812 lines
33 KiB
Python
812 lines
33 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 = 921600
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RUMBLE_IDLE_TIMEOUT = 0.25 # seconds without packets before forcing rumble off
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RUMBLE_STUCK_TIMEOUT = 0.60 # continuous same-energy rumble will be stopped after this
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RUMBLE_MIN_ACTIVE = 0.50 # below this, rumble is treated as off/noise
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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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def set_hint(name: str, value: str) -> None:
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"""Set an SDL hint safely even if the constant is missing in PySDL2."""
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try:
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sdl2.SDL_SetHint(name.encode(), value.encode())
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except Exception:
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pass
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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 is_usb_serial_port(port: list_ports.ListPortInfo) -> bool:
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"""Heuristic: prefer ports with USB VID/PID; fall back to path hints."""
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if getattr(port, "vid", None) is not None or getattr(port, "pid", None) is not None:
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return True
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path = port.device or ""
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manufacturer = (getattr(port, "manufacturer", "") or "").upper()
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if "USB" in manufacturer:
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return True
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return is_usb_serial(path)
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def discover_ports(
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include_non_usb: bool = False,
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ignore_descriptions: Optional[List[str]] = None,
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include_descriptions: Optional[List[str]] = None,
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) -> List[Dict[str, str]]:
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ignored = [d.lower() for d in ignore_descriptions or []]
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includes = [d.lower() for d in include_descriptions or []]
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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_port(port):
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continue
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desc_lower = (port.description or "").lower()
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if includes and not any(keep in desc_lower for keep in includes):
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continue
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if any(skip in desc_lower for skip in ignored):
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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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# Switch format is right rumble first, then left rumble (4 bytes each).
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right_raw = ((payload[1] & 0x03) << 8) | payload[0]
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left_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) -> float:
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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 < RUMBLE_MIN_ACTIVE:
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sdl2.SDL_GameControllerRumble(controller, 0, 0, 0)
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return 0.0
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# Attenuate to feel closer to a real controller; cap at ~25% strength.
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scale = 0.60
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low = int(min(1.0, left_norm * scale) * 0xFFFF) # SDL: low_frequency_rumble
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high = int(min(1.0, right_norm * scale) * 0xFFFF) # SDL: high_frequency_rumble
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duration = 10
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sdl2.SDL_GameControllerRumble(controller, low, high, duration)
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return max_norm
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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: Optional[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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last_rumble: float = 0.0
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last_rumble_change: float = 0.0
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last_rumble_energy: float = 0.0
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rumble_active: bool = False
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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 open_uart_or_warn(port: str, baud: int, console: Console) -> Optional[PicoUART]:
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try:
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return PicoUART(port, baud)
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except Exception as exc:
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console.print(f"[yellow]Failed to open UART {port}: {exc}[/yellow]")
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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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"--ignore-port-desc",
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action="append",
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default=[],
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help="Substring filter to exclude serial ports by description (case-insensitive). Repeatable.",
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)
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parser.add_argument(
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"--include-port-desc",
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action="append",
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default=[],
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help="Only include serial ports whose description contains this substring (case-insensitive). Repeatable.",
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)
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parser.add_argument(
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"--swap-abxy",
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action="store_true",
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help="Swap AB/XY mapping (useful if Linux reports Switch controllers as Xbox layout).",
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)
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parser.add_argument(
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"--swap-abxy-index",
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action="append",
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type=int,
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default=[],
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help="Swap AB/XY mapping for specific controller indices (repeatable).",
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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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button_map_default = dict(BUTTON_MAP)
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button_map_swapped = dict(BUTTON_MAP)
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button_map_swapped[sdl2.SDL_CONTROLLER_BUTTON_A] = SwitchButton.B
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button_map_swapped[sdl2.SDL_CONTROLLER_BUTTON_B] = SwitchButton.A
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button_map_swapped[sdl2.SDL_CONTROLLER_BUTTON_X] = SwitchButton.Y
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button_map_swapped[sdl2.SDL_CONTROLLER_BUTTON_Y] = SwitchButton.X
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swap_abxy_indices = set(idx for idx in args.swap_abxy_index if idx is not None and idx >= 0)
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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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set_hint("SDL_JOYSTICK_HIDAPI", "1")
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set_hint("SDL_JOYSTICK_HIDAPI_SWITCH", "1")
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# Use controller button labels so Nintendo layouts (ABXY) map correctly on Linux.
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|
set_hint("SDL_GAMECONTROLLER_USE_BUTTON_LABELS", "1")
|
|
if sdl2.SDL_Init(sdl2.SDL_INIT_GAMECONTROLLER | sdl2.SDL_INIT_JOYSTICK) != 0:
|
|
parser.error(f"SDL init failed: {sdl2.SDL_GetError().decode(errors='ignore')}")
|
|
contexts: Dict[int, ControllerContext] = {}
|
|
uarts: List[PicoUART] = []
|
|
mapping_by_index: Dict[int, str] = {}
|
|
console = Console()
|
|
try:
|
|
controller_indices: List[int] = []
|
|
controller_names: Dict[int, str] = {}
|
|
controller_count = sdl2.SDL_NumJoysticks()
|
|
if controller_count < 0:
|
|
parser.error(f"SDL error: {sdl2.SDL_GetError().decode()}")
|
|
auto_pairing_enabled = not args.map and not args.interactive
|
|
auto_discover_ports = auto_pairing_enabled and not args.ports
|
|
available_ports: List[str] = []
|
|
auto_assigned_indices: set[int] = set()
|
|
include_non_usb = args.all_ports or False
|
|
ignore_port_desc = [d.lower() for d in args.ignore_port_desc]
|
|
include_port_desc = [d.lower() for d in args.include_port_desc]
|
|
for index in range(controller_count):
|
|
if sdl2.SDL_IsGameController(index):
|
|
name = sdl2.SDL_GameControllerNameForIndex(index)
|
|
name_str = name.decode() if isinstance(name, bytes) else str(name)
|
|
console.print(f"[cyan]Detected controller {index}: {name_str}[/cyan]")
|
|
controller_indices.append(index)
|
|
controller_names[index] = name_str
|
|
else:
|
|
name = sdl2.SDL_JoystickNameForIndex(index)
|
|
name_str = name.decode() if isinstance(name, bytes) else str(name)
|
|
console.print(f"[yellow]Found joystick {index} (not a GameController): {name_str}[/yellow]")
|
|
|
|
mappings = list(args.map)
|
|
if args.interactive:
|
|
if not controller_indices:
|
|
parser.error("No controllers detected for interactive pairing.")
|
|
discovered = discover_ports(
|
|
include_non_usb=include_non_usb,
|
|
ignore_descriptions=ignore_port_desc,
|
|
include_descriptions=include_port_desc,
|
|
)
|
|
if not discovered:
|
|
parser.error("No UART devices found for interactive pairing.")
|
|
mappings = interactive_pairing(console, controller_names, discovered)
|
|
if not mappings:
|
|
parser.error("No controller-to-UART mappings were selected.")
|
|
elif auto_pairing_enabled:
|
|
if args.ports:
|
|
available_ports.extend(list(args.ports))
|
|
console.print(f"[green]Prepared {len(available_ports)} specified UART port(s) for auto-pairing.[/green]")
|
|
else:
|
|
discovered = discover_ports(
|
|
include_non_usb=include_non_usb,
|
|
ignore_descriptions=ignore_port_desc,
|
|
include_descriptions=include_port_desc,
|
|
)
|
|
if discovered:
|
|
available_ports.extend(info["device"] for info in discovered)
|
|
console.print("[green]Auto-detected UARTs:[/green]")
|
|
for info in discovered:
|
|
console.print(f" {info['device']} ({info['description']})")
|
|
else:
|
|
console.print("[yellow]No UART devices detected yet; waiting for hotplug...[/yellow]")
|
|
|
|
for index, port in mappings:
|
|
mapping_by_index[index] = port
|
|
|
|
def assign_port_for_index(idx: int) -> Optional[str]:
|
|
if idx in mapping_by_index:
|
|
return mapping_by_index[idx]
|
|
if not auto_pairing_enabled:
|
|
return None
|
|
if not available_ports:
|
|
return None
|
|
port_choice = available_ports.pop(0)
|
|
mapping_by_index[idx] = port_choice
|
|
auto_assigned_indices.add(idx)
|
|
console.print(f"[green]Auto-paired controller {idx} to {port_choice}[/green]")
|
|
return port_choice
|
|
|
|
# Open currently connected controllers that we can pair.
|
|
for index in controller_indices:
|
|
if index >= sdl2.SDL_NumJoysticks() or not sdl2.SDL_IsGameController(index):
|
|
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
|
|
port = assign_port_for_index(index)
|
|
if port is None and not auto_pairing_enabled:
|
|
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 = open_uart_or_warn(port, args.baud, console) if port else None
|
|
if uart:
|
|
uarts.append(uart)
|
|
console.print(f"[green]Controller {index} ({instance_id}) paired to {port}[/green]")
|
|
elif port:
|
|
console.print(f"[yellow]Controller {index} ({instance_id}) waiting for UART {port}[/yellow]")
|
|
else:
|
|
console.print(f"[yellow]Controller {index} ({instance_id}) connected; waiting for an available UART[/yellow]")
|
|
ctx = ControllerContext(
|
|
controller=controller,
|
|
instance_id=instance_id,
|
|
controller_index=index,
|
|
port=port,
|
|
uart=uart,
|
|
)
|
|
contexts[instance_id] = ctx
|
|
|
|
if not contexts:
|
|
console.print("[yellow]No controllers opened; waiting for hotplug events...[/yellow]")
|
|
|
|
def ports_in_use() -> set:
|
|
used = set(mapping_by_index.values())
|
|
used.update(ctx.port for ctx in contexts.values() if ctx.port)
|
|
return used
|
|
|
|
def discover_new_ports() -> None:
|
|
if not auto_discover_ports:
|
|
return
|
|
discovered = discover_ports(
|
|
include_non_usb=include_non_usb,
|
|
ignore_descriptions=ignore_port_desc,
|
|
include_descriptions=include_port_desc,
|
|
)
|
|
in_use = ports_in_use()
|
|
for info in discovered:
|
|
path = info["device"]
|
|
if path in in_use or path in available_ports:
|
|
continue
|
|
available_ports.append(path)
|
|
console.print(f"[green]Discovered UART {path} ({info['description']}); available for pairing.[/green]")
|
|
|
|
def pair_waiting_contexts() -> None:
|
|
for ctx in list(contexts.values()):
|
|
if ctx.port is not None:
|
|
continue
|
|
port_choice = assign_port_for_index(ctx.controller_index)
|
|
if port_choice is None:
|
|
continue
|
|
ctx.port = port_choice
|
|
uart = open_uart_or_warn(port_choice, args.baud, console)
|
|
ctx.last_reopen_attempt = time.monotonic()
|
|
if uart:
|
|
uarts.append(uart)
|
|
ctx.uart = uart
|
|
console.print(
|
|
f"[green]Controller {ctx.controller_index} ({ctx.instance_id}) paired to {port_choice}[/green]"
|
|
)
|
|
else:
|
|
ctx.uart = None
|
|
console.print(
|
|
f"[yellow]Controller {ctx.controller_index} ({ctx.instance_id}) waiting for UART {port_choice}[/yellow]"
|
|
)
|
|
|
|
event = sdl2.SDL_Event()
|
|
port_scan_interval = 2.0
|
|
last_port_scan = time.monotonic()
|
|
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
|
|
current_button_map = (
|
|
button_map_swapped
|
|
if (args.swap_abxy or ctx.controller_index in swap_abxy_indices)
|
|
else button_map_default
|
|
)
|
|
button = event.cbutton.button
|
|
pressed = event.type == sdl2.SDL_CONTROLLERBUTTONDOWN
|
|
if button in current_button_map:
|
|
bit = current_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
|
|
if any(c.controller_index == idx for c in contexts.values()):
|
|
continue
|
|
port = assign_port_for_index(idx)
|
|
if port is None and not auto_pairing_enabled:
|
|
continue
|
|
if idx >= sdl2.SDL_NumJoysticks() or not sdl2.SDL_IsGameController(idx):
|
|
name = sdl2.SDL_JoystickNameForIndex(idx)
|
|
name_str = name.decode() if isinstance(name, bytes) else str(name)
|
|
console.print(
|
|
f"[yellow]Index {idx} is not a GameController ({name_str}). Trying raw open failed.[/yellow]"
|
|
)
|
|
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 = open_uart_or_warn(port, args.baud, console) if port else None
|
|
if uart:
|
|
uarts.append(uart)
|
|
console.print(f"[green]Controller {idx} ({instance_id}) paired to {port}[/green]")
|
|
elif port:
|
|
console.print(f"[yellow]Controller {idx} ({instance_id}) waiting for UART {port}[/yellow]")
|
|
else:
|
|
console.print(f"[yellow]Controller {idx} ({instance_id}) connected; waiting for an available UART[/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]")
|
|
if ctx.controller_index in auto_assigned_indices:
|
|
freed = mapping_by_index.pop(ctx.controller_index, None)
|
|
auto_assigned_indices.discard(ctx.controller_index)
|
|
if freed and freed not in available_ports:
|
|
available_ports.append(freed)
|
|
console.print(f"[cyan]Released UART {freed} back to pool[/cyan]")
|
|
sdl2.SDL_GameControllerClose(ctx.controller)
|
|
|
|
now = time.monotonic()
|
|
if now - last_port_scan > port_scan_interval:
|
|
discover_new_ports()
|
|
last_port_scan = now
|
|
pair_waiting_contexts()
|
|
else:
|
|
pair_waiting_contexts()
|
|
for ctx in list(contexts.values()):
|
|
# Reconnect UART if needed.
|
|
if ctx.port and ctx.uart is None and (now - ctx.last_reopen_attempt) > 1.0:
|
|
ctx.last_reopen_attempt = now
|
|
uart = open_uart_or_warn(ctx.port, args.baud, console)
|
|
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:
|
|
energy = apply_rumble(ctx.controller, payload)
|
|
ctx.rumble_active = energy >= RUMBLE_MIN_ACTIVE
|
|
if ctx.rumble_active and energy != ctx.last_rumble_energy:
|
|
ctx.last_rumble_change = now
|
|
ctx.last_rumble_energy = energy
|
|
ctx.last_rumble = now
|
|
elif ctx.rumble_active and (now - ctx.last_rumble) > RUMBLE_IDLE_TIMEOUT:
|
|
sdl2.SDL_GameControllerRumble(ctx.controller, 0, 0, 0)
|
|
ctx.rumble_active = False
|
|
ctx.last_rumble_energy = 0.0
|
|
elif ctx.rumble_active and (now - ctx.last_rumble_change) > RUMBLE_STUCK_TIMEOUT:
|
|
# Guard against a stream of tiny-but-nonzero rumble packets that never decay.
|
|
sdl2.SDL_GameControllerRumble(ctx.controller, 0, 0, 0)
|
|
ctx.rumble_active = False
|
|
ctx.last_rumble_energy = 0.0
|
|
except SerialException as exc:
|
|
console.print(f"[yellow]UART {ctx.port} disconnected: {exc}[/yellow]")
|
|
try:
|
|
ctx.uart.close()
|
|
except Exception:
|
|
pass
|
|
sdl2.SDL_GameControllerRumble(ctx.controller, 0, 0, 0)
|
|
ctx.uart = None
|
|
ctx.rumble_active = False
|
|
ctx.last_rumble_energy = 0.0
|
|
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()
|