dtrobots/rover/main.go

package main

import (
	"flag"
	"fmt"
	"log"
	"net/http"

	"github.com/gvalkov/golang-evdev"
)

const (
	// Logitech gamepad codes
	codeLeftAnalogX  = 0
	codeLeftAnalogY  = 1
	codeLeftAnalogZ  = 2
	codeRightAnalogX = 3
	codeRightAnalogY = 4
	codeRightAnalogZ = 5
	codeDPadX        = 16
	codeDPadY        = 17
	codeA            = 304
	codeB            = 305
	codeX            = 307
	codeY            = 308
	codeLeft         = 310
	codeRight        = 311
	codeBack         = 314
	codeStart        = 315
	codeLogitech     = 316
	codeLeftAnalog   = 317
	codeRightAnalog  = 318
)

const (
	// event types
	button = iota
	axisX
	axisY
	axisZ
)

const gamepadChanBufSize = 16

type event struct {
	code  int
	value int32
}

func (e event) String() string {
	var code string
	switch e.code {
	case button:
		code = "button"
	case axisX:
		code = "X"
	case axisY:
		code = "Y"
	case axisZ:
		code = "Z"
	}
	return fmt.Sprintf("%v %v", code, e.value)
}

type gamepadEvents struct {
	leftAnalog, rightAnalog, dpad chan event
	a, b, x, y                    chan event
	left, right                   chan event
	back, start, logitech         chan event
}

const (
	// drive modes
	tank = iota
	joystick
)

const driveModeCount = 2

type driveMode int

func (d driveMode) String() string {
	switch d {
	case tank:
		return "tank"
	case joystick:
		return "joystick"
	default:
		return "unknown"
	}
}

func (d *driveMode) Set(value string) error {
	switch value {
	case "tank":
		*d = tank
	case "joystick":
		*d = joystick
	default:
		return fmt.Errorf("unknown drive mode: %v", value)
	}
	return nil
}

func main() {
	var (
		gamepad string
		listen  string
		mode    driveMode
	)

	flag.StringVar(&gamepad, "gamepad", "/dev/input/event0", "the gamepad device path")
	flag.StringVar(&listen, "listen", "localhost:8080", "the HTTP listen address and port")
	flag.Var(&mode, "mode", "the drive mode (default \"tank\")")
	flag.Parse()

	if !evdev.IsInputDevice(gamepad) {
		log.Fatalf("%v is not an input device", gamepad)
	}
	device, err := evdev.Open(gamepad)
	if err != nil {
		log.Fatalf("error opening gamepad: %v", err)
	}

	events := &gamepadEvents{
		leftAnalog:  make(chan event, gamepadChanBufSize),
		rightAnalog: make(chan event, gamepadChanBufSize),
		dpad:        make(chan event, gamepadChanBufSize),
		a:           make(chan event, gamepadChanBufSize),
		b:           make(chan event, gamepadChanBufSize),
		x:           make(chan event, gamepadChanBufSize),
		y:           make(chan event, gamepadChanBufSize),
		left:        make(chan event, gamepadChanBufSize),
		right:       make(chan event, gamepadChanBufSize),
		back:        make(chan event, gamepadChanBufSize),
		start:       make(chan event, gamepadChanBufSize),
		logitech:    make(chan event, gamepadChanBufSize),
	}

	go control(mode, events)
	go gamepadRead(device, events)

	log.Print("HTTP server started")
	log.Fatalf("error listening and serving: %v", http.ListenAndServe(listen, nil))
}

func control(mode driveMode, events *gamepadEvents) {
	log.Printf("control loop started (drive mode: %v)", mode)
	for {
		select {
		case e := <-events.leftAnalog:
			log.Println("left analog", e)
		case e := <-events.rightAnalog:
			log.Println("right analog", e)
		case e := <-events.dpad:
			log.Println("dpad", e)
		case e := <-events.a:
			log.Println("a", e)
		case e := <-events.b:
			log.Println("b", e)
		case e := <-events.x:
			log.Println("x", e)
		case e := <-events.y:
			log.Println("y", e)
		case e := <-events.left:
			log.Println("left", e)
		case e := <-events.right:
			log.Println("right", e)
		case e := <-events.back:
			log.Println("back", e)
		case e := <-events.start:
			log.Println("start", e)
		case e := <-events.logitech:
			if e.value > 0 {
				mode++
				mode %= driveModeCount
				log.Printf("switched drive mode: %v", mode)
			}
		}
	}
}

func gamepadRead(device *evdev.InputDevice, events *gamepadEvents) {
	log.Print("gamepad read loop started")
	for {
		e, err := device.ReadOne()
		if err != nil {
			log.Fatalf("error reading from gamepad: %v", err)
		}

		switch e.Type {
		case evdev.EV_ABS:
			switch e.Code {
			case codeLeftAnalogX:
				events.leftAnalog <- event{code: axisX, value: e.Value}
			case codeLeftAnalogY:
				events.leftAnalog <- event{code: axisY, value: e.Value}
			case codeLeftAnalogZ:
				events.leftAnalog <- event{code: axisZ, value: e.Value}
			case codeRightAnalogX:
				events.rightAnalog <- event{code: axisX, value: e.Value}
			case codeRightAnalogY:
				events.rightAnalog <- event{code: axisY, value: e.Value}
			case codeRightAnalogZ:
				events.rightAnalog <- event{code: axisZ, value: e.Value}
			case codeDPadX:
				events.dpad <- event{code: axisX, value: e.Value}
			case codeDPadY:
				events.dpad <- event{code: axisY, value: e.Value}
			}
		case evdev.EV_KEY:
			switch e.Code {
			case codeA:
				events.a <- event{code: button, value: e.Value}
			case codeB:
				events.b <- event{code: button, value: e.Value}
			case codeX:
				events.x <- event{code: button, value: e.Value}
			case codeY:
				events.y <- event{code: button, value: e.Value}
			case codeLeft:
				events.left <- event{code: button, value: e.Value}
			case codeRight:
				events.right <- event{code: button, value: e.Value}
			case codeBack:
				events.back <- event{code: button, value: e.Value}
			case codeStart:
				events.start <- event{code: button, value: e.Value}
			case codeLogitech:
				events.logitech <- event{code: button, value: e.Value}
			case codeLeftAnalog:
				events.leftAnalog <- event{code: button, value: e.Value}
			case codeRightAnalog:
				events.rightAnalog <- event{code: button, value: e.Value}
			}
		}
	}
}