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/*      This file is part of MoteCtrl
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        http://www.mikrokopter.de/ucwiki/en/MoteCtrl
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*/
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#include <stdio.h>              //I/O functions
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#include <windows.h>    //like stdlib.h
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//#include "wiiuse.h"   //the wiiuse lib to communicate with the wiimote
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#include "wiimote.h"
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/*Nunchuck struct, main.c don't needs this, only wiimote.c needs this
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in the handle_event function */
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struct nunchuk_t* nc;
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int init_wiimote (void) {
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        int tmp;
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        /*Initialize / create one Wiimote handle:
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        wiiuse_init is creating the corresponding wiimote struct and returns
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        a pointer to the created typedefed struct */
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        mote = wiiuse_init(MAX_WIIMOTES);
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        /*Now connect to the wiimote, that should be in discovery mode (all 4 leds
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        should be blinking, after you activated the Bluetooth HID service
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        --> means: "I'm in discovery mode, searching for a Wii").
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        wiiuse_find will scan and connect the number of wiimotes passed.
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        The information about the connected wiimote will be stored in the
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        passed wiimote struct. */
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        printf("\nAutodetecting your Bluetooth Stack (like Blue Soleil for instance)\n"
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                "Scanning for available Wiimotes...\n"
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                "(make sure BT HID service is running and the 4 LEDs of the Wiimote are blinking)\n\n");
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        tmp = wiiuse_find(mote, MAX_WIIMOTES, 8);       //8 sec timeout
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        if(tmp == 0) {
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                printf("***ERR: Couldn't find Bluetooth stack / No Wiimote found\n"
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                        "Bluetooth stack supported by wiiuse? HID service running?\n"
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                        "Wiimote in discovery mode (all 4 LED's blinking)?\n\n");
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                return EXIT_FAILURE;
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        }
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        else { printf("\n***Wiimote found, trying to connect...\n\n"); }
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        //for backup (since wiiuse_find already connected) call wiiuse_connect:
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        tmp = wiiuse_connect(mote, MAX_WIIMOTES);
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        if(tmp == 0) {
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                printf("***ERR:Couldn't establish connection with found Wiimote\n\n");
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                return EXIT_FAILURE;
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        }
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        else { printf("***Connection to Wiimote established!\n\n"); }
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        //Wiimote is connected, everything could be done now
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        //Do a bit of fun:
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        wiiuse_rumble(mote[0], 1);              //switch rumble on
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        //blinking with leds ;)
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_1);
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        Sleep(100);
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_NONE);
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_2);
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        Sleep(100);
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_NONE);
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_3);
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        Sleep(100);
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_NONE);
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_4);
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        Sleep(100);
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_NONE);
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        wiiuse_rumble(mote[0], 0);              //switch rumble off
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        /*if there happens no LED change event (or some event) after rumble-turn-off,
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        the rumble-turn-off has no effect (seems to be a bug in the wiiuse API) */
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        wiiuse_set_leds(mote[0], WIIMOTE_LED_1);       
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        Sleep(1000);    //wait a sek to let the rumble vibe off
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                                        //do not press any buttons in that time!
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        //Avtivate the motion sensing feature of the wiimote:
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        wiiuse_motion_sensing(mote[0], 1);
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        return EXIT_SUCCESS;
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}
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int check_nunchuck(void) {
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        if(mote[0]->exp.type){
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                return 1;
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        }
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        else { return 0; }
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}
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//write Disconnect Wrapper ?
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        //wiiuse_disconnect(mote[0]);
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/*This Subroutine is called, when the wiimote sends a generic event, like
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 a pushed button or the tilt changing by at least 0.5 degrees:
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(it passes the wiimote data to the ExternalControl struct) */
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void handle_event(struct wiimote_t* wm) {
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        /***** Button and tilt-sensor assignments for the WIIMOTE: *****/
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        /*GAS: (better use the nunchuck buttons to control the gas, since the
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        wiimotes tilt sensor is very sensitive and when pressing buttons on
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        the wiimote you atomatically change the state of the tilt)*/
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        if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_HOME)) { //reset gas value to 0
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                ExternControl.Gas = 0;                                          //(be careful with that!)
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                printf("\n***************Resetting GAS to ZERO!***************\n\n");
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        }
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        if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_UP)) {
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                if (ExternControl.Gas < 240) {  //overflow protection, max gas limit
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                ExternControl.Gas++;    //increment gas value
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                }
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        }
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        if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_DOWN)) {
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                if (ExternControl.Gas > 0) {    //underflow protection (0-- = 255!!!GAS)
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                ExternControl.Gas--;    //decrement gas value
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                }
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        }
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        //NICK & ROLL:
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        if( (wm->orient.roll > 127.0) ||        //overrun protections
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                (wm->orient.roll < -127.0) ||
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                (wm->orient.pitch > 127.0) ||
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                (wm->orient.pitch < -127.0))
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                { return; }
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        else {
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                /*Associate the degree-Values of the wiimotes tilt sensor to the
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                corresponding ExternalControl struct values: */
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                ExternControl.Nick = (signed char) wm->orient.pitch;
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                ExternControl.Roll = -( (signed char) wm->orient.roll );
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        }
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        /***** Button and joystick assignments for the NUNCHUCK extension: *****/
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        nc = (nunchuk_t*)&mote[0]->exp.nunchuk;
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        //GAS:
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        if (IS_JUST_PRESSED(nc, NUNCHUK_BUTTON_C)) {
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                if (ExternControl.Gas < 240) {  //overflow protection, max gas limit
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                ExternControl.Gas++;    //increment gas value
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                }
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        }
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        if (IS_JUST_PRESSED(nc, NUNCHUK_BUTTON_Z)) {
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                if (ExternControl.Gas > 0) {    //underflow protection (0-- = 255!!!GAS)
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                ExternControl.Gas--;    //decrement gas value
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                }
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        }
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        //GIER:
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        if( (nc->js.ang > 0.0) && (nc->js.ang < 180) ) {
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                /* Nunchuck joystick is pressed to the right half, means
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                gier with the MikroKopter to the right: */
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                ExternControl.Gier = (signed char) (nc->js.mag * 100);
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        }
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        if( (nc->js.ang > 180) ) {
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                /* Nunchuck joystick is pressed to the left half, means
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                gier with the MikroKopter to the left: */
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                ExternControl.Gier = -(signed char) (nc->js.mag * 100);
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        }
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        //DEBUG Output: Print ExternControl status
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        printf("Gas: %3d    Gier: %4d    Nick: %4d    Roll: %4d \n",
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                ExternControl.Gas, ExternControl.Gier, ExternControl.Nick, ExternControl.Roll);
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}
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/*
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TODO: bei connectionabbruch (ext.config=0),
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ctrl+q / ctrl+x -> abbruch (disconnect, ext.config=0)
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*/