mirror of
https://github.com/Sneed-Group/Poodletooth-iLand
synced 2024-12-26 05:02:31 -06:00
312 lines
9.8 KiB
Python
312 lines
9.8 KiB
Python
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""" Class used to create and control vrpn devices """
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from direct.showbase.DirectObject import DirectObject
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from pandac.PandaModules import *
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ANALOG_MIN = -0.95
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ANALOG_MAX = 0.95
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ANALOG_DEADBAND = 0.125
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ANALOG_CENTER = 0.0
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try:
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myBase = base
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except:
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myBase = simbase
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class DirectDeviceManager(VrpnClient, DirectObject):
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def __init__(self, server = None):
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# Determine which server to use
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if server != None:
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# One given as constructor argument
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self.server = server
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else:
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# Check config file, if that fails, use default
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self.server = myBase.config.GetString('vrpn-server', 'spacedyne')
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# Create a vrpn client
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VrpnClient.__init__(self, self.server)
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def createButtons(self, device):
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return DirectButtons(self, device)
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def createAnalogs(self, device):
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return DirectAnalogs(self, device)
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def createTracker(self, device):
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return DirectTracker(self, device)
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def createDials(self, device):
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return DirectDials(self, device)
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def createTimecodeReader(self, device):
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return DirectTimecodeReader(self, device)
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class DirectButtons(ButtonNode, DirectObject):
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buttonCount = 0
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def __init__(self, vrpnClient, device):
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# Keep track of number of buttons created
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DirectButtons.buttonCount += 1
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# Create a unique name for this button object
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self.name = 'DirectButtons-' + repr(DirectButtons.buttonCount)
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# Create a new button node for the given device
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ButtonNode.__init__(self, vrpnClient, device)
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# Attach node to data graph
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self.nodePath = myBase.dataRoot.attachNewNode(self)
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def __getitem__(self, index):
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if (index < 0) or (index >= self.getNumButtons()):
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raise IndexError
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return self.getButtonState(index)
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def __len__(self):
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return self.getNumButtons()
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def enable(self):
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self.nodePath.reparentTo(myBase.dataRoot)
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def disable(self):
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self.nodePath.reparentTo(myBase.dataUnused)
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def getName(self):
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return self.name
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def getNodePath(self):
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return self.nodePath
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def __repr__(self):
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str = self.name + ': '
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for val in self:
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str = str + '%d' % val + ' '
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return str
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class DirectAnalogs(AnalogNode, DirectObject):
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analogCount = 0
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def __init__(self, vrpnClient, device):
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# Keep track of number of analogs created
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DirectAnalogs.analogCount += 1
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# Create a unique name for this analog object
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self.name = 'DirectAnalogs-' + repr(DirectAnalogs.analogCount)
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# Create a new analog node for the given device
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AnalogNode.__init__(self, vrpnClient, device)
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# Attach node to data graph
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self.nodePath = myBase.dataRoot.attachNewNode(self)
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# See if any of the general analog parameters are dconfig'd
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self.analogDeadband = myBase.config.GetFloat('vrpn-analog-deadband',
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ANALOG_DEADBAND)
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self.analogMin = myBase.config.GetFloat('vrpn-analog-min',
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ANALOG_MIN)
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self.analogMax = myBase.config.GetFloat('vrpn-analog-max',
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ANALOG_MAX)
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self.analogCenter = myBase.config.GetFloat('vrpn-analog-center',
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ANALOG_CENTER)
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self.analogRange = self.analogMax - self.analogMin
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def __getitem__(self, index):
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if (index < 0) or (index >= self.getNumControls()):
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raise IndexError
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return self.getControlState(index)
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def __len__(self):
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return self.getNumControls()
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def enable(self):
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self.nodePath.reparentTo(myBase.dataRoot)
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def disable(self):
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self.nodePath.reparentTo(myBase.dataUnused)
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def normalizeWithoutCentering(self, val, minVal = -1, maxVal = 1):
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#
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# This is the old code that doesn't incorporate the centering fix
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#
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# First record sign
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if val < 0:
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sign = -1
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else:
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sign = 1
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# Zero out values in deadband
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val = sign * max(abs(val) - self.analogDeadband, 0.0)
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# Clamp value between analog range min and max and scale about center
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val = min(max(val, self.analogMin), self.analogMax)
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# Normalize values to given minVal and maxVal range
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return (((maxVal - minVal) *
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((val - self.analogMin) / float(self.analogRange))) + minVal)
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def normalize(self, rawValue, minVal = -1, maxVal = 1, sf = 1.0):
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aMax = self.analogMax
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aMin = self.analogMin
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center = self.analogCenter
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deadband = self.analogDeadband
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range = self.analogRange
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# Zero out values in deadband
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if (abs(rawValue-center) <= deadband):
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return 0.0
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# Clamp value between aMin and aMax and scale around center
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if (rawValue >= center):
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# Convert positive values to range 0 to 1
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val = min(rawValue * sf, aMax)
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percentVal = ((val - (center + deadband))/
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float(aMax - (center + deadband)))
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else:
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# Convert negative values to range -1 to 0
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val = max(rawValue * sf, aMin)
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percentVal = -((val - (center - deadband))/
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float(aMin - (center - deadband)))
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# Normalize values to given minVal and maxVal range
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return (((maxVal - minVal) * ((percentVal + 1)/2.0)) + minVal)
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def normalizeChannel(self, chan, minVal = -1, maxVal = 1, sf = 1.0):
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try:
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return self.normalize(self[chan], minVal, maxVal, sfx)
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except IndexError:
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return 0.0
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def getName(self):
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return self.name
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def getNodePath(self):
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return self.nodePath
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def __repr__(self):
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str = self.name + ': '
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for val in self:
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str = str + '%.3f' % val + ' '
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return str
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class DirectTracker(TrackerNode, DirectObject):
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trackerCount = 0
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def __init__(self, vrpnClient, device):
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# Keep track of number of trackers created
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DirectTracker.trackerCount += 1
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# Create a unique name for this tracker object
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self.name = 'DirectTracker-' + repr(DirectTracker.trackerCount)
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# Create a new tracker node for the given device
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TrackerNode.__init__(self, vrpnClient, device)
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# Attach node to data graph
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self.nodePath = myBase.dataRoot.attachNewNode(self)
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def enable(self):
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self.nodePath.reparentTo(myBase.dataRoot)
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def disable(self):
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self.nodePath.reparentTo(myBase.dataUnused)
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def getName(self):
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return self.name
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def getNodePath(self):
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return self.nodePath
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def __repr__(self):
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return self.name
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class DirectDials(DialNode, DirectObject):
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dialCount = 0
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def __init__(self, vrpnClient, device):
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# Keep track of number of dials created
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DirectDials.dialCount += 1
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# Create a unique name for this dial object
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self.name = 'DirectDials-' + repr(DirectDials.dialCount)
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# Create a new dial node for the given device
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DialNode.__init__(self, vrpnClient, device)
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# Attach node to data graph
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self.nodePath = myBase.dataRoot.attachNewNode(self)
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def __getitem__(self, index):
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"""
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if (index < 0) or (index >= self.getNumDials()):
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raise IndexError
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"""
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return self.readDial(index)
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def __len__(self):
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return self.getNumDials()
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def enable(self):
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self.nodePath.reparentTo(myBase.dataRoot)
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def disable(self):
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self.nodePath.reparentTo(myBase.dataUnused)
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def getName(self):
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return self.name
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def getNodePath(self):
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return self.nodePath
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def __repr__(self):
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str = self.name + ': '
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for i in range(self.getNumDials()):
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str = str + '%.3f' % self[i] + ' '
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return str
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class DirectTimecodeReader(AnalogNode, DirectObject):
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timecodeReaderCount = 0
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def __init__(self, vrpnClient, device):
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# Keep track of number of timecodeReader created
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DirectTimecodeReader.timecodeReaderCount += 1
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# Create a unique name for this dial object
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self.name = ('DirectTimecodeReader-' +
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repr(DirectTimecodeReader.timecodeReaderCount))
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# Initialize components of timecode
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self.frames = 0
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self.seconds = 0
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self.minutes = 0
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self.hours = 0
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# Create a new dial node for the given device
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AnalogNode.__init__(self, vrpnClient, device)
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# Attach node to data graph
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self.nodePath = myBase.dataRoot.attachNewNode(self)
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def enable(self):
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self.nodePath.reparentTo(myBase.dataRoot)
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def disable(self):
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self.nodePath.reparentTo(myBase.dataUnused)
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def getName(self):
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return self.name
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def getNodePath(self):
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return self.nodePath
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def getTime(self):
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# Assume only one card, use channel 0
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timeBits = int(self.getControlState(0))
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self.frames = ((timeBits & 0xF) +
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(((timeBits & 0xF0) >> 4) * 10))
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self.seconds = (((timeBits & 0x0F00) >> 8) +
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(((timeBits & 0xF000) >> 12) * 10))
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self.minutes = (((timeBits & 0x0F0000) >> 16) +
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(((timeBits & 0xF00000) >> 20) * 10))
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self.hours = (((timeBits & 0xF000000) >> 24) +
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(((timeBits & 0xF0000000) >> 28) * 10))
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self.totalSeconds = ((self.hours * 3600) +
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(self.minutes * 60) +
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self.seconds +
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(self.frames / 30.0))
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return (self.hours, self.minutes, self.seconds, self.frames,
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self.totalSeconds)
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def __repr__(self):
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str = ('%s: %d:%d:%d:%d' % ((self.name,) + self.getTime()[:-1]))
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return str
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