add the gamepad reader and the node's settings

The reader owns the pad on a thread of its own, and nothing outside that file
may touch pygame: everything else sees a plain immutable Sample. That is what
lets the rest of the node be tested with no hardware, and what keeps SDL's
quirks out of the arm logic.

Sample.present is the field that matters. A pad that has been unplugged reads as
absent rather than as centred, so "the operator let go" and "the pad fell off
the desk" stay distinguishable — they call for the same stop, but only one of
them is worth logging.

Only the display and joystick subsystems are initialised. pygame.init() also
opens audio, which on a headless robot fills stderr with ALSA errors for a
device this node never uses; the display is needed despite there being no
window, because SDL refreshes joystick state during the event pump.

Settings are parsed once at startup so a deadzone that would silently make the
pad inert stops the node before it joins the dataflow.

This commit is contained in:

cristhian

2026-09-15 15:42:48 -05:00

parent 253df68cd4

commit bde8582de3

10 changed files with 910 additions and 0 deletions

tests/__init__.py

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