Added compatibility with OpenGloves NamedPipe v2

serial_utils/ipc.py

@@ -1,91 +1,112 @@
-# win32Pipe
-'''
-https://stackoverflow.com/questions/48542644/python-and-windows-named-pipes
-'''
-import struct, time
-import win32pipe, win32file, win32con, pywintypes
-
-class NamedPipe:
-    def __init__(self, right_hand=True):
-        if right_hand:
-            # OpenGloves /named-pipe-communication-manager/src/DeviceProvider.cpp#L77
-            self.pipename = r'\\.\\pipe\\vrapplication\\input\\right'
-        else:
-            self.pipename = r'\\.\\pipe\\vrapplication\\input\\left'
-        self.fingers = [False]*5
-        self.joys = [0.0, 0.0]
-        self.buttons = [False]*8
-
-    def encode(self, flexion, joys=None, bools=None):
-        ''' Struct format is from: https://github.com/LucidVR/opengloves-driver/.../EncodingManager.h#L17
-      const std::array<float, 5> flexion; // Between 0 and 1
-      const float joyX;     // Between -1 and 1
-      const float joyY;
-      const bool joyButton; // 0
-      const bool trgButton; // 1
-      const bool aButton;   // 2
-      const bool bButton;   // 3
-      const bool grab;      // 4
-      const bool pinch;     // 5
-      const bool menu;      // 6 
-      const bool calibrate; // 7
-        '''
-        if joys is not None:
-            print(joys)
-            joyX = joys[0]
-            joyY = joys[1]
-        else:
-            joyX = 0.0
-            joyY = 0.0
-
-        if bools is None:
-            bools = [False, False, False, False, False, False, False, False] 
-
-        # https://tuttlem.github.io/2016/04/06/packing-data-with-python.html
-        pack_obj = struct.pack('@5f', flexion[0], flexion[1], flexion[2], flexion[3], flexion[4])
-        joys = struct.pack('@2f', joyX, joyY)
-        pack_bools = struct.pack('@8?', *bools)
-        pack_obj = pack_obj + joys + pack_bools
-        return pack_obj
-
-    def send(self, fingers, joys=None, bools=None):
-        encoded = self.encode(fingers, joys, bools)
-        try:
-            # https://github.com/LucidVR/opengloves-driver/blob/develop/overlay/main.cpp#L128
-            open_mode = win32con.GENERIC_READ | win32con.GENERIC_WRITE
-
-            pipe = win32file.CreateFile(self.pipename,
-                                             open_mode,
-                                             0, # no sharing
-                                             None, # default security
-                                             win32con.OPEN_EXISTING,
-                                             0, # win32con.FILE_FLAG_OVERLAPPED,
-                                             None)
-            win32file.WriteFile(pipe, encoded)
-            win32file.CloseHandle(pipe)
-        except pywintypes.error:
-            print("Pipe busy")
-
-
-if __name__ == "__main__":
-    ipc_right = NamedPipe(right_hand=True)
-    ipc_left = NamedPipe(right_hand=False)
-
-    try:
-        for i1 in range(0,10):
-            for i2 in range(0,10):
-                for i3 in range(0,10):
-                    for i4 in range(0,10):
-                        for i5 in range(0,10):
-                            fingers = [i1/10, i2/10, i3/10, i4/10, i5/10]
-                            bools = [True]*8
-                            bools[6] = True
-                            ipc_left.send(fingers, bools=bools)
-                            ipc_right.send(fingers, bools=bools)
-
-                            time.sleep(0.01)
-                            print(f"Wrote {fingers} to IPC")
-    except KeyboardInterrupt:
-        print("Quitting")
-
-        quit()
+# win32Pipe
+# https://stackoverflow.com/questions/48542644/python-and-windows-named-pipes
+
+import pywintypes
+import struct
+import time
+import win32con
+import win32file
+import win32pipe
+
+
+def encode(flexions, splay, joys, bools):
+    """ Struct format is from: https://github.com/LucidVR/opengloves-driver/wiki/Driver-Input#opengloves-input-methods
+    const std::array<std::array<float, 4>, 5> flexion; // Between 0 and 1
+    const std::array<float, 5> splay; // Between 0 and 1
+    const float joyX; // Between -1 and 1
+    const float joyY; // Between -1 and 1
+    const bool joyButton; // 0
+    const bool trgButton; // 1
+    const bool aButton;   // 2
+    const bool bButton;   // 3
+    const bool grab;      // 4
+    const bool pinch;     // 5
+    const bool menu;      // 6
+    const bool calibrate; // 7
+
+    const float trgValue; // between 0 - 1 
+    """
+
+    if splay is None:
+        splay = [0.0] * 5
+
+    if joys is None:
+        joys = [0.0] * 2
+
+    if bools is None:
+        bools = [False] * 8
+
+    # https://tuttlem.github.io/2016/04/06/packing-data-with-python.html
+    packed_flexions = struct.pack('@20f', *flexions)
+    packed_splays = struct.pack('@5f', *splay)
+    packed_joys = struct.pack('@2f', *joys)
+    packed_bools = struct.pack('@8?', *bools)
+    packed_trg = struct.pack('@f', (flexions[4] + flexions[5] + flexions[6] + flexions[7]) / 4)
+
+    return packed_flexions + packed_splays + packed_joys + packed_bools + packed_trg
+
+
+class NamedPipe:
+    def __init__(self, right_hand=True):
+        if right_hand:
+            # OpenGloves /named-pipe-communication-manager/src/DeviceProvider.cpp#L77
+            self.pipe_name = r'\\.\pipe\vrapplication\input\glove\v2\right'
+
+        else:
+            self.pipe_name = r'\\.\pipe\vrapplication\input\glove\v2\left'
+
+        try:
+            # https://github.com/LucidVR/opengloves-driver/blob/develop/overlay/main.cpp#L128
+            open_mode = win32con.GENERIC_READ | win32con.GENERIC_WRITE
+
+            self.pipe = win32file.CreateFile(self.pipe_name,
+                                        open_mode,
+                                        0,  # no sharing
+                                        None,  # default security
+                                        win32con.OPEN_EXISTING,
+                                        0,  # win32con.FILE_FLAG_OVERLAPPED,
+                                        None)
+
+            win32pipe.SetNamedPipeHandleState(self.pipe,
+                                        win32pipe.PIPE_TYPE_BYTE | win32pipe.PIPE_READMODE_BYTE | win32pipe.PIPE_WAIT,
+                                        None,
+                                        None)
+
+
+        except pywintypes.error:
+            print("Pipe busy")
+            time.sleep(0.1)
+            self.__init__()
+
+    def send(self, flexions, splay=None, joys=None, bools=None):
+        encoded = encode(flexions, splay, joys, bools)
+        win32file.WriteFile(self.pipe, encoded)
+
+
+if __name__ == "__main__":
+    ipc_right = NamedPipe(right_hand=True)
+    ipc_left = NamedPipe(right_hand=False)
+
+    try:
+        for i1 in range(0, 10):
+
+            for i2 in range(0, 10):
+
+                for i3 in range(0, 10):
+
+                    for i4 in range(0, 10):
+
+                        for i5 in range(0, 10):
+
+                            flexions = [i1/10, i1/10, i1/10, i1/10, i2/10, i2/10, i2/10, i2/10, i3/10, i3/10, i3/10, i3/10, i4/10, i4/10, i4/10, i4/10, i5/10, i5/10, i5/10, i5/10]
+
+                            ipc_left.send(flexions)
+                            ipc_right.send(flexions)
+
+                            time.sleep(0.01)
+
+                            print(f"Wrote {flexions} to IPC")
+
+    except KeyboardInterrupt:
+        print("Quitting")
+        quit()