Added joystick.linux backend

This commit is contained in:
Fabio Manganiello 2021-05-17 14:51:53 +02:00
parent 7ee869ce42
commit fc1d9ad3e6
8 changed files with 225 additions and 8 deletions

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@ -22,6 +22,9 @@ Given the high speed of development in the first phase, changes are being report
- Added PWM PCA9685 plugin.
- Added Linux native joystick plugin, ``backend.joystick.linux``, for the cases where
``python-inputs`` doesn't work and ``jstest`` is too slow.
### Changed
- `switch.switchbot` plugin renamed to `switchbot.bluetooth` plugin, while the new plugin

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@ -33,6 +33,7 @@ Backends
platypush/backend/inotify.rst
platypush/backend/joystick.rst
platypush/backend/joystick.jstest.rst
platypush/backend/joystick.linux.rst
platypush/backend/kafka.rst
platypush/backend/light.hue.rst
platypush/backend/linode.rst

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@ -0,0 +1,5 @@
``platypush.backend.joystick.linux``
====================================
.. automodule:: platypush.backend.joystick.linux
:members:

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@ -0,0 +1,5 @@
``platypush.plugins.pwm.pca9685``
=================================
.. automodule:: platypush.plugins.pwm.pca9685
:members:

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@ -104,6 +104,7 @@ Plugins
platypush/plugins/ping.rst
platypush/plugins/printer.cups.rst
platypush/plugins/pushbullet.rst
platypush/plugins/pwm.pca9685.rst
platypush/plugins/qrcode.rst
platypush/plugins/redis.rst
platypush/plugins/rtorrent.rst

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@ -51,6 +51,10 @@ class JoystickJstestBackend(Backend):
This backend only works on Linux and it requires the ``joystick`` package to be installed.
**NOTE**: This backend can be quite slow, since it has to run another program (``jstest``) and parse its output.
Consider it as a last resort if your joystick works with neither :class:`platypush.backend.joystick.JoystickBackend`
nor :class:`platypush.backend.joystick.JoystickLinuxBackend`.
Instructions on Debian-based distros::
# apt-get install joystick

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@ -0,0 +1,186 @@
import array
import struct
import time
from fcntl import ioctl
from typing import IO
from platypush.backend import Backend
from platypush.message.event.joystick import JoystickConnectedEvent, JoystickDisconnectedEvent, \
JoystickButtonPressedEvent, JoystickButtonReleasedEvent, JoystickAxisEvent
class JoystickLinuxBackend(Backend):
"""
This backend intercepts events from joystick devices through the native Linux API implementation.
It is loosely based on https://gist.github.com/rdb/8864666, which itself uses the
`Linux kernel joystick API <https://www.kernel.org/doc/Documentation/input/joystick-api.txt>`_ to interact with
the devices.
Triggers:
* :class:`platypush.message.event.joystick.JoystickConnectedEvent` when the joystick is connected.
* :class:`platypush.message.event.joystick.JoystickDisconnectedEvent` when the joystick is disconnected.
* :class:`platypush.message.event.joystick.JoystickButtonPressedEvent` when a joystick button is pressed.
* :class:`platypush.message.event.joystick.JoystickButtonReleasedEvent` when a joystick button is released.
* :class:`platypush.message.event.joystick.JoystickAxisEvent` when an axis value of the joystick changes.
"""
# These constants were borrowed from linux/input.h
axis_names = {
0x00: 'x',
0x01: 'y',
0x02: 'z',
0x03: 'rx',
0x04: 'ry',
0x05: 'rz',
0x06: 'throttle',
0x07: 'rudder',
0x08: 'wheel',
0x09: 'gas',
0x0a: 'brake',
0x10: 'hat0x',
0x11: 'hat0y',
0x12: 'hat1x',
0x13: 'hat1y',
0x14: 'hat2x',
0x15: 'hat2y',
0x16: 'hat3x',
0x17: 'hat3y',
0x18: 'pressure',
0x19: 'distance',
0x1a: 'tilt_x',
0x1b: 'tilt_y',
0x1c: 'tool_width',
0x20: 'volume',
0x28: 'misc',
}
button_names = {
0x120: 'trigger',
0x121: 'thumb',
0x122: 'thumb2',
0x123: 'top',
0x124: 'top2',
0x125: 'pinkie',
0x126: 'base',
0x127: 'base2',
0x128: 'base3',
0x129: 'base4',
0x12a: 'base5',
0x12b: 'base6',
0x12f: 'dead',
0x130: 'a',
0x131: 'b',
0x132: 'c',
0x133: 'x',
0x134: 'y',
0x135: 'z',
0x136: 'tl',
0x137: 'tr',
0x138: 'tl2',
0x139: 'tr2',
0x13a: 'select',
0x13b: 'start',
0x13c: 'mode',
0x13d: 'thumbl',
0x13e: 'thumbr',
0x220: 'dpad_up',
0x221: 'dpad_down',
0x222: 'dpad_left',
0x223: 'dpad_right',
# XBox 360 controller uses these codes.
0x2c0: 'dpad_left',
0x2c1: 'dpad_right',
0x2c2: 'dpad_up',
0x2c3: 'dpad_down',
}
def __init__(self, device: str = '/dev/input/js0', *args, **kwargs):
"""
:param device: Joystick device to monitor (default: ``/dev/input/js0``).
"""
super().__init__(*args, **kwargs)
self.device = device
self._axis_states = {}
self._button_states = {}
self._axis_map = []
self._button_map = []
def _init_joystick(self, dev: IO):
# Get the device name.
buf = array.array('B', [0] * 64)
ioctl(dev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len)
js_name = buf.tobytes().rstrip(b'\x00').decode('utf-8')
# Get number of axes and buttons.
buf = array.array('B', [0])
ioctl(dev, 0x80016a11, buf) # JSIOCGAXES
num_axes = buf[0]
buf = array.array('B', [0])
ioctl(dev, 0x80016a12, buf) # JSIOCGBUTTONS
num_buttons = buf[0]
# Get the axis map.
buf = array.array('B', [0] * 0x40)
ioctl(dev, 0x80406a32, buf) # JSIOCGAXMAP
for axis in buf[:num_axes]:
axis_name = self.axis_names.get(axis, 'unknown(0x%02x)' % axis)
self._axis_map.append(axis_name)
self._axis_states[axis_name] = 0.0
# Get the button map.
buf = array.array('H', [0] * 200)
ioctl(dev, 0x80406a34, buf) # JSIOCGBTNMAP
for btn in buf[:num_buttons]:
btn_name = self.button_names.get(btn, 'unknown(0x%03x)' % btn)
self._button_map.append(btn_name)
self._button_states[btn_name] = 0
self.bus.post(JoystickConnectedEvent(device=self.device, name=js_name, axes=self._axis_map,
buttons=self._button_map))
def run(self):
super().run()
while not self.should_stop():
# Open the joystick device.
self.logger.info(f'Opening {self.device}...')
try:
jsdev = open(self.device, 'rb')
self._init_joystick(jsdev)
except Exception as e:
self.logger.debug(f'Joystick device on {self.device} not available: {e}')
time.sleep(5)
continue
# Joystick event loop
while not self.should_stop():
try:
evbuf = jsdev.read(8)
if evbuf:
_, value, evt_type, number = struct.unpack('IhBB', evbuf)
if evt_type & 0x01:
button = self._button_map[number]
if button:
self._button_states[button] = value
evt_class = JoystickButtonPressedEvent if value else JoystickButtonReleasedEvent
# noinspection PyTypeChecker
self.bus.post(evt_class(button=button))
if evt_type & 0x02:
axis = self._axis_map[number]
if axis:
fvalue = value / 32767.0
self._axis_states[axis] = fvalue
# noinspection PyTypeChecker
self.bus.post(JoystickAxisEvent(axis=axis, value=fvalue))
except OSError as e:
self.logger.warning(f'Connection to {self.device} lost: {e}')
self.bus.post(JoystickDisconnectedEvent(device=self.device))
break

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@ -1,5 +1,5 @@
from abc import ABC
from typing import List
from typing import Optional, Iterable, Union
from platypush.message.event import Event
@ -35,6 +35,18 @@ class JoystickConnectedEvent(_JoystickEvent):
"""
Event triggered upon joystick connection.
"""
def __init__(self,
*args,
name: Optional[str] = None,
axes: Optional[Iterable[Union[int, str]]] = None,
buttons: Optional[Iterable[Union[int, str]]] = None,
**kwargs):
"""
:param name: Device name.
:param axes: List of the device axes, as indices or names.
:param buttons: List of the device buttons, as indices or names.
"""
super().__init__(*args, name=name, axes=axes, buttons=buttons, **kwargs)
class JoystickDisconnectedEvent(_JoystickEvent):
@ -48,7 +60,7 @@ class JoystickStateEvent(_JoystickEvent):
Event triggered when the state of the joystick changes.
"""
def __init__(self, *args, axes: List[int], buttons: List[bool], **kwargs):
def __init__(self, *args, axes: Iterable[int], buttons: Iterable[bool], **kwargs):
"""
:param axes: Joystick axes values, as a list of integer values.
:param buttons: Joystick buttons values, as a list of boolean values (True for pressed, False for released).
@ -61,9 +73,9 @@ class JoystickButtonPressedEvent(_JoystickEvent):
Event triggered when a joystick button is pressed.
"""
def __init__(self, *args, button: int, **kwargs):
def __init__(self, *args, button: Union[int, str], **kwargs):
"""
:param button: Button index.
:param button: Button index or name.
"""
super().__init__(*args, button=button, **kwargs)
@ -73,9 +85,9 @@ class JoystickButtonReleasedEvent(_JoystickEvent):
Event triggered when a joystick button is released.
"""
def __init__(self, *args, button: int, **kwargs):
def __init__(self, *args, button: Union[int, str], **kwargs):
"""
:param button: Button index.
:param button: Button index or name.
"""
super().__init__(*args, button=button, **kwargs)
@ -85,9 +97,9 @@ class JoystickAxisEvent(_JoystickEvent):
Event triggered when an axis value of the joystick changes.
"""
def __init__(self, *args, axis: int, value: int, **kwargs):
def __init__(self, *args, axis: Union[int, str], value: int, **kwargs):
"""
:param axis: Axis index.
:param axis: Axis index or name.
:param value: Axis value.
"""
super().__init__(*args, axis=axis, value=value, **kwargs)