Quick and dirty Spacemouse test

spacemouse.py

#! /usr/bin/env python3

import serial
import subprocess

SENSITIVITY=250
PORT1="/dev/ttyUSB1"
DEBUG = False
DELAY = 0.25 ## seconds, prevents race

## commands all end with \r

def getSpacemouse(s):
    """Read a command.  Think about how to do smartly/flush here"""
    cmd = s.read_until(DELIM)
    cmd = cmd.decode()
    return cmd

validData = {"0":0, "A":1, "B":2, "3":3, "D":4, "5":5, "6":6, "G":7, "H":8,
        "9":9, ":":10, "K":11, "<":12, "M":13, "N":14, "?":15}

def readNibble(byte):
    try:
        return validData[byte]
    except KeyError():
        return None

def buildWord(nibbleArray):
    runningSum = 0
    runningSum = runningSum + 4096 * nibbleArray.pop(0)
    runningSum = runningSum + 256 * nibbleArray.pop(0)
    runningSum = runningSum + 16 * nibbleArray.pop(0)
    runningSum = runningSum + nibbleArray.pop(0)
    runningSum = runningSum - 32768
    return runningSum, nibbleArray

def parseDirection(cmd):
    nibbleArray = [readNibble(x) for x in cmd]
    values = []
    while len(nibbleArray):
        val, nibbleArray = buildWord(nibbleArray)
        values.append(val)
    return values

def parseKeys(cmd):
    return cmd

def plotme(val):
    spaces = int((val + 500)/10)
    print( spaces*" " + "#" )
    


commands = {"d":parseDirection, "k":parseKeys}

def handleMouse(serialPort):
    cmd = getSpacemouse(serialPort)
    if cmd: ## returns '' if nothing on line
        cmdType = cmd[0]
        cmd = cmd[1:].strip()
        try:
            foo = commands[cmdType](cmd)
            if DEBUG:
                for f in foo:
                    plotme(f)
                print
        except:
            print(len(cmd))
            print(cmdType)
            print(cmd)
            serialPort.flush()
   
def scrollMouse(serialPort):
    cmd = getSpacemouse(serialPort)
    if cmd: ## returns '' if nothing on line
        cmdType = cmd[0]
        cmd = cmd[1:].strip()
        try:
            foo = commands[cmdType](cmd)
            if DEBUG:
                print(foo.decode())
            xaxis = int(foo[0])
            vertical = int(foo[1])
            yaxis = int(foo[2])
            pitch = int(foo[3])
            yaw = int(foo[4])
            roll = int(foo[5])

            ## Pitch = scrollwheel up/down
            if pitch > 1:
                for i in range(int(pitch/SENSITIVITY)+1):
                    subprocess.Popen(["xdotool", "click","5"])
            if pitch < -1:
                for i in range(int(-pitch/SENSITIVITY)+1):
                    subprocess.Popen(["xdotool", "click","4"])

            ## turn CW opens in new tab (middle mouse click)
            if yaw < -30:
                os.system("xdotool click 2")
                time.sleep(DELAY)
            
            ## push down closes page
            if vertical < -50:
                os.system("xdotool type d")
                time.sleep(DELAY)
            ## pull up undoes last close
            if vertical > 50:
                os.system("xdotool type u")
                time.sleep(DELAY)
            ## shove left/right moves to prev/next tab
            if xaxis < -50:
                os.system("xdotool type K")
                time.sleep(DELAY)
            if xaxis > 50:
                os.system("xdotool type J")
                time.sleep(DELAY)
            ## rolling to right goes to forum next 
            if roll < -50:
                os.system("xdotool type ]]")
                time.sleep(DELAY)

            ## rolling to right follows link
            # if roll < -50:
            #     os.system("xdotool click 1")
            #     time.sleep(DELAY)
            ## rolling to left goes backwards in history
            if roll > 50:
                os.system("xdotool type H")
                time.sleep(DELAY)
            
        except:
            # handle keys
            if cmd == "A00":
                os.system("xdotool type bhad\n")
                os.system("xdotool key Return")
            elif cmd == "0B0": # left button
                os.system("xdotool type [[")
            elif cmd == "0D0": # right button
                os.system("xdotool type ]]")
            elif cmd == "0A0": # 5
                os.system("xdotool type o")
                os.system("xdotool key Escape")
            elif cmd == "0H0": # 8
                os.system("xdotool key Escape")
                os.system("xdotool type ,p")
            elif cmd == "000":
                pass 
            else:
                print("ERR0R: " + cmd)
        
        serialPort.flushInput()

def writeout(serialport, seq):
    """writes out byte sequence to pass serial port"""
    serialport.write(bytes(seq, encoding="ascii"))

if __name__ == "__main__":
    TIMEOUT=0.1
    DELIM="\r".encode("ascii")
    import os
    import time
    import sys


    if len(sys.argv) == 2:
        PORT = sys.argv[1]
    else:
        PORT = PORT1

    print("Trying " + PORT)
    s = serial.Serial(baudrate=9600, stopbits=2, port=PORT, timeout=TIMEOUT)
    time.sleep(0.1)
    s.flush()
    time.sleep(0.1)
    print("Initializing...")
    writeout(s,"vQ\r")
    print(s.read(100).decode())
    writeout(s,"mG\r") # both axes, dominant only mode
    print(s.read(100).decode())
    writeout(s,"nM\r") # default sensitivity radius -- rather large
    print(s.read(100).decode())
    writeout(s,"q00\r") # linear scaling for both translation and rotation
    print(s.read(100).decode())

    while(True):
        # handleMouse(s)
        scrollMouse(s)