spacenav-ws 0.1.0__py3-none-any.whl → 0.1.2__py3-none-any.whl

spacenav_ws/certs/ip.cnf

@@ -0,0 +1,16 @@
+[ req ]
+default_bits       = 2048
+distinguished_name = dn
+req_extensions     = req_ext
+prompt             = no
+
+[ dn ]
+# Use the IP as the “common name”
+CN = 127.51.68.120
+
+[ req_ext ]
+subjectAltName = @alt_names
+
+[ alt_names ]
+# Tell OpenSSL this cert is valid for this IP
+IP.1 = 127.51.68.120

spacenav_ws/certs/ip.crt

@@ -0,0 +1,18 @@
+-----BEGIN CERTIFICATE-----
+MIIC8DCCAdigAwIBAgIUNsNCA02p2ELrmS+rvcI/otubVFwwDQYJKoZIhvcNAQEL
+BQAwGDEWMBQGA1UEAwwNMTI3LjUxLjY4LjEyMDAeFw0yNTA0MjAxMTA1MDNaFw0z
+NTA0MTgxMTA1MDNaMBgxFjAUBgNVBAMMDTEyNy41MS42OC4xMjAwggEiMA0GCSqG
+SIb3DQEBAQUAA4IBDwAwggEKAoIBAQDJ5STIxYG9rrvueEvSx0iC3PxJR2uygu0v
+BC7BziExnUleqO4RobAFgjuwN/rqiuGruuh5ptoZjfQRMRkNMXI2ZBnnoJXmP0oK
+Ppqdr+8/t9YgqnClT+AUCRJ2DlTW7qA+ZBzDERWR6iAXhPMi6Cbcz9zAK/Tdqh2O
+HbuDNqOB156fr8inx8FMgVWPfW0zkMvJ9og/pmV+BlMWJveXCgHcmpBCOJrknk67
+1/0gtO58T9AygSeg9yQzd5Mwh3ZIPYxR4Qx30KVG5br3zisqcD+Af+z5wcrPqXLJ
+nDkTjO1y5r6Vft0vLN1SIW6xA6uqwLJ7vxdbjpsvQaF6Om4nU57NAgMBAAGjMjAw
+MA8GA1UdEQQIMAaHBH8zRHgwHQYDVR0OBBYEFFwJpwEPR1TnqW86nrGyHYGhsTu0
+MA0GCSqGSIb3DQEBCwUAA4IBAQC3bRa7pjwDtWsWpQJMAHXFABeuyWlUZPOpYFCv
+t1W3vkjUtp921iQEkv5DCeZxYn41deSAgT1GIgKOslLlGwfZlzTOdqoZ8CnJqFZr
+Ce5FZwgA7Mwm6osieppLVObWchD2HKu7vEejxgB0QnSXBTR4MM1TMO7IX180q4C/
+2KH7amqvfqAIIi+JuyueAhqPAiEdZpwzZv6CZLk1CFW1UmkZab7Ry8d+J06IFqmb
+KxkIGLtSbEPgIofIYhuSGU2ItVhIO4cOjAO4aOyxuPy1gjgIXkmq0EZjtJdCXRi/
+PJuq8suX/69PB3fFmjCay7Q63FEDrALyDQpFWJ5C1D+6+02G
+-----END CERTIFICATE-----

spacenav_ws/certs/ip.csr

@@ -0,0 +1,16 @@
+-----BEGIN CERTIFICATE REQUEST-----
+MIICfzCCAWcCAQAwGDEWMBQGA1UEAwwNMTI3LjUxLjY4LjEyMDCCASIwDQYJKoZI
+hvcNAQEBBQADggEPADCCAQoCggEBAMnlJMjFgb2uu+54S9LHSILc/ElHa7KC7S8E
+LsHOITGdSV6o7hGhsAWCO7A3+uqK4au66Hmm2hmN9BExGQ0xcjZkGeegleY/Sgo+
+mp2v7z+31iCqcKVP4BQJEnYOVNbuoD5kHMMRFZHqIBeE8yLoJtzP3MAr9N2qHY4d
+u4M2o4HXnp+vyKfHwUyBVY99bTOQy8n2iD+mZX4GUxYm95cKAdyakEI4muSeTrvX
+/SC07nxP0DKBJ6D3JDN3kzCHdkg9jFHhDHfQpUbluvfOKypwP4B/7PnBys+pcsmc
+OROM7XLmvpV+3S8s3VIhbrEDq6rAsnu/F1uOmy9BoXo6bidTns0CAwEAAaAiMCAG
+CSqGSIb3DQEJDjETMBEwDwYDVR0RBAgwBocEfzNEeDANBgkqhkiG9w0BAQsFAAOC
+AQEAlGZa1JHp9z8leCWU1tUGreQOkOy0O+wviMH3rud/6fwnCrf5//zePeU+W84c
++b2yh1nCBPY13q1yqlFOHi2oSt5fkIr1gTUMcchvKWkrKeSZr8RXYngBCPbqA281
+vqZ9uqAD3pOYsL993rYJP/k6zu6KVE3NGwqoY+6zciy+F5b6pdy4zsgRkft46lvJ
+e+N2A/CGyEx2KAF7+uMcr4VB8ZVZNWFl6M2okEgnQrHzPGArS5Txjiwivm0oGl67
+aMqiPe4eU62hYcDSJo5YgxzBTbMTTX8XReoolkWGMrY8DDdH0XIm55Z0rAe1Iw/A
+DBOYonshUw88zO6jGXGvhWlcDw==
+-----END CERTIFICATE REQUEST-----

spacenav_ws/certs/ip.key

@@ -0,0 +1,28 @@
+-----BEGIN PRIVATE KEY-----
+MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQDJ5STIxYG9rrvu
+eEvSx0iC3PxJR2uygu0vBC7BziExnUleqO4RobAFgjuwN/rqiuGruuh5ptoZjfQR
+MRkNMXI2ZBnnoJXmP0oKPpqdr+8/t9YgqnClT+AUCRJ2DlTW7qA+ZBzDERWR6iAX
+hPMi6Cbcz9zAK/Tdqh2OHbuDNqOB156fr8inx8FMgVWPfW0zkMvJ9og/pmV+BlMW
+JveXCgHcmpBCOJrknk671/0gtO58T9AygSeg9yQzd5Mwh3ZIPYxR4Qx30KVG5br3
+zisqcD+Af+z5wcrPqXLJnDkTjO1y5r6Vft0vLN1SIW6xA6uqwLJ7vxdbjpsvQaF6
+Om4nU57NAgMBAAECggEAEUlCjUMl4OMDWb9ohI9GBNhdbHvGO5ZMrwQdacAXpPsZ
+01ZE7fMJUmtsZ2HfpLHH8S9zZKkVzu7RySAKTFAhvojzE9sywnBES1zBWcN8yViY
+55qYQvs0DRsavstq1a1AQJ9LPCNsFJ52aXUbaS911l2gwb5xvIHqfmbKzYkB1mXE
+EXuRu4YOdT+EZRHbQwG2mfKXCN4H5/gp89hH8id3jCZuFZ2eCeMaEUIq4Wtoa3r4
+S2kUwQxjDwv/QJQb3Ym9NfzxWsNFtnqt6Np4wdtlt75IOgcqqjhTBUUOsDKwKZRv
+Q+/GgAunmigCWes/KJ4OPFY3OlyJlDf+yHksIyolAQKBgQDoDy9FW5JiXhwnXXwY
+ndMbH8V6rC2aHf0NF9MW4PuzAr0SVrm6Er7W0+gMlahfY2NmHhA+IdTwT7q4voCX
+pGU4KmQk9+h+lmD+FmLvDU5Rox5oCknlVcb69bSS6Y2sBGeV0f9MR/aLiu+4K/mz
+MhFRAiWDJ9rG8WG86XC5kx+DAQKBgQDeuU4f0DRShPZkCZhKv4J3jKF9pmb6TEoy
+ruwVnRHv7YSnZnNokdujXjEa7xvw7cT+ytK+CP+vLSdEDvDZET5LnMnAW4Fu0Z9l
+3YMc+/JIyMVauGgdEozEMhyv8yoRQNjKvcVTb1H7mwbCSD4IrHT9kPvV8M683B0B
+F7IxenK3zQKBgDnVVvWVHcVQKPoSjVPhOXSAFYo+ENtg7+jscBo6leAGJbLFVGIw
+O8l0ZFeGkMC9F0+i3G9vpQ8C/8j9CTVBrkwyHGUuN44c0i1gzOVAzqz/1xscvU/f
+ccinpYoblMgzDNHE1ThgkuwyAw5GP2PObYxf2ZN3QknkbHRVRVeqd+cBAoGBAJML
+PGz8hM7GQfWh8A3JilVrX2MZbXtqysHTgsJyRNlmsuHiXed4BM5C7aCepI/YKusc
+9S3JuyToZrgkNRbar4o0JW79+uIzO02BhYKpRDiRdNqETRiEmrMdcpsnq2pgqcCQ
+sap4IGRA4aF7GJmZYlPWWK3SomtF11BVWKwZ74sxAoGAEKRY2TEK6TD0/IV7pKqG
+z8Qq2UaCtOh9HT5GJw+tqWmeJi6VNHppLasHkIeoZtbouLvaFnzNz0TRMT8E85uv
+iyqnsyRe8lc/kUTERRRI2y6fvZ78sASN3c89koszEqIQ4RUO1StvGGK+NOkhTUs8
+GyIe849AyjalPUqs6chYWks=
+-----END PRIVATE KEY-----

spacenav_ws/controller.py

@@ -7,8 +7,8 @@ from typing import Any
 import numpy as np
 from scipy.spatial import transform
 
-import spacenav_ws.spacenav
-import spacenav_ws.wamp
+from spacenav_ws.spacenav import MotionEvent, ButtonEvent, from_message
+from spacenav_ws.wamp import WampSession, Prefix, Call, Subscribe, CallResult
 
 
 class Mouse3d:
@@ -44,8 +44,9 @@ class Controller:
         def __post_init__(self):
             self.affine = np.asarray(self.affine).reshape([4, 4])
 
-    def __init__(self, reader: asyncio.StreamReader, mouse: Mouse3d, wamp_state_handler: spacenav_ws.wamp.WampSession):
+    def __init__(self, reader: asyncio.StreamReader, mouse: Mouse3d, wamp_state_handler: WampSession, client_metadata: dict):
         self.id = "controller0"
+        self.client_metadata = client_metadata
         self.reader = reader
         self._mouse = mouse
         self.wamp_state_handler = wamp_state_handler
@@ -57,9 +58,9 @@ class Controller:
         self.coordinate_system = None
         self.subscribed = False
 
-    async def subscribe(self):
+    async def subscribe(self, msg: Subscribe):
         """When a subscription request for self.controller_uri comes in we start broadcasting!"""
-        # await self.initialize()
+        logging.info("handling subscribe %s", msg)
         self.subscribed = True
 
     async def client_update(self, controller_id: str, args: dict[str, Any]):
@@ -82,20 +83,25 @@ class Controller:
         while True:
             mouse_event = await self.reader.read(32)
             nums = struct.unpack("iiiiiiii", mouse_event)
-            event = spacenav_ws.spacenav.from_message(list(nums))
-            if isinstance(event, spacenav_ws.spacenav.ButtonEvent):
+            event = from_message(list(nums))
+            if isinstance(event, ButtonEvent):
                 logging.warning("Button presses are discarded for now! %s", event)
-            elif isinstance(event, spacenav_ws.spacenav.MotionEvent):
+            elif isinstance(event, MotionEvent):
                 if self.subscribed:
-                    await self.send_mouse_event_to_client(event)
-
-    async def send_mouse_event_to_client(self, event: spacenav_ws.spacenav.MotionEvent):
+                    if self.client_metadata["name"] == "Onshape":
+                        await self.update_onshape_client(event)
+                    elif self.client_metadata["name"] == "WebThreeJS Sample":
+                        await self.update_3dconnexion_client(event)
+                    else:
+                        logging.warning("Unknown client! Cannot send mouse events, client_metadata:%s", self.client_metadata)
+
+    async def update_onshape_client(self, event: MotionEvent):
         # 1) pull down the current extents and model matrix
         extents = await self.remote_read("view.extents")
         flat = await self.remote_read("view.affine")
         curr_affine = np.asarray(flat, dtype=np.float32).reshape(4, 4)
 
-        # TODO: 
+        # TODO: This is not correct
         # 2) Handle rotation
         angles = np.array([event.pitch, event.yaw, -event.roll], dtype=np.float32) * 0.008
         rot_cam = transform.Rotation.from_euler("xyz", angles, degrees=True).as_matrix()
@@ -125,29 +131,59 @@ class Controller:
         await self.remote_write("view.affine", new_affine.reshape(-1).tolist())
         await self.remote_write("view.extents", new_extents)
 
+    async def update_3dconnexion_client(self, event: MotionEvent):
+        # 1) pull down the current extents and model matrix
+        flat = await self.remote_read("view.affine")
+        curr_affine = np.asarray(flat, dtype=np.float32).reshape(4, 4)
+
+        # 2) Handle rotation
+        # Rotate the model in the cameras perspective
+        # angles = np.array([event.pitch, event.yaw, -event.roll], dtype=np.float32) * 0.008
+        # rot_cam = transform.Rotation.from_euler("xyz", angles, degrees=True).as_matrix()
+        # rot_delta = np.eye(4, dtype=np.float32)
+        # rot_delta[:3, :3] = rot_cam
+        # rotated = rot_delta @ curr_affine
+
+        # Rotate the model from _its_ perspective
+        angles = np.array([event.pitch, event.yaw, -event.roll], dtype=np.float32) * 0.008
+        rot_cam = transform.Rotation.from_euler("xyz", angles, degrees=True).as_matrix()
+        rot_delta = np.eye(4, dtype=np.float32)
+        rot_delta[:3, :3] = rot_cam
+        rotated = curr_affine @ rot_delta
+
+        # 3) Handle translations
+        trans_delta = np.eye(4, dtype=np.float32)
+        # Probably event.y doesn't do anything at all here!
+        trans_delta[3, :3] = np.array([-event.x, -event.z, event.y], dtype=np.float32) * 0.001
+        new_affine = trans_delta @ rotated
+
+        # Write back changes
+        await self.remote_write("motion", True)
+        await self.remote_write("view.affine", new_affine.reshape(-1).tolist())
+
 
-async def create_mouse_controller(wamp_state_handler: spacenav_ws.wamp.WampSession, spacenav_reader: asyncio.StreamReader):
+async def create_mouse_controller(wamp_state_handler: WampSession, spacenav_reader: asyncio.StreamReader):
     await wamp_state_handler.wamp.begin()
     # The first three messages are typically prefix setters!
     msg = await wamp_state_handler.wamp.next_message()
-    while isinstance(msg, spacenav_ws.wamp.Prefix):
+    while isinstance(msg, Prefix):
         await wamp_state_handler.wamp.run_message_handler(msg)
         msg = await wamp_state_handler.wamp.next_message()
 
     # The first call after the prefixes must be 'create mouse'
-    assert isinstance(msg, spacenav_ws.wamp.Call)
+    assert isinstance(msg, Call)
     assert msg.proc_uri == "3dx_rpc:create" and msg.args[0] == "3dconnexion:3dmouse"
     mouse = Mouse3d()
     logging.info(f'Created 3d mouse "{mouse.id}" for version {msg.args[1]}')
-    await wamp_state_handler.wamp.send_message(spacenav_ws.wamp.CallResult(msg.call_id, {"connexion": mouse.id}))
+    await wamp_state_handler.wamp.send_message(CallResult(msg.call_id, {"connexion": mouse.id}))
 
     # And the second call after the prefixes must be 'create controller'
     msg = await wamp_state_handler.wamp.next_message()
-    assert isinstance(msg, spacenav_ws.wamp.Call)
+    assert isinstance(msg, Call)
     assert msg.proc_uri == "3dx_rpc:create" and msg.args[0] == "3dconnexion:3dcontroller" and msg.args[1] == mouse.id
     metadata = msg.args[2]
-    ctrl = Controller(spacenav_reader, mouse, wamp_state_handler)
+    ctrl = Controller(spacenav_reader, mouse, wamp_state_handler, metadata)
     logging.info(f'Created controller "{ctrl.id}" for mouse "{mouse.id}", for client "{metadata["name"]}", version "{metadata["version"]}"')
 
-    await wamp_state_handler.wamp.send_message(spacenav_ws.wamp.CallResult(msg.call_id, {"instance": ctrl.id}))
+    await wamp_state_handler.wamp.send_message(CallResult(msg.call_id, {"instance": ctrl.id}))
     return ctrl

spacenav_ws/main.py

@@ -1,6 +1,7 @@
 import asyncio
 import logging
 import struct
+from pathlib import Path
 
 import typer
 import uvicorn
@@ -22,8 +23,8 @@ ORIGINS = [
     "https://cad.onshape.com",
 ]
 
-CERT_FILE = "certs/ip.crt"
-KEY_FILE = "certs/ip.key"
+CERT_FILE = Path(__file__).parent / "certs" / "ip.crt"
+KEY_FILE = Path(__file__).parent / "certs" / "ip.key"
 
 cli = typer.Typer()
 app = FastAPI()
@@ -102,7 +103,7 @@ async def read_mouse_stream():
     logging.info("Start moving your mouse!")
     async for event in get_mouse_event_generator():
         logging.info(event.strip())
-
+    
 
 @cli.command()
 def read_mouse():

spacenav_ws/spacenav.py

@@ -17,9 +17,9 @@ def get_sync_spacenav_socket():
 async def get_async_spacenav_socket_reader() -> tuple[asyncio.StreamReader, asyncio.StreamWriter]:
     try:
         return await asyncio.open_unix_connection(SPACENAV_SOCKET_PATH)
-    except FileNotFoundError as e:
+    except (FileNotFoundError, ConnectionRefusedError):
         logging.exception("Space mouse not found!")
-        raise RuntimeError from e
+        exit(1)
 
 
 @dataclass

spacenav_ws/wamp.py

@@ -5,7 +5,8 @@ import logging
 import random
 import string
 from enum import IntEnum
-from typing import Any, ClassVar, Dict, NamedTuple, Optional, Type
+from types import CoroutineType
+from typing import Any, ClassVar, Dict, NamedTuple, Optional, Type, Callable
 
 from fastapi import WebSocket
 
@@ -102,8 +103,8 @@ class WampProtocol:
         self._session_id = _rand_id(16)
 
         self.prefixes = {}
-        self.call_handlers = {}
-        self.subscribe_handlers = {}
+        self.call_handlers: dict[str, Callable[..., CoroutineType[Any, Any, None]]] = {}
+        self.subscribe_handlers: dict[str, Callable[[Subscribe], CoroutineType[Any, Any, None]]] = {}
 
     async def begin(self):
         await self._socket.accept(subprotocol="wamp")
@@ -148,7 +149,7 @@ class WampProtocol:
             logging.warning("Unknown subscribable: %s", topic)
         else:
             logging.debug(f"handle subscribe to '{topic}' by calling: {handler}")
-            await handler()
+            await handler(msg)
 
     async def handle_callresult(self, msg: CallResult):
         logging.warning("No callresult handler for msg: %s", msg)

{spacenav_ws-0.1.0.dist-info → spacenav_ws-0.1.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: spacenav-ws
-Version: 0.1.0
+Version: 0.1.2
 Summary: SpaceNav WebSocket Bridge for using a 3dConnexion spacemouse with onshape
 Author-email: RmStorm <roaldstorm@gmail.com>
 License-File: LICENSE
@@ -28,4 +28,9 @@ Simply run `uvx spacenav-ws`
 todo
 
 # Deploying to pypi
-todo
+Just run
+
+```bash
+uv build
+uv publish
+```

spacenav_ws-0.1.2.dist-info/RECORD

@@ -0,0 +1,14 @@
+spacenav_ws/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+spacenav_ws/controller.py,sha256=hrMNZ-MbbngD0gYV5OrCSAYEAOm7DOlwehlXHuJaU9w,8448
+spacenav_ws/main.py,sha256=SrDCSuyoPiFRC-7uIxLzcx_FkdsSzJC6vXBEJpqIn_c,3796
+spacenav_ws/spacenav.py,sha256=DeoCa-J35e7CXBqEMaWtScTVu9uJ3mbGt0dnDH3Df9k,1376
+spacenav_ws/wamp.py,sha256=bFdRmyCofd51fsywNGW5Qv21JCea27K2LOIRZYHtS8c,7979
+spacenav_ws/certs/ip.cnf,sha256=0iqBE5mEYouB9vB3EiEF4JCJV-Code6ByGdTvQo9m_4,299
+spacenav_ws/certs/ip.crt,sha256=BsvZSE5dovQwTqC3SzhjUdHKT5LWb12HrgR3qe-x0dU,1078
+spacenav_ws/certs/ip.csr,sha256=JdBTVIBq_IIo05MU_sGXZvlJX7VLUCPvSLPQgfHBUNU,944
+spacenav_ws/certs/ip.key,sha256=8V78lQyBt7HRu7glxm-9RhiG4CoakYiCEDXhv-0x1jc,1704
+spacenav_ws-0.1.2.dist-info/METADATA,sha256=qALEw8-jTYVzDSM2BP6q20he8Cfl7yLnMT6f0kF0VxI,816
+spacenav_ws-0.1.2.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
+spacenav_ws-0.1.2.dist-info/entry_points.txt,sha256=3V0mY2nK5u51q0YI8jKqR8hF6KKR3ev7bGJbEayc250,53
+spacenav_ws-0.1.2.dist-info/licenses/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
+spacenav_ws-0.1.2.dist-info/RECORD,,

spacenav_ws-0.1.0.dist-info/RECORD

@@ -1,10 +0,0 @@
-spacenav_ws/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-spacenav_ws/controller.py,sha256=2_xZF_WvYHO7EKEafyQcheLipUGBMABiSgZTAwnMAX4,6614
-spacenav_ws/main.py,sha256=OvUeznzw6pS1ff2qHD4H_fMjXAjzAEegskN_FPCQZGI,3711
-spacenav_ws/spacenav.py,sha256=2Y8Gbxo__Xcc2dQeUzF2Shgrm-n35tUbK3KrrDmV4AY,1373
-spacenav_ws/wamp.py,sha256=900OpbQCHluoiH4ThhDQTVf6UhWl898bA2WKHTEq55w,7812
-spacenav_ws-0.1.0.dist-info/METADATA,sha256=VzpfugdgfRhaaeSFhRjOy-swobsYZXJ-nZsX4H01bDM,779
-spacenav_ws-0.1.0.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-spacenav_ws-0.1.0.dist-info/entry_points.txt,sha256=3V0mY2nK5u51q0YI8jKqR8hF6KKR3ev7bGJbEayc250,53
-spacenav_ws-0.1.0.dist-info/licenses/LICENSE,sha256=OXLcl0T2SZ8Pmy2_dmlvKuetivmyPd5m1q-Gyd-zaYY,35149
-spacenav_ws-0.1.0.dist-info/RECORD,,