src/pywiiuse/PyWiiUse.py

   1 '''Python interface to the wiiuse library for the wii remote
   2
   3 Just a simple wrapper, no attempt to make the api pythonic. I tried to hide ctypes where
   4 necessary.
   5
   6 This software is free for any use. If you or your lawyer are stupid enough to believe I have any
   7 liability for it, then don't use it; otherwise, be my guest.
   8
   9 Gary Bishop, January 2008
  10 hacked for new API and data June 2009
  11 '''
  12
  13 import os
  14 import ctypes
  15 from ctypes import c_char_p, c_int, c_byte, c_uint, c_uint16, c_float, c_short, c_void_p, c_char, c_ubyte, c_ushort
  16 from ctypes import CFUNCTYPE, Structure, POINTER, Union, byref, cdll
  17 from ctypes.util import find_library
  18 import sys
  19
  20 # duplicate the wiiuse data structures
  21
  22 class _Structure(Structure):
  23     def __repr__(self):
  24         '''Print the fields'''
  25         res = []
  26         for field in self._fields_:
  27             res.append('%s=%s' % (field[0], repr(getattr(self, field[0]))))
  28         return self.__class__.__name__ + '(' + ','.join(res) + ')'
  29
  30 class vec2b(_Structure):
  31     _fields_ = [('x', c_byte),
  32                 ('y', c_byte),
  33                 ]
  34
  35 class vec3b(_Structure):
  36     _fields_ = [('x', c_byte),
  37                 ('y', c_byte),
  38                 ('z', c_byte),
  39                 ]
  40
  41 class vec3w(_Structure):
  42     _fields_ = [('x', c_ushort),
  43                 ('y', c_ushort),
  44                 ('z', c_ushort),
  45                 ]
  46
  47 class vec3f(_Structure):
  48     _fields_ = [('x', c_float),
  49                 ('y', c_float),
  50                 ('z', c_float),
  51                 ]
  52
  53 class orient(_Structure):
  54     _fields_ = [('roll', c_float),
  55                 ('pitch', c_float),
  56                 ('yaw', c_float),
  57                 ('a_roll', c_float),
  58                 ('a_pitch', c_float),
  59                 ]
  60
  61     def __repr__(self):
  62         return 'orient(roll=%f pitch=%f yaw=%f a_roll=%f a_pitch=%f)' % (
  63             self.roll, self.pitch, self.yaw, self.a_roll, self.a_pitch)
  64
  65 class accel(_Structure):
  66     _fields_ = [('cal_zero', vec3w),
  67                 ('cal_g', vec3w),
  68                 ('st_roll', c_float),
  69                 ('st_pitch', c_float),
  70                 ('st_alpha', c_float),
  71                 ]
  72
  73 class ir_dot(_Structure):
  74     _fields_ = [('visible', c_byte),
  75                 ('x', c_uint),
  76                 ('y', c_uint),
  77                 ('rx', c_short),
  78                 ('ry', c_short),
  79                 ('order', c_byte),
  80                 ('size', c_byte),
  81                 ]
  82
  83 class ir(_Structure):
  84     _fields_ = [('dot', ir_dot*4),
  85                 ('num_dots', c_byte),
  86                 ('aspect', c_int),
  87                 ('pos', c_int),
  88                 ('vres', c_uint*2),
  89                 ('offset', c_int*2),
  90                 ('state', c_int),
  91                 ('ax', c_int),
  92                 ('ay', c_int),
  93                 ('x', c_int),
  94                 ('y', c_int),
  95                 ('distance', c_float),
  96                 ('z', c_float),
  97                 ]
  98
  99     def __str__(self) :
 100         l = []
 101         pr = l.append
 102         for name, typ in self._fields_ :
 103             try :
 104                 pr('(%s, %s)' % (name, getattr(self, name)))
 105             except :
 106                 pass
 107         return '\n'.join(l)
 108
 109 class joystick(_Structure):
 110     _fields_ = [('max', vec2b),
 111                 ('min', vec2b),
 112                 ('center', vec2b),
 113                 ('ang', c_float),
 114                 ('mag', c_float),
 115                 ]
 116
 117 class nunchuk(_Structure):
 118     _fields_ = [('accel_calib', accel),
 119                 ('js', joystick),
 120                 ('flags', POINTER(c_int)),
 121                 ('btns', c_byte),
 122                 ('btns_last', c_byte),
 123                 ('btns_held', c_byte),
 124                 ('btns_released', c_byte),
 125                 ('orient_threshold', c_float),
 126                 ('accel_threshold', c_float),
 127                 ('accel', vec3w),
 128                 ('orient', orient),
 129                 ('gforce', vec3f),
 130                 ]
 131
 132 class classic_ctrl(_Structure):
 133     _fields_ = [('btns', c_short),
 134                 ('btns_last', c_short),
 135                 ('btns_held', c_short),
 136                 ('btns_released', c_short),
 137                 ('r_shoulder', c_float),
 138                 ('l_shoulder', c_float),
 139                 ('ljs', joystick),
 140                 ('rjs', joystick),
 141                 ]
 142
 143 class guitar_hero_3(_Structure):
 144     _fields_ = [('btns', c_short),
 145                 ('btns_last', c_short),
 146                 ('btns_held', c_short),
 147                 ('btns_released', c_short),
 148                 ('whammy_bar', c_float),
 149                 ('js', joystick),
 150                 ]
 151
 152 class motion_plus(_Structure):
 153     _fields_ = [('rx', c_short),
 154                 ('ry', c_short),
 155                 ('rz', c_short),
 156                 ('status', c_ubyte),
 157                 ('ext', c_ubyte)
 158                 ]
 159
 160 class expansion_union(Union):
 161     _fields_ = [('nunchuk', nunchuk),
 162                 ('classic', classic_ctrl),
 163                 ('gh3', guitar_hero_3),
 164                 ('mp', motion_plus)
 165                 ]
 166
 167 class expansion(_Structure):
 168     _fields_ = [('type', c_int),
 169                 ('u', expansion_union),
 170                 ]
 171
 172 class wiimote_state(_Structure):
 173     _fields_ = [('exp_ljs_ang', c_float),
 174                 ('exp_rjs_ang', c_float),
 175                 ('exp_ljs_mag', c_float),
 176                 ('exp_rjs_mag', c_float),
 177                 ('exp_btns', c_ushort),
 178                 ('exp_orient', orient),
 179                 ('exp_accel', vec3w),
 180                 ('exp_r_shoulder', c_float),
 181                 ('exp_l_shoulder', c_float),
 182                 ('drx', c_short),
 183                 ('dry', c_short),
 184                 ('drz', c_short),
 185                 ('ir_ax', c_int),
 186                 ('ir_ay', c_int),
 187                 ('ir_distance', c_float),
 188                 ('orient', orient),
 189                 ('btns', c_ushort),
 190                 ('accel', vec3b),
 191                 ('exp', expansion)
 192                 ]
 193
 194 if os.name == 'nt':
 195     JunkSkip = [('dev_handle', c_void_p),
 196                 ('hid_overlap', c_void_p*5), # skipping over this data structure
 197                 ('stack', c_int),
 198                 ('timeout', c_int),
 199                 ('normal_timeout', c_byte),
 200                 ('exp_timeout', c_byte),
 201                 ]
 202
 203 elif sys.platform == 'darwin' :
 204     JunkSkip = [('device', c_void_p),
 205                 ('bdaddr_str', c_char*18)
 206                 ]
 207
 208 else:
 209     JunkSkip = [('bdaddr', c_void_p),
 210                 ('bdaddr_str', c_char*18),
 211                 ('out_sock', c_int),
 212                 ('in_sock', c_int),
 213                 ]
 214
 215 EVENT = 1
 216 STATUS = 2
 217 CONNECT = 3
 218 DISCONNECT = 4
 219 UNEXPECTED_DISCONNECT = 5
 220 READ_DATA = 6
 221 NUNCHUK_INSERTED = 7
 222 NUNCHUK_REMOVED = 8
 223 CLASSIC_CTRL_INSERTED = 9
 224 CLASSIC_CTRL_REMOVED = 10
 225 GUITAR_HERO_3_CTRL_INSERTED = 11
 226 GUITAR_HERO_3_CTRL_REMOVED = 12
 227
 228 class wiimote(_Structure):
 229     _fields_ = [('unid', c_int),
 230                 ] + JunkSkip + [
 231                 ('state', c_int),
 232                 ('leds', c_byte),
 233                 ('battery_level', c_float),
 234
 235                 ('flags', c_int),
 236
 237                 ('handshake_state', c_byte),
 238                 ('expansion_state', c_ubyte),
 239                 ('read_req', c_void_p),
 240                 ('data_req', c_void_p),
 241
 242                 ('cmd_head', c_void_p),
 243                 ('cmd_tail', c_void_p),
 244                 ('accel_calib', accel),
 245                 ('exp', expansion),
 246
 247                 ('accel', vec3w),
 248                 ('orient', orient),
 249                 ('gforce', vec3f),
 250
 251                 ('ir', ir),
 252
 253                 ('btns', c_ushort),
 254                 ('btns_last', c_ushort),
 255                 ('btns_held', c_ushort),
 256                 ('btns_released', c_ushort),
 257                 ('orient_threshold', c_float),
 258                 ('accel_threshold', c_int),
 259
 260                 ('lstate', wiimote_state),
 261
 262                 ('event', c_int),
 263                 ('event_buf', c_byte*32),
 264                 ('motion_plus_id', c_ubyte*6)
 265                 ]
 266
 267 wiimote_p = POINTER(wiimote)
 268 wiimote_pp = POINTER(wiimote_p)
 269
 270 # make function prototypes a bit easier to declare
 271 def cfunc(name, dll, result, *args):
 272     '''build and apply a ctypes prototype complete with parameter flags
 273     e.g.
 274 cvMinMaxLoc = cfunc('cvMinMaxLoc', _cxDLL, None,
 275                     ('image', POINTER(IplImage), 1),
 276                     ('min_val', POINTER(double), 2),
 277                     ('max_val', POINTER(double), 2),
 278                     ('min_loc', POINTER(CvPoint), 2),
 279                     ('max_loc', POINTER(CvPoint), 2),
 280                     ('mask', POINTER(IplImage), 1, None))
 281 means locate cvMinMaxLoc in dll _cxDLL, it returns nothing.
 282 The first argument is an input image. The next 4 arguments are output, and the last argument is
 283 input with an optional value. A typical call might look like:
 284
 285 min_val,max_val,min_loc,max_loc = cvMinMaxLoc(img)
 286     '''
 287     atypes = []
 288     aflags = []
 289     for arg in args:
 290         atypes.append(arg[1])
 291         aflags.append((arg[2], arg[0]) + arg[3:])
 292     return CFUNCTYPE(result, *atypes)((name, dll), tuple(aflags))
 293
 294 # get the shared library
 295 lib = find_library('wiiuse') or find_library('libwiiuse')
 296 dll = cdll.LoadLibrary(lib)
 297
 298 #if os.name == 'nt':
 299 #    dll = cdll.LoadLibrary('wiiuse.dll')
 300 #else:
 301 #    dll = cdll.LoadLibrary('libwiiuse.so')
 302
 303 # access the functions
 304 init = cfunc('wiiuse_init', dll, wiimote_pp,
 305              ('wiimotes', c_int, 1))
 306 # find = cfunc('wiiuse_find', dll, c_int,
 307 #              ('wm', wiimote_pp, 1),
 308 #              ('max_wiimotes', c_int, 1),
 309 #              ('timeout', c_int, 1))
 310 # connect = cfunc('wiiuse_connect', dll, c_int,
 311 #                 ('wm', wiimote_pp, 1),
 312 #                 ('wiimotes', c_int, 1))
 313 # poll = cfunc('wiiuse_poll', dll, c_int,
 314 #              ('wm', wiimote_pp, 1),
 315 #              ('wiimotes', c_int, 1))
 316 find = dll.wiiuse_find
 317 connect = dll.wiiuse_connect
 318 poll = dll.wiiuse_poll
 319 set_leds = dll.wiiuse_set_leds
 320 motion_sensing = dll.wiiuse_motion_sensing
 321 set_accel_threshold = dll.wiiuse_set_accel_threshold
 322 set_orient_threshold = dll.wiiuse_set_orient_threshold
 323 set_orient_threshold.argtypes = [wiimote_p, c_float]
 324 set_timeout = dll.wiiuse_set_timeout
 325 set_ir = dll.wiiuse_set_ir
 326 set_ir_position = dll.wiiuse_set_ir_position
 327 set_ir_vres = dll.wiiuse_set_ir_vres
 328
 329 def is_pressed(dev, button):
 330     return dev.btns & button
 331
 332 def is_held(dev, button):
 333     return dev.btns_held & button
 334
 335 def is_released(dev, button):
 336     return dev.btns_released & button
 337
 338 def is_just_pressed(dev, button):
 339     return is_pressed(dev, button) and not is_held(dev, button)
 340
 341 def using_acc(wm):
 342     return wm.state & 0x10
 343
 344 def using_exp(wm):
 345     return wm.state & 0x20
 346
 347 def using_ir(wm):
 348     return wm.state & 0x40
 349
 350 LED_NONE = 0
 351 LED_1 = 0x10
 352 LED_2 = 0x20
 353 LED_3 = 0x40
 354 LED_4 = 0x80
 355
 356 LED = [LED_1, LED_2, LED_3, LED_4]
 357
 358 EXP_NONE = 0
 359 EXP_NUNCHUK = 1
 360 EXP_CLASSIC = 2
 361
 362 SMOOTHING = 0x01
 363 CONTINUOUS = 0x02
 364 ORIENT_THRESH = 0x04
 365 INIT_FLAGS = SMOOTHING | ORIENT_THRESH
 366
 367 IR_ABOVE = 0
 368 IR_BELOW = 1
 369
 370 ASPECT_4_3 = 0
 371 ASPECT_16_9 = 1
 372
 373 button = { '2':0x0001,
 374            '1':0x0002,
 375            'B':0x0004,
 376            'A':0x0008,
 377            '-':0x0010,
 378            'Home':0x0080,
 379            'Left':0x0100,
 380            'Right':0x0200,
 381            'Down':0x0400,
 382            'Up':0x0800,
 383            '+':0x1000,
 384            }
 385
 386 nunchuk_button = { 'Z':0x01,
 387                    'C':0x02,
 388                    }
 389
 390
 391 if __name__ == '__main__':
 392     def handle_event(wm):
 393         print 'EVENT', wm.unid, wm.btns
 394         #print wm.gforce.x, wm.gforce.y, wm.gforce.z
 395         print wm.ir
 396
 397     nmotes = 1
 398     wiimotes = init(nmotes)
 399     print 'press 1&2'
 400     found = find(wiimotes, nmotes, 2)
 401     if not found:
 402         print 'no wiimotes found'
 403         sys.exit(1)
 404
 405     connected = connect(wiimotes, nmotes)
 406     if connected:
 407         print 'connected to %d wiimotes (of %d found)' % (connected, found)
 408     else:
 409         print 'failed to connect to any wiimote.'
 410         sys.exit(1)
 411
 412     set_leds(wiimotes[0], 0x20)
 413     motion_sensing(wiimotes[0], 1)
 414     set_ir(wiimotes[0], 1)
 415
 416     while True:
 417         try :
 418             if poll(wiimotes, nmotes):
 419                 print '.'
 420                 for i in range(nmotes):
 421                     m = wiimotes[i][0]
 422                     if wiimotes[i][0].event == EVENT:
 423                         handle_event(wiimotes[i][0])
 424         except KeyboardInterrupt :
 425             break
 426