69 lines
1.8 KiB
Python
Executable File
69 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python
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# This process publishes joystick events. Such events can be suscribed by
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# mocked car controller scripts.
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### this process needs pygame and can't run on the EON ###
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import pygame
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import zmq
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import cereal.messaging as messaging
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def joystick_thread():
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joystick_sock = messaging.pub_sock('testJoystick')
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pygame.init()
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# Used to manage how fast the screen updates
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clock = pygame.time.Clock()
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# Initialize the joysticks
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pygame.joystick.init()
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# Get count of joysticks
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joystick_count = pygame.joystick.get_count()
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if joystick_count > 1:
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raise ValueError("More than one joystick attached")
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elif joystick_count < 1:
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raise ValueError("No joystick found")
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# -------- Main Program Loop -----------
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while True:
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# EVENT PROCESSING STEP
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for event in pygame.event.get(): # User did something
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if event.type == pygame.QUIT: # If user clicked close
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pass
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# Available joystick events: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTION
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if event.type == pygame.JOYBUTTONDOWN:
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print("Joystick button pressed.")
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if event.type == pygame.JOYBUTTONUP:
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print("Joystick button released.")
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joystick = pygame.joystick.Joystick(0)
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joystick.init()
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# Usually axis run in pairs, up/down for one, and left/right for
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# the other.
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axes = []
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buttons = []
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for a in range(joystick.get_numaxes()):
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axes.append(joystick.get_axis(a))
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for b in range(joystick.get_numbuttons()):
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buttons.append(bool(joystick.get_button(b)))
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dat = messaging.new_message()
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dat.init('testJoystick')
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dat.testJoystick.axes = axes
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dat.testJoystick.buttons = buttons
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joystick_sock.send(dat.to_bytes())
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# Limit to 100 frames per second
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clock.tick(100)
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if __name__ == "__main__":
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joystick_thread()
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