Class SpaceNavigatorHid

java.lang.Object
eu.svjatoslav.aukio.e3d.gui.spacemouse.SpaceNavigatorHid
public final class SpaceNavigatorHid extends Object
HID transport for 3Dconnexion 6DOF mice, read via the Linux hidraw interface using JNA — same approach as the RayNeo glasses transport. Supported models are listed in SpaceNavigatorHid.Model; all share the same raw axis sign conventions and ±350 full deflection, so SpaceMouseController drives them identically.

Protocol, SpaceNavigator USB (from libspnav/spacenavd documentation): 7-byte input reports, sent ONLY while the cap is deflected or a button changes — at rest the pipe is silent (so unlike the XR glasses there is no stream watchdog; silence is normal):

  • report[0] = 1 — translation; int16 LE at [1,2]=X, [3,4]=Y, [5,6]=Z; full deflection ≈ ±350
  • report[0] = 2 — rotation; int16 LE at [1,2]=RX, [3,4]=RY, [5,6]=RZ; full deflection ≈ ±350
  • report[0] = 3 — buttons; report[1] bit0 = left, bit1 = right

Protocol, SpaceMouse Wireless over Bluetooth (from the device's own HID report descriptor): a single combined motion report plus separate button and battery reports:

  • report[0] = 1 — all six axes at once; int16 LE at [1,2]=X, [3,4]=Y, [5,6]=Z, [7,8]=RX, [9,10]=RY, [11,12]=RZ (13 bytes total)
  • report[0] = 3 — buttons; report[1] bit0 = left, bit1 = right (3 bytes total)
  • report[0] = 0x17 — battery; report[1] = charge 0..100, report[2] bit0 = charging

Raw axis sign conventions (identical on both models):

  • TX: push cap right → positive
  • TY: pull cap toward you → positive (live-verified)
  • TZ: pull cap up → positive (live-verified)
  • RX: tilt cap top away → positive
  • RY: tilt cap top right → positive
  • RZ: twist cap clockwise (seen from above) → positive

Detection scans /sys/class/hidraw for the HID_ID of any known model — the hidraw node changes on replug/reconnect, so never cache the path. Unplug is detected by a read error (read returns <0).

  • Field Details

    • FULL_DEFLECTION

      public static final double FULL_DEFLECTION
      Full deflection of any axis, per the HID descriptor.
      See Also:

  • Method Details

    • open

      public static SpaceNavigatorHid open()
      Finds and opens the first supported SpaceMouse on the system, or null when none is connected. Throws when a device is present but cannot be opened (permissions — see /etc/udev/rules.d/99-spacenavigator.rules).

    • start

      public void start()

    • isRunning

      public boolean isRunning()
      True while the device is connected and the reader is alive.

    • getModel

      public SpaceNavigatorHid.Model getModel()
      Which supported device this instance talks to.

    • getTx

      public int getTx()

    • getTy

      public int getTy()

    • getTz

      public int getTz()

    • getRx

      public int getRx()

    • getRy

      public int getRy()

    • getRz

      public int getRz()

    • getButtons

      public int getButtons()

    • getBatteryPercent

      public int getBatteryPercent()
      Battery charge 0..100 as last reported by a wireless device, or -1 when the device has not reported it (wired models never do).

    • isCharging

      public boolean isCharging()
      True when a wireless device last reported itself charging.

    • stop

      public void stop()