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[Personalrobots-commit] SF.net SVN: personalrobots:[20914] pkg/trunk/stacks/joystick_drivers/ps3joy
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From: <bla...@us...> - 2009-08-06 18:18:32
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Revision: 20914
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20914&view=rev
Author: blaisegassend
Date: 2009-08-06 18:18:14 +0000 (Thu, 06 Aug 2009)
Log Message:
-----------
Added pairing tools and instructions
Modified Paths:
--------------
pkg/trunk/stacks/joystick_drivers/ps3joy/CMakeLists.txt
Added Paths:
-----------
pkg/trunk/stacks/joystick_drivers/ps3joy/README
pkg/trunk/stacks/joystick_drivers/ps3joy/sixpair.c
Modified: pkg/trunk/stacks/joystick_drivers/ps3joy/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/joystick_drivers/ps3joy/CMakeLists.txt 2009-08-06 18:16:23 UTC (rev 20913)
+++ pkg/trunk/stacks/joystick_drivers/ps3joy/CMakeLists.txt 2009-08-06 18:18:14 UTC (rev 20914)
@@ -21,10 +21,12 @@
#uncomment if you have defined services
#gensrv()
+rospack_add_executable(sixpair sixpair.c)
+target_link_libraries(sixpair -lusb)
+
#common commands for building c++ executables and libraries
#rospack_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rospack_add_boost_directories()
#rospack_link_boost(${PROJECT_NAME} thread)
#rospack_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
Added: pkg/trunk/stacks/joystick_drivers/ps3joy/README
===================================================================
--- pkg/trunk/stacks/joystick_drivers/ps3joy/README (rev 0)
+++ pkg/trunk/stacks/joystick_drivers/ps3joy/README 2009-08-06 18:18:14 UTC (rev 20914)
@@ -0,0 +1,46 @@
+Packages that need to be installed
+----------------------------------
+joystick
+libusb-dev
+
+Pairing instructions
+--------------------
+
+1) If you can connect the joystick and the bluetooth dongle into the same
+computer.
+
+Connect the joystick to the computer using a USB cable.
+
+Load the bluetooth dongle's MAC address into the ps3 joystick using:
+
+sudo bash
+rosrun ps3joy sixpair
+
+2) If you cannot connect the joystick to the same computer as the dongle.
+
+Find out the bluetooth dongle's MAC address by running (on the computer
+that has the bluetooth dongle):
+
+hciconfig
+
+If this does not work, you may need to do
+sudo hciconfig hci0 up
+and retry
+hciconfig
+
+Plug the PS3 joystick into some other computer using a USB cable.
+
+Replace the joystick's mac address in the following command:
+sudo rosrun ps3joy sixpair 01:23:45:67:89:ab
+
+Starting the PS3 joystick
+-------------------------
+
+rosrun ps3joy ps3joy.py
+
+This should make a joystick appear at /dev/input/js?
+
+You can check that it is working with
+jstest /dev/input/js?
+(replace ? with the name of your joystick)
+
Added: pkg/trunk/stacks/joystick_drivers/ps3joy/sixpair.c
===================================================================
--- pkg/trunk/stacks/joystick_drivers/ps3joy/sixpair.c (rev 0)
+++ pkg/trunk/stacks/joystick_drivers/ps3joy/sixpair.c 2009-08-06 18:18:14 UTC (rev 20914)
@@ -0,0 +1,122 @@
+/*
+ * sixpair.c version 2007-04-18
+ * Compile with: gcc -o sixpair sixpair.c -lusb
+ */
+
+#include <string.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <usb.h>
+
+#define VENDOR 0x054c
+#define PRODUCT 0x0268
+
+#define USB_DIR_IN 0x80
+#define USB_DIR_OUT 0
+
+void fatal(char *msg) { perror(msg); exit(1); }
+
+void show_master(usb_dev_handle *devh, int itfnum) {
+ printf("Current Bluetooth master: ");
+ unsigned char msg[8];
+ int res = usb_control_msg
+ (devh, USB_DIR_IN | USB_TYPE_CLASS | USB_RECIP_INTERFACE,
+ 0x01, 0x03f5, itfnum, (void*)msg, sizeof(msg), 5000);
+ if ( res < 0 ) { perror("USB_REQ_GET_CONFIGURATION"); return; }
+ printf("%02x:%02x:%02x:%02x:%02x:%02x\n",
+ msg[2], msg[3], msg[4], msg[5], msg[6], msg[7]);
+}
+
+void set_master(usb_dev_handle *devh, int itfnum, int mac[6]) {
+ printf("Setting master bd_addr to %02x:%02x:%02x:%02x:%02x:%02x\n",
+ mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
+ char msg[8]= { 0x01, 0x00, mac[0],mac[1],mac[2],mac[3],mac[4],mac[5] };
+ int res = usb_control_msg
+ (devh,
+ USB_DIR_OUT | USB_TYPE_CLASS | USB_RECIP_INTERFACE,
+ 0x09,
+ 0x03f5, itfnum, msg, sizeof(msg),
+ 5000);
+ if ( res < 0 ) fatal("USB_REQ_SET_CONFIGURATION");
+}
+
+void process_device(int argc, char **argv, struct usb_device *dev,
+ struct usb_config_descriptor *cfg, int itfnum) {
+ int mac[6], have_mac=0;
+
+ usb_dev_handle *devh = usb_open(dev);
+ if ( ! devh ) fatal("usb_open");
+
+ usb_detach_kernel_driver_np(devh, itfnum);
+
+ int res = usb_claim_interface(devh, itfnum);
+ if ( res < 0 ) fatal("usb_claim_interface");
+
+ show_master(devh, itfnum);
+
+ if ( argc >= 2 ) {
+ if ( sscanf(argv[1], "%x:%x:%x:%x:%x:%x",
+ &mac[0],&mac[1],&mac[2],&mac[3],&mac[4],&mac[5]) != 6 ) {
+
+ printf("usage: %s [<bd_addr of master>]\n", argv[0]);
+ exit(1);
+ }
+ } else {
+ FILE *f = popen("hcitool dev", "r");
+ if ( !f ||
+ fscanf(f, "%*s\n%*s %x:%x:%x:%x:%x:%x",
+ &mac[0],&mac[1],&mac[2],&mac[3],&mac[4],&mac[5]) != 6 ) {
+ printf("Unable to retrieve local bd_addr from `hcitool dev`.\n");
+ printf("Please enable Bluetooth or specify an address manually.\n");
+ exit(1);
+ }
+ pclose(f);
+ }
+
+ set_master(devh, itfnum, mac);
+
+ usb_close(devh);
+}
+
+int main(int argc, char *argv[]) {
+
+ usb_init();
+ if ( usb_find_busses() < 0 ) fatal("usb_find_busses");
+ if ( usb_find_devices() < 0 ) fatal("usb_find_devices");
+ struct usb_bus *busses = usb_get_busses();
+ if ( ! busses ) fatal("usb_get_busses");
+
+ int found = 0;
+
+ struct usb_bus *bus;
+ for ( bus=busses; bus; bus=bus->next ) {
+ struct usb_device *dev;
+ for ( dev=bus->devices; dev; dev=dev->next) {
+ struct usb_config_descriptor *cfg;
+ for ( cfg = dev->config;
+ cfg < dev->config + dev->descriptor.bNumConfigurations;
+ ++cfg ) {
+ int itfnum;
+ for ( itfnum=0; itfnum<cfg->bNumInterfaces; ++itfnum ) {
+ struct usb_interface *itf = &cfg->interface[itfnum];
+ struct usb_interface_descriptor *alt;
+ for ( alt = itf->altsetting;
+ alt < itf->altsetting + itf->num_altsetting;
+ ++alt ) {
+ if ( dev->descriptor.idVendor == VENDOR &&
+ dev->descriptor.idProduct == PRODUCT &&
+ alt->bInterfaceClass == 3 ) {
+ process_device(argc, argv, dev, cfg, itfnum);
+ ++found;
+ }
+ }
+ }
+ }
+ }
+ }
+
+ if ( ! found ) printf("No controller found on USB busses.\n");
+ return 0;
+
+}
+
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