platforms/joystick: remove sdl based joystick and replace with @0xcaf…

…ed00d package

Signed-off-by: deadprogram <ron@hybridgroup.com>

go.mod

@@ -3,6 +3,7 @@ module gobot.io/x/gobot/v2
 go 1.18
 
 require (
+	github.com/0xcafed00d/joystick v1.0.1
 	github.com/bmizerany/pat v0.0.0-20210406213842-e4b6760bdd6f
 	github.com/donovanhide/eventsource v0.0.0-20210830082556-c59027999da0
 	github.com/eclipse/paho.mqtt.golang v1.4.2

go.sum

@@ -1,3 +1,5 @@
+github.com/0xcafed00d/joystick v1.0.1 h1:r4p2cRp4MHJWu1gArhGtumbkPxmr3tcOUTFqybEhplM=
+github.com/0xcafed00d/joystick v1.0.1/go.mod h1:gzszjNgzP6jtCAeSdC9OqPVO5rO7TJuaw4P7eAjNzx8=
 github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU=
 github.com/bgould/http v0.0.0-20190627042742-d268792bdee7/go.mod h1:BTqvVegvwifopl4KTEDth6Zezs9eR+lCWhvGKvkxJHE=
 github.com/bmizerany/pat v0.0.0-20210406213842-e4b6760bdd6f h1:gOO/tNZMjjvTKZWpY7YnXC72ULNLErRtp94LountVE8=

platforms/joystick/LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2014-2018 The Hybrid Group
+Copyright (c) 2014-2023 The Hybrid Group
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.

platforms/joystick/README.md

@@ -1,6 +1,6 @@
 # Joystick
 
-You can use Gobot with any USB joystick or game controller that is compatible with [Simple DirectMedia Layer](http://www.libsdl.org/).
+You can use Gobot with many USB joysticks and game controllers.
 
 Current configurations included:
 
@@ -14,41 +14,24 @@ Current configurations included:
 
 ## How to Install
 
-This package requires `sdl2` to be installed on your system
+Any platform specific info here...
 
 ### macOS
 
-To install `sdl2` on macOS using Homebrew:
-
-```sh
-brew install sdl2
-```
-
-To use an XBox360 controller on macOS, you will most likely need to install additional software such as [https://github.com/360Controller/360Controller](https://github.com/360Controller/360Controller).
 
 ### Linux (Ubuntu and Raspbian)
 
-Please refer to the main [README.md](https://github.com/hybridgroup/gobot/blob/release/README.md)
 
-You must be running a Linux kernel that is v4.14+ in order for the various controller mappings to work as expected.
+### Windows
 
-Then you must install the latest SDL2 v2.0.8 or greater:
-
-```sh
-wget https://www.libsdl.org/release/SDL2-2.0.8.tar.gz
-tar -zxvf SDL2-2.0.8.tar.gz
-cd SDL2-2.0.8/
-./configure && make && sudo make install
-```
 
 ## How to Use
 
-Controller configurations are stored in Gobot it, but you can also use external file in JSON format. Take a look at the
-`configs` directory for examples.
+Controller configurations are stored in Gobot, but you can also use external file in JSON format. Take a look at the `configs` directory for examples.
 
 ## How to Connect
 
-Plug your USB joystick or game controller into your USB port. If your device is supported by SDL, you are now ready.
+Plug your USB joystick or game controller into your USB port. If your device is supported by your operating system, it might prompt you to install some system drivers.
 
 For the Dualshock4, you must pair the device with your computers Bluetooth interface first, before running your Gobot program.
 
@@ -67,7 +50,7 @@ import (
 )
 
 func main() {
-  joystickAdaptor := joystick.NewAdaptor()
+  joystickAdaptor := joystick.NewAdaptor(0)
   stick := joystick.NewDriver(joystickAdaptor, "dualshock3",
   )
 
@@ -151,25 +134,4 @@ func main() {
 
 ## How to Add A New Joystick
 
-In the `bin` directory for this package is a CLI utility program that scans for SDL joystick events, and displays the ID
-and value:
-
-```sh
-$ go run ./platforms/joystick/bin/scanner.go
-Joystick 0 connected
-[6625 ms] Axis: 1       value:-22686
-[6641 ms] Axis: 1       value:-32768
-[6836 ms] Axis: 1       value:-18317
-[6852 ms] Axis: 1       value:0
-[8663 ms] Axis: 3       value:-32768
-[8873 ms] Axis: 3       value:0
-[10183 ms] Axis: 0      value:-24703
-[10183 ms] Axis: 0      value:-32768
-[10313 ms] Axis: 1      value:-3193
-[10329 ms] Axis: 1      value:0
-[10345 ms] Axis: 0      value:0
-```
-
-You can use the output from this program to create a JSON file for the various buttons and axes on your joystick/gamepad.
-You could also create a file similar to `joystick_dualshock3.go` and submit a pull request with the new configuration so
-others can use it as well.
+You can create a file similar to `joystick_dualshock3.go` and submit a pull request with the new configuration so others can use it as well.

platforms/joystick/configs/dualshock3.json

@@ -11,12 +11,20 @@
             "id": 1
         },
         {
-            "name": "right_x",
+            "name": "l2",
             "id": 2
         },
         {
-            "name": "right_y",
+            "name": "right_x",
             "id": 3
+        },
+        {
+            "name": "right_y",
+            "id": 4
+        },
+        {
+            "name": "r2",
+            "id": 5
         }
     ],
     "buttons": [

platforms/joystick/doc.go

@@ -19,7 +19,7 @@ Example:
 	)
 
 	func main() {
-		joystickAdaptor := joystick.NewAdaptor()
+		joystickAdaptor := joystick.NewAdaptor(0)
 		joystick := joystick.NewDriver(joystickAdaptor,
 			"./platforms/joystick/configs/dualshock3.json",
 		)

platforms/joystick/joystick_adaptor.go

@@ -1,38 +1,40 @@
 package joystick
 
 import (
-	"errors"
+	"fmt"
 
 	"gobot.io/x/gobot/v2"
 
-	"github.com/veandco/go-sdl2/sdl"
+	js "github.com/0xcafed00d/joystick"
 )
 
 type joystick interface {
 	Close()
-	InstanceID() sdl.JoystickID
+	ID() int
 }
 
 // Adaptor represents a connection to a joystick
 type Adaptor struct {
 	name     string
-	joystick joystick
+	id int
+	joystick js.Joystick
 	connect  func(*Adaptor) error
 }
 
 // NewAdaptor returns a new Joystick Adaptor.
-func NewAdaptor() *Adaptor {
+// Pass in the ID of the joystick you wish to connect to.
+func NewAdaptor(id int) *Adaptor {
 	return &Adaptor{
 		name: gobot.DefaultName("Joystick"),
 		connect: func(j *Adaptor) error {
-			if err := sdl.Init(sdl.INIT_JOYSTICK); err != nil {
-				return err
+			joy, err := js.Open(id)
+			if err != nil {
+				return fmt.Errorf("No joystick available: %v", err)
 			}
-			if sdl.NumJoysticks() > 0 {
-				j.joystick = sdl.JoystickOpen(0)
-				return nil
-			}
-			return errors.New("No joystick available")
+
+			j.id = id
+			j.joystick = joy
+			return nil
 		},
 	}
 }

platforms/joystick/joystick_adaptor_test.go

@@ -1,7 +1,6 @@
 package joystick
 
 import (
-	"errors"
 	"strings"
 	"testing"
 
@@ -12,7 +11,7 @@ import (
 var _ gobot.Adaptor = (*Adaptor)(nil)
 
 func initTestAdaptor() *Adaptor {
-	a := NewAdaptor()
+	a := NewAdaptor(6)
 	a.connect = func(j *Adaptor) (err error) {
 		j.joystick = &testJoystick{}
 		return nil
@@ -31,8 +30,9 @@ func TestAdaptorConnect(t *testing.T) {
 	a := initTestAdaptor()
 	gobottest.Assert(t, a.Connect(), nil)
 
-	a = NewAdaptor()
-	gobottest.Assert(t, a.Connect(), errors.New("No joystick available"))
+	a = NewAdaptor(6)
+	err := a.Connect()
+	gobottest.Assert(t, strings.HasPrefix(err.Error(), "No joystick available"), true)
 }
 
 func TestAdaptorFinalize(t *testing.T) {

platforms/joystick/joystick_driver.go

@@ -6,8 +6,8 @@ import (
 	"os"
 	"time"
 
-	"github.com/veandco/go-sdl2/sdl"
 	"gobot.io/x/gobot/v2"
+	js "github.com/0xcafed00d/joystick"
 )
 
 const (
@@ -46,7 +46,9 @@ type Driver struct {
 	connection gobot.Connection
 	configPath string
 	config     joystickConfig
-	poll       func() sdl.Event
+	buttonState map[int]bool
+	axisState map[int]int
+
 	halt       chan bool
 	gobot.Eventer
 }
@@ -86,9 +88,9 @@ func NewDriver(a *Adaptor, config string, v ...time.Duration) *Driver {
 		connection: a,
 		Eventer:    gobot.NewEventer(),
 		configPath: config,
-		poll: func() sdl.Event {
-			return sdl.PollEvent()
-		},
+		buttonState: make(map[int]bool),
+		axisState: make(map[int]int),
+
 		interval: 10 * time.Millisecond,
 		halt:     make(chan bool),
 	}
@@ -159,18 +161,17 @@ func (j *Driver) Start() (err error) {
 	for _, value := range j.config.Axis {
 		j.AddEvent(value.Name)
 	}
-	for _, value := range j.config.Hats {
-		j.AddEvent(fmt.Sprintf("%s_press", value.Name))
-		j.AddEvent(fmt.Sprintf("%s_release", value.Name))
-	}
 
 	go func() {
 		for {
-			for event := j.poll(); event != nil; event = j.poll() {
-				if errs := j.handleEvent(event); errs != nil {
-					j.Publish(j.Event("error"), errs)
-				}
+			state, err := j.adaptor().joystick.Read()
+			if err != nil {
+				j.Publish(j.Event("error"), err)
+				break
 			}
+			j.handleButtons(state)
+			j.handleAxes(state)
+
 			select {
 			case <-time.After(j.interval):
 			case <-j.halt:
@@ -189,46 +190,48 @@ func (j *Driver) Halt() (err error) {
 
 var previousHat = ""
 
-// HandleEvent publishes an specific event according to data received
-func (j *Driver) handleEvent(event sdl.Event) error {
-	switch data := event.(type) {
-	case *sdl.JoyAxisEvent:
-		if data.Which == j.adaptor().joystick.InstanceID() {
-			axis := j.findName(data.Axis, j.config.Axis)
-			if axis == "" {
-				return fmt.Errorf("Unknown Axis: %v", data.Axis)
+func (j *Driver) handleButtons(state js.State) error {
+	for button := 0; button < j.adaptor().joystick.ButtonCount(); button++ {
+		switch {
+		case state.Buttons&(1<<uint32(button)) != 0 && !j.buttonState[button]:
+			j.buttonState[button] = true
+			name := j.findName(uint8(button), j.config.Buttons)
+			if name == "" {
+				return fmt.Errorf("Unknown button: %v", button)
 			}
-			j.Publish(j.Event(axis), data.Value)
-		}
-	case *sdl.JoyButtonEvent:
-		if data.Which == j.adaptor().joystick.InstanceID() {
-			button := j.findName(data.Button, j.config.Buttons)
-			if button == "" {
-				return fmt.Errorf("Unknown Button: %v", data.Button)
-			}
-			if data.State == 1 {
-				j.Publish(j.Event(fmt.Sprintf("%s_press", button)), nil)
-			} else {
-				j.Publish(j.Event(fmt.Sprintf("%s_release", button)), nil)
+
+			j.Publish(j.Event(fmt.Sprintf("%s_press", name)), nil)
+		case state.Buttons&(1<<uint32(button)) == 0 && j.buttonState[button]:
+			j.buttonState[button] = false
+			name := j.findName(uint8(button), j.config.Buttons)
+			if name == "" {
+				return fmt.Errorf("Unknown button: %v", button)
 			}
+
+			j.Publish(j.Event(fmt.Sprintf("%s_release", name)), nil)
 		}
-	case *sdl.JoyHatEvent:
-		if data.Which == j.adaptor().joystick.InstanceID() {
-			hat := j.findHatName(data.Value, data.Hat, j.config.Hats)
-			if hat == "" {
-				return fmt.Errorf("Unknown Hat: %v %v", data.Hat, data.Value)
-			} else if hat == "released" {
-				hat = previousHat
-				j.Publish(j.Event(fmt.Sprintf("%s_release", hat)), true)
-			} else {
-				previousHat = hat
-				j.Publish(j.Event(fmt.Sprintf("%s_press", hat)), true)
-			}
+	}
+
+	return nil
+}
+
+func (j *Driver) handleAxes(state js.State) error {
+	for axis := 0; axis < j.adaptor().joystick.AxisCount(); axis++ {
+		name := j.findName(uint8(axis), j.config.Axis)
+		if name == "" {
+			return fmt.Errorf("Unknown Axis: %v", axis)
+		}
+
+		if j.axisState[axis] != state.AxisData[axis] {
+			j.axisState[axis] = state.AxisData[axis]
+			j.Publish(name, state.AxisData[axis])
 		}
 	}
+
 	return nil
 }
 
+// findName returns name from button or axis found by id in provided list
 func (j *Driver) findName(id uint8, list []pair) string {
 	for _, value := range list {
 		if int(id) == value.ID {
@@ -238,16 +241,6 @@ func (j *Driver) findName(id uint8, list []pair) string {
 	return ""
 }
 
-// findHatName returns name from hat found by id in provided list
-func (j *Driver) findHatName(id uint8, hat uint8, list []hat) string {
-	for _, lHat := range list {
-		if int(id) == lHat.ID && int(hat) == lHat.Hat {
-			return lHat.Name
-		}
-	}
-	return ""
-}
-
 // loadFile load the joystick config from a .json file
 func (j *Driver) loadFile() error {
 	file, e := os.ReadFile(j.configPath)