InputDriverBase

Declared in input-driver-base.js

Extend this class to implement a custom input driver as outlined in the code snippet below. A working example - driver generating Bool messages - can be found in the Extras repository and also live in our demos (switch to the Bool Test profile in the Input Manager).

Static Attributes

static LABEL

String (required)

Driver label displayed in the Input Manager

Instance Attributes

client	BrowserClient	Reference to Browser client
input_manager	InputManager	Reference to the Input Manager
output	MsgType	Last generated output
output_topic	String	Topic to output to

Methods

constructor( InputManager input_manager )
generate() : MsgType	Generate and return output message based on axes and button states
getAxes() : { ‘axis_id’: ‘Axis name’ }	Retrn a map of axes that can be mapped in the Input Manager
getButtons() : { ‘btn_id’: ‘Btn name’ }	Retrn a map of buttons that can be mapped in the Input Manager
getConfig() : Any	Retrn a custom config (ony when some extra data needs to be saved)
setConfig( Any cfg )	Apply the loaded config data

Example

custom-input-driver.js

import { InputDriverBase } from 'https://bridge.phntm.io/static/input/input-driver-base.js'

export class ExampleBoolInputDriver extends InputDriverBase {

     // human readable driver name
     static LABEL = "Example Bool Driver";

     // the message type to generate must be available to the Bridge node
     // (see https://docs.phntm.io/bridge/basics/custom-message-types.html)
     msg_type = 'std_msgs/msg/Bool';

     num_axes = 5; // number of mappable axes to create
     num_buttons = 5; // number of mappable buttons to create

     // create named axes to allow mapping input to
     getAxes() {
         let axes = {};
         for (let i = 0; i < this.num_axes; i++) {
             axes[`axis.${i}`] = 'Test: Axis '+i
         }
         return axes;
     }

     // create named buttons to allow mapping input to
     getButtons() {
         let buttons = {};
         for (let i = 0; i < this.num_buttons; i++) {
             buttons[`btn.${i}`] = 'Test: Button '+i
         }
         return buttons;
     }

     // generate output message from the current state of all axes and buttons
     // in this simple example, we only return True if something is pressed
     generate() {
         let something_pressed = false;

         for (let i = 0; i < this.num_axes; i++) {
             let id_axis = `axis.${i}`;
             if (this.axes_output[id_axis])
                 something_pressed = true;
         }

         for (let i = 0; i < this.num_buttons; i++) {
             let id_btn = `btn.${i}`;
             if (this.buttons_output[id_btn])
                 something_pressed = true;
         }

         // output message
         let msg = {
             data: something_pressed
         }

         return msg;
     }
}