example of using libhid to read and write a playstation DS4 controller (wired)

ds4.cpp

// quick hack job by @mmalex
// thanks to libhid author and @johndrinkwater and https://github.com/chrippa/ds4drv
#include <stdio.h>
#include "hidapi.h" // using http://www.signal11.us/oss/hidapi/ 	

typedef unsigned char u8;
typedef unsigned short u16;
typedef unsigned int u32;

#pragma pack(push, 1)
struct DS4Touch {
	u32 id : 7;
	u32 inactive : 1;
	u32 x : 12;
	u32 y : 12;
};
struct DS4 {
	u8 prepad;
	u8 leftx, lefty, rightx, righty;
	u16 buttons;
	u8 trackpad_ps : 2;
	u8 timestamp : 6;
	u8 l2, r2;
	u8 pad[2];
	u8 battery;
	short accel[3], gyro[3];
	u8 pad0[35 - 25];
	DS4Touch touch[2];
	u8 pad2[64 - 43];
};
struct DS4Out { // this is only correct for wired connection. see https://github.com/chrippa/ds4drv/blob/master/ds4drv/device.py for example for wireless
	u32 magic; // 0x0004ff05
	u8 rumbler, rumblel, r, g, b, flashon, flashoff;
	u8 pad[32 - 11];
};
#pragma pack(pop)		

int main(int argc, char* argv[])
{	
	int res;	
	hid_device *handle;	
	if (!(handle = hid_open(0x54c, 0x5c4, NULL))) {
		fprintf(stderr,"unable to open device\n");
 		return 1;
	}		
	DS4 ds4;
	res = hid_write(handle, (u8*)&DS4Out{ 0x0004ff05, 0, 0, 255, 0, 255 }, 32);	 // pink LED please
	while (1) {
		res = hid_read(handle, (u8*)&ds4, 64);		
		if (res == 64) {			
			printf("%04x %01x %3d %3d %5d %d-%d %d,%d\n", ds4.buttons, ds4.trackpad_ps, ds4.l2, ds4.r2, ds4.accel[0], ds4.touch[0].inactive, ds4.touch[0].id, ds4.touch[0].x, ds4.touch[0].y);
		}
	}
	hid_close(handle);
	hid_exit();
	return 0;
}