94 lines
2.5 KiB
Python
94 lines
2.5 KiB
Python
import pygame
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import math
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import time
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import DataTypes as dt
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def normalize(x, y, deadzone=0.15):
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if abs(x) < deadzone:
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x = 0.0
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if abs(y) < deadzone:
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y = 0.0
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mag = math.hypot(x, y)
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if mag > 1.0:
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x /= mag
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y /= mag
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return x, y
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def controller_loop(shared_intent: dt.ControlIntent, lock):
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pygame.init()
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pygame.joystick.init()
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joysticks = {}
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prev_buttons = {}
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clock = pygame.time.Clock()
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while True:
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# 🔑 REQUIRED: keeps joystick state updating
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pygame.event.pump()
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for event in pygame.event.get():
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if event.type == pygame.JOYDEVICEADDED:
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joy = pygame.joystick.Joystick(event.device_index)
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joysticks[joy.get_instance_id()] = joy
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prev_buttons[joy.get_instance_id()] = [0] * joy.get_numbuttons()
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print(f"[Controller] Joystick connected: {joy.get_name()}")
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elif event.type == pygame.JOYDEVICEREMOVED:
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joysticks.pop(event.instance_id, None)
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prev_buttons.pop(event.instance_id, None)
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print("[Controller] Joystick disconnected")
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if not joysticks:
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time.sleep(0.1)
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continue
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# Use first joystick
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joy = next(iter(joysticks.values()))
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jid = joy.get_instance_id()
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# ---- AXES ----
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forward = -joy.get_axis(1) # usually inverted
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sideways = joy.get_axis(0)
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forward, sideways = normalize(forward, sideways)
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walk = abs(forward) > 0 or abs(sideways) > 0
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# ---- BUTTONS ----
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buttons = joy.get_numbuttons()
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current_buttons = [joy.get_button(i) for i in range(buttons)]
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emote = None
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quit_flag = False
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for i in range(buttons):
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if current_buttons[i] and not prev_buttons[jid][i]:
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# Button DOWN (edge)
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if i == 0:
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emote = "HELLO"
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elif i == 1:
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emote = "SAD"
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elif i == 9:
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quit_flag = True
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prev_buttons[jid] = current_buttons
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# ---- UPDATE INTENT (atomic) ----
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with lock:
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shared_intent.move_x = forward
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shared_intent.move_y = sideways
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shared_intent.walk = walk
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if emote:
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shared_intent.emote = emote
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if quit_flag:
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shared_intent.quit = True
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clock.tick(60)
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