Add usbhaptic modules

add workaround for microsoft ssh clone requirements

.gitmodules

@@ -1,3 +1,4 @@
 [submodule "src/monocoque/simulatorapi/simapi"]
 	path = src/monocoque/simulatorapi/simapi
-	url = git@github.com:spacefreak18/simapi
+	url = https://github.com/spacefreak18/simapi
+	# url = git@github.com:spacefreak18/simapi # ssh is better but Microsoft requires an account

CMakeLists.txt

@@ -33,16 +33,24 @@ FIND_LIBRARY(LIBUSB_LIBRARY NAMES usb-1.0
 set(HIDAPI_WITH_LIBUSB TRUE) # surely will be used only on Linux
 set(BUILD_SHARED_LIBS TRUE) # HIDAPI as static library on all platforms
 
+add_executable(monocoque src/monocoque/monocoque.c)
+if(USE_PULSEAUDIO)
+    message("Using pulseaudio backend...")
+    add_compile_definitions(USE_PULSEAUDIO=true)
+    target_link_libraries(monocoque m ${LIBUSB_LIBRARY} hidapi-libusb pulse serialport xml2 argtable2 config gameloop helper devices slog simulatorapi)
+else()
+    message("Using portaudio backend...")
+    target_link_libraries(monocoque m ${LIBUSB_LIBRARY} hidapi-libusb portaudio serialport xml2 argtable2 config gameloop helper devices slog simulatorapi)
+endif()
+
+target_include_directories(monocoque PUBLIC config ${LIBUSB_INCLUDE_DIR} ${LIBXML_INCLUDE_DIR})
+
 add_subdirectory(src/monocoque/gameloop)
 add_subdirectory(src/monocoque/simulatorapi)
 add_subdirectory(src/monocoque/helper)
 add_subdirectory(src/monocoque/devices)
 add_subdirectory(src/monocoque/slog)
 
-add_executable(monocoque src/monocoque/monocoque.c)
-target_include_directories(monocoque PUBLIC config ${LIBUSB_INCLUDE_DIR} ${LIBXML_INCLUDE_DIR})
-target_link_libraries(monocoque m ${LIBUSB_LIBRARY} hidapi-libusb portaudio serialport xml2 argtable2 config gameloop helper devices slog simulatorapi)
-
 add_executable(listusb tests/testlibusb.c)
 target_include_directories(listusb PUBLIC ${LIBUSB_INCLUDE_DIR})
 target_link_libraries(listusb ${LIBUSB_LIBRARY} portaudio)

README.md

@@ -16,18 +16,20 @@ Cross Platform device manager for driving and flight simulators, for use with co
 - Includes utility to configure revburner tachometer
 - Can send data to any serial device. So far only tested with arduino. Includes sample arduino sketch for sim lights.
 - The support for haptic bass shakers is limited and needs the most work. So far the engine rev is a simple sine wave, which I find convincing. The gear shift event works but not convincing enough for me.
+- Choice of Portaudio or Pulseaudio backend.
 
 ## Dependencies
 - libserialport - arduino serial devices
 - hidapi - usb hid devices
 - libusb - used by hidapi
 - portaudio - sound devices (haptic bass shakers)
+- pulseaudio - sound devices (haptic bass shakers)
 - libenet - UDP support (not yet implemented)
 - libxml2
 - argtable2
 - libconfig
 - [slog](https://github.com/kala13x/slog) (static)
-- [wine-linux-shm-adapter](https://github.com/spacefreak18/simshmbridge) - for sims that need shared memory mapping like AC.
+- [simshmbridge](https://github.com/spacefreak18/simshmbridge) - for sims that need shared memory mapping like AC and Project Cars related.
 - [simapi](https://github.com/spacefreak18/simapi)
 
 ## Building
@@ -36,15 +38,49 @@ This code depends on the shared memory data headers in the simapi [repo](https:/
 git submodule sync --recursive
 git submodule update --init --recursive
 ```
+
 Then to compile simply:
 ```
 mkdir build; cd build
 cmake ..
 make
 ```
-## Testing
 
-### Setting up Your Arduino Device
+to use the pulseaudio backend use this cmake command
+```
+cmake -DUSE_PULSEAUDIO=YES ..
+```
+
+## Using Arduino Devices
+
+Currently Monocoque supports simwind and shiftlights through the included arduino sketches which have been tested on Uno boards. The simwind controller requires a Motor shield.
+
+There are included Makefiles for each controller. For now, the makefiles expect the device to be attached at /dev/ttyACM0. So unplug both controllers, and then plug in just the
+controller you're updating to ensure the correct controller is at /dev/ttyACM0.
+
+To compile and upload these sketches, the Makefiles use arduino-cli. Unfortunately it seems some distributions such as debian do not include this in the repositories. If this is
+the case follow the install instructions here:
+```
+https://arduino.github.io/arduino-cli/0.35/installation/
+```
+You may have to download the core libraries, it will prompt you to do so if you do not have them and you go further
+```
+arduino-cli core install arduino:avr
+```
+Then for shiftlights navigate to included shiftlight directory ( be sure only the shiftlight controller is plugged into the machine and is available at /dev/ttyACM0 ) and
+
+```
+arduino-cli lib install FastLED
+make
+```
+Then for simwind navigate to the included simwind directory ( be sure only the simwind controller is plugged into the machine and is available at /dev/ttyACM0 ) and
+```
+ARDUINO_LIBRARY_ENABLE_UNSAFE_INSTALL=true arduino-cli lib install --git-url https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library.git
+ARDUINO_LIBRARY_ENABLE_UNSAFE_INSTALL=true arduino-cli lib install --git-url https://github.com/adafruit/Adafruit_BusIO.git
+make
+```
+
+## Testing
 
 ### Static Analysis
 ```

conf/monocoque.config

@@ -6,11 +6,18 @@ devices = ( {   device      = "USB";
                 granularity = 4;
                 config      = "/home/paul/.config/monocoque/revburner1.xml"; },
             {   device       = "Sound";
-                type        = "Engine"
+                type         = "Engine";
-                devid       = "98FD:83AC"; },
+                devid        = "alsa_output.usb-Generic_USB2.0_Device_20170726905959-00.analog-stereo";
+                pan          = 1;
+                volume       = 90;
+                frequency    = 27; },
             {   device       = "Sound";
                 type         = "Gear"
-                devid       = "98FD:83AC"; },
+                devid        = "alsa_output.usb-Generic_USB2.0_Device_20170726905959-00.analog-stereo";
+                pan          = 1;
+                duration     = .25;
+                volume       = 100;
+                frequency    = 27; },
             {   device      = "Serial";
                 type        = "ShiftLights";
                 config      = "None";

src/arduino/shiftlights/Makefile

@@ -0,0 +1,166 @@
+# Makefile for Arduino based scketches
+#
+# Copyright 2020 Valerio Di Giampietro http://va.ler.io v@ler.io
+# MIT License - see License.txt file
+#
+# This Makefile uses the arduino-cli, the Arduino command line interface
+# and has been designed and tested to run on Linux, not on Windows.
+# Probably it will run on a Mac, but it has not been tested.
+#
+# Please note that:
+#
+#   1. each sketch must reside in his own folder with this Makefile
+#
+#   2. the main make targets are:
+#      - all     compiles and upload
+#      - compile compiles only
+#      - upload  upload via serial port, compile if the binary file is
+#                not available
+#      - ota     upload Over The Air, automatically find the device
+#                IP address using the IOT_NAME (device hostname)
+#      - clean   clean the build directory
+#      - find    find OTA updatable devices on the local subnet
+#      - requirements it the file "requirements.txt" exists it will
+#                     install the libraries listed in this file
+#
+#      default is "all"
+#
+#   3. it gets the name of the sketch using the wildcard make command;
+#      the name is *.ino; this means that you must have ONLY a file
+#      with .ino extension, otherwise this makefile will break.  This
+#      also means that you can use this Makefile, almost unmodified,
+#      for any sketch as long as you keep a single .ino file in each
+#      folder
+#
+#   4. you can split your project in multiple files, if you wish,
+#      using a single .ino file and multiple .h files, that you can
+#      include in the .ino file with an '#include "myfile.h"'
+#      directive
+#
+# Optionally some environment variables can be set:
+#
+#   FQBN        Fully Qualified Board Name; if not set in the environment
+#               it will be assigned a value in this makefile
+#
+#   SERIAL_DEV  Serial device to upload the sketch; if not set in the
+#               environment it will be assigned:
+#               /dev/ttyUSB0   if it exists, or
+#               /dev/ttyACM0   if it exists, or
+#               unknown
+#
+#   IOT_NAME    Name of the IOT device; if not set in the environment
+#               it will be assigned a value in this makefile. This is
+#               very useful for OTA update, the device will be searched
+#               on the local subnet using this name
+#
+#   OTA_PORT    Port used by OTA update; if not set in the environment
+#               it will be assigned the default value of 8266 in this
+#               makefile
+#
+#   OTA_PASS    Password used for OTA update; if not set in the environment
+#               it will be assigned the default value of an empty string
+#
+#   V           verbose flag; can be 0 (quiet) or 1 (verbose); if not set
+#               in the environment it will be assigned a default value
+#               in this makefile
+
+
+MAKE_DIR   := $(PWD)
+#
+# ----- setup wor Wemos D1 mini -----
+#FQBN       ?= esp8266:esp8266:d1_mini
+#IOT_NAME   ?= esp8266-meteo
+#OTA_PORT   ?= 8266
+#OTA_PASS   ?=
+# ----- setup for Arduino Uno
+FQBN        ?= arduino:avr:uno
+# ----- ---------------------
+V          ?= 0
+VFLAG      =
+
+ifeq "$(V)" "1"
+VFLAG      =-v
+endif
+
+ifndef SERIAL_DEV
+  ifneq (,$(wildcard /dev/ttyUSB0))
+    SERIAL_DEV = /dev/ttyUSB0
+  else ifneq (,$(wildcard /dev/ttyACM0))
+    SERIAL_DEV = /dev/ttyACM0
+  else
+    SERIAL_DEV = unknown
+  endif
+endif
+
+BUILD_DIR  := $(subst :,.,build/$(FQBN))
+
+SRC        := $(wildcard *.ino)
+HDRS       := $(wildcard *.h)
+BIN        := $(BUILD_DIR)/$(SRC).bin
+ELF        := $(BUILD_DIR)/$(SRC).elf
+
+$(info FQBN       is [${FQBN}])
+$(info IOT_NAME   is [${IOT_NAME}])
+$(info OTA_PORT   is [${OTA_PORT}])
+$(info OTA_PASS   is [${OTA_PASS}])
+$(info V          is [${V}])
+$(info VFLAG      is [${VFLAG}])
+$(info MAKE_DIR   is [${MAKE_DIR}])
+$(info BUILD_DIR  is [${BUILD_DIR}])
+$(info SRC        is [${SRC}])
+$(info HDRS       is [${HDRS}])
+$(info BIN        is [${BIN}])
+$(info SERIAL_DEV is [${SERIAL_DEV}])
+
+all: $(ELF) upload
+.PHONY: all
+
+compile: $(ELF)
+.PHONY: compile
+
+$(ELF): $(SRC) $(HDRS)
+	arduino-cli compile -b $(FQBN) $(VFLAG)
+	@if which arduino-manifest.pl; \
+	then echo "---> Generating manifest.txt"; \
+	arduino-manifest.pl -b $(FQBN) $(SRC) $(HDRS) > manifest.txt; \
+	else echo "---> If you want to generate manifest.txt, listing used libraries and their versions,"; \
+	echo "---> please install arduino-manifest, see https://github.com/digiampietro/arduino-manifest"; \
+	fi
+
+upload:
+	@if [ ! -c $(SERIAL_DEV) ] ; \
+	then echo "---> ERROR: Serial Device not available, please set the SERIAL_DEV environment variable" ; \
+	else echo "---> Uploading sketch\n"; \
+	arduino-cli upload -b $(FQBN) -p $(SERIAL_DEV) $(VFLAG); \
+	fi
+
+ota:
+	@PLAT_PATH=`arduino-cli compile -b $(FQBN) --show-properties | grep '^runtime.platform.path' | awk -F= '{print $$2}'` ; \
+	   PY_PATH=`arduino-cli compile -b $(FQBN) --show-properties | grep '^runtime.tools.python3.path' | awk -F= '{print $$2}'` ; \
+	IOT_IP=`avahi-browse _arduino._tcp --resolve --parsable --terminate|grep -i ';$(IOT_NAME);'|grep ';$(OTA_PORT);'| awk -F\; '{print $$8}'|head -1`; \
+	BINFILE=$(wildcard $(BUILD_DIR)/$(SRC)*bin); \
+	echo "PLAT_PATH  is [$$PLAT_PATH]" ; \
+	echo "PY_PATH:   is [$$PY_PATH]"  ; \
+	echo "IOT_IP:    is [$$IOT_IP]"   ; \
+	echo "BINFILE:   is [$$BINFILE]"  ; \
+	if [ "$$IOT_IP" = "" ] ; \
+	then echo "Unable to find device IP. Check that the IOT_NAME environment variable is correctly set. Use 'make find' to search devices"; \
+	else echo "---> Uploading Over The Air"; \
+	$$PY_PATH/python3 $$PLAT_PATH/tools/espota.py -i $$IOT_IP -p $(OTA_PORT) --auth=$(OTA_PASS) -f $$BINFILE ;\
+	fi
+
+clean:
+	@echo "---> Cleaning the build directory"
+	rm -rf build
+
+find:
+	avahi-browse _arduino._tcp --resolve --parsable --terminate
+
+requirements:
+	@if [ -e requirements.txt ]; \
+	then while read -r i ; do echo ; \
+	  echo "---> Installing " '"'$$i'"' ; \
+	  arduino-cli lib install "$$i" ; \
+	done < requirements.txt ; \
+	else echo "---> MISSING requirements.txt file"; \
+	fi

src/arduino/shiftlights/shiftlights.h

@@ -0,0 +1,27 @@
+#ifndef _SHIFTLIGHTSDATA_H
+#define _SHIFTLIGHTSDATA_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef struct
+{
+    unsigned char color_1_red;
+    unsigned char color_1_green;
+    unsigned char color_1_blue;
+    unsigned char color_2_red;
+    unsigned char color_2_green;
+    unsigned char color_2_blue;
+    unsigned char color_3_red;
+    unsigned char color_3_green;
+    unsigned char color_3_blue;
+    unsigned char space_1;
+    unsigned char space_2;
+    unsigned char space_3;
+    uint32_t maxrpm;
+    uint32_t rpm;
+}
+ShiftLightsData;
+
+
+#endif

src/arduino/shiftlights/shiftlights.ino

@@ -1,14 +1,24 @@
 #include <FastLED.h>
-#include "simdata.h"
+#include "shiftlights.h"
 
-#define SIMDATA_SIZE sizeof(SimData)
+#define SIMDATA_SIZE sizeof(ShiftLightsData)
 
 #define LED_PIN     7
 #define NUM_LEDS    6
 #define BRIGHTNESS  40
 
+#define COLOR1A 0
+#define COLOR1B 0
+#define COLOR1C 255
+#define COLOR2A 0
+#define COLOR2B 255
+#define COLOR2C 0
+#define COLOR3A 255
+#define COLOR3B 0
+#define COLOR3C 0
+
 CRGB leds[NUM_LEDS];
-SimData sd;
+ShiftLightsData sd;
 int maxrpm = 0;
 int rpm = 0;
 int numlights = NUM_LEDS;
@@ -29,11 +39,8 @@ void setup()
     }
     FastLED.clear();
 
-    sd.rpms = 0;
+    sd.rpm = 0;
     sd.maxrpm = 6500;
-    sd.altitude = 10;
-    sd.pulses = 40000;
-    sd.velocity = 10;
 }
 
 void loop()
@@ -45,12 +52,10 @@ void loop()
     {
         Serial.readBytes(buff, SIMDATA_SIZE);
         memcpy(&sd, &buff, SIMDATA_SIZE);
-        rpm = sd.rpms;
+        rpm = sd.rpm;
         maxrpm = sd.maxrpm;
-
     }
 
-
     while (l < numlights)
     {
         lights[l] = 0;
@@ -75,15 +80,15 @@ void loop()
 
         if (l >= numlights / 2)
         {
-            leds[l] = CRGB ( 0, 0, 255);
+            leds[l] = CRGB ( COLOR1A, COLOR1B, COLOR1C);
         }
         if (l < numlights / 2)
         {
-            leds[l] = CRGB ( 0, 255, 0);
+            leds[l] = CRGB ( COLOR2A, COLOR2B, COLOR2C);
         }
         if (l == numlights - 1)
         {
-            leds[l] = CRGB ( 255, 0, 0);
+            leds[l] = CRGB ( COLOR3A, COLOR3B, COLOR3C);
         }
         if (lights[l] <= 0)
         {

src/arduino/simwind/Makefile

@@ -0,0 +1,166 @@
+# Makefile for Arduino based scketches
+#
+# Copyright 2020 Valerio Di Giampietro http://va.ler.io v@ler.io
+# MIT License - see License.txt file
+#
+# This Makefile uses the arduino-cli, the Arduino command line interface
+# and has been designed and tested to run on Linux, not on Windows.
+# Probably it will run on a Mac, but it has not been tested.
+#
+# Please note that:
+#
+#   1. each sketch must reside in his own folder with this Makefile
+#
+#   2. the main make targets are:
+#      - all     compiles and upload
+#      - compile compiles only
+#      - upload  upload via serial port, compile if the binary file is
+#                not available
+#      - ota     upload Over The Air, automatically find the device
+#                IP address using the IOT_NAME (device hostname)
+#      - clean   clean the build directory
+#      - find    find OTA updatable devices on the local subnet
+#      - requirements it the file "requirements.txt" exists it will
+#                     install the libraries listed in this file
+#
+#      default is "all"
+#
+#   3. it gets the name of the sketch using the wildcard make command;
+#      the name is *.ino; this means that you must have ONLY a file
+#      with .ino extension, otherwise this makefile will break.  This
+#      also means that you can use this Makefile, almost unmodified,
+#      for any sketch as long as you keep a single .ino file in each
+#      folder
+#
+#   4. you can split your project in multiple files, if you wish,
+#      using a single .ino file and multiple .h files, that you can
+#      include in the .ino file with an '#include "myfile.h"'
+#      directive
+#
+# Optionally some environment variables can be set:
+#
+#   FQBN        Fully Qualified Board Name; if not set in the environment
+#               it will be assigned a value in this makefile
+#
+#   SERIAL_DEV  Serial device to upload the sketch; if not set in the
+#               environment it will be assigned:
+#               /dev/ttyUSB0   if it exists, or
+#               /dev/ttyACM0   if it exists, or
+#               unknown
+#
+#   IOT_NAME    Name of the IOT device; if not set in the environment
+#               it will be assigned a value in this makefile. This is
+#               very useful for OTA update, the device will be searched
+#               on the local subnet using this name
+#
+#   OTA_PORT    Port used by OTA update; if not set in the environment
+#               it will be assigned the default value of 8266 in this
+#               makefile
+#
+#   OTA_PASS    Password used for OTA update; if not set in the environment
+#               it will be assigned the default value of an empty string
+#
+#   V           verbose flag; can be 0 (quiet) or 1 (verbose); if not set
+#               in the environment it will be assigned a default value
+#               in this makefile
+
+
+MAKE_DIR   := $(PWD)
+#
+# ----- setup wor Wemos D1 mini -----
+#FQBN       ?= esp8266:esp8266:d1_mini
+#IOT_NAME   ?= esp8266-meteo
+#OTA_PORT   ?= 8266
+#OTA_PASS   ?=
+# ----- setup for Arduino Uno
+FQBN        ?= arduino:avr:uno
+# ----- ---------------------
+V          ?= 0
+VFLAG      =
+
+ifeq "$(V)" "1"
+VFLAG      =-v
+endif
+
+ifndef SERIAL_DEV
+  ifneq (,$(wildcard /dev/ttyUSB0))
+    SERIAL_DEV = /dev/ttyUSB0
+  else ifneq (,$(wildcard /dev/ttyACM0))
+    SERIAL_DEV = /dev/ttyACM0
+  else
+    SERIAL_DEV = unknown
+  endif
+endif
+
+BUILD_DIR  := $(subst :,.,build/$(FQBN))
+
+SRC        := $(wildcard *.ino)
+HDRS       := $(wildcard *.h)
+BIN        := $(BUILD_DIR)/$(SRC).bin
+ELF        := $(BUILD_DIR)/$(SRC).elf
+
+$(info FQBN       is [${FQBN}])
+$(info IOT_NAME   is [${IOT_NAME}])
+$(info OTA_PORT   is [${OTA_PORT}])
+$(info OTA_PASS   is [${OTA_PASS}])
+$(info V          is [${V}])
+$(info VFLAG      is [${VFLAG}])
+$(info MAKE_DIR   is [${MAKE_DIR}])
+$(info BUILD_DIR  is [${BUILD_DIR}])
+$(info SRC        is [${SRC}])
+$(info HDRS       is [${HDRS}])
+$(info BIN        is [${BIN}])
+$(info SERIAL_DEV is [${SERIAL_DEV}])
+
+all: $(ELF) upload
+.PHONY: all
+
+compile: $(ELF)
+.PHONY: compile
+
+$(ELF): $(SRC) $(HDRS)
+	arduino-cli compile -b $(FQBN) $(VFLAG)
+	@if which arduino-manifest.pl; \
+	then echo "---> Generating manifest.txt"; \
+	arduino-manifest.pl -b $(FQBN) $(SRC) $(HDRS) > manifest.txt; \
+	else echo "---> If you want to generate manifest.txt, listing used libraries and their versions,"; \
+	echo "---> please install arduino-manifest, see https://github.com/digiampietro/arduino-manifest"; \
+	fi
+
+upload:
+	@if [ ! -c $(SERIAL_DEV) ] ; \
+	then echo "---> ERROR: Serial Device not available, please set the SERIAL_DEV environment variable" ; \
+	else echo "---> Uploading sketch\n"; \
+	arduino-cli upload -b $(FQBN) -p $(SERIAL_DEV) $(VFLAG); \
+	fi
+
+ota:
+	@PLAT_PATH=`arduino-cli compile -b $(FQBN) --show-properties | grep '^runtime.platform.path' | awk -F= '{print $$2}'` ; \
+	   PY_PATH=`arduino-cli compile -b $(FQBN) --show-properties | grep '^runtime.tools.python3.path' | awk -F= '{print $$2}'` ; \
+	IOT_IP=`avahi-browse _arduino._tcp --resolve --parsable --terminate|grep -i ';$(IOT_NAME);'|grep ';$(OTA_PORT);'| awk -F\; '{print $$8}'|head -1`; \
+	BINFILE=$(wildcard $(BUILD_DIR)/$(SRC)*bin); \
+	echo "PLAT_PATH  is [$$PLAT_PATH]" ; \
+	echo "PY_PATH:   is [$$PY_PATH]"  ; \
+	echo "IOT_IP:    is [$$IOT_IP]"   ; \
+	echo "BINFILE:   is [$$BINFILE]"  ; \
+	if [ "$$IOT_IP" = "" ] ; \
+	then echo "Unable to find device IP. Check that the IOT_NAME environment variable is correctly set. Use 'make find' to search devices"; \
+	else echo "---> Uploading Over The Air"; \
+	$$PY_PATH/python3 $$PLAT_PATH/tools/espota.py -i $$IOT_IP -p $(OTA_PORT) --auth=$(OTA_PASS) -f $$BINFILE ;\
+	fi
+
+clean:
+	@echo "---> Cleaning the build directory"
+	rm -rf build
+
+find:
+	avahi-browse _arduino._tcp --resolve --parsable --terminate
+
+requirements:
+	@if [ -e requirements.txt ]; \
+	then while read -r i ; do echo ; \
+	  echo "---> Installing " '"'$$i'"' ; \
+	  arduino-cli lib install "$$i" ; \
+	done < requirements.txt ; \
+	else echo "---> MISSING requirements.txt file"; \
+	fi

src/arduino/simwind/simwind.h

@@ -0,0 +1,15 @@
+#ifndef _SIMWINDDATA_H
+#define _SIMWINDDATA_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef struct
+{
+    uint32_t velocity;
+    float fanpower;
+}
+SimWindData;
+
+
+#endif

src/arduino/simwind/simwind.ino

@@ -1,16 +1,16 @@
 #include <Adafruit_MotorShield.h>
-#include "simdata.h"
+#include "simwind.h"
 
-#define BYTE_SIZE sizeof(SimData)
+#define BYTE_SIZE sizeof(SimWindData)
 #define KPHTOMPH .621317
-
+#define FANPOWER .6
 
 Adafruit_MotorShield AFMS = Adafruit_MotorShield();
 
 Adafruit_DCMotor *myMotor1 = AFMS.getMotor(1);
 Adafruit_DCMotor *myMotor2 = AFMS.getMotor(3);
 
-SimData sd;
+SimWindData sd;
 int velocity = 0;
 
 void setup() {
@@ -19,10 +19,6 @@ void setup() {
         Serial.println("Could not find Motor Shield. Check wiring.");
         while (1);
     }
-    sd.rpms = 0;
-    sd.maxrpm = 6500;
-    sd.altitude = 10;
-    sd.pulses = 40000;
     sd.velocity = 10;
 
     myMotor1->setSpeed(0);
@@ -46,6 +42,6 @@ void loop() {
     {
       v = 255;
     }
-    myMotor1->setSpeed(v);
+    myMotor1->setSpeed(v*FANPOWER);
-    myMotor2->setSpeed(v);
+    myMotor2->setSpeed(v*FANPOWER);
 }

src/monocoque/devices/CMakeLists.txt

@@ -9,10 +9,15 @@ set(devices_source_files
   serialdevice.c
   tachdevice.h
   tachdevice.c
+  usbhapticdevice.h
+  usbhapticdevice.c
+  sound.h
+  sound.c
   usb/revburner.h
   usb/revburner.c
   sound/usb_generic_shaker.h
   sound/usb_generic_shaker.c
+  sound/usb_generic_shaker_pulse.c
   serial/arduino.h
   serial/arduino.c
 )

src/monocoque/devices/serial/arduino.c

@@ -6,19 +6,42 @@
 #include "arduino.h"
 #include "../../slog/slog.h"
 
-#define arduino_timeout 2000
+#define arduino_timeout 5000
 
-int arduino_update(SerialDevice* serialdevice, SimData* simdata)
+int arduino_update(SerialDevice* serialdevice, void* data, size_t size)
 {
     int result = 1;
     if (serialdevice->port)
     {
-        result = check(sp_blocking_write(serialdevice->port, simdata, sizeof(SimData), arduino_timeout));
+        slogt("copying %i bytes to arduino device", size);
+        result = check(sp_blocking_write(serialdevice->port, data, size, arduino_timeout));
     }
 
     return result;
 }
 
+//int arduino_shiftlights_update(SerialDevice* serialdevice, SimData* simdata)
+//{
+//    int result = 1;
+//    if (serialdevice->port)
+//    {
+//        result = check(sp_blocking_write(serialdevice->port, simdata, sizeof(SimData), arduino_timeout));
+//    }
+//
+//    return result;
+//}
+//
+//int arduino_simwind_update(SerialDevice* serialdevice, SimData* simdata)
+//{
+//    int result = 1;
+//    if (serialdevice->port)
+//    {
+//        result = check(sp_blocking_write(serialdevice->port, simdata, sizeof(SimData), arduino_timeout));
+//    }
+//
+//    return result;
+//}
+
 int arduino_init(SerialDevice* serialdevice, const char* portdev)
 {
     slogi("initializing arduino serial device...");
@@ -80,3 +103,4 @@ int check(enum sp_return result)
             return result;
     }
 }
+

src/monocoque/devices/serial/arduino.h

@@ -4,7 +4,8 @@
 #include "../simdevice.h"
 #include "../serialdevice.h"
 
-int arduino_update(SerialDevice* serialdevice, SimData* simdata);
+
+int arduino_update(SerialDevice* serialdevice, void* data, size_t size);
 int arduino_init(SerialDevice* serialdevice,  const char* portdev);
 int arduino_free(SerialDevice* serialdevice);
 int check(enum sp_return result);

src/monocoque/devices/serialdevice.c

@@ -15,10 +15,45 @@ int serialdev_update(SimDevice* this, SimData* simdata)
 {
     SerialDevice* serialdevice = (void *) this->derived;
 
-    arduino_update(serialdevice, simdata);
+
+
+    arduino_update(serialdevice, simdata, sizeof(SimData));
     return 0;
 }
 
+int arduino_shiftlights_update(SimDevice* this, SimData* simdata)
+{
+    SerialDevice* serialdevice = (void *) this->derived;
+    int result = 1;
+
+
+    serialdevice->u.shiftlightsdata.maxrpm = simdata->maxrpm;
+    serialdevice->u.shiftlightsdata.rpm = simdata->rpms;
+    slogt("Updating arduino device rpms to %i", serialdevice->u.shiftlightsdata.rpm);
+    // we can add configs to set all the colors
+    // i can move the size to the initialization since it should not change
+    size_t size = sizeof(ShiftLightsData);
+
+    arduino_update(serialdevice, &serialdevice->u.shiftlightsdata, size);
+    return result;
+}
+
+int arduino_simwind_update(SimDevice* this, SimData* simdata)
+{
+    SerialDevice* serialdevice = (void *) this->derived;
+    int result = 1;
+
+    serialdevice->u.simwinddata.velocity = simdata->velocity;
+    slogt("Updating arduino device speed to %i", serialdevice->u.simwinddata.velocity);
+    // this can be added to the config, all config dependent can be added to init
+    serialdevice->u.simwinddata.fanpower = 0.6;
+    size_t size = sizeof(SimWindData);
+
+    arduino_update(serialdevice, &serialdevice->u.simwinddata, size);
+
+    return result;
+}
+
 int serialdev_free(SimDevice* this)
 {
     SerialDevice* serialdevice = (void *) this->derived;
@@ -43,6 +78,8 @@ int serialdev_init(SerialDevice* serialdevice, const char* portdev)
 }
 
 static const vtable serial_simdevice_vtable = { &serialdev_update, &serialdev_free };
+static const vtable arduino_shiftlights_vtable = { &arduino_shiftlights_update, &serialdev_free };
+static const vtable arduino_simwind_vtable = { &arduino_simwind_update, &serialdev_free };
 
 SerialDevice* new_serial_device(DeviceSettings* ds) {
 
@@ -53,6 +90,20 @@ SerialDevice* new_serial_device(DeviceSettings* ds) {
     this->m.derived = this;
     this->m.vtable = &serial_simdevice_vtable;
 
+    slogt("Attempting to configure arduino device with subtype: %i", ds->dev_subtype);
+    switch (ds->dev_subtype) {
+        case (SIMDEVTYPE_SHIFTLIGHTS):
+            this->devicetype = ARDUINODEV__SHIFTLIGHTS;
+            this->m.vtable = &arduino_shiftlights_vtable;
+            slogi("Initializing arduino device for shiftlights.");
+            break;
+        case (SIMDEVTYPE_SIMWIND):
+            this->devicetype = ARDUINODEV__SIMWIND;
+            this->m.vtable = &arduino_simwind_vtable;
+            slogi("Initializing arduino devices for sim wind.");
+            break;
+    }
+
     int error = serialdev_init(this, ds->serialdevsettings.portdev);
 
     if (error != 0)

src/monocoque/devices/serialdevice.h

@@ -3,5 +3,11 @@
 
 #include <libserialport.h>
 
+typedef enum
+{
+    ARDUINODEV__SHIFTLIGHTS   = 0,
+    ARDUINODEV__SIMWIND       = 1,
+}
+SerialDeviceType;
 
 #endif

src/monocoque/devices/simdevice.c

@@ -61,6 +61,7 @@ int devinit(SimDevice* simdevices, int numdevices, DeviceSettings* ds)
                 simdevices[j] = sim->m;
                 simdevices[j].initialized = true;
                 simdevices[j].type = SIMDEV_USB;
+                simdevices[j].tyre = ds[j].tyre;
                 devices++;
             }
             else
@@ -78,6 +79,7 @@ int devinit(SimDevice* simdevices, int numdevices, DeviceSettings* ds)
                 simdevices[j] = sim->m;
                 simdevices[j].initialized = true;
                 simdevices[j].type = SIMDEV_SOUND;
+                simdevices[j].tyre = ds[j].tyre;
                 devices++;
             }
             else

src/monocoque/devices/simdevice.h

@@ -9,6 +9,9 @@
 #include "../helper/confighelper.h"
 #include "../simulatorapi/simapi/simapi/simdata.h"
 
+#include "../../arduino/simwind/simwind.h"
+#include "../../arduino/shiftlights/shiftlights.h"
+
 typedef struct SimDevice SimDevice;
 
 struct SimDevice
@@ -20,7 +23,7 @@ struct SimDevice
     int id;
     bool initialized;
     DeviceType type;
-
+    MonocoqueTyreIdentifier tyre;
 };
 
 typedef struct {
@@ -42,10 +45,17 @@ typedef struct
     int id;
     SerialType type;
     struct sp_port* port;
+    SerialDeviceType devicetype;
+    union
+    {
+        SimWindData simwinddata;
+        ShiftLightsData shiftlightsdata;
+    } u;
 }
 SerialDevice;
 
-int serialdev_update(SimDevice* this, SimData* simdata);
+int arduino_shiftlights_update(SimDevice* this, SimData* simdata);
+int arduino_simwind_update(SimDevice* this, SimData* simdata);
 int serialdev_free(SimDevice* this);
 
 SerialDevice* new_serial_device(DeviceSettings* ds);
@@ -54,7 +64,8 @@ SerialDevice* new_serial_device(DeviceSettings* ds);
 typedef enum
 {
     USBDEV_UNKNOWN       = 0,
-    USBDEV_TACHOMETER    = 1
+    USBDEV_TACHOMETER    = 1,
+    USBDEV_GENERICHAPTIC = 2
 }
 USBType;
 
@@ -66,6 +77,7 @@ typedef struct
     union
     {
         TachDevice tachdevice;
+        USBGenericHapticDevice hapticdevice;
     } u;
 }
 USBDevice;
@@ -83,14 +95,19 @@ typedef struct
     int id;
     SoundType type;
     VibrationEffectType effecttype;
-    PATestData sounddata;
+    SoundData sounddata;
+#ifdef USE_PULSEAUDIO
+    pa_stream *stream;
+#else
     PaStreamParameters outputParameters;
     PaStream* stream;
+#endif
 }
 SoundDevice;
 
 int sounddev_engine_update(SimDevice* this, SimData* simdata);
 int sounddev_gearshift_update(SimDevice* this, SimData* simdata);
+int sounddev_tyreslip_update(SimDevice* this, SimData* simdata);
 int sounddev_free(SimDevice* this);
 
 SoundDevice* new_sound_device(DeviceSettings* ds);

src/monocoque/devices/sound.c

@@ -0,0 +1,79 @@
+#include "sound.h"
+
+#include "../slog/slog.h"
+
+#ifdef USE_PULSEAUDIO
+
+pa_threaded_mainloop* mainloop;
+pa_context* context;
+
+void context_state_cb(pa_context* context, void* mainloop) {
+    pa_threaded_mainloop_signal(mainloop, 0);
+}
+
+int setupsound()
+{
+
+
+
+    pa_mainloop_api *mainloop_api;
+
+    slogi("connecting pulseaudio...");
+    // Get a mainloop and its context
+    mainloop = pa_threaded_mainloop_new();
+    assert(mainloop);
+    mainloop_api = pa_threaded_mainloop_get_api(mainloop);
+    context = pa_context_new(mainloop_api, "Monocoque");
+    assert(context);
+
+    pa_context_set_state_callback(context, &context_state_cb, mainloop);
+
+    // Lock the mainloop so that it does not run and crash before the context is ready
+    pa_threaded_mainloop_lock(mainloop);
+
+    // Start the mainloop
+    assert(pa_threaded_mainloop_start(mainloop) == 0);
+    assert(pa_context_connect(context, NULL, PA_CONTEXT_NOAUTOSPAWN, NULL) == 0);
+
+    // Wait for the context to be ready
+    for(;;) {
+        pa_context_state_t context_state = pa_context_get_state(context);
+        assert(PA_CONTEXT_IS_GOOD(context_state));
+        if (context_state == PA_CONTEXT_READY) break;
+        pa_threaded_mainloop_wait(mainloop);
+    }
+
+    slogi("successfully connected pulseaudio...");
+    return 1;
+}
+
+
+int freesound()
+{
+    if (context)
+        pa_context_unref(context);
+
+    if (mainloop) {
+        pa_signal_done();
+        pa_threaded_mainloop_free(mainloop);
+    }
+
+}
+
+#else
+
+int setupsound()
+{
+
+
+
+    slogi("connecting portaudio...");
+}
+
+
+int freesound()
+{
+
+}
+
+#endif

src/monocoque/devices/sound.h

@@ -0,0 +1,13 @@
+#ifndef _SOUND_H
+#define _SOUND_H
+
+#include <pulse/pulseaudio.h>
+
+extern pa_threaded_mainloop* mainloop;
+extern pa_context* context;
+
+
+int setupsound();
+int freesound();
+
+#endif

src/monocoque/devices/sound/usb_generic_shaker.c

@@ -1,3 +1,5 @@
+#ifndef USE_PULSEAUDIO
+
 #include <stdio.h>
 #include <string.h>
 #include <math.h>
@@ -10,6 +12,9 @@
 
 #define SAMPLE_RATE   (48000)
 
+#define DURATION 4.0
+#define AMPLITUDE .5
+
 #ifndef M_PI
 #define M_PI  (3.14159265)
 #endif
@@ -22,39 +27,27 @@ int patestCallbackEngineRPM(const void*                     inputBuffer,
                    PaStreamCallbackFlags           statusFlags,
                    void*                           userData)
 {
-    PATestData* data = (PATestData*)userData;
+    SoundData* data = (SoundData*)userData;
     float* out = (float*)outputBuffer;
     memset(out, 0, framesPerBuffer * 2 * sizeof(float));
     unsigned int i;
     unsigned int n;
-    n = data->n;
+    //n = data->n;
     (void) inputBuffer; /* Prevent unused argument warning. */
 
     for( i=0; i<framesPerBuffer; i++,n++ )
     {
-        float v = 0;
+        static double t = 0.0;
-        v = data->amp * sin (2 * M_PI * ((float) n) / (float) SAMPLE_RATE);
+        double sample = AMPLITUDE * 32767.0 * sin(2.0 * M_PI * data->curr_frequency * t);
 
-        if (n>=data->table_size)
+        t += 1.0 / SAMPLE_RATE;
-        {
+        if (t >= DURATION) {
-            n=0;
+            t = 0.0;
+        }
+        *out++ = sample;
+        *out++ = sample;
     }
 
-
-        if (data->gear_sound_data > 0)
-        {
-            *out++ = 0;
-            *out++ = 0;
-        }
-        else
-        {
-            *out++ = v;
-            *out++ = v;
-        }
-    }
-
-    data->gear_sound_data = 0;
-    data->n=n;
     return 0;
 }
 
@@ -66,39 +59,33 @@ int patestCallbackGearShift(const void*                     inputBuffer,
                    PaStreamCallbackFlags           statusFlags,
                    void*                           userData)
 {
-    PATestData* data = (PATestData*)userData;
+    SoundData* data = (SoundData*)userData;
     float* out = (float*)outputBuffer;
     memset(out, 0, framesPerBuffer * 2 * sizeof(float));
     unsigned int i;
     unsigned int n;
-    n = data->n;
+    //n = data->n;
     (void) inputBuffer; /* Prevent unused argument warning. */
 
     for( i=0; i<framesPerBuffer; i++,n++ )
     {
-        float v = 0;
+        static double t = 0.0;
-        v = data->amp * sin (2 * M_PI * ((float) n) / (float) SAMPLE_RATE);
+        double sample = 0;
-
+        if (data->frequency>0)
-        if (n>=data->table_size)
         {
-            n=0;
+            sample = AMPLITUDE * 32767.0 * sin(2.0 * M_PI * data->curr_frequency * data->curr_duration);
         }
 
-        if(data->gear_sound_data > 0)
-        {
-            *out++ = v;
-            *out++ = v;
-        }
-        else
-        {
-            *out++ = 0;
-            *out++ = 0;
-        }
-    }
-    data->gear_sound_data = 0;
 
-    data->n=n;
+        data->curr_duration += 1.0 / SAMPLE_RATE;
-    return 0;
+        if (data->curr_duration >= data->duration) {
+            data->curr_duration = 0.0;
+            data->curr_frequency = 0;
+        }
+
+        *out++ = sample;
+        *out++ = sample;
+    }
 }
 
 int usb_generic_shaker_free(SoundDevice* sounddevice)
@@ -169,3 +156,5 @@ error:
     Pa_Terminate();
     return err;
 }
+
+#endif

src/monocoque/devices/sound/usb_generic_shaker.h

@@ -1,10 +1,13 @@
 #ifndef _USB_GENERIC_SHAKER_H
 #define _USB_GENERIC_SHAKER_H
 
-//#include "../sounddevice.h"
 #include "../simdevice.h"
 
+#ifdef USE_PULSEAUDIO
+int usb_generic_shaker_init(SoundDevice* sounddevice, pa_threaded_mainloop* mainloop, pa_context* context, const char* devname, int volume, int pan, const char* streamname);
+#else
 int usb_generic_shaker_init(SoundDevice* sounddevice);
+#endif
 int usb_generic_shaker_free(SoundDevice* sounddevice);
 
 #endif

src/monocoque/devices/sound/usb_generic_shaker_pulse.c

@@ -0,0 +1,163 @@
+#ifdef USE_PULSEAUDIO
+
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include <unistd.h>
+
+
+
+#include "usb_generic_shaker.h"
+#include "../sounddevice.h"
+
+#define FORMAT PA_SAMPLE_S16LE
+#define SAMPLE_RATE   (48000)
+#define AMPLITUDE .5
+#define DURATION 4.0
+
+#ifndef M_PI
+#define M_PI  (3.14159265)
+#endif
+
+
+void gear_sound_stream(pa_stream *s, size_t length, void *userdata) {
+
+    SoundData* data = (SoundData*)userdata;
+    size_t num_samples = length / sizeof(int16_t);
+    int16_t buffer[num_samples];
+
+
+    for (size_t i = 0; i < num_samples; i++) {
+        static double t = 0.0;
+        double sample = 0;
+        if (data->frequency>0)
+        {
+            sample = AMPLITUDE * 32767.0 * sin(2.0 * M_PI * data->curr_frequency * data->curr_duration);
+        }
+
+
+        buffer[i] = (int16_t)sample;
+
+        data->curr_duration += 1.0 / SAMPLE_RATE;
+        if (data->curr_duration >= data->duration) {
+            data->curr_duration = 0.0;
+            data->curr_frequency = 0;
+        }
+    }
+    pa_stream_write(s, buffer, length, NULL, 0LL, PA_SEEK_RELATIVE);
+}
+
+void engine_sound_stream(pa_stream *s, size_t length, void *userdata) {
+
+    SoundData* data = (SoundData*)userdata;
+    size_t num_samples = length / sizeof(int16_t);
+    int16_t buffer[num_samples];
+
+    for (size_t i = 0; i < num_samples; i++) {
+        static double t = 0.0;
+        double sample = AMPLITUDE * 32767.0 * sin(2.0 * M_PI * data->curr_frequency * t);
+
+
+        buffer[i] = (int16_t)sample;
+
+        t += 1.0 / SAMPLE_RATE;
+        if (t >= DURATION) {
+            t = 0.0;
+        }
+    }
+    pa_stream_write(s, buffer, length, NULL, 0LL, PA_SEEK_RELATIVE);
+}
+
+void stream_success_cb(pa_stream *stream, int success, void *userdata) {
+    return;
+}
+
+void stream_state_cb(pa_stream *s, void *mainloop) {
+    pa_threaded_mainloop_signal(mainloop, 0);
+}
+
+int usb_generic_shaker_free(SoundDevice* sounddevice)
+{
+    int err = 0;
+    //err = Pa_CloseStream( sounddevice->stream );
+    //if( err != paNoError )
+    //{
+    //    err = Pa_Terminate();
+    //}
+    if (sounddevice->stream)
+    {
+        pa_stream_unref(sounddevice->stream);
+        pa_xfree(sounddevice->stream);
+    }
+    return err;
+}
+
+int usb_generic_shaker_init(SoundDevice* sounddevice, pa_threaded_mainloop* mainloop, pa_context* context, const char* devname, int volume, int pan, const char* streamname)
+{
+    pa_stream *stream;
+
+    // Create a playback stream
+    pa_sample_spec sample_specifications;
+    sample_specifications.format = FORMAT;
+    sample_specifications.rate = SAMPLE_RATE;
+    sample_specifications.channels = 2;
+
+
+    pa_channel_map channel_map;
+    pa_channel_map_init_stereo(&channel_map);
+    pa_channel_map_parse(&channel_map, "front-left,front-right");
+
+
+    stream = pa_stream_new(context, streamname, &sample_specifications, &channel_map);
+    pa_stream_set_state_callback(stream, stream_state_cb, mainloop);
+
+
+    if (sounddevice->effecttype == EFFECT_GEARSHIFT)
+    {
+        pa_stream_set_write_callback(stream, gear_sound_stream, &sounddevice->sounddata);
+    }
+    else
+    {
+        pa_stream_set_write_callback(stream, engine_sound_stream, &sounddevice->sounddata);
+    }
+
+    // recommended settings, i.e. server uses sensible values
+    pa_buffer_attr buffer_attr;
+    buffer_attr.maxlength = (uint32_t) 32767;
+    buffer_attr.tlength = (uint32_t) -1;
+    buffer_attr.prebuf = (uint32_t) -1;
+    buffer_attr.minreq = (uint32_t) -1;
+
+    pa_cvolume cv;
+    uint16_t pvolume =  ceil(((double) volume/100.0d)*65535);
+    // Settings copied as per the chromium browser source
+
+    pa_stream_flags_t stream_flags;
+    stream_flags = PA_STREAM_INTERPOLATE_TIMING | PA_STREAM_NOT_MONOTONIC | PA_STREAM_AUTO_TIMING_UPDATE | PA_STREAM_ADJUST_LATENCY | PA_STREAM_START_CORKED;
+
+    // Connect stream to the default audio output sink
+    pa_cvolume_set(&cv, sample_specifications.channels, pvolume);
+
+    pa_cvolume_set_balance(&cv, &channel_map, pan);
+
+    assert(pa_stream_connect_playback(stream, devname, &buffer_attr, stream_flags, &cv, NULL) == 0);
+
+    // Wait for the stream to be ready
+    for(;;) {
+        pa_stream_state_t stream_state = pa_stream_get_state(stream);
+        assert(PA_STREAM_IS_GOOD(stream_state));
+        if (stream_state == PA_STREAM_READY) break;
+        pa_threaded_mainloop_wait(mainloop);
+    }
+
+
+    //pa_threaded_mainloop_unlock(mainloop);
+
+    // Uncork the stream so it will start playing
+    pa_stream_cork(stream, 0, stream_success_cb, mainloop);
+
+    sounddevice->stream = stream;
+    return 0;
+}
+
+#endif

src/monocoque/devices/sounddevice.c

@@ -5,6 +5,7 @@
 #include <stdio.h>
 #include <unistd.h>
 
+#include "sound.h"
 #include "simdevice.h"
 #include "sounddevice.h"
 #include "sound/usb_generic_shaker.h"
@@ -12,13 +13,18 @@
 #include "../helper/parameters.h"
 #include "../slog/slog.h"
 
+
 int gear_sound_set(SoundDevice* sounddevice, SimData* simdata)
 {
-    if (sounddevice->sounddata.last_gear != simdata->gear && simdata->gear != 0)
+    if (sounddevice->sounddata.last_gear != simdata->gear && simdata->gear > 1)
     {
-        sounddevice->sounddata.gear_sound_data = 3.14;
+        //sounddevice->sounddata.gear_sound_data = 3.14;
+        sounddevice->sounddata.curr_frequency = sounddevice->sounddata.frequency;
+        sounddevice->sounddata.curr_duration = 0;
     }
     sounddevice->sounddata.last_gear = simdata->gear;
+
+    slogt("set gear frequency to %i", sounddevice->sounddata.frequency);
 }
 
 // we could make a vtable for these different effects too
@@ -26,9 +32,59 @@ int sounddev_engine_update(SimDevice* this, SimData* simdata)
 {
     SoundDevice* sounddevice = (void *) this->derived;
 
-    gear_sound_set(sounddevice, simdata);
+    sounddevice->sounddata.curr_frequency = simdata->rpms/60;
+    //sounddevice->sounddata.table_size = 48000/(sounddevice->sounddata.frequency);
 
-    sounddevice->sounddata.table_size = 44100/(simdata->rpms/60);
+    slogt("set engine frequency to %i", sounddevice->sounddata.frequency);
+}
+
+int sounddev_tyreslip_update(SimDevice* this, SimData* simdata)
+{
+    SoundDevice* sounddevice = (void *) this->derived;
+
+    double play = 0;
+    if (this->tyre == FRONTLEFT || this->tyre == FRONTS || this->tyre == ALLFOUR)
+    {
+        play += simdata->wheelslip[0];
+    }
+    if (this->tyre == FRONTRIGHT || this->tyre == FRONTS || this->tyre == ALLFOUR)
+    {
+        play += simdata->wheelslip[1];
+    }
+    if (this->tyre == REARLEFT || this->tyre == REARS || this->tyre == ALLFOUR)
+    {
+        play += simdata->wheelslip[2];
+    }
+    if (this->tyre == REARRIGHT || this->tyre == REARS || this->tyre == ALLFOUR)
+    {
+        play += simdata->wheelslip[3];
+    }
+    if (play > 0)
+    {
+        sounddevice->sounddata.curr_frequency = sounddevice->sounddata.frequency * play;
+        sounddevice->sounddata.curr_duration = sounddevice->sounddata.duration;
+    }
+    else
+    {
+        sounddevice->sounddata.curr_frequency = 0;
+        sounddevice->sounddata.curr_duration = 0;
+    }
+}
+
+int sounddev_absbrakes_update(SimDevice* this, SimData* simdata)
+{
+    SoundDevice* sounddevice = (void *) this->derived;
+
+    if (simdata->abs > 0)
+    {
+        sounddevice->sounddata.curr_frequency = sounddevice->sounddata.frequency;
+        sounddevice->sounddata.curr_duration = sounddevice->sounddata.duration;
+    }
+    else
+    {
+        sounddevice->sounddata.curr_frequency = 0;
+        sounddevice->sounddata.curr_duration = 0;
+    }
 }
 
 int sounddev_gearshift_update(SimDevice* this, SimData* simdata)
@@ -49,32 +105,67 @@ int sounddev_free(SimDevice* this)
     return 0;
 }
 
-int sounddev_init(SoundDevice* sounddevice)
+int sounddev_init(SoundDevice* sounddevice, const char* devname, int volume, int frequency, int pan, double duration)
 {
     slogi("initializing standalone sound device...");
 
-    sounddevice->sounddata.pitch = 1;
-    sounddevice->sounddata.pitch = 261.626;
-    sounddevice->sounddata.amp = 32;
-    sounddevice->sounddata.left_phase = sounddevice->sounddata.right_phase = 0;
-    sounddevice->sounddata.table_size = 44100/(100/60);
-    sounddevice->sounddata.last_gear = 0;
 
+    slogi("volume is: %i", volume);
+    slogi("frequency is: %i", frequency);
+    slogi("pan is: %i", pan);
+    slogi("duration is: %f", duration);
+
+
+    sounddevice->sounddata.frequency = frequency;
+    //sounddevice->sounddata.pitch = 1;
+    //sounddevice->sounddata.pitch = 261.626;
+    //sounddevice->sounddata.amp = 32;
+    //sounddevice->sounddata.left_phase = sounddevice->sounddata.right_phase = 0;
+    //sounddevice->sounddata.table_size = 48000/(100/60);
+    sounddevice->sounddata.curr_frequency = 100/60;
+
+
+
+    const char* streamname= "Engine";
     switch (sounddevice->effecttype) {
-        case (SOUNDEFFECT_GEARSHIFT):
+        case (EFFECT_GEARSHIFT):
 
-            sounddevice->sounddata.pitch = 500;
+            sounddevice->sounddata.last_gear = 0;
-            sounddevice->sounddata.amp = 128;
+            //sounddevice->sounddata.pitch = 500;
-            sounddevice->sounddata.left_phase = sounddevice->sounddata.right_phase = 0;
+            //sounddevice->sounddata.amp = 128;
-            sounddevice->sounddata.table_size = 44100/(1);
+            //sounddevice->sounddata.left_phase = sounddevice->sounddata.right_phase = 0;
+            //sounddevice->sounddata.table_size = 48000/(1);
+            sounddevice->sounddata.duration = duration;
+            sounddevice->sounddata.curr_duration = duration;
+            streamname = "Gear";
+            break;
+        case (EFFECT_TYRESLIP):
+            sounddevice->sounddata.duration = duration;
+            sounddevice->sounddata.curr_duration = duration;
+            streamname = "TyreSlip";
+            break;
+        case (EFFECT_ABSBRAKES):
+            sounddevice->sounddata.duration = duration;
+            sounddevice->sounddata.curr_duration = duration;
+            streamname = "ABS";
             break;
     }
 
+#ifdef USE_PULSEAUDIO
+
+
+    //pa_threaded_mainloop* mainloop;
+    //pa_context* context;
+    usb_generic_shaker_init(sounddevice, mainloop, context, devname, volume, pan, streamname);
+#else
     usb_generic_shaker_init(sounddevice);
+#endif
 }
 
 static const vtable engine_sound_simdevice_vtable = { &sounddev_engine_update, &sounddev_free };
 static const vtable gear_sound_simdevice_vtable = { &sounddev_gearshift_update, &sounddev_free };
+static const vtable tyreslip_sound_simdevice_vtable = { &sounddev_tyreslip_update, &sounddev_free };
+static const vtable absbrakes_sound_simdevice_vtable = { &sounddev_absbrakes_update, &sounddev_free };
 
 SoundDevice* new_sound_device(DeviceSettings* ds) {
 
@@ -84,21 +175,33 @@ SoundDevice* new_sound_device(DeviceSettings* ds) {
     this->m.free = &simdevfree;
     this->m.derived = this;
 
-    slogt("Attempting to configure sound device with subtype: %i", ds->dev_subtype);
+    slogt("Attempting to configure sound device with subtype: %i", ds->effect_type);
-    switch (ds->dev_subtype) {
+    switch (ds->effect_type) {
-        case (SIMDEVTYPE_ENGINESOUND):
+        case (EFFECT_ENGINERPM):
-            this->effecttype = SOUNDEFFECT_ENGINERPM;
+            this->effecttype = EFFECT_ENGINERPM;
             this->m.vtable = &engine_sound_simdevice_vtable;
             slogi("Initializing sound device for engine vibrations.");
             break;
-        case (SIMDEVTYPE_GEARSOUND):
+        case (EFFECT_GEARSHIFT):
-            this->effecttype = SOUNDEFFECT_GEARSHIFT;
+            this->effecttype = EFFECT_GEARSHIFT;
             this->m.vtable = &gear_sound_simdevice_vtable;
             slogi("Initializing sound device for gear shift vibrations.");
             break;
+        case (EFFECT_TYRESLIP):
+            this->effecttype = EFFECT_TYRESLIP;
+            this->m.vtable = &tyreslip_sound_simdevice_vtable;
+            slogi("Initializing sound device for tyre slip vibrations.");
+            break;
+        case (EFFECT_ABSBRAKES):
+            this->effecttype = EFFECT_ABSBRAKES;
+            this->m.vtable = &absbrakes_sound_simdevice_vtable;
+            slogi("Initializing sound device for abs vibrations.");
+            break;
     }
 
-    int error = sounddev_init(this);
+    slogt("Attempting to use device %s", ds->sounddevsettings.dev);
+
+    int error = sounddev_init(this, ds->sounddevsettings.dev, ds->sounddevsettings.volume, ds->sounddevsettings.frequency, ds->sounddevsettings.pan, ds->sounddevsettings.duration);
     if (error != 0)
     {
         free(this);

src/monocoque/devices/sounddevice.h

@@ -1,7 +1,11 @@
 #ifndef _SOUNDDEVICE_H
 #define _SOUNDDEVICE_H
 
+#ifdef USE_PULSEAUDIO
+#include <pulse/pulseaudio.h>
+#else
 #include "portaudio.h"
+#endif
 
 typedef enum
 {
@@ -10,26 +14,16 @@ typedef enum
 }
 SoundType;
 
-typedef enum
-{
-    SOUNDEFFECT_ENGINERPM   = 0,
-    SOUNDEFFECT_GEARSHIFT   = 1
-}
-VibrationEffectType;
-
 #define MAX_TABLE_SIZE   (6000)
 typedef struct
 {
-    float sine[MAX_TABLE_SIZE];
-    float pitch;
     int last_gear;
-    int left_phase;
+    int volume;
-    int right_phase;
+    int frequency;
-    int n;
+    double duration;
-    int table_size;
+    int curr_frequency;
-    int amp;
+    double curr_duration;
-    int gear_sound_data;
 }
-PATestData;
+SoundData;
 
 #endif

src/monocoque/devices/usbdevice.c

@@ -19,6 +19,9 @@ int usbdev_update(SimDevice* this, SimData* simdata)
         case USBDEV_TACHOMETER :
             tachdev_update(&usbdevice->u.tachdevice, simdata);
             break;
+        case USBDEV_GENERICHAPTIC :
+            usbhapticdev_update(&usbdevice->u.hapticdevice, simdata);
+            break;
     }
 
     return 0;
@@ -28,12 +31,16 @@ int usbdev_free(SimDevice* this)
 {
     USBDevice* usbdevice = (void *) this->derived;
 
+    slogt("Usb device free");
     switch ( usbdevice->type )
     {
         case USBDEV_UNKNOWN :
         case USBDEV_TACHOMETER :
             tachdev_free(&usbdevice->u.tachdevice);
             break;
+        case USBDEV_GENERICHAPTIC :
+            usbhapticdev_free(&usbdevice->u.hapticdevice);
+            break;
     }
 
     free(usbdevice);
@@ -46,13 +53,16 @@ int usbdev_init(USBDevice* usbdevice, DeviceSettings* ds)
     slogi("initializing usb device...");
     int error = 0;
 
-    usbdevice->type = USBDEV_TACHOMETER;
+    //usbdevice->type = USBDEV_TACHOMETER;
     switch ( usbdevice->type )
     {
         case USBDEV_UNKNOWN :
         case USBDEV_TACHOMETER :
             error = tachdev_init(&usbdevice->u.tachdevice, ds);
             break;
+        case USBDEV_GENERICHAPTIC :
+            error = usbhapticdev_init(&usbdevice->u.hapticdevice, ds);
+            break;
     }
 
     return error;
@@ -69,6 +79,12 @@ USBDevice* new_usb_device(DeviceSettings* ds) {
     this->m.derived = this;
     this->m.vtable = &usb_simdevice_vtable;
 
+    this->type = USBDEV_TACHOMETER;
+    if (ds->dev_subtype == SIMDEVTYPE_USBHAPTIC)
+    {
+        this->type = USBDEV_GENERICHAPTIC;
+    }
+
     int error = usbdev_init(this, ds);
 
     if (error != 0)

src/monocoque/devices/usbdevice.h

@@ -2,5 +2,6 @@
 #define _USBDEVICE_H
 
 #include "tachdevice.h"
+#include "usbhapticdevice.h"
 
 #endif

src/monocoque/devices/usbhapticdevice.c

@@ -0,0 +1,99 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+
+#include "usbhapticdevice.h"
+#include "../../helper/confighelper.h"
+#include "../../simulatorapi/simapi/simapi/simdata.h"
+#include "../../slog/slog.h"
+
+int usbhapticdev_update(USBGenericHapticDevice* usbhapticdevice, SimData* simdata)
+{
+    double play = 0;
+    switch (usbhapticdevice->effecttype)
+    {
+        case (EFFECT_TYRESLIP):
+
+            if (usbhapticdevice->effecttype == EFFECT_TYRESLIP)
+            {
+                if (usbhapticdevice->tyre == FRONTLEFT || usbhapticdevice->tyre == FRONTS || usbhapticdevice->tyre == ALLFOUR)
+                {
+                    play += simdata->wheelslip[0];
+                }
+                if (usbhapticdevice->tyre == FRONTRIGHT || usbhapticdevice->tyre == FRONTS || usbhapticdevice->tyre == ALLFOUR)
+                {
+                    play += simdata->wheelslip[1];
+                }
+                if (usbhapticdevice->tyre == REARLEFT || usbhapticdevice->tyre == REARS || usbhapticdevice->tyre == ALLFOUR)
+                {
+                    play += simdata->wheelslip[2];
+                }
+                if (usbhapticdevice->tyre == REARRIGHT || usbhapticdevice->tyre == REARS || usbhapticdevice->tyre == ALLFOUR)
+                {
+                    play += simdata->wheelslip[3];
+                }
+            }
+            break;
+        case (EFFECT_ABSBRAKES):
+            play += simdata->abs;
+            break;
+    }
+    
+    if (play != usbhapticdevice->state)
+    {
+        if(play > 0)
+        {
+            fprintf(usbhapticdevice->handle, "%i\n", usbhapticdevice->value1);
+            fflush(usbhapticdevice->handle);
+        }
+        else
+        {
+            fprintf(usbhapticdevice->handle, "%i\n", usbhapticdevice->value0);
+            fflush(usbhapticdevice->handle);
+
+        }
+        usbhapticdevice->state = play;
+    }
+    return 0;
+}
+
+int usbhapticdev_free(USBGenericHapticDevice* usbhapticdevice)
+{
+    slogt("closing usb haptic device");
+    fflush(usbhapticdevice->handle);
+    fclose(usbhapticdevice->handle);
+    free(usbhapticdevice->dev);
+    return 0;
+}
+
+int usbhapticdev_init(USBGenericHapticDevice* usbhapticdevice, DeviceSettings* ds)
+{
+    int error = 0;
+    usbhapticdevice->state = 0;
+    usbhapticdevice->dev = strdup(ds->usbdevsettings.dev);
+    usbhapticdevice->value0 = ds->usbdevsettings.value0;
+    usbhapticdevice->value1 = ds->usbdevsettings.value1;
+    usbhapticdevice->state = usbhapticdevice->value0;
+    usbhapticdevice->tyre = ds->tyre;
+    usbhapticdevice->effecttype = ds->effect_type;
+
+    usbhapticdevice->handle = fopen(usbhapticdevice->dev, "w");
+    if(usbhapticdevice->handle == 0)
+    {
+        error = MONOCOQUE_ERROR_INVALID_DEV;
+        return error;
+    }
+
+    slogt("Initializing standalone usb haptic device");
+    if(ds->effect_type == EFFECT_TYRESLIP)
+    {
+        usbhapticdevice->effecttype = EFFECT_TYRESLIP;
+    }
+    if(ds->effect_type == EFFECT_WHEELLOCK)
+    {
+        usbhapticdevice->effecttype = EFFECT_WHEELLOCK;
+    }
+
+    return error;
+}

src/monocoque/devices/usbhapticdevice.h

@@ -0,0 +1,35 @@
+#ifndef _USBHAPTICDEVICE_H
+#define _USBHAPTICDEVICE_H
+
+#include <hidapi/hidapi.h>
+#include "../helper/confighelper.h"
+#include "../simulatorapi/simapi/simapi/simdata.h"
+
+
+typedef enum
+{
+    HAPTIC_UNKNOWN     = 0,
+    HAPTIC_GENERIC     = 1
+}
+HapticType;
+
+typedef struct
+{
+    int id;
+    HapticType type;
+    double state;
+    int value0;
+    int value1;
+    VibrationEffectType effecttype;
+    MonocoqueTyreIdentifier tyre;
+    FILE* handle;
+    char* dev;
+}
+USBGenericHapticDevice;
+
+
+int usbhapticdev_update(USBGenericHapticDevice* hapticdevice, SimData* simdata);
+int usbhapticdev_init(USBGenericHapticDevice* hapticdevice, DeviceSettings* ds);
+int usbhapticdev_free(USBGenericHapticDevice* hapticdevice);
+
+#endif

src/monocoque/gameloop/gameloop.c

@@ -6,6 +6,7 @@
 #include <sys/stat.h>
 #include <poll.h>
 #include <termios.h>
+#include <signal.h>
 
 #include "gameloop.h"
 #include "../helper/parameters.h"
@@ -17,6 +18,19 @@
 
 #define DEFAULT_UPDATE_RATE      240.0
 #define SIM_CHECK_RATE           1.0
+bool go = false;
+bool go2 = false;
+struct sigaction act;
+
+void sighandler(int signum, siginfo_t* info, void* ptr)
+{
+    sloge("caught signal");
+    go = false;
+    go2 = false;
+    //gfx_clear(pixels, pixels_len);
+    //gfx_swapbuffers();
+    //gfx_close();
+}
 
 int showstats(SimData* simdata)
 {
@@ -170,34 +184,13 @@ int showstats(SimData* simdata)
 
 int clilooper(SimDevice* devices, int numdevices, Parameters* p, SimData* simdata, SimMap* simmap)
 {
-
-    slogi("preparing game loop with %i devices...", numdevices);
-
-
-    slogi("sending initial data to devices");
-    simdata->velocity = 16;
-    simdata->rpms = 100;
-    for (int x = 0; x < numdevices; x++)
-    {
-        devices[x].update(&devices[x], simdata);
-    }
-    sleep(3);
-
-    struct termios newsettings, canonicalmode;
-    tcgetattr(0, &canonicalmode);
-    newsettings = canonicalmode;
-    newsettings.c_lflag &= (~ICANON & ~ECHO);
-    newsettings.c_cc[VMIN] = 1;
-    newsettings.c_cc[VTIME] = 0;
-    tcsetattr(0, TCSANOW, &newsettings);
-    char ch;
     struct pollfd mypoll = { STDIN_FILENO, POLLIN|POLLPRI };
-
     double update_rate = DEFAULT_UPDATE_RATE;
+    char ch;
     int t=0;
     int s=0;
-    int go = true;
+    go2 = true;
-    while (go == true)
+    while (go2 == true && simdata->simstatus > 1)
     {
         simdatamap(simdata, simmap, p->sim);
         showstats(simdata);
@@ -210,20 +203,17 @@ int clilooper(SimDevice* devices, int numdevices, Parameters* p, SimData* simdat
         for (int x = 0; x < numdevices; x++)
         {
             devices[x].update(&devices[x], simdata);
-
         }
+
     	if( poll(&mypoll, 1, 1000.0/update_rate) )
     	{
     	    scanf("%c", &ch);
     	    if(ch == 'q')
     	    {
-                go = false;
+    	        go2 = false;
     	    }
     	}
     }
-    fprintf(stdout, "\n");
-    fflush(stdout);
-    tcsetattr(0, TCSANOW, &canonicalmode);
 
     simdata->velocity = 0;
     simdata->rpms = 100;
@@ -232,12 +222,19 @@ int clilooper(SimDevice* devices, int numdevices, Parameters* p, SimData* simdat
         devices[x].update(&devices[x], simdata);
     }
 
+    fprintf(stdout, "\n");
 
     return 0;
 }
 
 int looper(SimDevice* devices, int numdevices, Parameters* p)
 {
+    memset(&act, 0, sizeof(act));
+    act.sa_sigaction = sighandler;
+    act.sa_flags = SA_SIGINFO;
+    sigaction(SIGTERM, &act, NULL);
+    sigaction(SIGINT, &act, NULL);
+    sigaction(SIGTSTP, &act, NULL);
 
     SimData* simdata = malloc(sizeof(SimData));
     SimMap* simmap = malloc(sizeof(SimMap));
@@ -253,23 +250,28 @@ int looper(SimDevice* devices, int numdevices, Parameters* p)
     struct pollfd mypoll = { STDIN_FILENO, POLLIN|POLLPRI };
 
     fprintf(stdout, "Searching for sim data... Press q to quit...\n");
-
     p->simon = false;
     double update_rate = SIM_CHECK_RATE;
-    int go = true;
+    go = true;
     while (go == true)
     {
-
+        p->simon = false;
-
-
-
-        if (p->simon == false)
-        {
         getSim(simdata, simmap, &p->simon, &p->sim);
-        }
 
-        if (p->simon == true)
+        if (p->simon == true && simdata->simstatus > 1)
         {
+            slogi("preparing game loop with %i devices...", numdevices);
+
+
+            slogi("sending initial data to devices");
+            simdata->velocity = 16;
+            simdata->rpms = 100;
+            for (int x = 0; x < numdevices; x++)
+            {
+                devices[x].update(&devices[x], simdata);
+            }
+            sleep(3);
+
             clilooper(devices, numdevices, p, simdata, simmap);
         }
         if (p->simon == true)
@@ -280,6 +282,8 @@ int looper(SimDevice* devices, int numdevices, Parameters* p)
         }
 
         if (poll(&mypoll, 1, 1000.0/update_rate) )
+        {
+            if (go != false )
             {
                 scanf("%c", &ch);
                 if(ch == 'q')
@@ -288,6 +292,7 @@ int looper(SimDevice* devices, int numdevices, Parameters* p)
                 }
             }
         }
+    }
 
     fprintf(stdout, "\n");
     fflush(stdout);
@@ -318,6 +323,11 @@ int tester(SimDevice* devices, int numdevices)
     simdata->velocity = 16;
     simdata->rpms = 100;
     simdata->maxrpm = 8000;
+    simdata->abs = 0;
+    simdata->wheelslip[0] = 0;
+    simdata->wheelslip[1] = 0;
+    simdata->wheelslip[2] = 0;
+    simdata->wheelslip[3] = 0;
     sleep(3);
 
     fprintf(stdout, "Setting rpms to 1000\n");
@@ -328,8 +338,32 @@ int tester(SimDevice* devices, int numdevices)
     }
     sleep(3);
 
+    fprintf(stdout, "Setting ABS to 1\n");
+    simdata->abs = 1;
+    for (int x = 0; x < numdevices; x++)
+    {
+        devices[x].update(&devices[x], simdata);
+    }
+    sleep(3);
+    simdata->abs = 0;
+
+    fprintf(stdout, "Setting Wheelslip to 1\n");
+    simdata->wheelslip[0] = 1;
+    simdata->wheelslip[1] = 1;
+    simdata->wheelslip[2] = 1;
+    simdata->wheelslip[3] = 1;
+    for (int x = 0; x < numdevices; x++)
+    {
+        devices[x].update(&devices[x], simdata);
+    }
+    sleep(3);
+    simdata->wheelslip[0] = 0;
+    simdata->wheelslip[1] = 0;
+    simdata->wheelslip[2] = 0;
+    simdata->wheelslip[3] = 0;
+
     fprintf(stdout, "Shifting into first gear\n");
-    simdata->gear = 1;
+    simdata->gear = 2;
     for (int x = 0; x < numdevices; x++)
     {
         devices[x].update(&devices[x], simdata);
@@ -349,7 +383,7 @@ int tester(SimDevice* devices, int numdevices)
     sleep(3);
 
     fprintf(stdout, "Shifting into second gear\n");
-    simdata->gear = 2;
+    simdata->gear = 3;
     for (int x = 0; x < numdevices; x++)
     {
         devices[x].update(&devices[x], simdata);
@@ -369,7 +403,7 @@ int tester(SimDevice* devices, int numdevices)
     sleep(3);
 
     fprintf(stdout, "Shifting into third gear\n");
-    simdata->gear = 3;
+    simdata->gear = 4;
     for (int x = 0; x < numdevices; x++)
     {
         devices[x].update(&devices[x], simdata);
@@ -397,7 +431,7 @@ int tester(SimDevice* devices, int numdevices)
     sleep(3);
 
     fprintf(stdout, "Shifting into fourth gear\n");
-    simdata->gear = 4;
+    simdata->gear = 5;
     for (int x = 0; x < numdevices; x++)
     {
         devices[x].update(&devices[x], simdata);

src/monocoque/helper/confighelper.c

@@ -11,7 +11,9 @@
 #include "confighelper.h"
 
 #include "../slog/slog.h"
+#include "parameters.h"
 
+#include <pulse/pulseaudio.h>
 
 int strcicmp(char const *a, char const *b)
 {
@@ -50,6 +52,31 @@ int strtogame(const char* game, MonocoqueSettings* ms)
     return MONOCOQUE_ERROR_NONE;
 }
 
+int strtoeffecttype(const char* effect, DeviceSettings* ds)
+{
+    ds->is_valid = false;
+
+    if (strcicmp(effect, "Engine") == 0)
+    {
+        ds->effect_type = EFFECT_ENGINERPM;
+    }
+    if (strcicmp(effect, "Gear") == 0)
+    {
+        ds->effect_type = EFFECT_GEARSHIFT;
+    }
+    if (strcicmp(effect, "ABS") == 0)
+    {
+        ds->effect_type = EFFECT_ABSBRAKES;
+    }
+    if ((strcicmp(effect, "SLIP") == 0) || (strcicmp(effect, "TYRESLIP") == 0) || (strcicmp(effect, "TIRESLIP") == 0))
+    {
+        ds->effect_type = EFFECT_TYRESLIP;
+    }
+
+    ds->is_valid = true;
+    return MONOCOQUE_ERROR_NONE;
+}
+
 int strtodevsubtype(const char* device_subtype, DeviceSettings* ds, int simdev)
 {
     ds->is_valid = false;
@@ -62,6 +89,11 @@ int strtodevsubtype(const char* device_subtype, DeviceSettings* ds, int simdev)
                 ds->dev_subtype = SIMDEVTYPE_TACHOMETER;
                 break;
             }
+            if (strcicmp(device_subtype, "UsbHaptic") == 0 || strcicmp(device_subtype, "Haptic") == 0)
+            {
+                ds->dev_subtype = SIMDEVTYPE_USBHAPTIC;
+                break;
+            }
         case SIMDEV_SERIAL:
             if (strcicmp(device_subtype, "ShiftLights") == 0)
             {
@@ -74,16 +106,8 @@ int strtodevsubtype(const char* device_subtype, DeviceSettings* ds, int simdev)
                 break;
             }
         case SIMDEV_SOUND:
-            if (strcicmp(device_subtype, "Engine") == 0)
+            ds->is_valid = true;
-            {
-                ds->dev_subtype = SIMDEVTYPE_ENGINESOUND;
             break;
-            }
-            if (strcicmp(device_subtype, "Gear") == 0)
-            {
-                ds->dev_subtype = SIMDEVTYPE_GEARSOUND;
-                break;
-            }
         default:
             ds->is_valid = false;
             slogw("%s does not appear to be a valid device sub type, but attempting to continue with other devices", device_subtype);
@@ -216,6 +240,40 @@ int loadtachconfig(const char* config_file, DeviceSettings* ds)
     return 0;
 }
 
+int gettyre(config_setting_t* device_settings, DeviceSettings* ds) {
+
+    const char* temp;
+    int found = config_setting_lookup_string(device_settings, "tyre", &temp);
+    
+    ds->tyre = ALLFOUR;
+    
+    if (strcicmp(temp, "FRONTS") == 0)
+    {
+        ds->tyre = FRONTS;
+    }
+    if (strcicmp(temp, "REARS") == 0)
+    {
+        ds->tyre = REARS;
+    }
+    if (strcicmp(temp, "FRONTLEFT") == 0)
+    {
+        ds->tyre = FRONTLEFT;
+    }
+    if (strcicmp(temp, "FRONTRIGHT") == 0)
+    {
+        ds->tyre = FRONTRIGHT;
+    }
+    if (strcicmp(temp, "REARLEFT") == 0)
+    {
+        ds->tyre = REARLEFT;
+    }
+    if (strcicmp(temp, "REARRIGHT") == 0)
+    {
+        ds->tyre = REARRIGHT;
+    }
+
+}
+
 int loadconfig(const char* config_file, DeviceSettings* ds)
 {
     if (ds->dev_subtype == SIMDEVTYPE_TACHOMETER)
@@ -228,10 +286,11 @@ int loadconfig(const char* config_file, DeviceSettings* ds)
 int devsetup(const char* device_type, const char* device_subtype, const char* config_file, MonocoqueSettings* ms, DeviceSettings* ds, config_setting_t* device_settings)
 {
     int error = MONOCOQUE_ERROR_NONE;
-    slogi("Called device setup with %s %s %s", device_type, device_subtype, config_file);
+    //slogt("Called device setup with %s %s %s", device_type, device_subtype, config_file);
     ds->dev_type = SIMDEV_UNKNOWN;
 
     error = strtodev(device_type, device_subtype, ds);
+
     if (error != MONOCOQUE_ERROR_NONE)
     {
         return error;
@@ -246,6 +305,8 @@ int devsetup(const char* device_type, const char* device_subtype, const char* co
         return error;
     }
 
+
+
     if (ds->dev_subtype == SIMDEVTYPE_TACHOMETER)
     {
         if (device_settings != NULL)
@@ -264,6 +325,75 @@ int devsetup(const char* device_type, const char* device_subtype, const char* co
             ds->tachsettings.use_pulses = false;
         }
     }
+
+    if (ds->dev_subtype == SIMDEVTYPE_USBHAPTIC)
+    {
+        if (device_settings != NULL)
+        {
+            ds->usbdevsettings.value0 = 0;
+            ds->usbdevsettings.value1 = 1;
+
+            const char* temp;
+            int found = config_setting_lookup_string(device_settings, "devpath", &temp);
+            if (found == 0)
+            {
+                ds->usbdevsettings.dev = NULL;
+            }
+            else
+            {
+                ds->usbdevsettings.dev = strdup(temp);
+            }
+            
+            config_setting_lookup_int(device_settings, "value0", &ds->usbdevsettings.value0);
+            config_setting_lookup_int(device_settings, "value1", &ds->usbdevsettings.value1);
+        }
+    }
+
+    if (ds->dev_subtype == SIMDEVTYPE_USBHAPTIC || ds->dev_type == SIMDEV_SOUND) {
+        const char* effect;
+        config_setting_lookup_string(device_settings, "effect", &effect);
+        strtoeffecttype(effect, ds);
+        if (ds->effect_type == EFFECT_TYRESLIP || ds->effect_type == EFFECT_WHEELLOCK)
+        {
+            gettyre(device_settings, ds);
+        }
+        
+        if (ds->dev_type == SIMDEV_SOUND)
+        {
+            slogi("reading configured sound device settings");
+            ds->sounddevsettings.frequency = -1;
+            ds->sounddevsettings.volume = -1;
+            ds->sounddevsettings.lowbound_frequency = -1;
+            ds->sounddevsettings.upperbound_frequency = -1;
+            ds->sounddevsettings.pan = 0;
+            ds->sounddevsettings.duration = 2.0;
+            if (ds->effect_type == EFFECT_GEARSHIFT)
+            {
+                ds->sounddevsettings.duration = .125;
+            }
+            if (device_settings != NULL)
+            {
+
+                config_setting_lookup_int(device_settings, "volume", &ds->sounddevsettings.volume);
+                config_setting_lookup_int(device_settings, "frequency", &ds->sounddevsettings.frequency);
+                config_setting_lookup_int(device_settings, "pan", &ds->sounddevsettings.pan);
+                config_setting_lookup_float(device_settings, "duration", &ds->sounddevsettings.duration);
+
+                const char* temp;
+                int found = 0;
+                found = config_setting_lookup_string(device_settings, "devid", &temp);
+                if (found == 0)
+                {
+                    ds->sounddevsettings.dev = NULL;
+                }
+                else
+                {
+                    ds->sounddevsettings.dev = strdup(temp);
+                }
+            }
+        }
+    }
+
     if (ds->dev_subtype == SIMDEVTYPE_SIMWIND || ds->dev_subtype == SIMDEVTYPE_SHIFTLIGHTS)
     {
         if (device_settings != NULL)
@@ -286,7 +416,22 @@ int settingsfree(DeviceSettings ds)
         {
             free(ds.serialdevsettings.portdev);
         }
+
+    }
+    if (ds.dev_type == SIMDEV_SOUND)
+    {
+        if (ds.sounddevsettings.dev != NULL)
+        {
+            free(ds.sounddevsettings.dev);
+        }
     }
 
+    if (ds.dev_type == SIMDEV_USB)
+    {
+        if (ds.usbdevsettings.dev != NULL )
+        {
+            free(ds.usbdevsettings.dev);
+        }
+    }
     return 0;
 }

src/monocoque/helper/confighelper.h

@@ -1,6 +1,7 @@
 #ifndef _CONFIGHELPER_H
 #define _CONFIGHELPER_H
 
+#include <pulse/channelmap.h>
 #include <stdbool.h>
 #include <stdint.h>
 
@@ -21,10 +22,9 @@ typedef enum
 {
     SIMDEVTYPE_UNKNOWN           = 0,
     SIMDEVTYPE_TACHOMETER        = 1,
-    SIMDEVTYPE_SHIFTLIGHTS       = 2,
+    SIMDEVTYPE_USBHAPTIC         = 2,
-    SIMDEVTYPE_SIMWIND           = 3,
+    SIMDEVTYPE_SHIFTLIGHTS       = 3,
-    SIMDEVTYPE_ENGINESOUND       = 4,
+    SIMDEVTYPE_SIMWIND           = 4
-    SIMDEVTYPE_GEARSOUND         = 5
 }
 DeviceSubType;
 
@@ -40,6 +40,16 @@ typedef enum
 }
 SimulatorUpdate;
 
+typedef enum
+{
+    EFFECT_ENGINERPM   = 0,
+    EFFECT_GEARSHIFT   = 1,
+    EFFECT_ABSBRAKES   = 2,
+    EFFECT_TYRESLIP    = 3,
+    EFFECT_WHEELLOCK   = 4
+}
+VibrationEffectType;
+
 typedef enum
 {
     MONOCOQUE_ERROR_NONE          = 0,
@@ -51,6 +61,18 @@ typedef enum
 }
 MonocoqueError;
 
+typedef enum
+{
+    FRONTLEFT         = 0,
+    FRONTRIGHT        = 1,
+    REARLEFT          = 2,
+    REARRIGHT         = 3,
+    FRONTS            = 4,
+    REARS             = 5,
+    ALLFOUR           = 6
+}
+MonocoqueTyreIdentifier;
+
 typedef struct
 {
     ProgramAction program_action;
@@ -74,13 +96,38 @@ typedef struct
 }
 SerialDeviceSettings;
 
+typedef struct
+{
+    int frequency;
+    int volume;
+    int lowbound_frequency;
+    int upperbound_frequency;
+    int pan;
+    double duration;
+    char* dev;
+}
+SoundDeviceSettings;
+
+typedef struct
+{
+    int value0;
+    int value1;
+    char* dev;
+}
+USBDeviceSettings;
+
 typedef struct
 {
     bool is_valid;
     DeviceType dev_type;
     DeviceSubType dev_subtype;
+    VibrationEffectType effect_type;
+    // union?
     TachometerSettings tachsettings;
     SerialDeviceSettings serialdevsettings;
+    SoundDeviceSettings sounddevsettings;
+    USBDeviceSettings usbdevsettings;
+    MonocoqueTyreIdentifier tyre;
 }
 DeviceSettings;
 

src/monocoque/helper/parameters.c

@@ -104,6 +104,7 @@ ConfigError getParameters(int argc, char** argv, Parameters* p)
         else if (nerrors3==0)
         {
             p->program_action = A_TEST;
+            p->verbosity_count = arg_verbosity3->count;
             exitcode = E_SUCCESS_AND_DO;
         }
         else

src/monocoque/monocoque.c

@@ -7,12 +7,14 @@
 #include "gameloop/gameloop.h"
 #include "gameloop/tachconfig.h"
 #include "devices/simdevice.h"
+#include "devices/sound.h"
 #include "helper/parameters.h"
 #include "helper/dirhelper.h"
 #include "helper/confighelper.h"
 #include "simulatorapi/simapi/simapi/simdata.h"
 #include "slog/slog.h"
 
+
 int create_dir(char* dir)
 {
     struct stat st = {0};
@@ -149,9 +151,9 @@ int main(int argc, char** argv)
         DeviceSettings ds[configureddevices];
         slogi("found %i devices in configuration", configureddevices);
         int i = 0;
+        error = MONOCOQUE_ERROR_NONE;
         while (i<configureddevices)
         {
-            error = MONOCOQUE_ERROR_NONE;
             DeviceSettings settings;
 
             config_setting_t* config_device = config_setting_get_elem(config_devices, i);
@@ -162,6 +164,9 @@ int main(int argc, char** argv)
             config_setting_lookup_string(config_device, "type", &device_subtype);
             config_setting_lookup_string(config_device, "config", &device_config_file);
 
+            //slogt("device type: %s", device_type);
+            //slogt("device sub type: %s", device_subtype);
+            //slogt("device config file: %s", device_config_file);
             if (error == MONOCOQUE_ERROR_NONE)
             {
                 error = devsetup(device_type, device_subtype, device_config_file, ms, &settings, config_device);
@@ -179,18 +184,22 @@ int main(int argc, char** argv)
         i = 0;
         int j = 0;
         error = MONOCOQUE_ERROR_NONE;
+
+        setupsound();
         SimDevice* devices = malloc(numdevices * sizeof(SimDevice));
         int initdevices = devinit(devices, configureddevices, ds);
 
         if (p->program_action == A_PLAY)
         {
-            //slogi("running monocoque in gameloop mode..");
+            slogi("running monocoque in gameloop mode..");
             //error = strtogame(p->sim_string, ms);
             //if (error != MONOCOQUE_ERROR_NONE)
             //{
             //    goto cleanup_final;
             //}
-
+#ifdef USE_PULSEAUDIO
+            pa_threaded_mainloop_unlock(mainloop);
+#endif
 
             error = looper(devices, initdevices, p);
             if (error == MONOCOQUE_ERROR_NONE)
@@ -205,6 +214,11 @@ int main(int argc, char** argv)
         else
         {
             slogi("running monocoque in test mode...");
+
+#ifdef USE_PULSEAUDIO
+            pa_threaded_mainloop_unlock(mainloop);
+#endif
+
             error = tester(devices, initdevices);
             if (error == MONOCOQUE_ERROR_NONE)
             {

src/monocoque/simulatorapi/simapi

@@ -1 +1 @@
-Subproject commit ee41c498ee24c410bc551cf09ea68a9fbde0cee7
+Subproject commit 231e64e1190686dad77fcaf2e9e5e9bc8d831274