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00035 from bluetooth import *
00036 import select
00037 import fcntl
00038 import os
00039 import time
00040 import sys
00041 import traceback
00042 import threading
00043 import ps3joy
00044 import socket
00045 import signal
00046
00047 def mk_in_socket():
00048 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
00049 sock.bind(("127.0.0.1",0))
00050 sock.listen(1)
00051 return sock,sock.getsockname()[1]
00052
00053
00054 class driversim(threading.Thread):
00055 def __init__(self, intr, ctrl):
00056 threading.Thread.__init__(self)
00057 self.intr = intr
00058 self.ctrl = ctrl
00059 self.start()
00060
00061 def run(self):
00062 self.cm = ps3joy.connection_manager(ps3joy.decoder())
00063 self.cm.listen(self.intr, self.ctrl)
00064 print "driversim exiting"
00065
00066 def shutdown(self):
00067 self.cm.shutdown = True
00068
00069 class joysim(threading.Thread):
00070 def __init__(self, intr, ctrl):
00071 threading.Thread.__init__(self)
00072 print "Starting joystick simulator on ports", intr, "and", ctrl
00073 self.intr = socket.socket()
00074 self.intr.connect(("127.0.0.1", intr))
00075 if self.intr == -1:
00076 raise "Error creating interrput socket."
00077 self.ctrl = socket.socket()
00078 self.ctrl.connect(("127.0.0.1", ctrl))
00079 if self.ctrl == -1:
00080 raise "Error creating control socket."
00081 self.active = False
00082 self.shutdown = False
00083 self.start()
00084
00085 def run(self):
00086 while not self.active and not self.shutdown:
00087 (rd, wr, err) = select.select([self.ctrl], [], [], 1)
00088 if len(rd) == 1:
00089 cmd = self.ctrl.recv(128)
00090 if cmd == "\x53\xf4\x42\x03\x00\x00":
00091 self.active = True
00092 print "Got activate command"
00093 else:
00094 print "Got unknown command (len=%i)"%len(cmd),
00095 time.sleep(1);
00096 for c in cmd:
00097 print "%x"%ord(c),
00098 print
00099 print "joyactivate exiting"
00100
00101 def publishstate(self, ax, butt):
00102 if self.active:
00103 ranges = [255] * 17 + [8191] * 20
00104 axval = [ int((v + 1) * s / 2) for (v,s) in zip(ax, ranges)]
00105 buttout = []
00106 for i in range(0,2):
00107 newval = 0
00108 for j in range(0,8):
00109 newval = (newval << 1)
00110 if butt[i * 8 + j]:
00111 newval = newval + 1
00112 buttout.append(newval)
00113 joy_coding = "!1B2x3B1x4B4x12B15x4H"
00114
00115 self.intr.send(struct.pack(joy_coding, 161, *(buttout + [0] + axval)))
00116 else:
00117 print "Tried to publish while inactive"
00118
00119 if __name__ == "__main__":
00120 def stop_all_threads(a, b):
00121
00122
00123
00124 exit(0)
00125
00126 signal.signal(signal.SIGINT, stop_all_threads)
00127
00128
00129 (intr_in, intr_port) = mk_in_socket()
00130 (ctrl_in, ctrl_port) = mk_in_socket()
00131
00132 ds = driversim(intr_in, ctrl_in)
00133
00134
00135 time.sleep(2)
00136
00137
00138 js = joysim(intr_port, ctrl_port)
00139 buttons1 = [True] * 16
00140 axes1 = [1, 0, -1, .5] * 5
00141 buttons2 = [False] * 16
00142 axes2 = [-1] * 20
00143 buttons3 = [False] * 16
00144 axes3 = [0] * 20
00145 shutdown = False
00146 while not js.active and not shutdown:
00147 time.sleep(0.2)
00148
00149 time.sleep(0.01)
00150
00151 time.sleep(0.01)
00152 while not shutdown:
00153 js.publishstate(axes1, buttons2)
00154 time.sleep(0.01)
00155 axes1[0] = -axes1[0]
00156 js.publishstate(axes2, buttons2)
00157 time.sleep(0.01)
00158
00159
00160
00161 print "main exiting"