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#!/usr/bin/python
# Copyright 2007 Jeff Epler <jepler@unpythonic.net>
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
import linux_event, sys, os, fcntl, hal, select, time, glob, fnmatch, select
from hal import *
def tohalname(s): return str(s).lower().replace("_", "-")
class HalWrapper:
def __init__(self, comp):
self._comp = comp
self._drive = {}
self._pins = set()
self._params = set()
def drive(self):
for k, v in self._drive.items(): setattr(self._comp, k, v)
def newpin(self, *args):
self._pins.add(args[0])
return self._comp.newpin(*args)
def newparam(self, *args):
self._params.add(args[0])
return self._comp.newparam(*args)
def __getitem__(self, k):
if k in self._drive: return self._drive[k]
return self._comp[k]
def __setitem__(self, k, v):
if k in self._params:
self._comp[k] = v; return
if k in self._pins:
self._comp[k] = v; return
raise KeyError, k
self._drive[k] = v
class HalInputDevice:
def __init__(self, comp, idx, name, parts='KRAL'):
self.device = linux_event.InputDevice(name)
self.idx = idx
self.codes = set()
self.last = {}
self.rel_items = []
self.abs_items = []
self.comp = comp
self.parts = parts
if 'K' in parts:
for key in self.device.get_bits('EV_KEY'):
key = tohalname(key)
self.codes.add(key)
comp.newpin("%s.%s" % (idx, key), HAL_BIT, HAL_OUT)
comp.newpin("%s.%s-not" % (idx, key), HAL_BIT, HAL_OUT)
self.set(key + "-not", 1)
if 'R' in parts:
for axis in self.device.get_bits('EV_REL'):
name = tohalname(axis)
self.codes.add(name)
comp.newpin("%s.%s-position" % (idx, name), HAL_FLOAT, HAL_OUT)
comp.newpin("%s.%s-counts" % (idx, name), HAL_S32, HAL_OUT)
comp.newpin("%s.%s-reset" % (idx, name), HAL_BIT, HAL_IN)
comp.newpin("%s.%s-scale" % (idx, name), HAL_FLOAT, HAL_IN)
self.set(name + '-scale', 1.)
self.rel_items.append(name)
if 'A' in parts:
for axis in self.device.get_bits('EV_ABS'):
name = tohalname(axis)
self.codes.add(name)
absinfo = self.device.get_absinfo(axis)
comp.newpin("%s.%s-position" % (idx, name), HAL_FLOAT, HAL_OUT)
comp.newpin("%s.%s-counts" % (idx, name), HAL_S32, HAL_OUT)
comp.newpin("%s.%s-is-pos" % (idx, name), HAL_BIT, HAL_OUT)
comp.newpin("%s.%s-is-neg" % (idx, name), HAL_BIT, HAL_OUT)
comp.newpin("%s.%s-scale" % (idx, name), HAL_FLOAT, HAL_IN)
comp.newpin("%s.%s-offset" % (idx, name), HAL_FLOAT, HAL_IN)
comp.newpin("%s.%s-fuzz" % (idx, name), HAL_S32, HAL_IN)
comp.newpin("%s.%s-flat" % (idx, name), HAL_S32, HAL_IN)
comp.newparam("%s.%s-min" % (idx, name), HAL_S32, HAL_RO)
comp.newparam("%s.%s-max" % (idx, name), HAL_S32, HAL_RO)
center = (absinfo.minimum + absinfo.maximum)/2.
halfrange = (absinfo.maximum - absinfo.minimum)/2. or 1
self.set(name + "-counts", absinfo.value)
self.set(name + "-position",
(absinfo.value - center) / halfrange)
self.set(name + "-scale", halfrange)
self.set(name + "-offset", center)
self.set(name + "-fuzz", absinfo.fuzz)
self.set(name + "-flat", absinfo.flat)
self.set(name + "-min", absinfo.minimum)
self.set(name + "-max", absinfo.maximum)
self.abs_items.append(name)
self.ledmap = {}
if 'L' in parts:
for led in self.device.get_bits('EV_LED'):
name = tohalname(led)
self.ledmap[name] = led
comp.newpin("%s.%s" % (idx, name), HAL_BIT, HAL_IN)
comp.newpin("%s.%s-invert" % (idx, name), HAL_BIT, HAL_IN)
self.last[name] = 0
self.device.write_event('EV_LED', led, 0)
def get(self, name):
name = "%s.%s" % (self.idx, name)
return self.comp[name]
def set(self, name, value):
name = "%s.%s" % (self.idx, name)
self.comp[name] = value
def update(self):
while self.device.readable():
ev = self.device.read_event()
if ev.type == 'EV_SYN': continue
elif ev.type == 'EV_SND': continue
elif ev.type == 'EV_MSC': continue
elif ev.type == 'EV_LED': continue
elif ev.type == 'EV_KEY' and 'K' not in self.parts: continue
elif ev.type == 'EV_REL' and 'R' not in self.parts: continue
elif ev.type == 'EV_ABS' and 'A' not in self.parts: continue
code = tohalname(ev.code)
if code not in self.codes:
print >>sys.stderr, "Unexpected event", ev.type, ev.code
continue
if ev.type == 'EV_KEY':
if ev.value:
self.set(code, 1)
self.set(code + "-not", 0)
else:
self.set(code, 0)
self.set(code + "-not", 1)
elif ev.type == 'EV_REL':
self.set(code + "-counts", self.get(code + "-counts") + ev.value)
elif ev.type == 'EV_ABS':
flat = self.get(code + "-flat")
fuzz = self.get(code + "-fuzz")
center = int(self.get(code + "-offset"))
if ev.value < center-flat or ev.value > center+flat:
value = ev.value
else: value = center
if abs(value - self.get(code + "-counts")) > fuzz:
self.set(code + "-counts", value)
for a in self.abs_items:
value = self.get(a + "-counts")
scale = self.get(a + "-scale") or 1
offset = self.get(a + "-offset")
position = (value - offset) / scale
self.set(a + "-position", position)
# Use .01 because my Joystick isn't exactly zero at rest. maybe should be a parameter?
self.set(a + "-is-neg", (position < -.01) )
self.set(a + "-is-pos", (position > .01) )
for r in self.rel_items:
reset = self.get(r + "-reset")
scale = self.get(r + "-scale") or 1
if reset: self.set(r + "-counts", 0)
self.set(r + "-position", self.get(r + "-counts") / scale)
for k, v in self.last.items():
# Note: this is OK because the hal module always returns True or False for HAL_BIT values
u = self.comp["%s.%s" % (self.idx, k)] != self.comp["%s.%s-invert" % (self.idx, k)]
if u != self.last[k]:
led = self.ledmap[k]
self.device.write_event('EV_LED', led, u)
self.last[k] = u
h = component("hal_input")
w = HalWrapper(h)
h.setprefix("input")
d = []
i = 0
parts = 'KRAL'
for f in sys.argv[1:]:
if f.startswith("-"):
parts = f[1:]
else:
try:
d.append(HalInputDevice(w, i, f, parts))
except LookupError, detail:
raise SystemExit, detail
parts = 'KRAL'
i += 1
w.drive()
h.ready()
fds = [dev.device.fileno() for dev in d]
try:
while 1:
select.select(fds, [], [], .01)
for i in d: i.update()
w.drive()
except KeyboardInterrupt:
pass
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