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188 lines
4.5 KiB
188 lines
4.5 KiB
#!/usr/bin/env python3
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# set up wheel
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import array
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import os
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import struct
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from fcntl import ioctl
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from typing import NoReturn
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# Iterate over the joystick devices.
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print('Available devices:')
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for fn in os.listdir('/dev/input'):
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if fn.startswith('js'):
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print(f' /dev/input/{fn}')
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# We'll store the states here.
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axis_states = {}
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button_states = {}
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# These constants were borrowed from linux/input.h
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axis_names = {
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0x00 : 'x',
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0x01 : 'y',
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0x02 : 'z',
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0x03 : 'rx',
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0x04 : 'ry',
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0x05 : 'rz',
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0x06 : 'trottle',
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0x07 : 'rudder',
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0x08 : 'wheel',
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0x09 : 'gas',
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0x0a : 'brake',
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0x10 : 'hat0x',
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0x11 : 'hat0y',
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0x12 : 'hat1x',
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0x13 : 'hat1y',
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0x14 : 'hat2x',
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0x15 : 'hat2y',
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0x16 : 'hat3x',
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0x17 : 'hat3y',
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0x18 : 'pressure',
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0x19 : 'distance',
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0x1a : 'tilt_x',
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0x1b : 'tilt_y',
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0x1c : 'tool_width',
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0x20 : 'volume',
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0x28 : 'misc',
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}
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button_names = {
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0x120 : 'trigger',
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0x121 : 'thumb',
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0x122 : 'thumb2',
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0x123 : 'top',
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0x124 : 'top2',
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0x125 : 'pinkie',
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0x126 : 'base',
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0x127 : 'base2',
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0x128 : 'base3',
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0x129 : 'base4',
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0x12a : 'base5',
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0x12b : 'base6',
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0x12f : 'dead',
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0x130 : 'a',
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0x131 : 'b',
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0x132 : 'c',
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0x133 : 'x',
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0x134 : 'y',
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0x135 : 'z',
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0x136 : 'tl',
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0x137 : 'tr',
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0x138 : 'tl2',
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0x139 : 'tr2',
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0x13a : 'select',
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0x13b : 'start',
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0x13c : 'mode',
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0x13d : 'thumbl',
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0x13e : 'thumbr',
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0x220 : 'dpad_up',
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0x221 : 'dpad_down',
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0x222 : 'dpad_left',
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0x223 : 'dpad_right',
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# XBox 360 controller uses these codes.
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0x2c0 : 'dpad_left',
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0x2c1 : 'dpad_right',
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0x2c2 : 'dpad_up',
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0x2c3 : 'dpad_down',
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}
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axis_map = []
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button_map = []
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def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
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# Open the joystick device.
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fn = '/dev/input/js0'
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print(f'Opening {fn}...')
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jsdev = open(fn, 'rb')
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# Get the device name.
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#buf = bytearray(63)
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buf = array.array('B', [0] * 64)
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ioctl(jsdev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len)
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js_name = buf.tobytes().rstrip(b'\x00').decode('utf-8')
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print(f'Device name: {js_name}')
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# Get number of axes and buttons.
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buf = array.array('B', [0])
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ioctl(jsdev, 0x80016a11, buf) # JSIOCGAXES
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num_axes = buf[0]
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buf = array.array('B', [0])
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ioctl(jsdev, 0x80016a12, buf) # JSIOCGBUTTONS
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num_buttons = buf[0]
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# Get the axis map.
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buf = array.array('B', [0] * 0x40)
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ioctl(jsdev, 0x80406a32, buf) # JSIOCGAXMAP
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for _axis in buf[:num_axes]:
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axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})')
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axis_map.append(axis_name)
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axis_states[axis_name] = 0.0
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# Get the button map.
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buf = array.array('H', [0] * 200)
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ioctl(jsdev, 0x80406a34, buf) # JSIOCGBTNMAP
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for btn in buf[:num_buttons]:
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btn_name = button_names.get(btn, f'unknown(0x{btn:03x})')
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button_map.append(btn_name)
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button_states[btn_name] = 0
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print('%d axes found: %s' % (num_axes, ', '.join(axis_map)))
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print('%d buttons found: %s' % (num_buttons, ', '.join(button_map)))
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# Enable FF
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import evdev # pylint: disable=import-error
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from evdev import ecodes, InputDevice # pylint: disable=import-error
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device = evdev.list_devices()[0]
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evtdev = InputDevice(device)
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val = 24000
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evtdev.write(ecodes.EV_FF, ecodes.FF_AUTOCENTER, val)
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while True:
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evbuf = jsdev.read(8)
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value, mtype, number = struct.unpack('4xhBB', evbuf)
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# print(mtype, number, value)
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if mtype & 0x02: # wheel & paddles
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axis = axis_map[number]
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if axis == "z": # gas
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fvalue = value / 32767.0
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axis_states[axis] = fvalue
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normalized = (1 - fvalue) * 50
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q.put(f"throttle_{normalized:f}")
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elif axis == "rz": # brake
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fvalue = value / 32767.0
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axis_states[axis] = fvalue
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normalized = (1 - fvalue) * 50
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q.put(f"brake_{normalized:f}")
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elif axis == "x": # steer angle
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fvalue = value / 32767.0
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axis_states[axis] = fvalue
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normalized = fvalue
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q.put(f"steer_{normalized:f}")
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elif mtype & 0x01: # buttons
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if value == 1: # press down
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if number in [0, 19]: # X
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q.put("cruise_down")
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elif number in [3, 18]: # triangle
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q.put("cruise_up")
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elif number in [1, 6]: # square
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q.put("cruise_cancel")
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elif number in [10, 21]: # R3
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q.put("reverse_switch")
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if __name__ == '__main__':
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from multiprocessing import Process, Queue
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q: Queue[str] = Queue()
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p = Process(target=wheel_poll_thread, args=(q,))
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p.start()
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