[PD-cvs] SF.net SVN: pure-data: [10116] trunk/externals
eighthave at users.sourceforge.net
eighthave at users.sourceforge.net
Sat Jun 28 23:32:32 CEST 2008
Revision: 10116
http://pure-data.svn.sourceforge.net/pure-data/?rev=10116&view=rev
Author: eighthave
Date: 2008-06-28 14:32:30 -0700 (Sat, 28 Jun 2008)
Log Message:
-----------
- the sixaxis external now builds with Pd-extended, and outputs the raw
accelerometer data
- for the rest of the data, use [hid] or [hidio] they happily coexist
Modified Paths:
--------------
trunk/externals/Makefile
trunk/externals/io/sixaxis/sixaxis-help.pd
trunk/externals/io/sixaxis/sixaxis.c
Added Paths:
-----------
trunk/externals/io/sixaxis/Makefile
Modified: trunk/externals/Makefile
===================================================================
--- trunk/externals/Makefile 2008-06-28 16:08:02 UTC (rev 10115)
+++ trunk/externals/Makefile 2008-06-28 21:32:30 UTC (rev 10116)
@@ -138,7 +138,7 @@
LIB_TARGETS += hid pdp pidip gem2pdp aka.wiiremote iem16 apple
else
# GNU/Linux, BSD, IRIX, etc.
- LIB_TARGETS += hid pdp pidip gem2pdp hdspm_mixer iem16 postlude tclpd pdvjtools
+ LIB_TARGETS += hid pdp pidip gem2pdp hdspm_mixer iem16 postlude tclpd pdvjtools sixaxis
endif
endif
@@ -2284,6 +2284,40 @@
#------------------------------------------------------------------------------#
+# SIXAXIS
+SIXAXIS_NAME=io
+SIXAXIS_OBJECTS = $(externals_src)/io/sixaxis/sixaxis.c
+sixaxis: $(SIXAXIS_OBJECTS:.c=.$(EXTENSION))
+
+sixaxis_install: sixaxis
+ install -d $(objectsdir)/$(SIXAXIS_NAME)
+ $(scripts_src)/generate-libdir-metafile.sh $(objectsdir) $(SIXAXIS_NAME) \
+ --author "Hans-Christoph Steiner" \
+ --description "supports the Sony SIXAXIS controller's accelerometer" \
+ --license "GNU GPL" \
+ --version "0.1"
+ install -p $(SIXAXIS_OBJECTS:.c=.$(EXTENSION)) $(objectsdir)/$(SIXAXIS_NAME)
+ install -d $(helpdir)/$(SIXAXIS_NAME)
+ install -p $(externals_src)/io/sixaxis/*.pd \
+ $(helpdir)/$(SIXAXIS_NAME)
+# install -d $(manualsdir)/$(SIXAXIS_NAME)
+# install -p $(externals_src)/io/sixaxis/manual.txt \
+# $(manualsdir)/$(SIXAXIS_NAME)
+# install -d $(readmesdir)
+# install -p $(externals_src)/io/sixaxis/README \
+# $(readmesdir)/$(SIXAXIS_NAME).txt
+# install -d $(examplesdir)/$(SIXAXIS_NAME)
+# install -p $(externals_src)/io/sixaxis/examples/*.pd \
+# $(examplesdir)/$(SIXAXIS_NAME)
+
+sixaxis_clean:
+ -rm -f -- $(SIXAXIS_OBJECTS:.c=.$(EXTENSION))
+ -rm -f -- $(SIXAXIS_OBJECTS:.c=.o)
+ -rm -f -- $(externals_src)/io/sixaxis/*.bak
+ -rm -f -- $(externals_src)/io/sixaxis/*.*~
+
+
+#------------------------------------------------------------------------------#
# SMLIB
SMLIB_NAME=smlib
# exclude SMlib.c since its just for the compiled library
Added: trunk/externals/io/sixaxis/Makefile
===================================================================
--- trunk/externals/io/sixaxis/Makefile (rev 0)
+++ trunk/externals/io/sixaxis/Makefile 2008-06-28 21:32:30 UTC (rev 10116)
@@ -0,0 +1,17 @@
+TARGET := $(shell pwd | sed 's|.*/\(.*\)$$|\1|')
+EXTERNALS_ROOT := $(shell pwd | sed 's|^\(/.*externals\).*|\1|')
+
+default:
+ make -C $(EXTERNALS_ROOT) $(TARGET)
+
+install:
+ make -C $(EXTERNALS_ROOT) $(TARGET)_install
+
+clean:
+ make -C $(EXTERNALS_ROOT) $(TARGET)_clean
+
+test_locations:
+ make -C $(EXTERNALS_ROOT) test_locations
+
+etags:
+ etags *.[ch] ~/code/pure-data/trunk/pd/src/*.[ch] /usr/include/*.h /usr/include/sys/*.h
Modified: trunk/externals/io/sixaxis/sixaxis-help.pd
===================================================================
--- trunk/externals/io/sixaxis/sixaxis-help.pd 2008-06-28 16:08:02 UTC (rev 10115)
+++ trunk/externals/io/sixaxis/sixaxis-help.pd 2008-06-28 21:32:30 UTC (rev 10116)
@@ -1,22 +1,7 @@
-#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
+#N canvas 197 95 565 482 10;
+#X obj -71 5 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 746 51 411 235 see 0;
#N canvas 108 318 543 264 route 0;
#X obj 27 14 inlet;
#X obj 72 226 outlet;
@@ -55,102 +40,88 @@
#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 221 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 floatatom 156 140 5 0 0 0 device - -;
+#X floatatom 156 162 5 0 0 0 poll - -;
+#X floatatom 156 182 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 0 1 4 0;
+#X connect 0 2 5 0;
+#X connect 0 3 6 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 restore 82 239 pd see device info;
+#X obj -7 181 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;
+#X msg 89 188 info;
+#X msg 48 171 close;
+#X obj -20 406 hsl 128 15 0 1 0 0 empty empty empty -2 -8 0 10 -262144
+-1 -1 5904 1;
+#X obj 120 406 hsl 128 15 0 1 0 0 empty empty empty -2 -8 0 10 -262144
+-1 -1 8699 1;
+#X obj 260 406 hsl 128 15 0 1 0 0 empty empty empty -2 -8 0 10 -262144
+-1 -1 5152 1;
+#X obj 43 276 route accelerometer;
+#X obj 43 308 route x y z;
+#X msg 43 151 open 4;
+#N canvas 162 133 570 420 serin 0;
+#X obj 286 61 cnv 15 30 15 empty \$0-open-canvas 4 4 8 0 14 -233017
+-1 0;
+#X obj 60 61 hradio 15 1 1 15 empty empty empty 0 -6 0 8 -225271 -1
+-1 4;
+#X obj 60 13 inlet;
+#X msg 200 202 label \$1;
+#X obj 200 180 makefilename %d;
+#X obj 59 108 int;
+#X obj 59 337 outlet;
+#X msg 201 306 set \$1 \$2;
+#X obj 59 266 trigger bang anything;
+#X obj 201 286 list;
+#X msg 60 210 open \$1;
+#X obj 200 225 send \$0-open-canvas;
+#X connect 1 0 5 0;
+#X connect 2 0 1 0;
+#X connect 3 0 11 0;
+#X connect 4 0 3 0;
+#X connect 5 0 4 0;
+#X connect 5 0 10 0;
+#X connect 7 0 6 0;
+#X connect 8 0 6 0;
+#X connect 8 1 9 0;
+#X connect 9 0 7 0;
+#X connect 10 0 8 0;
+#X coords 0 -1 1 1 257 17 1 60 60;
+#X restore 43 129 pd serin;
+#X obj 257 375 mapping/autoscale;
+#X obj 117 375 mapping/autoscale;
+#X obj -23 375 mapping/autoscale;
+#X obj 43 216 sixaxis;
+#N canvas 6 77 450 300 more 0;
+#X text -17 56 By default \, [sixaxis] uses /dev/hidraw? for the device
+name to get data from. You can override it using the [devname( message
+\, like this:;
+#X msg 30 154 devname /dev/my/strange/custom/hidraw;
+#X restore -15 444 pd more on device names;
+#X text -63 44 This objectclass supports getting accelerometer data
+from the Sony SIXAXIS controller. Use this in conjuction with [hid]
+to get all of the data from the SIXAXIS;
+#X obj -59 83 pddp/pddplink http://www.pabr.org/sixlinux/sixlinux.en.html
+-text Using the PlayStation 3 controller in Bluetooth mode with Linux
+;
+#X connect 2 0 15 0;
+#X connect 3 0 15 0;
+#X connect 4 0 15 0;
+#X connect 8 0 9 0;
+#X connect 9 0 14 0;
+#X connect 9 1 13 0;
+#X connect 9 2 12 0;
+#X connect 10 0 15 0;
+#X connect 11 0 10 0;
+#X connect 12 0 7 0;
+#X connect 13 0 6 0;
+#X connect 14 0 5 0;
+#X connect 15 0 8 0;
+#X connect 15 1 1 0;
Modified: trunk/externals/io/sixaxis/sixaxis.c
===================================================================
--- trunk/externals/io/sixaxis/sixaxis.c 2008-06-28 16:08:02 UTC (rev 10115)
+++ trunk/externals/io/sixaxis/sixaxis.c 2008-06-28 21:32:30 UTC (rev 10116)
@@ -4,15 +4,16 @@
#include <unistd.h>
#include <sys/time.h>
#include <stdio.h>
+#include <stdlib.h>
#include <errno.h>
#include "m_pd.h"
-#define DEBUG(x)
-//#define DEBUG(x) x
+//#define DEBUG(x)
+#define DEBUG(x) x
#define DEFAULT_DELAY 10
-#define SIXAXIS_DEVICE "/dev/hidraw0"
+#define SIXAXIS_DEVNAME "/dev/hidraw"
static char *version = "$Revision: 1.1 $";
@@ -30,14 +31,15 @@
};
/* pre-generated symbols */
-static t_symbol *ps_open, *ps_device, *ps_poll, *ps_total, *ps_range;
+static t_symbol *ps_open, *ps_device, *ps_poll, *ps_total, *ps_range, *ps_devname;
+static t_symbol *ps_x, *ps_y, *ps_z;
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;
+//static struct sixaxis_state prev;
/*------------------------------------------------------------------------------
* CLASS DEF
@@ -47,7 +49,6 @@
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;
@@ -96,6 +97,21 @@
output_status(x, ps_total, device_count);
}
+static short get_device_number_from_arguments(int argc, t_atom *argv)
+{
+ short device_number = -1;
+ t_symbol *first_argument;
+
+ if(argc == 1)
+ {
+ first_argument = atom_getsymbolarg(0,argc,argv);
+ if(first_argument == &s_)
+ { // single float arg means device #
+ device_number = (short) atom_getfloatarg(0,argc,argv);
+ }
+ }
+ return device_number;
+}
/*------------------------------------------------------------------------------
* CLASS METHODS
*/
@@ -121,40 +137,90 @@
if(x->x_fd < 0)
return;
close(x->x_fd);
- post("[sixaxis] closed %s",x->x_devname->s_name);
+ post("[sixaxis] closed %s%d", SIXAXIS_DEVNAME, x->x_device_number);
x->x_device_open = 0;
output_open_status(x);
}
-static int sixaxis_open(t_sixaxis *x, t_symbol *s)
+static t_int sixaxis_open_device(t_sixaxis *x, short device_number)
{
- DEBUG(post("sixaxis_open"););
+ DEBUG(post("sixaxis_open_device"););
- sixaxis_close(x);
+ char block_device[FILENAME_MAX];
- /* 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_fd = -1;
+
+ if(device_number < 0)
+ {
+ pd_error(x,"[sixaxis] invalid device number: %d (must be 0 or greater)"
+ , device_number);
+ return EXIT_FAILURE;
+ }
+
+ x->x_device_number = device_number;
+ snprintf(block_device, FILENAME_MAX, "%s%d", SIXAXIS_DEVNAME, x->x_device_number);
+
+ /* open the device read-only, non-exclusive */
+ x->x_fd = open(block_device, O_RDONLY | O_NONBLOCK);
+ /* test if device open */
+ if(x->x_fd < 0 )
+ {
+ pd_error(x,"[sixaxis] open %s failed",block_device);
+ x->x_fd = -1;
+ return EXIT_FAILURE;
+ }
+ post ("[sixaxis] opened device %d (%s)", x->x_device_number, block_device);
+
+ return EXIT_SUCCESS;
+}
+
+/* sixaxis_open behavoir
+ * current state action
+ * ---------------------------------------
+ * closed / same device open
+ * open / same device no action
+ * closed / different device open
+ * open / different device close, open
+ */
+static void sixaxis_open(t_sixaxis *x, t_symbol *s, int argc, t_atom *argv)
+{
+ DEBUG(post("sixaxis_open"););
+ short new_device_number = get_device_number_from_arguments(argc, argv);
+// t_int started = x->x_started; // store state to restore after device is opened
+
+ if (new_device_number < 0)
+ {
+ pd_error(x,"[sixaxis] invalid device number: %d (must be 0 or greater)",
+ new_device_number);
+ return;
+ }
+ /* check whether we have to close previous device */
+ if (x->x_device_open && new_device_number != x->x_device_number)
+ {
+ sixaxis_close(x);
+ }
+ /* no device open, so open one now */
+ if (!x->x_device_open)
+ {
+ if(sixaxis_open_device(x, new_device_number) == EXIT_SUCCESS)
+ {
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);
+ x->x_device_number = new_device_number;
+ /* restore the polling state so that when I [tgl] is used to
+ * start/stop [sixaxis], the [tgl]'s state will continue to
+ * accurately reflect [sixaxis]'s state */
+ post("[sixaxis] set device# to %d",new_device_number);
+ output_device_number(x);
}
+ else
+ {
+ x->x_device_number = -1;
+ pd_error(x, "[sixaxis] can not open device %d",new_device_number);
+ }
}
- return 0;
+
+ /* always output open result so you can test for success in Pd space */
+ output_open_status(x);
}
static void sixaxis_read(t_sixaxis *x)
@@ -165,57 +231,66 @@
// 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);
+/* 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);
+ SETSYMBOL(x->x_output_atoms, ps_x);
+ SETFLOAT(x->x_output_atoms + 1, x->buf[40]<<8 | x->buf[41]);
+ outlet_anything(x->x_data_outlet, ps_accelerometer, 2, x->x_output_atoms);
+ SETSYMBOL(x->x_output_atoms, ps_y);
+ SETFLOAT(x->x_output_atoms + 1, x->buf[42]<<8 | x->buf[43]);
+ outlet_anything(x->x_data_outlet, ps_accelerometer, 2, x->x_output_atoms);
+ SETSYMBOL(x->x_output_atoms, ps_z);
+ SETFLOAT(x->x_output_atoms + 1, x->buf[44]<<8 | x->buf[45]);
+ outlet_anything(x->x_data_outlet, ps_accelerometer, 2, x->x_output_atoms);
+/* 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);
@@ -240,28 +315,15 @@
void sixaxis_start(t_sixaxis* x)
{
DEBUG(post("sixaxis_start"););
-
+
+ if(!x->x_device_open) {
+ sixaxis_open_device(x, x->x_device_number);
+ }
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)
@@ -286,7 +348,7 @@
close(x->x_fd);
}
-static void *sixaxis_new(t_symbol *s)
+static void *sixaxis_new(t_symbol *s, int argc, t_atom *argv)
{
t_sixaxis *x = (t_sixaxis *)pd_new(sixaxis_class);
@@ -299,17 +361,16 @@
x->x_read_ok = 1;
x->x_started = 0;
x->x_delay = DEFAULT_DELAY;
- x->x_devname = gensym(SIXAXIS_DEVICE);
+ if(argc > 0)
+ x->x_device_number = get_device_number_from_arguments(argc, argv);
+ else
+ x->x_device_number = 0;
x->x_clock = clock_new(x, (t_method)sixaxis_read);
- /* create standard hidio-style outlets */
+ /* create standard "io"-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);
}
@@ -320,14 +381,14 @@
sixaxis_class = class_new(gensym("sixaxis"),
(t_newmethod)sixaxis_new,
(t_method)sixaxis_free,
- sizeof(t_sixaxis), 0, A_DEFSYM, 0);
+ sizeof(t_sixaxis), 0, A_GIMME, 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_open,gensym("open"),A_GIMME,0);
class_addmethod(sixaxis_class,(t_method) sixaxis_close,gensym("close"),0);
class_addmethod(sixaxis_class,(t_method) sixaxis_info,gensym("info"),0);
@@ -337,7 +398,13 @@
ps_poll = gensym("poll");
ps_total = gensym("total");
ps_range = gensym("range");
+ ps_devname = gensym("devname");
+
ps_accelerometer = gensym("accelerometer");
+ ps_x = gensym("x");
+ ps_y = gensym("y");
+ ps_z = gensym("z");
+
ps_acceleration = gensym("acceleration");
ps_speed = gensym("speed");
ps_position = gensym("position");
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