When I have been working with touch drivers on Android devices, I usually end up using the getevent tool in adb.
But the output takes some time to understand. In order to make it easier for me and my colleagues, I made a small python script called touchevents.py.
It is a brute force implementation, but it gets the job done. I uploaded it to github here.
This is how it is used.
adb shell getevent | python touchevents.py event9 adb shell getevent -t | python touchevents.py event9