Add Xbox controller support to Thunderscope

[Bvasilchikov]

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Description

This PR adds XBox controller support to Thunderscope.

Work Done

• [x] Added a handler class for managing the controller USB connection, through the builtin linux evdev API using a python package
• [x] Updated logic inside RobotCommunication to handle using GUI or controller input values and passing that through to the robots
• [x] Bumped PyQtGraph major version
• [x] Added button to load Xbox controller and a status view for the controller
• [x] Removed geneva UI slider

Testing (Needed To Be) Done

• [x] Test XBox controller only works when MANUAL control is set and Xbox is toggled in diagnostics.
• [ ] Test multiple robots move when using MANUAL and Xbox
• [ ] Test that XBox can still control 1 or more robots, when AI is running.

Resolved Issues

• [x] No longer need to frantically find & fix the branch with xbox code for a demo in 5.
• [x] #2562

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• [x] Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• [x] Remove all commented out code
• [x] Remove extra print statements: for example, those just used for testing
• [x] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[itsarune]

you can tag issue #2562

[Bvasilchikov]

I just need high-level reviews for now to make sure I'm on the right track. The work that still needs to be done:

• [x] UI loading/showing correctly with/without controller connected
• [x] Read and log values from controller
• [x] Propogate controller values to robot_communication.py
• [x] Disable toggle switch if no controller connected
• [ ] Field tested on robots

[Bvasilchikov]

Should be good for a review now.

All that's left is to field test on a robot and I might also add dynamically moving sliders for fun just to gauge the values of the controller inputs visually.

[Bvasilchikov]

Also function docs :weary:

[Bvasilchikov]

thanks for the reviews, there's gonna be some logic refactoring to make sure I can properly support new controllers easier:

• [ ] Change to use int event codes instead of strings (There is a unique int code for each input event, while that isn't necessarily true for the string codes - some buttons have a string list for the event.type value which is annoying to switch on)
• [ ] Bugs with processing old and out-of-date events that occur when DIAGNOSTICS mode is enabled.
• [ ] Refactor back to an elif chain for readability, and make conditionals work on a common input discriminant value
• [ ] Disable ChickerWidget controls in HANDHELD mode
• [ ] Potentially simplify ChickerWidget UI accessibility logic.
• [ ] Various clean-up pointed out in reviews.

[Bvasilchikov]

Controller connected. diagnostics input:

Controller connected. handheld input:

Controller disconnected:

[Bvasilchikov]

qt.qpa.input.events: scroll event from unregistered device 17 log is spammed when plugging/unplugging controller, bug on pyqt side, with the only fix being to bump pyqt version from 6.5.0 to 6.6.1 @itsarune fyi.

[itsarune]

interesting, ya as far as I know, there's nothing stopping us from upgrading the pyqt version if we want.

[Bvasilchikov]

Take a look at screenshots here :):

https://github.com/UBC-Thunderbots/Software/pull/3064#issuecomment-2039177590

[Bvasilchikov]

Good for another round of review. Field testing done and everything working as expected.

Controller Disconnected:

Controller Connected, Diagnostics Mode:

Controller Connected, Handheld Device Mode:

[notion-workspace[bot]]

Add Xbox controller support to Thunderscope

[williamckha]

I've resolved all remaining comments and cleaned up the code. There were also some thread safety issues with HandheldDeviceManager which I've fixed. I'm giving myself a pat on the back and approving this PR lol

[Mr-Anyone]

I will take a look of the rest of thing later. Need to work on mini project for CPEN 221.

[williamckha]

Just completed a major refactor of the code

• HandheldController is the new class responsible for reading input events from the controller

  • Switched to using InputDevice.read_loop which uses the select syscall, instead of endlessly calling InputDevice.read_one in a loop which wastes CPU time busy waiting

  • HandheldController has no public methods that mutate its state so it should be thread safe. No need for mutex

• Removed DiagnosticsInputWidget for toggling between diagnostics/xbox control (too much inter-widget communication with signals). Replaced with a "Enable Input" checkbox in the HandheldControllerWidget

• DriveAndDribblerWidget and ChickerWidget are now the only classes responsible for sending out MotorControl/PowerControl protos. The handheld controller inputs are converted into MotorControl/PowerControl values in HandheldControllerWidget and those values are forwarded to DriveAndDribblerWidget/ChickerWidget to be sent out. This prevents duplication of some logic and safety code (e.g. chicker timeout)

• Fixed bugs where kick/chip buttons are enabled/disabled at the wrong time or chicker timeout is ignored