_count = 1
# while self.power_on:
# if self.rumble_effect == 1:
# self.device_file.write(ecodes.EV_FF, self.effect1_id, repeat_count)
# elif self.rumble_effect == 2:
# self.device_file.write(ecodes.EV_FF, self.effect2_id, repeat_count)
# self.rumble_effect = 0 # turn of effect in order to play effect2 only once
# await asyncio.sleep(0.2)
# def erase_rumble(self):
# self.device_file.erase_effect(self.effect1_id)
if __name__ == "__main__":
async def main():
while True:
print("trigger_right = ", remote_control.trigger_right, " joystick_left_x = ", remote_control.joystick_left_x, "\r")
# if remote_control.button_y: # turn on light rumble effect
# remote_control.button_y = False
# remote_control.rumble_effect = 1
# if remote_control.button_b: # play once strong rumble effect
# remote_control.button_b = False
# remote_control.rumble_effect = 2
if remote_control.button_x: # stop the script
remote_control.power_on = False
#remote_control.erase_rumble()
break
await asyncio.sleep(0)
remote_control = xbox_one(file = '/dev/input/event2')
futures = [remote_control.read_gamepad_input(), main()] #remote_control.rumble(), main()]
loop = asyncio.get_event_loop()
loop.run_until_complete(asyncio.wait(futures))
loop.close()