| 0,0 → 1,566 |
|---|
| /************************************************** |
| * |
| * |
| * Riddim |
| * Remote Interactive Digital Drone Interface Mashup |
| * |
| * 2007-2008 Marcus -LiGi- Bueschleb |
| * |
| * |
| **************************************************/ |
| |
| #include "riddim.h" |
| |
| |
| int state=STATEID_SCANNING; |
| |
| |
| struct js_event x52_event_struct; |
| |
| int engines_on=0; |
| int old_engines_on=0; |
| |
| int *axis; |
| char *button; |
| |
| struct x52 *x52_output; |
| |
| int selected_bt_device=0; |
| |
| void write_display(int line,char* text) |
| { |
| if (x52_output) x52_settext(x52_output, line , text, strlen(text)); |
| } |
| |
| void clear_display() |
| { |
| write_display(0,""); |
| write_display(1,""); |
| write_display(2,""); |
| } |
| |
| |
| void output_device_list() |
| { |
| int i; |
| char disp_txt[20]; |
| for(i=0;i<bt_device_count;i++) |
| { |
| if (i<3) |
| { |
| |
| if (selected_bt_device==i) |
| sprintf(disp_txt,"#%s",names[i]); |
| else |
| sprintf(disp_txt," %s",names[i]); |
| write_display(i,disp_txt); |
| } |
| } |
| } |
| |
| |
| void print_device_list() |
| { |
| int i; |
| for(i=0;i<bt_device_count;i++) |
| printf("device%i->%s\n",i,names[i]); |
| } |
| |
| |
| |
| int count=0; |
| int connected=0; |
| |
| |
| int input=INPUT_NONE; |
| |
| |
| |
| int main(int argc, char**argv) |
| { |
| |
| printf("Starting Riddim %d.%d \n",RIDDIM_VERSION_MAJOR,RIDDIM_VERSION_MINOR ); |
| printf("\tRemote Interactive Digital Drone Interface Mashup\n"); |
| printf("\nusage:\n"); |
| printf("\t riddim [config_file]\n\n"); |
| |
| |
| |
| collect_evdev_devices(); |
| |
| bt_host_init(); |
| |
| if (argv[1]) |
| parse_config(argv[1]); |
| else |
| parse_config("/etc/riddim.conf"); |
| |
| // exit(0); |
| |
| printf("input %s:\n",input_evdev_name); |
| /* |
| if (bluetooth_mac) |
| { |
| |
| printf("Connecting via Bluetooth to %s\n",bluetooth_mac); |
| if (connect_mk_bluetooth(bluetooth_mac));; |
| connected=TRUE; |
| } |
| */ |
| |
| if (mk_tty) |
| { |
| printf("connecting to mk via tty: %s\n",mk_tty); |
| if (!connect_mk_tty(mk_tty)) |
| printf("cant connect !!"); |
| else |
| { |
| printf("connected !-)"); |
| connected=TRUE; |
| } |
| } |
| |
| if (mk_socket_port) |
| { |
| printf("connecting to mk via local port: %i\n",mk_socket_port); |
| |
| if (connect_mk_localhost_socket(mk_socket_port)==-1) |
| printf("cant connect !!"); |
| else |
| { |
| printf("connected !-)"); |
| connected=TRUE; |
| } |
| } |
| |
| // todo reenable bluetooth connection |
| |
| connect_evdev(); |
| |
| /* |
| if ((input_evdev_name)) |
| { |
| printf("\nInitializing evdev input (%s) ..\n",input_evdev_name); |
| |
| if (connect_evdev(input_evdev_name)) |
| { |
| printf(".. done");// |
| input=INPUT_EVDEV; |
| } |
| else |
| printf(".. ERROR ");// |
| } |
| */ |
| if (input_joydev_name) |
| { |
| printf("\nInitializing joystick input from %s ..\n",input_joydev_name); |
| if (connect_joy()) |
| { |
| printf(".. done");// |
| input=INPUT_JOYDEV; |
| } |
| else |
| printf(".. ERROR ");// |
| } |
| |
| |
| printf("\nInitializing X-52 output .."); |
| |
| x52_output = x52_init(); |
| |
| clear_display(); |
| |
| write_display(0, "RIDDIM active"); |
| |
| if (x52_output) x52_setbri(x52_output, 1,128); |
| if (x52_output) |
| printf(" done \n"); |
| else |
| printf(" not found \n"); |
| |
| /* |
| if (!connected) |
| { |
| printf("Scanning for Bluetooth Devices ..\n"); |
| write_display(1,"Bluetooth Scan"); |
| scan_bt(); |
| printf(" done \n"); |
| printf(" %d Devices found \n",bt_device_count); |
| print_device_list() ; |
| } |
| */ |
| |
| // int v_old; |
| int polls=0; |
| |
| |
| if (exit_after_init) |
| exit(0); |
| printf("starting loop ..\n"); |
| |
| |
| |
| int complete_misses=0; |
| int complete_matches=0; |
| |
| |
| int confirm_misses; |
| |
| |
| |
| // init_evdevstatus_led(); |
| |
| while( TRUE ) |
| { |
| |
| // blink_evdev_led(); |
| bt_host_tick(mk_socket); |
| usleep(loop_delay); |
| |
| |
| |
| poll_evdev(); |
| |
| switch (input) |
| { |
| |
| |
| case INPUT_NONE: |
| printf("processing input none\n"); |
| break; |
| |
| case INPUT_EVDEV: |
| printf("processing input evdev\n"); |
| |
| |
| break; |
| |
| case INPUT_JOYDEV: |
| printf("processing input joydev\n"); |
| // poll values from input device |
| |
| for (polls=0;polls<100;polls++) // FIXME - better Polling |
| { |
| read(joy_input_fd, &x52_event_struct, sizeof(struct js_event)); |
| |
| |
| /* see what to do with the event */ |
| switch (x52_event_struct.type & ~JS_EVENT_INIT) |
| { |
| case JS_EVENT_AXIS: |
| axis [ x52_event_struct.number ] = x52_event_struct.value; |
| break; |
| case JS_EVENT_BUTTON: |
| button [ x52_event_struct.number ] = x52_event_struct.value; |
| break; |
| } |
| } |
| int x; |
| for( x=0 ; x<num_of_buttons ; ++x ) |
| if( button[x]==0) |
| button_trigger[x]=0; |
| else |
| { |
| if (button_trigger[x]<100)button_trigger[x]++; |
| } |
| break; |
| } // switch (input) |
| |
| printf("input done\n"); |
| |
| switch(state) |
| { |
| case STATEID_SCANNING: |
| |
| state=STATEID_CONNECTING; |
| /* |
| ExternControl.Digital[0]=0; |
| ExternControl.Digital[1]=0; |
| ExternControl.RemoteTasten=0; |
| ExternControl.Nick=(axis[1]>>8)*(-1)+127;; |
| |
| printf("nick%d\n",ExternControl.Nick); |
| ExternControl.Roll=(axis[0]>>8)*(-1)+127;; |
| ExternControl.Gier=(axis[5]>>8)*(-1)+127;; |
| ExternControl.Gas=(axis[2]>>8)*(-1)+127; |
| ExternControl.Higt=0; |
| ExternControl.free=0; |
| ExternControl.Frame='t'; |
| ExternControl.Config=1; |
| |
| printf("sending data\n"); |
| |
| |
| if (connected)SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl)); |
| gettimeofday(&time_struct1,NULL); |
| |
| if (button_trigger[BUTTON_SELECT]==1) |
| { |
| state=STATEID_CONNECTING; |
| clear_display(); |
| write_display(0,"connecting to"); |
| write_display(1,names[selected_bt_device]); |
| //connect_mk(addrs[selected_bt_device]); |
| write_display(0,"connected to"); |
| } |
| |
| if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1) |
| { |
| printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]); |
| if (button_trigger[BUTTON_DOWN]==1) |
| if (selected_bt_device>0) selected_bt_device--; |
| if (button_trigger[BUTTON_UP]==1) |
| if (selected_bt_device<bt_device_count-1) selected_bt_device++; |
| |
| |
| } |
| */ |
| break; |
| |
| case STATEID_CONNECTING: |
| |
| |
| confirm_misses=0; |
| |
| RxBuffer[2]=0; |
| if (connected) |
| while (RxBuffer[2]!='B') |
| { |
| |
| RxBuffer[1]=0; |
| read_from_mk(); |
| bt_host_send(RxBuffer,rx_last_length); |
| printf("sending to host: %s",PrintableRxBuffer); |
| |
| |
| // ftime(&time_struct); |
| |
| printf("waiting for confirm frame ( confirmed:%d misses:%d %c)\n",complete_matches,complete_misses,RxBuffer[2]); |
| // RxBuffer[2]=0; |
| |
| // r=0; |
| |
| // new |
| /* |
| if (button_trigger[12]>1) |
| { |
| SendOutData('s', 0, (unsigned char *)&ExternControl, sizeof(ExternControl)); |
| button_trigger[12]=0; |
| } |
| */ |
| ExternControl.Frame='t'; |
| if (++confirm_misses>4) |
| { |
| complete_misses++; |
| printf("sending again\n"); |
| SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl)); |
| } |
| } |
| else |
| printf("not connected to mk\n"); |
| |
| gettimeofday(&time_struct2,NULL); |
| |
| printf("last trip: %d\n",(int)(time_struct2.tv_usec-time_struct1.tv_usec)); |
| // act_mode=button[24] | (button[25]<<1); |
| |
| |
| |
| // Step converting axis data to nick/roll/gier/gas/.. |
| |
| // act_nick=(evdev_rel_axis[rel_axis_nick]-128)*nick_mul; |
| |
| |
| |
| |
| /* Mix input values */ |
| |
| act_gas=0; |
| act_nick=0; |
| act_roll=0; |
| act_gier=0; |
| |
| int act_input=0; |
| for (act_input=0;act_input<input_count;act_input++) |
| { |
| //process buttons |
| if (inputs[act_input].nick_up_btn!=-1) |
| { |
| if (inputs[act_input].evdev_button[inputs[act_input].nick_up_btn]!=0) |
| act_nick=100; |
| |
| } |
| |
| if (inputs[act_input].nick_down_btn!=-1) |
| { |
| if (inputs[act_input].evdev_button[inputs[act_input].nick_down_btn]!=0) |
| act_nick=-100; |
| |
| } |
| |
| if (inputs[act_input].roll_left_btn!=-1) |
| { |
| if (inputs[act_input].evdev_button[inputs[act_input].roll_left_btn]!=0) |
| act_roll=100; |
| |
| } |
| |
| if (inputs[act_input].roll_right_btn!=-1) |
| { |
| if (inputs[act_input].evdev_button[inputs[act_input].roll_right_btn]!=0) |
| act_roll=-100; |
| |
| } |
| |
| // process axis |
| |
| if (inputs[act_input].rel_axis_nick!=-1) |
| act_nick=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_nick]*inputs[act_input].nick_mul; |
| |
| if (inputs[act_input].rel_axis_roll!=-1) |
| act_roll=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_roll]*inputs[act_input].roll_mul; |
| |
| |
| if (inputs[act_input].rel_axis_gier!=-1) |
| act_gier=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gier]*inputs[act_input].gier_mul; |
| |
| |
| if (inputs[act_input].rel_axis_gas!=-1) |
| act_gas=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gas]*inputs[act_input].gas_mul; |
| |
| |
| |
| } |
| |
| switch(input) |
| { |
| case INPUT_EVDEV: |
| /* |
| act_nick=(evdev_rel_axis[rel_axis_nick]-nick_add)*nick_mul; |
| act_roll=(evdev_rel_axis[rel_axis_roll]-nick_add)*roll_mul; |
| act_gier=(evdev_rel_axis[rel_axis_gier]-nick_add)*gier_mul; |
| act_gas=(evdev_rel_axis[rel_axis_gas]-nick_add)*gas_mul; |
| */ |
| |
| break; |
| |
| case INPUT_JOYDEV: |
| act_nick=(axis[rel_axis_nick])*nick_mul; |
| act_roll=(axis[rel_axis_roll])*roll_mul; |
| act_gier=(axis[rel_axis_gier])*gier_mul; |
| act_gas=(axis[rel_axis_gas]*-1+33000)*gas_mul; |
| |
| break; |
| } |
| |
| // act values clipping to usefull vals |
| // act_gas=0; |
| |
| // act_gas=255; |
| |
| |
| /* |
| switch (act_mode) |
| { |
| case 0: |
| |
| |
| act_nick=(axis[AXIS_NICK])*(INVERT_NICK); |
| act_roll=(axis[AXIS_ROLL])*(INVERT_ROLL); |
| act_gier=(axis[AXIS_GIER])*(INVERT_GIER); |
| act_gas=((axis[AXIS_GAS])-128)*(-1); |
| |
| // clip gas |
| if (act_gas<0) act_gas=0; |
| |
| if (act_gas>250) act_gas=250; |
| |
| //////// act_gas=0; |
| break; |
| |
| case 1: |
| act_nick=(axis[AXIS_NICK]>>8)*(INVERT_NICK)/2; |
| act_roll=(axis[AXIS_ROLL]>>8)*(INVERT_ROLL)/2; |
| act_gier=(axis[AXIS_GIER]>>8)*(INVERT_GIER)/2; |
| act_gas=(axis[AXIS_GAS]>>8)*(INVERT_GAS); |
| |
| break; |
| |
| case 2: |
| act_nick=(axis[AXIS_NICK]>>8)*(INVERT_NICK)/3; |
| act_roll=(axis[AXIS_ROLL]>>8)*(INVERT_ROLL)/3; |
| act_gier=(axis[AXIS_GIER]>>8)*(INVERT_GIER)/3; |
| act_gas=(axis[AXIS_GAS]>>8)*(INVERT_GAS); |
| |
| |
| break; |
| |
| } |
| */ |
| ExternControl.Digital[0]=0; |
| ExternControl.Digital[1]=0; |
| ExternControl.RemoteTasten=0; |
| ExternControl.Higt=0; |
| ExternControl.free=0; |
| ExternControl.Frame='t'; |
| ExternControl.Config=1; |
| |
| |
| ExternControl.Nick=act_nick; //(axis[1]>>8)*(-1)/2; |
| ExternControl.Roll=act_roll*(-1); //(axis[0]>>8)*(-1)/2; |
| ExternControl.Gier=act_gier; // ************ |
| ExternControl.Gas=act_gas; // ************ |
| ExternControl.Gas=255; // ************ |
| |
| |
| |
| printf("act_mode %d , act_nick %d , act_roll %d , act_gier %d , act_gas %d",act_mode , act_nick , act_roll , act_gier , act_gas); |
| |
| if (connected) |
| { |
| complete_matches++; |
| printf("sending data\n"); |
| |
| SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl)); |
| gettimeofday(&time_struct1,NULL); |
| printf("sent data\n"); |
| } |
| |
| // printf("sleeping\n"); |
| // for (polls=0;polls<100;polls++) // FIXME - better Polling |
| // printf("end_sleep\n"); |
| |
| // int v=axis[6]/655+50; |
| // if (v!=v_old)if (x52_output) x52_setbri(x52_output, 0,v ); |
| // v_old=v; |
| |
| // printf("v: %d \n",v); |
| |
| |
| /* |
| for (i=0;i<num_of_axis;i++) |
| printf("A%d: %d ", i,axis[i]>>8 ); |
| |
| for( x=0 ; x<num_of_buttons ; ++x ) |
| |
| printf("B%d: %d ", x, button[x] ); |
| */ |
| |
| break; |
| } |
| |
| printf("\n"); |
| fflush(stdout); |
| printf("loop fin ( confirmed:%d misses:%d | debug_sets:%d )\n",complete_matches,complete_misses,debug_sets); |
| printf("------------------------------------------------------------------------\n"); |
| |
| } |
| |
| |
| /******************** Cleanup **********************/ |
| close(joy_input_fd); |
| close(mk_socket); |
| |
| if (x52_output) x52_close(x52_output); |
| return 0; |
| } |