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