update ?

src/nodes/JoyStick.py

@@ -67,7 +67,7 @@ class Joystick(Node):
     def joystick_event_loop(self):
         def key_received(key: pyjoystick.interface.Key):
             msg = JoystickMsg(str(key).replace('-', ''), key.value)
-            # print(msg)
+            print(msg)
             match msg.key:
                 case 'Axis 0':
                     self.d['x'] = -msg.value

test/kdemain.py

@@ -33,7 +33,7 @@ if __name__ == '__main__':
         Loader(),
         Muxer(level=logging.DEBUG),
         # Midi(),
-        # Joystick(),
+        Joystick(),
         Robot(),
         Recorder(),
         # Monitor(),

test/realtimeplot.py

@@ -0,0 +1,44 @@
+import struct
+from pathlib import Path
+
+import numpy as np
+import zmq
+import time
+import sys
+
+from matplotlib import pyplot as plt
+
+def test():
+    ctx = zmq.Context()
+    sock = ctx.socket(zmq.PULL)
+    sock.bind('tcp://0.0.0.0:5555')
+
+    li = []
+    cnt = 0
+    while True:
+        s = sock.recv_pyobj()
+        cnt += 1
+        if cnt == 1:
+            cnt = 0
+            li.append(s)
+            if li.__len__() > 100:
+                li = li[1:]
+            # print(li.__len__())
+            aa = np.array(li)
+            plt.cla()
+            # plt.plot(aa[:,0])
+            # plt.plot(aa[:,1])
+            plt.plot(aa[:,2]*1000)
+            plt.plot(aa[:,3])
+            plt.pause(0.0001)
+
+        # plt.axis([0, 10, 0, 1])
+        # for i in range(10):
+        #     y = np.random.random()
+        #     plt.scatter(i, y)
+        #     plt.pause(0.05)
+
+
+
+if __name__ == '__main__':
+    test()

test/testrobotremotecontrol.py

@@ -1,20 +1,12 @@
 import socket
-from time import sleep
-
 
 def send_message(message: str, host='11.6.1.53', port=29999):
-    # Create a TCP/IP socket
     client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-
-    # Connect to the server
     client_socket.connect((host, port))
-
     try:
-        # Send the message
         client_socket.sendall(message.encode())
         print(f"Sent: {message}")
     finally:
-        # Close the socket
         client_socket.close()