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#!/usr/bin/python
# -*- coding: utf-8 -*-
import sys, re
import PyQt4.Qt as qt
from numpy import matrix, linalg
import bluetooth
import linuxWiimoteLib as wiLib
from configuration import Configuration
from threads import CreateThreadClass
def calculateArea(points):
print points
p1 = points[0]
p2 = points[1]
p3 = points[2]
p4 = points[3]
vb = [p2[0]-p1[0], p2[1]-p1[1]]
va = [p4[0]-p1[0], p4[1]-p1[1]]
paral_A_area = va[0]*vb[1] - va[1]*vb[0]
va = [p2[0]-p3[0], p2[1]-p3[1]]
vb = [p4[0]-p3[0], p4[1]-p3[1]]
paral_B_area = va[0]*vb[1] - va[1]*vb[0]
result = float(paral_A_area)/2 + float(paral_B_area)/2
print paral_A_area
print paral_B_area
return result
class Wiimote:
CALIBRATED, NONCALIBRATED = range(2)
MAX_X = 1023
MAX_Y = 768
def __init__(self):
self.wii = None
self.error = False
self.pos = None
self.state = Wiimote.NONCALIBRATED
self.calibrationPoints = []
self.screenPoints = []
self.utilization = 0.0
self.funcIR = None
self.funcBTN = None
self.enableCallback = False
def create_wiimote_callback(self):
# Closure
def wiimote_callback(px,py):
if self.enableCallback and self.funcIR is not None:
self.funcIR(self.getPos([px,py]))
return wiimote_callback
def putCallbackIR(self,funcIR):
self.funcIR = funcIR
def putCallbackBTN(self,funcBTN):
self.funcBTN = funcBTN
def detectWiimotes(self):
try:
self.wiimotesDetected = []
devices = bluetooth.discover_devices(duration=10, lookup_names=True)
for device in devices:
if re.match('.*nintendo.*', device[1].lower()):
self.wiimotesDetected.append(device)
return
except bluetooth.BluetoothError, errString:
self.wii = None
self.error = True
return
def bind(self, device):
try:
self.addr = str(device[0])
self.wii = wiLib.Wiimote()
self.wii.Connect(device)
self.wii.SetRumble(True)
qt.QThread.msleep(200)
self.wii.SetRumble(False)
self.wii.setIRCallBack(self.create_wiimote_callback())
self.wii.activate_IR(int(Configuration().getValueStr("sensitivity")))
self.wii.SetLEDs(True, False, False, False)
self.error = False
return
except RuntimeError, errString:
self.wii = None
return
except:
self.wii = None
self.error = True
print "Unexpected error:", sys.exc_info()[0]
raise
def isConnected(self):
if self.wii: return True
return False
def enable(self):
self.error = False
self.wii.setIRSensitivity(int(Configuration().getValueStr("sensitivity")))
self.enableCallback = True
def disable(self):
self.enableCallback = False
def close(self):
self.disable()
self.wii.Disconnect()
self.wii = None
def checkStatus(self):
return True
#if self.wii == None or self.error == True: return False
#try:
#self.wii.request_status()
#return True
#except:
#return False
def battery(self):
return self.wii.WiimoteState.Battery
def getPos(self,p):
if self.state == Wiimote.NONCALIBRATED:
return p
if self.state == Wiimote.CALIBRATED:
return [
(self.h11*p[0] + self.h12*p[1] + self.h13) / \
(self.h31*p[0] + self.h32*p[1] + 1),
(self.h21*p[0] + self.h22*p[1] + self.h23) / \
(self.h31*p[0] + self.h32*p[1] + 1) ]
def calibrate(self, p_screen, p_wii):
l = []
for i in range(0,4):
l.append( [p_wii[i][0], p_wii[i][1], 1, 0, 0, 0,
(-p_screen[i][0] * p_wii[i][0]),
(-p_screen[i][0] * p_wii[i][1])] )
l.append( [0, 0, 0, p_wii[i][0], p_wii[i][1], 1,
(-p_screen[i][1] * p_wii[i][0]),
(-p_screen[i][1] * p_wii[i][1])] )
A = matrix(l)
x = matrix( [
[p_screen[0][0]],
[p_screen[0][1]],
[p_screen[1][0]],
[p_screen[1][1]],
[p_screen[2][0]],
[p_screen[2][1]],
[p_screen[3][0]],
[p_screen[3][1]],
])
self.hCoefs = linalg.solve(A, x)
self.h11 = self.hCoefs[0]
self.h12 = self.hCoefs[1]
self.h13 = self.hCoefs[2]
self.h21 = self.hCoefs[3]
self.h22 = self.hCoefs[4]
self.h23 = self.hCoefs[5]
self.h31 = self.hCoefs[6]
self.h32 = self.hCoefs[7]
self.calibrationPoints = list(p_wii)
self.screenPoints = list(p_screen)
self.state = Wiimote.CALIBRATED
area_inside = calculateArea(self.calibrationPoints)
total_area = Wiimote.MAX_X * Wiimote.MAX_Y
self.utilization = float(area_inside)/float(total_area)
def createConnectThread(self, selectedmac, pool):
def func():
if selectedmac == '*':
self.detectWiimotes()
if len(self.wiimotesDetected) == 0: return
for p in self.wiimotesDetected:
if not p[0] in pool:
pool.append(p[0])
else:
mac = str(selectedmac)
name = bluetooth.lookup_name(mac)
self.bind([mac,name])
thread = CreateThreadClass(func)
return thread()
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