spacenav-ws 0.1.1__tar.gz → 0.1.2__tar.gz

{spacenav_ws-0.1.1 → spacenav_ws-0.1.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: spacenav-ws
-Version: 0.1.1
+Version: 0.1.2
 Summary: SpaceNav WebSocket Bridge for using a 3dConnexion spacemouse with onshape
 Author-email: RmStorm <roaldstorm@gmail.com>
 License-File: LICENSE

{spacenav_ws-0.1.1 → spacenav_ws-0.1.2}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "spacenav-ws"
-version = "0.1.1"
+version = "0.1.2"
 description = "SpaceNav WebSocket Bridge for using a 3dConnexion spacemouse with onshape"
 readme = "README.md"
 authors = [

{spacenav_ws-0.1.1 → spacenav_ws-0.1.2}/src/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-0.1.1 → spacenav_ws-0.1.2}/src/spacenav_ws/main.py

@@ -22,18 +22,7 @@ ORIGINS = [
     "https://3dconnexion.com",
     "https://cad.onshape.com",
 ]
-# from importlib.resources import files, as_file
-
-# # Build a Traversable pointing to spacenav_ws/certs/ip.crt
-# resource = files(__package__).joinpath("certs", "ip.crt")
-# # as_file() ensures we have a real filesystem path even if inside a zip/wheel
-# with as_file(resource) as cert_path:
-#     CERT_FILE = str(cert_path)
-
-# # Same for the key
-# key_res = files(__package__).joinpath("certs", "ip.key")
-# with as_file(key_res) as key_path:
-#     KEY_FILE = str(key_path)
+
 CERT_FILE = Path(__file__).parent / "certs" / "ip.crt"
 KEY_FILE = Path(__file__).parent / "certs" / "ip.key"
 
@@ -114,7 +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-0.1.1 → spacenav_ws-0.1.2}/src/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-0.1.1 → spacenav_ws-0.1.2}/src/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-0.1.1 → spacenav_ws-0.1.2}/uv.lock

@@ -389,7 +389,7 @@ wheels = [
 
 [[package]]
 name = "spacenav-ws"
-version = "0.1.0"
+version = "0.1.2"
 source = { editable = "." }
 dependencies = [
     { name = "fastapi" },