Four hats (#38)

* Up to four HatSwitches are now supported (#36)

* More readable creation of HidReportDescriptor

* Up to four HatSwitches are now supported

* refactoring

* fix issues with hid

* testing 4 hats

* fix for other number of hats

* add script for testing arduino with a gamepad

* go back to normal sketch

* simplify code

* fix code for variable number of hats

---------

Co-authored-by: GO63-samara <[email protected]>
Co-authored-by: jmriego <[email protected]>

Author: 3 people

Diff for: python/libs/robust_serial/robust_serial.py

@@ -0,0 +1,84 @@
+import struct
+
+from enum import Enum
+
+
+class Order(Enum):
+    """
+    Pre-defined orders
+    """
+    HELLO = 0
+    ALREADY_CONNECTED = 1
+    RECEIVED = 2
+    FORCES = 3
+    POSITION = 4
+    ERROR = 5
+    LOG = 6
+    VERSION = 7
+
+def read_order(f):
+    """
+    :param f: file handler or serial file
+    :return: (Order Enum Object)
+    """
+    return Order(read_i8(f))
+
+def read_i8(f):
+    """
+    :param f: file handler or serial file
+    :return: (int8_t)
+    """
+    return struct.unpack('<b', bytearray(f.read(1)))[0]
+
+
+def read_i16(f):
+    """
+    :param f: file handler or serial file
+    :return: (int16_t)
+    """
+    return struct.unpack('<h', bytearray(f.read(2)))[0]
+
+
+def read_i32(f):
+    """
+    :param f: file handler or serial file
+    :return: (int32_t)
+    """
+    return struct.unpack('<l', bytearray(f.read(4)))[0]
+
+
+def write_i8(f, value):
+    """
+    :param f: file handler or serial file
+    :param value: (int8_t)
+    """
+    if -128 <= value <= 127:
+        f.write(struct.pack('<b', value))
+    else:
+        print("Value error:{}".format(value))
+
+
+def write_order(f, order):
+    """
+    :param f: file handler or serial file
+    :param order: (Order Enum Object)
+    """
+    write_i8(f, order.value)
+
+
+def write_i16(f, value):
+    """
+    :param f: file handler or serial file
+    :param value: (int16_t)
+    """
+    f.write(struct.pack('<h', value))
+
+
+def write_i32(f, value):
+    """
+    :param f: file handler or serial file
+    :param value: (int32_t)
+    """
+    f.write(struct.pack('<l', value))
+
+

Diff for: python/libs/robust_serial/utils.py

@@ -0,0 +1,76 @@
+import sys
+import glob
+
+try:
+    import queue
+except ImportError:
+    import Queue as queue
+
+import serial
+
+
+# From https://stackoverflow.com/questions/6517953/clear-all-items-from-the-queue
+class CustomQueue(queue.Queue):
+    """
+    A custom queue subclass that provides a :meth:`clear` method.
+    """
+
+    def clear(self):
+        """
+        Clears all items from the queue.
+        """
+
+        with self.mutex:
+            unfinished = self.unfinished_tasks - len(self.queue)
+            if unfinished <= 0:
+                if unfinished < 0:
+                    raise ValueError('task_done() called too many times')
+                self.all_tasks_done.notify_all()
+            self.unfinished_tasks = unfinished
+            self.queue.clear()
+            self.not_full.notify_all()
+
+
+# From https://stackoverflow.com/questions/12090503/listing-available-com-ports-with-python
+def get_serial_ports():
+    """
+    Lists serial ports.
+    :return: ([str]) A list of available serial ports
+    """
+    if sys.platform.startswith('win'):
+        ports = ['COM%s' % (i + 1) for i in range(256)]
+    elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'):
+        # this excludes your current terminal "/dev/tty"
+        ports = glob.glob('/dev/tty[A-Za-z]*')
+    elif sys.platform.startswith('darwin'):
+        ports = glob.glob('/dev/tty.*')
+    else:
+        raise EnvironmentError('Unsupported platform')
+
+    results = []
+    for port in ports:
+        try:
+            s = serial.Serial(port)
+            s.close()
+            results.append(port)
+        except (OSError, serial.SerialException):
+            pass
+    return results
+
+
+def open_serial_port(serial_port=None, baudrate=115200, timeout=0, write_timeout=0):
+    """
+    Try to open serial port with Arduino
+    If not port is specified, it will be automatically detected
+    :param serial_port: (str)
+    :param baudrate: (int)
+    :param timeout: (int) None -> blocking mode
+    :param write_timeout: (int)
+    :return: (Serial Object)
+    """
+    # Open serial port (for communication with Arduino)
+    if serial_port is None:
+        serial_port = get_serial_ports()[-1]
+    # timeout=0 non-blocking mode, return immediately in any case, returning zero or more,
+    # up to the requested number of bytes
+    return serial.Serial(port=serial_port, baudrate=baudrate, timeout=timeout, writeTimeout=write_timeout)