host.controller_config.gamepad_input

  1"""Gamepad input via XInput for the preview widget.
  2
  3Wraps the XInput-Python library with graceful fallback when not installed.
  4Maps XInput axis names to wpilib controller input names.
  5"""
  6
  7
  8class GamepadPoller:
  9    """Poll Xbox controllers via XInput with graceful fallback.
 10
 11    If XInput-Python is not installed, ``available`` returns False and
 12    all query methods return empty/zero values.
 13    """
 14
 15    # Map wpilib input names → (source, index/key)
 16    # source: "thumb" or "trigger"
 17    # For thumbs: index 0=left, 1=right; sub 0=X, 1=Y
 18    # For triggers: 0=left, 1=right
 19    # Y-axis negated to match wpilib convention: getLeftY()/getRightY()
 20    # return negative when pushed forward/up.
 21    _AXIS_MAP = {
 22        "left_stick_x":  ("thumb", 0, 0, False),
 23        "left_stick_y":  ("thumb", 0, 1, True),   # negate: wpilib Y-forward = negative
 24        "right_stick_x": ("thumb", 1, 0, False),
 25        "right_stick_y": ("thumb", 1, 1, True),   # negate: wpilib Y-forward = negative
 26        "left_trigger":  ("trigger", 0, None, False),
 27        "right_trigger": ("trigger", 1, None, False),
 28    }
 29
 30    def __init__(self):
 31        self._xinput = None
 32        try:
 33            import XInput
 34            self._xinput = XInput
 35            # Disable XInput's built-in deadzones — our pipeline handles
 36            # deadband, so we want raw values.
 37            XInput.set_deadzone(XInput.DEADZONE_LEFT_THUMB, 0)
 38            XInput.set_deadzone(XInput.DEADZONE_RIGHT_THUMB, 0)
 39            XInput.set_deadzone(XInput.DEADZONE_TRIGGER, 0)
 40        except (ImportError, OSError):
 41            pass  # XInput unavailable; self._xinput stays None, fallback to no gamepad
 42
 43    @property
 44    def available(self) -> bool:
 45        """True if XInput-Python is installed and usable."""
 46        return self._xinput is not None
 47
 48    def get_connected(self) -> list[int]:
 49        """Return indices of connected controllers (0-3)."""
 50        if not self._xinput:
 51            return []
 52        try:
 53            flags = self._xinput.get_connected()
 54            return [i for i, ok in enumerate(flags) if ok]
 55        except Exception:
 56            return []
 57
 58    def get_axis(self, controller_id: int, axis_name: str) -> float:
 59        """Read a single axis by wpilib input name.
 60
 61        Returns 0.0 if controller is disconnected or axis_name unknown.
 62        Stick axes return -1..1, trigger axes return 0..1.
 63        Stick Y axes are negated to match wpilib (forward = negative).
 64        """
 65        mapping = self._AXIS_MAP.get(axis_name)
 66        if not mapping or not self._xinput:
 67            return 0.0
 68        source, idx, sub, negate = mapping
 69        try:
 70            state = self._xinput.get_state(controller_id)
 71        except Exception:
 72            return 0.0
 73        if source == "thumb":
 74            thumbs = self._xinput.get_thumb_values(state)
 75            val = thumbs[idx][sub]
 76            return -val if negate else val
 77        else:
 78            triggers = self._xinput.get_trigger_values(state)
 79            return triggers[idx]
 80
 81    def get_all_axes(self, controller_id: int) -> dict[str, float]:
 82        """Return all 6 axis values for a controller.
 83
 84        Keys are wpilib input names. Returns empty dict on error.
 85        """
 86        if not self._xinput:
 87            return {}
 88        try:
 89            state = self._xinput.get_state(controller_id)
 90        except Exception:
 91            return {}
 92        thumbs = self._xinput.get_thumb_values(state)
 93        triggers = self._xinput.get_trigger_values(state)
 94        return {
 95            "left_stick_x": thumbs[0][0],
 96            "left_stick_y": -thumbs[0][1],
 97            "right_stick_x": thumbs[1][0],
 98            "right_stick_y": -thumbs[1][1],
 99            "left_trigger": triggers[0],
100            "right_trigger": triggers[1],
101        }