Rückmeldung vibration

2026-05-21 21:09:08 +02:00
parent ea5521c815
commit be1e0de125
4 changed files with 155 additions and 1 deletions
@@ -1,9 +1,12 @@
 #!/usr/bin/env python3
+import fcntl
+import glob
 import http.server
 import json
 import os
 import shutil
 import socketserver
+import struct
 import subprocess
 import threading
 import time
@@ -248,6 +251,62 @@ def set_delay(seconds):
    return seconds


+def rumble_controller(duration_ms=400):
+    # Linux FF constants
+    EV_FF = 0x15
+    FF_RUMBLE = 0x50
+    # EVIOCSFF = _IOW('E', 0x80, struct ff_effect) — ff_effect is 48 bytes on ARM64
+    EVIOCSFF = (0x40000000 | (48 << 16) | (ord('E') << 8) | 0x80)
+
+    device_path = None
+    for path in sorted(glob.glob('/dev/input/event*')):
+        try:
+            sys_name = f'/sys/class/input/{os.path.basename(path)}/device/name'
+            with open(sys_name, encoding='utf-8') as f:
+                name = f.read().strip()
+            if any(k in name for k in ('Gamepad', 'F710', 'GAMEPAD')):
+                device_path = path
+                break
+        except OSError:
+            pass
+
+    if not device_path:
+        raise RuntimeError('Kein Gamepad gefunden')
+
+    fd = os.open(device_path, os.O_RDWR)
+    try:
+        # struct ff_effect layout on ARM64 (48 bytes):
+        # offset  0: type (u16)
+        # offset  2: id   (s16) — set to -1, kernel assigns
+        # offset  4: direction (u16)
+        # offset  6: trigger.button (u16)
+        # offset  8: trigger.interval (u16)
+        # offset 10: replay.length (u16, ms)
+        # offset 12: replay.delay (u16)
+        # offset 14: padding (2 bytes)
+        # offset 16: union.rumble.strong_magnitude (u16)
+        # offset 18: union.rumble.weak_magnitude (u16)
+        # offset 20–47: zeros
+        buf = bytearray(48)
+        struct.pack_into('<H', buf,  0, FF_RUMBLE)
+        struct.pack_into('<h', buf,  2, -1)
+        struct.pack_into('<H', buf, 10, duration_ms)
+        struct.pack_into('<H', buf, 16, 0xFFFF)
+        struct.pack_into('<H', buf, 18, 0x8000)
+
+        fcntl.ioctl(fd, EVIOCSFF, buf)
+        effect_id = struct.unpack_from('<h', buf, 2)[0]
+
+        # input_event on ARM64: sec(u64) + usec(u64) + type(u16) + code(u16) + value(s32) = 24 bytes
+        os.write(fd, struct.pack('<QQHHi', 0, 0, EV_FF, effect_id, 1))
+        time.sleep(duration_ms / 1000.0 + 0.1)
+        os.write(fd, struct.pack('<QQHHi', 0, 0, EV_FF, effect_id, 0))
+    except OSError as exc:
+        raise RuntimeError(f'FF ioctl fehlgeschlagen: {exc}') from exc
+    finally:
+        os.close(fd)
+
+
 def restart_camera_service():
    subprocess.Popen(['systemctl', 'restart', 'exomy-camera-stream.service'])

@@ -659,6 +718,14 @@ class Handler(http.server.BaseHTTPRequestHandler):
            self.write_json(status_code, response)
            return

+        if self.path == '/api/rumble':
+            try:
+                rumble_controller(400)
+                self.write_json(200, {'status': 'Vibration ausgelöst'})
+            except RuntimeError as exc:
+                self.write_json(500, {'status': str(exc)})
+            return
+
        actions = {
            '/api/restart-camera': {
                'handler': restart_camera_service,