diff --git a/README.md b/README.md index 506de4f..c3ed64e 100644 --- a/README.md +++ b/README.md @@ -12,19 +12,18 @@ About • How To Use • Examples • - Customs • Community • License

## About -This is unofficial toio control API for python users. Suitable to handle asynchronous operations using several toio cubes. +This is unofficial toio control API for python users. Suitable to handle asynchronous operations using several toio cubes. これはtoio好きのtoio好きによるtoio好きのための非公式APIです。Pythonで複数のtoioキューブを非同期制御したい方向けのライブラリです。 ## How To Use -基本的に`$ python main.py`または`$ python gui_main.py`で実行できます。toioの行動パターンは実装した「シナリオ」に基づいており、例として以下の４つのシナリオを用意しています。 +基本的に`$ python main.py`または`$ python gui_main.py`で実行できます。toioキューブの行動パターンは実装した「シナリオ」に基づいており、例として以下の４つのシナリオを用意しています。

spin • @@ -33,7 +32,7 @@ This is unofficial toio control API for python users. Suitable to handle asynchr collision_avoidance

-`main.py`では`make_scenario(scenario_name='spin', ...)`がデフォルトで設定されていますが、その他のシナリオでtoioを制御したい場合は該当するシナリオ名に変更してください。 +`main.py`では`make_scenario(scenario_name='spin', ...)`がデフォルトで設定されていますが、その他のシナリオでtoioキューブを制御したい場合は該当するシナリオ名に変更してください。 ```py # main.py @@ -45,15 +44,15 @@ from toio_API.utils.general import create_toios, discover_toios if __name__ == '__main__': toio_addresses = asyncio.run(discover_toios()) - toios = create_toios(toio_addresses=toio_addresses, toio_names=['Yoshi', 'Moto']) + toios = create_toios(toio_addresses=toio_addresses) scenario = make_scenario(scenario_name='spin', toios=toios) scenario.run() ``` #### その他 -- `asyncio.run(discover_toios())`: 接続可能なtoioを見つけます。発見できた場合、そのtoioのBLE_addressがリスト型で返されます。 -- `create_toios(toio_addresses)`: 見つけたtoioのBLE_addresを基にtoio制御クラスを作成します。引数に名前も設定できます。 -- `make_scenario(toios)`: toioの行動パターンを決めるシナリオを作成します。この時、自動的にtoioとのBLE通信が開始されます。 +- `asyncio.run(discover_toios())`: 接続可能なtoioキューブを見つけます。発見できた場合、そのtoioキューブのBLE_addressがリスト型で返されます。 +- `create_toios(toio_addresses)`: 見つけたtoioキューブのBLE_addresを基にtoio制御クラスを作成します。引数に名前`(toio_names)`も設定できます。 +- `make_scenario(toios)`: toioの行動パターンを決めるシナリオを作成します。この時、自動的にtoioキューブとのBLE通信が開始されます。 - `scenario.run()`:　作成したシナリオを実行します。　 `gui_main.py`を実行すると以下のようなGUIがが出力されます。左下のバーより任意のシナリオを選択して`Run toio`を押してください。 @@ -61,7 +60,7 @@ if __name__ == '__main__': ## Examples -４つのシナリオの実装コードです。たったの数行のコードでtoioを簡単に制御できます。 +4つのシナリオの実装コードです。たったの数行のコードでtoioキューブを簡単に制御できます。 ### Spin toioがグルグルとその場で回転して、5秒後に停止します。 @@ -79,7 +78,7 @@ class Spin(AbstractSenario): [Demo video clip](https://youtu.be/rINq-bm9uKI) ### Run and Spin -toioが１秒間走り、その後１秒間スピンします。 +toioキューブが1秒間走り、その後1秒間スピンします。 ```py # scenarios/examples/run_spin.py @@ -98,7 +97,7 @@ class RunSpin(AbstractSenario): [Demo video clip](https://youtu.be/3fU0nKxnZRQ) ### Chase -2体以上のtoioが必要です。1体のtoioに目掛けてその他のtoioが追いかけます。 +2体以上のtoioキューブが必要です。1体のtoioキューブに目掛けてその他のtoioキューブが追いかけます。 ```py # scenarios/examples/chase.py @@ -124,7 +123,7 @@ class Chase(AbstractSenario): [Demo video clip](https://youtu.be/juGjJ5iSx_k) ### Collision Avoidance -2体のtoioが必要です。toioを互いの正面に向き合わせて実行します。初めに直進しますが、近づいたら衝突回避行動をします。 +2体のtoioキューブが必要です。toioキューブを互いの正面に向き合わせて実行します。初めに直進しますが、近づいたら衝突回避行動をします。 ```py # scenarios/examples/collision_avoidance.py @@ -149,13 +148,9 @@ class CollisionAvoidance(AbstractSenario): [Demo video clip](https://youtu.be/1LJGxODB4vM) -## Customs -自分のオリジナルコードでtoioを制御する場合、`scenarios/customs/`に用意したカスタムシナリオにコーディングしてください（Custom1 ~ Custom3まで実装できます）。完成したら`main.py`でシナリオ名を'custom1'に変更して実行してみましょう！ -``` -# scenarios/customs/custom1.py - -class Custom1(AbstractSenario): - async def _main(self): - raise NotImplementedError() -``` +## Joy Stick Control +複数台のPS3コントローラーでtoioキューブを非同期操作することができます。 +- まず、通常のBluetooth通信でマシンとPS3コントローラーを接続します。 +- `scenario_name='joy_stick'`と設定し、`main.py`を実行します。 +

GUI

diff --git a/gui_main.py b/gui_main.py index 5a91bac..08822b4 100644 --- a/gui_main.py +++ b/gui_main.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the GUI main entry. + +Author: Yoshinari Motokawa +""" from toio_API.utils.tkinter_setup import toioDefaultWindow diff --git a/main.py b/main.py index de4d0f2..7bee66a 100644 --- a/main.py +++ b/main.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the main entry. + +Author: Yoshinari Motokawa +""" import asyncio @@ -7,5 +10,9 @@ if __name__ == "__main__": toio_addresses = asyncio.run(discover_toios()) - toios = create_toios(toio_addresses=toio_addresses, toio_names=["Yoshi", "Moto"]) - scenario = make_scenario(scenario_name="spin", toios=toios) + toios = create_toios( + toio_addresses=toio_addresses + ) + scenario = make_scenario(scenario_name="joy_stick", toios=toios) + + scenario.run() diff --git a/toio_API/characteristics/__init__.py b/toio_API/characteristics/__init__.py index 5b4b9bd..52fd92b 100644 --- a/toio_API/characteristics/__init__.py +++ b/toio_API/characteristics/__init__.py @@ -4,8 +4,7 @@ from .id_information import Reader from .light_control import Lamp from .motor_control import Motor -from .sensor_information import MotionSensor -from .sensor_information import MagneticSensor +from .sensor_information import MagneticSensor, MotionSensor from .sound_control import Sound __all__ = [ diff --git a/toio_API/characteristics/abstract_characteristic.py b/toio_API/characteristics/abstract_characteristic.py index 5fd3895..50e7517 100644 --- a/toio_API/characteristics/abstract_characteristic.py +++ b/toio_API/characteristics/abstract_characteristic.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the abstract characteristic class. + +Author: Yoshinari Motokawa +""" from abc import ABC from typing import Dict diff --git a/toio_API/characteristics/battery_information.py b/toio_API/characteristics/battery_information.py index e89568d..9275f90 100644 --- a/toio_API/characteristics/battery_information.py +++ b/toio_API/characteristics/battery_information.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the Battery characteristic class. + +Author: Yoshinari Motokawa +""" from typing import Dict diff --git a/toio_API/characteristics/button_information.py b/toio_API/characteristics/button_information.py index 644a9c6..3c53edb 100644 --- a/toio_API/characteristics/button_information.py +++ b/toio_API/characteristics/button_information.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the Button characteristic class. + +Author: Yoshinari Motokawa +""" from typing import Dict diff --git a/toio_API/characteristics/configuration.py b/toio_API/characteristics/configuration.py index be30489..dac68f1 100644 --- a/toio_API/characteristics/configuration.py +++ b/toio_API/characteristics/configuration.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the Configuration characteristic class. + +Author: Yoshinari Motokawa +""" from typing import Dict diff --git a/toio_API/characteristics/id_information.py b/toio_API/characteristics/id_information.py index bfe7c22..2d85512 100644 --- a/toio_API/characteristics/id_information.py +++ b/toio_API/characteristics/id_information.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the Reader characteristic class. + +Author: Yoshinari Motokawa +""" from typing import Dict diff --git a/toio_API/characteristics/light_control.py b/toio_API/characteristics/light_control.py index 1aa4b99..4765aeb 100644 --- a/toio_API/characteristics/light_control.py +++ b/toio_API/characteristics/light_control.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the Lamp characteristic class. + +Author: Yoshinari Motokawa +""" from typing import List diff --git a/toio_API/characteristics/motor_control.py b/toio_API/characteristics/motor_control.py index 428a468..72b67b2 100644 --- a/toio_API/characteristics/motor_control.py +++ b/toio_API/characteristics/motor_control.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the Motor characteristic class. + +Author: Yoshinari Motokawa +""" from typing import Dict, List @@ -233,7 +236,7 @@ async def acceleration_control( - The acceleration should be [0, 255] and 0 is for constant speed. - Defaults to 5. rotation_speed (int, optional): Rotationalal speed of toio. - - Set it in [0, 65535] and the unit is degrees/sec. + - Set it in [0, 65535] and the unit is degrees/sec. - Defaults to 15. rotation_direction (int, optional): Rotationalal direction of toio. - Set 0 for veering clockwise. diff --git a/toio_API/characteristics/sensor_information.py b/toio_API/characteristics/sensor_information.py index 0626ede..de5c7c7 100644 --- a/toio_API/characteristics/sensor_information.py +++ b/toio_API/characteristics/sensor_information.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the MotionSensor characteristic class. + +Author: Yoshinari Motokawa +""" from typing import Dict diff --git a/toio_API/characteristics/sound_control.py b/toio_API/characteristics/sound_control.py index d76e2c0..d73e6a7 100644 --- a/toio_API/characteristics/sound_control.py +++ b/toio_API/characteristics/sound_control.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the Sound characteristic class. + +Author: Yoshinari Motokawa +""" from typing import List diff --git a/toio_API/scenarios/__init__.py b/toio_API/scenarios/__init__.py index ebbf2c9..fda8803 100644 --- a/toio_API/scenarios/__init__.py +++ b/toio_API/scenarios/__init__.py @@ -1,12 +1,10 @@ -# -*- coding: utf-8 -*- - from typing import List from toio_API.utils.logging import initialize_logging from toio_API.utils.toio import Toio -from .examples import BallChase, Chase, CollisionAvoidance, RunSpin, Spin, AimDests -from .customs import Custom1, Custom2, Custom3 +from .examples import (AimDests, BallChase, Chase, CollisionAvoidance, + JoyStickControl, RunSpin, Spin) logger = initialize_logging(__name__) @@ -18,6 +16,7 @@ "collision_avoidance", "run_spin", "spin", + "control", ] @@ -40,14 +39,8 @@ def make_scenario(scenario_name: str = "spin", toios: List[Toio] = None): elif scenario_name == "spin": scenario = Spin(toios=toios) - elif scenario_name == "custom_1": - scenario = Custom1(toios=toios) - - elif scenario_name == "custom_2": - scenario = Custom2(toios=toios) - - elif scenario_name == "custom_3": - scenario = Custom3(toios=toios) + elif scenario_name == "joy_stick": + scenario = JoyStickControl(toios=toios) else: logger.warn(f"Invalid scenario name is given. scenario_name: {scenario_name}") diff --git a/toio_API/scenarios/abstract_scenario.py b/toio_API/scenarios/abstract_scenario.py index 7e77b6c..c9fd2e0 100644 --- a/toio_API/scenarios/abstract_scenario.py +++ b/toio_API/scenarios/abstract_scenario.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the abstract scenario class. + +Author: Yoshinari Motokawa +""" import asyncio from abc import ABC, abstractmethod @@ -8,7 +11,7 @@ from toio_API.utils.toio import Toio -class AbstractSenario(ABC): +class AbstractScenario(ABC): def __init__(self, toios: List[Toio]) -> None: self.__toios = toios self.__num_toios = len(self.__toios) diff --git a/toio_API/scenarios/customs/__init__.py b/toio_API/scenarios/customs/__init__.py deleted file mode 100644 index a391c3a..0000000 --- a/toio_API/scenarios/customs/__init__.py +++ /dev/null @@ -1,7 +0,0 @@ -# -*- coding: utf-8 -*- - -from .custom1 import Custom1 -from .custom2 import Custom2 -from .custom3 import Custom3 - -__all__ = ["Custom1", "Custom2", "Custom3"] diff --git a/toio_API/scenarios/customs/custom1.py b/toio_API/scenarios/customs/custom1.py deleted file mode 100644 index 20e1deb..0000000 --- a/toio_API/scenarios/customs/custom1.py +++ /dev/null @@ -1,8 +0,0 @@ -# -*- coding: utf-8 -*- - -from toio_API.scenarios.abstract_scenario import AbstractSenario - - -class Custom1(AbstractSenario): - async def _main(self): - raise NotImplementedError() diff --git a/toio_API/scenarios/customs/custom2.py b/toio_API/scenarios/customs/custom2.py deleted file mode 100644 index da4b828..0000000 --- a/toio_API/scenarios/customs/custom2.py +++ /dev/null @@ -1,8 +0,0 @@ -# -*- coding: utf-8 -*- - -from toio_API.scenarios.abstract_scenario import AbstractSenario - - -class Custom2(AbstractSenario): - async def _main(self): - raise NotImplementedError() diff --git a/toio_API/scenarios/customs/custom3.py b/toio_API/scenarios/customs/custom3.py deleted file mode 100644 index a847119..0000000 --- a/toio_API/scenarios/customs/custom3.py +++ /dev/null @@ -1,8 +0,0 @@ -# -*- coding: utf-8 -*- - -from toio_API.scenarios.abstract_scenario import AbstractSenario - - -class Custom3(AbstractSenario): - async def _main(self): - raise NotImplementedError() diff --git a/toio_API/scenarios/examples/__init__.py b/toio_API/scenarios/examples/__init__.py index 44044b1..e7ace8c 100644 --- a/toio_API/scenarios/examples/__init__.py +++ b/toio_API/scenarios/examples/__init__.py @@ -1,10 +1,17 @@ -# -*- coding: utf-8 -*- - from .aim_dests import AimDests from .ball_chase import BallChase from .chase import Chase from .collision_avoidance import CollisionAvoidance from .run_spin import RunSpin from .spin import Spin +from .joy_stick_toio import JoyStickControl -__all__ = ["AimDests", "BallChase", "Chase", "CollisionAvoidance", "RunSpin", "Spin"] +__all__ = [ + "AimDests", + "BallChase", + "Chase", + "CollisionAvoidance", + "RunSpin", + "Spin", + "JoyStickControl", +] diff --git a/toio_API/scenarios/examples/aim_dests.py b/toio_API/scenarios/examples/aim_dests.py index 5e3187d..f28f63e 100644 --- a/toio_API/scenarios/examples/aim_dests.py +++ b/toio_API/scenarios/examples/aim_dests.py @@ -1,8 +1,11 @@ -# -*- coding: utf-8 -*- +"""Source code for the AimDests scenario class. + +Author: Yoshinari Motokawa +""" import asyncio import math -from toio_API.scenarios.abstract_scenario import AbstractSenario +from toio_API.scenarios.abstract_scenario import AbstractScenario from toio_API.utils.general import read_information from toio_API.utils.toio import Toio from copy import deepcopy @@ -11,7 +14,7 @@ IMAGE_WIDTH = 600 -class AimDests(AbstractSenario): +class AimDests(AbstractScenario): async def _main(self, **kwargs): print(kwargs["converted_ovals"]) self.dests = [ diff --git a/toio_API/scenarios/examples/ball_chase.py b/toio_API/scenarios/examples/ball_chase.py index 221c9a1..cd1f449 100644 --- a/toio_API/scenarios/examples/ball_chase.py +++ b/toio_API/scenarios/examples/ball_chase.py @@ -1,15 +1,18 @@ -# -*- coding: utf-8 -*- +"""Source code for the BallChase scenario class. + +Author: Yoshinari Motokawa +""" import asyncio import cv2 from toio_API.camera.ball import convert_ball_position, get_ball_center -from toio_API.scenarios.abstract_scenario import AbstractSenario +from toio_API.scenarios.abstract_scenario import AbstractScenario from toio_API.utils.general import read_information from toio_API.utils.toio import Toio import math -class BallChase(AbstractSenario): +class BallChase(AbstractScenario): async def _main(self, **kwargs): capture = cv2.VideoCapture(1) diff --git a/toio_API/scenarios/examples/chase.py b/toio_API/scenarios/examples/chase.py index 691646b..c40d6d7 100644 --- a/toio_API/scenarios/examples/chase.py +++ b/toio_API/scenarios/examples/chase.py @@ -1,13 +1,16 @@ -# -*- coding: utf-8 -*- +"""Source code for the Chase scenario class. + +Author: Yoshinari Motokawa +""" import asyncio -from toio_API.scenarios.abstract_scenario import AbstractSenario +from toio_API.scenarios.abstract_scenario import AbstractScenario from toio_API.utils.general import read_information from toio_API.utils.toio import Toio -class Chase(AbstractSenario): +class Chase(AbstractScenario): async def _main(self, **kwargs): while not kwargs["run"].is_set(): response = await read_information(self.toios) diff --git a/toio_API/scenarios/examples/collision_avoidance.py b/toio_API/scenarios/examples/collision_avoidance.py index 409024d..cdba53d 100644 --- a/toio_API/scenarios/examples/collision_avoidance.py +++ b/toio_API/scenarios/examples/collision_avoidance.py @@ -1,14 +1,17 @@ -# -*- coding: utf-8 -*- +"""Source code for the CollisionAvoidance scenario class. + +Author: Yoshinari Motokawa +""" import asyncio import math -from toio_API.scenarios.abstract_scenario import AbstractSenario +from toio_API.scenarios.abstract_scenario import AbstractScenario from toio_API.utils.general import read_information from toio_API.utils.toio import Toio -class CollisionAvoidance(AbstractSenario): +class CollisionAvoidance(AbstractScenario): async def _main(self, **kwargs): while not kwargs["run"].is_set(): response = await read_information(self.toios) diff --git a/toio_API/scenarios/examples/joy_stick_toio.py b/toio_API/scenarios/examples/joy_stick_toio.py new file mode 100644 index 0000000..48eafbe --- /dev/null +++ b/toio_API/scenarios/examples/joy_stick_toio.py @@ -0,0 +1,164 @@ +"""Source code for the JoyStickControl scenario class. +Users can asynchronously control toio cubes by multiple joystick controllers. +Currently, only DUALSHOCK3 (PS3 controller) is supported. + +Author: Yoshinari Motokawa +""" + +import asyncio +import random +from typing import List + +import pygame +from pygame.locals import * +import sys + +SCREEN_SIZE = (600, 425) # 画面サイズ (横/縦) +MAT_HEIGHT = 216 +MAT_WIDTH = 304 +MAT_HEIGHT_MIN = 142 +MAT_WIDTH_MIN = 98 +pygame.display.set_caption("window test") # Windowタイトルの設定 +X_CENTER = int(SCREEN_SIZE[0] / 2) +Y_CENTER = int(SCREEN_SIZE[1] / 2) + +from toio_API.scenarios.abstract_scenario import AbstractScenario +from toio_API.utils.toio import Toio + + +class JoyStickControl(AbstractScenario): + def __init__(self, toios: List[Toio]) -> None: + super().__init__(toios) + self.initialize_controller() + + def initialize_controller(self): + pygame.init() + pygame.joystick.init() + + joy = pygame.joystick.Joystick(0) + self.num_axes = joy.get_numaxes() + self.num_buttons = joy.get_numbuttons() + + self.screen = pygame.display.set_mode(SCREEN_SIZE) # SCREEN_SIZEの画面を作成 + mat_image = pygame.image.load("figs/normal_mat.png") + self.mat_image = pygame.transform.scale(mat_image, SCREEN_SIZE) + bullet_image = pygame.image.load("figs/bullet.jpeg") + self.bullet_image = pygame.transform.scale(bullet_image, (50, 10)) + self.bullets = [] + + async def _main(self, **kwargs): + while True: + await self.print_screen() + + axes_status, button_status = await self.press_button() + + await asyncio.gather( + *[ + self.__control(toio, axes_status[toio_id], button_status[toio_id]) + for toio_id, toio in enumerate(self.toios) + ] + ) + await asyncio.sleep(0.01) + + async def __control(self, toio: Toio, axes_status, button_status): + if button_status[0]: # Select button + await toio.sound.play(sound_effect=0) + elif button_status[1]: # Left stick + await toio.sound.play(sound_effect=1) + elif button_status[2]: # Right stick + await toio.sound.play(sound_effect=2) + elif button_status[3]: # Start button + await toio.sound.play(sound_effect=3) + elif button_status[4]: # Up button + await toio.sound.play(sound_effect=4) + elif button_status[5]: # Right button + await toio.sound.play(sound_effect=5) + elif button_status[6]: # Down button + await toio.sound.play(sound_effect=6) + elif button_status[7]: # Left button + await toio.sound.play(sound_effect=7) + elif button_status[8]: # L2 button + await toio.sound.play(sound_effect=8) + elif button_status[9]: # R2 button + await toio.sound.play(sound_effect=9) + elif button_status[10]: # L1 button + self.bullets = [] + await toio.sound.play(sound_effect=10) + elif button_status[11]: # R1 button + self.bullets.append(self.bullet_image) + await toio.sound.play(sound_effect=random.randint(0, 10)) + + elif button_status[12]: # △ button + toio.forward_speed = 150 + await toio.lamp.turn_on(time=1, red=255, green=0, blue=0) + await toio.sound.play(sound_effect=1) + + elif button_status[13]: # ○ button + await toio.motor.control( + left_speed=toio.forward_speed + int(min(-0.5, axes_status[0]) * 50), + right_speed=toio.forward_speed - int(max(0.5, axes_status[0]) * 50), + ) + + elif button_status[14]: # × button + toio.forward_speed = 100 + await toio.motor.control( + left_speed=toio.back_speed - int(min(-0.5, axes_status[0]) * 50), + right_speed=toio.back_speed + int(max(0.5, axes_status[0]) * 50), + ) + + elif button_status[15]: # □ button + toio.forward_speed = 50 + await toio.lamp.turn_on(time=1, red=0, green=0, blue=255) + await toio.sound.play(sound_effect=10) + + elif button_status[16]: + await toio.sound.play(sound_effect=random.randint(0, 10)) + + else: + await toio.motor.control(left_speed=0, right_speed=0) + + async def press_button(self): + joys = [pygame.joystick.Joystick(i) for i in range(pygame.joystick.get_count())] + axes_status = [[joy.get_axis(i) for i in range(self.num_axes)] for joy in joys] + button_status = [ + [joy.get_button(i) for i in range(self.num_buttons)] for joy in joys + ] + + await asyncio.sleep(0.01) + + return axes_status, button_status + + async def print_screen(self): + joy = pygame.joystick.Joystick(0) + self.screen.fill((0, 0, 0)) # 画面を黒色で塗りつぶす + # self.screen.blit(self.mat_image, (0, 0)) + for bullet_image in self.bullets: + self.screen.blit(bullet_image, (random.randint(0, SCREEN_SIZE[0]), random.randint(0, SCREEN_SIZE[1]))) + # イベント処理 + for event in pygame.event.get(): # ×ボタンによる終了 + if event.type == QUIT: # 終了イベント + sys.exit() + + # ジョイスティック(アナログバー左スティック)状態の取得 + circle_x = int( + (joy.get_axis(0) + 1) * X_CENTER + ) # joystick(横軸)の方向キーはは-1～1の範囲で取得できる + circle_y = int( + (joy.get_axis(1) + 1) * Y_CENTER + ) # joystick(縦軸)の方向キーはは-1～1の範囲で取得できる + + # 描画範囲の上下限チェック + if circle_x < 0: + circle_x = 0 + elif circle_x > SCREEN_SIZE[0]: + circle_x = SCREEN_SIZE[0] + + if circle_y < 0: + circle_y = 0 + elif circle_y > SCREEN_SIZE[1]: + circle_y = SCREEN_SIZE[1] + + pygame.draw.circle(self.screen, (255, 0, 0), (circle_x, circle_y), 10) + pygame.display.update() + + await asyncio.sleep(0.01) diff --git a/toio_API/scenarios/examples/run_spin.py b/toio_API/scenarios/examples/run_spin.py index f2be36a..5394704 100644 --- a/toio_API/scenarios/examples/run_spin.py +++ b/toio_API/scenarios/examples/run_spin.py @@ -1,12 +1,15 @@ -# -*- coding: utf-8 -*- +"""Source code for the RunSpin scenario class. + +Author: Yoshinari Motokawa +""" import asyncio -from toio_API.scenarios.abstract_scenario import AbstractSenario +from toio_API.scenarios.abstract_scenario import AbstractScenario from toio_API.utils.toio import Toio -class RunSpin(AbstractSenario): +class RunSpin(AbstractScenario): async def _main(self, **kwargs): await asyncio.gather(*[self.__run_spin(toio) for toio in self.toios]) diff --git a/toio_API/scenarios/examples/spin.py b/toio_API/scenarios/examples/spin.py index fc2d774..77f0189 100644 --- a/toio_API/scenarios/examples/spin.py +++ b/toio_API/scenarios/examples/spin.py @@ -1,11 +1,14 @@ -# -*- coding: utf-8 -*- +"""Source code for the Spin scenario class. + +Author: Yoshinari Motokawa +""" import asyncio -from toio_API.scenarios.abstract_scenario import AbstractSenario +from toio_API.scenarios.abstract_scenario import AbstractScenario -class Spin(AbstractSenario): +class Spin(AbstractScenario): async def _main(self, **kwargs): while not kwargs["run"].is_set(): await asyncio.gather(*[toio.motor.control() for toio in self.toios]) diff --git a/toio_API/utils/general.py b/toio_API/utils/general.py index 22b6992..70c81c9 100644 --- a/toio_API/utils/general.py +++ b/toio_API/utils/general.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the utility methods. + +Author: Yoshinari Motokawa +""" from typing import Dict, List diff --git a/toio_API/utils/logging.py b/toio_API/utils/logging.py index de27163..fa9c0b6 100644 --- a/toio_API/utils/logging.py +++ b/toio_API/utils/logging.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the logger. + +Author: Yoshinari Motokawa +""" from logging import DEBUG, Formatter, Logger, StreamHandler, getLogger diff --git a/toio_API/utils/state.py b/toio_API/utils/state.py index 4a29e19..89e52a5 100644 --- a/toio_API/utils/state.py +++ b/toio_API/utils/state.py @@ -1,7 +1,10 @@ -# -*- coding: utf-8 -*- +"""Source code for the State object class. +Author: Yoshinari Motokawa +""" -class State: + +class State(object): """State to represent the property of characteristics. Args: @@ -23,6 +26,7 @@ def __init__( notify: bool = False, ): self.__write = write + self.__write_without_response = write_without_response self.__read = read self.__notify = notify diff --git a/toio_API/utils/tkinter_setup.py b/toio_API/utils/tkinter_setup.py index b51d577..b4c589a 100644 --- a/toio_API/utils/tkinter_setup.py +++ b/toio_API/utils/tkinter_setup.py @@ -1,3 +1,8 @@ +"""Source code for the tkinter windows of gui_main. + +Author: Yoshinari Motokawa +""" + import asyncio import threading import tkinter diff --git a/toio_API/utils/toio.py b/toio_API/utils/toio.py index d35b591..23fd29d 100644 --- a/toio_API/utils/toio.py +++ b/toio_API/utils/toio.py @@ -1,4 +1,7 @@ -# -*- coding: utf-8 -*- +"""Source code for the Toio object class. + +Author: Yoshinari Motokawa +""" from bleak import BleakClient from toio_API.characteristics import ( @@ -14,7 +17,7 @@ ) -class Toio: +class Toio(object): """The toio cube to control. For more information, please refer to https://toio.github.io/toio-spec/docs/ble_communication_overview. @@ -39,6 +42,9 @@ def __init__(self, address: str = None, name: str = None) -> None: self.__battery = Battery(name=self.__name, client=self.__client) self.__configuration = Configuration(name=self.__name, client=self.__client) + self.__forward_speed = 100 + self.__back_speed = -100 + @property def address(self) -> str: return self.__address @@ -86,3 +92,21 @@ def battery(self) -> Battery: @property def configuration(self) -> Configuration: return self.__configuration + + @property + def forward_speed(self) -> int: + return self.__forward_speed + + @property + def back_speed(self) -> int: + return self.__back_speed + + @forward_speed.setter + def forward_speed(self, forward_speed: int): + assert 0 < forward_speed + self.__forward_speed = forward_speed + + @back_speed.setter + def back_speed(self, back_speed: int): + assert back_speed < 0 + self.__back_speed = back_speed