WebSVN - Projects - Diff - Rev 47 and 48

 #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];
+char RxBuffer[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;
+int engines_on=0;
+int old_engines_on=0;
+char in_char;
 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)
+  signed char   Higt;        //(Höhenregler)
   unsigned char free;         // (unbenutzt)
   unsigned char Frame;        // (Bestätigung)
   unsigned char Config;
 } ExternControl;
 int state=STATEID_SCANNING;
 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 );
+}
 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 */
+}
 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,...)
+void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
+{
+ unsigned int pt = 0;
+ unsigned char a,b,c;
+ unsigned char ptr = 0;
+ TxBuffer[pt++] = '#';               // Startzeichen
+ TxBuffer[pt++] = modul;             // Adresse (a=0; b=1,...)
-  TxBuffer[pt++] = cmd;          // Commando
+ TxBuffer[pt++] = cmd;                  // Commando
-  while(len)
+ while(len)
-    {
+  {
-      if(len) { a = _TxBuffer[ptr++]; len--;} else a = 0;
+   if(len) { a = snd[ptr++]; len--;} else a = 0;
-      if(len) { b = _TxBuffer[ptr++]; len--;} else b = 0;
+   if(len) { b = snd[ptr++]; len--;} else b = 0;
-      if(len) { c = _TxBuffer[ptr++]; len--;} else c = 0;
+   if(len) { c = snd[ptr++]; len--;} else c = 0;
-      TxBuffer[pt++] = '=' + (a >> 2);
+   TxBuffer[pt++] = '=' + (a >> 2);
-      TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
+   TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
-      TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
+   TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
+   TxBuffer[pt++] = '=' + ( c & 0x3f);
+  }
-      TxBuffer[pt++] = '=' + ( c & 0x3f);
+  AddCRC(pt);
+  printf("Sending to MK %d \n" , pt);
+  status = send(s,"\r" , 1, 0);
-    }
+  //  for (c=0;c<pt+2;c++)
+  // {
+      status = write(s,&TxBuffer , pt+3);
-  status = send(s,"\r" , 1, 0);
+      //   printf("Send to MK %d \n" , TxBuffer[c] );
-  i=0;
+      // }
-  while(TxBuffer[i] !='\r' && i<150)
+  /*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);
+  */
+  // 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 r=0;
           int count=0;
 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");
+  connect_mk("00:0B:CE:01:6B:4F");
   int i;
   printf("\nInitializing X-52 input ..\n");
   connect_joy();
   printf(".. done");
   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");
   printf("Scanning for Bluetooth Devices ..\n");
   write_display(1,"Bluetooth Scan");
-  scan_bt();
+  //  scan_bt();
   printf(" done \n");
   printf(" %d Devices found \n",bt_device_count);
-  for(i=0;i<bt_device_count;i++)
+  /*  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++) // 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;
+                }
+        }
       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]++;
+          }
       switch(state)
+        {
         case STATEID_SCANNING:
+          state=STATEID_CONNECTING; //e
+          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");
+          SendOutData('b', 0, &ExternControl, sizeof(ExternControl));
           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++;
               output_device_list()                ;
+            }
           break;
         case STATEID_CONNECTING:
+          //      for (polls=0;polls<10;polls++) // FIXME - better Polling
+          RxBuffer[1]=0;
+          while (RxBuffer[1]!='t')
+          {
+          r=0;
+          in_char='#';
+          while(in_char!='\r')
+            {
+              count=read(s,&in_char,1);
+              if (in_char!=0)
+                {
+                  RxBuffer[r++]=in_char;
+                }
+              else
+                {
+                  RxBuffer[r++]='0';
+                }
+              //  printf("count:%d r:%d %d %c \n",count , r, in_char, in_char);
+            }
+          RxBuffer[r++]='\0';
+          printf("--->%s\n",RxBuffer);
+          }
+          ExternControl.Digital[0]=0;
+          ExternControl.Digital[1]=0;
+          ExternControl.RemoteTasten=0;
+          ExternControl.Nick=(axis[1]>>8)*(-1);
+          printf("nick%d\n",ExternControl.Nick);
+ ExternControl.Roll=(axis[0]>>8)*(-1);
+          ExternControl.Gier=(axis[5]>>8);
+          ExternControl.Gas=(axis[2]>>8)*(-1)+127;
+          ExternControl.Higt=0;
+          ExternControl.free=0;
+          ExternControl.Frame='t';
+          ExternControl.Config=1;
-          _TxBuffer[0]=(axis[2]>>8)*(-1)+127;
-          if (button[7]!=1)_TxBuffer[0] =0;
-          _TxBuffer[1]=_TxBuffer[0];
-          _TxBuffer[2]=_TxBuffer[0];
-          _TxBuffer[3]=_TxBuffer[0];
-          SendOutData('t', 0, 4);
+          printf("sending data\n");
+           SendOutData('b', 0, &ExternControl, sizeof(ExternControl));
+          printf("sent data\n");
+          printf("sleeping\n");
-          sleep(0.05);
+          //      usleep(10000);
           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 \r",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("\r");
+      printf("\n");
-      fflush(stdout);
+      fflush(stdout);
       printf("loop fin");
+      }
   /******************** Cleanup **********************/
   close(x52_input_fd);
   close(s);
   if (x52_output) x52_close(x52_output);
   return 0;
+}

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(root)/Riddim/riddim.c @ 50 - Rev 47 → 48