mirror of
https://github.com/Sneed-Group/Poodletooth-iLand
synced 2024-12-26 05:02:31 -06:00
68 lines
2 KiB
Python
Executable file
68 lines
2 KiB
Python
Executable file
""" 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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NULL_AXIS = -1
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FAST_X = 0
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FAST_Y = 1
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FAST_Z = 2
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class DirectFastrak(DirectObject):
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fastrakCount = 0
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notify = DirectNotifyGlobal.directNotify.newCategory('DirectFastrak')
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def __init__(self, device = 'Tracker0', 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 = 'Fastrak-' + repr(DirectFastrak.fastrakCount)
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self.deviceNo = DirectFastrak.fastrakCount
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DirectFastrak.fastrakCount += 1
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# Get analogs
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self.device = device
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self.tracker = None
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self.trackerPos = None
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# Spawn update task
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self.updateFunc = self.fastrakUpdate
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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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# Initialize tracker
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self.tracker = base.direct.deviceManager.createTracker(self.device)
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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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self.tempCS.removeNode()
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def updateTask(self, state):
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self.updateFunc()
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return Task.cont
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def fastrakUpdate(self):
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# Get tracker position in feet. Flip x, z axes.
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pos = base.direct.fastrak[self.deviceNo].tracker.getPos()
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self.trackerPos = Vec3(3.280839895013123 * pos[2],
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3.280839895013123 * pos[1],
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3.280839895013123 * pos[0])
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self.notify.debug("Tracker(%d) Pos = %s" % (self.deviceNo, repr(self.trackerPos)))
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