joystick(core): replace sdl with 0xcafed00d/joystick package (#988)

hybridgroup · Sep 23, 2023 · cd653e9 · cd653e9
1 parent beaefb7
commit cd653e9
Show file tree

Hide file tree

Showing 41 changed files with 839 additions and 464 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -38,10 +38,10 @@ jobs:
           name: Debug version
           command: go version
       - run:
-          # digispark needs libusb, joystick needs sdl2, opencv needs opencv
-          name: Platform tests (except digispark, joystick, opencv)
+          # digispark needs libusb, opencv needs opencv
+          name: Platform tests (except digispark and opencv)
           command: |
-            go test -v $(go list ./platforms/... | grep -v platforms/digispark | grep -v platforms/joystick | grep -v platforms/opencv)
+            go test -v $(go list ./platforms/... | grep -v platforms/digispark | grep -v platforms/opencv)
   
   "check_examples":
     docker:
@@ -52,11 +52,11 @@ jobs:
           name: Debug version
           command: go version
       - run:
-          # digispark needs libusb, joystick needs sdl2, opencv needs opencv
-          name: Check examples (except digispark, joystick, opencv)
+          # digispark needs libusb, opencv needs opencv
+          name: Check examples (except digispark, opencv)
           command: |
             ALL=$(grep -l -r --include "*.go" 'build example' ./)
-            SOME=$(grep -L 'digispark' $(grep -L 'joystick' $(grep -L 'gocv' ${ALL})))
+            SOME=$(grep -L 'digispark' $(grep -L 'gocv' ${ALL}))
             for e in ${SOME} ; do go vet "${e}" ; done
 
 workflows:

diff --git a/Makefile b/Makefile
@@ -2,12 +2,8 @@
 ALL_EXAMPLES := $(shell grep -l -r --include "*.go" 'build example' ./)
 # prevent examples with gocv (opencv) dependencies
 EXAMPLES_NO_GOCV := $(shell grep -L 'gocv' $(ALL_EXAMPLES))
-# prevent examples with joystick (sdl2) dependencies
-EXAMPLES_NO_JOYSTICK := $(shell grep -L 'joystick' $(ALL_EXAMPLES))
-# prevent examples with joystick (sdl2) and gocv (opencv) dependencies
-EXAMPLES_NO_GOCV_JOYSTICK := $(shell grep -L 'joystick' $$(grep -L 'gocv' $(EXAMPLES_NO_GOCV)))
 # used examples
-EXAMPLES := $(EXAMPLES_NO_GOCV_JOYSTICK)
+EXAMPLES := $(EXAMPLES_NO_GOCV)
 
 .PHONY: test test_race test_cover robeaux version_check fmt_check fmt_fix examples examples_check $(EXAMPLES)
 

diff --git a/appveyor.yml b/appveyor.yml
@@ -16,6 +16,10 @@ build_script:
   - go test -v -cpu=2 .
   - go test -v -cpu=2 ./drivers/aio/...
   - go test -v -cpu=2 ./drivers/i2c/...
+  - go test -v -cpu=2 ./platforms/dji/...
   - go test -v -cpu=2 ./platforms/firmata/...
   - go test -v -cpu=2 ./platforms/ble/...
+  - go test -v -cpu=2 ./platforms/joystick/...
+  - go test -v -cpu=2 ./platforms/parrot/...
+  - go test -v -cpu=2 ./platforms/sphero/...
   - cd ..
diff --git a/examples/ardrone_ps3.go b/examples/ardrone_ps3.go
@@ -25,7 +25,7 @@ var leftX, leftY, rightX, rightY atomic.Value
 const offset = 32767.0
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, "dualshock3")
 
 	ardroneAdaptor := ardrone.NewAdaptor()

diff --git a/examples/bebop_ps3.go b/examples/bebop_ps3.go
@@ -25,7 +25,7 @@ var leftX, leftY, rightX, rightY atomic.Value
 const offset = 32767.0
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, "dualshock3")
 
 	bebopAdaptor := bebop.NewAdaptor()

diff --git a/examples/bebop_ps3_video.go b/examples/bebop_ps3_video.go
@@ -83,7 +83,7 @@ func ffmpeg() (stdin io.WriteCloser, stderr io.ReadCloser, err error) {
 }
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, "dualshock3")
 
 	bebopAdaptor := bebop.NewAdaptor()

diff --git a/examples/joystick_ps3.go b/examples/joystick_ps3.go
@@ -14,7 +14,7 @@ import (
 )
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, joystick.Dualshock3)
 
 	work := func() {
@@ -64,15 +64,27 @@ func main() {
 		stick.On(joystick.RightPress, func(data interface{}) {
 			fmt.Println("right_press")
 		})
+		stick.On(joystick.RightRelease, func(data interface{}) {
+			fmt.Println("right_release")
+		})
 		stick.On(joystick.LeftPress, func(data interface{}) {
 			fmt.Println("left_press")
 		})
+		stick.On(joystick.LeftRelease, func(data interface{}) {
+			fmt.Println("left_release")
+		})
 		stick.On(joystick.UpPress, func(data interface{}) {
 			fmt.Println("up_press")
 		})
+		stick.On(joystick.UpRelease, func(data interface{}) {
+			fmt.Println("up_release")
+		})
 		stick.On(joystick.DownPress, func(data interface{}) {
 			fmt.Println("down_press")
 		})
+		stick.On(joystick.DownRelease, func(data interface{}) {
+			fmt.Println("down_release")
+		})
 
 		// joysticks
 		stick.On(joystick.LeftX, func(data interface{}) {
@@ -92,15 +104,27 @@ func main() {
 		stick.On(joystick.R1Press, func(data interface{}) {
 			fmt.Println("R1Press", data)
 		})
+		stick.On(joystick.R1Release, func(data interface{}) {
+			fmt.Println("R1Release", data)
+		})
 		stick.On(joystick.R2Press, func(data interface{}) {
 			fmt.Println("R2Press", data)
 		})
+		stick.On(joystick.R2Release, func(data interface{}) {
+			fmt.Println("R2Release", data)
+		})
 		stick.On(joystick.L1Press, func(data interface{}) {
 			fmt.Println("L1Press", data)
 		})
+		stick.On(joystick.L1Release, func(data interface{}) {
+			fmt.Println("L1Release", data)
+		})
 		stick.On(joystick.L2Press, func(data interface{}) {
 			fmt.Println("L2Press", data)
 		})
+		stick.On(joystick.L2Release, func(data interface{}) {
+			fmt.Println("L2Release", data)
+		})
 	}
 
 	robot := gobot.NewRobot("joystickBot",

diff --git a/examples/joystick_ps4.go b/examples/joystick_ps4.go
@@ -14,7 +14,7 @@ import (
 )
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, joystick.Dualshock4)
 
 	work := func() {

diff --git a/examples/joystick_ps5.go b/examples/joystick_ps5.go
@@ -14,7 +14,7 @@ import (
 )
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, joystick.Dualsense)
 
 	work := func() {

diff --git a/examples/joystick_xbox360.go b/examples/joystick_xbox360.go
@@ -14,7 +14,7 @@ import (
 )
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, joystick.Xbox360)
 
 	work := func() {

diff --git a/examples/joystick_xbox360_rock_band_drums.go b/examples/joystick_xbox360_rock_band_drums.go
@@ -14,7 +14,7 @@ import (
 )
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, joystick.Xbox360RockBandDrums)
 
 	work := func() {

diff --git a/examples/joystick_xboxone.go b/examples/joystick_xboxone.go
@@ -14,7 +14,7 @@ import (
 )
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	joystick := joystick.NewDriver(joystickAdaptor, joystick.XboxOne)
 
 	work := func() {

diff --git a/examples/minidrone_mambo_ps3.go b/examples/minidrone_mambo_ps3.go
@@ -43,7 +43,7 @@ var leftX, leftY, rightX, rightY atomic.Value
 const offset = 32767.0
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor,
 		"./platforms/joystick/configs/dualshock3.json",
 	)

diff --git a/examples/minidrone_ps3.go b/examples/minidrone_ps3.go
@@ -43,7 +43,7 @@ var leftX, leftY, rightX, rightY atomic.Value
 const offset = 32767.0
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, "dualshock3")
 
 	droneAdaptor := ble.NewClientAdaptor(os.Args[1])

diff --git a/examples/tello_facetracker.go b/examples/tello_facetracker.go
@@ -74,7 +74,7 @@ var (
 	flightData *tello.FlightData
 
 	// joystick
-	joyAdaptor                   = joystick.NewAdaptor()
+	joyAdaptor                   = joystick.NewAdaptor("0")
 	stick                        = joystick.NewDriver(joyAdaptor, "dualshock4")
 	leftX, leftY, rightX, rightY atomic.Value
 )

diff --git a/examples/tello_ps3.go b/examples/tello_ps3.go
@@ -37,7 +37,7 @@ var leftX, leftY, rightX, rightY atomic.Value
 const offset = 32767.0
 
 func main() {
-	joystickAdaptor := joystick.NewAdaptor()
+	joystickAdaptor := joystick.NewAdaptor("0")
 	stick := joystick.NewDriver(joystickAdaptor, "dualshock3")
 
 	drone := tello.NewDriver("8888")

diff --git a/go.mod b/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
@@ -11,9 +12,9 @@ require (
 	github.com/hybridgroup/go-ardrone v0.0.0-20140402002621-b9750d8d7b78
 	github.com/hybridgroup/mjpeg v0.0.0-20140228234708-4680f319790e
 	github.com/nats-io/nats.go v1.27.1
+	github.com/nsf/termbox-go v1.1.1
 	github.com/sigurn/crc8 v0.0.0-20220107193325-2243fe600f9f
 	github.com/stretchr/testify v1.8.4
-	github.com/veandco/go-sdl2 v0.4.35
 	github.com/warthog618/gpiod v0.8.1
 	go.bug.st/serial v1.5.0
 	gocv.io/x/gocv v0.33.0
@@ -34,6 +35,7 @@ require (
 	github.com/gorilla/websocket v1.5.0 // indirect
 	github.com/hashicorp/errwrap v1.1.0 // indirect
 	github.com/klauspost/compress v1.16.7 // indirect
+	github.com/mattn/go-runewidth v0.0.9 // indirect
 	github.com/muka/go-bluetooth v0.0.0-20221213043340-85dc80edc4e1 // indirect
 	github.com/nats-io/nats-server/v2 v2.7.4 // indirect
 	github.com/nats-io/nkeys v0.4.4 // indirect

diff --git a/go.sum b/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=
@@ -52,6 +54,8 @@ github.com/kr/pretty v0.2.1/go.mod h1:ipq/a2n7PKx3OHsz4KJII5eveXtPO4qwEXGdVfWzfn
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
 github.com/kr/text v0.1.0 h1:45sCR5RtlFHMR4UwH9sdQ5TC8v0qDQCHnXt+kaKSTVE=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
+github.com/mattn/go-runewidth v0.0.9 h1:Lm995f3rfxdpd6TSmuVCHVb/QhupuXlYr8sCI/QdE+0=
+github.com/mattn/go-runewidth v0.0.9/go.mod h1:H031xJmbD/WCDINGzjvQ9THkh0rPKHF+m2gUSrubnMI=
 github.com/minio/highwayhash v1.0.2 h1:Aak5U0nElisjDCfPSG79Tgzkn2gl66NxOMspRrKnA/g=
 github.com/muka/go-bluetooth v0.0.0-20220830075246-0746e3a1ea53/go.mod h1:dMCjicU6vRBk34dqOmIZm0aod6gUwZXOXzBROqGous0=
 github.com/muka/go-bluetooth v0.0.0-20221213043340-85dc80edc4e1 h1:BuVRHr4HHJbk1DHyWkArJ7E8J/VA8ncCr/VLnQFazBo=
@@ -67,6 +71,8 @@ github.com/nats-io/nuid v1.0.1 h1:5iA8DT8V7q8WK2EScv2padNa/rTESc1KdnPw4TC2paw=
 github.com/nats-io/nuid v1.0.1/go.mod h1:19wcPz3Ph3q0Jbyiqsd0kePYG7A95tJPxeL+1OSON2c=
 github.com/niemeyer/pretty v0.0.0-20200227124842-a10e7caefd8e h1:fD57ERR4JtEqsWbfPhv4DMiApHyliiK5xCTNVSPiaAs=
 github.com/niemeyer/pretty v0.0.0-20200227124842-a10e7caefd8e/go.mod h1:zD1mROLANZcx1PVRCS0qkT7pwLkGfwJo4zjcN/Tysno=
+github.com/nsf/termbox-go v1.1.1 h1:nksUPLCb73Q++DwbYUBEglYBRPZyoXJdrj5L+TkjyZY=
+github.com/nsf/termbox-go v1.1.1/go.mod h1:T0cTdVuOwf7pHQNtfhnEbzHbcNyCEcVU4YPpouCbVxo=
 github.com/pascaldekloe/goe v0.1.0/go.mod h1:lzWF7FIEvWOWxwDKqyGYQf6ZUaNfKdP144TG7ZOy1lc=
 github.com/paypal/gatt v0.0.0-20151011220935-4ae819d591cf/go.mod h1:+AwQL2mK3Pd3S+TUwg0tYQjid0q1txyNUJuuSmz8Kdk=
 github.com/pelletier/go-toml v1.6.0/go.mod h1:5N711Q9dKgbdkxHL+MEfF31hpT7l0S0s/t2kKREewys=
@@ -100,8 +106,6 @@ github.com/tdakkota/win32metadata v0.1.0/go.mod h1:77e6YvX0LIVW+O81fhWLnXAxxcyu/
 github.com/tinygo-org/cbgo v0.0.4 h1:3D76CRYbH03Rudi8sEgs/YO0x3JIMdyq8jlQtk/44fU=
 github.com/tinygo-org/cbgo v0.0.4/go.mod h1:7+HgWIHd4nbAz0ESjGlJ1/v9LDU1Ox8MGzP9mah/fLk=
 github.com/valyala/fastjson v1.6.3/go.mod h1:CLCAqky6SMuOcxStkYQvblddUtoRxhYMGLrsQns1aXY=
-github.com/veandco/go-sdl2 v0.4.35 h1:NohzsfageDWGtCd9nf7Pc3sokMK/MOK+UA2QMJARWzQ=
-github.com/veandco/go-sdl2 v0.4.35/go.mod h1:OROqMhHD43nT4/i9crJukyVecjPNYYuCofep6SNiAjY=
 github.com/warthog618/gpiod v0.8.1 h1:+8iHpHd3fljAd6l4AT8jPbMDQNKdvBIpW/hmLgAcHiM=
 github.com/warthog618/gpiod v0.8.1/go.mod h1:A7v1hGR2eTsnkN+e9RoAPYgJG9bLJWtwyIIK+pgqC7s=
 github.com/yuin/goldmark v1.2.1/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74=

diff --git a/platforms/joystick/LICENSE b/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.

diff --git a/platforms/joystick/README.md b/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.