[PD-cvs] SF.net SVN: pure-data: [10115] trunk/externals/io
eighthave at users.sourceforge.net
eighthave at users.sourceforge.net
Sat Jun 28 18:08:02 CEST 2008
Revision: 10115
http://pure-data.svn.sourceforge.net/pure-data/?rev=10115&view=rev
Author: eighthave
Date: 2008-06-28 09:08:02 -0700 (Sat, 28 Jun 2008)
Log Message:
-----------
first somewhat 'working' version of the objectclass to get data from the Sony SIXAXIS accelerometer
Added Paths:
-----------
trunk/externals/io/sixaxis/
trunk/externals/io/sixaxis/sixaxis-help.pd
trunk/externals/io/sixaxis/sixaxis.c
Added: trunk/externals/io/sixaxis/sixaxis-help.pd
===================================================================
--- trunk/externals/io/sixaxis/sixaxis-help.pd (rev 0)
+++ trunk/externals/io/sixaxis/sixaxis-help.pd 2008-06-28 16:08:02 UTC (rev 10115)
@@ -0,0 +1,156 @@
+#N canvas 292 101 633 730 10;
+#X obj 129 267 sixaxis /dev/hidraw0;
+#X obj 107 178 bng 15 250 50 0 empty empty empty 0 -6 0 8 -262144 -1
+-1;
+#X obj 18 178 metro 20;
+#X obj 18 156 bng 15 250 50 0 empty empty empty 0 -6 0 8 -262144 -1
+-1;
+#X msg 38 156 stop;
+#X obj 107 129 key;
+#X obj 2 2 cnv 15 550 25 empty empty sixaxis 20 12 1 16 -228992 -66577
+0;
+#X text 10 44 [sixaxis] outputs raw events from the Linux Event system.
+It is used for access the output of various Human Interface Devices
+\, like mice \, joysticks \, tablets \, etc.;
+#X text 26 105 bang to get an update when polling is stopped.;
+#X obj 107 149 sel 98;
+#X text 153 149 <- (type 'b' for a bang);
+#X obj 182 372 pddp/print;
+#N canvas 743 25 411 235 see 0;
+#N canvas 108 318 543 264 route 0;
+#X obj 27 14 inlet;
+#X obj 72 226 outlet;
+#X obj 19 226 outlet;
+#X obj 172 226 outlet;
+#X obj 222 204 symbol;
+#X obj 222 226 outlet;
+#X obj 272 204 symbol;
+#X obj 272 226 outlet;
+#X obj 322 204 symbol;
+#X obj 322 226 outlet;
+#X obj 372 204 symbol;
+#X obj 372 226 outlet;
+#X obj 122 225 outlet;
+#X obj 422 204 symbol;
+#X obj 422 226 outlet;
+#X obj 472 204 symbol;
+#X obj 472 226 outlet;
+#X obj 26 63 route open device poll total product manufacturer transport
+type vendorID productID;
+#X connect 0 0 17 0;
+#X connect 4 0 5 0;
+#X connect 6 0 7 0;
+#X connect 8 0 9 0;
+#X connect 10 0 11 0;
+#X connect 13 0 14 0;
+#X connect 15 0 16 0;
+#X connect 17 0 2 0;
+#X connect 17 1 1 0;
+#X connect 17 2 12 0;
+#X connect 17 3 3 0;
+#X connect 17 4 4 0;
+#X connect 17 5 6 0;
+#X connect 17 6 8 0;
+#X connect 17 7 10 0;
+#X connect 17 8 13 0;
+#X connect 17 9 15 0;
+#X restore 117 70 pd route info;
+#X obj 81 96 tgl 15 0 empty empty open 0 -6 0 8 -262144 -1 -1 1 1;
+#X obj 110 22 inlet;
+#X obj 123 43 print info;
+#X symbolatom 304 93 0 0 0 0 productID - -;
+#X symbolatom 304 112 0 0 0 0 vendorID - -;
+#X symbolatom 304 151 0 0 0 0 transport - -;
+#X symbolatom 304 171 0 0 0 0 manufacturer - -;
+#X symbolatom 186 192 0 0 0 0 product - -;
+#X floatatom 97 140 5 0 0 0 device - -;
+#X floatatom 97 162 5 0 0 0 poll - -;
+#X symbolatom 304 131 0 0 0 0 type - -;
+#X floatatom 97 182 5 0 0 0 total - -;
+#X connect 0 0 1 0;
+#X connect 0 1 9 0;
+#X connect 0 2 10 0;
+#X connect 0 3 12 0;
+#X connect 0 4 8 0;
+#X connect 0 5 7 0;
+#X connect 0 6 6 0;
+#X connect 0 7 11 0;
+#X connect 0 8 5 0;
+#X connect 0 9 4 0;
+#X connect 2 0 0 0;
+#X connect 2 0 3 0;
+#X restore 246 297 pd see device info;
+#X obj 130 210 tgl 30 0 empty empty empty 17 7 0 10 -4034 -1 -1 0 1
+;
+#X msg 179 222 info;
+#X obj 181 348 spigot;
+#X obj 216 328 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+1;
+#X obj 249 334 spigot;
+#X obj 282 327 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+1;
+#X obj 250 354 print RAW;
+#X obj 61 416 route position speed acceleration accelerometer;
+#X obj 341 445 print WARNING_UNSUPPORTED_MESSAGES;
+#X obj 43 528 unpack 0 0 0;
+#X floatatom 31 549 7 0 0 0 - - -;
+#X floatatom 77 549 7 0 0 0 - - -;
+#X floatatom 123 549 7 0 0 0 - - -;
+#X obj 77 484 unpack 0 0 0;
+#X floatatom 65 505 7 0 0 0 - - -;
+#X floatatom 111 505 7 0 0 0 - - -;
+#X floatatom 157 505 7 0 0 0 - - -;
+#X obj 197 461 unpack 0 0 0;
+#X floatatom 185 482 7 0 0 0 - - -;
+#X floatatom 231 482 7 0 0 0 - - -;
+#X floatatom 277 482 7 0 0 0 - - -;
+#X obj 252 513 track_min;
+#X obj 325 517 track_max;
+#X floatatom 324 539 9 0 0 0 - - -;
+#X floatatom 252 539 9 0 0 0 - - -;
+#X obj 22 573 track_min;
+#X obj 95 577 track_max;
+#X floatatom 94 599 9 0 0 0 - - -;
+#X floatatom 22 599 9 0 0 0 - - -;
+#X msg 176 551 bang;
+#X msg 232 217 close;
+#X connect 0 0 15 0;
+#X connect 0 0 17 0;
+#X connect 0 0 20 0;
+#X connect 0 1 12 0;
+#X connect 1 0 0 0;
+#X connect 2 0 0 0;
+#X connect 3 0 2 0;
+#X connect 4 0 2 0;
+#X connect 5 0 9 0;
+#X connect 9 0 1 0;
+#X connect 13 0 0 0;
+#X connect 14 0 0 0;
+#X connect 15 0 11 0;
+#X connect 16 0 15 1;
+#X connect 17 0 19 0;
+#X connect 18 0 17 1;
+#X connect 20 0 22 0;
+#X connect 20 1 26 0;
+#X connect 20 2 30 0;
+#X connect 20 4 21 0;
+#X connect 22 0 23 0;
+#X connect 22 1 24 0;
+#X connect 22 1 39 0;
+#X connect 22 1 38 0;
+#X connect 22 2 25 0;
+#X connect 26 0 27 0;
+#X connect 26 1 28 0;
+#X connect 26 2 29 0;
+#X connect 30 0 31 0;
+#X connect 30 1 32 0;
+#X connect 30 1 35 0;
+#X connect 30 1 34 0;
+#X connect 30 2 33 0;
+#X connect 34 0 37 0;
+#X connect 35 0 36 0;
+#X connect 38 0 41 0;
+#X connect 39 0 40 0;
+#X connect 42 0 39 2;
+#X connect 42 0 38 2;
+#X connect 43 0 0 0;
Added: trunk/externals/io/sixaxis/sixaxis.c
===================================================================
--- trunk/externals/io/sixaxis/sixaxis.c (rev 0)
+++ trunk/externals/io/sixaxis/sixaxis.c 2008-06-28 16:08:02 UTC (rev 10115)
@@ -0,0 +1,345 @@
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/time.h>
+#include <stdio.h>
+#include <errno.h>
+
+#include "m_pd.h"
+
+#define DEBUG(x)
+//#define DEBUG(x) x
+
+#define DEFAULT_DELAY 10
+#define SIXAXIS_DEVICE "/dev/hidraw0"
+
+static char *version = "$Revision: 1.1 $";
+
+/*------------------------------------------------------------------------------
+ * GLOBAL DECLARATIONS
+ */
+
+/* hidraw data format */
+struct sixaxis_state {
+ double time;
+ int ax, ay, az; // Raw accelerometer data
+ double ddx, ddy, ddz; // Acceleration
+ double dx, dy, dz; // Speed
+ double x, y, z; // Position
+};
+
+/* pre-generated symbols */
+static t_symbol *ps_open, *ps_device, *ps_poll, *ps_total, *ps_range;
+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;
+
+/*------------------------------------------------------------------------------
+ * CLASS DEF
+ */
+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;
+ t_int x_device_open;
+ int x_read_ok;
+ int x_started;
+ int x_delay;
+ unsigned char buf[128];
+ struct sixaxis_state x_sixaxis_state;
+ t_atom x_output_atoms[3];
+ t_outlet *x_data_outlet;
+ t_outlet *x_status_outlet;
+} t_sixaxis;
+
+
+
+/*------------------------------------------------------------------------------
+ * SUPPORT FUNCTIONS
+ */
+
+static void output_status(t_sixaxis *x, t_symbol *selector, t_float output_value)
+{
+ t_atom *output_atom = (t_atom *)getbytes(sizeof(t_atom));
+ SETFLOAT(output_atom, output_value);
+ outlet_anything( x->x_status_outlet, selector, 1, output_atom);
+ freebytes(output_atom,sizeof(t_atom));
+}
+
+static void output_open_status(t_sixaxis *x)
+{
+ output_status(x, ps_open, x->x_device_open);
+}
+
+static void output_device_number(t_sixaxis *x)
+{
+ output_status(x, ps_device, x->x_device_number);
+}
+
+static void output_poll_time(t_sixaxis *x)
+{
+ output_status(x, ps_poll, x->x_delay);
+}
+
+static void output_device_count(t_sixaxis *x)
+{
+ output_status(x, ps_total, device_count);
+}
+
+/*------------------------------------------------------------------------------
+ * CLASS METHODS
+ */
+
+void sixaxis_stop(t_sixaxis* x)
+{
+ DEBUG(post("sixaxis_stop"););
+
+ if (x->x_fd >= 0 && x->x_started) {
+ clock_unset(x->x_clock);
+ post("sixaxis: polling stopped");
+ x->x_started = 0;
+ }
+}
+
+static void sixaxis_close(t_sixaxis *x)
+{
+ DEBUG(post("sixaxis_close"););
+
+/* just to be safe, stop it first */
+ sixaxis_stop(x);
+
+ if(x->x_fd < 0)
+ return;
+ close(x->x_fd);
+ post("[sixaxis] closed %s",x->x_devname->s_name);
+ x->x_device_open = 0;
+ output_open_status(x);
+}
+
+static int sixaxis_open(t_sixaxis *x, t_symbol *s)
+{
+ DEBUG(post("sixaxis_open"););
+
+ sixaxis_close(x);
+
+ /* 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_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);
+ }
+ }
+ return 0;
+}
+
+static void sixaxis_read(t_sixaxis *x)
+{
+ if(x->x_fd < 0)
+ return;
+ if(read(x->x_fd, &(x->buf), sizeof(x->buf)) > -1) {
+// 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);
+ /* 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);
+ }
+ if(x->x_started) {
+ clock_delay(x->x_clock, x->x_delay);
+ }
+}
+// double ddx, ddy, ddz; // Acceleration
+// double dx, dy, dz; // Speed
+// double x, y, z; // Position
+
+/* Actions */
+
+static void sixaxis_info(t_sixaxis *x)
+{
+ output_open_status(x);
+ output_device_number(x);
+ output_device_count(x);
+ output_poll_time(x);
+// TODO output ranges for sixaxis
+// output_element_ranges(x);
+}
+
+void sixaxis_start(t_sixaxis* x)
+{
+ DEBUG(post("sixaxis_start"););
+
+ 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)
+{
+ DEBUG(post("sixaxis_float"););
+
+ if (f > 0)
+ sixaxis_start(x);
+ else
+ sixaxis_stop(x);
+}
+
+/* setup functions */
+static void sixaxis_free(t_sixaxis* x)
+{
+ DEBUG(post("sixaxis_free"););
+
+ if (x->x_fd < 0) return;
+
+ sixaxis_stop(x);
+ clock_free(x->x_clock);
+ close(x->x_fd);
+}
+
+static void *sixaxis_new(t_symbol *s)
+{
+ t_sixaxis *x = (t_sixaxis *)pd_new(sixaxis_class);
+
+ DEBUG(post("sixaxis_new"););
+
+ post("[sixaxis] %s, written by Hans-Christoph Steiner <hans at eds.org>",version);
+
+ /* init vars */
+ x->x_fd = -1;
+ x->x_read_ok = 1;
+ x->x_started = 0;
+ x->x_delay = DEFAULT_DELAY;
+ x->x_devname = gensym(SIXAXIS_DEVICE);
+
+ x->x_clock = clock_new(x, (t_method)sixaxis_read);
+
+ /* create standard hidio-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);
+}
+
+void sixaxis_setup(void)
+{
+ DEBUG(post("sixaxis_setup"););
+ sixaxis_class = class_new(gensym("sixaxis"),
+ (t_newmethod)sixaxis_new,
+ (t_method)sixaxis_free,
+ sizeof(t_sixaxis), 0, A_DEFSYM, 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_close,gensym("close"),0);
+ class_addmethod(sixaxis_class,(t_method) sixaxis_info,gensym("info"),0);
+
+ /* pre-generate often used symbols */
+ ps_open = gensym("open");
+ ps_device = gensym("device");
+ ps_poll = gensym("poll");
+ ps_total = gensym("total");
+ ps_range = gensym("range");
+ ps_accelerometer = gensym("accelerometer");
+ ps_acceleration = gensym("acceleration");
+ ps_speed = gensym("speed");
+ ps_position = gensym("position");
+}
+
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