Add joycon-python source code

pycon/__init__.py

@@ -0,0 +1,25 @@
+from .joycon import JoyCon
+from .wrappers import PythonicJoyCon  # as JoyCon
+from .gyro import GyroTrackingJoyCon
+from .event import ButtonEventJoyCon
+from .device import get_device_ids, get_ids_of_type
+from .device import is_id_L
+from .device import get_R_ids, get_L_ids
+from .device import get_R_id, get_L_id
+
+
+__version__ = "0.2.4"
+
+__all__ = [
+    "ButtonEventJoyCon",
+    "GyroTrackingJoyCon",
+    "JoyCon",
+    "PythonicJoyCon",
+    "get_L_id",
+    "get_L_ids",
+    "get_R_id",
+    "get_R_ids",
+    "get_device_ids",
+    "get_ids_of_type",
+    "is_id_L",
+]

pycon/constants.py

@@ -0,0 +1,4 @@
+JOYCON_VENDOR_ID    = 0x057E
+JOYCON_L_PRODUCT_ID = 0x2006
+JOYCON_R_PRODUCT_ID = 0x2007
+JOYCON_PRODUCT_IDS = (JOYCON_L_PRODUCT_ID, JOYCON_R_PRODUCT_ID)

pycon/device.py

@@ -0,0 +1,77 @@
+import hid
+from .constants import JOYCON_VENDOR_ID, JOYCON_PRODUCT_IDS
+from .constants import JOYCON_L_PRODUCT_ID, JOYCON_R_PRODUCT_ID
+
+
+def get_device_ids(debug=False):
+    """
+    returns a list of tuples like `(vendor_id, product_id, serial_number)`
+    """
+    devices = hid.enumerate(0, 0)
+
+    out = []
+    for device in devices:
+        vendor_id      = device["vendor_id"]
+        product_id     = device["product_id"]
+        product_string = device["product_string"]
+        serial = device.get('serial') or device.get("serial_number")
+
+        if vendor_id != JOYCON_VENDOR_ID:
+            continue
+        if product_id not in JOYCON_PRODUCT_IDS:
+            continue
+        if not product_string:
+            continue
+
+        out.append((vendor_id, product_id, serial))
+
+        if debug:
+            print(product_string)
+            print(f"\tvendor_id  is {vendor_id!r}")
+            print(f"\tproduct_id is {product_id!r}")
+            print(f"\tserial     is {serial!r}")
+
+    return out
+
+
+def is_id_L(id):
+    return id[1] == JOYCON_L_PRODUCT_ID
+
+
+def get_ids_of_type(lr, **kw):
+    """
+    returns a list of tuples like `(vendor_id, product_id, serial_number)`
+
+    arg: lr : str : put `R` or `L`
+    """
+    if lr.lower() == "l":
+        product_id = JOYCON_L_PRODUCT_ID
+    else:
+        product_id = JOYCON_R_PRODUCT_ID
+    return [i for i in get_device_ids(**kw) if i[1] == product_id]
+
+
+def get_R_ids(**kw):
+    """returns a list of tuple like `(vendor_id, product_id, serial_number)`"""
+    return get_ids_of_type("R", **kw)
+
+
+def get_L_ids(**kw):
+    """returns a list of tuple like `(vendor_id, product_id, serial_number)`"""
+    return get_ids_of_type("L", **kw)
+
+
+def get_R_id(**kw):
+    """returns a tuple like `(vendor_id, product_id, serial_number)`"""
+    ids = get_R_ids(**kw)
+    if not ids:
+        return (None, None, None)
+    return ids[0]
+
+
+def get_L_id(**kw):
+    """returns a tuple like `(vendor_id, product_id, serial_number)`"""
+    ids = get_L_ids(**kw)
+    if not ids:
+        return (None, None, None)
+    return ids[0]

pycon/event.py

@@ -0,0 +1,133 @@
+from .wrappers import PythonicJoyCon
+
+
+class ButtonEventJoyCon(PythonicJoyCon):
+    def __init__(self, *args, track_sticks=False, **kwargs):
+        super().__init__(*args, **kwargs)
+
+        self._events_buffer = []  # TODO: perhaps use a deque instead?
+
+        self._event_handlers = {}
+        self._event_track_sticks = track_sticks
+
+        self._previous_stick_l_btn = 0
+        self._previous_stick_r_btn = 0
+        self._previous_stick_r  = self._previous_stick_l  = (0, 0)
+        self._previous_r        = self._previous_l        = 0
+        self._previous_zr       = self._previous_zl       = 0
+        self._previous_plus     = self._previous_minus    = 0
+        self._previous_a        = self._previous_right    = 0
+        self._previous_b        = self._previous_down     = 0
+        self._previous_x        = self._previous_up       = 0
+        self._previous_y        = self._previous_left     = 0
+        self._previous_home     = self._previous_capture  = 0
+        self._previous_right_sr = self._previous_left_sr  = 0
+        self._previous_right_sl = self._previous_left_sl  = 0
+
+        if self.is_left():
+            self.register_update_hook(self._event_tracking_update_hook_left)
+        else:
+            self.register_update_hook(self._event_tracking_update_hook_right)
+
+    def joycon_button_event(self, button, state):  # overridable
+        self._events_buffer.append((button, state))
+
+    def events(self):
+        while self._events_buffer:
+            yield self._events_buffer.pop(0)
+
+    @staticmethod
+    def _event_tracking_update_hook_right(self):
+        if self._event_track_sticks:
+            pressed = self.stick_r_btn
+            if self._previous_stick_r_btn != pressed:
+                self._previous_stick_r_btn = pressed
+                self.joycon_button_event("stick_r_btn", pressed)
+        pressed = self.r
+        if self._previous_r != pressed:
+            self._previous_r = pressed
+            self.joycon_button_event("r", pressed)
+        pressed = self.zr
+        if self._previous_zr != pressed:
+            self._previous_zr = pressed
+            self.joycon_button_event("zr", pressed)
+        pressed = self.plus
+        if self._previous_plus != pressed:
+            self._previous_plus = pressed
+            self.joycon_button_event("plus", pressed)
+        pressed = self.a
+        if self._previous_a != pressed:
+            self._previous_a = pressed
+            self.joycon_button_event("a", pressed)
+        pressed = self.b
+        if self._previous_b != pressed:
+            self._previous_b = pressed
+            self.joycon_button_event("b", pressed)
+        pressed = self.x
+        if self._previous_x != pressed:
+            self._previous_x = pressed
+            self.joycon_button_event("x", pressed)
+        pressed = self.y
+        if self._previous_y != pressed:
+            self._previous_y = pressed
+            self.joycon_button_event("y", pressed)
+        pressed = self.home
+        if self._previous_home != pressed:
+            self._previous_home = pressed
+            self.joycon_button_event("home", pressed)
+        pressed = self.right_sr
+        if self._previous_right_sr != pressed:
+            self._previous_right_sr = pressed
+            self.joycon_button_event("right_sr", pressed)
+        pressed = self.right_sl
+        if self._previous_right_sl != pressed:
+            self._previous_right_sl = pressed
+            self.joycon_button_event("right_sl", pressed)
+
+    @staticmethod
+    def _event_tracking_update_hook_left(self):
+        if self._event_track_sticks:
+            pressed = self.stick_l_btn
+            if self._previous_stick_l_btn != pressed:
+                self._previous_stick_l_btn = pressed
+                self.joycon_button_event("stick_l_btn", pressed)
+        pressed = self.l
+        if self._previous_l != pressed:
+            self._previous_l = pressed
+            self.joycon_button_event("l", pressed)
+        pressed = self.zl
+        if self._previous_zl != pressed:
+            self._previous_zl = pressed
+            self.joycon_button_event("zl", pressed)
+        pressed = self.minus
+        if self._previous_minus != pressed:
+            self._previous_minus = pressed
+            self.joycon_button_event("minus", pressed)
+        pressed = self.up
+        if self._previous_up != pressed:
+            self._previous_up = pressed
+            self.joycon_button_event("up", pressed)
+        pressed = self.down
+        if self._previous_down != pressed:
+            self._previous_down = pressed
+            self.joycon_button_event("down", pressed)
+        pressed = self.left
+        if self._previous_left != pressed:
+            self._previous_left = pressed
+            self.joycon_button_event("left", pressed)
+        pressed = self.right
+        if self._previous_right != pressed:
+            self._previous_right = pressed
+            self.joycon_button_event("right", pressed)
+        pressed = self.capture
+        if self._previous_capture != pressed:
+            self._previous_capture = pressed
+            self.joycon_button_event("capture", pressed)
+        pressed = self.left_sr
+        if self._previous_left_sr != pressed:
+            self._previous_left_sr = pressed
+            self.joycon_button_event("left_sr", pressed)
+        pressed = self.left_sl
+        if self._previous_left_sl != pressed:
+            self._previous_left_sl = pressed
+            self.joycon_button_event("left_sl", pressed)

pycon/gyro.py

@@ -0,0 +1,84 @@
+from .wrappers import PythonicJoyCon
+from glm import vec2, vec3, quat, angleAxis, eulerAngles
+from typing import Optional
+import time
+
+
+class GyroTrackingJoyCon(PythonicJoyCon):
+    """
+    A specialized class based on PythonicJoyCon which tracks the gyroscope data
+    and deduces the current rotation of the JoyCon. Can be used to create a
+    pointer rotate an object or pointin a direction. Comes with the need to be
+    calibrated.
+    """
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, simple_mode=False, **kwargs)
+
+        # set internal state:
+        self.reset_orientation()
+
+        # register the update callback
+        self.register_update_hook(self._gyro_update_hook)
+
+    @property
+    def pointer(self) -> Optional[vec2]:
+        d = self.direction
+        if d.x <= 0:
+            return None
+        return vec2(d.y, -d.z) / d.x
+
+    @property
+    def direction(self) -> vec3:
+        return self.direction_X
+
+    @property
+    def rotation(self) -> vec3:
+        return -eulerAngles(self.direction_Q)
+
+    is_calibrating = False
+
+    def calibrate(self, seconds=2):
+        self.calibration_acumulator = vec3(0)
+        self.calibration_acumulations = 0
+        self.is_calibrating = time.time() + seconds
+
+    def _set_calibration(self, gyro_offset=None):
+        if not gyro_offset:
+            c = vec3(1, self._ime_yz_coeff, self._ime_yz_coeff)
+            gyro_offset = self.calibration_acumulator * c
+            gyro_offset /= self.calibration_acumulations
+            gyro_offset += vec3(
+                    self._GYRO_OFFSET_X,
+                    self._GYRO_OFFSET_Y,
+                    self._GYRO_OFFSET_Z,
+                )
+        self.is_calibrating = False
+        self.set_gyro_calibration(gyro_offset)
+
+    def reset_orientation(self):
+        self.direction_X = vec3(1, 0, 0)
+        self.direction_Y = vec3(0, 1, 0)
+        self.direction_Z = vec3(0, 0, 1)
+        self.direction_Q = quat()
+
+    @staticmethod
+    def _gyro_update_hook(self):
+        if self.is_calibrating:
+            if self.is_calibrating < time.time():
+                self._set_calibration()
+            else:
+                for xyz in self.gyro:
+                    self.calibration_acumulator += xyz
+                self.calibration_acumulations += 3
+
+        for gx, gy, gz in self.gyro_in_rad:
+            # TODO: find out why 1/86 works, and not 1/60 or 1/(60*30)
+            rotation \
+                = angleAxis(gx * (-1/86), self.direction_X) \
+                * angleAxis(gy * (-1/86), self.direction_Y) \
+                * angleAxis(gz * (-1/86), self.direction_Z)
+
+            self.direction_X *= rotation
+            self.direction_Y *= rotation
+            self.direction_Z *= rotation
+            self.direction_Q *= rotation

pycon/joycon.py

@@ -0,0 +1,530 @@
+from .constants import JOYCON_VENDOR_ID, JOYCON_PRODUCT_IDS
+from .constants import JOYCON_L_PRODUCT_ID, JOYCON_R_PRODUCT_ID
+import hid
+import time
+import threading
+from typing import Optional
+
+# TODO: disconnect, power off sequence
+
+
+class JoyCon:
+    _INPUT_REPORT_SIZE = 49
+    _INPUT_REPORT_PERIOD = 0.015
+    _RUMBLE_DATA = b'\x00\x01\x40\x40\x00\x01\x40\x40'
+
+    vendor_id  : int
+    product_id : int
+    serial     : Optional[str]
+    simple_mode: bool
+    color_body : (int, int, int)
+    color_btn  : (int, int, int)
+    stick_cal  : [int, int, int, int, int, int, int, int]
+
+    def __init__(self, vendor_id: int, product_id: int, serial: str = None, simple_mode=False):
+        if vendor_id != JOYCON_VENDOR_ID:
+            raise ValueError(f'vendor_id is invalid: {vendor_id!r}')
+
+        if product_id not in JOYCON_PRODUCT_IDS:
+            raise ValueError(f'product_id is invalid: {product_id!r}')
+
+        self.vendor_id   = vendor_id
+        self.product_id  = product_id
+        self.serial      = serial
+        self.simple_mode = simple_mode  # TODO: It's for reporting mode 0x3f
+
+        # setup internal state
+        self._input_hooks = []
+        self._input_report = bytes(self._INPUT_REPORT_SIZE)
+        self._packet_number = 0
+        self.set_accel_calibration((0, 0, 0), (1, 1, 1))
+        self.set_gyro_calibration((0, 0, 0), (1, 1, 1))
+
+        # connect to joycon
+        self._joycon_device = self._open(vendor_id, product_id, serial=serial)
+        self._read_joycon_data()
+        self._setup_sensors()
+
+        # start talking with the joycon in a daemon thread
+        self._update_input_report_thread \
+            = threading.Thread(target=self._update_input_report)
+        self._update_input_report_thread.setDaemon(True)
+        self._update_input_report_thread.start()
+
+    def _open(self, vendor_id, product_id, serial):
+        try:
+            if hasattr(hid, "device"):  # hidapi
+                _joycon_device = hid.device()
+                _joycon_device.open(vendor_id, product_id, serial)
+            elif hasattr(hid, "Device"):  # hid
+                _joycon_device = hid.Device(vendor_id, product_id, serial)
+            else:
+                raise Exception("Implementation of hid is not recognized!")
+        except IOError as e:
+            raise IOError('joycon connect failed') from e
+        return _joycon_device
+
+    def _close(self):
+        if self._joycon_device:
+            self._joycon_device.close()
+            self._joycon_device = None
+
+    def _read_input_report(self) -> bytes:
+        if self._joycon_device:
+            return bytes(self._joycon_device.read(self._INPUT_REPORT_SIZE))
+
+    def _write_output_report(self, command, subcommand, argument):
+        if not self._joycon_device:
+            return
+
+        # TODO: add documentation
+        self._joycon_device.write(b''.join([
+            command,
+            self._packet_number.to_bytes(1, byteorder='little'),
+            self._RUMBLE_DATA,
+            subcommand,
+            argument,
+        ]))
+        self._packet_number = (self._packet_number + 1) & 0xF
+
+    def _send_subcmd_get_response(self, subcommand, argument) -> (bool, bytes):
+        # TODO: handle subcmd when daemon is running
+        self._write_output_report(b'\x01', subcommand, argument)
+
+        report = self._read_input_report()
+        while report[0] != 0x21:  # TODO, avoid this, await daemon instead
+            report = self._read_input_report()
+
+        # TODO, remove, see the todo above
+        assert report[1:2] != subcommand, "THREAD carefully"
+
+        # TODO: determine if the cut bytes are worth anything
+
+        return report[13] & 0x80, report[13:]  # (ack, data)
+
+    def _spi_flash_read(self, address, size) -> bytes:
+        assert size <= 0x1d
+        argument = address.to_bytes(4, "little") + size.to_bytes(1, "little")
+        ack, report = self._send_subcmd_get_response(b'\x10', argument)
+        if not ack:
+            raise IOError("After SPI read @ {address:#06x}: got NACK")
+
+        if report[:2] != b'\x90\x10':
+            raise IOError("Something else than the expected ACK was recieved!")
+        assert report[2:7] == argument, (report[2:5], argument)
+
+        return report[7:size+7]
+
+    def _update_input_report(self):  # daemon thread
+        try:
+            while self._joycon_device:
+                report = self._read_input_report()
+                # TODO, handle input reports of type 0x21 and 0x3f
+                while report[0] != 0x30:
+                    report = self._read_input_report()
+
+                self._input_report = report
+
+                for callback in self._input_hooks:
+                    callback(self)
+        except OSError:
+            print('connection closed')
+            pass
+
+    def _read_joycon_data(self):
+        color_data = self._spi_flash_read(0x6050, 6)
+
+        self._read_stick_calibration_data()
+
+        buf = self._spi_flash_read(0x6086 if self.is_left() else 0x6098, 16)
+        self.deadzone = (buf[4] << 8) & 0xF00 | buf[3]
+
+        # user IME data
+        if self._spi_flash_read(0x8026, 2) == b"\xB2\xA1":
+            # print(f"Calibrate {self.serial} IME with user data")
+            imu_cal = self._spi_flash_read(0x8028, 24)
+
+        # factory IME data
+        else:
+            # print(f"Calibrate {self.serial} IME with factory data")
+            imu_cal = self._spi_flash_read(0x6020, 24)
+
+        self.color_body = tuple(color_data[:3])
+        self.color_btn  = tuple(color_data[3:])
+
+        self.set_accel_calibration((
+                self._to_int16le_from_2bytes(imu_cal[ 0], imu_cal[ 1]),
+                self._to_int16le_from_2bytes(imu_cal[ 2], imu_cal[ 3]),
+                self._to_int16le_from_2bytes(imu_cal[ 4], imu_cal[ 5]),
+            ), (
+                self._to_int16le_from_2bytes(imu_cal[ 6], imu_cal[ 7]),
+                self._to_int16le_from_2bytes(imu_cal[ 8], imu_cal[ 9]),
+                self._to_int16le_from_2bytes(imu_cal[10], imu_cal[11]),
+            )
+        )
+        self.set_gyro_calibration((
+                self._to_int16le_from_2bytes(imu_cal[12], imu_cal[13]),
+                self._to_int16le_from_2bytes(imu_cal[14], imu_cal[15]),
+                self._to_int16le_from_2bytes(imu_cal[16], imu_cal[17]),
+            ), (
+                self._to_int16le_from_2bytes(imu_cal[18], imu_cal[19]),
+                self._to_int16le_from_2bytes(imu_cal[20], imu_cal[21]),
+                self._to_int16le_from_2bytes(imu_cal[22], imu_cal[23]),
+            )
+        )
+
+    def _read_stick_calibration_data(self):
+        user_stick_cal_addr = 0x8012 if self.is_left() else 0x801D
+        buf = self._spi_flash_read(user_stick_cal_addr, 9)
+        use_user_data = False
+
+        for b in buf:
+            if b != 0xFF:
+                use_user_data = True
+                break
+
+        if not use_user_data:
+            factory_stick_cal_addr = 0x603D if self.is_left() else 0x6046
+            buf = self._spi_flash_read(factory_stick_cal_addr, 9)
+
+        self.stick_cal = [0] * 6
+
+        # X Axis Max above center
+        self.stick_cal[0 if self.is_left() else 2] = (buf[1] << 8) & 0xF00 | buf[0]
+        # Y Axis Max above center
+        self.stick_cal[1 if self.is_left() else 3] = (buf[2] << 4) | (buf[1] >> 4)
+        # X Axis Center
+        self.stick_cal[2 if self.is_left() else 4] = (buf[4] << 8) & 0xF00 | buf[3]
+        # Y Axis Center
+        self.stick_cal[3 if self.is_left() else 5] = (buf[5] << 4) | (buf[4] >> 4)
+        # X Axis Min below center
+        self.stick_cal[4 if self.is_left() else 0] = (buf[7] << 8) & 0xF00 | buf[6]
+        # Y Axis Min below center
+        self.stick_cal[5 if self.is_left() else 1] = (buf[8] << 4) | (buf[7] >> 4)
+
+    def _setup_sensors(self):
+        # Enable 6 axis sensors
+        self._write_output_report(b'\x01', b'\x40', b'\x01')
+        # It needs delta time to update the setting
+        time.sleep(0.02)
+        # Change format of input report
+        self._write_output_report(b'\x01', b'\x03', b'\x30')
+
+    @staticmethod
+    def _to_int16le_from_2bytes(hbytebe, lbytebe):
+        uint16le = (lbytebe << 8) | hbytebe
+        int16le = uint16le if uint16le < 32768 else uint16le - 65536
+        return int16le
+
+    def _get_nbit_from_input_report(self, offset_byte, offset_bit, nbit):
+        byte = self._input_report[offset_byte]
+        return (byte >> offset_bit) & ((1 << nbit) - 1)
+
+    def __del__(self):
+        self._close()
+
+    def set_gyro_calibration(self, offset_xyz=None, coeff_xyz=None):
+        if offset_xyz:
+            self._GYRO_OFFSET_X, \
+            self._GYRO_OFFSET_Y, \
+            self._GYRO_OFFSET_Z = offset_xyz
+        if coeff_xyz:
+            cx, cy, cz = coeff_xyz
+            self._GYRO_COEFF_X = 0x343b / cx if cx != 0x343b else 1
+            self._GYRO_COEFF_Y = 0x343b / cy if cy != 0x343b else 1
+            self._GYRO_COEFF_Z = 0x343b / cz if cz != 0x343b else 1
+
+    def set_accel_calibration(self, offset_xyz=None, coeff_xyz=None):
+        if offset_xyz and coeff_xyz:
+            self._ACCEL_OFFSET_X, \
+            self._ACCEL_OFFSET_Y, \
+            self._ACCEL_OFFSET_Z = offset_xyz
+
+            cx, cy, cz = coeff_xyz
+            self._ACCEL_COEFF_X = (1.0 / (cx - self._ACCEL_OFFSET_X)) * 4.0
+            self._ACCEL_COEFF_Y = (1.0 / (cy - self._ACCEL_OFFSET_Y)) * 4.0
+            self._ACCEL_COEFF_Z = (1.0 / (cz - self._ACCEL_OFFSET_Z)) * 4.0
+
+
+    def get_actual_stick_value(self, pre_cal, orientation):  # X/Horizontal = 0, Y/Vertical = 1
+        diff = pre_cal - self.stick_cal[2 + orientation]
+        if (abs(diff) < self.deadzone):
+            return 0
+        elif diff > 0:  # Axis is above center
+            return diff / self.stick_cal[orientation]
+        else:
+            return diff / self.stick_cal[4 + orientation]
+
+    def register_update_hook(self, callback):
+        self._input_hooks.append(callback)
+        return callback  # this makes it so you could use it as a decorator
+
+    def is_left(self):
+        return self.product_id == JOYCON_L_PRODUCT_ID
+
+    def is_right(self):
+        return self.product_id == JOYCON_R_PRODUCT_ID
+
+    def get_battery_charging(self):
+        return self._get_nbit_from_input_report(2, 4, 1)
+
+    def get_battery_level(self):
+        return self._get_nbit_from_input_report(2, 5, 3)
+
+    def get_button_y(self):
+        return self._get_nbit_from_input_report(3, 0, 1)
+
+    def get_button_x(self):
+        return self._get_nbit_from_input_report(3, 1, 1)
+
+    def get_button_b(self):
+        return self._get_nbit_from_input_report(3, 2, 1)
+
+    def get_button_a(self):
+        return self._get_nbit_from_input_report(3, 3, 1)
+
+    def get_button_right_sr(self):
+        return self._get_nbit_from_input_report(3, 4, 1)
+
+    def get_button_right_sl(self):
+        return self._get_nbit_from_input_report(3, 5, 1)
+
+    def get_button_r(self):
+        return self._get_nbit_from_input_report(3, 6, 1)
+
+    def get_button_zr(self):
+        return self._get_nbit_from_input_report(3, 7, 1)
+
+    def get_button_minus(self):
+        return self._get_nbit_from_input_report(4, 0, 1)
+
+    def get_button_plus(self):
+        return self._get_nbit_from_input_report(4, 1, 1)
+
+    def get_button_r_stick(self):
+        return self._get_nbit_from_input_report(4, 2, 1)
+
+    def get_button_l_stick(self):
+        return self._get_nbit_from_input_report(4, 3, 1)
+
+    def get_button_home(self):
+        return self._get_nbit_from_input_report(4, 4, 1)
+
+    def get_button_capture(self):
+        return self._get_nbit_from_input_report(4, 5, 1)
+
+    def get_button_charging_grip(self):
+        return self._get_nbit_from_input_report(4, 7, 1)
+
+    def get_button_down(self):
+        return self._get_nbit_from_input_report(5, 0, 1)
+
+    def get_button_up(self):
+        return self._get_nbit_from_input_report(5, 1, 1)
+
+    def get_button_right(self):
+        return self._get_nbit_from_input_report(5, 2, 1)
+
+    def get_button_left(self):
+        return self._get_nbit_from_input_report(5, 3, 1)
+
+    def get_button_left_sr(self):
+        return self._get_nbit_from_input_report(5, 4, 1)
+
+    def get_button_left_sl(self):
+        return self._get_nbit_from_input_report(5, 5, 1)
+
+    def get_button_l(self):
+        return self._get_nbit_from_input_report(5, 6, 1)
+
+    def get_button_zl(self):
+        return self._get_nbit_from_input_report(5, 7, 1)
+
+    def get_stick_left_horizontal(self):
+        if not self.is_left():
+            return 0
+
+        pre_cal = self._get_nbit_from_input_report(6, 0, 8) \
+            | (self._get_nbit_from_input_report(7, 0, 4) << 8)
+        return self.get_actual_stick_value(pre_cal, 0)
+
+    def get_stick_left_vertical(self):
+        if not self.is_left():
+            return 0
+
+        pre_cal = self._get_nbit_from_input_report(7, 4, 4) \
+            | (self._get_nbit_from_input_report(8, 0, 8) << 4)
+        return self.get_actual_stick_value(pre_cal, 1)
+
+    def get_stick_right_horizontal(self):
+        if self.is_left():
+            return 0
+
+        pre_cal = self._get_nbit_from_input_report(9, 0, 8) \
+            | (self._get_nbit_from_input_report(10, 0, 4) << 8)
+        return self.get_actual_stick_value(pre_cal, 0)
+
+    def get_stick_right_vertical(self):
+        if self.is_left():
+            return 0
+
+        pre_cal = self._get_nbit_from_input_report(10, 4, 4) \
+            | (self._get_nbit_from_input_report(11, 0, 8) << 4)
+        return self.get_actual_stick_value(pre_cal, 1)
+
+    def get_accels(self):
+        input_report = bytes(self._input_report)
+
+        x = self.get_accel_x(input_report)
+        y = self.get_accel_y(input_report)
+        z = self.get_accel_z(input_report)
+
+        return (x, y, z)
+
+    def get_accel_x(self, input_report=None, sample_idx=0):
+        if not input_report:
+            input_report = self._input_report
+
+        if sample_idx not in (0, 1, 2):
+            raise IndexError('sample_idx should be between 0 and 2')
+        data = self._to_int16le_from_2bytes(
+            input_report[13 + sample_idx * 12],
+            input_report[14 + sample_idx * 12])
+        return data * self._ACCEL_COEFF_X
+
+    def get_accel_y(self, input_report=None, sample_idx=0):
+        if not input_report:
+            input_report = self._input_report
+
+        if sample_idx not in (0, 1, 2):
+            raise IndexError('sample_idx should be between 0 and 2')
+        data = self._to_int16le_from_2bytes(
+            input_report[15 + sample_idx * 12],
+            input_report[16 + sample_idx * 12])
+        return data * self._ACCEL_COEFF_Y * (1 if self.is_left() else -1)
+
+    def get_accel_z(self, input_report=None, sample_idx=0):
+        if not input_report:
+            input_report = self._input_report
+
+        if sample_idx not in (0, 1, 2):
+            raise IndexError('sample_idx should be between 0 and 2')
+        data = self._to_int16le_from_2bytes(
+            input_report[17 + sample_idx * 12],
+            input_report[18 + sample_idx * 12])
+        return data * self._ACCEL_COEFF_Z * (1 if self.is_left() else -1)
+
+    def get_gyro_x(self, sample_idx=0):
+        if sample_idx not in (0, 1, 2):
+            raise IndexError('sample_idx should be between 0 and 2')
+        data = self._to_int16le_from_2bytes(
+            self._input_report[19 + sample_idx * 12],
+            self._input_report[20 + sample_idx * 12])
+        return (data - self._GYRO_OFFSET_X) * self._GYRO_COEFF_X
+
+    def get_gyro_y(self, sample_idx=0):
+        if sample_idx not in (0, 1, 2):
+            raise IndexError('sample_idx should be between 0 and 2')
+        data = self._to_int16le_from_2bytes(
+            self._input_report[21 + sample_idx * 12],
+            self._input_report[22 + sample_idx * 12])
+        return (data - self._GYRO_OFFSET_Y) * self._GYRO_COEFF_Y
+
+    def get_gyro_z(self, sample_idx=0):
+        if sample_idx not in (0, 1, 2):
+            raise IndexError('sample_idx should be between 0 and 2')
+        data = self._to_int16le_from_2bytes(
+            self._input_report[23 + sample_idx * 12],
+            self._input_report[24 + sample_idx * 12])
+        return (data - self._GYRO_OFFSET_Z) * self._GYRO_COEFF_Z
+
+    def get_status(self) -> dict:
+        return {
+            "battery": {
+                "charging": self.get_battery_charging(),
+                "level": self.get_battery_level(),
+            },
+            "buttons": {
+                "right": {
+                    "y": self.get_button_y(),
+                    "x": self.get_button_x(),
+                    "b": self.get_button_b(),
+                    "a": self.get_button_a(),
+                    "sr": self.get_button_right_sr(),
+                    "sl": self.get_button_right_sl(),
+                    "r": self.get_button_r(),
+                    "zr": self.get_button_zr(),
+                },
+                "shared": {
+                    "minus": self.get_button_minus(),
+                    "plus": self.get_button_plus(),
+                    "r-stick": self.get_button_r_stick(),
+                    "l-stick": self.get_button_l_stick(),
+                    "home": self.get_button_home(),
+                    "capture": self.get_button_capture(),
+                    "charging-grip": self.get_button_charging_grip(),
+                },
+                "left": {
+                    "down": self.get_button_down(),
+                    "up": self.get_button_up(),
+                    "right": self.get_button_right(),
+                    "left": self.get_button_left(),
+                    "sr": self.get_button_left_sr(),
+                    "sl": self.get_button_left_sl(),
+                    "l": self.get_button_l(),
+                    "zl": self.get_button_zl(),
+                }
+            },
+            "analog-sticks": {
+                "left": {
+                    "horizontal": self.get_stick_left_horizontal(),
+                    "vertical": self.get_stick_left_vertical(),
+                },
+                "right": {
+                    "horizontal": self.get_stick_right_horizontal(),
+                    "vertical": self.get_stick_right_vertical(),
+                },
+            },
+            "accel": {
+                "x": self.get_accel_x(),
+                "y": self.get_accel_y(),
+                "z": self.get_accel_z(),
+            },
+            "gyro": {
+                "x": self.get_gyro_x(),
+                "y": self.get_gyro_y(),
+                "z": self.get_gyro_z(),
+            },
+        }
+
+    def set_player_lamp_on(self, on_pattern: int):
+        self._write_output_report(
+            b'\x01', b'\x30',
+            (on_pattern & 0xF).to_bytes(1, byteorder='little'))
+
+    def set_player_lamp_flashing(self, flashing_pattern: int):
+        self._write_output_report(
+            b'\x01', b'\x30',
+            ((flashing_pattern & 0xF) << 4).to_bytes(1, byteorder='little'))
+
+    def set_player_lamp(self, pattern: int):
+        self._write_output_report(
+            b'\x01', b'\x30',
+            pattern.to_bytes(1, byteorder='little'))
+
+    def disconnect_device(self):
+        self._write_output_report(b'\x01', b'\x06', b'\x00')
+
+
+if __name__ == '__main__':
+    import pyjoycon.device as d
+    ids = d.get_L_id() if None not in d.get_L_id() else d.get_R_id()
+
+    if None not in ids:
+        joycon = JoyCon(*ids)
+        lamp_pattern = 0
+        while True:
+            print(joycon.get_status())
+            joycon.set_player_lamp_on(lamp_pattern)
+            lamp_pattern = (lamp_pattern + 1) & 0xf
+            time.sleep(0.2)

pycon/wrappers.py

@@ -0,0 +1,142 @@
+from .joycon import JoyCon
+
+
+# Preferably, this class gets merged into the
+# parent class if approved by the original author
+class PythonicJoyCon(JoyCon):
+    """
+    A wrapper class for the JoyCon parent class.
+    This creates a more pythonic interface by
+     *  using properties instead of requiring java-style getters and setters,
+     *  bundles related xy/xyz data in tuples
+     *  bundles the multiple measurements of the
+        gyroscope and accelerometer into a list
+     *  Adds the option to invert the y and z axis of the left joycon
+        to make it match the right joycon. This is enabled by default
+    """
+
+    def __init__(self, *a, invert_left_ime_yz=True, **kw):
+        super().__init__(*a, **kw)
+        self._ime_yz_coeff = -1 if invert_left_ime_yz and self.is_left() else 1
+
+    is_charging   = property(JoyCon.get_battery_charging)
+    battery_level = property(JoyCon.get_battery_level)
+
+    r             = property(JoyCon.get_button_r)
+    zr            = property(JoyCon.get_button_zr)
+    plus          = property(JoyCon.get_button_plus)
+    a             = property(JoyCon.get_button_a)
+    b             = property(JoyCon.get_button_b)
+    x             = property(JoyCon.get_button_x)
+    y             = property(JoyCon.get_button_y)
+    stick_r_btn   = property(JoyCon.get_button_r_stick)
+    home          = property(JoyCon.get_button_home)
+    right_sr      = property(JoyCon.get_button_right_sr)
+    right_sl      = property(JoyCon.get_button_right_sl)
+
+    l             = property(JoyCon.get_button_l)  # noqa: E741
+    zl            = property(JoyCon.get_button_zl)
+    minus         = property(JoyCon.get_button_minus)
+    stick_l_btn   = property(JoyCon.get_button_l_stick)
+    up            = property(JoyCon.get_button_up)
+    down          = property(JoyCon.get_button_down)
+    left          = property(JoyCon.get_button_left)
+    right         = property(JoyCon.get_button_right)
+    capture       = property(JoyCon.get_button_capture)
+    left_sr       = property(JoyCon.get_button_left_sr)
+    left_sl       = property(JoyCon.get_button_left_sl)
+
+    set_led_on       = JoyCon.set_player_lamp_on
+    set_led_flashing = JoyCon.set_player_lamp_flashing
+    set_led          = JoyCon.set_player_lamp
+    disconnect       = JoyCon.disconnect_device
+
+    @property
+    def stick_l(self):
+        return (
+            self.get_stick_left_horizontal(),
+            self.get_stick_left_vertical(),
+        )
+
+    @property
+    def stick_r(self):
+        return (
+            self.get_stick_right_horizontal(),
+            self.get_stick_right_vertical(),
+        )
+
+    @property
+    def accel(self):
+        c = self._ime_yz_coeff
+        return [
+            (
+                self.get_accel_x(i),
+                self.get_accel_y(i) * c,
+                self.get_accel_z(i) * c,
+            )
+            for i in range(3)
+        ]
+
+    @property
+    def accel_in_g(self):
+        c = 4.0 / 0x4000
+        c2 = c * self._ime_yz_coeff
+        return [
+            (
+                self.get_accel_x(i) * c,
+                self.get_accel_y(i) * c2,
+                self.get_accel_z(i) * c2,
+            )
+            for i in range(3)
+        ]
+
+    @property
+    def gyro(self):
+        c = self._ime_yz_coeff
+        return [
+            (
+                self.get_gyro_x(i),
+                self.get_gyro_y(i) * c,
+                self.get_gyro_z(i) * c,
+            )
+            for i in range(3)
+        ]
+
+    @property
+    def gyro_in_deg(self):
+        c = 0.06103
+        c2 = c * self._ime_yz_coeff
+        return [
+            (
+                self.get_gyro_x(i) * c,
+                self.get_gyro_y(i) * c2,
+                self.get_gyro_z(i) * c2,
+            )
+            for i in range(3)
+        ]
+
+    @property
+    def gyro_in_rad(self):
+        c = 0.0001694 * 3.1415926536
+        c2 = c * self._ime_yz_coeff
+        return [
+            (
+                self.get_gyro_x(i) * c,
+                self.get_gyro_y(i) * c2,
+                self.get_gyro_z(i) * c2,
+            )
+            for i in range(3)
+        ]
+
+    @property
+    def gyro_in_rot(self):
+        c = 0.0001694
+        c2 = c * self._ime_yz_coeff
+        return [
+            (
+                self.get_gyro_x(i) * c,
+                self.get_gyro_y(i) * c2,
+                self.get_gyro_z(i) * c2,
+            )
+            for i in range(3)
+        ]