mirror of
https://github.com/Sneed-Group/Poodletooth-iLand
synced 2024-12-27 05:32:41 -06:00
69 lines
2 KiB
Python
69 lines
2 KiB
Python
|
""" Class used to create and control radamec device """
|
||
|
|
from math import *
|
||
|
|
from direct.showbase.DirectObject import DirectObject
|
||
|
|
from DirectDeviceManager import *
|
||
|
|
|
||
|
|
from direct.directnotify import DirectNotifyGlobal
|
||
|
|
|
||
|
|
"""
|
||
|
|
TODO:
|
||
|
|
Handle interaction between widget, followSelectedTask and updateTask
|
||
|
|
"""
|
||
|
|
|
||
|
|
# ANALOGS
|
||
|
|
NULL_AXIS = -1
|
||
|
|
FAST_X = 0
|
||
|
|
FAST_Y = 1
|
||
|
|
FAST_Z = 2
|
||
|
|
|
||
|
|
class DirectFastrak(DirectObject):
|
||
|
|
fastrakCount = 0
|
||
|
|
notify = DirectNotifyGlobal.directNotify.newCategory('DirectFastrak')
|
||
|
|
|
||
|
|
def __init__(self, device = 'Tracker0', nodePath = base.direct.camera):
|
||
|
|
# See if device manager has been initialized
|
||
|
|
if base.direct.deviceManager == None:
|
||
|
|
base.direct.deviceManager = DirectDeviceManager()
|
||
|
|
|
||
|
|
# Set name
|
||
|
|
self.name = 'Fastrak-' + repr(DirectFastrak.fastrakCount)
|
||
|
|
self.deviceNo = DirectFastrak.fastrakCount
|
||
|
|
DirectFastrak.fastrakCount += 1
|
||
|
|
|
||
|
|
# Get analogs
|
||
|
|
self.device = device
|
||
|
|
self.tracker = None
|
||
|
|
self.trackerPos = None
|
||
|
|
|
||
|
|
# Spawn update task
|
||
|
|
self.updateFunc = self.fastrakUpdate
|
||
|
|
self.enable()
|
||
|
|
|
||
|
|
def enable(self):
|
||
|
|
# Kill existing task
|
||
|
|
self.disable()
|
||
|
|
# Initialize tracker
|
||
|
|
self.tracker = base.direct.deviceManager.createTracker(self.device)
|
||
|
|
# Update task
|
||
|
|
taskMgr.add(self.updateTask, self.name + '-updateTask')
|
||
|
|
|
||
|
|
def disable(self):
|
||
|
|
taskMgr.remove(self.name + '-updateTask')
|
||
|
|
|
||
|
|
def destroy(self):
|
||
|
|
self.disable()
|
||
|
|
self.tempCS.removeNode()
|
||
|
|
|
||
|
|
def updateTask(self, state):
|
||
|
|
self.updateFunc()
|
||
|
|
return Task.cont
|
||
|
|
|
||
|
|
def fastrakUpdate(self):
|
||
|
|
# Get tracker position in feet. Flip x, z axes.
|
||
|
|
pos = base.direct.fastrak[self.deviceNo].tracker.getPos()
|
||
|
|
self.trackerPos = Vec3(3.280839895013123 * pos[2],
|
||
|
|
3.280839895013123 * pos[1],
|
||
|
|
3.280839895013123 * pos[0])
|
||
|
|
self.notify.debug("Tracker(%d) Pos = %s" % (self.deviceNo, repr(self.trackerPos)))
|
||
|
|
|