File pyspacemouse.py
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from easyhid import Enumeration, HIDException
from collections import namedtuple
import timeit
import copy
from typing import Callable, Union, List
# current version number
__version__ = "1.0.3"
# clock for timing
high_acc_clock = timeit.default_timer
# axis mappings are specified as:
# [channel, byte1, byte2, scale]; scale is usually just -1 or 1 and multiplies the result by this value
# (but per-axis scaling can also be achieved by setting this value)
# byte1 and byte2 are indices into the HID array indicating the two bytes to read to form the value for this axis
# For the SpaceNavigator, these are consecutive bytes following the channel number.
AxisSpec = namedtuple("AxisSpec", ["channel", "byte1", "byte2", "scale"])
# button states are specified as:
# [channel, data byte, bit of byte, index to write to]
# If a message is received on the specified channel, the value of the data byte is set in the button bit array
ButtonSpec = namedtuple("ButtonSpec", ["channel", "byte", "bit"])
# convert two 8 bit bytes to a signed 16 bit integer
def to_int16(y1, y2):
x = (y1) | (y2 << 8)
if x >= 32768:
x = -(65536 - x)
return x
# tuple for 6DOF results
SpaceNavigator = namedtuple(
"SpaceNavigator", ["t", "x", "y", "z", "roll", "pitch", "yaw", "buttons"]
)
class ButtonState(list):
def __int__(self):
return sum((b << i) for (i, b) in enumerate(reversed(self)))
class ButtonCallback:
"""Register new button callback"""
def __init__(
self, buttons: Union[int, List[int]], callback: Callable[[int, int], None]
):
self.buttonsbuttons = buttons
self.callbackcallback = callback
class DofCallback:
"""Register new DoF callback"""
def __init__(
self,
axis: str,
callback: Callable[[int], None],
sleep: float = 0.0,
callback_minus: Callable[[int], None] = None,
filter: float = 0.0
):
self.axisaxis = axis
self.callbackcallback = callback
self.sleepsleep = sleep
self.callback_minuscallback_minus = callback_minus
self.filterfilter = filter
class Config:
"""Create new config file with correct structure and check that the configuration has correct parts"""
def __init__(
self,
callback: Callable[[object], None] = None,
dof_callback: Callable[[object], None] = None,
dof_callback_arr: List[DofCallback] = None,
button_callback: Callable[[object, list], None] = None,
button_callback_arr: List[ButtonCallback] = None,
):
check_config(callback, dof_callback, dof_callback_arr, button_callback, button_callback_arr)
self.callbackcallback = callback
self.dof_callbackdof_callback = dof_callback
self.dof_callback_arrdof_callback_arr = dof_callback_arr
self.button_callbackbutton_callback = button_callback
self.button_callback_arrbutton_callback_arr = button_callback_arr
class DeviceSpec(object):
"""Holds the specification of a single 3Dconnexion device"""
def __init__(
self, name, hid_id, led_id, mappings, button_mapping, axis_scale=350.0
):
self.namename = name
self.hid_idhid_id = hid_id
self.led_idled_id = led_id
self.__mappings__mappings = mappings
self.button_mappingbutton_mapping = button_mapping
self.axis_scaleaxis_scale = axis_scale
self.__bytes_to_read__bytes_to_read = self.__get_num_bytes_to_read__get_num_bytes_to_read()
# self.led_usage = hid.get_full_usage_id(led_id[0], led_id[1])
# initialise to a vector of 0s for each state
self.dict_statedict_state = {
"t": -1,
"x": 0,
"y": 0,
"z": 0,
"roll": 0,
"pitch": 0,
"yaw": 0,
"buttons": ButtonState([0] * len(self.button_mappingbutton_mapping)),
}
# initialise to a vector for button_callback_arr timer
self.dict_state_lastdict_state_last = {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
}
self.tuple_statetuple_state = SpaceNavigator(**self.dict_statedict_state)
# start in disconnected state
self.devicedevice = None
self.callbackcallback = None
self.dof_callbackdof_callback = None
self.dof_callback_arrdof_callback_arr = None
self.button_callbackbutton_callback = None
self.button_callback_arrbutton_callback_arr = None
self.set_nonblocking_loopset_nonblocking_loop = True
def __get_num_bytes_to_read(self):
byte_indices = []
for value in self.__mappings__mappings.values():
byte_indices.extend([value.byte1, value.byte2])
return max(byte_indices) + 1
def describe_connection(self):
"""Return string representation of the device, including
the connection state"""
if self.devicedevice is None:
return f"{self.name} [disconnected]"
else:
return f"{self.name} connected to {self.vendor_name} {self.product_name} version: {self.version_number} [serial: {self.serial_number}]"
@property
def mappings(self):
return self.__mappings__mappings
@mappings.setter
def mappings(self, val):
self.__mappings__mappings = val
self.__bytes_to_read__bytes_to_read = self.__get_num_bytes_to_read__get_num_bytes_to_read()
@property
def connected(self):
"""True if the device has been connected"""
return self.devicedevice is not None
@property
def state(self):
"""Return the current value of read()
Returns: state: {t,x,y,z,pitch,yaw,roll,button} namedtuple
None if the device is not open.
"""
return self.readread()
def open(self):
"""Open a connection to the device, if possible"""
if self.devicedevice:
try:
self.devicedevice.open()
except HIDException as e:
raise Exception("Failed to open device") from e
# copy in product details
self.product_nameproduct_name = self.devicedevice.product_string
self.vendor_namevendor_name = self.devicedevice.manufacturer_string
self.version_numberversion_number = self.devicedevice.release_number
# doesn't seem to work on 3dconnexion devices...
# serial number will be a byte string, we convert to a hex id
self.serial_numberserial_number = "".join(
["%02X" % ord(char) for char in self.devicedevice.serial_number]
)
# def set_led(self, state):
# """Set the LED state to state (True or False)"""
# if self.connected:
# reports = self.device.find_output_reports()
# for report in reports:
# if self.led_usage in report:
# report[self.led_usage] = state
# report.send()
def close(self):
"""Close the connection, if it is open"""
if self.connectedconnected:
self.devicedevice.close()
self.devicedevice = None
def read(self):
"""Read data from SpaceMouse and return the current state of this navigation controller.
Returns:
state: {t,x,y,z,pitch,yaw,roll,button} namedtuple
None if the device is not open.
"""
if not self.connectedconnected:
return None
# read bytes from SpaceMouse
ret = self.devicedevice.read(self.__bytes_to_read__bytes_to_read)
# test for nonblocking read
if (ret):
self.processprocess(ret)
return self.tuple_statetuple_state
def process(self, data):
"""
Update the state based on the incoming data
This function updates the state of the DeviceSpec object, giving values for each
axis [x,y,z,roll,pitch,yaw] in range [-1.0, 1.0]
The state tuple is only set when all 6 DoF have been read correctly.
The timestamp (in fractional seconds since the start of the program) is written as element "t"
If callback is provided, it is called only on DoF state changes with a copy of the current state tuple.
If dof_callback is provided, it is called only on DOF state changes with the argument (state).
If dof_callback_arr is provided, it is called only on DOF state changes with the argument (state, axis).
If button_callback is provided, it is called only on button state changes with the argument (state, buttons).
If button_callbacks_arr is provided, it is called only on specific button state true with the argument (state, buttons, pressed_buttons).
Parameters:
data The data for this HID event, as returned by the HID callback
"""
button_changed = False
dof_changed = False
for name, (chan, b1, b2, flip) in self.__mappings__mappings.items():
if data[0] == chan:
dof_changed = True
#check if b1 or b2 is over the length of the data
if b1 < len(data) and b2 < len(data):
self.dict_statedict_state[name] = (
flip * to_int16(data[b1], data[b2]) / float(self.axis_scaleaxis_scale)
)
for button_index, (chan, byte, bit) in enumerate(self.button_mappingbutton_mapping):
if data[0] == chan:
button_changed = True
# update the button vector
mask = 1 << bit
self.dict_statedict_state["buttons"][button_index] = (
1 if (data[byte] & mask) != 0 else 0
)
self.dict_statedict_state["t"] = high_acc_clock()
# must receive both parts of the 6DOF state before we return the state dictionary
if len(self.dict_statedict_state) == 8:
self.tuple_statetuple_state = SpaceNavigator(**self.dict_statedict_state)
# call any attached callbacks
if self.callbackcallback:
self.callbackcallback(self.tuple_statetuple_state)
# only call the DOF callback if the DOF state actually changed
if self.dof_callbackdof_callback and dof_changed:
self.dof_callbackdof_callback(self.tuple_statetuple_state)
# only call the DoF callback_arr if the specific DoF state actually changed
if self.dof_callback_arrdof_callback_arr and dof_changed:
# foreach all callbacks (ButtonCallback)
for block_dof_callback in self.dof_callback_arrdof_callback_arr:
now = high_acc_clock()
axis_name = block_dof_callback.axis
if now >= self.dict_state_lastdict_state_last[axis_name] + block_dof_callback.sleep:
axis_val = self.dict_statedict_state[axis_name]
# is minus callback defined
if block_dof_callback.callback_minus:
# is axis value greater than filter
if axis_val > block_dof_callback.filter:
block_dof_callback.callback(self.tuple_statetuple_state, axis_val)
elif axis_val < -block_dof_callback.filter:
block_dof_callback.callback_minus(self.tuple_statetuple_state, axis_val)
elif axis_val > block_dof_callback.filter or axis_val < -block_dof_callback.filter:
block_dof_callback.cafllback(self.tuple_statetuple_state, axis_val)
self.dict_state_lastdict_state_last[axis_name] = now
# only call the button callback if the button state actually changed
if self.button_callbackbutton_callback and button_changed:
self.button_callbackbutton_callback(self.tuple_statetuple_state, self.tuple_statetuple_state.buttons)
# only call the button callback_arr if the specific button state actually changed
if self.button_callback_arrbutton_callback_arr and button_changed:
# foreach all callbacks (ButtonCallback)
for block_button_callback in self.button_callback_arrbutton_callback_arr:
run = True
# are buttons list
if type(block_button_callback.buttons) is list:
for button_id in block_button_callback.buttons:
if not self.tuple_statetuple_state.buttons[button_id]:
run = False
# is one button
elif isinstance(block_button_callback.buttons, int):
if not self.tuple_statetuple_state.buttons[block_button_callback.buttons]:
run = False
# call callback
if run:
block_button_callback.callback(self.tuple_statetuple_state, self.tuple_statetuple_state.buttons,
block_button_callback.buttons)
def config_set(self, config: Config):
"""Set new configuration of mouse from Config class"""
self.callbackcallback = config.callback
self.dof_callbackdof_callback = config.dof_callback
self.dof_callback_arrdof_callback_arr = config.dof_callback_arr
self.button_callbackbutton_callback = config.button_callback
self.button_callback_arrbutton_callback_arr = config.button_callback_arr
def config_set_sep(self, callback=None, dof_callback=None, dof_callback_arr=None, button_callback=None,
button_callback_arr=None):
"""Set new configuration of mouse and check that the configuration has correct parts"""
check_config(callback, dof_callback, dof_callback_arr, button_callback, button_callback_arr)
self.callbackcallback = callback
self.dof_callbackdof_callback = dof_callback
self.dof_callback_arrdof_callback_arr = dof_callback_arr
self.button_callbackbutton_callback = button_callback
self.button_callback_arrbutton_callback_arr = button_callback_arr
def config_remove(self):
"""Remove old configuration"""
self.callbackcallback = None
self.dof_callbackdof_callback = None
self.dof_callback_arrdof_callback_arr = None
self.button_callbackbutton_callback = None
self.button_callback_arrbutton_callback_arr = None
# the IDs for the supported devices
# Each ID maps a device name to a DeviceSpec object
device_specs = {
"SpaceMouse Enterprise": DeviceSpec(
name="SpaceMouse Enterprise",
# vendor ID and product ID
hid_id=[0x256f, 0xc633],
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=1, byte1=7, byte2=8, scale=-1),
"roll": AxisSpec(channel=1, byte1=9, byte2=10, scale=-1),
"yaw": AxisSpec(channel=1, byte1=11, byte2=12, scale=1),
},
button_mapping=[
# ButtonSpec(channel=3, byte=5, bit=0),
# ButtonSpec(channel=3, byte=5, bit=1),
# ButtonSpec(channel=3, byte=5, bit=2),
# ButtonSpec(channel=3, byte=5, bit=3),
# ButtonSpec(channel=3, byte=5, bit=4),
# ButtonSpec(channel=3, byte=5, bit=5),
# ButtonSpec(channel=3, byte=5, bit=6),
# ButtonSpec(channel=3, byte=5, bit=7),
ButtonSpec(channel=3, byte=2, bit=4), # 1
ButtonSpec(channel=3, byte=2, bit=5), # 2
ButtonSpec(channel=3, byte=2, bit=6), # 3
ButtonSpec(channel=3, byte=2, bit=7), # 4
ButtonSpec(channel=3, byte=3, bit=0), # 5
ButtonSpec(channel=3, byte=3, bit=1), # 6
ButtonSpec(channel=3, byte=3, bit=2), # 7
ButtonSpec(channel=3, byte=3, bit=3), # 8
ButtonSpec(channel=3, byte=3, bit=4), # 9
ButtonSpec(channel=3, byte=3, bit=5), # 10
ButtonSpec(channel=3, byte=1, bit=0), # MENU
ButtonSpec(channel=3, byte=1, bit=1), # FIT
ButtonSpec(channel=3, byte=1, bit=2), # T IN SQUARE
ButtonSpec(channel=3, byte=1, bit=4), # R IN SQUARE
ButtonSpec(channel=3, byte=1, bit=5), # F IN SQUARE
ButtonSpec(channel=3, byte=2, bit=0), # SQUARE WITH ROTATING ARROWS
ButtonSpec(channel=3, byte=2, bit=2), # ISO1
ButtonSpec(channel=3, byte=3, bit=6), # ESC
ButtonSpec(channel=3, byte=3, bit=7), # ALT
ButtonSpec(channel=3, byte=4, bit=0), # SHIFT
ButtonSpec(channel=3, byte=4, bit=1), # CTRL
ButtonSpec(channel=3, byte=4, bit=2), # LOCK
],
axis_scale=350.0,
),
"SpaceExplorer": DeviceSpec(
name="SpaceExplorer",
# vendor ID and product ID
hid_id=[0x46D, 0xc627],
# LED HID usage code pair
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=2, byte1=1, byte2=2, scale=-1),
"roll": AxisSpec(channel=2, byte1=3, byte2=4, scale=-1),
"yaw": AxisSpec(channel=2, byte1=5, byte2=6, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=2, bit=0), # SHIFT
ButtonSpec(channel=3, byte=1, bit=6), # ESC
ButtonSpec(channel=3, byte=2, bit=1), # CTRL
ButtonSpec(channel=3, byte=1, bit=7), # ALT
ButtonSpec(channel=3, byte=1, bit=0), # 1
ButtonSpec(channel=3, byte=1, bit=1), # 2
ButtonSpec(channel=3, byte=2, bit=3), # PANEL
ButtonSpec(channel=3, byte=2, bit=2), # FIT
ButtonSpec(channel=3, byte=2, bit=5), # -
ButtonSpec(channel=3, byte=2, bit=4), # +
ButtonSpec(channel=3, byte=1, bit=2), # T
ButtonSpec(channel=3, byte=1, bit=3), # L
ButtonSpec(channel=3, byte=1, bit=5), # F
ButtonSpec(channel=3, byte=2, bit=6), # 2D
ButtonSpec(channel=3, byte=1, bit=4), # R
],
axis_scale=350.0,
),
"SpaceNavigator": DeviceSpec(
name="SpaceNavigator",
# vendor ID and product ID
hid_id=[0x46D, 0xC626],
# LED HID usage code pair
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=2, byte1=1, byte2=2, scale=-1),
"roll": AxisSpec(channel=2, byte1=3, byte2=4, scale=-1),
"yaw": AxisSpec(channel=2, byte1=5, byte2=6, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=1, bit=0), # LEFT
ButtonSpec(channel=3, byte=1, bit=1), # RIGHT
],
axis_scale=350.0,
),
"SpaceMouse USB": DeviceSpec(
name="SpaceMouseUSB",
# vendor ID and product ID
hid_id=[0x256f, 0xc641],
# LED HID usage code pair
led_id=None,
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=2, byte1=1, byte2=2, scale=-1),
"roll": AxisSpec(channel=2, byte1=3, byte2=4, scale=-1),
"yaw": AxisSpec(channel=2, byte1=5, byte2=6, scale=1),
},
button_mapping=[
ButtonSpec(channel=None, byte=None, bit=None), # No buttons
],
axis_scale=350.0,
),
"SpaceMouse Compact": DeviceSpec(
name="SpaceMouse Compact",
# vendor ID and product ID
hid_id=[0x256F, 0xC635],
# LED HID usage code pair
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=2, byte1=1, byte2=2, scale=-1),
"roll": AxisSpec(channel=2, byte1=3, byte2=4, scale=-1),
"yaw": AxisSpec(channel=2, byte1=5, byte2=6, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=1, bit=0), # LEFT
ButtonSpec(channel=3, byte=1, bit=1), # RIGHT
],
axis_scale=350.0,
),
"SpaceMouse Pro Wireless": DeviceSpec(
name="SpaceMouse Pro Wireless",
# vendor ID and product ID
hid_id=[0x256F, 0xC632],
# LED HID usage code pair
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=1, byte1=7, byte2=8, scale=-1),
"roll": AxisSpec(channel=1, byte1=9, byte2=10, scale=-1),
"yaw": AxisSpec(channel=1, byte1=11, byte2=12, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=1, bit=0), # MENU
ButtonSpec(channel=3, byte=3, bit=7), # ALT
ButtonSpec(channel=3, byte=4, bit=1), # CTRL
ButtonSpec(channel=3, byte=4, bit=0), # SHIFT
ButtonSpec(channel=3, byte=3, bit=6), # ESC
ButtonSpec(channel=3, byte=2, bit=4), # 1
ButtonSpec(channel=3, byte=2, bit=5), # 2
ButtonSpec(channel=3, byte=2, bit=6), # 3
ButtonSpec(channel=3, byte=2, bit=7), # 4
ButtonSpec(channel=3, byte=2, bit=0), # ROLL CLOCKWISE
ButtonSpec(channel=3, byte=1, bit=2), # TOP
ButtonSpec(channel=3, byte=4, bit=2), # ROTATION
ButtonSpec(channel=3, byte=1, bit=5), # FRONT
ButtonSpec(channel=3, byte=1, bit=4), # REAR
ButtonSpec(channel=3, byte=1, bit=1), # FIT
],
axis_scale=350.0,
),
"SpaceMouse Pro": DeviceSpec(
name="SpaceMouse Pro",
# vendor ID and product ID
hid_id=[0x46D, 0xC62b],
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=2, byte1=1, byte2=2, scale=-1),
"roll": AxisSpec(channel=2, byte1=3, byte2=4, scale=-1),
"yaw": AxisSpec(channel=2, byte1=5, byte2=6, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=1, bit=0), # MENU
ButtonSpec(channel=3, byte=3, bit=7), # ALT
ButtonSpec(channel=3, byte=4, bit=1), # CTRL
ButtonSpec(channel=3, byte=4, bit=0), # SHIFT
ButtonSpec(channel=3, byte=3, bit=6), # ESC
ButtonSpec(channel=3, byte=2, bit=4), # 1
ButtonSpec(channel=3, byte=2, bit=5), # 2
ButtonSpec(channel=3, byte=2, bit=6), # 3
ButtonSpec(channel=3, byte=2, bit=7), # 4
ButtonSpec(channel=3, byte=2, bit=0), # ROLL CLOCKWISE
ButtonSpec(channel=3, byte=1, bit=2), # TOP
ButtonSpec(channel=3, byte=4, bit=2), # ROTATION
ButtonSpec(channel=3, byte=1, bit=5), # FRONT
ButtonSpec(channel=3, byte=1, bit=4), # REAR
ButtonSpec(channel=3, byte=1, bit=1), # FIT
],
axis_scale=350.0,
),
"SpaceMouse Wireless": DeviceSpec(
name="SpaceMouse Wireless",
# vendor ID and product ID
hid_id=[0x256F, 0xC62E],
# LED HID usage code pair
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=1, byte1=7, byte2=8, scale=-1),
"roll": AxisSpec(channel=1, byte1=9, byte2=10, scale=-1),
"yaw": AxisSpec(channel=1, byte1=11, byte2=12, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=1, bit=0), # LEFT
ButtonSpec(channel=3, byte=1, bit=1), # RIGHT
], # FIT
axis_scale=350.0,
),
"SpaceMouse Wireless [NEW]": DeviceSpec(
name="SpaceMouse Wireless [NEW]",
# vendor ID and product ID
hid_id=[0x256F, 0xC63A],
# LED HID usage code pair
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=1, byte1=7, byte2=8, scale=-1),
"roll": AxisSpec(channel=1, byte1=9, byte2=10, scale=-1),
"yaw": AxisSpec(channel=1, byte1=11, byte2=12, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=1, bit=0), # LEFT
ButtonSpec(channel=3, byte=1, bit=1), # RIGHT
], # FIT
axis_scale=350.0,
),
"3Dconnexion Universal Receiver": DeviceSpec(
name="3Dconnexion Universal Receiver",
# vendor ID and product ID
hid_id=[0x256F, 0xC652],
# LED HID usage code pair
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=1, byte1=7, byte2=8, scale=-1),
"roll": AxisSpec(channel=1, byte1=9, byte2=10, scale=-1),
"yaw": AxisSpec(channel=1, byte1=11, byte2=12, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=1, bit=0), # MENU
ButtonSpec(channel=3, byte=3, bit=7), # ALT
ButtonSpec(channel=3, byte=4, bit=1), # CTRL
ButtonSpec(channel=3, byte=4, bit=0), # SHIFT
ButtonSpec(channel=3, byte=3, bit=6), # ESC
ButtonSpec(channel=3, byte=2, bit=4), # 1
ButtonSpec(channel=3, byte=2, bit=5), # 2
ButtonSpec(channel=3, byte=2, bit=6), # 3
ButtonSpec(channel=3, byte=2, bit=7), # 4
ButtonSpec(channel=3, byte=2, bit=0), # ROLL CLOCKWISE
ButtonSpec(channel=3, byte=1, bit=2), # TOP
ButtonSpec(channel=3, byte=4, bit=2), # ROTATION
ButtonSpec(channel=3, byte=1, bit=5), # FRONT
ButtonSpec(channel=3, byte=1, bit=4), # REAR
ButtonSpec(channel=3, byte=1, bit=1), # FIT
],
axis_scale=350.0,
),
"SpacePilot": DeviceSpec(
name="SpacePilot",
# vendor ID and product ID
hid_id=[0x46D, 0xC625],
# LED HID usage code pair
led_id=None,
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=2, byte1=1, byte2=2, scale=-1),
"roll": AxisSpec(channel=2, byte1=3, byte2=4, scale=-1),
"yaw": AxisSpec(channel=2, byte1=5, byte2=6, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=1, bit=0), # 1
ButtonSpec(channel=3, byte=1, bit=1), # 2
ButtonSpec(channel=3, byte=1, bit=2), # 3
ButtonSpec(channel=3, byte=1, bit=3), # 4
ButtonSpec(channel=3, byte=1, bit=4), # 5
ButtonSpec(channel=3, byte=1, bit=5), # 6
ButtonSpec(channel=3, byte=1, bit=6), # T
ButtonSpec(channel=3, byte=1, bit=7), # L
ButtonSpec(channel=3, byte=2, bit=0), # R
ButtonSpec(channel=3, byte=2, bit=1), # F
ButtonSpec(channel=3, byte=2, bit=2), # Esc
ButtonSpec(channel=3, byte=2, bit=3), # Alt
ButtonSpec(channel=3, byte=2, bit=4), # Shift
ButtonSpec(channel=3, byte=2, bit=5), # Ctrl
ButtonSpec(channel=3, byte=2, bit=6), # Fit
ButtonSpec(channel=3, byte=2, bit=7), # Panel
ButtonSpec(channel=3, byte=3, bit=0), # Zoom -
ButtonSpec(channel=3, byte=3, bit=1), # Zoom +
ButtonSpec(channel=3, byte=3, bit=2), # Dom
ButtonSpec(channel=3, byte=3, bit=3), # 3D Lock
ButtonSpec(channel=3, byte=3, bit=4), # Config
],
axis_scale=350.0,
),
"SpacePilot Pro": DeviceSpec(
name="SpacePilot Pro",
# vendor ID and product ID
hid_id=[0x46D, 0xC629],
# LED HID usage code pair
led_id=[0x8, 0x4B],
mappings={
"x": AxisSpec(channel=1, byte1=1, byte2=2, scale=1),
"y": AxisSpec(channel=1, byte1=3, byte2=4, scale=-1),
"z": AxisSpec(channel=1, byte1=5, byte2=6, scale=-1),
"pitch": AxisSpec(channel=2, byte1=1, byte2=2, scale=-1),
"roll": AxisSpec(channel=2, byte1=3, byte2=4, scale=-1),
"yaw": AxisSpec(channel=2, byte1=5, byte2=6, scale=1),
},
button_mapping=[
ButtonSpec(channel=3, byte=4, bit=0), # SHIFT
ButtonSpec(channel=3, byte=3, bit=6), # ESC
ButtonSpec(channel=3, byte=4, bit=1), # CTRL
ButtonSpec(channel=3, byte=3, bit=7), # ALT
ButtonSpec(channel=3, byte=3, bit=1), # 1
ButtonSpec(channel=3, byte=3, bit=2), # 2
ButtonSpec(channel=3, byte=2, bit=6), # 3
ButtonSpec(channel=3, byte=2, bit=7), # 4
ButtonSpec(channel=3, byte=3, bit=0), # 5
ButtonSpec(channel=3, byte=1, bit=0), # MENU
ButtonSpec(channel=3, byte=4, bit=6), # -
ButtonSpec(channel=3, byte=4, bit=5), # +
ButtonSpec(channel=3, byte=4, bit=4), # DOMINANT
ButtonSpec(channel=3, byte=4, bit=3), # PAN/ZOOM
ButtonSpec(channel=3, byte=4, bit=2), # ROTATION
ButtonSpec(channel=3, byte=2, bit=0), # ROLL CLOCKWISE
ButtonSpec(channel=3, byte=1, bit=2), # TOP
ButtonSpec(channel=3, byte=1, bit=5), # FRONT
ButtonSpec(channel=3, byte=1, bit=4), # REAR
ButtonSpec(channel=3, byte=2, bit=2), # ISO
ButtonSpec(channel=3, byte=1, bit=1), # FIT
],
axis_scale=350.0,
),
}
# [For the SpaceNavigator]
# The HID data is in the format
# [id, a, b, c, d, e, f]
# each pair (a,b), (c,d), (e,f) is a 16 bit signed value representing the absolute device state [from -350 to 350]
# if id==1, then the mapping is
# (a,b) = y translation
# (c,d) = x translation
# (e,f) = z translation
# if id==2 then the mapping is
# (a,b) = x tilting (roll)
# (c,d) = y tilting (pitch)
# (d,e) = z tilting (yaw)
# if id==3 then the mapping is
# a = button. Bit 1 = button 1, bit 2 = button 2
# Each movement of the device always causes two HID events, one
# with id 1 and one with id 2, to be generated, one after the other.
supported_devices = list(device_specs.keys())
_active_device = None
def close():
"""Close the active device, if it exists"""
if _active_device is not None:
_active_device.close()
def read():
"""Return the current state of the active navigation controller.
Returns:
state: {t,x,y,z,pitch,yaw,roll,button} namedtuple
None if the device is not open.
"""
return _active_device.read() if _active_device is not None else None
def list_devices():
"""Return a list of the supported devices connected
Returns:
A list of string names of the devices supported which were found. Empty if no supported devices found
"""
devices = []
try:
hid = Enumeration()
except AttributeError as e:
raise Exception(
"HID API is probably not installed. "
"Look at https://spacemouse.kubaandrysek.cz for details."
) from e
all_hids = hid.find()
if all_hids:
for device in all_hids:
devices.extend(
device_name
for device_name, spec in device_specs.items()
if (
device.vendor_id == spec.hid_id[0]
and device.product_id == spec.hid_id[1]
)
)
return devices
def list_available_devices():
"""Return a list of all supported devices from config
Returns:
A list of string names of the devices supported (device_name, vid_id, pid_id)
"""
return [
(device_name, spec.hid_id[0], spec.hid_id[1])
for device_name, spec in device_specs.items()
]
def list_all_hid_devices():
"""Return a list of all HID devices connected
Returns:
A list of HID devices (product_string, manufacturer_string, vendor_id, product_id)
"""
try:
hid = Enumeration()
except AttributeError as e:
raise Exception(
"HID API is probably not installed."
"Look at https://spacemouse.kubaandrysek.cz for details."
) from e
return [
(device.product_string, device.manufacturer_string, device.vendor_id, device.product_id)
for device in hid.find()
]
def openCfg(config: Config, set_nonblocking_loop: bool = True, device=None, DeviceNumber=0):
"""
Open a 3D space navigator device. Same as open() but input one config file -> class Config
Returns:
Device object if the device was opened successfully
None if the device could not be opened
"""
return open(config.callback, config.dof_callback, config.dof_callback_arr, config.button_callback,
config.button_callback_arr, set_nonblocking_loop, device, DeviceNumber)
def open(
callback: Callable[[object], None] = None,
dof_callback: Callable[[object], None] = None,
dof_callback_arr: List[DofCallback] = None,
button_callback: Callable[[object, list], None] = None,
button_callback_arr: List[ButtonCallback] = None,
set_nonblocking_loop=True,
device: str = None,
path: str = None,
DeviceNumber=0) -> Union[None, DeviceSpec]:
"""
Open a 3D space navigator device. Makes this device the current active device, which enables the module-level read() and close()
calls. For multiple devices, use the read() and close() calls on the returned object instead, and don't use the module-level calls.
Parameters:
callback: If callback is provided, it is called only on DoF state changes with a copy of the current state tuple.
dof_callback: If dof_callback is provided, it is called only on DOF state changes with the argument (state).
dof_callback_arr: If dof_callback_arr is provided, it is called only on DOF state changes with the argument (state, axis).
button_callback: If button_callback is provided, it is called only on button state changes with the argument (state, buttons).
button_callback_arr: If button_callbacks_arr is provided, it is called only on specific button state true with the argument (state, buttons, pressed_buttons).
set_nonblocking_loop: Disable waiting for input from SpaceMouse. It is required for using callbacks
device: name of device to open. Must be one of the values in supported_devices. If None, chooses the first supported device found.
path: path of the device to open. If path is specified it will try to open at that path regardless of what is connected to it
DeviceNumber: use the first (DeviceNumber=0) device you find. (for universal wireless receiver)
Returns:
Device object if the device was opened successfully
None if the device could not be opened
"""
# only used if the module-level functions are used
global _active_device
# if no device name specified, look for any matching device and choose the first
if device is None:
all_devices = list_devices()
if len(all_devices) > 0:
device = all_devices[0]
else:
raise Exception("No found any connected or supported devices.")
found_devices = []
hid = Enumeration()
all_hids = hid.find()
if all_hids:
for dev in all_hids:
if path:
dev.path = path
spec = device_specs[device]
if dev.vendor_id == spec.hid_id[0] and dev.product_id == spec.hid_id[1]:
found_devices.append({"Spec": spec, "HIDDevice": dev})
print(f"{device} found")
else:
print("No HID devices detected")
return None
if not found_devices:
print("No supported devices found")
return None
else:
if len(found_devices) <= DeviceNumber:
DeviceNumber = 0
if len(found_devices) > DeviceNumber:
# Check that the input configuration has the correct components
# Raise an exception if it encounters incorrect component.
check_config(callback, dof_callback, dof_callback_arr, button_callback, button_callback_arr)
# create a copy of the device specification
spec = found_devices[DeviceNumber]["Spec"]
dev = found_devices[DeviceNumber]["HIDDevice"]
new_device = copy.deepcopy(spec)
new_device.device = dev
# set the callbacks
new_device.callback = callback
new_device.dof_callback = dof_callback
new_device.dof_callback_arr = dof_callback_arr
new_device.button_callback = button_callback
new_device.button_callback_arr = button_callback_arr
# open the device
new_device.open()
# set nonblocking/blocking mode
new_device.set_nonblocking_loop = set_nonblocking_loop
dev.set_nonblocking(set_nonblocking_loop)
_active_device = new_device
return new_device
print("Unknown error occured.")
return None
def check_config(callback=None, dof_callback=None, dof_callback_arr=None, button_callback=None,
button_callback_arr=None):
"""Check that the input configuration has the correct components.
Raise an exception if it encounters incorrect component.
"""
if dof_callback_arr and check_dof_callback_arr(dof_callback_arr):
pass
if button_callback_arr and check_button_callback_arr(button_callback_arr):
pass
def check_button_callback_arr(button_callback_arr: List[ButtonCallback]) -> List[ButtonCallback]:
"""Check that the button_callback_arr has the correct components.
Raise an exception if it encounters incorrect component.
"""
# foreach ButtonCallback
for num, butt_call in enumerate(button_callback_arr):
if not isinstance(butt_call, ButtonCallback):
raise Exception(f"'ButtonCallback[{num}]' is not instance of 'ButtonCallback'")
if type(butt_call.buttons) is int:
pass
elif type(butt_call.buttons) is list:
for xnum, butt in enumerate(butt_call.buttons):
if type(butt) is not int:
raise Exception(f"'ButtonCallback[{num}]:buttons[{xnum}]' is not type int or list of int")
else:
raise Exception(f"'ButtonCallback[{num}]:buttons' is not type int or list of int")
if not callable(butt_call.callback):
raise Exception(f"'ButtonCallback[{num}]:callback' is not callable")
return button_callback_arr
class DofCallback:
"""Register new DoF callback"""
def __init__(
self,
axis: str,
callback: Callable[[int], None],
sleep: float = 0.0,
callback_minus: Callable[[int], None] = None,
filter: float = 0.0
):
self.axis = axis
self.callbackcallback = callback
self.sleep = sleep
self.callback_minus = callback_minus
self.filter = filter
def check_dof_callback_arr(dof_callback_arr: List[DofCallback]) -> List[DofCallback]:
"""Check that the dof_callback_arr has the correct components.
Raise an exception if it encounters incorrect component."""
# foreach DofCallback
for num, dof_call in enumerate(dof_callback_arr):
if not isinstance(dof_call, DofCallback):
raise Exception(f"'DofCallback[{num}]' is not instance of 'DofCallback'")
# has the correct axis name
if dof_call.axis not in ["x", "y", "z", "roll", "pitch", "yaw"]:
raise Exception(
f"'DofCallback[{num}]:axis' is not string from ['x', 'y', 'z', 'roll', 'pitch', 'yaw']")
# is callback callable
if not callable(dof_call.callback):
raise Exception(f"'DofCallback[{num}]:callback' is not callable")
# is sleep type float
if type(dof_call.sleep) is not float:
raise Exception(f"'DofCallback[{num}]:sleep' is not type float")
# is callback_minus callable
if not dof_call.callback_minus or not callable(
dof_call.callback_minus
):
raise Exception(f"'DofCallback[{num}]:callback_minus' is not callable")
# is filter type float
if not dof_call.filter or type(dof_call.filter) is not float:
raise Exception(f"'DofCallback[{num}]:filter' is not type float")
return dof_callback_arr
def config_set(config: Config):
"""Set new configuration of mouse from Config class"""
if _active_device is not None:
_active_device.config_set(config)
def config_set_sep(callback=None, dof_callback=None, dof_callback_arr=None, button_callback=None,
button_callback_arr=None):
"""Set new configuration of mouse and check that the configuration has correct parts"""
if _active_device is not None:
_active_device.config_set_sep(callback, dof_callback, dof_callback_arr, button_callback, button_callback_arr)
def config_remove():
"""Remove old configuration"""
if _active_device is not None:
_active_device.config_remove()
def print_state(state):
"""Simple default DoF callback
Print all axis to output
"""
if state:
print(
" ".join(
[
"%4s %+.2f" % (k, getattr(state, k))
for k in ["x", "y", "z", "roll", "pitch", "yaw", "t"]
]
)
)
def silent_callback(state):
"""Silent callback
Does nothing
"""
pass
def print_buttons(state, buttons):
"""Simple default button callback
Print all buttons to output
"""
# simple default button callback
print(
(
(
"["
+ " ".join(["%2d, " % buttons[k] for k in range(len(buttons))])
)
+ "]"
)
)
# def toggle_led(state, buttons):
# print("".join(["buttons=", str(buttons)]))
# # Switch on the led on left push, off on right push
# if buttons[0] == 1:
# set_led(1)
# if buttons[1] == 1:
# set_led(0)
#
#
# def set_led(state):
# if _active_device:
# _active_device.set_led(state)
if __name__ == "__main__":
def butt_0(state, buttons, pressed_buttons):
print("Button 0")
def butt_2_3(state, buttons, pressed_buttons):
print("Button 2 and 3")
button_callbacks_arr = [
ButtonCallback([0], butt_0),
ButtonCallback([1], lambda state, buttons, pressed_buttons: print("Button 1")),
ButtonCallback([2, 3], butt_2_3),
]
dev = open(dof_callback=print_state, button_callback=print_buttons, button_callback_arr=button_callbacks_arr)
while True:
state = dev.read()