From 1f733a74ef078b413fc8542dcf886ebf82e89b70 Mon Sep 17 00:00:00 2001
From: Prabhaav Pillai <prabhaav@msu.edu>
Date: Tue, 20 Oct 2026 11:47:50 -0400
Subject: [PATCH] Add DualShock 4 profile to joystick controller configurations

---
 openpilot/tools/joystick/devices.py          | 32 ++++++++++++++++++++
 openpilot/tools/joystick/joystick_control.py |  6 +++-
 openpilot/tools/joystick/joystick_probe.py   | 15 ++++-----
 3 files changed, 43 insertions(+), 10 deletions(-)
 create mode 100644 openpilot/tools/joystick/devices.py

diff --git a/openpilot/tools/joystick/devices.py b/openpilot/tools/joystick/devices.py
new file mode 100644
index 0000000000..b5182a824c
--- /dev/null
+++ b/openpilot/tools/joystick/devices.py
@@ -0,0 +1,32 @@
+"""Find gamepads even when udev does not create /dev/input/by-id links."""
+
+from pathlib import Path
+import re
+
+import inputs
+
+
+def refresh_gamepads() -> None:
+  inputs.devices = inputs.DeviceManager()
+  known = {pad.get_char_device_path() for pad in inputs.devices.gamepads}
+  try:
+    devices = Path('/proc/bus/input/devices').read_text().split('\n\n')
+  except OSError:
+    return
+
+  for device in devices:
+    handlers = re.search(r'^H: Handlers=(.*)$', device, re.MULTILINE)
+    if handlers is None or not any(re.fullmatch(r'js\d+', h) for h in handlers[1].split()):
+      continue
+    event = next((h for h in handlers[1].split() if re.fullmatch(r'event\d+', h)), None)
+    if event is None:
+      continue
+    path = Path('/dev/input') / event
+    if str(path) not in known and path.exists():
+      # inputs only discovers devices through udev links; comma may have none for Bluetooth HID.
+      try:
+        pad = inputs.GamePad(inputs.devices, '/dev/input/by-id/usb-fallback-event-joystick', str(path))
+      except OSError:
+        continue
+      inputs.devices.gamepads.append(pad)
+      known.add(str(path))
diff --git a/openpilot/tools/joystick/joystick_control.py b/openpilot/tools/joystick/joystick_control.py
index ef488713d5..32e12d2f0c 100755
--- a/openpilot/tools/joystick/joystick_control.py
+++ b/openpilot/tools/joystick/joystick_control.py
@@ -13,6 +13,7 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
+from openpilot.tools.joystick.devices import refresh_gamepads
 
 EXPO = 0.4
 
@@ -21,6 +22,7 @@ CONTROLLER_PROFILES = {
   'Stadia':    {'name': 'Stadia',    'steer': 'ABS_X', 'accel': 'ABS_RZ', 'lo': 0.,      'hi': 255.},
   'X-Box':     {'name': 'Xbox',      'steer': 'ABS_X', 'accel': 'ABS_RY', 'lo': -32768., 'hi': 32767.},
   'DualSense': {'name': 'DualSense', 'steer': 'ABS_X', 'accel': 'ABS_RY', 'lo': 0.,      'hi': 255.},
+  'Sony Interactive Entertainment Wireless Controller': {'name': 'DualShock 4', 'steer': 'ABS_X', 'accel': 'ABS_RZ', 'lo': 0., 'hi': 255.},
 }
 DEFAULT_PROFILE = 'X-Box'
 
@@ -56,6 +58,8 @@ class Joystick:
     self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
     self.is_pc = HARDWARE.get_device_type() == 'pc'
     self._last_scan = 0.
+    if not self.is_pc:
+      refresh_gamepads()
     self._load_profile()
 
   def _load_profile(self):
@@ -86,7 +90,7 @@ class Joystick:
     if now - self._last_scan < 1.0:
       return
     self._last_scan = now
-    inputs.devices = inputs.DeviceManager()
+    refresh_gamepads()
     if not self.is_pc and inputs.devices.gamepads:
       self._load_profile()
 
diff --git a/openpilot/tools/joystick/joystick_probe.py b/openpilot/tools/joystick/joystick_probe.py
index 081bedf278..c99cd1c283 100644
--- a/openpilot/tools/joystick/joystick_probe.py
+++ b/openpilot/tools/joystick/joystick_probe.py
@@ -69,19 +69,16 @@ TROUBLESHOOTING
   * All values stay at 0 while a stick moves -> the code column will still change;
     if it doesn't, that physical axis isn't emitting events under any code.
 """
-import sys
-
-try:
-  from inputs import get_gamepad, devices, UnpluggedError
-except Exception as e:
-  print(f"inputs import failed: {e}")
-  sys.exit(1)
+import inputs
+from openpilot.tools.joystick.devices import refresh_gamepads
+from inputs import get_gamepad, UnpluggedError
 
+refresh_gamepads()
 print("Detected gamepads:")
-if not devices.gamepads:
+if not inputs.devices.gamepads:
   print("  <none>  -> 'inputs' does not see your controller (driver/enumeration issue)")
 else:
-  for g in devices.gamepads:
+  for g in inputs.devices.gamepads:
     print(f"  {g}")
 
 print("\nMove ONE stick at a time, fully both ways. Note the CODE + range for:")