Fixes #33 #43 : Create ps4-controller role

ansible/donkeycar.yml

@@ -10,11 +10,13 @@
       become: yes # This role need root privileges
     - role: donkeycar # Donkeycar installation 
       become: no # This role doesn't need root privileges
-    - role: openCV
-      become: yes
+    - role: openCV # Install openCV (optional)
+      become: yes # This role need root privileges
     - role: shutdown-btn # shutdown button service
       become: yes # This role need root privileges
-    - role: mycar # shutdown button service
-      become: no # This role need root privileges
+    - role: mycar # create car with configurations
+      become: no # This role no need root privileges
+    - role: ps4-controller # install and configure ds4drv
+      become: no # This role no need root privileges
     - role: hostname
       become: yes

ansible/group_vars/all

@@ -14,4 +14,7 @@ steering_left_pwm: 622
 steering_right_pwm: 520
 throttle_forward_pwm: 515
 throttle_stopped_pwm: 470
-throttle_reverse_pwm: 445
+throttle_reverse_pwm: 445
+
+# PS4 controller config
+ps4_contoller_led_color: 00CED1 # hexadecimal color ( don't forget, remove the `#` before )

ansible/roles/ps4-controller/defaults/main.yml

@@ -0,0 +1 @@
+ps4_contoller_led_color: 00CED1 # hexadecimal color ( don't forget, remove the `#` before )

ansible/roles/ps4-controller/handlers/main.yml

@@ -0,0 +1,9 @@
+---
+# ps4 controller handlers
+
+- name: Start ds4drv service
+  systemd:
+    name: ds4drv
+    daemon-reload: yes
+    state: started
+    enabled: yes

ansible/roles/ps4-controller/tasks/main.yml

@@ -0,0 +1,59 @@
+--- 
+
+- name: Install git
+  become: true
+  apt: 
+    name: git 
+    state: latest
+
+- name: Put rules in /etc/udev/rules.d/
+  become: yes
+  get_url:
+    url: https://raw.githubusercontent.com/chrippa/ds4drv/master/udev/50-ds4drv.rules
+    dest: /etc/udev/rules.d/50-ds4drv.rules
+
+- name: reload ds4drv rules
+  become: yes
+  command: udevadm control --reload-rules
+
+- name: activate rules
+  become: yes
+  command: udevadm trigger
+
+- name: Install ds4drv (version with controller limit)
+  become: no
+  pip:
+    name: git+https://github.com/Benvii/ds4drv.git@193_limit_simultaneous_controllers
+    virtualenv: /home/pi/venv/
+    virtualenv_command: /usr/bin/python3 -m venv
+
+- name: Create the /etc/donkeycar directory
+  file:
+    path: /etc/donkeycar
+    state: directory
+
+- name: Configure ds4drv.conf file
+  become: yes
+  template:
+    src: ds4drv.conf.j2
+    dest: /etc/donkeycar/ds4drv.conf
+    owner: root
+    group: root
+
+- name: Create the environment file for ds4drv
+  become: yes
+  template:
+    src: ds4drv.env.j2
+    dest: /etc/donkeycar/ds4drv.env
+    owner: root
+    group: root
+
+- name: Copy systemd service file to server
+  become: yes
+  template:
+    src: ds4drv.service.j2
+    dest: /etc/systemd/system/ds4drv.service
+    owner: root
+    group: root
+  notify:
+    - Start ds4drv service

ansible/roles/ps4-controller/templates/ds4drv.conf.j2

@@ -0,0 +1,182 @@
+# Many of the settings used here are directly connected to their command line
+# counterparts, see "ds4drv --help" for more information about available options.
+
+##
+# Global options
+##
+[ds4drv]
+# Run ds4drv in background as a daemon
+#daemon = true
+
+# Location of the log file in daemon mode
+#daemon-log = ~/.cache/ds4drv.log
+
+# Location of the PID file in daemon mode
+#daemon-pid = /tmp/ds4drv.pid
+
+# Enable hidraw mode
+#hidraw = true
+
+
+##
+# Controller settings
+#
+# This is the default profile for each controller.
+# Multiple controllers slots are defined by increasing the number.
+#
+# Controller sections contain:
+#  Key: A option, these are the same options that can used on the command line
+#       but without the "--" prefix.
+#  Value: The option's value, should be "true" if no value is needed.
+#
+# See "ds4drv --help" for a complete list of available options.
+##
+[controller:1]
+# Enables LED flash on low battery
+#battery-flash = true
+
+# Sets LED color
+#led = 0000ff
+
+# Enables profile switching
+#profile-toggle = PS
+
+# Profiles to cycle through
+#profiles = xpad,kbmouse
+
+
+##
+# Profiles
+#
+# Profiles allows switching controller settings during runtime.
+#
+# Profile sections always require a name and are then enabled on a controller
+# with "profiles = <profile1>[,<profile2>]".
+#
+# The same settings available for controllers are used here.
+##
+[profile:xpad]
+led = ff0000
+# Emulate the same button mapping as wired Xbox 360 controllers
+emulate-xpad = true
+
+[profile:kbmouse]
+led = 00ff00
+# Enable trackpad mouse
+trackpad-mouse = true
+# Custom button mapping
+mapping = keyboard
+# Custom action bindings
+bindings = exec_stuff
+
+
+##
+# Mappings
+#
+# Mappings let you map buttons and sticks to mouse, key and joystick events.
+#
+# Mapping sections always require a name and are then enabled in a profile
+# with "mapping = <name>".
+#
+# Mapping sections contain:
+#  Key: A Linux input event, see /usr/include/linux/input-event-codes.h for a complete list
+#  Value: Button on the DS4, use --dump-reports to see all the available buttons
+##
+
+[mapping:keyboard]
+# General button to key mapping
+KEY_UP = dpad_up
+KEY_LEFT = dpad_left
+KEY_DOWN = dpad_down
+KEY_RIGHT = dpad_right
+KEY_Z = button_cross
+KEY_X = button_circle
+
+# Turn analog stick directions into buttons
+KEY_W = -left_analog_y
+KEY_A = -left_analog_x
+KEY_S = +left_analog_y
+KEY_D = +left_analog_x
+
+# Map relative mouse movement to a analog stick
+REL_X = right_analog_x
+REL_Y = right_analog_y
+
+# Map mouse buttons
+BTN_LEFT = button_r2
+BTN_RIGHT = button_l2
+
+# Emulate mouse wheel on r1 and l1
+REL_WHEELUP = button_l1
+REL_WHEELDOWN = button_r1
+
+# Mouse settings
+#mouse_sensitivity = 0.6
+#mouse_deadzone = 5
+
+# Scroll wheel emulation settings (values are in seconds)
+#mouse_scroll_repeat_delay = 0.25 # How long to wait before continual scrolling
+#mouse_scroll_delay = 0.05 # Lower this to scroll faster; raise to scroll slower
+
+
+##
+# Bindings
+#
+# Bindings let you bind button combos to special built-in actions.
+#
+# Binding sections can be defined with a name and are then enabled in a profile
+# with "bindings = <name>".
+#
+# It's also possible to define a global bindings section that is enabled
+# on all profiles.
+#
+# Sections contains:
+#  Key: A button combo
+#  Value: An action, see next section for valid actions.
+#
+#
+# Valid actions:
+#  next-profile                                  Loads the next profile
+#  prev-profile                                  Loads the previous profile
+#  load-profile <profile>                        Loads the specified profile
+#  exec <command> [arg1] [arg2] ...              Executes the command with
+#                                                specified arguments
+#  exec-background <command> [arg1] [arg2] ...   Same as exec but launches in
+#                                                the background
+#
+#
+# Actions will be pre-processed and replace variables with real values.
+#
+# Valid variables:
+#  $profile                The current profile
+#  $name                   Pretty name of the current device
+#  $device_addr            Bluetooth address of the device
+#  $report.<attribute>     Replace <attribute> with a valid attribute,
+#                          use --dump-reports to see which are available
+##
+
+[bindings]
+# Cycle profiles
+#PS+Right = next-profile
+#PS+Left = prev-profile
+
+# Go directly to specified profile
+#PS+Up = load-profile kbmouse
+#PS+Down = load-profile default
+
+
+[bindings:exec_stuff]
+# Execute a command in the foreground, blocking until it has finished
+PS+Cross = exec echo '$name'
+
+# Execute a command in the background
+PS+Triangle = exec-background sh -c 'echo "disconnect $device_addr" | bluetoothctl'
+
+[bindings:test]
+# Round = exec echo round
+L2 = exec echo L2
+Ps+Cross = exec echo sus
+PS+Triangle+L2+Circle = exec echo shutdown
+
+[bindings:donkeycar]
+PS+Triangle+L2+Circle = exec sudo shutdown -h now

ansible/roles/ps4-controller/templates/ds4drv.env.j2

@@ -0,0 +1 @@
+CONTROLLER_LED_COLOR={{ ps4_contoller_led_color }}

ansible/roles/ps4-controller/templates/ds4drv.service.j2

@@ -0,0 +1,13 @@
+[Unit]
+Description=ds4drv daemon
+Requires=bluetooth.service
+After=bluetooth.service
+
+[Service]
+EnvironmentFile=/etc/donkeycar/ds4drv.env
+ExecStartPre=/bin/sleep 5
+ExecStart=/home/pi/venv/bin/ds4drv --controller-limit 1 --led ${CONTROLLER_LED_COLOR} --config /etc/donkeycar/ds4drv.conf --bindings donkeycar
+Restart=on-abort
+
+[Install]
+WantedBy=bluetooth.target

ansible/roles/raspi-config/tasks/main.yml

@@ -4,7 +4,7 @@
     name: ssh
     enabled: yes
 
-- name: Put the wpa configuration in /boot # first boot on the
+- name: Put the wpa configuration in /boot 
   template:
     src: wpa-suplicant-conf.j2
     dest: /boot/wpa_supplicant.conf
@@ -33,4 +33,14 @@
   command: raspi-config nonint do_i2c 1
 
 - name: Enable camera
-  command: raspi-config nonint do_camera 1  
+  command: raspi-config nonint do_camera 1  
+
+- name: modifie the dhcpd5 service
+  template:
+    src: dhcpd.service.j2
+    dest: /lib/systemd/system/dhcpcd.service
+    owner: root
+    group: root
+  # We won't notify to restart DHCP service because it could cause Ansible deconnexion
+  # Change will be taken into account at restart, it's not an issue as our fixe covers
+  # timeout issue at the first boot of the raspberry pi.

ansible/roles/raspi-config/templates/dhcpd.service.j2

@@ -0,0 +1,16 @@
+[Unit]
+Description=dhcpcd on all interfaces
+Wants=network.target
+Before=network.target
+Restart=always
+
+[Service]
+Type=forking
+PIDFile=/run/dhcpcd.pid
+ExecStart=/usr/lib/dhcpcd5/dhcpcd -q -b
+ExecStop=/sbin/dhcpcd -x
+TimeoutStartSec=180
+
+[Install]
+WantedBy=multi-user.target
+Alias=dhcpcd5.service