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| Rev 43 | Rev 47 | ||
|---|---|---|---|
| Line 16... | Line 16... | ||
| 16 | #include <linux/joystick.h> |
16 | #include <linux/joystick.h> |
| 17 | #define JOY_DEV "/dev/input/js0" |
17 | #define JOY_DEV "/dev/input/js0" |
| Line 18... | Line 18... | ||
| 18 | 18 | ||
| Line -... | Line 19... | ||
| - | 19 | #define MAX_BT_DEVICES 3 |
|
| - | 20 | ||
| - | 21 | ||
| - | 22 | #define STATEID_SCANNING 0 |
|
| - | 23 | #define STATEID_CONNECTING 1 |
|
| - | 24 | ||
| - | 25 | #define BUTTON_SELECT 26 |
|
| - | 26 | #define BUTTON_DOWN 28 |
|
| 19 | #define MAX_BT_DEVICES 3 |
27 | #define BUTTON_UP 27 |
| Line 20... | Line 28... | ||
| 20 | 28 | ||
| 21 | int bt_device_count=0; |
29 | int bt_device_count=0; |
| Line 22... | Line 30... | ||
| 22 | 30 | ||
| 23 | char names[MAX_BT_DEVICES][248]; |
31 | char names[MAX_BT_DEVICES][248]; |
| 24 | char addrs[MAX_BT_DEVICES][19]; |
32 | char addrs[MAX_BT_DEVICES][19]; |
| Line -... | Line 33... | ||
| - | 33 | ||
| - | 34 | int s, status; |
|
| - | 35 | unsigned char TxBuffer[150]; |
|
| - | 36 | unsigned char _TxBuffer[150]; |
|
| - | 37 | ||
| - | 38 | int x52_input_fd, *axis=NULL, num_of_axis=0, num_of_buttons=0, x; |
|
| - | 39 | char *button=NULL,*button_trigger=NULL, name_of_joystick[80]; |
|
| - | 40 | ||
| - | 41 | struct js_event x52_event_struct; |
|
| - | 42 | ||
| - | 43 | struct |
|
| - | 44 | { |
|
| - | 45 | char val[4]; |
|
| - | 46 | } MotortestParam; |
|
| 25 | 47 | ||
| - | 48 | struct |
|
| - | 49 | { |
|
| - | 50 | unsigned char Digital[2]; // (noch unbenutzt) |
|
| - | 51 | unsigned char RemoteTasten; //(gab es schon für das virtuelle Display) |
|
| - | 52 | signed char Nick; |
|
| - | 53 | signed char Roll; |
|
| 26 | int s, status; |
54 | signed char Gier; |
| - | 55 | unsigned char Gas; //(es wird das Stick-Gas auf diesen Wert begrenzt; --> StickGas ist das Maximum) |
|
| - | 56 | signed char Hight; //(Höhenregler) |
|
| - | 57 | unsigned char free; // (unbenutzt) |
|
| - | 58 | unsigned char Frame; // (Bestätigung) |
|
| 27 | unsigned char TxBuffer[150]; |
59 | unsigned char Config; |
| Line 28... | Line -... | ||
| 28 | unsigned char _TxBuffer[150]; |
- | |
| 29 | - | ||
| 30 | #define STATEID_SCANNING 0 |
- | |
| Line 31... | Line 60... | ||
| 31 | #define STATEID_CONNECTING 1 |
60 | } ExternControl; |
| Line 32... | Line 61... | ||
| 32 | int state=STATEID_SCANNING; |
61 | |
| 33 | 62 | ||
| Line 79... | Line 108... | ||
| 79 | 108 | ||
| 80 | free( ii ); |
109 | free( ii ); |
| 81 | close( sock ); |
110 | close( sock ); |
| Line 82... | Line -... | ||
| 82 | } |
- | |
| 83 | - | ||
| 84 | int x52_input_fd, *axis=NULL, num_of_axis=0, num_of_buttons=0, x; |
- | |
| 85 | char *button=NULL,*button_trigger=NULL, name_of_joystick[80]; |
- | |
| Line 86... | Line 111... | ||
| 86 | 111 | } |
|
| 87 | struct js_event x52_event_struct; |
112 | |
| Line 112... | Line 137... | ||
| 112 | fcntl( x52_input_fd, F_SETFL, O_NONBLOCK ); /* use non-blocking mode */ |
137 | fcntl( x52_input_fd, F_SETFL, O_NONBLOCK ); /* use non-blocking mode */ |
| Line 113... | Line 138... | ||
| 113 | 138 | ||
| Line 114... | Line -... | ||
| 114 | } |
- | |
| 115 | - | ||
| 116 | - | ||
| 117 | struct |
- | |
| Line 118... | Line 139... | ||
| 118 | { |
139 | } |
| 119 | char val[4]; |
140 | |
| 120 | } MotortestParam; |
141 | |
| Line 233... | Line 254... | ||
| 233 | printf("\tRemote Interactive Digital Drone Interface Mashup\n"); |
254 | printf("\tRemote Interactive Digital Drone Interface Mashup\n"); |
| Line 234... | Line 255... | ||
| 234 | 255 | ||
| 235 | //int tmp=2; |
256 | //int tmp=2; |
| Line 236... | Line -... | ||
| 236 | // connect_mk("00:0B:CE:01:6B:4F"); |
- | |
| 237 | - | ||
| 238 | /* |
- | |
| 239 | - | ||
| 240 | { |
- | |
| 241 | // send a message |
- | |
| 242 | - | ||
| 243 | MotortestParam.val[0]=tmp; |
- | |
| 244 | MotortestParam.val[1]=tmp; |
- | |
| 245 | MotortestParam.val[2]=tmp; |
- | |
| 246 | MotortestParam.val[3]=tmp; |
- | |
| 247 | - | ||
| 248 | engines_on=1; |
- | |
| 249 | |
- | |
| 250 | |
- | |
| 251 | else |
- | |
| 252 | engines_on=0; |
- | |
| 253 | |
- | |
| 254 | if (engines_on!=old_engines_on) |
- | |
| 255 | { |
- | |
| 256 | int c; |
- | |
| 257 | |
- | |
| 258 | if( 0 == status )for (c=0;c<10;c++) |
- | |
| 259 | int c; |
- | |
| 260 | for (c=0;c<2;c++) |
- | |
| 261 | SendOutData('t', 0, &MotortestParam, sizeof(MotortestParam)); |
- | |
| 262 | |
- | |
| 263 | - | ||
| 264 | |
- | |
| 265 | sleep(1); |
- | |
| Line 266... | Line -... | ||
| 266 | } |
- | |
| 267 | */ |
- | |
| 268 | - | ||
| Line 269... | Line 257... | ||
| 269 | 257 | // connect_mk("00:0B:CE:01:6B:4F"); |
|
| 270 | if( status < 0 ) perror("uh oh"); |
- | |
| 271 | printf ("send status %d",status); |
- | |
| 272 | // close(s); |
- | |
| 273 | - | ||
| 274 | int i; |
- | |
| 275 | /* |
- | |
| 276 | - | ||
| 277 | MotortestParam.val[0]=2; |
- | |
| 278 | MotortestParam.val[1]=2; |
258 | |
| 279 | MotortestParam.val[2]=2; |
- | |
| 280 | MotortestParam.val[3]=2; |
- | |
| 281 | - | ||
| 282 | - | ||
| 283 | - | ||
| 284 | - | ||
| 285 | while(1) |
- | |
| 286 | { |
- | |
| 287 | initSerial("/dev/rfcomm0"); |
- | |
| 288 | sleep(2); |
- | |
| 289 | SendOutData('t', 0, &MotortestParam, sizeof(MotortestParam)); |
- | |
| 290 | sleep(1); |
259 | |
| 291 | } |
260 | |
| 292 | */ |
261 | |
| Line 293... | Line 262... | ||
| 293 | 262 | int i; |
|
| Line 294... | Line 263... | ||
| 294 | 263 | ||
| 295 | printf("\nInitializing X-52 input ..\n"); |
264 | printf("\nInitializing X-52 input ..\n"); |
| 296 | connect_joy(); |
265 | connect_joy(); |
| 297 | printf(".. done"); |
266 | printf(".. done"); |
| 298 | 267 | ||
| 299 | printf("\nInitializing X-52 output .."); |
268 | printf("\nInitializing X-52 output .."); |
| 300 | 269 | ||
| 301 | x52_output = x52_init(); |
270 | x52_output = x52_init(); |
| 302 | 271 | ||
| 303 | clear_display(); |
272 | clear_display(); |
| 304 | 273 | ||
| 305 | write_display(0, "RIDDIM active"); |
- | |
| 306 | - | ||
| Line 307... | Line 274... | ||
| 307 | if (x52_output) x52_setbri(x52_output, 1,128); |
274 | write_display(0, "RIDDIM active"); |
| 308 | if (x52_output) |
275 | |
| Line 309... | Line -... | ||
| 309 | printf(" done \n"); |
- | |
| 310 | else |
276 | if (x52_output) x52_setbri(x52_output, 1,128); |
| 311 | printf(" not found \n"); |
277 | if (x52_output) |
| 312 | 278 | printf(" done \n"); |
|
| Line 332... | Line 298... | ||
| 332 | 298 | ||
| 333 | int v_old; |
299 | int v_old; |
| 334 | while( 1 ) |
300 | while( 1 ) |
| 335 | { |
301 | { |
| 336 | int polls=0; |
302 | int polls=0; |
| 337 | for (polls=0;polls<1000;polls++) |
303 | for (polls=0;polls<1000;polls++) // FIXME - better Polling |
| 338 | { |
304 | { |
| Line 339... | Line 305... | ||
| 339 | read(x52_input_fd, &x52_event_struct, sizeof(struct js_event)); |
305 | read(x52_input_fd, &x52_event_struct, sizeof(struct js_event)); |
| Line 348... | Line 314... | ||
| 348 | case JS_EVENT_BUTTON: |
314 | case JS_EVENT_BUTTON: |
| 349 | button [ x52_event_struct.number ] = x52_event_struct.value; |
315 | button [ x52_event_struct.number ] = x52_event_struct.value; |
| 350 | break; |
316 | break; |
| 351 | } |
317 | } |
| 352 | } |
318 | } |
| 353 | if (1) |
- | |
| 354 | { |
- | |
| 355 | 319 | ||
| 356 | } |
- | |
| 357 | - | ||
| 358 | for( x=0 ; x<num_of_buttons ; ++x ) |
320 | for( x=0 ; x<num_of_buttons ; ++x ) |
| 359 | if( button[x]==0) |
321 | if( button[x]==0) |
| 360 | button_trigger[x]=0; |
322 | button_trigger[x]=0; |
| 361 | else |
323 | else |
| 362 | { |
324 | { |
| 363 | if (button_trigger[x]<100)button_trigger[x]++; |
325 | if (button_trigger[x]<100)button_trigger[x]++; |
| 364 | } |
326 | } |
| Line 365... | Line 327... | ||
| 365 | 327 | ||
| 366 | 328 | ||
| 367 | 329 | ||
| 368 | switch(state) |
330 | switch(state) |
| 369 | { |
331 | { |
| 370 | case STATEID_SCANNING: |
332 | case STATEID_SCANNING: |
| 371 | if (button_trigger[BUTTON_SELECT]==1) |
333 | if (button_trigger[BUTTON_SELECT]==1) |
| 372 | { |
334 | { |
| 373 | state=STATEID_CONNECTING; |
335 | state=STATEID_CONNECTING; |
| 374 | clear_display(); |
336 | clear_display(); |
| 375 | write_display(0,"connecting to"); |
337 | write_display(0,"connecting to"); |
| 376 | write_display(1,names[selected_bt_device]); |
338 | write_display(1,names[selected_bt_device]); |
| Line 377... | Line 339... | ||
| 377 | connect_mk(addrs[selected_bt_device]); |
339 | connect_mk(addrs[selected_bt_device]); |
| 378 | write_display(0,"connected to"); |
340 | write_display(0,"connected to"); |
| 379 | } |
341 | } |
| 380 | 342 | ||
| 381 | if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1) |
343 | if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1) |
| 382 | { |
344 | { |
| 383 | printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]); |
345 | printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]); |
| 384 | if (button_trigger[BUTTON_DOWN]==1) |
346 | if (button_trigger[BUTTON_DOWN]==1) |
| 385 | if (selected_bt_device>0) selected_bt_device--; |
347 | if (selected_bt_device>0) selected_bt_device--; |
| 386 | if (button_trigger[BUTTON_UP]==1) |
348 | if (button_trigger[BUTTON_UP]==1) |
| 387 | if (selected_bt_device<bt_device_count-1) selected_bt_device++; |
349 | if (selected_bt_device<bt_device_count-1) selected_bt_device++; |
| 388 | 350 | ||
| Line 389... | Line 351... | ||
| 389 | output_device_list() ; |
351 | output_device_list() ; |
| 390 | } |
352 | } |
| 391 | break; |
353 | break; |
| 392 | case STATEID_CONNECTING: |
354 | case STATEID_CONNECTING: |
| 393 | 355 | ||
| 394 | 356 | ||
| 395 | _TxBuffer[0]=(axis[2]>>8)*(-1)+127; |
357 | _TxBuffer[0]=(axis[2]>>8)*(-1)+127; |
| 396 | if (button[7]!=1)_TxBuffer[0] =0; |
358 | if (button[7]!=1)_TxBuffer[0] =0; |
| Line 397... | Line 359... | ||
| 397 | 359 | ||
| 398 | _TxBuffer[1]=_TxBuffer[0]; |
360 | _TxBuffer[1]=_TxBuffer[0]; |
| Line 399... | Line 361... | ||
| 399 | _TxBuffer[2]=_TxBuffer[0]; |
361 | _TxBuffer[2]=_TxBuffer[0]; |
| 400 | _TxBuffer[3]=_TxBuffer[0]; |
362 | _TxBuffer[3]=_TxBuffer[0]; |
| 401 | 363 | ||
| 402 | SendOutData('t', 0, 4); |
364 | SendOutData('t', 0, 4); |
| 403 | 365 | ||
| Line 404... | Line 366... | ||
| 404 | 366 | ||
| 405 | sleep(0.05); |
367 | sleep(0.05); |
| 406 | 368 | ||
| 407 | 369 | ||
| 408 | 370 | ||
| 409 | int v=axis[6]/655+50; |
371 | int v=axis[6]/655+50; |
| Line 410... | Line 372... | ||
| 410 | if (v!=v_old)if (x52_output) x52_setbri(x52_output, 0,v ); |
372 | if (v!=v_old)if (x52_output) x52_setbri(x52_output, 0,v ); |
| 411 | v_old=v; |
- | |
| 412 | - | ||
| 413 | printf("v: %d \r",v); |
- | |
| 414 | - | ||
| 415 | - | ||
| 416 | for (i=0;i<num_of_axis;i++) |
- | |
| 417 | printf("A%d: %d ", i,axis[i]>>8 ); |
- | |
| 418 | - | ||
| 419 | for( x=0 ; x<num_of_buttons ; ++x ) |
- | |
| 420 | - | ||
| 421 | printf("B%d: %d ", x, button[x] ); |
- | |
| 422 | 373 | v_old=v; |
|
| - | 374 | ||
| - | 375 | printf("v: %d \r",v); |
|
| - | 376 | ||
| - | 377 | ||
| - | 378 | for (i=0;i<num_of_axis;i++) |
|
| - | 379 | printf("A%d: %d ", i,axis[i]>>8 ); |
|
| Line 423... | Line 380... | ||
| 423 | break; |
380 | |
| 424 | } |
381 | for( x=0 ; x<num_of_buttons ; ++x ) |
| 425 | /* |
382 | |
| Line 426... | Line -... | ||
| 426 | - | ||
| 427 | */ |
- | |
| 428 | printf("\r"); |
- | |
| 429 | fflush(stdout); |
- | |
| 430 | - | ||
| 431 | /* |
383 | printf("B%d: %d ", x, button[x] ); |
| 432 | if( read( x52_input_fd, &x52_input_struct, JS_RETURN ) != JS_RETURN ) |
384 | |
| 433 | { |
385 | break; |