def update()

in gym_hil/wrappers/intervention_utils.py [0:0]

• 32 lines of code
• 21 McCabe index (conditional complexity)

    def update(self):
        """Process pygame events to get fresh gamepad readings."""
        import pygame

        # Get button mappings from config
        buttons = self.controller_config.get("buttons", {})
        y_button = buttons.get("y", 3)  # Default to 3 if not found
        a_button = buttons.get("a", 0)  # Default to 0 if not found (Logitech F310)
        x_button = buttons.get("x", 2)  # Default to 2 if not found (Logitech F310)
        lt_button = buttons.get("lt", 6)  # Default to 6 if not found
        rt_button = buttons.get("rt", 7)  # Default to 7 if not found
        rb_button = buttons.get("rb", 5)  # Default to 5 if not found

        for event in pygame.event.get():
            if event.type == pygame.JOYBUTTONDOWN:
                if event.button == y_button:
                    self.episode_end_status = "success"
                elif event.button == a_button:
                    self.episode_end_status = "failure"
                elif event.button == x_button:
                    self.episode_end_status = "rerecord_episode"
                elif event.button == lt_button:
                    self.close_gripper_command = True
                elif event.button == rt_button:
                    self.open_gripper_command = True

            # Reset episode status on button release
            elif event.type == pygame.JOYBUTTONUP:
                if event.button in [x_button, a_button, y_button]:
                    self.episode_end_status = None
                elif event.button == lt_button:
                    self.close_gripper_command = False
                elif event.button == rt_button:
                    self.open_gripper_command = False

            # Check for RB button for intervention flag
            if self.joystick.get_button(rb_button):
                self.intervention_flag = True
            else:
                self.intervention_flag = False