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-rw-r--r--sixaxis/sixaxis.c279
1 files changed, 173 insertions, 106 deletions
diff --git a/sixaxis/sixaxis.c b/sixaxis/sixaxis.c
index b9c2232..d110c71 100644
--- a/sixaxis/sixaxis.c
+++ b/sixaxis/sixaxis.c
@@ -4,15 +4,16 @@
#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 DEBUG(x)
+#define DEBUG(x) x
#define DEFAULT_DELAY 10
-#define SIXAXIS_DEVICE "/dev/hidraw0"
+#define SIXAXIS_DEVNAME "/dev/hidraw"
static char *version = "$Revision: 1.1 $";
@@ -30,14 +31,15 @@ struct sixaxis_state {
};
/* pre-generated symbols */
-static t_symbol *ps_open, *ps_device, *ps_poll, *ps_total, *ps_range;
+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;
+//static struct sixaxis_state prev;
/*------------------------------------------------------------------------------
* CLASS DEF
@@ -47,7 +49,6 @@ static t_class *sixaxis_class;
typedef struct _sixaxis {
t_object x_obj;
t_int x_fd;
- t_symbol *x_devname;
t_clock *x_clock;
short x_device_number;
short x_instance;
@@ -96,6 +97,21 @@ 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
*/
@@ -121,40 +137,90 @@ static void sixaxis_close(t_sixaxis *x)
if(x->x_fd < 0)
return;
close(x->x_fd);
- post("[sixaxis] closed %s",x->x_devname->s_name);
+ post("[sixaxis] closed %s%d", SIXAXIS_DEVNAME, x->x_device_number);
x->x_device_open = 0;
output_open_status(x);
}
-static int sixaxis_open(t_sixaxis *x, t_symbol *s)
+static t_int sixaxis_open_device(t_sixaxis *x, short device_number)
{
- DEBUG(post("sixaxis_open"););
+ DEBUG(post("sixaxis_open_device"););
- sixaxis_close(x);
+ char block_device[FILENAME_MAX];
- /* set obj device name to parameter
- * otherwise set to default
- */
- if (s != &s_)
- x->x_devname = s;
-
- /* open device */
- if (x->x_devname) {
- /* open the device read-only, non-exclusive */
- x->x_fd = open(x->x_devname->s_name, O_RDONLY | O_NONBLOCK);
- /* test if device open */
- if (x->x_fd > -1 ) {
+ 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;
- output_open_status(x);
- return 1;
- } else {
- pd_error(x, "[sixaxis] open %s failed", x->x_devname->s_name);
- x->x_fd = -1;
- x->x_device_open = 0;
- output_open_status(x);
+ 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);
}
}
- return 0;
+
+ /* always output open result so you can test for success in Pd space */
+ output_open_status(x);
}
static void sixaxis_read(t_sixaxis *x)
@@ -165,57 +231,66 @@ static void sixaxis_read(t_sixaxis *x)
// 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);
+/* 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 */
- 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);
+ 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);
@@ -240,28 +315,15 @@ static void sixaxis_info(t_sixaxis *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;
- } else {
- post("You need to set a input device (i.e /dev/input/event0)");
}
-
- if(x->x_device_number > -1)
- {
- if(!x->x_device_open)
- {
- sixaxis_open(x,x->x_devname);
- }
- if(!x->x_started)
- {
- clock_delay(x->x_clock, x->x_delay);
- x->x_started = 1;
- }
- }
-
}
static void sixaxis_float(t_sixaxis* x, t_floatarg f)
@@ -286,7 +348,7 @@ static void sixaxis_free(t_sixaxis* x)
close(x->x_fd);
}
-static void *sixaxis_new(t_symbol *s)
+static void *sixaxis_new(t_symbol *s, int argc, t_atom *argv)
{
t_sixaxis *x = (t_sixaxis *)pd_new(sixaxis_class);
@@ -299,17 +361,16 @@ static void *sixaxis_new(t_symbol *s)
x->x_read_ok = 1;
x->x_started = 0;
x->x_delay = DEFAULT_DELAY;
- x->x_devname = gensym(SIXAXIS_DEVICE);
+ 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 hidio-style outlets */
+ /* 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);
-
- /* set to the value from the object argument, if that exists */
- if (s != &s_)
- x->x_devname = s;
return (x);
}
@@ -320,14 +381,14 @@ void sixaxis_setup(void)
sixaxis_class = class_new(gensym("sixaxis"),
(t_newmethod)sixaxis_new,
(t_method)sixaxis_free,
- sizeof(t_sixaxis), 0, A_DEFSYM, 0);
+ 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_DEFFLOAT,0);
+ 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);
@@ -337,7 +398,13 @@ void sixaxis_setup(void)
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 2024-04-25 06:22:57 +0000