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-rw-r--r--sixaxis/sixaxis.c412
1 files changed, 412 insertions, 0 deletions
diff --git a/sixaxis/sixaxis.c b/sixaxis/sixaxis.c
new file mode 100644
index 0000000..d110c71
--- /dev/null
+++ b/sixaxis/sixaxis.c
@@ -0,0 +1,412 @@
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/time.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+
+#include "m_pd.h"
+
+//#define DEBUG(x)
+#define DEBUG(x) x
+
+#define DEFAULT_DELAY 10
+#define SIXAXIS_DEVNAME "/dev/hidraw"
+
+static char *version = "$Revision: 1.1 $";
+
+/*------------------------------------------------------------------------------
+ * GLOBAL DECLARATIONS
+ */
+
+/* hidraw data format */
+struct sixaxis_state {
+ double time;
+ int ax, ay, az; // Raw accelerometer data
+ double ddx, ddy, ddz; // Acceleration
+ double dx, dy, dz; // Speed
+ double x, y, z; // Position
+};
+
+/* pre-generated symbols */
+static t_symbol *ps_open, *ps_device, *ps_poll, *ps_total, *ps_range, *ps_devname;
+static t_symbol *ps_x, *ps_y, *ps_z;
+static t_symbol *ps_accelerometer, *ps_acceleration, *ps_speed, *ps_position;
+
+/* mostly for status querying */
+static unsigned short device_count;
+
+/* previous state for calculating position, speed, acceleration */
+//static struct sixaxis_state prev;
+
+/*------------------------------------------------------------------------------
+ * CLASS DEF
+ */
+static t_class *sixaxis_class;
+
+typedef struct _sixaxis {
+ t_object x_obj;
+ t_int x_fd;
+ t_clock *x_clock;
+ short x_device_number;
+ short x_instance;
+ t_int x_device_open;
+ int x_read_ok;
+ int x_started;
+ int x_delay;
+ unsigned char buf[128];
+ struct sixaxis_state x_sixaxis_state;
+ t_atom x_output_atoms[3];
+ t_outlet *x_data_outlet;
+ t_outlet *x_status_outlet;
+} t_sixaxis;
+
+
+
+/*------------------------------------------------------------------------------
+ * SUPPORT FUNCTIONS
+ */
+
+static void output_status(t_sixaxis *x, t_symbol *selector, t_float output_value)
+{
+ t_atom *output_atom = (t_atom *)getbytes(sizeof(t_atom));
+ SETFLOAT(output_atom, output_value);
+ outlet_anything( x->x_status_outlet, selector, 1, output_atom);
+ freebytes(output_atom,sizeof(t_atom));
+}
+
+static void output_open_status(t_sixaxis *x)
+{
+ output_status(x, ps_open, x->x_device_open);
+}
+
+static void output_device_number(t_sixaxis *x)
+{
+ output_status(x, ps_device, x->x_device_number);
+}
+
+static void output_poll_time(t_sixaxis *x)
+{
+ output_status(x, ps_poll, x->x_delay);
+}
+
+static void output_device_count(t_sixaxis *x)
+{
+ output_status(x, ps_total, device_count);
+}
+
+static short get_device_number_from_arguments(int argc, t_atom *argv)
+{
+ short device_number = -1;
+ t_symbol *first_argument;
+
+ if(argc == 1)
+ {
+ first_argument = atom_getsymbolarg(0,argc,argv);
+ if(first_argument == &s_)
+ { // single float arg means device #
+ device_number = (short) atom_getfloatarg(0,argc,argv);
+ }
+ }
+ return device_number;
+}
+/*------------------------------------------------------------------------------
+ * CLASS METHODS
+ */
+
+void sixaxis_stop(t_sixaxis* x)
+{
+ DEBUG(post("sixaxis_stop"););
+
+ if (x->x_fd >= 0 && x->x_started) {
+ clock_unset(x->x_clock);
+ post("sixaxis: polling stopped");
+ x->x_started = 0;
+ }
+}
+
+static void sixaxis_close(t_sixaxis *x)
+{
+ DEBUG(post("sixaxis_close"););
+
+/* just to be safe, stop it first */
+ sixaxis_stop(x);
+
+ if(x->x_fd < 0)
+ return;
+ close(x->x_fd);
+ post("[sixaxis] closed %s%d", SIXAXIS_DEVNAME, x->x_device_number);
+ x->x_device_open = 0;
+ output_open_status(x);
+}
+
+static t_int sixaxis_open_device(t_sixaxis *x, short device_number)
+{
+ DEBUG(post("sixaxis_open_device"););
+
+ char block_device[FILENAME_MAX];
+
+ x->x_fd = -1;
+
+ if(device_number < 0)
+ {
+ pd_error(x,"[sixaxis] invalid device number: %d (must be 0 or greater)"
+ , device_number);
+ return EXIT_FAILURE;
+ }
+
+ x->x_device_number = device_number;
+ snprintf(block_device, FILENAME_MAX, "%s%d", SIXAXIS_DEVNAME, x->x_device_number);
+
+ /* open the device read-only, non-exclusive */
+ x->x_fd = open(block_device, O_RDONLY | O_NONBLOCK);
+ /* test if device open */
+ if(x->x_fd < 0 )
+ {
+ pd_error(x,"[sixaxis] open %s failed",block_device);
+ x->x_fd = -1;
+ return EXIT_FAILURE;
+ }
+ post ("[sixaxis] opened device %d (%s)", x->x_device_number, block_device);
+
+ return EXIT_SUCCESS;
+}
+
+/* sixaxis_open behavoir
+ * current state action
+ * ---------------------------------------
+ * closed / same device open
+ * open / same device no action
+ * closed / different device open
+ * open / different device close, open
+ */
+static void sixaxis_open(t_sixaxis *x, t_symbol *s, int argc, t_atom *argv)
+{
+ DEBUG(post("sixaxis_open"););
+ short new_device_number = get_device_number_from_arguments(argc, argv);
+// t_int started = x->x_started; // store state to restore after device is opened
+
+ if (new_device_number < 0)
+ {
+ pd_error(x,"[sixaxis] invalid device number: %d (must be 0 or greater)",
+ new_device_number);
+ return;
+ }
+ /* check whether we have to close previous device */
+ if (x->x_device_open && new_device_number != x->x_device_number)
+ {
+ sixaxis_close(x);
+ }
+ /* no device open, so open one now */
+ if (!x->x_device_open)
+ {
+ if(sixaxis_open_device(x, new_device_number) == EXIT_SUCCESS)
+ {
+ x->x_device_open = 1;
+ x->x_device_number = new_device_number;
+ /* restore the polling state so that when I [tgl] is used to
+ * start/stop [sixaxis], the [tgl]'s state will continue to
+ * accurately reflect [sixaxis]'s state */
+ post("[sixaxis] set device# to %d",new_device_number);
+ output_device_number(x);
+ }
+ else
+ {
+ x->x_device_number = -1;
+ pd_error(x, "[sixaxis] can not open device %d",new_device_number);
+ }
+ }
+
+ /* always output open result so you can test for success in Pd space */
+ output_open_status(x);
+}
+
+static void sixaxis_read(t_sixaxis *x)
+{
+ if(x->x_fd < 0)
+ return;
+ if(read(x->x_fd, &(x->buf), sizeof(x->buf)) > -1) {
+// if ( nr < 0 ) { perror("read(stdin)"); exit(1); }
+// if ( nr != 48 ) { fprintf(stderr, "Unsupported report\n"); exit(1); }
+
+/* struct timeval tv; */
+/* if ( gettimeofday(&tv, NULL) ) { */
+/* perror("gettimeofday"); */
+/* return; */
+/* } */
+/* x->x_sixaxis_state.time = tv.tv_sec + tv.tv_usec*1e-6; */
+/* x->x_sixaxis_state.ax = x->buf[40]<<8 | x->buf[41]; */
+/* x->x_sixaxis_state.ay = x->buf[42]<<8 | x->buf[43]; */
+/* x->x_sixaxis_state.az = x->buf[44]<<8 | x->buf[45]; */
+/* if ( ! prev.time ) { */
+/* prev.time = x->x_sixaxis_state.time; */
+/* prev.ax = x->x_sixaxis_state.ax; */
+/* prev.ay = x->x_sixaxis_state.ay; */
+/* prev.az = x->x_sixaxis_state.az; */
+/* } */
+/* double dt = x->x_sixaxis_state.time - prev.time; */
+/* double rc_dd = 2.0; // Time constant for highpass filter on acceleration */
+/* double alpha_dd = rc_dd / (rc_dd+dt); */
+/* x->x_sixaxis_state.ddx = alpha_dd*(prev.ddx + (x->x_sixaxis_state.ax-prev.ax)*0.01); */
+/* x->x_sixaxis_state.ddy = alpha_dd*(prev.ddy + (x->x_sixaxis_state.ay-prev.ay)*0.01); */
+/* x->x_sixaxis_state.ddz = alpha_dd*(prev.ddz - (x->x_sixaxis_state.az-prev.az)*0.01); */
+/* double rc_d = 2.0; // Time constant for highpass filter on speed */
+/* double alpha_d = rc_d / (rc_d+dt); */
+/* x->x_sixaxis_state.dx = alpha_d*(prev.dx + x->x_sixaxis_state.ddx*dt); */
+/* x->x_sixaxis_state.dy = alpha_d*(prev.dy + x->x_sixaxis_state.ddy*dt); */
+/* x->x_sixaxis_state.dz = alpha_d*(prev.dz + x->x_sixaxis_state.ddz*dt); */
+/* double rc = 1.0; // Time constant for highpass filter on position */
+/* double alpha = rc / (rc+dt); */
+/* x->x_sixaxis_state.x = alpha*(prev.x + x->x_sixaxis_state.dx*dt); */
+/* x->x_sixaxis_state.y = alpha*(prev.y + x->x_sixaxis_state.dy*dt); */
+/* x->x_sixaxis_state.z = alpha*(prev.z + x->x_sixaxis_state.dz*dt); */
+ /* raw accelerometer data */
+ SETSYMBOL(x->x_output_atoms, ps_x);
+ SETFLOAT(x->x_output_atoms + 1, x->buf[40]<<8 | x->buf[41]);
+ outlet_anything(x->x_data_outlet, ps_accelerometer, 2, x->x_output_atoms);
+ SETSYMBOL(x->x_output_atoms, ps_y);
+ SETFLOAT(x->x_output_atoms + 1, x->buf[42]<<8 | x->buf[43]);
+ outlet_anything(x->x_data_outlet, ps_accelerometer, 2, x->x_output_atoms);
+ SETSYMBOL(x->x_output_atoms, ps_z);
+ SETFLOAT(x->x_output_atoms + 1, x->buf[44]<<8 | x->buf[45]);
+ outlet_anything(x->x_data_outlet, ps_accelerometer, 2, x->x_output_atoms);
+/* SETFLOAT(x->x_output_atoms, x->x_sixaxis_state.ax); */
+/* SETFLOAT(x->x_output_atoms + 1, x->x_sixaxis_state.ay); */
+/* SETFLOAT(x->x_output_atoms + 2, x->x_sixaxis_state.az); */
+/* outlet_anything(x->x_data_outlet, ps_accelerometer, 3, x->x_output_atoms); */
+/* /\* acceleration data *\/ */
+/* SETFLOAT(x->x_output_atoms, x->x_sixaxis_state.ddx); */
+/* SETFLOAT(x->x_output_atoms + 1, x->x_sixaxis_state.ddy); */
+/* SETFLOAT(x->x_output_atoms + 2, x->x_sixaxis_state.ddz); */
+/* outlet_anything(x->x_data_outlet, ps_acceleration, 3, x->x_output_atoms); */
+/* /\* speed data *\/ */
+/* SETFLOAT(x->x_output_atoms, x->x_sixaxis_state.dx); */
+/* SETFLOAT(x->x_output_atoms + 1, x->x_sixaxis_state.dy); */
+/* SETFLOAT(x->x_output_atoms + 2, x->x_sixaxis_state.dz); */
+/* outlet_anything(x->x_data_outlet, ps_speed, 3, x->x_output_atoms); */
+/* /\* position data *\/ */
+/* SETFLOAT(x->x_output_atoms, x->x_sixaxis_state.x); */
+/* SETFLOAT(x->x_output_atoms + 1, x->x_sixaxis_state.y); */
+/* SETFLOAT(x->x_output_atoms + 2, x->x_sixaxis_state.z); */
+/* outlet_anything(x->x_data_outlet, ps_position, 3, x->x_output_atoms); */
+ }
+ if(x->x_started) {
+ clock_delay(x->x_clock, x->x_delay);
+ }
+}
+// double ddx, ddy, ddz; // Acceleration
+// double dx, dy, dz; // Speed
+// double x, y, z; // Position
+
+/* Actions */
+
+static void sixaxis_info(t_sixaxis *x)
+{
+ output_open_status(x);
+ output_device_number(x);
+ output_device_count(x);
+ output_poll_time(x);
+// TODO output ranges for sixaxis
+// output_element_ranges(x);
+}
+
+void sixaxis_start(t_sixaxis* x)
+{
+ DEBUG(post("sixaxis_start"););
+
+ if(!x->x_device_open) {
+ sixaxis_open_device(x, x->x_device_number);
+ }
+ if (x->x_fd > -1 && !x->x_started) {
+ clock_delay(x->x_clock, DEFAULT_DELAY);
+ post("sixaxis: polling started");
+ x->x_started = 1;
+ }
+}
+
+static void sixaxis_float(t_sixaxis* x, t_floatarg f)
+{
+ DEBUG(post("sixaxis_float"););
+
+ if (f > 0)
+ sixaxis_start(x);
+ else
+ sixaxis_stop(x);
+}
+
+/* setup functions */
+static void sixaxis_free(t_sixaxis* x)
+{
+ DEBUG(post("sixaxis_free"););
+
+ if (x->x_fd < 0) return;
+
+ sixaxis_stop(x);
+ clock_free(x->x_clock);
+ close(x->x_fd);
+}
+
+static void *sixaxis_new(t_symbol *s, int argc, t_atom *argv)
+{
+ t_sixaxis *x = (t_sixaxis *)pd_new(sixaxis_class);
+
+ DEBUG(post("sixaxis_new"););
+
+ post("[sixaxis] %s, written by Hans-Christoph Steiner <hans@eds.org>",version);
+
+ /* init vars */
+ x->x_fd = -1;
+ x->x_read_ok = 1;
+ x->x_started = 0;
+ x->x_delay = DEFAULT_DELAY;
+ if(argc > 0)
+ x->x_device_number = get_device_number_from_arguments(argc, argv);
+ else
+ x->x_device_number = 0;
+
+ x->x_clock = clock_new(x, (t_method)sixaxis_read);
+
+ /* create standard "io"-style outlets */
+ x->x_data_outlet = outlet_new(&x->x_obj, 0);
+ x->x_status_outlet = outlet_new(&x->x_obj, 0);
+
+ return (x);
+}
+
+void sixaxis_setup(void)
+{
+ DEBUG(post("sixaxis_setup"););
+ sixaxis_class = class_new(gensym("sixaxis"),
+ (t_newmethod)sixaxis_new,
+ (t_method)sixaxis_free,
+ sizeof(t_sixaxis), 0, A_GIMME, 0);
+
+ /* add inlet datatype methods */
+ class_addfloat(sixaxis_class,(t_method) sixaxis_float);
+ class_addbang(sixaxis_class,(t_method) sixaxis_read);
+
+ /* add inlet message methods */
+ class_addmethod(sixaxis_class,(t_method) sixaxis_open,gensym("open"),A_GIMME,0);
+ class_addmethod(sixaxis_class,(t_method) sixaxis_close,gensym("close"),0);
+ class_addmethod(sixaxis_class,(t_method) sixaxis_info,gensym("info"),0);
+
+ /* pre-generate often used symbols */
+ ps_open = gensym("open");
+ ps_device = gensym("device");
+ ps_poll = gensym("poll");
+ ps_total = gensym("total");
+ ps_range = gensym("range");
+ ps_devname = gensym("devname");
+
+ ps_accelerometer = gensym("accelerometer");
+ ps_x = gensym("x");
+ ps_y = gensym("y");
+ ps_z = gensym("z");
+
+ ps_acceleration = gensym("acceleration");
+ ps_speed = gensym("speed");
+ ps_position = gensym("position");
+}
+
generated by cgit v1.2.1 (git 2.18.0) at 2024-04-18 12:54:19 +0000