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Gamepad support improvements.

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-Added support for the XBox 360 and XBox One controllers.
- Both sets of buttons/triggers control "lock" on all controllers.
- Improved logging output, especially in debug mode.
- Filter out "noisy" controller events that happen inside the "deadband"
- Error handling (and logging) when parsing a bad "gamepads.json"
This commit is contained in:
David Carley
2022-09-01 00:09:11 +00:00
parent 64a33a7e40
commit cce4e17b49
1 changed files with 131 additions and 72 deletions
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203
src/py/bbctrl/Jog.py
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@@ -1,6 +1,6 @@
from bbctrl.Ctrl import Ctrl
from bbctrl.Log import Logger
from evdev.ecodes import EV_ABS, EV_KEY
from evdev.ecodes import EV, EV_ABS, EV_KEY
import errno
import evdev
import functools
@@ -19,7 +19,8 @@ gamepadConfigs = {
"sign-x": 1,
"sign-y": -1,
"sign-z": -1,
"deadband": 0.15
"deadband": 0.15,
"debug": False,
},
"9E2B3A63": {
"description": "Logitech 710, X mode",
@@ -34,6 +35,8 @@ gamepadConfigs = {
"EV_ABS:4": "axis-z",
"EV_KEY:310": "lock-y",
"EV_KEY:311": "lock-x",
"EV_ABS:2": "lock-y",
"EV_ABS:5": "lock-x",
},
"B98EF4EC": {
"description": "Logitech 710, D mode",
@@ -48,6 +51,8 @@ gamepadConfigs = {
"EV_ABS:5": "axis-z",
"EV_KEY:308": "lock-y",
"EV_KEY:309": "lock-x",
"EV_KEY:310": "lock-y",
"EV_KEY:311": "lock-x",
},
"268256FD": {
"description": "EasySMX ESM-9013, top lights mode",
@@ -62,6 +67,8 @@ gamepadConfigs = {
"EV_ABS:4": "axis-z",
"EV_KEY:310": "lock-y",
"EV_KEY:311": "lock-x",
"EV_ABS:2": "lock-y",
"EV_ABS:5": "lock-x",
},
"23CEC0CB": {
"description": "EasySMX ESM-9013, left lights mode",
@@ -76,6 +83,8 @@ gamepadConfigs = {
"EV_ABS:5": "axis-z",
"EV_KEY:308": "lock-y",
"EV_KEY:309": "lock-x",
"EV_KEY:310": "lock-y",
"EV_KEY:311": "lock-x",
},
"370DCB72": {
"description": "EasySMX ESM-9013, bottom lights mode",
@@ -90,6 +99,8 @@ gamepadConfigs = {
"EV_ABS:5": "axis-z",
"EV_KEY:310": "lock-y",
"EV_KEY:311": "lock-x",
"EV_KEY:312": "lock-y",
"EV_KEY:313": "lock-x",
},
"0BD0841F": {
"description": "Sony Playstation 4 Dual-Shock Controller",
@@ -104,6 +115,40 @@ gamepadConfigs = {
"EV_ABS:5": "axis-z",
"EV_KEY:308": "lock-y",
"EV_KEY:309": "lock-x",
"EV_KEY:310": "lock-y",
"EV_KEY:311": "lock-x",
},
"06656EBD": {
"description": "XBox One Controller",
"EV_KEY:308": "speed-4",
"EV_KEY:305": "speed-3",
"EV_KEY:304": "speed-2",
"EV_KEY:307": "speed-1",
"EV_ABS:0": "axis-x",
"EV_ABS:16": "axis-x",
"EV_ABS:1": "axis-y",
"EV_ABS:17": "axis-y",
"EV_ABS:4": "axis-z",
"EV_KEY:310": "lock-y",
"EV_KEY:311": "lock-x",
"EV_ABS:2": "lock-y",
"EV_ABS:5": "lock-x",
},
"BFF99E89": {
"description": "XBox 360 Controller",
"EV_KEY:308": "speed-4",
"EV_KEY:305": "speed-3",
"EV_KEY:304": "speed-2",
"EV_KEY:307": "speed-1",
"EV_ABS:0": "axis-x",
"EV_ABS:16": "axis-x",
"EV_ABS:1": "axis-y",
"EV_ABS:17": "axis-y",
"EV_ABS:4": "axis-z",
"EV_KEY:310": "lock-y",
"EV_KEY:311": "lock-x",
"EV_ABS:2": "lock-y",
"EV_ABS:5": "lock-x",
}
}
@@ -122,7 +167,7 @@ def get_udev_prop(device: pyudev.Device, propertyName: str):
return None
def to_sorted_json(value):
def sorted_json(value):
return json.dumps(value, sort_keys=True)
@@ -145,8 +190,29 @@ def processCapabilities(capabilities):
return result
# A forward declaration, so Command can reference it
class Gamepad(object):
_logRecord = set()
pass
class Command(object):
def __init__(self, id: str, event: evdev.InputEvent, value: int,
gamepad: Gamepad):
self.id = id
self.event = event
self.value = value
self.gamepad = gamepad
def __str__(self):
return "Command({}={}, Event(type={}, code={}, value={}))".format(
self.id, self.value, EV[self.event.type], self.event.code,
self.event.value)
class Gamepad(object):
_logOnceRecord = set()
_eventValuesByCode = {}
def __init__(self, log: Logger, _evdev: evdev.InputDevice,
_udev: pyudev.Device):
@@ -168,7 +234,7 @@ class Gamepad(object):
for key in _udev.properties}
}
json = to_sorted_json(self._details["evdev"])
json = sorted_json(self._details["evdev"])
self.hash = hashlib.sha256(json.encode()).hexdigest()[-8:].upper()
self.config = {
@@ -189,6 +255,31 @@ class Gamepad(object):
def devicePath(self):
return self._evdev.path
def getCommandFromEvent(self, event: evdev.InputEvent) -> Command:
if event.type not in [EV_ABS, EV_KEY]:
return
value = self.scaleAndClampValue(event)
lastValue = self._eventValuesByCode.get(event.code)
if value == lastValue:
return
self._eventValuesByCode[event.code] = value
eventSignature = "{}:{}".format(EV[event.type], event.code)
commandId = self.config.get(eventSignature)
if not commandId:
self.logOnce("Unmapped event: {}".format(eventSignature))
return
command = Command(commandId, event, value, self)
self.logDebug(command)
return command
def scaleAndClampValue(self, event: evdev.InputEvent):
if event.type != EV_ABS:
return event.value
@@ -214,14 +305,16 @@ class Gamepad(object):
# e.g. if value == deadband, the new value will be zero
delta = value - deadband
range = 1 - deadband
return (delta * sign) / range
value = (delta * sign) / range
return round(value, 3)
def log(self, msg):
self._log.info("{}: {}".format(self.hash, msg))
def logOnce(self, msg):
if self.config.get("debug") or msg not in self._logRecord:
self._logRecord.add(msg)
if self.config.get("debug") or msg not in self._logOnceRecord:
self._logOnceRecord.add(msg)
self.log(msg)
def logDebug(self, msg):
@@ -229,7 +322,7 @@ class Gamepad(object):
self.log(msg)
def __str__(self) -> str:
return to_sorted_json({
return sorted_json({
"devicePath": self.devicePath,
"bustype": self._evdev.info.bustype,
"details": self._details,
@@ -237,18 +330,6 @@ class Gamepad(object):
})
class Command(object):
def __init__(self, id: str, value: int, gamepad: Gamepad):
self.id = id
self.value = value
self.gamepad = gamepad
def __str__(self):
return "Command(id='{}', value={}, gamepad='{}')".format(
self.id, self.value, self.gamepad.hash)
class Jog(object):
gamepads = {} # type: dict[typing.Union[int, str], Gamepad]
lock = {"x": False, "y": False}
@@ -267,11 +348,15 @@ class Jog(object):
self._updateJogging()
def _loadUserGamepadConfigs(self):
path = self.ctrl.get_path('gamepads.json')
if os.path.exists(path):
with open(path, 'r') as f:
global userGamepadConfigs
userGamepadConfigs = json.load(f)
try:
path = self.ctrl.get_path('gamepads.json')
if os.path.exists(path):
with open(path, 'r') as f:
global userGamepadConfigs
userGamepadConfigs = json.load(f)
except:
self.log.info(traceback.format_exc())
self.log.info("Failed to read 'gamepads.json'")
def _startMonitoring(self):
self.udev_context = pyudev.Context()
@@ -291,7 +376,7 @@ class Jog(object):
if inputJoystick != 1:
self.log.info("Ignoring non-gamepad device: {}".format(
to_sorted_json(
sorted_json(
{key: udev.properties[key]
for key in udev.properties})))
continue
@@ -320,7 +405,7 @@ class Jog(object):
self.log, evdev.InputDevice(devicePath),
pyudev.Devices.from_device_file(self.udev_context, devicePath))
self.log.info("Found gamepad: {}".format(str(gamepad)))
self.log.info("Found gamepad: {}".format(gamepad))
self.gamepads[gamepad.fd] = self.gamepads[devicePath] = gamepad
@@ -332,8 +417,7 @@ class Jog(object):
if not gamepad:
return
self.log.info("Device removed: {}, {}".format(gamepad.hash,
devicePath))
gamepad.log("Gamepad removed: {}".format(devicePath))
self.ioloop.remove_handler(gamepad.fd)
del self.gamepads[gamepad.devicePath]
@@ -342,14 +426,13 @@ class Jog(object):
def _gamepadHandler(self, fd, events):
gamepad = self.gamepads.get(fd)
if not gamepad:
self.log.info("_gamepad_handler: Unknown gamepad? {}".format(fd))
self.log.info("Unknown gamepad? {}".format(fd))
return
try:
for event in gamepad.read():
command = self._getCommandFromEvent(gamepad, event)
if command:
self._processCommand(command)
command = gamepad.getCommandFromEvent(event)
self._processCommand(command)
except BlockingIOError:
pass
except OSError as error:
@@ -360,40 +443,22 @@ class Jog(object):
except Exception as error:
gamepad.log(traceback.format_exc())
def _getCommandFromEvent(self, gamepad: Gamepad,
event: evdev.InputEvent) -> Command:
if event.type not in [EV_ABS, EV_KEY]:
return
eventSignature = "{}:{}".format(evdev.ecodes.EV[event.type],
event.code)
commandId = gamepad.config.get(eventSignature)
if not commandId:
gamepad.logOnce("Unmapped event: {}:{}".format(
gamepad.hash, eventSignature))
return
gamepad.logDebug("Got event: {}".format(str(event)))
return Command(commandId, gamepad.scaleAndClampValue(event), gamepad)
def _processCommand(self, command: Command):
if not command:
return
processor = self.commandProcessors.get(command.id)
if not processor:
command.gamepad.log("Unrecognized command: {}".format(command.id))
command.gamepad.log("Bad command: {}".format(command))
return
command.gamepad.logDebug("Processing command: {}".format(str(command)))
processor(self, command)
def _processSpeedCommand(self, command: Command):
match = re.match(r"^speed-(\d)$", command.id)
speed = int(match.group(1)) if match else 0
if speed not in [1, 2, 3, 4]:
command.gamepad.log("Unrecognized speed command: {}".format(
str(command)))
command.gamepad.log("Bad speed command: {}".format(command))
self.changed = self.changed or self.speed != speed
self.speed = speed
@@ -402,8 +467,7 @@ class Jog(object):
match = re.match(r"^axis-(.)$", command.id)
axis = match.group(1) if match else ""
if axis not in ["x", "y", "z"]:
command.gamepad.log("Unrecognized axis command: {}".format(
str(command)))
command.gamepad.log("Bad axis command: {}".format(command))
sign = command.gamepad.config.get("sign-{}".format(axis), 1)
oldValue = self.axes[axis]
@@ -412,25 +476,20 @@ class Jog(object):
self.axes[axis] = 0 if locked else command.value * sign
self.changed = self.changed or oldValue != self.axes[axis]
command.gamepad.logDebug("_processAxisCommand: {}".format(
json.dumps({
"command.value": command.value,
"axis": axis,
"oldValue": oldValue,
"value": self.axes[axis],
"sign": sign,
"locked": locked,
"changed": self.changed
})))
command.gamepad.logDebug(
"{}(value={}, oldValue={}, sign={}, locked={})".format(
command.id, self.axes[axis], oldValue, sign, locked))
def _processLockCommand(self, command: Command):
match = re.match(r"^lock-(.)$", command.id)
axis = match.group(1) if match else ""
if axis not in ["x", "y"]:
command.gamepad.log("Unrecognized lock command: {}".format(
str(command)))
command.gamepad.log("Bad lock command: {}".format(command))
self.lock[axis] = bool(command.value)
if command.event.type == EV_ABS:
self.lock[axis] = bool(command.value > -0.9)
else:
self.lock[axis] = bool(command.value)
def _processDisabled(self, command: Command):
pass