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feat: drive native DualSense haptics from Switch HD rumble

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This commit is contained in:
Joey Yakimowich-Payne 2026-09-05 13:23:25 -06:00
commit 6188fcb517
23 changed files with 1836 additions and 182 deletions
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53
tests/switch_haptics_test.cpp
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@ -197,6 +197,58 @@ void test_output_report_normalization() {
}
}
void test_full_fidelity_states() {
const auto check = [](bool condition, const char* message) {
if (!condition) {
std::cerr << message << '\n';
++failures;
}
};
SwitchHapticsDecoder decoder;
auto bytes = payload(type_2(80, 100, 32, 127), type_2(16, 16, 100, 32));
auto decoded = decoder.decode(bytes.data());
const auto& left = decoded.hd.actuators[0];
const auto& right = decoded.hd.actuators[1];
check(left.sample_count == 1 && right.sample_count == 1,
"full state must retain both independent actuators");
check(left.samples[0].low_frequency_index == 32 &&
left.samples[0].high_frequency_index == 80 &&
right.samples[0].low_frequency_index == 100 &&
right.samples[0].high_frequency_index == 16,
"per-side frequencies were collapsed");
check(left.samples[0].low_amplitude_q15 == 32066 &&
right.samples[0].low_amplitude_q15 == 4096,
"per-side linear amplitudes were collapsed or incorrectly decoded");
decoder.reset();
bytes = payload(type_2(64, 16, 64, 16), 0x40400100u);
decoder.decode(bytes.data());
bytes = payload(type_1_three_samples(17, 17, 29, 29, 24, 24), 0x40400100u);
decoded = decoder.decode(bytes.data());
const auto sequence = decoded.hd.actuators[0];
check(sequence.sample_count == 3 &&
sequence.samples[0].low_frequency_index == 65 &&
sequence.samples[1].low_frequency_index == 66 &&
sequence.samples[2].low_frequency_index == 66,
"ordered frequency substeps were lost");
check(sequence.samples[0].low_amplitude_q15 >
sequence.samples[1].low_amplitude_q15 &&
sequence.samples[1].low_amplitude_q15 ==
sequence.samples[2].low_amplitude_q15,
"amplitude substeps were replaced by their peak or final value");
decoded = decoder.decode(bytes.data());
check(decoded.hd.actuators[0].sample_count == 1 &&
decoded.hd.actuators[0].samples[0].low_frequency_index == 66 &&
decoded.hd.actuators[0].samples[0].low_amplitude_q15 ==
sequence.samples[2].low_amplitude_q15,
"repeated compressed commands replayed an old substep sequence");
bytes = payload(0, type_2(64, 16, 64, 16));
decoded = decoder.decode(bytes.data());
check(decoded.hd.actuators[0].samples[0].low_amplitude_q15 == 0 &&
decoded.hd.actuators[1].samples[0].low_amplitude_q15 != 0,
"neutral on one side stopped the other side");
}
} // namespace
int main() {
@ -207,6 +259,7 @@ int main() {
test_left_right_peak_combination();
test_type_3_and_type_4_frames();
test_malformed_and_reserved_words_preserve_state();
test_full_fidelity_states();
test_output_report_normalization();
if (failures != 0) {