634 lines
25 KiB
Python
634 lines
25 KiB
Python
#!/usr/bin/env python3
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"""
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Bridge multiple SDL2 controllers to switch-pico over UART and mirror rumble back.
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The framing matches ``switch-pico.cpp``:
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- Host -> Pico : 0xAA, buttons (LE16), hat, lx, ly, rx, ry
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- Pico -> Host : 0xBB, 0x01, 8 rumble bytes, checksum (sum of first 10 bytes)
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Features inspired by ``host/controller_bridge.py``:
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- Multiple controllers paired to multiple UART ports
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- Rich-powered interactive pairing UI
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- Adjustable send frequency, deadzone, and trigger thresholds
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- Rumble feedback delivered to SDL2 controllers
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"""
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from __future__ import annotations
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import argparse
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import struct
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import threading
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import time
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from dataclasses import dataclass, field
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from pathlib import Path
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from typing import Dict, List, Optional, Tuple
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import serial
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from serial import SerialException
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from serial.tools import list_ports
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import sdl2
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import sdl2.ext
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from rich.console import Console
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from rich.prompt import Prompt
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from rich.table import Table
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UART_HEADER = 0xAA
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RUMBLE_HEADER = 0xBB
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RUMBLE_TYPE_RUMBLE = 0x01
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UART_BAUD = 900000
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class SwitchButton:
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# Mirrors the masks defined in switch_pro_descriptors.h
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Y = 1 << 0
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B = 1 << 1
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A = 1 << 2
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X = 1 << 3
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L = 1 << 4
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R = 1 << 5
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ZL = 1 << 6
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ZR = 1 << 7
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MINUS = 1 << 8
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PLUS = 1 << 9
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LCLICK = 1 << 10
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RCLICK = 1 << 11
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HOME = 1 << 12
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CAPTURE = 1 << 13
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class SwitchHat:
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TOP = 0x00
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TOP_RIGHT = 0x01
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RIGHT = 0x02
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BOTTOM_RIGHT = 0x03
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BOTTOM = 0x04
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BOTTOM_LEFT = 0x05
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LEFT = 0x06
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TOP_LEFT = 0x07
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CENTER = 0x08
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def parse_mapping(value: str) -> Tuple[int, str]:
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if ":" not in value:
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raise argparse.ArgumentTypeError("Mapping must look like 'index:serial_port'")
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idx_str, port = value.split(":", 1)
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try:
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idx = int(idx_str, 10)
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except ValueError as exc:
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raise argparse.ArgumentTypeError(f"Invalid controller index '{idx_str}'") from exc
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if not port:
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raise argparse.ArgumentTypeError("Serial port cannot be empty")
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return idx, port.strip()
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def axis_to_stick(value: int, deadzone: int) -> int:
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if abs(value) < deadzone:
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value = 0
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scaled = int((value + 32768) * 255 / 65535)
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return max(0, min(255, scaled))
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def trigger_to_button(value: int, threshold: int) -> bool:
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return value >= threshold
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BUTTON_MAP = {
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# Direct mapping to the Switch PRO mask definitions in switch_pro_descriptors.h
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sdl2.SDL_CONTROLLER_BUTTON_A: SwitchButton.A,
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sdl2.SDL_CONTROLLER_BUTTON_B: SwitchButton.B,
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sdl2.SDL_CONTROLLER_BUTTON_X: SwitchButton.X,
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sdl2.SDL_CONTROLLER_BUTTON_Y: SwitchButton.Y,
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sdl2.SDL_CONTROLLER_BUTTON_LEFTSHOULDER: SwitchButton.L,
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sdl2.SDL_CONTROLLER_BUTTON_RIGHTSHOULDER: SwitchButton.R,
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sdl2.SDL_CONTROLLER_BUTTON_BACK: SwitchButton.MINUS,
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sdl2.SDL_CONTROLLER_BUTTON_START: SwitchButton.PLUS,
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sdl2.SDL_CONTROLLER_BUTTON_GUIDE: SwitchButton.HOME,
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sdl2.SDL_CONTROLLER_BUTTON_MISC1: SwitchButton.CAPTURE,
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sdl2.SDL_CONTROLLER_BUTTON_LEFTSTICK: SwitchButton.LCLICK,
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sdl2.SDL_CONTROLLER_BUTTON_RIGHTSTICK: SwitchButton.RCLICK,
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}
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DPAD_BUTTONS = {
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sdl2.SDL_CONTROLLER_BUTTON_DPAD_UP: "up",
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sdl2.SDL_CONTROLLER_BUTTON_DPAD_DOWN: "down",
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sdl2.SDL_CONTROLLER_BUTTON_DPAD_LEFT: "left",
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sdl2.SDL_CONTROLLER_BUTTON_DPAD_RIGHT: "right",
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}
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def dpad_to_hat(flags: Dict[str, bool]) -> int:
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up = flags["up"]
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down = flags["down"]
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left = flags["left"]
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right = flags["right"]
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if up and right:
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return SwitchHat.TOP_RIGHT
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if up and left:
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return SwitchHat.TOP_LEFT
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if down and right:
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return SwitchHat.BOTTOM_RIGHT
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if down and left:
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return SwitchHat.BOTTOM_LEFT
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if up:
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return SwitchHat.TOP
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if down:
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return SwitchHat.BOTTOM
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if right:
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return SwitchHat.RIGHT
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if left:
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return SwitchHat.LEFT
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return SwitchHat.CENTER
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def is_usb_serial(path: str) -> bool:
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if path.startswith("/dev/tty.") and not path.startswith("/dev/tty.usb"):
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return False
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if path.startswith("/dev/cu.") and not path.startswith("/dev/cu.usb"):
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return False
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return True
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def discover_ports(include_non_usb: bool = False) -> List[Dict[str, str]]:
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results: List[Dict[str, str]] = []
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for port in list_ports.comports():
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path = port.device or ""
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if not path:
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continue
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if not include_non_usb and not is_usb_serial(path):
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continue
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results.append(
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{
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"device": path,
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"description": port.description or "Unknown",
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}
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)
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return results
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def interactive_pairing(
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console: Console, controller_info: Dict[int, str], ports: List[Dict[str, str]]
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) -> List[Tuple[int, str]]:
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available = ports.copy()
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mappings: List[Tuple[int, str]] = []
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for controller_idx in controller_info:
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if not available:
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console.print("[bold red]No more UART devices available for pairing.[/bold red]")
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break
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table = Table(
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title=f"Available UART Devices for Controller {controller_idx} ({controller_info[controller_idx]})"
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)
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table.add_column("Choice", justify="center")
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table.add_column("Port")
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table.add_column("Description")
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for i, port in enumerate(available):
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table.add_row(str(i), port["device"], port["description"])
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console.print(table)
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choices = [str(i) for i in range(len(available))] + ["q"]
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selection = Prompt.ask(
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"Select UART index (or 'q' to stop pairing)",
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choices=choices,
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default=choices[0] if choices else "q",
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)
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if selection == "q":
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break
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idx = int(selection)
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port = available.pop(idx)
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mappings.append((controller_idx, port["device"]))
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console.print(f"[bold green]Paired controller {controller_idx} with {port['device']}[/bold green]")
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return mappings
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@dataclass
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class SwitchReport:
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buttons: int = 0
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hat: int = SwitchHat.CENTER
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lx: int = 128
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ly: int = 128
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rx: int = 128
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ry: int = 128
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def to_bytes(self) -> bytes:
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return struct.pack(
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"<BHBBBBB", UART_HEADER, self.buttons & 0xFFFF, self.hat & 0xFF, self.lx, self.ly, self.rx, self.ry
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)
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class PicoUART:
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def __init__(self, port: str, baudrate: int = UART_BAUD) -> None:
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self.serial = serial.Serial(
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port=port,
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baudrate=baudrate,
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bytesize=serial.EIGHTBITS,
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stopbits=serial.STOPBITS_ONE,
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parity=serial.PARITY_NONE,
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timeout=0.0,
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write_timeout=0.0,
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)
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self._buffer = bytearray()
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def send_report(self, report: SwitchReport) -> None:
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self.serial.write(report.to_bytes())
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self.serial.flush()
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def read_rumble_payload(self) -> Optional[bytes]:
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chunk = self.serial.read(64) # non-blocking (timeout=0)
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if chunk:
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self._buffer.extend(chunk)
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while True:
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if RUMBLE_HEADER not in self._buffer:
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self._buffer.clear()
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return None
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start = self._buffer.find(bytes([RUMBLE_HEADER]))
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if len(self._buffer) - start < 11:
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# Need more bytes.
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if start > 0:
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del self._buffer[:start]
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return None
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frame = self._buffer[start : start + 11]
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checksum = sum(frame[:10]) & 0xFF
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if frame[1] == RUMBLE_TYPE_RUMBLE and checksum == frame[10]:
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payload = bytes(frame[2:10])
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del self._buffer[: start + 11]
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return payload
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# Bad frame, drop the header and continue.
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del self._buffer[: start + 1]
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def close(self) -> None:
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self.serial.close()
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def decode_rumble(payload: bytes) -> Tuple[float, float]:
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"""Return normalized rumble amplitudes (0.0-1.0) for left/right."""
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if len(payload) < 8:
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return 0.0, 0.0
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# Neutral/idle pattern used by Switch: no rumble energy.
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if payload == b"\x00\x01\x40\x40\x00\x01\x40\x40":
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return 0.0, 0.0
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# Rumble amp is 10 bits across bytes 0/1 and 4/5.
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left_raw = ((payload[1] & 0x03) << 8) | payload[0]
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right_raw = ((payload[5] & 0x03) << 8) | payload[4]
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if left_raw < 8 and right_raw < 8:
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return 0.0, 0.0
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left = min(max(left_raw / 1023.0, 0.0), 1.0)
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right = min(max(right_raw / 1023.0, 0.0), 1.0)
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return left, right
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def apply_rumble(controller: sdl2.SDL_GameController, payload: bytes) -> None:
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left_norm, right_norm = decode_rumble(payload)
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max_norm = max(left_norm, right_norm)
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# Treat small rumble as "off" to avoid idle buzz.
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if max_norm < 0.40:
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sdl2.SDL_GameControllerRumble(controller, 0, 0, 0)
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return
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# Attenuate to feel closer to a real controller; cap at ~25% strength.
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scale = 0.40
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left = int(min(1.0, left_norm * scale) * 0xFFFF)
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right = int(min(1.0, right_norm * scale) * 0xFFFF)
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duration = 10
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sdl2.SDL_GameControllerRumble(controller, left, right, duration)
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@dataclass
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class ControllerContext:
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controller: sdl2.SDL_GameController
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instance_id: int
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controller_index: int
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port: str
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uart: Optional[PicoUART]
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report: SwitchReport = field(default_factory=SwitchReport)
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dpad: Dict[str, bool] = field(default_factory=lambda: {"up": False, "down": False, "left": False, "right": False})
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last_trigger_state: Dict[str, bool] = field(default_factory=lambda: {"left": False, "right": False})
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last_send: float = 0.0
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last_reopen_attempt: float = 0.0
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def open_controller(index: int) -> Tuple[sdl2.SDL_GameController, int]:
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controller = sdl2.SDL_GameControllerOpen(index)
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if not controller:
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raise RuntimeError(f"Failed to open controller {index}: {sdl2.SDL_GetError().decode()}")
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joystick = sdl2.SDL_GameControllerGetJoystick(controller)
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instance_id = sdl2.SDL_JoystickInstanceID(joystick)
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return controller, instance_id
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def try_open_uart(port: str, baud: int) -> Optional[PicoUART]:
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try:
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return PicoUART(port, baud)
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except Exception:
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return None
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def start_rumble_listener(ctx: ControllerContext) -> threading.Thread:
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# No-op placeholder (rumble is polled in the main loop for hotplug safety).
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return None
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def build_arg_parser() -> argparse.ArgumentParser:
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parser = argparse.ArgumentParser(description="Bridge SDL2 controllers to switch-pico UART (with rumble)")
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parser.add_argument(
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"--map",
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action="append",
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type=parse_mapping,
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default=[],
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help="Controller mapping 'index:serial_port'. Repeat per controller.",
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)
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parser.add_argument(
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"--ports",
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nargs="+",
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help="Serial ports to auto-pair with controllers in ascending index order.",
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)
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parser.add_argument("--interactive", action="store_true", help="Launch an interactive pairing UI using Rich.")
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parser.add_argument("--all-ports", action="store_true", help="Include non-USB serial ports when listing devices.")
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parser.add_argument(
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"--frequency",
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type=float,
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default=500.0,
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help="Report send frequency per controller (Hz, default 500)",
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)
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parser.add_argument("--deadzone", type=float, default=0.08, help="Stick deadzone (0.0-1.0, default 0.08)")
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parser.add_argument(
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"--trigger-threshold",
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type=float,
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default=0.35,
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help="Trigger threshold treated as a digital press (0.0-1.0, default 0.35)",
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)
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parser.add_argument(
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"--baud",
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type=int,
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default=UART_BAUD,
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help=f"UART baud rate (default {UART_BAUD}; must match switch-pico firmware)",
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)
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parser.add_argument(
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"--sdl-mapping",
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action="append",
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default=[],
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help="Path to an SDL2 controller mapping database (e.g. controllerdb.txt). Repeatable.",
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)
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return parser
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def main() -> None:
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parser = build_arg_parser()
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args = parser.parse_args()
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interval = 1.0 / max(args.frequency, 1.0)
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deadzone_raw = int(max(0.0, min(args.deadzone, 1.0)) * 32767)
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trigger_threshold = int(max(0.0, min(args.trigger_threshold, 1.0)) * 32767)
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# Load bundled mapping plus any user-supplied mapping files.
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default_mapping = Path(__file__).parent / "controller_db" / "gamecontrollerdb.txt"
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mappings_to_load = []
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if default_mapping.exists():
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mappings_to_load.append(str(default_mapping))
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mappings_to_load.extend(args.sdl_mapping)
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for mapping_path in mappings_to_load:
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try:
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loaded = sdl2.SDL_GameControllerAddMappingsFromFile(mapping_path.encode())
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console = Console()
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console.print(f"[green]Loaded {loaded} SDL mapping(s) from {mapping_path}[/green]")
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except Exception as exc:
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console = Console()
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console.print(f"[red]Failed to load SDL mapping {mapping_path}: {exc}[/red]")
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sdl2.SDL_SetHint(sdl2.SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS, b"1")
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if sdl2.SDL_Init(sdl2.SDL_INIT_GAMECONTROLLER | sdl2.SDL_INIT_JOYSTICK) != 0:
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parser.error(f"SDL init failed: {sdl2.SDL_GetError().decode(errors='ignore')}")
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contexts: Dict[int, ControllerContext] = {}
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uarts: List[PicoUART] = []
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mapping_by_index: Dict[int, str] = {}
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console = Console()
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try:
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controller_indices: List[int] = []
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controller_names: Dict[int, str] = {}
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controller_count = sdl2.SDL_NumJoysticks()
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if controller_count < 0:
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parser.error(f"SDL error: {sdl2.SDL_GetError().decode()}")
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for index in range(controller_count):
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if sdl2.SDL_IsGameController(index):
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name = sdl2.SDL_GameControllerNameForIndex(index)
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name_str = name.decode() if isinstance(name, bytes) else str(name)
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console.print(f"[cyan]Detected controller {index}: {name_str}[/cyan]")
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controller_indices.append(index)
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controller_names[index] = name_str
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else:
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name = sdl2.SDL_JoystickNameForIndex(index)
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name_str = name.decode() if isinstance(name, bytes) else str(name)
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console.print(f"[yellow]Found joystick {index} (not a GameController): {name_str}[/yellow]")
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mappings = list(args.map)
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if args.interactive:
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if not controller_indices:
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parser.error("No controllers detected for interactive pairing.")
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discovered = discover_ports(include_non_usb=args.all_ports or False)
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if not discovered:
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parser.error("No UART devices found for interactive pairing.")
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mappings = interactive_pairing(console, controller_names, discovered)
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if not mappings:
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parser.error("No controller-to-UART mappings were selected.")
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elif not mappings:
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if args.ports:
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validated = list(args.ports)
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if not controller_indices:
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parser.error("No controllers available to pair.")
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pair_count = min(len(controller_indices), len(validated))
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if pair_count == 0:
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parser.error("No UART ports specified.")
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if len(validated) < len(controller_indices):
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console.print(
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f"[yellow]Warning: only {len(validated)} UART(s) provided; pairing first {pair_count} controllers.[/yellow]"
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)
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mappings = list((controller_indices[i], validated[i]) for i in range(pair_count))
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console.print("[green]Paired controllers to specified UART ports:[/green]")
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for idx, port in mappings:
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console.print(f" Controller {idx} -> {port}")
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else:
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discovered = discover_ports(include_non_usb=args.all_ports or False)
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if not discovered:
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parser.error("No UART devices detected automatically.")
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pair_count = min(len(controller_indices), len(discovered))
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if pair_count == 0:
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parser.error("No controllers detected to pair.")
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if len(discovered) < len(controller_indices):
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console.print(
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f"[yellow]Warning: detected {len(discovered)} UART(s) but {len(controller_indices)} controller(s); pairing first {pair_count}.[/yellow]"
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)
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mappings = list((controller_indices[i], discovered[i]["device"]) for i in range(pair_count))
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console.print("[green]Auto-detected UARTs:[/green]")
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for info in discovered:
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console.print(f" {info['device']} ({info['description']})")
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console.print("[green]Paired controllers to detected UARTs:[/green]")
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for idx, port in mappings:
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console.print(f" Controller {idx} -> {port}")
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for index, port in mappings:
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mapping_by_index[index] = port
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# Open currently connected controllers that match the mapping.
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for index, port in mappings:
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if index >= sdl2.SDL_NumJoysticks() or not sdl2.SDL_IsGameController(index):
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# Try to turn non-GameController into a controller via hint reload.
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if index < sdl2.SDL_NumJoysticks():
|
|
name = sdl2.SDL_JoystickNameForIndex(index)
|
|
name_str = name.decode() if isinstance(name, bytes) else str(name)
|
|
console.print(f"[yellow]Index {index} is not a GameController ({name_str}). Trying raw open failed.[/yellow]")
|
|
continue
|
|
try:
|
|
controller, instance_id = open_controller(index)
|
|
except Exception as exc:
|
|
console.print(f"[red]Failed to open controller {index}: {exc}[/red]")
|
|
continue
|
|
uart = try_open_uart(port, args.baud)
|
|
if uart:
|
|
uarts.append(uart)
|
|
console.print(f"[green]Controller {index} ({instance_id}) paired to {port}[/green]")
|
|
else:
|
|
console.print(f"[yellow]Controller {index} ({instance_id}) waiting for UART {port}[/yellow]")
|
|
ctx = ControllerContext(
|
|
controller=controller,
|
|
instance_id=instance_id,
|
|
controller_index=index,
|
|
port=port,
|
|
uart=uart,
|
|
)
|
|
contexts[instance_id] = ctx
|
|
|
|
if not contexts and not mapping_by_index:
|
|
parser.error("No controllers opened. Check --map/--ports/--interactive values.")
|
|
|
|
event = sdl2.SDL_Event()
|
|
running = True
|
|
while running:
|
|
while sdl2.SDL_PollEvent(event):
|
|
if event.type == sdl2.SDL_QUIT:
|
|
running = False
|
|
break
|
|
if event.type == sdl2.SDL_CONTROLLERAXISMOTION:
|
|
ctx = contexts.get(event.caxis.which)
|
|
if not ctx:
|
|
continue
|
|
axis = event.caxis.axis
|
|
value = event.caxis.value
|
|
if axis == sdl2.SDL_CONTROLLER_AXIS_LEFTX:
|
|
ctx.report.lx = axis_to_stick(value, deadzone_raw)
|
|
elif axis == sdl2.SDL_CONTROLLER_AXIS_LEFTY:
|
|
ctx.report.ly = axis_to_stick(value, deadzone_raw)
|
|
elif axis == sdl2.SDL_CONTROLLER_AXIS_RIGHTX:
|
|
ctx.report.rx = axis_to_stick(value, deadzone_raw)
|
|
elif axis == sdl2.SDL_CONTROLLER_AXIS_RIGHTY:
|
|
ctx.report.ry = axis_to_stick(value, deadzone_raw)
|
|
elif axis == sdl2.SDL_CONTROLLER_AXIS_TRIGGERLEFT:
|
|
pressed = trigger_to_button(value, trigger_threshold)
|
|
if pressed != ctx.last_trigger_state["left"]:
|
|
if pressed:
|
|
ctx.report.buttons |= SwitchButton.ZL
|
|
else:
|
|
ctx.report.buttons &= ~SwitchButton.ZL
|
|
ctx.last_trigger_state["left"] = pressed
|
|
elif axis == sdl2.SDL_CONTROLLER_AXIS_TRIGGERRIGHT:
|
|
pressed = trigger_to_button(value, trigger_threshold)
|
|
if pressed != ctx.last_trigger_state["right"]:
|
|
if pressed:
|
|
ctx.report.buttons |= SwitchButton.ZR
|
|
else:
|
|
ctx.report.buttons &= ~SwitchButton.ZR
|
|
ctx.last_trigger_state["right"] = pressed
|
|
elif event.type in (sdl2.SDL_CONTROLLERBUTTONDOWN, sdl2.SDL_CONTROLLERBUTTONUP):
|
|
ctx = contexts.get(event.cbutton.which)
|
|
if not ctx:
|
|
continue
|
|
button = event.cbutton.button
|
|
pressed = event.type == sdl2.SDL_CONTROLLERBUTTONDOWN
|
|
if button in BUTTON_MAP:
|
|
bit = BUTTON_MAP[button]
|
|
if pressed:
|
|
ctx.report.buttons |= bit
|
|
else:
|
|
ctx.report.buttons &= ~bit
|
|
elif button in DPAD_BUTTONS:
|
|
ctx.dpad[DPAD_BUTTONS[button]] = pressed
|
|
ctx.report.hat = dpad_to_hat(ctx.dpad)
|
|
elif event.type == sdl2.SDL_CONTROLLERDEVICEADDED:
|
|
idx = event.cdevice.which
|
|
port = mapping_by_index.get(idx)
|
|
if port is None:
|
|
continue
|
|
# Avoid duplicate opens for already connected instance IDs.
|
|
already = any(c.controller_index == idx for c in contexts.values())
|
|
if already:
|
|
continue
|
|
try:
|
|
controller, instance_id = open_controller(idx)
|
|
except Exception as exc:
|
|
console.print(f"[red]Hotplug open failed for controller {idx}: {exc}[/red]")
|
|
continue
|
|
uart = try_open_uart(port, args.baud)
|
|
if uart:
|
|
uarts.append(uart)
|
|
console.print(f"[green]Controller {idx} ({instance_id}) paired to {port}[/green]")
|
|
else:
|
|
console.print(f"[yellow]Controller {idx} ({instance_id}) waiting for UART {port}[/yellow]")
|
|
ctx = ControllerContext(
|
|
controller=controller,
|
|
instance_id=instance_id,
|
|
controller_index=idx,
|
|
port=port,
|
|
uart=uart,
|
|
)
|
|
contexts[instance_id] = ctx
|
|
elif event.type == sdl2.SDL_CONTROLLERDEVICEREMOVED:
|
|
instance_id = event.cdevice.which
|
|
# ctx = contexts.get(instance_id)
|
|
# if ctx and sdl2.SDL_GameControllerGetAttached(ctx.controller):
|
|
# # Spurious detach; ignore.
|
|
# console.print(f"[yellow]Ignoring spurious remove for controller {instance_id}[/yellow]")
|
|
# continue
|
|
ctx = contexts.pop(instance_id, None)
|
|
if ctx:
|
|
console.print(f"[yellow]Controller {instance_id} removed[/yellow]")
|
|
sdl2.SDL_GameControllerClose(ctx.controller)
|
|
|
|
now = time.monotonic()
|
|
for ctx in list(contexts.values()):
|
|
# Reconnect UART if needed.
|
|
if ctx.uart is None and (now - ctx.last_reopen_attempt) > 1.0:
|
|
ctx.last_reopen_attempt = now
|
|
uart = try_open_uart(ctx.port, args.baud)
|
|
if uart:
|
|
uarts.append(uart)
|
|
console.print(f"[green]Reconnected UART {ctx.port} for controller {ctx.controller_index}[/green]")
|
|
ctx.uart = uart
|
|
if ctx.uart is None:
|
|
continue
|
|
try:
|
|
if now - ctx.last_send >= interval:
|
|
ctx.uart.send_report(ctx.report)
|
|
ctx.last_send = now
|
|
# Poll rumble quickly while we have the port.
|
|
payload = ctx.uart.read_rumble_payload()
|
|
if payload:
|
|
apply_rumble(ctx.controller, payload)
|
|
except SerialException as exc:
|
|
console.print(f"[yellow]UART {ctx.port} disconnected: {exc}[/yellow]")
|
|
try:
|
|
ctx.uart.close()
|
|
except Exception:
|
|
pass
|
|
ctx.uart = None
|
|
ctx.last_reopen_attempt = now
|
|
except Exception as exc:
|
|
console.print(f"[red]UART error on {ctx.port}: {exc}[/red]")
|
|
sdl2.SDL_Delay(1)
|
|
finally:
|
|
for ctx in contexts.values():
|
|
sdl2.SDL_GameControllerClose(ctx.controller)
|
|
for uart in uarts:
|
|
uart.close()
|
|
sdl2.SDL_Quit()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|