Files/ComputerAssignments/CA2/code/pc/airmouse_server/mouse_controller.py

import pyautogui
from dataclasses import dataclass
from typing import Dict
from .config import CONFIG

class KalmanFilter1D:
    """Simple 1D Kalman Filter for linear position and velocity estimation."""
    def __init__(self, q=0.01, r=0.1):
        self.q = q  # process noise covariance
        self.r = r  # measurement noise covariance
        self.x = 0.0  # estimate
        self.p = 1.0  # estimation error covariance

    def update(self, measurement: float) -> float:
        # Prediction update
        self.p = self.p + self.q
        # Measurement update
        k = self.p / (self.p + self.r)
        self.x = self.x + k * (measurement - self.x)
        self.p = (1 - k) * self.p
        return self.x

class TremorFilter:
    """Low-pass moving average filter to remove micro-shakes and tremors (>6 Hz)."""
    def __init__(self, window_size: int = 3):
        self.window_size = window_size
        self.history_x = []
        self.history_y = []

    def filter(self, dx: float, dy: float) -> tuple[float, float]:
        self.history_x.append(dx)
        self.history_y.append(dy)
        if len(self.history_x) > self.window_size:
            self.history_x.pop(0)
            self.history_y.pop(0)
        avg_x = sum(self.history_x) / len(self.history_x)
        avg_y = sum(self.history_y) / len(self.history_y)
        return avg_x, avg_y

@dataclass
class MouseController:
    sensitivity: float = CONFIG.get("sensitivity", 0.5)
    click_count: int = 0
    double_click_count: int = 0
    right_click_count: int = 0
    scroll_count: int = 0

    def __post_init__(self):
        pyautogui.FAILSAFE = True
        pyautogui.PAUSE = 0
        self.kalman_x = KalmanFilter1D(q=0.02, r=0.08)
        self.kalman_y = KalmanFilter1D(q=0.02, r=0.08)
        self.tremor_filter = TremorFilter(window_size=3)

    def move(self, dx: float, dy: float) -> None:
        dx = max(-50.0, min(50.0, dx * self.sensitivity))
        dy = max(-50.0, min(50.0, dy * self.sensitivity))

        # Apply tremor moving average filter
        dx, dy = self.tremor_filter.filter(dx, dy)

        # Apply 1D Kalman filter to smooth trajectories
        dx = self.kalman_x.update(dx)
        dy = self.kalman_y.update(dy)

        if abs(dx) < 0.15 and abs(dy) < 0.15:
            return
        pyautogui.moveRel(dx, dy, duration=0.0)

    def click(self, button: str = 'left') -> None:
        pyautogui.click(button=button)
        if button == 'left':
            self.click_count += 1
        elif button == 'right':
            self.right_click_count += 1

    def double_click(self) -> None:
        pyautogui.doubleClick()
        self.double_click_count += 1

    def scroll(self, delta: int) -> None:
        pyautogui.scroll(delta)
        self.scroll_count += 1

    def get_stats(self) -> Dict:
        return {
            "clicks": self.click_count,
            "double_clicks": self.double_click_count,
            "right_clicks": self.right_click_count,
            "scrolls": self.scroll_count
        }