Merge pull request #1131 from Yamakaky/sensor-api

Add sensor API implementation

Author: Cobrand

.github/workflows/CI.yml

@@ -58,9 +58,7 @@ jobs:
 
   build-linux:
     name: build linux pkg-config
-    runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
       - name: Install dependencies
@@ -76,6 +74,6 @@ jobs:
           set -xeuo pipefail
           rustc --version
           cargo --version
-          cargo build --features "${CI_BUILD_FEATURES}"
-          cargo build --examples --features "${CI_BUILD_FEATURES}"
-          cargo test --features "${CI_BUILD_FEATURES}"
+          # SDL 2.0.10 so no hidapi
+          cargo build --no-default-features --features "${CI_BUILD_FEATURES}"
+          cargo test --no-default-features --features "${CI_BUILD_FEATURES}"

Cargo.toml

@@ -41,11 +41,13 @@ optional = true
 
 [features]
 unsafe_textures = []
-default = []
+#default = ["hidapi"]
 gfx = ["c_vec", "sdl2-sys/gfx"]
 mixer = ["sdl2-sys/mixer"]
 image = ["sdl2-sys/image"]
 ttf = ["sdl2-sys/ttf"]
+# Use hidapi support in SDL. Only 2.0.12 and after
+hidapi = []
 
 use-bindgen = ["sdl2-sys/use-bindgen"]
 use-pkgconfig = ["sdl2-sys/use-pkgconfig"]
@@ -141,6 +143,10 @@ name = "renderer-yuv"
 required-features = ["ttf", "image"]
 name = "resource-manager"
 
+[[example]]
+required-features = ["hidapi"]
+name = "sensors"
+
 [[example]]
 required-features = ["ttf"]
 name = "ttf-demo"

examples/sensors.rs

@@ -0,0 +1,89 @@
+use std::time::{Duration, Instant};
+
+use sdl2::{event::Event, sensor::SensorType};
+
+extern crate sdl2;
+
+fn main() -> Result<(), String> {
+    let sdl_context = sdl2::init()?;
+    let game_controller_subsystem = sdl_context.game_controller()?;
+
+    let available = game_controller_subsystem
+        .num_joysticks()
+        .map_err(|e| format!("can't enumerate joysticks: {}", e))?;
+
+    println!("{} joysticks available", available);
+
+    // Iterate over all available joysticks and look for game controllers.
+    let controller = (0..available)
+        .find_map(|id| {
+            if !game_controller_subsystem.is_game_controller(id) {
+                println!("{} is not a game controller", id);
+                return None;
+            }
+
+            println!("Attempting to open controller {}", id);
+
+            match game_controller_subsystem.open(id) {
+                Ok(c) => {
+                    // We managed to find and open a game controller,
+                    // exit the loop
+                    println!("Success: opened \"{}\"", c.name());
+                    Some(c)
+                }
+                Err(e) => {
+                    println!("failed: {:?}", e);
+                    None
+                }
+            }
+        })
+        .expect("Couldn't open any controller");
+
+    if !controller.has_sensor(SensorType::Accelerometer) {
+        return Err(format!(
+            "{} doesn't support the accelerometer",
+            controller.name()
+        ));
+    }
+    if !controller.has_sensor(SensorType::Gyroscope) {
+        return Err(format!(
+            "{} doesn't support the gyroscope",
+            controller.name()
+        ));
+    }
+
+    controller
+        .sensor_set_enabled(SensorType::Accelerometer, true)
+        .map_err(|e| format!("error enabling accelerometer: {}", e))?;
+    controller
+        .sensor_set_enabled(SensorType::Gyroscope, true)
+        .map_err(|e| format!("error enabling gyroscope: {}", e))?;
+    let mut now = Instant::now();
+    for event in sdl_context.event_pump()?.wait_iter() {
+        if false && now.elapsed() > Duration::from_secs(1) {
+            now = Instant::now();
+
+            let mut gyro_data = [0f32; 3];
+            let mut accel_data = [0f32; 3];
+
+            controller
+                .sensor_get_data(SensorType::Gyroscope, &mut gyro_data)
+                .map_err(|e| format!("error getting gyro data: {}", e))?;
+            controller
+                .sensor_get_data(SensorType::Accelerometer, &mut accel_data)
+                .map_err(|e| format!("error getting accel data: {}", e))?;
+
+            println!("gyro: {:?}, accel: {:?}", gyro_data, accel_data);
+        }
+
+        if let Event::ControllerSensorUpdated { .. } = event {
+            println!("{:?}", event);
+        }
+
+        if let Event::Quit { .. } = event {
+            break;
+        }
+    }
+
+    Ok(())
+}

src/sdl2/controller.rs

@@ -6,6 +6,11 @@ use std::fmt;
 use std::io;
 use std::path::Path;
 
+#[cfg(feature = "hidapi")]
+use crate::sensor::SensorType;
+#[cfg(feature = "hidapi")]
+use std::convert::TryInto;
+
 use crate::common::{validate_int, IntegerOrSdlError};
 use crate::get_error;
 use crate::joystick;
@@ -504,6 +509,81 @@ impl GameController {
     }
 }
 
+#[cfg(feature = "hidapi")]
+impl GameController {
+    #[doc(alias = "SDL_GameControllerHasSensor")]
+    pub fn has_sensor(&self, sensor_type: crate::sensor::SensorType) -> bool {
+        let result = unsafe { sys::SDL_GameControllerHasSensor(self.raw, sensor_type.into()) };
+
+        match result {
+            sys::SDL_bool::SDL_FALSE => false,
+            sys::SDL_bool::SDL_TRUE => true,
+        }
+    }
+
+    #[doc(alias = "SDL_GameControllerIsSensorEnabled")]
+    pub fn sensor_enabled(&self, sensor_type: crate::sensor::SensorType) -> bool {
+        let result =
+            unsafe { sys::SDL_GameControllerIsSensorEnabled(self.raw, sensor_type.into()) };
+
+        match result {
+            sys::SDL_bool::SDL_FALSE => false,
+            sys::SDL_bool::SDL_TRUE => true,
+        }
+    }
+
+    #[doc(alias = "SDL_GameControllerHasSensor")]
+    pub fn sensor_set_enabled(
+        &self,
+        sensor_type: crate::sensor::SensorType,
+        enabled: bool,
+    ) -> Result<(), IntegerOrSdlError> {
+        let result = unsafe {
+            sys::SDL_GameControllerSetSensorEnabled(
+                self.raw,
+                sensor_type.into(),
+                if enabled {
+                    sys::SDL_bool::SDL_TRUE
+                } else {
+                    sys::SDL_bool::SDL_FALSE
+                },
+            )
+        };
+
+        if result != 0 {
+            Err(IntegerOrSdlError::SdlError(get_error()))
+        } else {
+            Ok(())
+        }
+    }
+
+    /// Get data from a sensor.
+    ///
+    /// The number of data points depends on the sensor. Both Gyroscope and
+    /// Accelerometer return 3 values, one for each axis.
+    #[doc(alias = "SDL_GameControllerGetSensorData")]
+    pub fn sensor_get_data(
+        &self,
+        sensor_type: SensorType,
+        data: &mut [f32],
+    ) -> Result<(), IntegerOrSdlError> {
+        let result = unsafe {
+            sys::SDL_GameControllerGetSensorData(
+                self.raw,
+                sensor_type.into(),
+                data.as_mut_ptr(),
+                data.len().try_into().unwrap(),
+            )
+        };
+
+        if result != 0 {
+            Err(IntegerOrSdlError::SdlError(get_error()))
+        } else {
+            Ok(())
+        }
+    }
+}
+
 impl Drop for GameController {
     #[doc(alias = "SDL_GameControllerClose")]
     fn drop(&mut self) {

src/sdl2/event.rs

@@ -298,6 +298,8 @@ pub enum EventType {
     ControllerDeviceAdded = SDL_EventType::SDL_CONTROLLERDEVICEADDED as u32,
     ControllerDeviceRemoved = SDL_EventType::SDL_CONTROLLERDEVICEREMOVED as u32,
     ControllerDeviceRemapped = SDL_EventType::SDL_CONTROLLERDEVICEREMAPPED as u32,
+    #[cfg(feature = "hidapi")]
+    ControllerSensorUpdated = SDL_EventType::SDL_CONTROLLERSENSORUPDATE as u32,
 
     FingerDown = SDL_EventType::SDL_FINGERDOWN as u32,
     FingerUp = SDL_EventType::SDL_FINGERUP as u32,
@@ -366,6 +368,8 @@ impl TryFrom<u32> for EventType {
             SDL_CONTROLLERDEVICEADDED => ControllerDeviceAdded,
             SDL_CONTROLLERDEVICEREMOVED => ControllerDeviceRemoved,
             SDL_CONTROLLERDEVICEREMAPPED => ControllerDeviceRemapped,
+            #[cfg(feature = "hidapi")]
+            SDL_CONTROLLERSENSORUPDATE => ControllerSensorUpdated,
 
             SDL_FINGERDOWN => FingerDown,
             SDL_FINGERUP => FingerUp,
@@ -674,6 +678,18 @@ pub enum Event {
         which: u32,
     },
 
+    /// Triggered when the gyroscope or accelerometer is updated
+    #[cfg(feature = "hidapi")]
+    ControllerSensorUpdated {
+        timestamp: u32,
+        which: u32,
+        sensor: crate::sensor::SensorType,
+        /// Data from the sensor.
+        ///
+        /// See the `sensor` module for more information.
+        data: [f32; 3],
+    },
+
     FingerDown {
         timestamp: u32,
         touch_id: i64,
@@ -1612,6 +1628,16 @@ impl Event {
                         which: event.which as u32,
                     }
                 }
+                #[cfg(feature = "hidapi")]
+                EventType::ControllerSensorUpdated => {
+                    let event = raw.csensor;
+                    Event::ControllerSensorUpdated {
+                        timestamp: event.timestamp,
+                        which: event.which as u32,
+                        sensor: crate::sensor::SensorType::from_ll(event.sensor),
+                        data: event.data,
+                    }
+                }
 
                 EventType::FingerDown => {
                     let event = raw.tfinger;
@@ -1898,6 +1924,8 @@ impl Event {
             | (Self::RenderDeviceReset { .. }, Self::RenderDeviceReset { .. })
             | (Self::User { .. }, Self::User { .. })
             | (Self::Unknown { .. }, Self::Unknown { .. }) => true,
+            #[cfg(feature = "hidapi")]
+            (Self::ControllerSensorUpdated { .. }, Self::ControllerSensorUpdated { .. }) => true,
             _ => false,
         }
     }
@@ -1947,6 +1975,8 @@ impl Event {
             Self::ControllerDeviceAdded { timestamp, .. } => timestamp,
             Self::ControllerDeviceRemoved { timestamp, .. } => timestamp,
             Self::ControllerDeviceRemapped { timestamp, .. } => timestamp,
+            #[cfg(feature = "hidapi")]
+            Self::ControllerSensorUpdated { timestamp, .. } => timestamp,
             Self::FingerDown { timestamp, .. } => timestamp,
             Self::FingerUp { timestamp, .. } => timestamp,
             Self::FingerMotion { timestamp, .. } => timestamp,

src/sdl2/lib.rs

@@ -83,6 +83,8 @@ pub mod rect;
 pub mod render;
 pub mod rwops;
 mod sdl;
+#[cfg(feature = "hidapi")]
+pub mod sensor;
 pub mod surface;
 pub mod timer;
 pub mod touch;

src/sdl2/sdl.rs

@@ -121,6 +121,12 @@ impl Sdl {
         GameControllerSubsystem::new(self)
     }
 
+    /// Initializes the game controller subsystem.
+    #[inline]
+    pub fn sensor(&self) -> Result<SensorSubsystem, String> {
+        SensorSubsystem::new(self)
+    }
+
     /// Initializes the timer subsystem.
     #[inline]
     pub fn timer(&self) -> Result<TimerSubsystem, String> {
@@ -278,6 +284,7 @@ subsystem!(VideoSubsystem, sys::SDL_INIT_VIDEO, nosync);
 subsystem!(TimerSubsystem, sys::SDL_INIT_TIMER, sync);
 // The event queue can be read from other threads.
 subsystem!(EventSubsystem, sys::SDL_INIT_EVENTS, sync);
+subsystem!(SensorSubsystem, sys::SDL_INIT_SENSOR, sync);
 
 static mut IS_EVENT_PUMP_ALIVE: bool = false;