ubuntu怎么用接收器连接手柄

发布网友发布时间：2023-04-27 23:27

共1个回答

热心网友时间：2023-10-25 05:09

在ubuntu1604/2004环境下实现xbox one无线手柄遥+usb无线适配器控机器人运动。

1. 安装xboxdrv和joystick
sudo apt install xboxdrv
sudo apt install joystick

2. 将usb无线接收器插入，查看设备信息
cat /proc/bus/input/devices
输出如下信息说明系统已经识别到了xbox的接收器

I: Bus=0003 Vendor=045e Proct=0719 Version=0100
N: Name="Xbox 360 Wireless Receiver"
P: Phys=
S: Sysfs=/devices/virtual/input/input28
U: Uniq=
H: Handlers=event28 js3
B: PROP=0
B: EV=b
B: KEY=f 0 0 0 0 0 0 7fdb000000000000 0 0 0 0
B: ABS=1b
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3. 编译xow
Xow是一个非官方的Linux版本Xbox one手柄无线适配器驱动，其底层基于libusb进行工作，通过Wifi与游戏手柄进行连接，其使用MT76xx的Wifi chip；
3.1 下载xow源码
git clonet https://github.com/mesalix/xow.git

3.2 安装依赖
audo apt install curl libusb-1.0-0-dev cabextract

3.3 编译
cd xow
make BUILD=RELEASE
sudo make install

3.4 Download the firmware for the wireless dongle:
sudo xow-get-firmware.sh

3.5 运行xow
sudo ./xow
[sudo] password for sar:
2022-05-20 11:18:43 INFO - xow v0.5-36-gd335d60 ©Severin v. W.
2022-05-20 11:18:43 INFO - Waiting for device…
2022-05-20 11:18:43 INFO - Wireless address: 62:45:bd:05:8b:85
2022-05-20 11:18:43 INFO - Dongle initialized
2022-05-20 11:18:49 INFO - Controller ‘1’ connected
2022-05-20 11:18:49 INFO - Device announced, proct id: 02d1
2022-05-20 11:18:49 INFO - Battery level: full
2022-05-20 11:28:10 INFO - Controller ‘1’ disconnected
2022-05-20 11:33:12 INFO - Controller ‘1’ connected
2022-05-20 11:33:12 INFO - Device announced, proct id: 02d1

3.6 编译错误解决：
执行make BUILD=RELEASE报错：找不到uinput_setup、uinput_abs_setup的定义
报错原因：linux内核版本太低，xow不支持UINPUT_VERSION 5以下版本；
解决方法：从高版本的ubuntu中拷贝/usr/include/linux/uinput.h替换当前系统下的/usr/include/linux/uinput.h

xow驱动分析可以参考这篇博客：https://blog.csdn.net/YingbinLi/article/details/123268015
4. xbox手柄测试
先运行./xow，在按下xbox one手柄最前端的带x标识的圆形按键，按下按键后按键灯点亮，开始慢闪，配对成功后，按键灯常亮；
打开了一个linux终端，运行：

sudo jstest /dev/input/js4
Driver version is 2.1.0.
Joystick (Xbox One Wireless Controller) has 8 axes (X, Y, Z, Rx, Ry, Rz, Hat0X, Hat0Y)
and 11 buttons (BtnA, BtnB, BtnX, BtnY, BtnTL, BtnTR, BtnSelect, BtnStart, BtnMode, BtnThumbL, BtnThumbR).
Testing ... (interrupt to exit)
Axes: 0: 0 1: 0 2:-32767 3: 0 4: 0 5:-32767 6: 0 7: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off
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注意：在/dev/input下可能会生成js0, js1, js2, js3, js4 5个文件，可以分别使用jstest 测试一下，运行sudo jstest /dev/input/js4 后，操作手柄操作杆查看数据是否有变化。

5. xbox手柄操作数据接收与解析
joystick_xbox.h

#include <linux/input.h>
#include <linux/joystick.h>
#include <string>

class JoystickXBox
{
public:
JoystickXBox(const std::string &dev_name);
~JoystickXBox();
bool Open();
void Close();
bool Read(struct js_event &js);
unsigned char GetAxes()
{
return axes_;
}
unsigned char GetButtons()
{
return buttons_;
}
int GetFd()
{
return fd_;
}
void PrintData();
void ProcessData(const struct js_event &js);

private:
bool debug_ = false;
int fd_ = -1;
std::string dev_name_ = "";
int version_ = 0x000800;
char name_[512] = "Unkown";
unsigned char axes_ = 2;
unsigned char buttons_ = 2;
int *axis_ = nullptr;
char *button_ = nullptr;
};
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joystick_xbox.cpp

#include <errno.h>
#include <fcntl.h>
#include <memory>
#include <stdio.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
#include "joystick_xbox.h"

JoystickXBox::JoystickXBox(const std::string &dev_name) : fd_(-1),dev_name_(dev_name)
{
}

JoystickXBox::~JoystickXBox()
{
if (axis_)
{
delete axis_;
axis_ = nullptr;
}

if (button_)
{
delete button_;
button_ = nullptr;
}
}

bool JoystickXBox::Open()
{
int fd = -1;
if (dev_name_.length() == 0)
{
return false;
}
// O_NONBLOCK open
fd = open(dev_name_.c_str(), O_RDONLY | O_NONBLOCK);
if (fd < 0)
{
fd_ = -1;
printf("JoystickXBox open %s error, %d(%s)\n", dev_name_.c_str(), errno, strerror(errno));
return false;
}

ioctl(fd, JSIOCGVERSION, &version_);
ioctl(fd, JSIOCGAXES, &axes_);
ioctl(fd, JSIOCGBUTTONS, &buttons_);
ioctl(fd, JSIOCGNAME(512), name_);
printf("JoystickXBox Driver version is %d.%d.%d.\n", version_ >> 16, (version_ >> 8) & 0xff, version_ & 0xff);
printf("JoystickXBox (%s) has %d axes and %d buttons\n", name_, axes_, buttons_);
fd_ = fd;
axis_ = (int *)calloc(axes_, sizeof(int));
button_ = (char *)calloc(buttons_, sizeof(char));

return true;
}

void JoystickXBox::Close()
{
if (fd_ > 0)
{
close(fd_);
fd_ = -1;
}
}

bool JoystickXBox::Read(struct js_event &js)
{
int len = -1;
if (fd_ < 0)
{
return false;
}

memset(&js, 0, sizeof(js));
len = read(fd_, &js, sizeof(struct js_event));
if (len != sizeof(struct js_event))
{
printf("JoystickXBox: error reading, %d(%s)\n", errno, strerror(errno));
return false;
}

return true;
}

void JoystickXBox::ProcessData(const struct js_event &js)
{
JoystickFrame frame;
int joystick_angular_value = 0;
int joystick_linear_value = 0;
int button_angular_value = 0;
int button_linear_value = 0;

switch (js.type & ~JS_EVENT_INIT)
{
case JS_EVENT_BUTTON:
button_[js.number] = js.value;
break;
case JS_EVENT_AXIS:
axis_[js.number] = js.value;
break;
}
if (debug_)
{
PrintData();
}
}

void JoystickXBox::PrintData()
{
if (axes_ && axis_)
{
printf("Axes: ");
for (int i = 0; i < axes_; i++)
{
printf("%2d:%6d ", i, axis_[i]);
}
}
if (buttons_ && button_)
{
printf("Buttons: ");
for (int i = 0; i < buttons_; i++)
{
printf("%2d:%s ", i, button_[i] ? "on " : "off");
}
}
printf("\n");
fflush(stdout);
}

int main()
{
bool ret = false;
int err_cnt = 0;
fd_set rfds;
timeval timeout;
struct js_event js;
int fd = -1;
std::string dev_name = "/dev/input/js4";
std::unique_ptr<JoystickXBox> joystick_xbox = std::make_unique<JoystickXBox>(dev_name);

ret = joystick_xbox->Open();
if (!ret)
{
return -1;
}
fd = joystick_xbox->GetFd();

while (1)
{
usleep(100);
timeout.tv_sec = 1;
timeout.tv_usec = 0;
FD_ZERO(&rfds);
FD_SET(fd, &rfds);
int ret = select(fd + 1, &rfds, NULL, NULL, &timeout);
if (ret > 0 && FD_ISSET(fd, &rfds))
{
ret = joystick_xbox->Read(js);
if (ret)
{
joystick_xbox->ProcessData(js);
}
}
}

joystick_xbox->Close();

return 0;
}

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ubuntu
linux

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热心网友时间：2023-10-25 05:09