示例#1
0
void test_read_performance(PSMove *move, enum TestMode mode) {
    int round, max_rounds = 3;
    float sum = 0.;

    /* Only enable rate limiting if we test for smart updates */
    psmove_set_rate_limiting(move, mode == SMART_UPDATES);

    if (mode == STATIC_UPDATES) {
        psmove_set_leds(move, 0, 255, 0);
    }

    for (round=0; round<max_rounds; round++) {
        long packet_loss = 0;
        long started = psmove_util_get_ticks();
        long reads = 0;
        int old_sequence = -1, sequence;

        while (reads < 1000) {
            if (mode != NO_UPDATES) {
                if (mode != STATIC_UPDATES) {
                    psmove_set_leds(move, reads%255, reads%255, reads%255);
                }

                psmove_update_leds(move);
            }

            if (reads % 20 == 0) {
                fprintf(stderr, "\r%c", "-\\|/"[(reads/20)%4]);
            }

            while (!(sequence = psmove_poll(move))) {}

            if (old_sequence != -1) {
                if (sequence != ((old_sequence % 16) + 1)) {
                    packet_loss++;
                    /*fprintf(stderr, " %d->%d", old_sequence, sequence);*/
                    fputc('x', stderr);
                }
            }
            old_sequence = sequence;

            reads++;
        }
        fputc('\r', stderr);
        long diff = psmove_util_get_ticks() - started;

        double reads_per_second = 1000. * (double)reads / (double)diff;
        printf("%ld reads in %ld ms = %f reads/sec "
                "(%ldx seq jump = %.2f %%)\n",
                reads, diff, reads_per_second, packet_loss,
                100. * (double)packet_loss / (double)reads);
        sum += reads_per_second;
    }

    printf("=====\n");
    printf("Mean over %d rounds: %f reads/sec\n", max_rounds,
            sum/(double)max_rounds);
}
void test_read_performance(PSMove *move, enum TestMode mode) {
    int round, max_rounds = 5;
    float sum = 0.;

    /* Only enable rate limiting if we test for smart updates */
    psmove_set_rate_limiting(move, mode == SMART_UPDATES);

    if (mode == STATIC_UPDATES) {
        psmove_set_leds(move, 0, 255, 0);
    }

    for (round=0; round<max_rounds; round++) {
        long packet_loss = 0;
        PSMove_timestamp ts_started = psmove_timestamp();
        long reads = 0;
        int old_sequence = -1, sequence;

        while (reads < ITERATIONS) {
            if (mode != NO_UPDATES) {
                if (mode != STATIC_UPDATES) {
                    psmove_set_leds(move, reads%255, reads%255, reads%255);
                }

                psmove_update_leds(move);
            }

            while ((sequence = psmove_poll(move)) == 0);

            if ((old_sequence > 0) && ((old_sequence % 16) != (sequence - 1))) {
                packet_loss++;
            }
            old_sequence = sequence;

            reads++;
        }
        PSMove_timestamp ts_finished = psmove_timestamp();
        float diff = (float)psmove_timestamp_value(psmove_timestamp_diff(ts_finished, ts_started));

        float reads_per_second = (float)reads / diff;
        printf("%ld reads in %.2f ms = %.5f reads/sec "
                "(%ldx seq jump = %.2f %%)\n",
                reads, diff*1000., reads_per_second, packet_loss,
                100. * (double)packet_loss / (double)reads);
        sum += reads_per_second;

        fprintf(csv, "%s,%.10f,%ld,%ld\n",
                testmode_names[mode],
                diff,
                reads,
                packet_loss);
    }

    printf("=====\n");
    printf("Mean over %d rounds: %f reads/sec\n", max_rounds,
            sum/(double)max_rounds);
}
示例#3
0
int main(int argc, char* argv[])
{
    PSMove *move = psmove_connect();
    int i;

    if (move == NULL) {
        printf("Could not connect to default Move controller.\n"
               "Please connect one via USB or Bluetooth.\n");
        exit(1);
    }

    INFO("Rate limiting is disabled by default");
    test_succeeds(move);

    INFO("Enabling rate limiting");
    psmove_set_rate_limiting(move, 1);

    BEGIN_TEST("psmove_update_leds ignores updates (rate limiting enabled)");
    for (i=0; i<10; i++) {
        psmove_set_leds(move, i, i, i);
        assert(psmove_update_leds(move) == Update_Ignored);
    }
    END_TEST();

    INFO("Disabling rate limiting");
    psmove_set_rate_limiting(move, 0);

    BEGIN_TEST("psmove_update_leds ignores updates (unchanged values)");
    psmove_set_leds(move, 1, 1, 1);
    assert(psmove_update_leds(move) == Update_Success);
    for (i=0; i<10; i++) {
        assert(psmove_update_leds(move) == Update_Ignored);
    }
    END_TEST();

    test_succeeds(move);

    psmove_disconnect(move);

    return 0;
}
示例#4
0
psmove_dev::psmove_dev(move_daemon *moved, const char *path, const wchar_t *serial)
{
    if (path != NULL) {
        move = psmove_connect_internal((wchar_t *)serial, (char *)path, moved->count());
    } else {
        move = psmove_connect_by_id(moved->count());
    }

    assigned_id = moved->get_next_id();

    psmove_set_rate_limiting(move, PSMove_False);
}
示例#5
0
int main(int argc, char* argv[])
{
    if (!psmove_init(PSMOVE_CURRENT_VERSION)) {
        fprintf(stderr, "PS Move API init failed (wrong version?)\n");
        exit(1);
    }

    int i, c;
    c = psmove_count_connected();
    printf("Connected controllers: %d\n", c);
    if(c==0)
        return 1;

    PSMove **moves = (PSMove **)malloc(sizeof(PSMove *)*c);

    for(i=0; i<c; i++) {
        moves[i] = psmove_connect_by_id(i);
        psmove_set_rate_limiting(moves[i], 1);
    }

    bool running = true;
    while(running) {
        for(i=0; i<c; i++) {
            while(psmove_poll(moves[i])) {}
            int buttons = psmove_get_buttons(moves[i]);
            int x, y, z, r, g, b;
            psmove_get_accelerometer(moves[i], &x, &y, &z);
            r = convert_accel_to_col(x);
            g = convert_accel_to_col(y);
            b = convert_accel_to_col(z);
            if(buttons & Btn_PS)
                running = false;
            else if(buttons & Btn_MOVE)
                psmove_set_leds(moves[i], 255, 255, 255);
            else
				psmove_set_leds(moves[i], (unsigned char)r, (unsigned char)g, (unsigned char)b);
            clock_t t = clock();
            if(((t/CLOCKS_PER_SEC) % 5) == 0)
                psmove_set_rumble(moves[i], 255);
            else
                psmove_set_rumble(moves[i], 0);
            psmove_update_leds(moves[i]);
        }
    }

    for(i=0; i<c; i++) {
        psmove_disconnect(moves[i]);
    }
    free(moves);

    return 0;
}
示例#6
0
int main(int argc, char* argv[])
{
    PSMove *move;
    enum PSMove_Connection_Type ctype;
    int i;

    i = psmove_count_connected();
    printf("Connected controllers: %d\n", i);

    move = psmove_connect();

    if (move == NULL) {
        printf("Could not connect to default Move controller.\n"
               "Please connect one via USB or Bluetooth.\n");
        exit(1);
    }

    ctype = psmove_connection_type(move);
    switch (ctype) {
        case Conn_USB:
            printf("Connected via USB.\n");
            break;
        case Conn_Bluetooth:
            printf("Connected via Bluetooth.\n");
            break;
        case Conn_Unknown:
            printf("Unknown connection type.\n");
            break;
    }


    if (ctype == Conn_USB) {
        PSMove_Data_BTAddr addr;
        psmove_read_btaddrs(move, &addr, NULL);
        printf("Current BT Host: ");
        for (i=0; i<6; i++) {
            printf("%02x ", addr[i]);
        }
        printf("\n");

#if 0
        /* This is the easy method (pair to this host): */
        if (psmove_pair(move)) {
            printf("Paired. Press the PS Button now :)\n");
        } else {
            printf("psmove_pair() failed :/\n");
        }

        /* This is the advanced method: */

        /* Example BT Address: 01:23:45:67:89:ab */
        const PSMove_Data_BTAddr newhost = {
            0x01, 0x23, 0x45, 0x67, 0x89, 0xab,
        };
        if (!psmove_set_btaddr(move, &newhost)) {
            printf("Could not set BT address!\n");
        }
#endif
    }

    for (i=0; i<10; i++) {
        psmove_set_leds(move, 0, 255*(i%3==0), 0);
        psmove_set_rumble(move, 255*(i%2));
        psmove_update_leds(move);
        usleep(10000*(i%10));
    }

    for (i=250; i>=0; i-=5) {
        psmove_set_leds(move, i, i, 0);
        psmove_set_rumble(move, 0);
        psmove_update_leds(move);
    }

    /* Enable rate limiting for LED updates */
    psmove_set_rate_limiting(move, 1);

    psmove_set_leds(move, 0, 0, 0);
    psmove_set_rumble(move, 0);
    psmove_update_leds(move);

    while (!(psmove_get_buttons(move) & Btn_PS)) {
        int res = psmove_poll(move);
        if (res) {
            if (psmove_get_buttons(move) & Btn_TRIANGLE) {
                printf("Triangle pressed, with trigger value: %d\n",
                        psmove_get_trigger(move));
                psmove_set_rumble(move, psmove_get_trigger(move));
            } else {
                psmove_set_rumble(move, 0x00);
            }

            psmove_set_leds(move, 0, 0, psmove_get_trigger(move));

            int x, y, z;
            psmove_get_accelerometer(move, &x, &y, &z);
            printf("accel: %5d %5d %5d\n", x, y, z);
            psmove_get_gyroscope(move, &x, &y, &z);
            printf("gyro: %5d %5d %5d\n", x, y, z);
            psmove_get_magnetometer(move, &x, &y, &z);
            printf("magnetometer: %5d %5d %5d\n", x, y, z);
            printf("buttons: %x\n", psmove_get_buttons(move));

            int battery = psmove_get_battery(move);

            if (battery == Batt_CHARGING) {
                printf("battery charging\n");
            } else if (battery >= Batt_MIN && battery <= Batt_MAX) {
                printf("battery level: %d / %d\n", battery, Batt_MAX);
            } else {
                printf("battery level: unknown (%x)\n", battery);
            }

            printf("temperature: %d\n", psmove_get_temperature(move));

            psmove_update_leds(move);
        }
    }

    psmove_disconnect(move);

    return 0;
}
示例#7
0
int main(void)
{
    PSMove *moves[7];

    int last_xs[7];
    int last_ys[7];
    int last_zs[7];

    float decay = 0.009;
    float increase = 0.004;
    
    // amount to get to brightness
    float brightness = 0.49;

    int told_everyone = 0;

    int dist_thresh;
    char *env_dist_thresh = getenv("DIST_THRESH");
    if (env_dist_thresh == NULL) {
        dist_thresh = 1000;
    }
    else {
        dist_thresh = atoi(env_dist_thresh);
    }

    int i, j, move_count;

    int rcolors[][3] = {
      {254, 0, 0}, {255, 0, 0}, {255, 7, 0}, {255, 7, 0}, {255, 13, 0},
      {255, 20, 0}, {255, 20, 0}, {255, 26, 0}, {255, 26, 0}, {255, 33, 0},
      {255, 33, 0}, {255, 39, 0}, {255, 39, 0}, {255, 46, 0}, {255, 46, 0},
      {255, 52, 0}, {255, 59, 0}, {255, 59, 0}, {255, 65, 0}, {255, 65, 0},
      {255, 72, 0}, {255, 72, 0}, {255, 78, 0}, {255, 78, 0}, {255, 85, 0},
      {255, 85, 0}, {255, 91, 0}, {255, 97, 0}, {255, 97, 0}, {255, 103, 0},
      {255, 103, 0}, {255, 109, 0}, {255, 109, 0}, {255, 116, 0}, {255, 116, 0},
      {255, 122, 0}, {255, 122, 0}, {255, 128, 0}, {255, 134, 0}, {255, 134, 0},
      {255, 140, 0}, {255, 140, 0}, {255, 146, 0}, {255, 146, 0}, {255, 153, 0},
      {255, 153, 0}, {255, 159, 0}, {255, 159, 0}, {255, 165, 0}, {255, 171, 0},
      {255, 171, 0}, {255, 177, 0}, {255, 177, 0}, {255, 183, 0}, {255, 183, 0},
      {255, 190, 0}, {255, 190, 0}, {255, 196, 0}, {255, 196, 0}, {255, 202, 0},
      {255, 208, 0}, {255, 208, 0}, {255, 213, 0}, {255, 213, 0}, {255, 218, 0},
      {255, 218, 0}, {255, 224, 0}, {255, 224, 0}, {255, 229, 0}, {255, 234, 0},
      {255, 234, 0}, {255, 239, 0}, {255, 239, 0}, {255, 245, 0}, {255, 245, 0},
      {255, 250, 0}, {255, 250, 0}, {255, 255, 0}, {255, 255, 0}, {250, 255, 0},
      {246, 255, 0}, {246, 255, 0}, {241, 255, 0}, {241, 255, 0}, {236, 255, 0},
      {236, 255, 0}, {230, 255, 0}, {230, 255, 0}, {224, 255, 0}, {224, 255, 0},
      {218, 255, 0}, {212, 255, 0}, {212, 255, 0}, {206, 255, 0}, {206, 255, 0},
      {200, 255, 0}, {200, 255, 0}, {194, 255, 0}, {194, 255, 0}, {188, 255, 0},
      {188, 255, 0}, {181, 255, 0}, {174, 255, 0}, {174, 255, 0}, {167, 255, 0},
      {167, 255, 0}, {160, 255, 0}, {160, 255, 0}, {153, 255, 0}, {153, 255, 0},
      {146, 255, 0}, {146, 255, 0}, {139, 255, 0}, {132, 255, 0}, {132, 255, 0},
      {125, 255, 0}, {125, 255, 0}, {118, 255, 0}, {118, 255, 0}, {111, 255, 0},
      {111, 255, 0}, {103, 255, 0}, {103, 255, 0}, {96, 255, 0}, {88, 255, 0},
      {88, 255, 0}, {81, 255, 0}, {81, 255, 0}, {73, 255, 0}, {73, 255, 0},
      {66, 255, 0}, {66, 255, 0}, {58, 255, 0}, {50, 255, 0}, {50, 255, 0},
      {43, 255, 0}, {43, 255, 0}, {35, 255, 0}, {35, 255, 0}, {28, 255, 0},
      {28, 255, 0}, {20, 255, 0}, {20, 255, 0}, {13, 255, 0}, {5, 255, 0},
      {5, 255, 0}, {0, 255, 0}, {0, 255, 0}, {0, 255, 4}, {0, 255, 4},
      {0, 255, 9}, {0, 255, 9}, {0, 255, 13}, {0, 255, 13}, {0, 255, 18},
      {0, 255, 22}, {0, 255, 22}, {0, 255, 27}, {0, 255, 27}, {0, 255, 31},
      {0, 255, 31}, {0, 255, 36}, {0, 255, 36}, {0, 255, 42}, {0, 255, 42},
      {0, 255, 47}, {0, 255, 52}, {0, 255, 52}, {0, 255, 58}, {0, 255, 58},
      {0, 255, 63}, {0, 255, 63}, {0, 255, 68}, {0, 255, 68}, {0, 255, 74},
      {0, 255, 74}, {0, 255, 79}, {0, 255, 84}, {0, 255, 84}, {0, 255, 90},
      {0, 255, 90}, {0, 255, 95}, {0, 255, 95}, {0, 255, 100}, {0, 255, 100},
      {0, 255, 106}, {0, 255, 106}, {0, 255, 111}, {0, 255, 117}, {0, 255, 117},
      {0, 255, 122}, {0, 255, 122}, {0, 255, 128}, {0, 255, 128}, {0, 255, 134},
      {0, 255, 134}, {0, 255, 140}, {0, 255, 145}, {0, 255, 145}, {0, 255, 151},
      {0, 255, 151}, {0, 255, 157}, {0, 255, 157}, {0, 255, 163}, {0, 255, 163},
      {0, 255, 168}, {0, 255, 168}, {0, 255, 174}, {0, 255, 180}, {0, 255, 180},
      {0, 255, 185}, {0, 255, 185}, {0, 255, 191}, {0, 255, 191}, {0, 255, 197},
      {0, 255, 197}, {0, 255, 203}, {0, 255, 203}, {0, 255, 208}, {0, 255, 214},
      {0, 255, 214}, {0, 255, 220}, {0, 255, 220}, {0, 255, 226}, {0, 255, 226},
      {0, 255, 231}, {0, 255, 231}, {0, 255, 237}, {0, 255, 237}, {0, 255, 242},
      {0, 255, 246}, {0, 255, 246}, {0, 255, 251}, {0, 255, 251}, {0, 255, 255},
      {0, 255, 255}, {0, 249, 255}, {0, 249, 255}, {0, 242, 255}, {0, 242, 255},
      {0, 236, 255}, {0, 230, 255}, {0, 230, 255}, {0, 223, 255}, {0, 223, 255},
      {0, 217, 255}, {0, 217, 255}, {0, 211, 255}, {0, 211, 255}, {0, 204, 255},
      {0, 204, 255}, {0, 198, 255}, {0, 192, 255}, {0, 192, 255}, {0, 185, 255},
      {0, 185, 255}, {0, 179, 255}, {0, 179, 255}, {0, 173, 255}, {0, 173, 255},
      {0, 166, 255}, {0, 160, 255}, {0, 160, 255}, {0, 153, 255}, {0, 153, 255},
      {0, 147, 255}, {0, 147, 255}, {0, 140, 255}, {0, 140, 255}, {0, 133, 255},
      {0, 133, 255}, {0, 127, 255}, {0, 120, 255}, {0, 120, 255}, {0, 113, 255},
      {0, 113, 255}, {0, 107, 255}, {0, 107, 255}, {0, 100, 255}, {0, 100, 255},
      {0, 93, 255}, {0, 93, 255}, {0, 87, 255}, {0, 80, 255}, {0, 80, 255},
      {0, 73, 255}, {0, 73, 255}, {0, 67, 255}, {0, 67, 255}, {0, 60, 255},
      {0, 60, 255}, {0, 53, 255}, {0, 53, 255}, {0, 47, 255}, {0, 40, 255},
      {0, 40, 255}, {0, 33, 255}, {0, 33, 255}, {0, 27, 255}, {0, 27, 255},
      {0, 20, 255}, {0, 20, 255}, {0, 13, 255}, {0, 13, 255}, {0, 7, 255},
      {0, 0, 255}, {0, 0, 255}, {6, 0, 255}, {6, 0, 255}, {11, 0, 255},
      {11, 0, 255}, {17, 0, 255}, {17, 0, 255}, {22, 0, 255}, {22, 0, 255},
      {28, 0, 255}, {33, 0, 255}, {33, 0, 255}, {39, 0, 255}, {39, 0, 255},
      {44, 0, 255}, {44, 0, 255}, {50, 0, 255}, {50, 0, 255}, {55, 0, 255},
      {61, 0, 255}, {61, 0, 255}, {67, 0, 255}, {67, 0, 255}, {72, 0, 255},
      {72, 0, 255}, {78, 0, 255}, {78, 0, 255}, {83, 0, 255}, {83, 0, 255},
      {89, 0, 255}, {94, 0, 255}, {94, 0, 255}, {100, 0, 255}, {100, 0, 255},
      {105, 0, 255}, {105, 0, 255}, {111, 0, 255}, {111, 0, 255}, {116, 0, 255},
      {116, 0, 255}, {122, 0, 255}, {127, 0, 255}, {127, 0, 255}, {133, 0, 255},
      {133, 0, 255}, {139, 0, 255}, {139, 0, 255}, {144, 0, 255}, {144, 0, 255},
      {150, 0, 255}, {150, 0, 255}, {155, 0, 255}, {161, 0, 255}, {161, 0, 255},
      {166, 0, 255}, {166, 0, 255}, {172, 0, 255}, {172, 0, 255}, {177, 0, 255},
      {177, 0, 255}, {183, 0, 255}, {183, 0, 255}, {188, 0, 255}, {194, 0, 255},
      {194, 0, 255}, {200, 0, 255}, {200, 0, 255}, {205, 0, 255}, {205, 0, 255},
      {211, 0, 255}, {211, 0, 255}, {216, 0, 255}, {216, 0, 255}, {222, 0, 255},
      {227, 0, 255}, {227, 0, 255}, {233, 0, 255}, {233, 0, 255}, {238, 0, 255},
      {238, 0, 255}, {244, 0, 255}, {244, 0, 255}, {249, 0, 255}, {255, 0, 255},
      {255, 0, 255}, {255, 0, 249}, {255, 0, 249}, {255, 0, 243}, {255, 0, 243},
      {255, 0, 237}, {255, 0, 237}, {255, 0, 230}, {255, 0, 230}, {255, 0, 224},
      {255, 0, 218}, {255, 0, 218}, {255, 0, 212}, {255, 0, 212}, {255, 0, 206},
      {255, 0, 206}, {255, 0, 200}, {255, 0, 200}, {255, 0, 193}, {255, 0, 193},
      {255, 0, 187}, {255, 0, 181}, {255, 0, 181}, {255, 0, 175}, {255, 0, 175},
      {255, 0, 169}, {255, 0, 169}, {255, 0, 163}, {255, 0, 163}, {255, 0, 157},
      {255, 0, 157}, {255, 0, 150}, {255, 0, 144}, {255, 0, 144}, {255, 0, 138},
      {255, 0, 138}, {255, 0, 132}, {255, 0, 132}, {255, 0, 126}, {255, 0, 126},
      {255, 0, 120}, {255, 0, 120}, {255, 0, 113}, {255, 0, 107}, {255, 0, 107},
      {255, 0, 101}, {255, 0, 101}, {255, 0, 95}, {255, 0, 95}, {255, 0, 89},
      {255, 0, 89}, {255, 0, 83}, {255, 0, 83}, {255, 0, 77}, {255, 0, 71},
      {255, 0, 71}, {255, 0, 65}, {255, 0, 65}, {255, 0, 59}, {255, 0, 59},
      {255, 0, 53}, {255, 0, 53}, {255, 0, 48}, {255, 0, 42}, {255, 0, 42},
      {255, 0, 36}, {255, 0, 36}, {255, 0, 30}, {255, 0, 30}, {255, 0, 24},
      {255, 0, 24}, {255, 0, 18}, {255, 0, 18}, {255, 0, 12}, {255, 0, 6},
      {255, 0, 6}, {255, 0, 0}, {255, 0, 0}
    };

    for (i = 7; i >= 0; i--) { 
      last_xs[i] = 0;
      last_ys[i] = 0;
      last_zs[i] = 0;
    }

    move_count = psmove_count_connected();
    printf("Connected controllers: %d\n", move_count);

    if (move_count < 1) {
        printf("You must have at least 1 player!\n");
        exit(1);
    }

    for (i = move_count-1; i >= 0; i--) {
        moves[i] = psmove_connect_by_id(i);
        if (moves[i] == NULL) {
            printf("Could not connect to controller\n");
            exit(1);
        }
        else {
            /* Enable rate limiting for LED updates */
            psmove_set_rate_limiting(moves[i], 1);
        }
    }

    // reset
    for (i = move_count-1; i >= 0; i--) {
        psmove_set_leds(moves[i], 0, 0, 0);
        psmove_set_rumble(moves[i], 0);
        psmove_update_leds(moves[i]);
    }

    int colors[] = {0, 0, 0, 0, 0, 0, 0};
    int trigger_downs[] = {0, 0, 0, 0, 0, 0, 0};
    int max_color = (sizeof(rcolors) / sizeof(int)) / 3;

    while (!(psmove_get_buttons(moves[0]) & Btn_PS)) {
        for (i = move_count-1; i >= 0; i--) {
            PSMove *move = moves[i];
            int res = psmove_poll(move);
            if (res) {
                int x, y, z;
                psmove_get_gyroscope(move, &x, &y, &z);
                int diff_x = x - last_xs[i];
                int diff_y = y - last_ys[i];
                int diff_z = z - last_zs[i];

                // update last pos
                last_xs[i] = x;
                last_ys[i] = y;
                last_zs[i] = z;

                float distance = sqrt((diff_x * diff_x) + (diff_y * diff_y) + (diff_z * diff_z));

                if (distance > dist_thresh) {
                    colors[i] = colors[i] + 1;
                    if (colors[i] >= max_color) { colors[i] = 0; }

                    psmove_set_leds(move, rcolors[colors[i]][0] * brightness, rcolors[colors[i]][1] * brightness, rcolors[colors[i]][2] * brightness);
                    psmove_update_leds(move);
                }

            }
            usleep(10000);
        }
    }

    for (i = move_count-1; i >= 0; i--) {
        psmove_disconnect(moves[i]);
    }

    return 0;
}
示例#8
0
int main(int argc, char* argv[])
{
    PSMove *move;
    enum PSMove_Connection_Type ctype;
    int i;

    if (!psmove_init(PSMOVE_CURRENT_VERSION)) {
        fprintf(stderr, "PS Move API init failed (wrong version?)\n");
        exit(1);
    }

    i = psmove_count_connected();
    printf("Connected controllers: %d\n", i);

    move = psmove_connect();

    if (move == NULL) {
        printf("Could not connect to default Move controller.\n"
               "Please connect one via USB or Bluetooth.\n");
        exit(1);
    }

    char *serial = psmove_get_serial(move);
    printf("Serial: %s\n", serial);
    free(serial);

    ctype = psmove_connection_type(move);
    switch (ctype) {
        case Conn_USB:
            printf("Connected via USB.\n");
            break;
        case Conn_Bluetooth:
            printf("Connected via Bluetooth.\n");
            break;
        case Conn_Unknown:
            printf("Unknown connection type.\n");
            break;
    }

    for (i=0; i<10; i++) {
        psmove_set_leds(move, 0, 255*(i%3==0), 0);
        psmove_set_rumble(move, 255*(i%2));
        psmove_update_leds(move);
        psmove_usleep(10000 * (i % 10));
    }

    for (i=250; i>=0; i-=5) {
        psmove_set_leds(move, i, i, 0);
        psmove_set_rumble(move, 0);
        psmove_update_leds(move);
    }

    /* Enable rate limiting for LED updates */
    psmove_set_rate_limiting(move, 1);

    psmove_set_leds(move, 0, 0, 0);
    psmove_set_rumble(move, 0);
    psmove_update_leds(move);

    while (ctype != Conn_USB && !(psmove_get_buttons(move) & Btn_PS)) {
        int res = psmove_poll(move);
        if (res) {
            if (psmove_get_buttons(move) & Btn_TRIANGLE) {
                printf("Triangle pressed, with trigger value: %d\n",
                        psmove_get_trigger(move));
                psmove_set_rumble(move, psmove_get_trigger(move));
            } else {
                psmove_set_rumble(move, 0x00);
            }

            psmove_set_leds(move, 0, 0, psmove_get_trigger(move));

            int x, y, z;
            psmove_get_accelerometer(move, &x, &y, &z);
            printf("accel: %5d %5d %5d\n", x, y, z);
            psmove_get_gyroscope(move, &x, &y, &z);
            printf("gyro: %5d %5d %5d\n", x, y, z);
            psmove_get_magnetometer(move, &x, &y, &z);
            printf("magnetometer: %5d %5d %5d\n", x, y, z);
            printf("buttons: %x\n", psmove_get_buttons(move));

            int battery = psmove_get_battery(move);

            if (battery == Batt_CHARGING) {
                printf("battery charging\n");
            } else if (battery == Batt_CHARGING_DONE) {
                printf("battery fully charged (on charger)\n");
            } else if (battery >= Batt_MIN && battery <= Batt_MAX) {
                printf("battery level: %d / %d\n", battery, Batt_MAX);
            } else {
                printf("battery level: unknown (%x)\n", battery);
            }

            printf("raw temperature: %d\n", psmove_get_temperature(move));
            printf("celsius temperature: %f\n", psmove_get_temperature_in_celsius(move));

            psmove_update_leds(move);
        }
    }

    psmove_disconnect(move);
    psmove_shutdown();
    return 0;
}