Merge pull request #318 from toppers/develop

Added controller config and fixed debug code
toppers · Sep 7, 2024 · 8cf32bc · 8cf32bc
2 parents 8d4e726 + f70615c
commit 8cf32bc
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Showing 4 changed files with 102 additions and 40 deletions.
diff --git a/demo/demo.bash b/demo/demo.bash
@@ -85,6 +85,7 @@ function activate_vreal()
 function adjust_initial_pos()
 {
  CONFIG_PATH=`pwd`/demo/xr_config.json
+ cp ${CONFIG_PATH} ${HAKONIWA_VREAL_PATH}/ar-demo/
  AR_DEVICE_IPADDR=`jq -r '.server_url' ${CONFIG_PATH} | awk -F: '{print $1}'`
  CURR_DIR=`pwd`
  cd $HAKONIWA_VREAL_PATH
@@ -128,17 +129,16 @@ sleep 1
 
 activate_vreal
 
-sleep 1
-
-echo "Pleaser Enter key after clicking START button..."
-read
+sleep 5
+hako-cmd start
 
-sleep 1
 if [ ${ACT_MODE} = "ar-demo" ]
 then
+ sleep 1
  echo "START ADJUST INITIAL POSITION"
  adjust_initial_pos
 else
+ sleep 1
  echo "START CAMERA"
  camera_control
 fi
@@ -147,12 +147,5 @@ sleep 1
 echo "START RADIO CONTROL"
 radio_control
 
-echo "START"
-while true; do
- echo "Press ENTER to stop..."
- read input
- if [ -z "$input" ]; then
- kill_process
- break
- fi
-done
+kill_process
+
diff --git a/demo/xr_config.json b/demo/xr_config.json
@@ -2,9 +2,9 @@
  "server_url": "192.168.2.101:54002",
  "client_url": "192.168.2.100:54001",
  "position": [
- -1.0900000000000003,
- 0.99,
- 1.1
+ 0.5,
+ 0.5,
+ 0
  ],
  "rotation": [
  0,

diff --git a/drone_api/sample/rc_config/Nintendo-ProControl-lnx.json b/drone_api/sample/rc_config/Nintendo-ProControl-lnx.json
@@ -0,0 +1,82 @@
+{
+ "Os": [ "Darwin" ],
+ "mode": 2,
+ "stick": {
+ "Left": {
+ "UD": {
+ "index": 1,
+ "average": true,
+ "valueInverse": false,
+ "conversion": {
+ "paramA": 0.9,
+ "paramB": 0.1,
+ "paramC": 0.0
+ }
+ },
+ "LR": {
+ "index": 0,
+ "average": true,
+ "valueInverse": false,
+ "conversion": {
+ "paramA": 0.9,
+ "paramB": 0.1,
+ "paramC": 0.0
+ }
+ }
+ },
+ "Right": {
+ "UD": {
+ "index": 3,
+ "average": true,
+ "valueInverse": false,
+ "conversion": {
+ "paramA": 0.9,
+ "paramB": 0.1,
+ "paramC": 0.0
+ }
+ },
+ "LR": {
+ "index": 2,
+ "average": true,
+ "valueInverse": false,
+ "conversion": {
+ "paramA": 0.9,
+ "paramB": 0.1,
+ "paramC": 0.0
+ }
+ }
+ }
+ },
+ "Event": {
+ "RadioControlEnable": {
+ "index": 0,
+ "type": "switch",
+ "off": "up",
+ "on": "down"
+ },
+ "Camera": {
+ "index": 3,
+ "type": "push",
+ "off": "up",
+ "on": "down"
+ },
+ "GrabBaggage": {
+ "index": 1,
+ "type": "toggle",
+ "off": "up",
+ "on": "down"
+ },
+ "CameraMoveUp": {
+ "index": 5,
+ "type": "switch",
+ "off": "up",
+ "on": "down"
+ },
+ "CameraMoveDown": {
+ "index": 6,
+ "type": "switch",
+ "off": "up",
+ "on": "down"
+ }
+ }
+}
diff --git a/drone_api/sample/rc_debug/rc_control.py b/drone_api/sample/rc_debug/rc_control.py
@@ -8,6 +8,8 @@
  joystick.init()
  print('ジョイスティックの名前:', joystick.get_name())
  print('ボタン数 :', joystick.get_numbuttons())
+ print("ジョイスティック数 : " + str(joystick.get_numaxes()))
+ print("十字キー数 : " + str(joystick.get_numhats()))
 except pygame.error:
  print('ジョイスティックが接続されていません')
 
@@ -18,28 +20,14 @@
  active = False
 
  if e.type == pygame.locals.JOYHATMOTION:
- if e.value[0] == 0:
- if e.value[1] == 1:
- print("十字キー：上")
- elif e.value[1] == 0:
- print("十字キー：ー")
- else:
- print("十字キー：下")
- elif e.value[0] == 1:
- if e.value[1] == 0:
- print("十字キー：右")
- elif e.value[1] == 1:
- print("十字キー：右上")
- else:
- print("十字キー：右下")
- else:
- if e.value[1] == 0:
- print("十字キー：左")
- elif e.value[1] == 1:
- print("十字キー：左上")
- else:
- print("十字キー：左下")
-
+ if e.value[0] > 0:
+ print("十字キー 右", e.value[0])
+ if e.value[0] < 0:
+ print("十字キー 左", e.value[0])
+ if e.value[1] > 0:
+ print("十字キー 上", e.value[1])
+ if e.value[1] < 0:
+ print("十字キー 下", e.value[1])
  elif e.type == pygame.locals.JOYAXISMOTION:
  if e.axis == 0 or e.axis == 1:
  if e.value == 0.0 or e.value == 1.0 or e.value == -1.0:
@@ -62,4 +50,3 @@
  print('ボタン押す {0}'.format(e.button))
  elif e.type == pygame.locals.JOYBUTTONUP:
  print('ボタン離す {0}'.format(e.button))
-