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puara_controller.cpp
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puara_controller.cpp
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//****************************************************************************//
// Puara Controller module - connect with game controllers using SDL3 (cpp) //
// Controller -> OSC/MIDI bridge //
// https://github.com/Puara/puara-controller //
// Metalab - Société des Arts Technologiques (SAT) //
// Input Devices and Music Interaction Laboratory (IDMIL), McGill University //
// Edu Meneses (2023) - https://www.edumeneses.com //
//****************************************************************************//
#include "puara_controller.hpp"
namespace puara_controller {
// Default values
std::string identifier = "puaracontroller";
bool verbose = true;
int move_buffer_size = 10;
int analogDeadZone = 1024;
bool enableMotion = true;
int polling_frequency = 100; // in hertz
bool print_events = false;
bool print_motion_data = false;
std::int32_t elapsed_time;
ControllerEvent currentEvent;
std::atomic<bool> keep_running(true);
std::condition_variable controller_event;
std::mutex controller_event_mutex;
std::vector<std::thread> threads;
std::thread joiner;
std::unordered_map<int, Controller> controllers;
int state2int(const std::string& state) {
auto it = std::find(State2intArray.begin(), State2intArray.end(), state);
if (it != State2intArray.end()) {
return it - State2intArray.begin();
}
return -1;
}
// int state2int(std::string state){
// auto it = State2int.find(state);
// if (it != State2int.end()) {
// return it->second;
// } else {
// return -1;
// }
// }
int start() {
std::cout << "Starting Puara Controller..." << std::endl;
if (SDL_Init(SDL_INIT_GAMEPAD | SDL_INIT_SENSOR) < 0) {
std::cerr << "Could not initialize SDL: " << SDL_GetError() << std::endl;
return 1;
} else {
if (verbose) std::cout << "SDL initialized successfully" << std::endl;
}
threads.emplace_back(pullControllerEventThread);
if (print_events) {
threads.emplace_back(printEventThread);
}
joiner = std::thread(joinAllThreads, std::ref(threads));
std::cout << "Puara Controller started successfully" << std::endl;
return 0;
}
// freq = floats from 0 to 1, time in ms
int rumble(int controllerID, int time, float lowFreq, float hiFreq) {
int rangedControllerID = clip(controllerID, 0, (controllers.size()-1));
int rangedTime = clip(time, 100, 10000);
float rangedLowFreq = clip(lowFreq, 0.0f, 1.0f) * 65535;
float rangedHiFreq = clip(hiFreq, 0.0f, 1.0f) * 65535;
SDL_RumbleGamepad(controllers[rangedControllerID].instance, rangedLowFreq, rangedHiFreq, time);
if (verbose) std::cout << "Controller " << rangedControllerID << " rumble!" << std::endl;
return 0;
}
int openController(int joy_index) {
if (SDL_IsGamepad(joy_index)) {
std::cout << "New game controller found. Opening..." << std::endl;
auto it = controllers.emplace(joy_index, Controller());
it.first->second.id = joy_index;
it.first->second.instance = SDL_OpenGamepad(joy_index);
it.first->second.is_open = true;
// elements in the state map are generated dynamically then pulled from SDLEvent
std::cout << "\nController \""<< SDL_GetGamepadInstanceName(joy_index)
<< "\" (" << joy_index << ") " << "opened successfully" << std::endl;
if (enableMotion) {
if (SDL_SetGamepadSensorEnabled(it.first->second.instance, SDL_SENSOR_GYRO, SDL_TRUE) < 0)
if (verbose) std::cout << "Could not enable the gyroscope for this controller" << std::endl;
if (SDL_SetGamepadSensorEnabled(it.first->second.instance, SDL_SENSOR_ACCEL, SDL_TRUE) < 0)
if (verbose) std::cout << "Could not enable the acclelerometer for this controller" << std::endl;
switch (SDL_GetGamepadInstanceType(joy_index)){
case SDL_GAMEPAD_TYPE_XBOX360: case SDL_GAMEPAD_TYPE_XBOXONE:
SDL_SetHint(SDL_HINT_JOYSTICK_HIDAPI_XBOX, "1");
break;
case SDL_GAMEPAD_TYPE_PS4:
SDL_SetHint(SDL_HINT_JOYSTICK_HIDAPI_PS4_RUMBLE, "1");
break;
case SDL_GAMEPAD_TYPE_PS5:
SDL_SetHint(SDL_HINT_JOYSTICK_HIDAPI_PS5_RUMBLE, "1");
break;
}
}
bool hasRumble = SDL_GamepadHasRumble(it.first->second.instance);
bool hasTriggerRumble = SDL_GamepadHasRumbleTriggers(it.first->second.instance);
std::cout <<"This controller has "
<< SDL_GetNumGamepadTouchpads(it.first->second.instance) << " touchpad(s) "
<< "(can read up to " << SDL_GetNumGamepadTouchpadFingers(it.first->second.instance, 0)
<< " finger(s) simultaneously), ";
if (SDL_GamepadHasRumble(it.first->second.instance)) {
std::cout << "has rumble function, and ";
} else {
std::cout << "does not have rumble function, and ";
}
if (SDL_GamepadHasRumbleTriggers(it.first->second.instance)) {
std::cout << "has rumble on triggers." << std::endl;
} else {
std::cout << "does not have rumble on triggers." << std::endl;
}
return 0;
} else {
std::cerr << "Error: the controller is not supported by the game controller interface" << std::endl;
return 1;
}
}
float clip(float n, float lower, float upper) {
return std::max(lower, std::min(n, upper));
}
int clip(int n, int lower, int upper) {
return std::max(lower, std::min(n, upper));
}
double applyDeadZone(double in, double in_min, double in_max, double out_min, double out_max, double dead_zone_min, double dead_zone_max, double dead_zone_value) {
if (in_max - in_min == 0) return in;
double mappedValue = ((in - in_min) / (in_max - in_min)) * (out_max - out_min) + out_min;
if (mappedValue >= dead_zone_min && mappedValue <= dead_zone_max)
mappedValue = dead_zone_value;
return mappedValue;
}
int applyAnalogDeadZone(int in) {
return applyDeadZone(static_cast<double>(in), -32768.0, 32768.0, -32768.0, 32768.0, static_cast<double>(analogDeadZone*-1), static_cast<double>(analogDeadZone), 0.0);
}
int pullSDLEvent(SDL_Event event){
if (event.type == SDL_EVENT_GAMEPAD_ADDED) {
openController(event.gdevice.which);
return 0;
} else if (controllers.count(event.gdevice.which)<=0) {
return 1;
}
auto& controllerState = controllers.at(event.gdevice.which).state;
switch (event.type) {
case SDL_EVENT_QUIT:
quit();
return 0;
case SDL_EVENT_GAMEPAD_REMOVED:
SDL_CloseGamepad(controllers[event.gdevice.which].instance);
controllers.erase(event.gdevice.which);
std::cout << "Controller " << event.gdevice.which << " vanished!" << std::endl;
return 1;
break;
case SDL_EVENT_GAMEPAD_BUTTON_DOWN: case SDL_EVENT_GAMEPAD_BUTTON_UP:
currentEvent.eventAction = event.gbutton.button;
currentEvent.eventName = button2Name.at(event.gbutton.button);
controllerState[currentEvent.eventName].value = event.gbutton.state;
controllerState[currentEvent.eventName].event_duration = nano2mili(event.gbutton.timestamp - controllerState[currentEvent.eventName].event_timestamp);
controllerState[currentEvent.eventName].event_timestamp = event.gbutton.timestamp;
break;
case SDL_EVENT_GAMEPAD_AXIS_MOTION:
{
std::string currentAxisEvent = axis2Name.at(event.gaxis.axis);
switch (event.gaxis.axis) {
case SDL_GAMEPAD_AXIS_LEFTX:
if (applyAnalogDeadZone(event.gaxis.value) == controllerState[currentAxisEvent].X) return 1;
controllerState[currentAxisEvent].X = applyAnalogDeadZone(event.gaxis.value);
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_LEFTY)].X = controllerState[currentAxisEvent].X;
if ( isSensorChanged(event.gdevice.which, event.gaxis.axis, 1) ) {
controllerState[currentAxisEvent].event_duration = nano2mili(event.gaxis.timestamp - controllerState[currentAxisEvent].event_timestamp);
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_LEFTY)].event_duration = controllerState[currentAxisEvent].event_duration;
controllerState[currentAxisEvent].event_timestamp = event.gaxis.timestamp;
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_LEFTY)].event_timestamp = event.gaxis.timestamp;
}
break;
case SDL_GAMEPAD_AXIS_LEFTY:
if (applyAnalogDeadZone(event.gaxis.value) == controllerState[currentAxisEvent].Y) return 1;
controllerState[currentAxisEvent].Y = applyAnalogDeadZone(event.gaxis.value);
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_LEFTX)].Y = controllerState[currentAxisEvent].Y;
if ( isSensorChanged(event.gdevice.which, event.gaxis.axis, 1) ) {
controllerState[currentAxisEvent].event_duration = nano2mili(event.gaxis.timestamp - controllerState[currentAxisEvent].event_timestamp);
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_LEFTX)].event_duration = controllerState[currentAxisEvent].event_duration;
controllerState[currentAxisEvent].event_timestamp = event.gaxis.timestamp;
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_LEFTX)].event_timestamp = event.gaxis.timestamp;
}
break;
case SDL_GAMEPAD_AXIS_RIGHTX:
if (applyAnalogDeadZone(event.gaxis.value) == controllerState[currentAxisEvent].X) return 1;
controllerState[currentAxisEvent].X = applyAnalogDeadZone(event.gaxis.value);
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_RIGHTY)].X = controllerState[currentAxisEvent].X;
if ( isSensorChanged(event.gdevice.which, event.gaxis.axis, 1) ) {
controllerState[currentAxisEvent].event_duration = nano2mili(event.gaxis.timestamp - controllerState[currentAxisEvent].event_timestamp);
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_RIGHTY)].event_duration = controllerState[currentAxisEvent].event_duration;
controllerState[currentAxisEvent].event_timestamp = event.gaxis.timestamp;
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_RIGHTY)].event_timestamp = event.gaxis.timestamp;
}
break;
case SDL_GAMEPAD_AXIS_RIGHTY:
if (applyAnalogDeadZone(event.gaxis.value) == controllerState[currentAxisEvent].Y) return 1;
controllerState[currentAxisEvent].Y = applyAnalogDeadZone(event.gaxis.value);
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_RIGHTX)].Y = controllerState[currentAxisEvent].Y;
if ( isSensorChanged(event.gdevice.which, event.gaxis.axis, 1) ) {
controllerState[currentAxisEvent].event_duration = nano2mili(event.gaxis.timestamp - controllerState[currentAxisEvent].event_timestamp);
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_RIGHTX)].event_duration = controllerState[currentAxisEvent].event_duration;
controllerState[currentAxisEvent].event_timestamp = event.gaxis.timestamp;
controllerState[axis2Name.at(SDL_GAMEPAD_AXIS_RIGHTX)].event_timestamp = event.gaxis.timestamp;
}
break;
case SDL_GAMEPAD_AXIS_LEFT_TRIGGER: case SDL_GAMEPAD_AXIS_RIGHT_TRIGGER:
if (applyAnalogDeadZone(event.gaxis.value) == controllerState[currentAxisEvent].value) return 1;
controllerState[currentAxisEvent].value = event.gaxis.value;
if ( isSensorChanged(event.gdevice.which, event.gaxis.axis, 0) ) {
controllerState[currentAxisEvent].event_duration = nano2mili(event.gaxis.timestamp - controllerState[currentAxisEvent].event_timestamp);
controllerState[currentAxisEvent].event_timestamp = event.gaxis.timestamp;
}
break;
}
currentEvent.eventAction = event.gaxis.axis;
currentEvent.eventName = currentAxisEvent;
break;
}
case SDL_EVENT_GAMEPAD_TOUCHPAD_DOWN: case SDL_EVENT_GAMEPAD_TOUCHPAD_MOTION: case SDL_EVENT_GAMEPAD_TOUCHPAD_UP:
{
currentEvent.eventAction = 0;
currentEvent.touchID = event.gtouchpad.touchpad;
currentEvent.eventName = "touch";
std::string touchID(1,touchId2Name.at(event.gtouchpad.touchpad));
currentEvent.touchID = touchID;
controllerState[touchID].action = event.gtouchpad.type;
controllerState[touchID].touchpad = event.gtouchpad.touchpad;
controllerState[touchID].finger = event.gtouchpad.finger;
controllerState[touchID].X = event.gtouchpad.x;
controllerState[touchID].Y = event.gtouchpad.y;
controllerState[touchID].pressure = event.gtouchpad.pressure;
if ( isSensorChanged(event.gdevice.which, event.gtouchpad.touchpad, 2) ) {
controllerState[touchID].event_duration = nano2mili(event.gtouchpad.timestamp - controllerState[touchID].event_timestamp);
controllerState[touchID].event_timestamp = event.gtouchpad.timestamp;
}
controllerState[touchID].last_X = event.gtouchpad.x;
controllerState[touchID].last_Y = event.gtouchpad.y;
break;
}
case SDL_EVENT_GAMEPAD_SENSOR_UPDATE:
currentEvent.eventName = motion2Name.at(event.gsensor.sensor);
controllerState[currentEvent.eventName].X = event.gsensor.data[0];
controllerState[currentEvent.eventName].Y = event.gsensor.data[1];
controllerState[currentEvent.eventName].Z = event.gsensor.data[2];
currentEvent.eventAction = event.gsensor.sensor;
break;
default:
currentEvent.eventAction = -1;
return 1;
break;
}
currentEvent.controller = event.gdevice.which;
currentEvent.eventType = event.type;
//currentEvent.eventAction = 0;
// currentEvent.touchID = -1;
return 0;
}
void printEvent(bool printSensor) {
switch (currentEvent.eventType) {
case SDL_EVENT_GAMEPAD_BUTTON_DOWN: case SDL_EVENT_GAMEPAD_BUTTON_UP:
std::cout << "Event on controller " << currentEvent.controller
<< ": " << button2Name.at(currentEvent.eventAction)
<< " " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).value
<< " (duration: " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).event_duration
<< ")" << std::endl;
break;
case SDL_EVENT_GAMEPAD_AXIS_MOTION:
std::cout << "Event on controller " << currentEvent.controller << ": ";
switch (currentEvent.eventAction) {
case SDL_GAMEPAD_AXIS_LEFTX: case SDL_GAMEPAD_AXIS_LEFTY:
std::cout << " Analog_left " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).X << " "
<< controllers.at(currentEvent.controller).state.at(currentEvent.eventName).Y
<< " (duration: " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).event_duration
<< ")" << std::endl;
break;
case SDL_GAMEPAD_AXIS_RIGHTX: case SDL_GAMEPAD_AXIS_RIGHTY:
std::cout << " Analog_right " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).X << " "
<< controllers.at(currentEvent.controller).state.at(currentEvent.eventName).Y
<< " (duration: " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).event_duration
<< ")" << std::endl;
break;
case SDL_GAMEPAD_AXIS_LEFT_TRIGGER:
std::cout << " trigger_left " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).value
<< " (duration: " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).event_duration
<< ")" << std::endl;
break;
case SDL_GAMEPAD_AXIS_RIGHT_TRIGGER:
std::cout << " trigger_right " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).value
<< " (duration: " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).event_duration
<< ")" << std::endl;
break;
}
break;
case SDL_EVENT_GAMEPAD_TOUCHPAD_DOWN: case SDL_EVENT_GAMEPAD_TOUCHPAD_MOTION: case SDL_EVENT_GAMEPAD_TOUCHPAD_UP:
std::cout << "Event on controller " << currentEvent.controller << ": ";
std::cout << " Touchpad " << currentEvent.touchID << ":"
<< " finger: " << controllers.at(currentEvent.controller).state.at(currentEvent.touchID).finger
<< " X: " << controllers.at(currentEvent.controller).state.at(currentEvent.touchID).X
<< " Y: " << controllers.at(currentEvent.controller).state.at(currentEvent.touchID).Y
<< " pressure: " << controllers.at(currentEvent.controller).state.at(currentEvent.touchID).pressure
<< " duration: " << controllers.at(currentEvent.controller).state.at(currentEvent.touchID).event_duration
<< std::endl;
break;
case SDL_EVENT_GAMEPAD_SENSOR_UPDATE:
if (printSensor) {
std::cout << "Event on controller " << currentEvent.controller
<< ": " << currentEvent.eventName
<< " " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).X
<< " " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).Y
<< " " << controllers.at(currentEvent.controller).state.at(currentEvent.eventName).Z << std::endl;
}
break;
}
}
void printEvent() {
printEvent(false);
}
void pullControllerEventThread() {
SDL_Event sdlEvent;
while (keep_running.load()) {
if (SDL_PollEvent( &sdlEvent ) != 0) {
if (!pullSDLEvent(sdlEvent)) {
std::lock_guard<std::mutex> lock(controller_event_mutex);
controller_event.notify_all();
}
}
std::this_thread::sleep_for(std::chrono::milliseconds(1000/polling_frequency));
}
}
void printEventThread() {
while (keep_running.load()) {
std::unique_lock<std::mutex> lock(controller_event_mutex);
controller_event.wait(lock);
printEvent(print_motion_data);
}
}
void joinAllThreads(std::vector<std::thread>& threads) {
for (auto& thread : threads) {
if (thread.joinable()) {
thread.join();
}
}
}
void quit(){
SDL_Quit();
keep_running.store(false);
controller_event.notify_all();
joiner.join();
}
template<typename T>
CircularBuffer<T>::CircularBuffer(size_t capacity)
: capacity_(capacity), size_(0), read_index_(0), write_index_(0) {
buffer_.resize(capacity_);
}
template<typename T>
bool CircularBuffer<T>::isEmpty() const {
return size_ == 0;
}
template<typename T>
bool CircularBuffer<T>::isFull() const {
return size_ == capacity_;
}
template<typename T>
void CircularBuffer<T>::push(const T& item) {
if ( isFull() ) pop();
buffer_[write_index_] = item;
write_index_ = (write_index_ + 1) % capacity_;
size_++;
}
template<typename T>
T CircularBuffer<T>::pop() {
if (isEmpty()) {
std::cerr << "Circular buffer is empty. Unable to pop item." << std::endl;
return T();
}
T item = buffer_[read_index_];
read_index_ = (read_index_ + 1) % capacity_;
size_--;
return item;
}
Controller::Controller(int id, SDL_Gamepad* instance, int move_buffer_size)
: id(id), instance(instance), discrete_buffer(move_buffer_size), is_open(true) {
for (auto const& i: button2Name) {
state.emplace(i.second, ControllerState());
}
for (auto const& i: motion2Name) {
state.emplace(i.second, ControllerState());
}
state.emplace(axis2Name.at(SDL_GAMEPAD_AXIS_LEFTX), ControllerState());
state.emplace(axis2Name.at(SDL_GAMEPAD_AXIS_LEFTY), ControllerState());
state.emplace(axis2Name.at(SDL_GAMEPAD_AXIS_RIGHTX), ControllerState());
state.emplace(axis2Name.at(SDL_GAMEPAD_AXIS_RIGHTY), ControllerState());
state.emplace(axis2Name.at(SDL_GAMEPAD_AXIS_LEFT_TRIGGER), ControllerState());
state.emplace(axis2Name.at(SDL_GAMEPAD_AXIS_RIGHT_TRIGGER), ControllerState());
//touch
if (SDL_GetNumGamepadTouchpads(controllers[id].instance) != 0 ) {
for (int i=0; i<SDL_GetNumGamepadTouchpads(controllers[id].instance); i++) {
state.emplace(std::to_string(i),ControllerState());
}
}
}
// sensorType: 0=trigger, 1=analog, 2=touch
bool isSensorChanged(int joy_index, int axis, int sensorType) {
bool convertedValue = false;
bool answer;
std::string axisName = axis2Name.at(axis);
std::string touchID(1,touchId2Name.at(axis));
// auto& controller = controllers.at(joy_index).state[axis2Name.at(axis)];
switch (sensorType) {
case 0: // trigger
convertedValue = (controllers.at(joy_index).state[axis2Name.at(axis)].value != 0) ? true : false;
answer = (convertedValue != controllers.at(joy_index).state[axis2Name.at(axis)].state);
if (answer) {controllers.at(joy_index).state[axis2Name.at(axis)].state = !controllers.at(joy_index).state[axis2Name.at(axis)].state;}
break;
case 1: // analog
convertedValue = (controllers.at(joy_index).state[axis2Name.at(axis)].X == 0 && controllers.at(joy_index).state[axis2Name.at(axis)].Y == 0) ? true : false;
answer = (convertedValue != controllers.at(joy_index).state[axis2Name.at(axis)].state);
break;
case 2: // touch
if (controllers.at(joy_index).state[touchID].X != controllers.at(joy_index).state[touchID].last_X ||
controllers.at(joy_index).state[touchID].Y != controllers.at(joy_index).state[touchID].last_Y) {
convertedValue = true;
}
answer = convertedValue != controllers[joy_index].state[std::to_string(axis)].state;
if (answer) {controllers.at(joy_index).state[touchID].state = !controllers.at(joy_index).state[touchID].state;}
break;
}
return answer;
}
int nano2mili(Uint64 ns) {
return static_cast<int>(std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::nanoseconds(ns)).count());
}
std::string replaceID(std::string str, int newID) {
std::string oldID = "<ID>";
size_t pos = str.find(oldID);
if (pos != std::string::npos) {
std::stringstream newIDstr;
newIDstr << newID;
return str.replace(pos, oldID.length(), newIDstr.str());
}
return str;
}
}