Python JoystickReader.available_devices方法代码示例

# 需要导入模块: from cfclient.utils.input import JoystickReader [as 别名]
# 或者: from cfclient.utils.input.JoystickReader import available_devices [as 别名]

#.........这里部分代码省略.........
            item.dockToolbox = dockToolbox
            item.menuItem = item
            dockToolbox.dockToolbox = dockToolbox
            dockToolbox.menuItem = item

        # Load and connect tabs
        self.tabsMenuItem.setMenu(QtGui.QMenu())
        tabItems = {}
        self.loadedTabs = []
        for tabClass in cfclient.ui.tabs.available:
            tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
            item = QtGui.QAction(tab.getMenuName(), self)
            item.setCheckable(True)
            item.toggled.connect(tab.toggleVisibility)
            self.tabsMenuItem.menu().addAction(item)
            tabItems[tab.getTabName()] = item
            self.loadedTabs.append(tab)
            if not tab.enabled:
                item.setEnabled(False)

        # First instantiate all tabs and then open them in the correct order
        try:
            for tName in Config().get("open_tabs").split(","):
                t = tabItems[tName]
                if (t is not None and t.isEnabled()):
                    # Toggle though menu so it's also marked as open there
                    t.toggle()
        except Exception as e:
            logger.warning("Exception while opening tabs [{}]".format(e))

        # References to all the device sub-menus in the "Input device" menu
        self._all_role_menus = ()
        # Used to filter what new devices to add default mapping to
        self._available_devices = ()
        # Keep track of mux nodes so we can enable according to how many
        # devices we have
        self._all_mux_nodes = ()

        # Check which Input muxes are available
        self._mux_group = QActionGroup(self._menu_inputdevice, exclusive=True)
        for m in self.joystickReader.available_mux():
            node = QAction(m.name,
                           self._menu_inputdevice,
                           checkable=True,
                           enabled=False)
            node.toggled.connect(self._mux_selected)
            self._mux_group.addAction(node)
            self._menu_inputdevice.addAction(node)
            self._all_mux_nodes += (node,)
            mux_subnodes = ()
            for name in m.supported_roles():
                sub_node = QMenu("    {}".format(name),
                                 self._menu_inputdevice,
                                 enabled=False)
                self._menu_inputdevice.addMenu(sub_node)
                mux_subnodes += (sub_node,)
                self._all_role_menus += ({"muxmenu": node,
                                          "rolemenu": sub_node},)
            node.setData((m, mux_subnodes))

        self._mapping_support = True

    def interfaceChanged(self, interface):
        if interface == INTERFACE_PROMPT_TEXT:
            self._selected_interface = None
        else:

# 需要导入模块: from cfclient.utils.input import JoystickReader [as 别名]
# 或者: from cfclient.utils.input.JoystickReader import available_devices [as 别名]

#.........这里部分代码省略.........
            self._menu_cf1_config.setEnabled(False)
        if newState == UIState.CONNECTING:
            s = "Connecting to {} ...".format(linkURI)
            self.setWindowTitle(s)
            self.menuItemConnect.setText("Cancel")
            self.connectButton.setText("Cancel")
            self.quickConnectButton.setEnabled(False)
            self.menuItemBootloader.setEnabled(False)
            self.menuItemQuickConnect.setEnabled(False)

    @pyqtSlot(bool)
    def toggleToolbox(self, display):
        menuItem = self.sender().menuItem
        dockToolbox = self.sender().dockToolbox

        if display and not dockToolbox.isVisible():
            dockToolbox.widget().enable()
            self.addDockWidget(dockToolbox.widget().preferedDockArea(),
                               dockToolbox)
            dockToolbox.show()
        elif not display:
            dockToolbox.widget().disable()
            self.removeDockWidget(dockToolbox)
            dockToolbox.hide()
            menuItem.setChecked(False)

    def _rescan_devices(self):
        self._statusbar_label.setText("No inputdevice connected!")
        self._menu_devices.clear()
        self._active_device = ""
        self.joystickReader.stop_input()
        for c in self._menu_mappings.actions():
            c.setEnabled(False)
        devs = self.joystickReader.available_devices()
        if (len(devs) > 0):
            self.device_discovery(devs)

    def _show_input_device_config_dialog(self):
        self.inputConfig = InputConfigDialogue(self.joystickReader)
        self.inputConfig.show()
        
    def _auto_reconnect_changed(self, checked):
        self._auto_reconnect_enabled = checked 
        Config().set("auto_reconnect", checked)
        logger.info("Auto reconnect enabled: {}".format(checked))

    def _show_connect_dialog(self):
        self.logConfigDialogue.show()

    def _update_vbatt(self, timestamp, data, logconf):
        self.batteryBar.setValue(int(data["pm.vbat"] * 1000))

    def _connected(self, linkURI):
        self._update_ui_state(UIState.CONNECTED, linkURI)

        Config().set("link_uri", str(linkURI))

        lg = LogConfig("Battery", 1000)
        lg.add_variable("pm.vbat", "float")
        try:
            self.cf.log.add_config(lg)
            lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        except KeyError as e:
            logger.warning(str(e))

# 需要导入模块: from cfclient.utils.input import JoystickReader [as 别名]
# 或者: from cfclient.utils.input.JoystickReader import available_devices [as 别名]
class HeadlessClient():
    """Crazyflie headless client"""

    def __init__(self):
        """Initialize the headless client and libraries"""
        cflib.crtp.init_drivers()

        self._jr = JoystickReader(do_device_discovery=False)

        self._cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
                             rw_cache=sys.path[1] + "/cache")

        signal.signal(signal.SIGINT, signal.SIG_DFL)

        self._devs = []

        for d in self._jr.available_devices():
            self._devs.append(d.name)

    def setup_controller(self, input_config, input_device=0, xmode=False):
        """Set up the device reader"""
        # Set up the joystick reader
        self._jr.device_error.add_callback(self._input_dev_error)
        print("Client side X-mode: %s" % xmode)
        if (xmode):
            self._cf.commander.set_client_xmode(xmode)

        devs = self._jr.available_devices()
        print("Will use [%s] for input" % self._devs[input_device])
        self._jr.start_input(self._devs[input_device])
        self._jr.set_input_map(self._devs[input_device], input_config)

    def controller_connected(self):
        """ Return True if a controller is connected"""
        return True if (len(self._jr.available_devices()) > 0) else False

    def list_controllers(self):
        """List the available controllers and input mapping"""
        print("\nAvailable controllers:")
        for i, dev in enumerate(self._devs):
            print(" - Controller #{}: {}".format(i, dev))
        print("\nAvailable input mapping:")
        for map in os.listdir(sys.path[1] + '/input'):
            print(" - " + map.split(".json")[0])

    def connect_crazyflie(self, link_uri):
        """Connect to a Crazyflie on the given link uri"""
        self._cf.connection_failed.add_callback(self._connection_failed)
        # 2014-11-25 chad: Add a callback for when we have a good connection.
        self._cf.connected.add_callback(self._connected)
        self._cf.param.add_update_callback(
            group="imu_sensors", name="HMC5883L", cb=(
                lambda name, found: self._jr.set_alt_hold_available(
                    eval(found))))
        self._jr.althold_updated.add_callback(
            lambda enabled: self._cf.param.set_value("flightmode.althold",
                                                     enabled))

        self._cf.open_link(link_uri)
        self._jr.input_updated.add_callback(self._cf.commander.send_setpoint)

    def _connected(self, link):
        """Callback for a successful Crazyflie connection."""
        print("Connected to {}".format(link))

    def _connection_failed(self, link, message):
        """Callback for a failed Crazyflie connection"""
        print("Connection failed on {}: {}".format(link, message))
        sys.exit(-1)

    def _input_dev_error(self, message):
        """Callback for an input device error"""
        print("Error when reading device: {}".format(message))
        sys.exit(-1)