| 7,199 → 7,43 |
|---|
| * 2007-2008 Marcus -LiGi- Bueschleb |
| * |
| * |
| **************************************************/ |
| **************************************************/ |
| |
| #include "riddim.h" |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| |
| #define test_bit(bit, array) (array[bit/8] & (1<<(bit%8))) |
| |
| int state=STATEID_SCANNING; |
| |
| |
| // from config |
| char *input_evdev_name; |
| int mk_socket_port=0; |
| int loop_delay=0; |
| |
| |
| |
| double nick_mul=0.3f; |
| double roll_mul=0.3f; |
| double gier_mul=0.3f; |
| double gas_mul=0.3f; |
| |
| |
| int rel_axis_nick=1; |
| int rel_axis_roll=0; |
| int rel_axis_gier=5; |
| int rel_axis_gas=2; |
| |
| |
| cfg_bool_t exit_after_init = cfg_false; |
| int x52_input_fd, num_of_axis=0, num_of_buttons=0; |
| char *button_trigger=NULL, name_of_joystick[80]; |
| |
| // time struct for measuring |
| struct timeval time_struct1; |
| struct timeval time_struct2; |
| |
| |
| char RxBuffer[150]; |
| |
| |
| int status; |
| |
| |
| |
| |
| int x52_input_fd, *axis=NULL, num_of_axis=0, num_of_buttons=0, x; |
| char *button=NULL,*button_trigger=NULL, name_of_joystick[80]; |
| |
| struct js_event x52_event_struct; |
| |
| int engines_on=0; |
| int old_engines_on=0; |
| |
| char in_char; |
| int *axis; |
| char *button; |
| |
| |
| |
| struct x52 *x52_output; |
| |
| int selected_bt_device=0; |
| |
| int yalv; /* loop counter */ |
| size_t read_bytes; /* how many bytes were read */ |
| struct input_event ev[64]; /* the events (up to 64 at once) */ |
| //int evdev_fd; |
| //int evdev_out_fd; |
| |
| int evdev_fd; |
| int evdev_out_fd; |
| |
| int evdev_rw=TRUE; |
| |
| int connect_evdev() |
| { |
| |
| struct input_devinfo { |
| uint16_t bustype; |
| uint16_t vendor; |
| uint16_t product; |
| uint16_t version; |
| }; |
| struct input_devinfo device_info; |
| |
| if ((evdev_out_fd = open(input_evdev_name, O_WRONLY)) < 0) |
| { |
| printf(" cant open evdev read/write - trying readonly\n"); |
| evdev_rw=FALSE; |
| } |
| if ((evdev_fd = open(input_evdev_name, O_RDONLY)) < 0) |
| { |
| printf(" cant open evdev !"); |
| return 0; |
| } |
| |
| ioctl(evdev_fd,EVIOCGID,&device_info); |
| |
| printf("vendor 0x%04hx product 0x%04hx version 0x%04hx \n", |
| device_info.vendor, device_info.product, |
| device_info.version); |
| |
| |
| char name[256]= "Unknown"; |
| |
| if(ioctl(evdev_fd, EVIOCGNAME(sizeof(name)), name) < 0) { |
| perror("evdev ioctl"); |
| } |
| |
| printf("EVDEV reports name: %s\n", name); |
| |
| /* this macro is used to tell if "bit" is set in "array" |
| * it selects a byte from the array, and does a boolean AND |
| * operation with a byte that only has the relevant bit set. |
| * eg. to check for the 12th bit, we do (array[1] & 1<<4) |
| */ |
| |
| |
| uint8_t evtype_bitmask[EV_MAX/8 + 1]; |
| |
| if(ioctl(evdev_fd, EVIOCGBIT(0, sizeof(evtype_bitmask)), evtype_bitmask) < 0) |
| perror("evdev ioctl"); |
| |
| printf("Supported event types:\n"); |
| for (yalv = 0; yalv < EV_MAX; yalv++) { |
| if (test_bit(yalv, evtype_bitmask)) { |
| /* this means that the bit is set in the event types list */ |
| printf(" Event type 0x%02x ", yalv); |
| switch ( yalv) |
| { |
| case EV_KEY : |
| printf(" (Keys or Buttons)\n"); |
| break; |
| case EV_ABS : |
| printf(" (Absolute Axes)\n"); |
| break; |
| case EV_LED : |
| printf(" (LEDs)\n"); |
| break; |
| case EV_REP : |
| printf(" (Repeat)\n"); |
| break; |
| case EV_SYN : |
| printf(" (Sync?)\n"); |
| break; |
| case EV_REL : |
| printf(" (Relative Axis)\n"); |
| break; |
| case EV_MSC : |
| printf(" (Misc)\n"); |
| break; |
| default: |
| printf(" (Unknown event type: 0x%04hx)\n", yalv); |
| }}} |
| |
| return 1; |
| } |
| |
| int connect_joy() |
| { |
| |
| axis = (int *) calloc( 100, sizeof( int ) ); |
| button = (char *)calloc( 100, sizeof( char ) ); |
| button_trigger = (char *) calloc( 100, sizeof( char ) ); |
| |
| |
| // axis = (int *) calloc( num_of_axis, sizeof( int ) ); |
| // button = (char *)calloc( num_of_buttons, sizeof( char ) ); |
| // button_trigger = (char *) calloc( num_of_buttons, sizeof( char ) ); |
| |
| |
| if( ( x52_input_fd = open( JOY_DEV, O_RDONLY ) ) < 0 ) |
| { |
| printf( "Couldn't open joystick device %s\n", JOY_DEV ); |
| printf( "try modprobe joydev\n" ); |
| return 0; |
| } |
| |
| ioctl( x52_input_fd, JSIOCGAXES, &num_of_axis ); |
| ioctl( x52_input_fd, JSIOCGBUTTONS, &num_of_buttons ); |
| ioctl( x52_input_fd, JSIOCGNAME(80), &name_of_joystick ); |
| |
| printf("Joystick detected: %s\n\t%d axis\n\t%d buttons\n\n" |
| , name_of_joystick |
| , num_of_axis |
| , num_of_buttons ); |
| |
| fcntl( x52_input_fd, F_SETFL, O_NONBLOCK ); /* use non-blocking mode */ |
| |
| return 1; |
| } |
| |
| |
| |
| |
| |
| |
| |
| void write_display(int line,char* text) |
| { |
| if (x52_output) x52_settext(x52_output, line , text, strlen(text)); |
| 240,7 → 84,7 |
|---|
| } |
| |
| |
| int r=0; |
| |
| int count=0; |
| int connected=0; |
| |
| 255,82 → 99,67 |
|---|
| printf("\tRemote Interactive Digital Drone Interface Mashup\n"); |
| printf("\nusage:\n"); |
| printf("\t riddim [config_file]\n\n"); |
| |
| |
| cfg_opt_t opts[] = { |
| // bt_host_init(); |
| |
| CFG_SIMPLE_BOOL("exit_after_init", &exit_after_init), |
| CFG_SIMPLE_STR("input_evdev", &input_evdev_name), |
| CFG_SIMPLE_INT("loop_delay", &loop_delay), |
| CFG_SIMPLE_INT("mk_socket_port", &mk_socket_port), |
| |
| CFG_SIMPLE_FLOAT("nick_mul", &nick_mul), |
| CFG_SIMPLE_FLOAT("roll_mul", &roll_mul), |
| CFG_SIMPLE_FLOAT("gier_mul", &gier_mul), |
| CFG_SIMPLE_FLOAT("gas_mul", &gas_mul), |
| |
| CFG_SIMPLE_INT("rel_axis_nick", &rel_axis_nick), |
| CFG_SIMPLE_INT("rel_axis_roll", &rel_axis_roll), |
| CFG_SIMPLE_INT("rel_axis_gier", &rel_axis_gier), |
| CFG_SIMPLE_INT("rel_axis_gas", &rel_axis_gas), |
| |
| CFG_END() |
| }; |
| |
| cfg_t *cfg; |
| if (argv[1]) |
| parse_config(argv[1]); |
| else |
| parse_config("/etc/riddim.conf"); |
| |
| // input_evdev_name=strdup("/dev/event0"); |
| printf("Parsing config file "); |
| |
| cfg = cfg_init(opts, 0); |
| |
| if (argv[1]) |
| |
| printf("input %s:\n",input_evdev_name); |
| /* |
| if (bluetooth_mac) |
| { |
| printf("%s\n ",argv[1]); |
| cfg_parse(cfg, argv[1]); |
| |
| printf("Connecting via Bluetooth to %s\n",bluetooth_mac); |
| if (connect_mk_bluetooth(bluetooth_mac));; |
| connected=TRUE; |
| } |
| else |
| { |
| printf("/etc/riddim.conf\n"); |
| cfg_parse(cfg, "/etc/riddim.conf"); |
| } |
| printf("input %s:\n",input_evdev_name); |
| |
| // 1st argument -> Bluetooth adrees to bypass scanning ( takes to long for short testing roundtrips ) |
| |
| */ |
| if (mk_socket_port) |
| { |
| printf("connecting to local port: %i\n",mk_socket_port); |
| |
| printf("connecting to local port: %i\n",mk_socket_port); |
| |
| if (connect_mk_localhost_socket(mk_socket_port)==-1) |
| printf("cant connect !!"); |
| else |
| { |
| printf("connected to QC at adress: %s\n",argv[1]); |
| printf("connected !-)"); |
| connected=TRUE; |
| } |
| } |
| |
| int i; |
| // todo reenable bluetooth connection |
| |
| |
| /* |
| printf("\nInitializing X-52 input ..\n"); |
| if (connect_joy()) |
| { |
| printf(".. done");// |
| input=INPUT_JOYDEV; |
| printf(".. done");// |
| input=INPUT_JOYDEV; |
| } |
| else |
| printf(".. ERROR ");// |
| */ |
| |
| printf("\nInitializing evdev input (%s) ..\n",input_evdev_name); |
| if (connect_evdev()) |
| if (input_evdev_name) |
| { |
| printf(".. done");// |
| input=INPUT_EVDEV; |
| printf("\nInitializing evdev input (%s) ..\n",input_evdev_name); |
| |
| if (connect_evdev(input_evdev_name)) |
| { |
| printf(".. done");// |
| input=INPUT_EVDEV; |
| } |
| else |
| printf(".. ERROR ");// |
| } |
| else |
| printf(".. ERROR ");// |
| |
| |
| printf("\nInitializing X-52 output .."); |
| |
| x52_output = x52_init(); |
| 346,49 → 175,42 |
|---|
| printf(" not found \n"); |
| |
| /* |
| if (!connected) |
| 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() ; |
| 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 v_old; |
| int polls=0; |
| |
| int retval; |
| |
| if (exit_after_init) |
| exit(0); |
| printf("starting loop ..\n"); |
| |
| struct input_event led_event; |
| led_event.type=EV_LED; |
| |
| |
| int complete_misses=0; |
| if (evdev_out_fd) |
| { |
| led_event.code = LED_MISC; |
| led_event.value = 1; |
| retval = write(evdev_out_fd, &led_event, sizeof(struct input_event)); |
| } |
| int complete_matches=0; |
| |
| |
| int confirm_misses; |
| while( 1 ) |
| |
| |
| |
| init_evdevstatus_led(); |
| |
| while( TRUE ) |
| { |
| |
| if (evdev_out_fd) |
| { |
| if (led_event.value) |
| led_event.value = 0; |
| else |
| led_event.value = 1 ; |
| retval = write(evdev_out_fd, &led_event, sizeof(struct input_event)); |
| } |
| |
| blink_evdev_led(); |
| // bt_host_tick(mk_socket); |
| usleep(loop_delay); |
| switch (input) |
| { |
| 399,52 → 221,13 |
|---|
| break; |
| |
| case INPUT_EVDEV: |
| printf("input evdev\n"); |
| printf("input evdev\n"); |
| |
| struct timeval tv; |
| int retval; |
| fd_set rfds; |
| FD_ZERO(&rfds); |
| FD_SET(evdev_fd,&rfds); |
| |
| poll_evdev(); |
| |
| break; |
| |
| tv.tv_sec = 0; |
| tv.tv_usec = 5; |
| |
| retval = select(evdev_fd+1, &rfds, NULL, NULL, &tv); |
| |
| if (retval==-1) |
| printf("error in select!!!!!!!!\n"); |
| else if (retval) |
| { |
| read_bytes = read(evdev_fd, ev, sizeof(struct input_event) * 64); |
| |
| if (read_bytes < (int) sizeof(struct input_event)) { |
| perror("evtest: short read"); |
| exit (1); |
| } |
| |
| for (yalv = 0; yalv < (int) (read_bytes / sizeof(struct input_event)); yalv++) |
| { |
| |
| printf("%d type:%d code:%d val:%d \n",yalv,ev[yalv].type,ev[yalv].code,ev[yalv].value); |
| if (ev[yalv].type==EV_REL) axis[ ev[yalv].code]= ev[yalv].value; |
| if (ev[yalv].type==EV_KEY) button[ ev[yalv].code-256]= ev[yalv].value; |
| } |
| |
| |
| for (yalv=0;yalv<10;yalv++) |
| printf("A%d %d -" , yalv, axis[yalv] ); |
| printf("\n"); |
| |
| for (yalv=0;yalv<10;yalv++) |
| printf("B%d %d -" , yalv, button[yalv] ); |
| // printf("input read done: nick:%d roll:%d gier:%d gas:%d\n",axis[3] , axis[4] , axis[5] , axis[2]); |
| } |
| else |
| printf("no data from evdev data from evdev: \n"); |
| |
| break; |
| |
| case INPUT_JOYDEV: |
| printf("input joydev\n"); |
| // poll values from input device |
| 465,7 → 248,7 |
|---|
| break; |
| } |
| } |
| |
| int x; |
| for( x=0 ; x<num_of_buttons ; ++x ) |
| if( button[x]==0) |
| button_trigger[x]=0; |
| 483,9 → 266,9 |
|---|
| |
| |
| case STATEID_SCANNING: |
| |
| |
| state=STATEID_CONNECTING; |
| |
| /* |
| ExternControl.Digital[0]=0; |
| ExternControl.Digital[1]=0; |
| ExternControl.RemoteTasten=0; |
| 526,6 → 309,7 |
|---|
| |
| |
| } |
| */ |
| break; |
| |
| case STATEID_CONNECTING: |
| 533,42 → 317,37 |
|---|
| |
| confirm_misses=0; |
| printf("connected:%d",connected); |
| if (connected) while (RxBuffer[1]!='t') |
| RxBuffer[1]=0; |
| if (connected) |
| |
| |
| while (RxBuffer[1]!='t') |
| { |
| |
| 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 ( misses:%d )\n",confirm_misses); |
| |
| printf("waiting for confirm frame ( confirmed:%d misses:%d )\n",complete_matches,complete_misses); |
| RxBuffer[2]=0; |
| |
| |
| |
| r=0; |
| in_char='#'; |
| // r=0; |
| |
| while(in_char!='\n') |
| { |
| count=read(mk_socket,&in_char,1); |
| if (in_char!=0) |
| { |
| RxBuffer[r++]=in_char; |
| } |
| else |
| { |
| RxBuffer[r++]='0'; |
| } |
| // printf("\ncount:%d r:%d %d %c \n",count , r, in_char, in_char); |
| } |
| RxBuffer[r++]='\0'; |
| printf("%d--->%s\n",complete_misses,RxBuffer); |
| // 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++; |
| 578,57 → 357,58 |
|---|
| } |
| else |
| printf("not connected to mk\n"); |
| |
| gettimeofday(&time_struct2,NULL); |
| |
| printf("last trip: %d",(int)(time_struct1.tv_usec-time_struct2.tv_usec)); |
| act_mode=button[24] | (button[25]<<1); |
| // act_mode=button[24] | (button[25]<<1); |
| |
| |
| |
| // Step converting axis data to nick/roll/gier/gas/.. |
| |
| 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]*gas_mul; |
| act_nick=evdev_rel_axis[rel_axis_nick]*nick_mul; |
| act_roll=evdev_rel_axis[rel_axis_roll]*roll_mul; |
| act_gier=evdev_rel_axis[rel_axis_gier]*gier_mul; |
| act_gas=evdev_rel_axis[rel_axis_gas]*gas_mul; |
| act_gas=255; |
| |
| |
| /* |
| switch (act_mode) |
| 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); |
| 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; |
| // clip gas |
| if (act_gas<0) act_gas=0; |
| |
| if (act_gas>250) act_gas=250; |
| if (act_gas>250) act_gas=250; |
| |
| //////// act_gas=0; |
| break; |
| //////// 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); |
| 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; |
| 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); |
| 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; |
| break; |
| |
| } |
| */ |
| 635,23 → 415,21 |
|---|
| 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; |
| // printf("nick%d\n",ExternControl.Nick); |
| ExternControl.Roll=act_roll*(-1); //(axis[0]>>8)*(-1)/2; |
| ExternControl.Gier=(axis[5]>>8); |
| ExternControl.Gier=act_gier; // ************ |
| ExternControl.Gas=(axis[2]>>8)*(-1)+127; |
| ExternControl.Gas=act_gas; // ************ |
| // ExternControl.Gas=0; // ************ |
| ExternControl.Higt=0; |
| ExternControl.free=0; |
| ExternControl.Frame='t'; |
| |
| ExternControl.Config=1; |
| complete_matches++; |
| |
| 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) |
| { |
| printf("sending data\n"); |
| 661,30 → 439,32 |
|---|
| printf("sent data\n"); |
| } |
| |
| // printf("sleeping\n"); |
| // for (polls=0;polls<100;polls++) // FIXME - better Polling |
| // printf("end_sleep\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; |
| // 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); |
| // printf("v: %d \n",v); |
| |
| |
| for (i=0;i<num_of_axis;i++) |
| /* |
| for (i=0;i<num_of_axis;i++) |
| printf("A%d: %d ", i,axis[i]>>8 ); |
| |
| for( x=0 ; x<num_of_buttons ; ++x ) |
| for( x=0 ; x<num_of_buttons ; ++x ) |
| |
| printf("B%d: %d ", x, button[x] ); |
| |
| */ |
| |
| break; |
| } |
| |
| printf("\n"); |
| fflush(stdout); |
| printf("loop fin ( misses:%d)\n",complete_misses); |
| printf("loop fin ( confirmed:%d misses:%d | debug_sets:%d )\n",complete_matches,complete_misses,debug_sets); |
| |
| } |
| |