WebSVN - Projects - Diff - Rev 488 and 505


/**************************************************
 *
 *
 * 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");
 
 
 
 
 
  //   bt_host_init();
 
  if (argv[1])
    parse_config(argv[1]);
  else
    parse_config("/etc/riddim.conf");
 
 
  collect_evdev_devices();
  parse_config_input_sections();
  //  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 )    
    {
 
      gettimeofday(&loop_start_time,NULL);
 
 
      //      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)
            {
              read_from_mk();
              if (RxBuffer[2]=='B')
                complete_misses++;
              /*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++)
            {
 
            printf("process b %d\n",inputs[act_input].nick_up_btn);
              //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;
 
 
 
            if (inputs[act_input].rel_axis_alt!=-1)
             {
 
               if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]>300)
                  act_long_alt-=last_trip_time/100;
 
               if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]<-300)
                 act_long_alt+=last_trip_time/100;
                   
                act_alt=act_long_alt/1000;
 
                if (act_alt>120)act_alt=120;
                else if (act_alt<-120)act_alt=-120;
             }
            // process_events
           
            if (inputs[act_input].engine_switch_btn!=-1)
              {
               
                if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]==0)&&(DebugOut.Analog[16]==1))
                  {
                    ExternEvent.key=2;
                    SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));
                  }
                if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]!=0)&&(DebugOut.Analog[16]==0))
                  {
                    ExternEvent.key=1;
                    SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));
                  }
 
 
 
              }
 
            }
 
          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=act_alt;
          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_alt %d",act_mode , act_nick  , act_roll  , act_gier , act_gas,act_alt);
 
          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");
       
      gettimeofday(&loop_end_time,NULL);
      last_trip_time=(unsigned long)(loop_end_time.tv_usec-loop_start_time.tv_usec)+(unsigned long)(loop_end_time.tv_sec-loop_start_time.tv_sec)*1000000;
      printf("last trip: %d\n",last_trip_time);
 
       
    }
 
 
  /******************** Cleanup **********************/
  close(joy_input_fd);
  close(mk_socket);
 
  if (x52_output) x52_close(x52_output);
  return 0;
}
 

Rev 488	Rev 505
1	/**************************************************	1	/**************************************************
2	*	2	*
3	*	3	*
4	* Riddim	4	* Riddim
5	* Remote Interactive Digital Drone Interface Mashup	5	* Remote Interactive Digital Drone Interface Mashup
6	*	6	*
7	* 2007-2008 Marcus -LiGi- Bueschleb	7	* 2007-2008 Marcus -LiGi- Bueschleb
8	*	8	*
9	*	9	*
10	**************************************************/	10	**************************************************/
11		11
12	#include "riddim.h"	12	#include "riddim.h"
13		-
14		13
15	int state=STATEID_SCANNING;	14	int state=STATEID_SCANNING;
16		15
17		16
18	struct js_event x52_event_struct;	17	struct js_event x52_event_struct;
19		18
20	int engines_on=0;	19	int engines_on=0;
21	int old_engines_on=0;	20	int old_engines_on=0;
22		21
23	int *axis;	22	int *axis;
24	char *button;	23	char *button;
25		24
26	struct x52 *x52_output;	25	struct x52 *x52_output;
27		26
28	int selected_bt_device=0;	27	int selected_bt_device=0;
29		28
30	void write_display(int line,char* text)	29	void write_display(int line,char* text)
31	{	30	{
32	if (x52_output) x52_settext(x52_output, line , text, strlen(text));	31	if (x52_output) x52_settext(x52_output, line , text, strlen(text));
33	}	32	}
34		33
35	void clear_display()	34	void clear_display()
36	{	35	{
37	write_display(0,"");	36	write_display(0,"");
38	write_display(1,"");	37	write_display(1,"");
39	write_display(2,"");	38	write_display(2,"");
40	}	39	}
41		40
42		41
43	void output_device_list()	42	void output_device_list()
44	{	43	{
45	int i;	44	int i;
46	char disp_txt[20];	45	char disp_txt[20];
47	for(i=0;i<bt_device_count;i++)	46	for(i=0;i<bt_device_count;i++)
48	{	47	{
49	if (i<3)	48	if (i<3)
50	{	49	{
51		50
52	if (selected_bt_device==i)	51	if (selected_bt_device==i)
53	sprintf(disp_txt,"#%s",names[i]);	52	sprintf(disp_txt,"#%s",names[i]);
54	else	53	else
55	sprintf(disp_txt," %s",names[i]);	54	sprintf(disp_txt," %s",names[i]);
56	write_display(i,disp_txt);	55	write_display(i,disp_txt);
57	}	56	}
58	}	57	}
59	}	58	}
60		59
61		60
62	void print_device_list()	61	void print_device_list()
63	{	62	{
64	int i;	63	int i;
65	for(i=0;i<bt_device_count;i++)	64	for(i=0;i<bt_device_count;i++)
66	printf("device%i->%s\n",i,names[i]);	65	printf("device%i->%s\n",i,names[i]);
67	}	66	}
68		67
69		68
70		69
71	int count=0;	70	int count=0;
72	int connected=0;	71	int connected=0;
73		72
74		73
75	int input=INPUT_NONE;	74	int input=INPUT_NONE;
76		75
77		76
78		77
79	int main(int argc, char**argv)	78	int main(int argc, char**argv)
80	{	79	{
81		80
82	printf("Starting Riddim %d.%d \n",RIDDIM_VERSION_MAJOR,RIDDIM_VERSION_MINOR );	81	printf("Starting Riddim %d.%d \n",RIDDIM_VERSION_MAJOR,RIDDIM_VERSION_MINOR );
83	printf("\tRemote Interactive Digital Drone Interface Mashup\n");	82	printf("\tRemote Interactive Digital Drone Interface Mashup\n");
84	printf("\nusage:\n");	83	printf("\nusage:\n");
85	printf("\t riddim [config_file]\n\n");	84	printf("\t riddim [config_file]\n\n");
86		85
87		86
88		87
89		88
90		89
91	// bt_host_init();	90	// bt_host_init();
92		91
93	if (argv[1])	92	if (argv[1])
94	parse_config(argv[1]);	93	parse_config(argv[1]);
95	else	94	else
96	parse_config("/etc/riddim.conf");	95	parse_config("/etc/riddim.conf");
97		96
98		97
99	collect_evdev_devices();	98	collect_evdev_devices();
100	parse_config_input_sections();	99	parse_config_input_sections();
101	// exit(0);	100	// exit(0);
102		101
103	printf("input %s:\n",input_evdev_name);	102	printf("input %s:\n",input_evdev_name);
104	/*	103	/*
105	if (bluetooth_mac)	104	if (bluetooth_mac)
106	{	105	{
107		106
108	printf("Connecting via Bluetooth to %s\n",bluetooth_mac);	107	printf("Connecting via Bluetooth to %s\n",bluetooth_mac);
109	if (connect_mk_bluetooth(bluetooth_mac));;	108	if (connect_mk_bluetooth(bluetooth_mac));;
110	connected=TRUE;	109	connected=TRUE;
111	}	110	}
112	*/	111	*/
113		112
114	if (mk_tty)	113	if (mk_tty)
115	{	114	{
116	printf("connecting to mk via tty: %s\n",mk_tty);	115	printf("connecting to mk via tty: %s\n",mk_tty);
117	if (!connect_mk_tty(mk_tty))	116	if (!connect_mk_tty(mk_tty))
118	printf("cant connect !!");	117	printf("cant connect !!");
119	else	118	else
120	{	119	{
121	printf("connected !-)");	120	printf("connected !-)");
122	connected=TRUE;	121	connected=TRUE;
123	}	122	}
124	}	123	}
125		124
126	if (mk_socket_port)	125	if (mk_socket_port)
127	{	126	{
128	printf("connecting to mk via local port: %i\n",mk_socket_port);	127	printf("connecting to mk via local port: %i\n",mk_socket_port);
129		128
130	if (connect_mk_localhost_socket(mk_socket_port)==-1)	129	if (connect_mk_localhost_socket(mk_socket_port)==-1)
131	printf("cant connect !!");	130	printf("cant connect !!");
132	else	131	else
133	{	132	{
134	printf("connected !-)");	133	printf("connected !-)");
135	connected=TRUE;	134	connected=TRUE;
136	}	135	}
137	}	136	}
138		137
139	// todo reenable bluetooth connection	138	// todo reenable bluetooth connection
140		139
141	connect_evdev();	140	connect_evdev();
142		141
143	/*	142	/*
144	if ((input_evdev_name))	143	if ((input_evdev_name))
145	{	144	{
146	printf("\nInitializing evdev input (%s) ..\n",input_evdev_name);	145	printf("\nInitializing evdev input (%s) ..\n",input_evdev_name);
147		146
148	if (connect_evdev(input_evdev_name))	147	if (connect_evdev(input_evdev_name))
149	{	148	{
150	printf(".. done");//	149	printf(".. done");//
151	input=INPUT_EVDEV;	150	input=INPUT_EVDEV;
152	}	151	}
153	else	152	else
154	printf(".. ERROR ");//	153	printf(".. ERROR ");//
155	}	154	}
156	*/	155	*/
157	if (input_joydev_name)	156	if (input_joydev_name)
158	{	157	{
159	printf("\nInitializing joystick input from %s ..\n",input_joydev_name);	158	printf("\nInitializing joystick input from %s ..\n",input_joydev_name);
160	if (connect_joy())	159	if (connect_joy())
161	{	160	{
162	printf(".. done");//	161	printf(".. done");//
163	input=INPUT_JOYDEV;	162	input=INPUT_JOYDEV;
164	}	163	}
165	else	164	else
166	printf(".. ERROR ");//	165	printf(".. ERROR ");//
167	}	166	}
168		167
169		168
170	printf("\nInitializing X-52 output ..");	169	printf("\nInitializing X-52 output ..");
171		170
172	x52_output = x52_init();	171	x52_output = x52_init();
173		172
174	clear_display();	173	clear_display();
175		174
176	write_display(0, "RIDDIM active");	175	write_display(0, "RIDDIM active");
177		176
178	if (x52_output) x52_setbri(x52_output, 1,128);	177	if (x52_output) x52_setbri(x52_output, 1,128);
179	if (x52_output)	178	if (x52_output)
180	printf(" done \n");	179	printf(" done \n");
181	else	180	else
182	printf(" not found \n");	181	printf(" not found \n");
183		182
184	/*	183	/*
185	if (!connected)	184	if (!connected)
186	{	185	{
187	printf("Scanning for Bluetooth Devices ..\n");	186	printf("Scanning for Bluetooth Devices ..\n");
188	write_display(1,"Bluetooth Scan");	187	write_display(1,"Bluetooth Scan");
189	scan_bt();	188	scan_bt();
190	printf(" done \n");	189	printf(" done \n");
191	printf(" %d Devices found \n",bt_device_count);	190	printf(" %d Devices found \n",bt_device_count);
192	print_device_list() ;	191	print_device_list() ;
193	}	192	}
194	*/	193	*/
195		194
196	// int v_old;	195	// int v_old;
197	int polls=0;	196	int polls=0;
198		197
199		198
200	if (exit_after_init)	199	if (exit_after_init)
201	exit(0);	200	exit(0);
202	printf("starting loop ..\n");	201	printf("starting loop ..\n");
203		202
204		203
205		204
206	int complete_misses=0;	205	int complete_misses=0;
207	int complete_matches=0;	206	int complete_matches=0;
208		207
209		208
210	int confirm_misses;	209	int confirm_misses;
211		210
212		211
213		212
214	// init_evdevstatus_led();	213	// init_evdevstatus_led();
215		214
216	while( TRUE )	215	while( TRUE )
217	{	216	{
-		217
-		218	gettimeofday(&loop_start_time,NULL);
-		219
218		220
219	// blink_evdev_led();	221	// blink_evdev_led();
220	// bt_host_tick(mk_socket);	222	// bt_host_tick(mk_socket);
221	usleep(loop_delay);	223	usleep(loop_delay);
222		-
223		-
224		224
225	poll_evdev();	225	poll_evdev();
226		226
227	switch (input)	227	switch (input)
228	{	228	{
229		229
230		230
231	case INPUT_NONE:	231	case INPUT_NONE:
232	printf("processing input none\n");	232	printf("processing input none\n");
233	break;	233	break;
234		234
235	case INPUT_EVDEV:	235	case INPUT_EVDEV:
236	printf("processing input evdev\n");	236	printf("processing input evdev\n");
237		237
238		238
239	break;	239	break;
240		240
241	case INPUT_JOYDEV:	241	case INPUT_JOYDEV:
242	printf("processing input joydev\n");	242	printf("processing input joydev\n");
243	// poll values from input device	243	// poll values from input device
244		244
245	for (polls=0;polls<100;polls++) // FIXME - better Polling	245	for (polls=0;polls<100;polls++) // FIXME - better Polling
246	{	246	{
247	read(joy_input_fd, &x52_event_struct, sizeof(struct js_event));	247	read(joy_input_fd, &x52_event_struct, sizeof(struct js_event));
248		248
249		249
250	/* see what to do with the event */	250	/* see what to do with the event */
251	switch (x52_event_struct.type & ~JS_EVENT_INIT)	251	switch (x52_event_struct.type & ~JS_EVENT_INIT)
252	{	252	{
253	case JS_EVENT_AXIS:	253	case JS_EVENT_AXIS:
254	axis [ x52_event_struct.number ] = x52_event_struct.value;	254	axis [ x52_event_struct.number ] = x52_event_struct.value;
255	break;	255	break;
256	case JS_EVENT_BUTTON:	256	case JS_EVENT_BUTTON:
257	button [ x52_event_struct.number ] = x52_event_struct.value;	257	button [ x52_event_struct.number ] = x52_event_struct.value;
258	break;	258	break;
259	}	259	}
260	}	260	}
261	int x;	261	int x;
262	for( x=0 ; x<num_of_buttons ; ++x )	262	for( x=0 ; x<num_of_buttons ; ++x )
263	if( button[x]==0)	263	if( button[x]==0)
264	button_trigger[x]=0;	264	button_trigger[x]=0;
265	else	265	else
266	{	266	{
267	if (button_trigger[x]<100)button_trigger[x]++;	267	if (button_trigger[x]<100)button_trigger[x]++;
268	}	268	}
269	break;	269	break;
270	} // switch (input)	270	} // switch (input)
271		271
272	printf("input done\n");	272	printf("input done\n");
273		273
274	switch(state)	274	switch(state)
275	{	275	{
276	case STATEID_SCANNING:	276	case STATEID_SCANNING:
277		277
278	state=STATEID_CONNECTING;	278	state=STATEID_CONNECTING;
279	/*	279	/*
280	ExternControl.Digital[0]=0;	280	ExternControl.Digital[0]=0;
281	ExternControl.Digital[1]=0;	281	ExternControl.Digital[1]=0;
282	ExternControl.RemoteTasten=0;	282	ExternControl.RemoteTasten=0;
283	ExternControl.Nick=(axis[1]>>8)*(-1)+127;;	283	ExternControl.Nick=(axis[1]>>8)*(-1)+127;;
284		284
285	printf("nick%d\n",ExternControl.Nick);	285	printf("nick%d\n",ExternControl.Nick);
286	ExternControl.Roll=(axis[0]>>8)*(-1)+127;;	286	ExternControl.Roll=(axis[0]>>8)*(-1)+127;;
287	ExternControl.Gier=(axis[5]>>8)*(-1)+127;;	287	ExternControl.Gier=(axis[5]>>8)*(-1)+127;;
288	ExternControl.Gas=(axis[2]>>8)*(-1)+127;	288	ExternControl.Gas=(axis[2]>>8)*(-1)+127;
289	ExternControl.Higt=0;	289	ExternControl.Higt=0;
290	ExternControl.free=0;	290	ExternControl.free=0;
291	ExternControl.Frame='t';	291	ExternControl.Frame='t';
292	ExternControl.Config=1;	292	ExternControl.Config=1;
293		293
294	printf("sending data\n");	294	printf("sending data\n");
295		295
296		296
297	if (connected)SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));	297	if (connected)SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
298	gettimeofday(&time_struct1,NULL);	298	gettimeofday(&time_struct1,NULL);
299		299
300	if (button_trigger[BUTTON_SELECT]==1)	300	if (button_trigger[BUTTON_SELECT]==1)
301	{	301	{
302	state=STATEID_CONNECTING;	302	state=STATEID_CONNECTING;
303	clear_display();	303	clear_display();
304	write_display(0,"connecting to");	304	write_display(0,"connecting to");
305	write_display(1,names[selected_bt_device]);	305	write_display(1,names[selected_bt_device]);
306	//connect_mk(addrs[selected_bt_device]);	306	//connect_mk(addrs[selected_bt_device]);
307	write_display(0,"connected to");	307	write_display(0,"connected to");
308	}	308	}
309		309
310	if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1)	310	if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1)
311	{	311	{
312	printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]);	312	printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]);
313	if (button_trigger[BUTTON_DOWN]==1)	313	if (button_trigger[BUTTON_DOWN]==1)
314	if (selected_bt_device>0) selected_bt_device--;	314	if (selected_bt_device>0) selected_bt_device--;
315	if (button_trigger[BUTTON_UP]==1)	315	if (button_trigger[BUTTON_UP]==1)
316	if (selected_bt_device<bt_device_count-1) selected_bt_device++;	316	if (selected_bt_device<bt_device_count-1) selected_bt_device++;
317		317
318		318
319	}	319	}
320	*/	320	*/
321	break;	321	break;
322		322
323	case STATEID_CONNECTING:	323	case STATEID_CONNECTING:
324		324
325		325
326		326
327		327
328		328
329	confirm_misses=0;	329	confirm_misses=0;
330		330
331	RxBuffer[2]=0;	331	RxBuffer[2]=0;
332	if (connected)	332	if (connected)
333	{	333	{
334	read_from_mk();	334	read_from_mk();
335	if (RxBuffer[2]=='B')	335	if (RxBuffer[2]=='B')
336	complete_misses++;	336	complete_misses++;
337	/*while (RxBuffer[2]!='B')	337	/*while (RxBuffer[2]!='B')
338	{	338	{
339		339
340	RxBuffer[1]=0;	340	RxBuffer[1]=0;
341	read_from_mk();	341	read_from_mk();
342	// bt_host_send(RxBuffer,rx_last_length);	342	// bt_host_send(RxBuffer,rx_last_length);
343	printf("sending to host: %s",PrintableRxBuffer);	343	printf("sending to host: %s",PrintableRxBuffer);
344		344
345		345
346	// ftime(&time_struct);	346	// ftime(&time_struct);
347		347
348	printf("waiting for confirm frame ( confirmed:%d misses:%d %c)\n",complete_matches,complete_misses,RxBuffer[2]);	348	printf("waiting for confirm frame ( confirmed:%d misses:%d %c)\n",complete_matches,complete_misses,RxBuffer[2]);
349	// RxBuffer[2]=0;	349	// RxBuffer[2]=0;
350		350
351	// r=0;	351	// r=0;
352		352
353	// new	353	// new
354		354
355	//if (button_trigger[12]>1)	355	//if (button_trigger[12]>1)
356	// {	356	// {
357	// SendOutData('s', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));	357	// SendOutData('s', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
358	// button_trigger[12]=0;	358	// button_trigger[12]=0;
359	// }	359	// }
360		360
361	ExternControl.Frame='t';	361	ExternControl.Frame='t';
362	if (++confirm_misses>4)	362	if (++confirm_misses>4)
363	{	363	{
364	complete_misses++;	364	complete_misses++;
365	printf("sending again\n");	365	printf("sending again\n");
366	SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));	366	SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
367	}	367	}
368	*/	368	*/
369	}	369	}
370	else	370	else
371	printf("not connected to mk\n");	371	printf("not connected to mk\n");
372		372
373	gettimeofday(&time_struct2,NULL);	373	// gettimeofday(&time_struct2,NULL);
374		374
375	printf("last trip: %d\n",(int)(time_struct2.tv_usec-time_struct1.tv_usec));	375	// printf("last trip: %d\n",(int)(time_struct2.tv_usec-time_struct1.tv_usec));
376	// act_mode=button[24] \| (button[25]<<1);	376	// act_mode=button[24] \| (button[25]<<1);
377		377
378		378
379		379
380	// Step converting axis data to nick/roll/gier/gas/..	380	// Step converting axis data to nick/roll/gier/gas/..
381		381
382	// act_nick=(evdev_rel_axis[rel_axis_nick]-128)*nick_mul;	382	// act_nick=(evdev_rel_axis[rel_axis_nick]-128)*nick_mul;
383		383
384		384
385		385
386		386
387	/* Mix input values */	387	/* Mix input values */
388		388
389	act_gas=0;	389	act_gas=0;
390	act_nick=0;	390	act_nick=0;
391	act_roll=0;	391	act_roll=0;
392	act_gier=0;	392	act_gier=0;
393		393
394	int act_input=0;	394	int act_input=0;
395	for (act_input=0;act_input<input_count;act_input++)	395	for (act_input=0;act_input<input_count;act_input++)
396	{	396	{
-		397
-		398	printf("process b %d\n",inputs[act_input].nick_up_btn);
397	//process buttons	399	//process buttons
398	if (inputs[act_input].nick_up_btn!=-1)	400	if (inputs[act_input].nick_up_btn!=-1)
399	{	401	{
400	if (inputs[act_input].evdev_button[inputs[act_input].nick_up_btn]!=0)	402	if (inputs[act_input].evdev_button[inputs[act_input].nick_up_btn]!=0)
401	act_nick=100;	403	act_nick=100;
402		404
403	}	405	}
-		406
404		407
405	if (inputs[act_input].nick_down_btn!=-1)	408	if (inputs[act_input].nick_down_btn!=-1)
406	{	409	{
407	if (inputs[act_input].evdev_button[inputs[act_input].nick_down_btn]!=0)	410	if (inputs[act_input].evdev_button[inputs[act_input].nick_down_btn]!=0)
408	act_nick=-100;	411	act_nick=-100;
409		412
410	}	413	}
-		414
411		415
412	if (inputs[act_input].roll_left_btn!=-1)	416	if (inputs[act_input].roll_left_btn!=-1)
413	{	417	{
414	if (inputs[act_input].evdev_button[inputs[act_input].roll_left_btn]!=0)	418	if (inputs[act_input].evdev_button[inputs[act_input].roll_left_btn]!=0)
415	act_roll=100;	419	act_roll=100;
416		420
417	}	421	}
418		422
419	if (inputs[act_input].roll_right_btn!=-1)	423	if (inputs[act_input].roll_right_btn!=-1)
420	{	424	{
421	if (inputs[act_input].evdev_button[inputs[act_input].roll_right_btn]!=0)	425	if (inputs[act_input].evdev_button[inputs[act_input].roll_right_btn]!=0)
422	act_roll=-100;	426	act_roll=-100;
-		427
423		428
424	}	429	}
425		430
426	// process axis	431	// process axis
427		432
428	if (inputs[act_input].rel_axis_nick!=-1)	433	if (inputs[act_input].rel_axis_nick!=-1)
429	act_nick=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_nick]*inputs[act_input].nick_mul;	434	act_nick=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_nick]*inputs[act_input].nick_mul;
430		435
431	if (inputs[act_input].rel_axis_roll!=-1)	436	if (inputs[act_input].rel_axis_roll!=-1)
432	act_roll=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_roll]*inputs[act_input].roll_mul;	437	act_roll=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_roll]*inputs[act_input].roll_mul;
433		438
434		439
435	if (inputs[act_input].rel_axis_gier!=-1)	440	if (inputs[act_input].rel_axis_gier!=-1)
436	act_gier=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gier]*inputs[act_input].gier_mul;	441	act_gier=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gier]*inputs[act_input].gier_mul;
437		442
438		443
439	if (inputs[act_input].rel_axis_gas!=-1)	444	if (inputs[act_input].rel_axis_gas!=-1)
440	act_gas=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gas]*inputs[act_input].gas_mul;	445	act_gas=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gas]*inputs[act_input].gas_mul;
441		446
442		447
-		448
-		449	if (inputs[act_input].rel_axis_alt!=-1)
-		450	{
-		451
-		452	if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]>300)
-		453	act_long_alt-=last_trip_time/100;
-		454
-		455	if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]<-300)
-		456	act_long_alt+=last_trip_time/100;
-		457
-		458	act_alt=act_long_alt/1000;
-		459
-		460	if (act_alt>120)act_alt=120;
-		461	else if (act_alt<-120)act_alt=-120;
-		462	}
-		463	// process_events
-		464
-		465	if (inputs[act_input].engine_switch_btn!=-1)
-		466	{
-		467
-		468	if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]==0)&&(DebugOut.Analog[16]==1))
-		469	{
-		470	ExternEvent.key=2;
-		471	SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));
-		472	}
-		473	if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]!=0)&&(DebugOut.Analog[16]==0))
-		474	{
-		475	ExternEvent.key=1;
-		476	SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));
-		477	}
-		478
-		479
-		480
-		481	}
443		482
444	}	483	}
445		484
446	switch(input)	485	switch(input)
447	{	486	{
448	case INPUT_EVDEV:	487	case INPUT_EVDEV:
449	/*	488	/*
450	act_nick=(evdev_rel_axis[rel_axis_nick]-nick_add)*nick_mul;	489	act_nick=(evdev_rel_axis[rel_axis_nick]-nick_add)*nick_mul;
451	act_roll=(evdev_rel_axis[rel_axis_roll]-nick_add)*roll_mul;	490	act_roll=(evdev_rel_axis[rel_axis_roll]-nick_add)*roll_mul;
452	act_gier=(evdev_rel_axis[rel_axis_gier]-nick_add)*gier_mul;	491	act_gier=(evdev_rel_axis[rel_axis_gier]-nick_add)*gier_mul;
453	act_gas=(evdev_rel_axis[rel_axis_gas]-nick_add)*gas_mul;	492	act_gas=(evdev_rel_axis[rel_axis_gas]-nick_add)*gas_mul;
454	*/	493	*/
455		494
456	break;	495	break;
457		496
458	case INPUT_JOYDEV:	497	case INPUT_JOYDEV:

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(root)/Riddim/riddim.c - Rev 488 → 505