mirror of
https://github.com/Sneed-Group/Poodletooth-iLand
synced 2024-12-29 06:32:40 -06:00
84 lines
2.9 KiB
Python
84 lines
2.9 KiB
Python
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""" Class used to create and control radamec device """
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from math import *
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from direct.showbase.DirectObject import DirectObject
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from DirectDeviceManager import *
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from direct.directnotify import DirectNotifyGlobal
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"""
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TODO:
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Handle interaction between widget, followSelectedTask and updateTask
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"""
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# ANALOGS
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RAD_PAN = 0
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RAD_TILT = 1
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RAD_ZOOM = 2
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RAD_FOCUS = 3
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class DirectRadamec(DirectObject):
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radamecCount = 0
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notify = DirectNotifyGlobal.directNotify.newCategory('DirectRadamec')
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def __init__(self, device = 'Analog0', nodePath = base.direct.camera):
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# See if device manager has been initialized
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if base.direct.deviceManager == None:
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base.direct.deviceManager = DirectDeviceManager()
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# Set name
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self.name = 'Radamec-' + repr(DirectRadamec.radamecCount)
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DirectRadamec.radamecCount += 1
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# Get analogs
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self.device = device
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self.analogs = base.direct.deviceManager.createAnalogs(self.device)
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self.numAnalogs = len(self.analogs)
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self.aList = [0, 0, 0, 0, 0, 0, 0, 0]
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# Radamec device max/mins
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# Note: These values change quite often, i.e. everytime
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# you unplug the radamec cords, or jostle them too
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# much. For best results, re-record these values often.
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self.minRange = [-180.0, -90, 522517.0, 494762.0]
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self.maxRange = [180.0, 90, 547074.0, 533984.0]
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# Spawn update task
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self.enable()
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def enable(self):
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# Kill existing task
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self.disable()
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# Update task
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taskMgr.add(self.updateTask, self.name + '-updateTask')
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def disable(self):
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taskMgr.remove(self.name + '-updateTask')
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def destroy(self):
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self.disable()
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def updateTask(self, state):
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# Update analogs
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for i in range(len(self.analogs)):
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self.aList[i] = self.analogs.getControlState(i)
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return Task.cont
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def radamecDebug(self):
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panVal = self.normalizeChannel(RAD_PAN, -180, 180)
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tiltVal = self.normalizeChannel(RAD_TILT, -90, 90)
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self.notify.debug("PAN = %s" % self.aList[RAD_PAN])
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self.notify.debug("TILT = %s" % self.aList[RAD_TILT])
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self.notify.debug("ZOOM = %s" % self.aList[RAD_ZOOM])
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self.notify.debug("FOCUS = %s" % self.aList[RAD_FOCUS])
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self.notify.debug("Normalized: panVal: %s tiltVal: %s" % (panVal, tiltVal))
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# Normalize to the range [-minVal, maxVal] based on some hard-coded
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# max/min numbers of the Radamec device
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def normalizeChannel(self, chan, minVal = -1, maxVal = 1):
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try:
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maxRange = self.maxRange[chan]
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minRange = self.minRange[chan]
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except IndexError:
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raise RuntimeError, "can't normalize this channel (chanel %d)" % chan
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range = maxRange - minRange
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clampedVal = CLAMP(self.aList[chan], minRange, maxRange)
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return ((maxVal - minVal) * (clampedVal - minRange) / range) + minVal
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