Welcome to ROS USB Handle repository

### Create a handle controller
The first thing we need to do is create an instance of the 'Controller' widget, which we will use to drive our USB controller.
The 'Controller' widget accepts an 'index' parameter that specifies the number of controllers. If you have multiple controllers, or some game controllers appear in the form of multiple controllers, this is very useful. If only one handle is connected, the default index is 0. If there are multiple handles, the corresponding handle number needs to be entered based on the actual situation:
1. Open[ http://html5gamepad.com ]（ http://html5gamepad.com ）This webpage
2. Press the button of the handle you are using
3. Remember the corresponding index number that pops up when you press the button
Next, we will use this index to create and display controllers.

import ipywidgets.widgets as widgets
controller = widgets.Controller(index=0)  #Replace with the index number of the controller you have just tested and are currently using
display(controller)

import threading
import time
# Thread function operation library
import inspect
import ctypes

#Create a method for actively stopping processes
def _async_raise(tid, exctype):
    """raises the exception, performs cleanup if needed"""
    tid = ctypes.c_long(tid)
    if not inspect.isclass(exctype):
        exctype = type(exctype)
    res = ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, ctypes.py_object(exctype))
    if res == 0:
        raise ValueError("invalid thread id")
    elif res != 1:
        # """if it returns a number greater than one, you're in trouble,
        # and you should call it again with exc=NULL to revert the effect"""
        ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None)
        
def stop_thread(thread):
    _async_raise(thread.ident, SystemExit)

# Method of Creating a Handle Remote Rod to Receive and Print Data
##If the simulation mode of the handle is turned on (by pressing the ANALOG key), and the red light is on, the left direction key will not work, and both joysticks will output analog values. The left joystick will have sliding bars 0 and 1, and the right joystick will have sliding bars 2 and 3.
##Program functions:
1. Print which key is pressed each time.

def USB_Handle():
    delay_time = 0.01
    while 1:
        #Due to individual differences in the joystick handle, the reset value of the remote lever may not necessarily be zero, so it is necessary to filter with 0.1 to avoid misoperation.
    #Print data for the left joystick and directional keys
#A1 upper negative lower positive
        if controller.axes[1].value > 0.1: 
            print('L_DOWN=%.2f'%(controller.axes[1].value))
        elif controller.axes[1].value < -0.1: 
            print('L_UP=%.2f'%(controller.axes[1].value))
        time.sleep(delay_time)
 
        if controller.axes[0].value > 0.1: 
            print('L_RIGHT=%.2f'%(controller.axes[0].value))
            time.sleep(delay_time)
        elif controller.axes[0].value < -0.1: 
            print('L_LEFT=%.2f'%(controller.axes[0].value))
            time.sleep(delay_time)
            
        if controller.buttons[10].value == True:
            print('L_PRESS') 
            time.sleep(delay_time)
        
        if controller.axes[2].value > 0.1:
            print('R_UP=%.2f'%(controller.axes[2].value))
            time.sleep(delay_time)
        elif controller.axes[2].value < -0.1:
            print('R_DOWN=%.2f'%(controller.axes[2].value))
            time.sleep(delay_time)
 
        if controller.axes[5].value > 0.1:
            print('R_RIGHT=%.2f'%(controller.axes[5].value))
            time.sleep(delay_time)
        elif controller.axes[5].value < -0.1:
            print('R_LEFT=%.2f'%(controller.axes[5].value))
            time.sleep(delay_time)
        
        if controller.buttons[11].value == True:
            print('R_PRESS') 
            time.sleep(delay_time)
            
        
        # NUM1=B0,NUM2=B1,NUM3=B2,NUM4=B3
        if controller.buttons[0].value == True:
            print('NUM1')
            time.sleep(delay_time)
        if controller.buttons[1].value == True:
            print('NUM2')
            time.sleep(delay_time)
        if controller.buttons[2].value == True:
            print('NUM3')
            time.sleep(delay_time)
        if controller.buttons[3].value == True:
            print('NUM4')
            time.sleep(delay_time)
 
        # R1=B5,R2=B7
        if controller.buttons[5].value == True:
            print('R1')
            time.sleep(delay_time)
        if controller.buttons[7].value == True:
            print('R2')  
            time.sleep(delay_time)
 
        # L1=B4,L2=B6
        if controller.buttons[4].value == True:
            print('L1')
            time.sleep(delay_time)
        elif controller.buttons[6].value == True:
            print('L2') 
            time.sleep(delay_time)
        
        # SELECT=B8
        if controller.buttons[8].value == True:
            print('SELECT') 
            time.sleep(delay_time)
        # START=B9
        if controller.buttons[9].value == True:
            print('START') 
            time.sleep(delay_time)

#Start the thread of the handle by running the following cell code
#Wait for the handle control thread to start before operating the handle.
thread = threading.Thread(target=Arm_Handle)
thread.setDaemon(True)
thread.start()

#End handle thread.
#If a thread fails to start or end,
#Please restart the kernel and run it step by step again.
stop_thread(thread)