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Merged
Gin890 merged 3 commits into from
Oct 8, 2026
Merged

Develop pybind controller for Python/agentic use cases #1542

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ad19f2a
PybindSwitchProController: log to the global logger instead of stdout
Oct 6, 2026
b32feb3
PybindSwitchProController: throw when a command is sent before the co…
Oct 6, 2026
0d57a3a
PybindSwitchProController: return the connection status as plain text
Oct 6, 2026
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11 changes: 11 additions & 0 deletions SerialPrograms/Source/Controllers/ControllerConnection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,19 +34,30 @@ std::string ControllerConnection::status_text() const{
}
return str;
}
std::string ControllerConnection::raw_status_text() const{
ReadSpinLock lg(m_status_text_lock);
std::string str = m_raw_status_line0;
if (!str.empty() && !m_raw_status_line1.empty()){
str += "\n";
str += m_raw_status_line1;
}
return str;
}


void ControllerConnection::set_status_line0(const std::string& text, Color color){
{
WriteSpinLock lg(m_status_text_lock);
m_status_line0 = html_color_text(text, color);
m_raw_status_line0 = text;
}
signal_status_text_changed(status_text());
}
void ControllerConnection::set_status_line1(const std::string& text, Color color){
{
WriteSpinLock lg(m_status_text_lock);
m_status_line1 = html_color_text(text, color);
m_raw_status_line1 = text;
}
signal_status_text_changed(status_text());
}
Expand Down
10 changes: 9 additions & 1 deletion SerialPrograms/Source/Controllers/ControllerConnection.h
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,13 @@ class ControllerConnection : public CancellableScope{
}
bool is_ready() const noexcept{ return status() == Status::READY; }
Status status() const noexcept{ return m_status.load(std::memory_order_acquire); }
// The status shown in the GUI's controller panel, formatted as HTML: each line is
// colored with <font> tags and the two lines are joined with <br>.
std::string status_text() const;
// The same status as plain text, for non-GUI callers (e.g. the Python bindings):
// the text of each line as it was set, without colors, joined with a newline.
// e.g. "PABotBase2-Pico1W (UART) (2026062701)"
std::string raw_status_text() const;

// It it not safe to call this until "is_ready()" is true.
const std::vector<ControllerType>& controller_list() noexcept{
Expand Down Expand Up @@ -95,8 +101,10 @@ class ControllerConnection : public CancellableScope{

private:
mutable SpinLock m_status_text_lock;
std::string m_status_line0;
std::string m_status_line0; // HTML, for status_text()
std::string m_status_line1;
std::string m_raw_status_line0; // plain text, for raw_status_text()
std::string m_raw_status_line1;
ListenerSet<StatusListener> m_status_listeners;
};

Expand Down
86 changes: 36 additions & 50 deletions SerialPrograms/Source/Integrations/PybindSwitchController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,11 @@
*
*/

#include "Common/Cpp/Exceptions.h"
#include "Common/Cpp/Concurrency/Mutex.h"
#include "Common/Cpp/Concurrency/ConditionVariable.h"
#include "Common/Cpp/Logging/GlobalLogger.h"
#include "Common/Cpp/Logging/TaggedLogger.h"
#include "CommonFramework/Logging/Logger.h"
#include "Controllers/ControllerConnection.h"
#include "Controllers/PABotBase2/SerialPABotBase2_Descriptor.h"
#include "NintendoSwitch/Controllers/Procon/NintendoSwitch_ProController.h"
Expand All @@ -25,7 +26,7 @@ namespace NintendoSwitch{
class PybindSwitchProControllerInternal final : public ControllerConnection::StatusListener{
public:
PybindSwitchProControllerInternal(const std::string& name)
: m_logger(global_logger_command_line(), "Pybind")
: m_logger(global_logger_raw(), "Pybind")
, m_descriptor(name)
, m_connection(m_descriptor.open_connection(m_logger))
{
Expand All @@ -40,8 +41,7 @@ class PybindSwitchProControllerInternal final : public ControllerConnection::Sta
m_cv.wait_for(lg, Milliseconds(timeout_millis), [this]{
return m_connected;
});
ProController* procon = m_procon.load(std::memory_order_relaxed);
return procon != nullptr && procon->is_ready();
return controller_if_ready() != nullptr;
}

virtual void post_connection_ready(ControllerConnection& connection) override{
Expand All @@ -55,7 +55,11 @@ class PybindSwitchProControllerInternal final : public ControllerConnection::Sta
ProController* procon = dynamic_cast<ProController*>(m_controller.get());
if (procon == nullptr){
// cout << "post_connection_ready() - incompatible" << endl;
m_connection->set_status_line1("Incompatible controller type.", COLOR_RED);
m_connection->set_status_line1(
"Incompatible controller type. Use the main program to set the device "
"to a Pro Controller or a wired controller.",
COLOR_RED
);
}else{
// cout << "post_connection_ready() - good" << endl;
m_procon.store(procon, std::memory_order_release);
Expand All @@ -68,8 +72,24 @@ class PybindSwitchProControllerInternal final : public ControllerConnection::Sta
m_cv.notify_all();
}

ProController* controller(){
return m_procon.load(std::memory_order_acquire);
ProController* controller_if_ready(){
ProController* procon = m_procon.load(std::memory_order_acquire);
if (procon == nullptr || !procon->is_ready()){
return nullptr;
}
return procon;
}

// Return the current controller, or throw InvalidConnectionStateException if
// there is none.
ProController& controller(){
ProController* procon = controller_if_ready();
if (procon == nullptr){
throw InvalidConnectionStateException(
"Controller is not ready: " + m_connection->status_text()
);
}
return *procon;
}


Expand Down Expand Up @@ -103,21 +123,17 @@ bool PybindSwitchProController::wait_for_ready(uint64_t timeout_millis){

bool PybindSwitchProController::is_ready() const{
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
ProController* controller = internal->controller();
if (controller == nullptr){
return false;
}
return controller->is_ready();
return internal->controller_if_ready() != nullptr;
}
std::string PybindSwitchProController::current_status() const{
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
return internal->m_connection->status_text();
return internal->m_connection->raw_status_text();
}


void PybindSwitchProController::wait_for_all_requests(){
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
ProController* controller = internal->controller();
ProController* controller = internal->controller_if_ready();
if (controller == nullptr){
internal->m_logger.log("Controller is not ready.", COLOR_RED);
return;
Expand All @@ -126,21 +142,11 @@ void PybindSwitchProController::wait_for_all_requests(){
}
void PybindSwitchProController::wait(uint64_t duration){
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
ProController* controller = internal->controller();
if (controller == nullptr){
internal->m_logger.log("Controller is not ready.", COLOR_RED);
return;
}
controller->issue_nop(nullptr, Milliseconds(duration));
internal->controller().issue_nop(nullptr, Milliseconds(duration));
}
void PybindSwitchProController::push_button(uint64_t delay, uint64_t hold, uint64_t release, uint32_t bitfield){
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
ProController* controller = internal->controller();
if (controller == nullptr){
internal->m_logger.log("Controller is not ready.", COLOR_RED);
return;
}
controller->issue_buttons(
internal->controller().issue_buttons(
nullptr,
Milliseconds(delay),
Milliseconds(hold),
Expand All @@ -150,12 +156,7 @@ void PybindSwitchProController::push_button(uint64_t delay, uint64_t hold, uint6
}
void PybindSwitchProController::push_dpad(uint64_t delay, uint64_t hold, uint64_t release, uint8_t position){
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
ProController* controller = internal->controller();
if (controller == nullptr){
internal->m_logger.log("Controller is not ready.", COLOR_RED);
return;
}
controller->issue_dpad(
internal->controller().issue_dpad(
nullptr,
Milliseconds(delay),
Milliseconds(hold),
Expand All @@ -165,12 +166,7 @@ void PybindSwitchProController::push_dpad(uint64_t delay, uint64_t hold, uint64_
}
void PybindSwitchProController::push_left_joystick(uint64_t delay, uint64_t hold, uint64_t release, double x, double y){
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
ProController* controller = internal->controller();
if (controller == nullptr){
internal->m_logger.log("Controller is not ready.", COLOR_RED);
return;
}
controller->issue_left_joystick(
internal->controller().issue_left_joystick(
nullptr,
Milliseconds(delay),
Milliseconds(hold),
Expand All @@ -180,12 +176,7 @@ void PybindSwitchProController::push_left_joystick(uint64_t delay, uint64_t hold
}
void PybindSwitchProController::push_right_joystick(uint64_t delay, uint64_t hold, uint64_t release, double x, double y){
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
ProController* controller = internal->controller();
if (controller == nullptr){
internal->m_logger.log("Controller is not ready.", COLOR_RED);
return;
}
controller->issue_right_joystick(
internal->controller().issue_right_joystick(
nullptr,
Milliseconds(delay),
Milliseconds(hold),
Expand All @@ -201,12 +192,7 @@ void PybindSwitchProController::controller_state(
double right_x, double right_y
){
PybindSwitchProControllerInternal* internal = (PybindSwitchProControllerInternal*)m_internals;
ProController* controller = internal->controller();
if (controller == nullptr){
internal->m_logger.log("Controller is not ready.", COLOR_RED);
return;
}
controller->issue_full_controller_state(
internal->controller().issue_full_controller_state(
nullptr,
true,
Milliseconds(duration),
Expand Down
22 changes: 11 additions & 11 deletions SerialPrograms/Source/Integrations/PybindSwitchController.h
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,8 @@ class PybindSwitchProController{
// "cu.usbserial-0001" or "COM3".
// The connection is established asynchronously; After the constructor, call
// `wait_for_ready()` next to wait until it is ready.
// Log lines go to the command-line logger with tag "Pybind", which also prints
// them to stdout.
// Log lines go to the global logger (`global_logger_raw()`) with tag "Pybind",
// never to stdout.
PybindSwitchProController(const std::string& port_name);
~PybindSwitchProController();

Expand All @@ -54,17 +54,17 @@ class PybindSwitchProController{

bool is_ready() const;

// The connection status text shown in the GUI (formatted as HTML), e.g.
// device name and firmware version, or the error message if the connection failed.
// The connection status text: device name and firmware version,
// or the error message if the connection failed.
std::string current_status() const;

// Block until every command queued so far has been executed by the device.
// Returns immediately if the controller is not ready.
void wait_for_all_requests();

public:
// Commands. If the controller is not ready, these log an error and do nothing.
// They block only if the device's command queue is full.
// Commands. These throw InvalidConnectionStateException if the controller is not
// ready, and block only if the device's command queue is full.
//
// `delay` is how long to wait before the next command may start, `hold` how long
// the input is held, and `release` how long it must stay released before the same
Expand All @@ -74,7 +74,7 @@ class PybindSwitchProController{

// Send a wait command to the controller. Nothing is pressed during the wait time.
// duration: wait duration, milliseconds.
// If the controller is not ready, these log an error and do nothing.
// If the controller is not ready, it throws InvalidConnectionStateException.
// The function will block only if the device's command queue is full.
void wait(uint64_t duration);

Expand All @@ -89,7 +89,7 @@ class PybindSwitchProController{
//
// `delay = hold + release` runs commands back to back like `pbf_press_button()`;
// `delay < hold` overlaps commands, e.g. to hold a button while moving a stick.
// If the controller is not ready, these log an error and do nothing.
// If the controller is not ready, it throws InvalidConnectionStateException.
// The function will block only if the device's command queue is full.
void push_button(uint64_t delay, uint64_t hold, uint64_t release, uint32_t bitfield);
// Send a D-pad press command to the controller. It will press one or two D-pad buttons to
Expand All @@ -102,7 +102,7 @@ class PybindSwitchProController{
//
// `delay = hold + release` runs commands back to back like `pbf_press_button()`;
// `delay < hold` overlaps commands, e.g. to hold a button while moving a stick.
// If the controller is not ready, these log an error and do nothing.
// If the controller is not ready, it throws InvalidConnectionStateException.
// The function will block only if the device's command queue is full.
void push_dpad(uint64_t delay, uint64_t hold, uint64_t release, uint8_t position);
// Send a left joystick push command to the controller.
Expand All @@ -114,7 +114,7 @@ class PybindSwitchProController{
//
// `delay = hold + release` runs commands back to back like `pbf_press_button()`;
// `delay < hold` overlaps commands, e.g. to hold a button while moving a stick.
// If the controller is not ready, these log an error and do nothing.
// If the controller is not ready, it throws InvalidConnectionStateException.
// The function will block only if the device's command queue is full.
void push_left_joystick(uint64_t delay, uint64_t hold, uint64_t release, double x, double y);
// Send a right joystick push command to the controller.
Expand All @@ -126,7 +126,7 @@ class PybindSwitchProController{
//
// `delay = hold + release` runs commands back to back like `pbf_press_button()`;
// `delay < hold` overlaps commands, e.g. to hold a button while moving a stick.
// If the controller is not ready, these log an error and do nothing.
// If the controller is not ready, it throws InvalidConnectionStateException.
// The function will block only if the device's command queue is full.
void push_right_joystick(uint64_t delay, uint64_t hold, uint64_t release, double x, double y);

Expand Down
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