import pygame
from threading import Thread
from queue import Queue
import time
import numpy as np
from mini_bdx_runtime.buttons import Buttons
X_RANGE = [-0.15, 0.15]
Y_RANGE = [-0.2, 0.2]
YAW_RANGE = [-1.0, 1.0]
# rads
NECK_PITCH_RANGE = [-0.34, 1.1]
HEAD_PITCH_RANGE = [-0.78, 0.3]
HEAD_YAW_RANGE = [-0.5, 0.5]
HEAD_ROLL_RANGE = [-0.5, 0.5]
class XBoxController:
def __init__(self, command_freq, only_head_control=False):
self.command_freq = command_freq
self.head_control_mode = only_head_control
self.only_head_control = only_head_control
self.last_commands = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.last_left_trigger = 0.0
self.last_right_trigger = 0.0
pygame.init()
self.p1 = pygame.joystick.Joystick(0)
self.p1.init()
print(f"Loaded joystick with {self.p1.get_numaxes()} axes.")
self.cmd_queue = Queue(maxsize=1)
self.A_pressed = False
self.B_pressed = False
self.X_pressed = False
self.Y_pressed = False
self.LB_pressed = False
self.RB_pressed = False
self.buttons = Buttons()
Thread(target=self.commands_worker, daemon=True).start()
def commands_worker(self):
while True:
self.cmd_queue.put(self.get_commands())
time.sleep(1 / self.command_freq)
def get_commands(self):
last_commands = self.last_commands
left_trigger = self.last_left_trigger
right_trigger = self.last_right_trigger
l_x = -1 * self.p1.get_axis(0)
l_y = -1 * self.p1.get_axis(1)
r_x = -1 * self.p1.get_axis(2)
r_y = -1 * self.p1.get_axis(3)
right_trigger = np.around((self.p1.get_axis(4) + 1) / 2, 3)
left_trigger = np.around((self.p1.get_axis(5) + 1) / 2, 3)
if left_trigger < 0.1:
left_trigger = 0
if right_trigger < 0.1:
right_trigger = 0
if not self.head_control_mode:
lin_vel_y = l_x
lin_vel_x = l_y
ang_vel = r_x
if lin_vel_x >= 0:
lin_vel_x *= np.abs(X_RANGE[1])
else:
lin_vel_x *= np.abs(X_RANGE[0])
if lin_vel_y >= 0:
lin_vel_y *= np.abs(Y_RANGE[1])
else:
lin_vel_y *= np.abs(Y_RANGE[0])
if ang_vel >= 0:
ang_vel *= np.abs(YAW_RANGE[1])
else:
ang_vel *= np.abs(YAW_RANGE[0])
last_commands[0] = lin_vel_x
last_commands[1] = lin_vel_y
last_commands[2] = ang_vel
else:
last_commands[0] = 0.0
last_commands[1] = 0.0
last_commands[2] = 0.0
last_commands[3] = 0.0 # neck pitch 0 for now
head_yaw = l_x
head_pitch = l_y
head_roll = r_x
if head_yaw >= 0:
head_yaw *= np.abs(HEAD_YAW_RANGE[0])
else:
head_yaw *= np.abs(HEAD_YAW_RANGE[1])
if head_pitch >= 0:
head_pitch *= np.abs(HEAD_PITCH_RANGE[0])
else:
head_pitch *= np.abs(HEAD_PITCH_RANGE[1])
if head_roll >= 0:
head_roll *= np.abs(HEAD_ROLL_RANGE[0])
else:
head_roll *= np.abs(HEAD_ROLL_RANGE[1])
last_commands[4] = head_pitch
last_commands[5] = head_yaw
last_commands[6] = head_roll
for event in pygame.event.get():
if event.type == pygame.JOYBUTTONDOWN:
if self.p1.get_button(0): # A button
self.A_pressed = True
if self.p1.get_button(1): # B button
self.B_pressed = True
if self.p1.get_button(3): # X button
self.X_pressed = True
if self.p1.get_button(4): # Y button
self.Y_pressed = True
if not self.only_head_control:
self.head_control_mode = not self.head_control_mode
if self.p1.get_button(6): # LB button
self.LB_pressed = True
if self.p1.get_button(7): # RB button
self.RB_pressed = True
if event.type == pygame.JOYBUTTONUP:
self.A_pressed = False
self.B_pressed = False
self.X_pressed = False
self.Y_pressed = False
self.LB_pressed = False
self.RB_pressed = False
# for i in range(10):
# if self.p1.get_button(i):
# print(f"Button {i} pressed")
up_down = self.p1.get_hat(0)[1]
pygame.event.pump() # process event queue
return (
np.around(last_commands, 3),
self.A_pressed,
self.B_pressed,
self.X_pressed,
self.Y_pressed,
self.LB_pressed,
self.RB_pressed,
left_trigger,
right_trigger,
up_down,
)
def get_last_command(self):
A_pressed = False
B_pressed = False
X_pressed = False
Y_pressed = False
LB_pressed = False
RB_pressed = False
up_down = 0
try:
(
self.last_commands,
A_pressed,
B_pressed,
X_pressed,
Y_pressed,
LB_pressed,
RB_pressed,
self.last_left_trigger,
self.last_right_trigger,
up_down,
) = self.cmd_queue.get(
False
) # non blocking
except Exception:
pass
self.buttons.update(
A_pressed,
B_pressed,
X_pressed,
Y_pressed,
LB_pressed,
RB_pressed,
up_down == 1,
up_down == -1,
)
return (
self.last_commands,
self.buttons,
self.last_left_trigger,
self.last_right_trigger,
)
if __name__ == "__main__":
controller = XBoxController(20)
while True:
print(controller.get_last_command())
time.sleep(0.05)
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本文详细解析了ADI BF561 DSP处理器的启动过程，重点介绍了_real_start函数中涉及的寄存器配置与栈指针初始化等内容。
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