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
  16 from ctypes import CFUNCTYPE, Structure, POINTER, Union, byref, cdll
  17 import sys
  18
  19 # duplicate the wiiuse data structures
  20
  21 class _Structure(Structure):
  22     def __repr__(self):
  23         '''Print the fields'''
  24         res = []
  25         for field in self._fields_:
  26             res.append('%s=%s' % (field[0], repr(getattr(self, field[0]))))
  27         return self.__class__.__name__ + '(' + ','.join(res) + ')'
  28
  29 class vec2b(_Structure):
  30     _fields_ = [('x', c_byte),
  31                 ('y', c_byte),
  32                 ]
  33
  34 class vec3b(_Structure):
  35     _fields_ = [('x', c_byte),
  36                 ('y', c_byte),
  37                 ('z', c_byte),
  38                 ]
  39
  40 class vec3f(_Structure):
  41     _fields_ = [('x', c_float),
  42                 ('y', c_float),
  43                 ('z', c_float),
  44                 ]
  45
  46 class orient(_Structure):
  47     _fields_ = [('roll', c_float),
  48                 ('pitch', c_float),
  49                 ('yaw', c_float),
  50                 ('a_roll', c_float),
  51                 ('a_pitch', c_float),
  52                 ]
  53
  54     def __repr__(self):
  55         return 'orient(roll=%f pitch=%f yaw=%f a_roll=%f a_pitch=%f)' % (
  56             self.roll, self.pitch, self.yaw, self.a_roll, self.a_pitch)
  57
  58 class accel(_Structure):
  59     _fields_ = [('cal_zero', vec3b),
  60                 ('cal_g', vec3b),
  61                 ('st_roll', c_float),
  62                 ('st_pitch', c_float),
  63                 ('st_alpha', c_float),
  64                 ]
  65
  66 class ir_dot(_Structure):
  67     _fields_ = [('visible', c_byte),
  68                 ('x', c_uint),
  69                 ('y', c_uint),
  70                 ('rx', c_short),
  71                 ('ry', c_short),
  72                 ('order', c_byte),
  73                 ('size', c_byte),
  74                 ]
  75
  76 class ir(_Structure):
  77     _fields_ = [('dot', ir_dot*4),
  78                 ('num_dots', c_byte),
  79                 ('aspect', c_int),
  80                 ('pos', c_int),
  81                 ('vres', c_uint*2),
  82                 ('offset', c_int*2),
  83                 ('state', c_int),
  84                 ('ax', c_int),
  85                 ('ay', c_int),
  86                 ('x', c_int),
  87                 ('y', c_int),
  88                 ('distance', c_float),
  89                 ('z', c_float),
  90                 ]
  91
  92 class joystick(_Structure):
  93     _fields_ = [('max', vec2b),
  94                 ('min', vec2b),
  95                 ('center', vec2b),
  96                 ('ang', c_float),
  97                 ('mag', c_float),
  98                 ]
  99
 100 class nunchuk(_Structure):
 101     _fields_ = [('accel_calib', accel),
 102                 ('js', joystick),
 103                 ('flags', POINTER(c_int)),
 104                 ('btns', c_byte),
 105                 ('btns_held', c_byte),
 106                 ('btns_released', c_byte),
 107                 ('orient_threshold', c_float),
 108                 ('accel_threshold', c_int),
 109                 ('accel', vec3b),
 110                 ('orient', orient),
 111                 ('gforce', vec3f),
 112                 ]
 113
 114 class classic_ctrl(_Structure):
 115     _fields_ = [('btns', c_short),
 116                 ('btns_held', c_short),
 117                 ('btns_released', c_short),
 118                 ('r_shoulder', c_float),
 119                 ('l_shoulder', c_float),
 120                 ('ljs', joystick),
 121                 ('rjs', joystick),
 122                 ]
 123
 124 class guitar_hero_3(_Structure):
 125     _fields_ = [('btns', c_short),
 126                 ('btns_held', c_short),
 127                 ('btns_released', c_short),
 128                 ('whammy_bar', c_float),
 129                 ('js', joystick),
 130                 ]
 131
 132 class expansion_union(Union):
 133     _fields_ = [('nunchuk', nunchuk),
 134                 ('classic', classic_ctrl),
 135                 ('gh3', guitar_hero_3),
 136                 ]
 137
 138 class expansion(_Structure):
 139     _fields_ = [('type', c_int),
 140                 ('u', expansion_union),
 141                 ]
 142
 143 class wiimote_state(_Structure):
 144     _fields_ = [('exp_ljs_ang', c_float),
 145                 ('exp_rjs_ang', c_float),
 146                 ('exp_ljs_mag', c_float),
 147                 ('exp_rjs_mag', c_float),
 148                 ('exp_btns', c_uint16),
 149                 ('exp_orient', orient),
 150                 ('exp_accel', vec3b),
 151                 ('exp_r_shoulder', c_float),
 152                 ('exp_l_shoulder', c_float),
 153                 ('ir_ax', c_int),
 154                 ('ir_ay', c_int),
 155                 ('ir_distance', c_float),
 156                 ('orient', orient),
 157                 ('btns', c_uint16),
 158                 ('accel', vec3b),
 159                 ]
 160
 161 if os.name == 'nt':
 162     JunkSkip = [('dev_handle', c_void_p),
 163                 ('hid_overlap', c_void_p*5), # skipping over this data structure
 164                 ('stack', c_int),
 165                 ('timeout', c_int),
 166                 ('normal_timeout', c_byte),
 167                 ('exp_timeout', c_byte),
 168                 ]
 169 else:
 170     JunkSkip = [('bdaddr', c_void_p),
 171                 ('bdaddr_str', c_char*18),
 172                 ('out_sock', c_int),
 173                 ('in_sock', c_int),
 174                 ]
 175
 176 EVENT = 1
 177 STATUS = 2
 178 CONNECT = 3
 179 DISCONNECT = 4
 180 UNEXPECTED_DISCONNECT = 5
 181 READ_DATA = 6
 182 NUNCHUK_INSERTED = 7
 183 NUNCHUK_REMOVED = 8
 184 CLASSIC_CTRL_INSERTED = 9
 185 CLASSIC_CTRL_REMOVED = 10
 186 GUITAR_HERO_3_CTRL_INSERTED = 11
 187 GUITAR_HERO_3_CTRL_REMOVED = 12
 188
 189 class wiimote(_Structure):
 190     _fields_ = [('unid', c_int),
 191                 ] + JunkSkip + [
 192                 ('state', c_int),
 193                 ('leds', c_byte),
 194                 ('battery_level', c_float),
 195                 ('flags', c_int),
 196                 ('handshake_state', c_byte),
 197                 ('read_req', c_void_p),
 198                 ('accel_calib', accel),
 199                 ('exp', expansion),
 200                 ('accel', vec3b),
 201                 ('orient', orient),
 202                 ('gforce', vec3f),
 203                 ('ir', ir),
 204                 ('btns', c_uint16),
 205                 ('btns_held', c_uint16),
 206                 ('btns_released', c_uint16),
 207                 ('orient_threshold', c_float),
 208                 ('accel_threshold', c_int),
 209                 ('lstate', wiimote_state),
 210                 ('event', c_int),
 211                 ('event_buf', c_byte*32),
 212                 ]
 213
 214 wiimote_p = POINTER(wiimote)
 215 wiimote_pp = POINTER(wiimote_p)
 216
 217 # make function prototypes a bit easier to declare
 218 def cfunc(name, dll, result, *args):
 219     '''build and apply a ctypes prototype complete with parameter flags
 220     e.g.
 221 cvMinMaxLoc = cfunc('cvMinMaxLoc', _cxDLL, None,
 222                     ('image', POINTER(IplImage), 1),
 223                     ('min_val', POINTER(double), 2),
 224                     ('max_val', POINTER(double), 2),
 225                     ('min_loc', POINTER(CvPoint), 2),
 226                     ('max_loc', POINTER(CvPoint), 2),
 227                     ('mask', POINTER(IplImage), 1, None))
 228 means locate cvMinMaxLoc in dll _cxDLL, it returns nothing.
 229 The first argument is an input image. The next 4 arguments are output, and the last argument is
 230 input with an optional value. A typical call might look like:
 231
 232 min_val,max_val,min_loc,max_loc = cvMinMaxLoc(img)
 233     '''
 234     atypes = []
 235     aflags = []
 236     for arg in args:
 237         atypes.append(arg[1])
 238         aflags.append((arg[2], arg[0]) + arg[3:])
 239     return CFUNCTYPE(result, *atypes)((name, dll), tuple(aflags))
 240
 241 # get the shared library
 242 if os.name == 'nt':
 243     dll = cdll.LoadLibrary('wiiuse.dll')
 244 else:
 245     dll = cdll.LoadLibrary('libwiiuse.so')
 246
 247 # access the functions
 248 init = cfunc('wiiuse_init', dll, wiimote_pp,
 249              ('wiimotes', c_int, 1))
 250 # find = cfunc('wiiuse_find', dll, c_int,
 251 #              ('wm', wiimote_pp, 1),
 252 #              ('max_wiimotes', c_int, 1),
 253 #              ('timeout', c_int, 1))
 254 # connect = cfunc('wiiuse_connect', dll, c_int,
 255 #                 ('wm', wiimote_pp, 1),
 256 #                 ('wiimotes', c_int, 1))
 257 # poll = cfunc('wiiuse_poll', dll, c_int,
 258 #              ('wm', wiimote_pp, 1),
 259 #              ('wiimotes', c_int, 1))
 260 find = dll.wiiuse_find
 261 connect = dll.wiiuse_connect
 262 poll = dll.wiiuse_poll
 263 set_leds = dll.wiiuse_set_leds
 264 motion_sensing = dll.wiiuse_motion_sensing
 265 set_accel_threshold = dll.wiiuse_set_accel_threshold
 266 set_orient_threshold = dll.wiiuse_set_orient_threshold
 267 set_orient_threshold.argtypes = [wiimote_p, c_float]
 268 set_timeout = dll.wiiuse_set_timeout
 269
 270 def is_pressed(dev, button):
 271     return dev.btns & button
 272
 273 def is_held(dev, button):
 274     return dev.btns_held & button
 275
 276 def is_released(dev, button):
 277     return dev.btns_released & button
 278
 279 def is_just_pressed(dev, button):
 280     return is_pressed(dev, button) and not is_held(dev, button)
 281
 282 def using_acc(wm):
 283     return wm.state & 0x10
 284
 285 def using_exp(wm):
 286     return wm.state & 0x20
 287
 288 def using_ir(wm):
 289     return wm.state & 0x40
 290
 291 LED_NONE = 0
 292 LED_1 = 0x10
 293 LED_2 = 0x20
 294 LED_3 = 0x40
 295 LED_4 = 0x80
 296
 297 LED = [LED_1, LED_2, LED_3, LED_4]
 298
 299 EXP_NONE = 0
 300 EXP_NUNCHUK = 1
 301 EXP_CLASSIC = 2
 302
 303 SMOOTHING = 0x01
 304 CONTINUOUS = 0x02
 305 ORIENT_THRESH = 0x04
 306 INIT_FLAGS = SMOOTHING | ORIENT_THRESH
 307
 308 IR_ABOVE = 0
 309 IR_BELOW = 1
 310
 311 ASPECT_4_3 = 0
 312 ASPECT_16_9 = 1
 313
 314 button = { '2':0x0001,
 315            '1':0x0002,
 316            'B':0x0004,
 317            'A':0x0008,
 318            '-':0x0010,
 319            'Home':0x0080,
 320            'Left':0x0100,
 321            'Right':0x0200,
 322            'Down':0x0400,
 323            'Up':0x0800,
 324            '+':0x1000,
 325            }
 326
 327 nunchuk_button = { 'Z':0x01,
 328                    'C':0x02,
 329                    }
 330
 331
 332 if __name__ == '__main__':
 333     def handle_event(wm):
 334         print 'EVENT', wm.unid, wm.btns
 335         print wm.gforce.x, wm.gforce.y, wm.gforce.z
 336
 337     nmotes = 1
 338     wiimotes = init(nmotes)
 339     print 'press 1&2'
 340     found = find(wiimotes, nmotes, 2)
 341     if not found:
 342         print 'no wiimotes found'
 343         sys.exit(1)
 344
 345     connected = connect(wiimotes, nmotes)
 346     if connected:
 347         print 'connected to %d wiimotes (of %d found)' % (connected, found)
 348     else:
 349         print 'failed to connect to any wiimote.'
 350         sys.exit(1)
 351
 352     set_leds(wiimotes[0], 0x50)
 353     motion_sensing(wiimotes[0], 1)
 354
 355     while True:
 356         if poll(wiimotes, nmotes):
 357             for i in range(nmotes):
 358                 m = wiimotes[i][0]
 359                 if wiimotes[i][0].event == EVENT:
 360                     handle_event(wiimotes[i][0])
 361