WebSVN - Projects - Diff - Rev 43 and 47

 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <fcntl.h>
 #include "lib/x52/x52.h"
 #include <unistd.h>
 #include <sys/socket.h>
 #include <bluetooth/bluetooth.h>
 #include <bluetooth/hci.h>
 #include <bluetooth/hci_lib.h>
 #include <bluetooth/rfcomm.h>
 #include <linux/joystick.h>
 #define JOY_DEV "/dev/input/js0"
 #define MAX_BT_DEVICES 3
+#define STATEID_SCANNING 0
+#define STATEID_CONNECTING 1
+#define BUTTON_SELECT 26
+#define BUTTON_DOWN 28
+#define BUTTON_UP 27
 int bt_device_count=0;
 char names[MAX_BT_DEVICES][248];
 char addrs[MAX_BT_DEVICES][19];
 int s, status;
 unsigned char TxBuffer[150];
 unsigned char _TxBuffer[150];
+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;
+struct
+{
+  char val[4];
+} MotortestParam;
+struct
+{
+  unsigned char Digital[2];   // (noch unbenutzt)
+  unsigned char RemoteTasten; //(gab es schon für das virtuelle Display)
+  signed char   Nick;
+  signed char   Roll;
+  signed char   Gier;
+  unsigned char Gas;          //(es wird das Stick-Gas auf diesen Wert begrenzt; --> StickGas ist das Maximum)
+  signed char   Hight;        //(Höhenregler)
+  unsigned char free;         // (unbenutzt)
-#define STATEID_SCANNING 0
+  unsigned char Frame;        // (Bestätigung)
+  unsigned char Config;
+} ExternControl;
 #define STATEID_CONNECTING 1
-int state=STATEID_SCANNING;
-#define BUTTON_SELECT 26
-#define BUTTON_DOWN 27
+int state=STATEID_SCANNING;
 #define BUTTON_UP 28
 struct x52 *x52_output;
 int selected_bt_device=0;
 void scan_bt()
+{
   inquiry_info *ii = NULL;
   int dev_id, sock, len, flags;
   int i;
   char addr[19] = { 0 };
   char name[248] = { 0 };
   dev_id = hci_get_route(NULL);
   sock = hci_open_dev( dev_id );
   if (dev_id < 0 || sock < 0) {
     perror("opening socket");
     exit(1);
+  }
   len  = 8;
   flags = IREQ_CACHE_FLUSH;
   ii = (inquiry_info*)malloc(MAX_BT_DEVICES * sizeof(inquiry_info));
   bt_device_count = hci_inquiry(dev_id, len, MAX_BT_DEVICES, NULL, &ii, flags);
   if(  bt_device_count < 0 ) perror("hci_inquiry");
   for (i = 0; i <  bt_device_count; i++) {
     ba2str(&(ii+i)->bdaddr, addr);
     sprintf(addrs[i],"%s",addr);
     memset(name, 0, sizeof(name));
     if (hci_read_remote_name(sock, &(ii+i)->bdaddr, sizeof(name),
                              name, 0) < 0)
       sprintf(names[i],"[unknown]");
     else
       sprintf(names[i],"%s",name);
+  }
   free( ii );
   close( sock );
+}
-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;
 void connect_joy()
+{
   if( ( x52_input_fd = open( JOY_DEV, O_RDONLY ) ) < 0 )
+    {
       printf( "Couldn't open joystick device %s\n", JOY_DEV );
       return ;
+    }
   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 );
   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 ) );
   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 */
+}
-struct
-{
-  char val[4];
 } MotortestParam;
 void AddCRC(unsigned int wieviele)
+{
   unsigned int tmpCRC = 0,i;
   for(i = 0; i < wieviele;i++)
+    {
       tmpCRC += TxBuffer[i];
+    }
   tmpCRC %= 4096;
   TxBuffer[i++] = '=' + tmpCRC / 64;
   TxBuffer[i++] = '=' + tmpCRC % 64;
   TxBuffer[i++] = '\r';
+}
 void SendOutData(unsigned char cmd,unsigned char modul, int len)
+{
   unsigned int pt = 0,ptr=0,i;
   int a,b,c;
   TxBuffer[pt++] = '#';           // Startzeichen
   TxBuffer[pt++] = modul;        // Adresse (a=0; b=1,...)
   TxBuffer[pt++] = cmd;          // Commando
   while(len)
+    {
       if(len) { a = _TxBuffer[ptr++]; len--;} else a = 0;
       if(len) { b = _TxBuffer[ptr++]; len--;} else b = 0;
       if(len) { c = _TxBuffer[ptr++]; len--;} else c = 0;
       TxBuffer[pt++] = '=' + (a >> 2);
       TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
       TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
       TxBuffer[pt++] = '=' + ( c & 0x3f);
+    }
   status = send(s,"\r" , 1, 0);
   i=0;
   while(TxBuffer[i] !='\r' && i<150)
+    {
       //     TxBuffer[i]='#';
       status = send(s,&TxBuffer[i] , 1, 0);
       printf(" +%d%c ",i,TxBuffer[i]);
       i++;
+    }
   status = send(s,"\r" , 1, 0);
   printf("\n");
   AddCRC(pt);
   printf("Sending to MK\n");
+}
 int engines_on=0;
 int old_engines_on=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 connect_mk(char dest[18])
+{
   struct sockaddr_rc addr ;
   // allocate a socket
   s = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
   // set the connection parameters (who to connect to)
   addr.rc_family = AF_BLUETOOTH;
   addr.rc_channel = 1;
   str2ba( dest, &addr.rc_bdaddr );
   // connect to server
   status = connect(s, (struct sockaddr *)&addr, sizeof(addr));
+}
 int main(int argc, char**argv)
+{
   printf("Starting Riddim \n");
   printf("\tRemote Interactive Digital Drone Interface Mashup\n");
   //int tmp=2;
   //  connect_mk("00:0B:CE:01:6B:4F");
-  /*
-  {
-  // send a message
-  MotortestParam.val[0]=tmp;
-  MotortestParam.val[1]=tmp;
-  MotortestParam.val[2]=tmp;
-  MotortestParam.val[3]=tmp;
-  engines_on=1;
-  else
-  engines_on=0;
-  if (engines_on!=old_engines_on)
-  {
-  int c;
-  if( 0 == status )for (c=0;c<10;c++)
-  int c;
-  for (c=0;c<2;c++)
-  SendOutData('t', 0,  &MotortestParam, sizeof(MotortestParam));
-  sleep(1);
-  }
-        */
-    if( status < 0 ) perror("uh oh");
-    printf ("send status %d",status);
-    //    close(s);
- int i;
-  /*
-  MotortestParam.val[0]=2;
-  MotortestParam.val[1]=2;
-  MotortestParam.val[2]=2;
-  MotortestParam.val[3]=2;
-  while(1)
-    {
-      initSerial("/dev/rfcomm0");
-      sleep(2);
-      SendOutData('t', 0,  &MotortestParam, sizeof(MotortestParam));
-      sleep(1);
   */
   int i;
   printf("\nInitializing X-52 input ..\n");
   connect_joy();
   printf(".. done");
   printf("\nInitializing X-52 output ..");
-    x52_output = x52_init();
+  x52_output = x52_init();
-    clear_display();
+  clear_display();
-    write_display(0, "RIDDIM active");
+  write_display(0, "RIDDIM active");
-    if (x52_output) x52_setbri(x52_output, 1,128);
+  if (x52_output) x52_setbri(x52_output, 1,128);
-    if (x52_output)
+  if (x52_output)
-      printf(" done \n");
+    printf(" done \n");
-    else
+  else
-      printf(" not found \n");
     printf(" not found \n");
   printf("Scanning for Bluetooth Devices ..\n");
   write_display(1,"Bluetooth Scan");
   scan_bt();
   printf(" done \n");
   printf(" %d Devices found \n",bt_device_count);
   for(i=0;i<bt_device_count;i++)
+    {
       printf(" %d -> %s (%s) \n",i,names[i],addrs[i]);
       if (i<3) write_display(i,names[i]);
+    }
   output_device_list() ;
   int v_old;
   while( 1 )
+    {
       int polls=0;
-      for (polls=0;polls<1000;polls++)
+      for (polls=0;polls<1000;polls++) // FIXME - better Polling
+        {
       read(x52_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;
+                }
+        }
-                if (1)
-                  {
-                  }
-                for( x=0 ; x<num_of_buttons ; ++x )
+      for( x=0 ; x<num_of_buttons ; ++x )
-                  if( button[x]==0)
+        if( button[x]==0)
-                    button_trigger[x]=0;
+          button_trigger[x]=0;
-                  else
+        else
-                    {
+          {
-                    if (button_trigger[x]<100)button_trigger[x]++;
+            if (button_trigger[x]<100)button_trigger[x]++;
-                    }
+          }
-                switch(state)
+      switch(state)
-                  {
+        {
-                  case STATEID_SCANNING:
+        case STATEID_SCANNING:
-                    if (button_trigger[BUTTON_SELECT]==1)
+          if (button_trigger[BUTTON_SELECT]==1)
-                      {
+            {
-                        state=STATEID_CONNECTING;
+              state=STATEID_CONNECTING;
-                        clear_display();
+              clear_display();
-                        write_display(0,"connecting to");
+              write_display(0,"connecting to");
-                        write_display(1,names[selected_bt_device]);
+              write_display(1,names[selected_bt_device]);
-                        connect_mk(addrs[selected_bt_device]);
+              connect_mk(addrs[selected_bt_device]);
-                        write_display(0,"connected to");
+              write_display(0,"connected to");
-                      }
+            }
-                    if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1)
+          if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1)
-                      {
+            {
-                        printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]);
+              printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]);
-                        if (button_trigger[BUTTON_DOWN]==1)
+              if (button_trigger[BUTTON_DOWN]==1)
-                          if (selected_bt_device>0) selected_bt_device--;
+                if (selected_bt_device>0) selected_bt_device--;
-                        if (button_trigger[BUTTON_UP]==1)
+              if (button_trigger[BUTTON_UP]==1)
-                          if (selected_bt_device<bt_device_count-1) selected_bt_device++;
+                if (selected_bt_device<bt_device_count-1) selected_bt_device++;
-                        output_device_list()              ;
+              output_device_list()                ;
-                      }
+            }
-                    break;
+          break;
-                  case STATEID_CONNECTING:
+        case STATEID_CONNECTING:
-                    _TxBuffer[0]=(axis[2]>>8)*(-1)+127;
+          _TxBuffer[0]=(axis[2]>>8)*(-1)+127;
-                    if (button[7]!=1)_TxBuffer[0] =0;
+          if (button[7]!=1)_TxBuffer[0] =0;
-                    _TxBuffer[1]=_TxBuffer[0];
+          _TxBuffer[1]=_TxBuffer[0];
-                    _TxBuffer[2]=_TxBuffer[0];
+          _TxBuffer[2]=_TxBuffer[0];
-                    _TxBuffer[3]=_TxBuffer[0];
+          _TxBuffer[3]=_TxBuffer[0];
-                    SendOutData('t', 0, 4);
+          SendOutData('t', 0, 4);
-                    sleep(0.05);
+          sleep(0.05);
-                    int v=axis[6]/655+50;
+          int v=axis[6]/655+50;
-                    if (v!=v_old)if (x52_output) x52_setbri(x52_output, 0,v );
+          if (v!=v_old)if (x52_output) x52_setbri(x52_output, 0,v );
-                    v_old=v;
+          v_old=v;
-                    printf("v: %d \r",v);
+          printf("v: %d \r",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 );
+            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("\r");
-fflush(stdout);
                 /*
+            printf("B%d: %d  ", x, button[x] );
+          break;
+        }
+      printf("\r");
-      if( read( x52_input_fd, &x52_input_struct, JS_RETURN ) != JS_RETURN )
+      fflush(stdout);
-        {
-          printf( "\nFailed to read from Joystick\n" );
-        }
-      if (x52_output) x52_setbri(x52_output, 1,x52_input_struct.y );
-      //      if (x52_output) x52_setbri(x52_output, 2,x52_input_struct.x );
+      }
 */
   /******************** Cleanup **********************/
   close(x52_input_fd);
-  close(x52_input_fd);  /* too bad we never get here */
+  close(s);
   if (x52_output) x52_close(x52_output);
   return 0;
+}

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