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psmove.c
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psmove.c
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/**
* PS Move API - An interface for the PS Move Motion Controller
* Copyright (c) 2011, 2012 Thomas Perl <m@thp.io>
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
**/
#include "psmove.h"
#include "psmove_private.h"
#include "psmove_calibration.h"
#include "psmove_orientation.h"
#include <stdio.h>
#include <stdlib.h>
#include <stddef.h>
#include <ctype.h>
#include <string.h>
#include <wchar.h>
#include <unistd.h>
#include <sys/time.h>
#include <sys/stat.h>
#include <math.h>
#include <limits.h>
/* OS-specific includes, for getting the Bluetooth address */
#ifdef __APPLE__
# include "platform/psmove_osxsupport.h"
# include <sys/syslimits.h>
# include <sys/stat.h>
#endif
#ifdef __linux
# include <bluetooth/bluetooth.h>
# include <bluetooth/hci.h>
# include <bluetooth/hci_lib.h>
# include <sys/ioctl.h>
# include <linux/limits.h>
# define __USE_GNU
# include <pthread.h>
# include <unistd.h>
# define PSMOVE_USE_PTHREADS
# include "platform/psmove_linuxsupport.h"
#endif
#ifdef _WIN32
# include <windows.h>
# include <bthsdpdef.h>
# include <bluetoothapis.h>
#ifndef PATH_MAX
# define PATH_MAX MAX_PATH
#endif
# define ENV_USER_HOME "APPDATA"
# define PATH_SEP "\\"
#else
# define ENV_USER_HOME "HOME"
# define PATH_SEP "/"
#endif
#include "daemon/moved_client.h"
#include "hidapi.h"
/* Begin private definitions */
/* Buffer size for writing LEDs and reading sensor data */
#define PSMOVE_BUFFER_SIZE 49
/* Buffer size for the Bluetooth address get request */
#define PSMOVE_BTADDR_GET_SIZE 16
/* Buffer size for the Bluetooth address set request */
#define PSMOVE_BTADDR_SET_SIZE 23
/* Maximum length of the serial string */
#define PSMOVE_MAX_SERIAL_LENGTH 255
/* Maximum milliseconds to inhibit further updates to LEDs if not changed */
#define PSMOVE_MAX_LED_INHIBIT_MS 4000
/* Minimum time (in milliseconds) between two LED updates (rate limiting) */
#define PSMOVE_MIN_LED_UPDATE_WAIT_MS 120
enum PSMove_Request_Type {
PSMove_Req_GetInput = 0x01,
PSMove_Req_SetLEDs = 0x02,
PSMove_Req_GetBTAddr = 0x04,
PSMove_Req_SetBTAddr = 0x05,
PSMove_Req_GetCalibration = 0x10,
};
enum PSMove_Device_Type {
PSMove_HIDAPI = 0x01,
PSMove_MOVED = 0x02,
};
enum PSMove_Sensor {
Sensor_Accelerometer = 0,
Sensor_Gyroscope,
};
typedef struct {
unsigned char type; /* message type, must be PSMove_Req_SetLEDs */
unsigned char _zero; /* must be zero */
unsigned char r; /* red value, 0x00..0xff */
unsigned char g; /* green value, 0x00..0xff */
unsigned char b; /* blue value, 0x00..0xff */
unsigned char rumble2; /* unknown, should be 0x00 for now */
unsigned char rumble; /* rumble value, 0x00..0xff */
unsigned char _padding[PSMOVE_BUFFER_SIZE-7]; /* must be zero */
} PSMove_Data_LEDs;
/* Decode 12-bit signed value (assuming two's complement) */
#define TWELVE_BIT_SIGNED(x) (((x) & 0x800)?(-(((~(x)) & 0xFFF) + 1)):(x))
/* Decode 16-bit signed value from data pointer and offset */
inline int
psmove_decode_16bit(char *data, int offset)
{
unsigned char low = data[offset] & 0xFF;
unsigned char high = (data[offset+1]) & 0xFF;
return (low | (high << 8)) - 0x8000;
}
typedef struct {
unsigned char type; /* message type, must be PSMove_Req_GetInput */
unsigned char buttons1;
unsigned char buttons2;
unsigned char buttons3;
unsigned char buttons4;
unsigned char trigger; /* trigger value; 0..255 */
unsigned char trigger2; /* trigger value, 2nd frame */
unsigned char _unk7;
unsigned char _unk8;
unsigned char _unk9;
unsigned char _unk10;
unsigned char timehigh; /* high byte of timestamp */
unsigned char battery; /* battery level; 0x05 = max, 0xEE = USB charging */
unsigned char aXlow; /* low byte of accelerometer X value */
unsigned char aXhigh; /* high byte of accelerometer X value */
unsigned char aYlow;
unsigned char aYhigh;
unsigned char aZlow;
unsigned char aZhigh;
unsigned char aXlow2; /* low byte of accelerometer X value, 2nd frame */
unsigned char aXhigh2; /* high byte of accelerometer X value, 2nd frame */
unsigned char aYlow2;
unsigned char aYhigh2;
unsigned char aZlow2;
unsigned char aZhigh2;
unsigned char gXlow; /* low byte of gyro X value */
unsigned char gXhigh; /* high byte of gyro X value */
unsigned char gYlow;
unsigned char gYhigh;
unsigned char gZlow;
unsigned char gZhigh;
unsigned char gXlow2; /* low byte of gyro X value, 2nd frame */
unsigned char gXhigh2; /* high byte of gyro X value, 2nd frame */
unsigned char gYlow2;
unsigned char gYhigh2;
unsigned char gZlow2;
unsigned char gZhigh2;
unsigned char temphigh; /* temperature (bits 12-5) */
unsigned char templow_mXhigh; /* temp (bits 4-1); magneto X (bits 12-9) */
unsigned char mXlow; /* magnetometer X (bits 8-1) */
unsigned char mYhigh; /* magnetometer Y (bits 12-5) */
unsigned char mYlow_mZhigh; /* magnetometer: Y (bits 4-1), Z (bits 12-9) */
unsigned char mZlow; /* magnetometer Z (bits 8-1) */
unsigned char timelow; /* low byte of timestamp */
unsigned char _padding[PSMOVE_BUFFER_SIZE-44]; /* unknown */
} PSMove_Data_Input;
typedef struct {
int x;
int y;
int z;
} PSMove_3AxisVector;
int
psmove_3axisvector_min(PSMove_3AxisVector vector)
{
if (vector.x < vector.y && vector.x < vector.z) {
return vector.x;
} else if (vector.y < vector.y) {
return vector.y;
} else {
return vector.z;
}
}
int
psmove_3axisvector_max(PSMove_3AxisVector vector)
{
if (vector.x > vector.y && vector.x > vector.z) {
return vector.x;
} else if (vector.y > vector.y) {
return vector.y;
} else {
return vector.z;
}
}
struct _PSMove {
/* Device type (hidapi-based or moved-based */
enum PSMove_Device_Type type;
/* The handle to the HIDAPI device */
hid_device *handle;
/* The handle to the moved client */
moved_client *client;
int remote_id;
/* Index (at connection time) - not exposed yet */
int id;
/* Various buffers for PS Move-related data */
PSMove_Data_LEDs leds;
PSMove_Data_Input input;
/* Save location for the serial number */
char *serial_number;
/* Device path of the controller */
char *device_path;
/* Nonzero if the value of the LEDs or rumble has changed */
unsigned char leds_dirty;
/* Nonzero if LED update rate limiting is enabled */
enum PSMove_Bool leds_rate_limiting;
/* Milliseconds timestamp of last LEDs update (psmove_util_get_ticks) */
long last_leds_update;
/* Previous values of buttons (psmove_get_button_events) */
int last_buttons;
PSMoveCalibration *calibration;
PSMoveOrientation *orientation;
/* Is orientation tracking currently enabled? */
enum PSMove_Bool orientation_enabled;
/* Minimum and maximum magnetometer values observed this session */
PSMove_3AxisVector magnetometer_min;
PSMove_3AxisVector magnetometer_max;
#ifdef PSMOVE_USE_PTHREADS
/* Write thread for updating LEDs in the background */
pthread_t led_write_thread;
pthread_mutex_t led_write_mutex;
pthread_cond_t led_write_new_data;
unsigned char led_write_thread_write_queued;
#endif
#ifdef _WIN32
/* Nonzero if this device is a Bluetooth device (on Windows only) */
unsigned char is_bluetooth;
#endif
};
void
psmove_load_magnetometer_calibration(PSMove *move);
/* End private definitions */
static moved_client_list *clients;
static int psmove_local_disabled = 0;
static int psmove_remote_disabled = 0;
/* Number of valid, open PSMove* handles "in the wild" */
static int psmove_num_open_handles = 0;
/* Private functionality needed by the Linux version */
#if defined(__linux)
int _psmove_linux_bt_dev_info(int s, int dev_id, long arg)
{
struct hci_dev_info di = { dev_id: dev_id };
unsigned char *btaddr = (void*)arg;
int i;
if (ioctl(s, HCIGETDEVINFO, (void *) &di) == 0) {
for (i=0; i<6; i++) {
btaddr[i] = di.bdaddr.b[i];
}
}
return 0;
}
#endif /* defined(__linux) */
#if defined(PSMOVE_USE_PTHREADS)
void *
_psmove_led_write_thread_proc(void *data)
{
PSMove *move = (PSMove*)data;
PSMove_Data_LEDs leds;
while (1) {
pthread_mutex_lock(&(move->led_write_mutex));
pthread_cond_wait(&(move->led_write_new_data),
&(move->led_write_mutex));
pthread_mutex_unlock(&(move->led_write_mutex));
if (!move->led_write_thread_write_queued) {
break;
}
do {
/* Create a local copy of the LED state */
memcpy(&leds, &(move->leds), sizeof(leds));
move->led_write_thread_write_queued = 0;
long started = psmove_util_get_ticks();
#if defined(__linux)
/* Don't write padding bytes on Linux (makes it faster) */
hid_write(move->handle, (unsigned char*)(&leds),
sizeof(leds) - sizeof(leds._padding));
#else
hid_write(move->handle, (unsigned char*)(&leds),
sizeof(leds));
#endif
psmove_DEBUG("hid_write(%d) = %ld ms\n",
move->id,
psmove_util_get_ticks() - started);
pthread_yield();
} while (memcmp(&leds, &(move->leds), sizeof(leds)) != 0);
}
return NULL;
}
#endif /* defined(PSMOVE_USE_PTHREADS) */
/* Previously public functions, now private: */
/**
* Get a half-frame from the accelerometer or gyroscope from the
* PS Move after using psmove_poll() previously.
*
* sensor must be Sensor_Accelerometer or Sensor_Accelerometer.
*
* frame must be Frame_FirstHalf or Frame_SecondHalf.
*
* x, y and z can point to integer locations that will be filled
* with the readings. If any are NULL, the fields will be ignored.
**/
void
psmove_get_half_frame(PSMove *move, enum PSMove_Sensor sensor,
enum PSMove_Frame frame, int *x, int *y, int *z);
/**
* Set the Host Bluetooth address that is used to connect via
* Bluetooth. You should set this to the local computer's
* Bluetooth address when connected via USB, then disconnect
* and press the PS button to connect the controller via BT.
**/
int
psmove_set_btaddr(PSMove *move, PSMove_Data_BTAddr *addr);
/* Start implementation of the API */
void
psmove_set_remote_config(enum PSMove_RemoteConfig config)
{
psmove_remote_disabled = (config == PSMove_OnlyLocal);
psmove_local_disabled = (config == PSMove_OnlyRemote);
}
void
_psmove_write_data(PSMove *move, unsigned char *data, int length)
{
if (memcmp(&(move->leds), data, length) != 0) {
memcpy(&(move->leds), data, length);
move->leds_dirty = 1;
}
psmove_update_leds(move);
}
void
_psmove_read_data(PSMove *move, unsigned char *data, int length)
{
assert(data != NULL);
assert(length >= (sizeof(move->input) + 1));
data[0] = psmove_poll(move);
memcpy(data+1, &(move->input), sizeof(move->input));
}
enum PSMove_Bool
psmove_is_remote(PSMove *move)
{
return move->type == PSMove_MOVED;
}
void
psmove_reinit()
{
if (psmove_num_open_handles != 0) {
psmove_CRITICAL("reinit called with open handles "
"(forgot psmove_disconnect?)");
exit(0);
}
if (clients != NULL) {
moved_client_list_destroy(clients);
clients = NULL;
}
hid_exit();
}
int
psmove_count_connected_hidapi()
{
struct hid_device_info *devs, *cur_dev;
int count = 0;
if (psmove_local_disabled) {
return 0;
}
devs = hid_enumerate(PSMOVE_VID, PSMOVE_PID);
cur_dev = devs;
while (cur_dev) {
#ifdef _WIN32
/**
* Windows Quirk: Ignore extraneous devices (each dev is enumerated
* 3 times, count only the one with "&col02#" in the path)
*
* We use col02 for enumeration, and col01 for connecting. We want to
* have col02 here, because after connecting to col01, it disappears.
**/
if (strstr(cur_dev->path, "&col02#") == NULL) {
count--;
}
#endif
count++;
cur_dev = cur_dev->next;
}
hid_free_enumeration(devs);
return count;
}
int
psmove_count_connected_moved(moved_client *client)
{
psmove_return_val_if_fail(client != NULL, 0);
return moved_client_send(client, MOVED_REQ_COUNT_CONNECTED, 0, NULL);
}
int
psmove_count_connected()
{
int count = psmove_count_connected_hidapi();
if (clients == NULL && !psmove_remote_disabled) {
clients = moved_client_list_open();
}
moved_client_list *cur;
for (cur=clients; cur != NULL; cur=cur->next) {
count += psmove_count_connected_moved(cur->client);
}
return count;
}
PSMove *
psmove_connect_internal(wchar_t *serial, char *path, int id)
{
char *tmp;
PSMove *move = (PSMove*)calloc(1, sizeof(PSMove));
move->type = PSMove_HIDAPI;
/* Make sure the first LEDs update will go through (+ init get_ticks) */
move->last_leds_update = psmove_util_get_ticks() - PSMOVE_MAX_LED_INHIBIT_MS;
#ifdef _WIN32
/* Windows Quirk: USB devices have "0" as serial, BT devices their addr */
if (serial != NULL && wcslen(serial) > 1) {
move->is_bluetooth = 1;
}
/* Windows Quirk: Use path instead of serial number by ignoring serial */
serial = NULL;
/* XXX Ugly: Convert "col02" path to "col01" path (tested w/ BT and USB) */
char *p;
psmove_return_val_if_fail((p = strstr(path, "&col02#")) != NULL, NULL);
p[5] = '1';
psmove_return_val_if_fail((p = strstr(path, "&0001#")) != NULL, NULL);
p[4] = '0';
#endif
if (serial == NULL && path != NULL) {
move->handle = hid_open_path(path);
} else {
move->handle = hid_open(PSMOVE_VID, PSMOVE_PID, serial);
}
if (!move->handle) {
free(move);
return NULL;
}
/* Use Non-Blocking I/O */
hid_set_nonblocking(move->handle, 1);
/* Message type for LED set requests */
move->leds.type = PSMove_Req_SetLEDs;
/* Remember the ID/index */
move->id = id;
/* Remember the serial number */
move->serial_number = (char*)calloc(PSMOVE_MAX_SERIAL_LENGTH, sizeof(char));
if (serial != NULL) {
wcstombs(move->serial_number, serial, PSMOVE_MAX_SERIAL_LENGTH);
}
if (path != NULL) {
move->device_path = strdup(path);
}
/**
* Normalize "aa-bb-cc-dd-ee-ff" (OS X format) into "aa:bb:cc:dd:ee:ff"
* Also normalize "AA:BB:CC:DD:EE:FF" into "aa:bb:cc:dd:ee:ff" (lowercase)
**/
tmp = move->serial_number;
while (*tmp != '\0') {
if (*tmp == '-') {
*tmp = ':';
}
*tmp = tolower(*tmp);
tmp++;
}
#if defined(PSMOVE_USE_PTHREADS)
psmove_return_val_if_fail(pthread_mutex_init(&move->led_write_mutex,
NULL) == 0, NULL);
psmove_return_val_if_fail(pthread_cond_init(&move->led_write_new_data,
NULL) == 0, NULL);
psmove_return_val_if_fail(pthread_create(&move->led_write_thread,
NULL,
_psmove_led_write_thread_proc,
(void*)move) == 0, NULL);
#endif
/* Bookkeeping of open handles (for psmove_reinit) */
psmove_num_open_handles++;
move->calibration = psmove_calibration_new(move);
move->orientation = psmove_orientation_new(move);
/* Load magnetometer calibration data */
psmove_load_magnetometer_calibration(move);
return move;
}
const char *
_psmove_get_device_path(PSMove *move)
{
psmove_return_val_if_fail(move != NULL, NULL);
return move->device_path;
}
PSMove *
psmove_connect_remote_by_id(int id, moved_client *client, int remote_id)
{
PSMove *move = (PSMove*)calloc(1, sizeof(PSMove));
move->type = PSMove_MOVED;
move->client = client;
move->remote_id = remote_id;
/* Message type for LED set requests */
move->leds.type = PSMove_Req_SetLEDs;
/* Remember the ID/index */
move->id = id;
/* Remember the serial number */
move->serial_number = (char*)calloc(PSMOVE_MAX_SERIAL_LENGTH, sizeof(char));
if (moved_client_send(move->client, MOVED_REQ_SERIAL,
move->remote_id, NULL)) {
/* Retrieve the serial number from the remote host */
strncpy(move->serial_number, (char*)move->client->read_response_buf,
PSMOVE_MAX_SERIAL_LENGTH);
}
move->calibration = psmove_calibration_new(move);
// XXX: Copy calibration remotely if possible
move->orientation = psmove_orientation_new(move);
/* Load magnetometer calibration data */
psmove_load_magnetometer_calibration(move);
/* Bookkeeping of open handles (for psmove_reinit) */
psmove_num_open_handles++;
return move;
}
PSMove *
psmove_connect_by_id(int id)
{
int hidapi_count = psmove_count_connected_hidapi();
if (id >= hidapi_count) {
/* XXX: check remote controllers */
if (clients == NULL && !psmove_remote_disabled) {
clients = moved_client_list_open();
}
int offset = hidapi_count;
moved_client_list *cur;
for (cur=clients; cur != NULL; cur=cur->next) {
int count = psmove_count_connected_moved(cur->client);
if ((id - offset) < count) {
int remote_id = id - offset;
return psmove_connect_remote_by_id(id, cur->client, remote_id);
}
offset += count;
}
return NULL;
}
struct hid_device_info *devs, *cur_dev;
int count = 0;
PSMove *move = NULL;
devs = hid_enumerate(PSMOVE_VID, PSMOVE_PID);
cur_dev = devs;
while (cur_dev) {
#ifdef _WIN32
if (strstr(cur_dev->path, "&col02#") != NULL) {
#endif
if (count == id) {
move = psmove_connect_internal(cur_dev->serial_number,
cur_dev->path, id);
break;
}
#ifdef _WIN32
} else {
count--;
}
#endif
count++;
cur_dev = cur_dev->next;
}
hid_free_enumeration(devs);
return move;
}
PSMove *
psmove_connect()
{
return psmove_connect_by_id(0);
}
int
_psmove_read_btaddrs(PSMove *move, PSMove_Data_BTAddr *host, PSMove_Data_BTAddr *controller)
{
unsigned char btg[PSMOVE_BTADDR_GET_SIZE];
int res;
psmove_return_val_if_fail(move != NULL, 0);
if (move->type == PSMove_MOVED) {
psmove_CRITICAL("Not implemented in MOVED mode");
return 0;
}
/* Get Bluetooth address */
memset(btg, 0, sizeof(btg));
btg[0] = PSMove_Req_GetBTAddr;
res = hid_get_feature_report(move->handle, btg, sizeof(btg));
if (res == sizeof(btg)) {
if (controller != NULL) {
memcpy(*controller, btg+1, 6);
}
char *current_host = _psmove_btaddr_to_string(btg+10);
psmove_DEBUG("Current host: %s\n", current_host);
free(current_host);
if (host != NULL) {
memcpy(*host, btg+10, 6);
}
/* Success! */
return 1;
}
return 0;
}
int
_psmove_get_calibration_blob(PSMove *move, char **dest, size_t *size)
{
psmove_return_val_if_fail(move != NULL, 0);
psmove_return_val_if_fail(dest != NULL, 0);
psmove_return_val_if_fail(size != NULL, 0);
unsigned char calibration[PSMOVE_CALIBRATION_BLOB_SIZE];
unsigned char cal[PSMOVE_CALIBRATION_SIZE];
int res;
int x;
int dest_offset;
int src_offset;
for (x=0; x<3; x++) {
memset(cal, 0, sizeof(cal));
cal[0] = PSMove_Req_GetCalibration;
res = hid_get_feature_report(move->handle, cal, sizeof(cal));
assert(res == PSMOVE_CALIBRATION_SIZE);
if (cal[1] == 0x00) {
/* First block */
dest_offset = 0;
src_offset = 0;
} else if (cal[1] == 0x01) {
/* Second block */
dest_offset = PSMOVE_CALIBRATION_SIZE;
src_offset = 2;
} else if (cal[1] == 0x82) {
/* Third block */
dest_offset = 2*PSMOVE_CALIBRATION_SIZE - 2;
src_offset = 2;
} else {
return 0;
}
memcpy(calibration+dest_offset, cal+src_offset,
sizeof(cal)-src_offset);
}
*dest = (char*)malloc(sizeof(calibration));
memcpy(*dest, calibration, sizeof(calibration));
*size = sizeof(calibration);
return 1;
}
char *
psmove_get_serial(PSMove *move)
{
psmove_return_val_if_fail(move != NULL, NULL);
psmove_return_val_if_fail(move->serial_number != NULL, NULL);
if (strlen(move->serial_number) == 0) {
PSMove_Data_BTAddr btaddr;
if (!_psmove_read_btaddrs(move, NULL, &btaddr)) {
return NULL;
}
return _psmove_btaddr_to_string(btaddr);
}
return strdup(move->serial_number);
}
int
psmove_set_btaddr(PSMove *move, PSMove_Data_BTAddr *addr)
{
unsigned char bts[PSMOVE_BTADDR_SET_SIZE];
int res;
int i;
psmove_return_val_if_fail(move != NULL, 0);
psmove_return_val_if_fail(addr != NULL, 0);
/* Get calibration data */
memset(bts, 0, sizeof(bts));
bts[0] = PSMove_Req_SetBTAddr;
/* Copy 6 bytes from addr into bts[1]..bts[6] */
for (i=0; i<6; i++) {
bts[1+i] = (*addr)[i];
}
res = hid_send_feature_report(move->handle, bts, sizeof(bts));
return (res == sizeof(bts));
}
enum PSMove_Bool
psmove_pair(PSMove *move)
{
psmove_return_val_if_fail(move != NULL, PSMove_False);
PSMove_Data_BTAddr btaddr;
PSMove_Data_BTAddr current_host;
if (!_psmove_read_btaddrs(move, ¤t_host, NULL)) {
return PSMove_False;
}
#if defined(__APPLE__)
char *btaddr_string = macosx_get_btaddr();
if (btaddr_string == NULL) {
fprintf(stderr, "WARNING: Can't determine Bluetooth address.\n"
"Make sure Bluetooth is turned on.\n");
}
psmove_return_val_if_fail(btaddr_string != NULL, PSMove_False);
if (!_psmove_btaddr_from_string(btaddr_string, &btaddr)) {
free(btaddr_string);
return PSMove_False;
}
free(btaddr_string);
#elif defined(__linux)
hci_for_each_dev(HCI_UP, _psmove_linux_bt_dev_info, (long)btaddr);
#elif defined(_WIN32)
HBLUETOOTH_RADIO_FIND hFind;
HANDLE hRadio;
BLUETOOTH_RADIO_INFO radioInfo;
BLUETOOTH_FIND_RADIO_PARAMS btfrp;
btfrp.dwSize = sizeof(BLUETOOTH_FIND_RADIO_PARAMS);
hFind = BluetoothFindFirstRadio(&btfrp, &hRadio);
psmove_return_val_if_fail(hFind != NULL, PSMove_False);
radioInfo.dwSize = sizeof(BLUETOOTH_RADIO_INFO);
if (BluetoothGetRadioInfo(hRadio, &radioInfo) != ERROR_SUCCESS) {
psmove_CRITICAL("BluetoothGetRadioInfo");
CloseHandle(hRadio);
BluetoothFindRadioClose(hFind);
return PSMove_False;
}
int i;
for (i=0; i<6; i++) {
btaddr[i] = radioInfo.address.rgBytes[i];
}
CloseHandle(hRadio);
BluetoothFindRadioClose(hFind);
#else
/* TODO: Implement for other OSes (if any?) */
return PSMove_False;
#endif
if (memcmp(current_host, btaddr, sizeof(PSMove_Data_BTAddr)) != 0) {
if (!psmove_set_btaddr(move, &btaddr)) {
return PSMove_False;
}
} else {
psmove_DEBUG("Already paired.\n");
}
char *addr = psmove_get_serial(move);
char *host = _psmove_btaddr_to_string(btaddr);
#if defined(__linux)
/* Add entry to Bluez' bluetoothd state file */
linux_bluez_register_psmove(addr, host);
#endif
#if defined(__APPLE__)
/* Add entry to the com.apple.Bluetooth.plist file */
macosx_blued_register_psmove(addr);
#endif
free(addr);
free(host);
return PSMove_True;
}
enum PSMove_Bool
psmove_pair_custom(PSMove *move, const char *btaddr_string)
{
psmove_return_val_if_fail(move != NULL, 0);
PSMove_Data_BTAddr btaddr;
PSMove_Data_BTAddr current_host;
if (!_psmove_read_btaddrs(move, ¤t_host, NULL)) {
return PSMove_False;
}
if (!_psmove_btaddr_from_string(btaddr_string, &btaddr)) {
return PSMove_False;
}
if (memcmp(current_host, btaddr, sizeof(PSMove_Data_BTAddr)) != 0) {
if (!psmove_set_btaddr(move, &btaddr)) {
return PSMove_False;
}
} else {
psmove_DEBUG("Already paired.\n");
}
return PSMove_True;
}
enum PSMove_Connection_Type
psmove_connection_type(PSMove *move)
{
psmove_return_val_if_fail(move != NULL, Conn_Unknown);
if (move->type == PSMove_MOVED) {
return Conn_Bluetooth;
}
#if defined(_WIN32)
if (move->is_bluetooth) {
return Conn_Bluetooth;
} else {
return Conn_USB;
}
#endif
if (move->serial_number == NULL) {
return Conn_Unknown;
}
if (strlen(move->serial_number) == 0) {
return Conn_USB;
}
return Conn_Bluetooth;
}
int
_psmove_btaddr_from_string(const char *string, PSMove_Data_BTAddr *dest)
{
int i, value;
PSMove_Data_BTAddr tmp = {0};
/* strlen("00:11:22:33:44:55") == 17 */
psmove_return_val_if_fail(strlen(string) == 17, 0);
for (i=0; i<6; i++) {
value = strtol(string + i*3, NULL, 16);
psmove_return_val_if_fail(value >= 0x00 && value <= 0xFF, 0);
tmp[5-i] = value;
}
if (dest != NULL) {
memcpy(*dest, tmp, sizeof(PSMove_Data_BTAddr));
}
return 1;
}
char *