174 lines
5.1 KiB
Python
174 lines
5.1 KiB
Python
import time
|
||
import serial
|
||
import pygame
|
||
from robot_driver import RobotDriver
|
||
|
||
|
||
|
||
|
||
class GamepadRemoteController:
|
||
# 默认按键映射（Xbox 常见布局）
|
||
# A/B/X 控制构型 0/1/2
|
||
# LB 打开，RB 闭合
|
||
# START 退出
|
||
BTN_A = 0
|
||
BTN_B = 1
|
||
BTN_X = 2
|
||
BTN_LB = 4
|
||
BTN_RB = 5
|
||
BTN_BACK = 6
|
||
BTN_START = 7
|
||
|
||
def __init__(self, robot):
|
||
self.robot = robot
|
||
self.joystick = None
|
||
self.estop_active = False
|
||
|
||
self.last_open_pressed = False
|
||
self.last_close_pressed = False
|
||
|
||
self.last_mode_buttons = {
|
||
self.BTN_A: False,
|
||
self.BTN_B: False,
|
||
self.BTN_X: False,
|
||
self.BTN_BACK: False,
|
||
}
|
||
|
||
def init_gamepad(self):
|
||
pygame.init()
|
||
pygame.joystick.init()
|
||
|
||
if pygame.joystick.get_count() < 1:
|
||
raise RuntimeError("No gamepad detected. Please connect controller via Bluetooth first.")
|
||
|
||
self.joystick = pygame.joystick.Joystick(0)
|
||
self.joystick.init()
|
||
print(f"[System] Gamepad connected: {self.joystick.get_name()}")
|
||
|
||
def _edge_pressed(self, btn_id, cache_dict):
|
||
now_pressed = bool(self.joystick.get_button(btn_id))
|
||
prev_pressed = cache_dict.get(btn_id, False)
|
||
cache_dict[btn_id] = now_pressed
|
||
return now_pressed and (not prev_pressed)
|
||
|
||
def _handle_mode_buttons(self):
|
||
if self._edge_pressed(self.BTN_A, self.last_mode_buttons):
|
||
self.robot.set_config(0)
|
||
print("[Action] Config 0")
|
||
if self._edge_pressed(self.BTN_B, self.last_mode_buttons):
|
||
self.robot.set_config(1)
|
||
print("[Action] Config 1")
|
||
if self._edge_pressed(self.BTN_X, self.last_mode_buttons):
|
||
self.robot.set_config(2)
|
||
print("[Action] Config 2")
|
||
|
||
def _handle_estop_toggle(self):
|
||
if not self._edge_pressed(self.BTN_BACK, self.last_mode_buttons):
|
||
return
|
||
|
||
self.estop_active = not self.estop_active
|
||
self.robot.motor_stop()
|
||
|
||
if self.estop_active:
|
||
print("\n" + "!" * 40)
|
||
print("!!! EMERGENCY STOP ACTIVE !!!")
|
||
print("!!! Motion locked. Press BACK again to resume.")
|
||
print("!" * 40)
|
||
else:
|
||
print("\n" + "=" * 40)
|
||
print(">>> EMERGENCY STOP RELEASED")
|
||
print("= " * 20)
|
||
|
||
def _handle_open_close_hold(self):
|
||
# 按住 LB 持续张开，按住 RB 持续闭合；松开则停止
|
||
open_pressed = bool(self.joystick.get_button(self.BTN_LB))
|
||
close_pressed = bool(self.joystick.get_button(self.BTN_RB))
|
||
|
||
if open_pressed and not close_pressed:
|
||
if not self.last_open_pressed or self.last_close_pressed:
|
||
self.robot.motor_open()
|
||
print("[Action] Palm OPEN")
|
||
elif close_pressed and not open_pressed:
|
||
if not self.last_close_pressed or self.last_open_pressed:
|
||
self.robot.motor_close()
|
||
print("[Action] Palm CLOSE")
|
||
else:
|
||
if self.last_open_pressed or self.last_close_pressed:
|
||
self.robot.motor_stop()
|
||
print("[Action] Palm STOP")
|
||
|
||
self.last_open_pressed = open_pressed
|
||
self.last_close_pressed = close_pressed
|
||
|
||
def loop(self):
|
||
print("\n=== Gamepad Remote Started ===")
|
||
print("A -> Config 0")
|
||
print("B -> Config 1")
|
||
print("X -> Config 2")
|
||
print("LB hold -> Palm OPEN")
|
||
print("RB hold -> Palm CLOSE")
|
||
print("Release LB/RB -> STOP")
|
||
print("BACK -> Global E-STOP toggle")
|
||
print("START -> Exit")
|
||
|
||
running = True
|
||
while running:
|
||
pygame.event.pump()
|
||
|
||
self._handle_estop_toggle()
|
||
|
||
if self.joystick.get_button(self.BTN_START):
|
||
print("[System] Exit requested by START")
|
||
running = False
|
||
continue
|
||
|
||
if self.estop_active:
|
||
# 急停锁定期间屏蔽所有动作命令
|
||
self.last_open_pressed = bool(self.joystick.get_button(self.BTN_LB))
|
||
self.last_close_pressed = bool(self.joystick.get_button(self.BTN_RB))
|
||
time.sleep(0.02)
|
||
continue
|
||
|
||
self._handle_mode_buttons()
|
||
self._handle_open_close_hold()
|
||
|
||
time.sleep(0.02)
|
||
|
||
self.robot.motor_stop()
|
||
|
||
def shutdown(self):
|
||
try:
|
||
if self.joystick is not None:
|
||
self.joystick.quit()
|
||
finally:
|
||
pygame.joystick.quit()
|
||
pygame.quit()
|
||
|
||
|
||
def main():
|
||
# 根据实际串口修改
|
||
port = "COM9"
|
||
baud = 115200
|
||
|
||
robot = RobotDriver(port=port, baud=baud)
|
||
if robot.ser is None or not robot.ser.is_open:
|
||
return
|
||
|
||
controller = GamepadRemoteController(robot)
|
||
|
||
try:
|
||
controller.init_gamepad()
|
||
controller.loop()
|
||
except KeyboardInterrupt:
|
||
print("\n[System] Keyboard interrupt")
|
||
except Exception as e:
|
||
print(f"[Error] {e}")
|
||
finally:
|
||
controller.shutdown()
|
||
robot.close()
|
||
print("[System] Shutdown complete.")
|
||
|
||
|
||
if __name__ == "__main__":
|
||
main()
|