WebSVN - Projects - Diff - Rev 505 and 522


/**************************************************
 *
 *
 * Riddim
 * Remote Interactive Digital Drone Interface Mashup
 *
 * (cc) 2007-2009 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;
 
int act_nick=0;
int act_roll=0;
int act_gier=0;
int act_gas=0;
int act_mode=0;
 
int act_alt=0;
long act_long_alt=0;
 
struct x52 *x52_output;
 
int selected_bt_device=0;
 
int count=0;
int connected=0;
int input=INPUT_NONE;
 
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 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");
 
 
 
 
 
 
  // check if config file as argument
  if (argv[1])
    parse_config(argv[1]);
  else
    parse_config("/etc/riddim.conf");
 
 
  bt_host_init();
  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: %ld\n",last_trip_time);
 
      trip_count++;
       
    }
 
 
  /******************** Cleanup **********************/
  close(joy_input_fd);
  close(mk_socket);
 
  if (x52_output) x52_close(x52_output);
  return 0;
}
 

Rev 505	Rev 522
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	* (cc) 2007-2009 Marcus -LiGi- Bueschleb
8	*	8	*
9	*	9	*
10	**************************************************/	10	**************************************************/
11		11
12	#include "riddim.h"	12	#include "riddim.h"
13		13
14	int state=STATEID_SCANNING;	14	int state=STATEID_SCANNING;
15		-
16		-
17	struct js_event x52_event_struct;	15	struct js_event x52_event_struct;
18		16
19	int engines_on=0;	17	int engines_on=0;
20	int old_engines_on=0;	18	int old_engines_on=0;
21		19
22	int *axis;	20	int *axis;
23	char *button;	21	char *button;
-		22
-		23	int act_nick=0;
-		24	int act_roll=0;
-		25	int act_gier=0;
-		26	int act_gas=0;
-		27	int act_mode=0;
-		28
-		29	int act_alt=0;
-		30	long act_long_alt=0;
24		31
25	struct x52 *x52_output;	32	struct x52 *x52_output;
26		33
27	int selected_bt_device=0;	34	int selected_bt_device=0;
-		35
-		36	int count=0;
-		37	int connected=0;
-		38	int input=INPUT_NONE;
28		39
29	void write_display(int line,char* text)	40	void write_display(int line,char* text)
30	{	41	{
31	if (x52_output) x52_settext(x52_output, line , text, strlen(text));	42	if (x52_output) x52_settext(x52_output, line , text, strlen(text));
32	}	43	}
33		44
34	void clear_display()	45	void clear_display()
35	{	46	{
36	write_display(0,"");	47	write_display(0,"");
37	write_display(1,"");	48	write_display(1,"");
38	write_display(2,"");	49	write_display(2,"");
39	}	50	}
40		51
41		52
42	void output_device_list()	53	void output_device_list()
43	{	54	{
44	int i;	55	int i;
45	char disp_txt[20];	56	char disp_txt[20];
46	for(i=0;i<bt_device_count;i++)	57	for(i=0;i<bt_device_count;i++)
47	{	58	{
48	if (i<3)	59	if (i<3)
49	{	60	{
50		61
51	if (selected_bt_device==i)	62	if (selected_bt_device==i)
52	sprintf(disp_txt,"#%s",names[i]);	63	sprintf(disp_txt,"#%s",names[i]);
53	else	64	else
54	sprintf(disp_txt," %s",names[i]);	65	sprintf(disp_txt," %s",names[i]);
55	write_display(i,disp_txt);	66	write_display(i,disp_txt);
56	}	67	}
57	}	68	}
58	}	69	}
59		70
60		71
61	void print_device_list()	72	void print_device_list()
62	{	73	{
63	int i;	74	int i;
64	for(i=0;i<bt_device_count;i++)	75	for(i=0;i<bt_device_count;i++)
65	printf("device%i->%s\n",i,names[i]);	76	printf("device%i->%s\n",i,names[i]);
66	}	77	}
67		78
68		79
69		-
70	int count=0;	-
71	int connected=0;	-
72		-
73		-
74	int input=INPUT_NONE;	-
75		-
76		80
77		81
78	int main(int argc, char**argv)	82	int main(int argc, char**argv)
79	{	83	{
80		84
81	printf("Starting Riddim %d.%d \n",RIDDIM_VERSION_MAJOR,RIDDIM_VERSION_MINOR );	85	printf("Starting Riddim %d.%d \n",RIDDIM_VERSION_MAJOR,RIDDIM_VERSION_MINOR );
82	printf("\tRemote Interactive Digital Drone Interface Mashup\n");	86	printf("\tRemote Interactive Digital Drone Interface Mashup\n");
83	printf("\nusage:\n");	87	printf("\nusage:\n");
84	printf("\t riddim [config_file]\n\n");	88	printf("\t riddim [config_file]\n\n");
85		-
86		-
87		-
88		-
89		89
90	// bt_host_init();	-
91		90	// check if config file as argument
92	if (argv[1])	91	if (argv[1])
93	parse_config(argv[1]);	92	parse_config(argv[1]);
94	else	93	else
95	parse_config("/etc/riddim.conf");	94	parse_config("/etc/riddim.conf");
96		-
-		95
97		96	bt_host_init();
98	collect_evdev_devices();	97	collect_evdev_devices();
99	parse_config_input_sections();	98	parse_config_input_sections();
100	// exit(0);	99	// exit(0);
101		100
102	printf("input %s:\n",input_evdev_name);	101	printf("input %s:\n",input_evdev_name);
103	/*	102	/*
104	if (bluetooth_mac)	103	if (bluetooth_mac)
105	{	104	{
106		105
107	printf("Connecting via Bluetooth to %s\n",bluetooth_mac);	106	printf("Connecting via Bluetooth to %s\n",bluetooth_mac);
108	if (connect_mk_bluetooth(bluetooth_mac));;	107	if (connect_mk_bluetooth(bluetooth_mac));;
109	connected=TRUE;	108	connected=TRUE;
110	}	109	}
111	*/	110	*/
112		111
113	if (mk_tty)	112	if (mk_tty)
114	{	113	{
115	printf("connecting to mk via tty: %s\n",mk_tty);	114	printf("connecting to mk via tty: %s\n",mk_tty);
116	if (!connect_mk_tty(mk_tty))	115	if (!connect_mk_tty(mk_tty))
117	printf("cant connect !!");	116	printf("cant connect !!");
118	else	117	else
119	{	118	{
120	printf("connected !-)");	119	printf("connected !-)");
121	connected=TRUE;	120	connected=TRUE;
122	}	121	}
123	}	122	}
124		123
125	if (mk_socket_port)	124	if (mk_socket_port)
126	{	125	{
127	printf("connecting to mk via local port: %i\n",mk_socket_port);	126	printf("connecting to mk via local port: %i\n",mk_socket_port);
128		127
129	if (connect_mk_localhost_socket(mk_socket_port)==-1)	128	if (connect_mk_localhost_socket(mk_socket_port)==-1)
130	printf("cant connect !!");	129	printf("cant connect !!");
131	else	130	else
132	{	131	{
133	printf("connected !-)");	132	printf("connected !-)");
134	connected=TRUE;	133	connected=TRUE;
135	}	134	}
136	}	135	}
137		136
138	// todo reenable bluetooth connection	137	// todo reenable bluetooth connection
139		138
140	connect_evdev();	139	connect_evdev();
141		140
142	/*	141	/*
143	if ((input_evdev_name))	142	if ((input_evdev_name))
144	{	143	{
145	printf("\nInitializing evdev input (%s) ..\n",input_evdev_name);	144	printf("\nInitializing evdev input (%s) ..\n",input_evdev_name);
146		145
147	if (connect_evdev(input_evdev_name))	146	if (connect_evdev(input_evdev_name))
148	{	147	{
149	printf(".. done");//	148	printf(".. done");//
150	input=INPUT_EVDEV;	149	input=INPUT_EVDEV;
151	}	150	}
152	else	151	else
153	printf(".. ERROR ");//	152	printf(".. ERROR ");//
154	}	153	}
155	*/	154	*/
156	if (input_joydev_name)	155	if (input_joydev_name)
157	{	156	{
158	printf("\nInitializing joystick input from %s ..\n",input_joydev_name);	157	printf("\nInitializing joystick input from %s ..\n",input_joydev_name);
159	if (connect_joy())	158	if (connect_joy())
160	{	159	{
161	printf(".. done");//	160	printf(".. done");//
162	input=INPUT_JOYDEV;	161	input=INPUT_JOYDEV;
163	}	162	}
164	else	163	else
165	printf(".. ERROR ");//	164	printf(".. ERROR ");//
166	}	165	}
167		166
168		167
169	printf("\nInitializing X-52 output ..");	168	printf("\nInitializing X-52 output ..");
170		169
171	x52_output = x52_init();	170	x52_output = x52_init();
172		171
173	clear_display();	172	clear_display();
174		173
175	write_display(0, "RIDDIM active");	174	write_display(0, "RIDDIM active");
176		175
177	if (x52_output) x52_setbri(x52_output, 1,128);	176	if (x52_output) x52_setbri(x52_output, 1,128);
178	if (x52_output)	177	if (x52_output)
179	printf(" done \n");	178	printf(" done \n");
180	else	179	else
181	printf(" not found \n");	180	printf(" not found \n");
182		181
183	/*	182	/*
184	if (!connected)	183	if (!connected)
185	{	184	{
186	printf("Scanning for Bluetooth Devices ..\n");	185	printf("Scanning for Bluetooth Devices ..\n");
187	write_display(1,"Bluetooth Scan");	186	write_display(1,"Bluetooth Scan");
188	scan_bt();	187	scan_bt();
189	printf(" done \n");	188	printf(" done \n");
190	printf(" %d Devices found \n",bt_device_count);	189	printf(" %d Devices found \n",bt_device_count);
191	print_device_list() ;	190	print_device_list() ;
192	}	191	}
193	*/	192	*/
194		193
195	// int v_old;	194	// int v_old;
196	int polls=0;	195	int polls=0;
197		196
198		197
199	if (exit_after_init)	198	if (exit_after_init)
200	exit(0);	199	exit(0);
201	printf("starting loop ..\n");	200	printf("starting loop ..\n");
202		201
203		202
204		203
205	int complete_misses=0;	204	int complete_misses=0;
206	int complete_matches=0;	205	int complete_matches=0;
207		206
208		207
209	int confirm_misses;	208	int confirm_misses;
210		209
211		210
212		211
213	// init_evdevstatus_led();	212	// init_evdevstatus_led();
214		213
215	while( TRUE )	214	while( TRUE )
216	{	215	{
217		216
218	gettimeofday(&loop_start_time,NULL);	217	gettimeofday(&loop_start_time,NULL);
219		218
220		219
221	// blink_evdev_led();	220	// blink_evdev_led();
222	// bt_host_tick(mk_socket);	221	bt_host_tick(mk_socket);
223	usleep(loop_delay);	222	usleep(loop_delay);
224		223
225	poll_evdev();	224	poll_evdev();
226		225
227	switch (input)	226	switch (input)
228	{	227	{
229		228
230		229
231	case INPUT_NONE:	230	case INPUT_NONE:
232	printf("processing input none\n");	231	printf("processing input none\n");
233	break;	232	break;
234		233
235	case INPUT_EVDEV:	234	case INPUT_EVDEV:
236	printf("processing input evdev\n");	235	printf("processing input evdev\n");
237		236
238		237
239	break;	238	break;
240		239
241	case INPUT_JOYDEV:	240	case INPUT_JOYDEV:
242	printf("processing input joydev\n");	241	printf("processing input joydev\n");
243	// poll values from input device	242	// poll values from input device
244		243
245	for (polls=0;polls<100;polls++) // FIXME - better Polling	244	for (polls=0;polls<100;polls++) // FIXME - better Polling
246	{	245	{
247	read(joy_input_fd, &x52_event_struct, sizeof(struct js_event));	246	read(joy_input_fd, &x52_event_struct, sizeof(struct js_event));
248		247
249		248
250	/* see what to do with the event */	249	/* see what to do with the event */
251	switch (x52_event_struct.type & ~JS_EVENT_INIT)	250	switch (x52_event_struct.type & ~JS_EVENT_INIT)
252	{	251	{
253	case JS_EVENT_AXIS:	252	case JS_EVENT_AXIS:
254	axis [ x52_event_struct.number ] = x52_event_struct.value;	253	axis [ x52_event_struct.number ] = x52_event_struct.value;
255	break;	254	break;
256	case JS_EVENT_BUTTON:	255	case JS_EVENT_BUTTON:
257	button [ x52_event_struct.number ] = x52_event_struct.value;	256	button [ x52_event_struct.number ] = x52_event_struct.value;
258	break;	257	break;
259	}	258	}
260	}	259	}
261	int x;	260	int x;
262	for( x=0 ; x<num_of_buttons ; ++x )	261	for( x=0 ; x<num_of_buttons ; ++x )
263	if( button[x]==0)	262	if( button[x]==0)
264	button_trigger[x]=0;	263	button_trigger[x]=0;
265	else	264	else
266	{	265	{
267	if (button_trigger[x]<100)button_trigger[x]++;	266	if (button_trigger[x]<100)button_trigger[x]++;
268	}	267	}
269	break;	268	break;
270	} // switch (input)	269	} // switch (input)
271		270
272	printf("input done\n");	271	printf("input done\n");
273		272
274	switch(state)	273	switch(state)
275	{	274	{
276	case STATEID_SCANNING:	275	case STATEID_SCANNING:
277		276
278	state=STATEID_CONNECTING;	277	state=STATEID_CONNECTING;
279	/*	278	/*
280	ExternControl.Digital[0]=0;	279	ExternControl.Digital[0]=0;
281	ExternControl.Digital[1]=0;	280	ExternControl.Digital[1]=0;
282	ExternControl.RemoteTasten=0;	281	ExternControl.RemoteTasten=0;
283	ExternControl.Nick=(axis[1]>>8)*(-1)+127;;	282	ExternControl.Nick=(axis[1]>>8)*(-1)+127;;
284		283
285	printf("nick%d\n",ExternControl.Nick);	284	printf("nick%d\n",ExternControl.Nick);
286	ExternControl.Roll=(axis[0]>>8)*(-1)+127;;	285	ExternControl.Roll=(axis[0]>>8)*(-1)+127;;
287	ExternControl.Gier=(axis[5]>>8)*(-1)+127;;	286	ExternControl.Gier=(axis[5]>>8)*(-1)+127;;
288	ExternControl.Gas=(axis[2]>>8)*(-1)+127;	287	ExternControl.Gas=(axis[2]>>8)*(-1)+127;
289	ExternControl.Higt=0;	288	ExternControl.Higt=0;
290	ExternControl.free=0;	289	ExternControl.free=0;
291	ExternControl.Frame='t';	290	ExternControl.Frame='t';
292	ExternControl.Config=1;	291	ExternControl.Config=1;
293		292
294	printf("sending data\n");	293	printf("sending data\n");
295		294
296		295
297	if (connected)SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));	296	if (connected)SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
298	gettimeofday(&time_struct1,NULL);	297	gettimeofday(&time_struct1,NULL);
299		298
300	if (button_trigger[BUTTON_SELECT]==1)	299	if (button_trigger[BUTTON_SELECT]==1)
301	{	300	{
302	state=STATEID_CONNECTING;	301	state=STATEID_CONNECTING;
303	clear_display();	302	clear_display();
304	write_display(0,"connecting to");	303	write_display(0,"connecting to");
305	write_display(1,names[selected_bt_device]);	304	write_display(1,names[selected_bt_device]);
306	//connect_mk(addrs[selected_bt_device]);	305	//connect_mk(addrs[selected_bt_device]);
307	write_display(0,"connected to");	306	write_display(0,"connected to");
308	}	307	}
309		308
310	if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1)	309	if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1)
311	{	310	{
312	printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]);	311	printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]);
313	if (button_trigger[BUTTON_DOWN]==1)	312	if (button_trigger[BUTTON_DOWN]==1)
314	if (selected_bt_device>0) selected_bt_device--;	313	if (selected_bt_device>0) selected_bt_device--;
315	if (button_trigger[BUTTON_UP]==1)	314	if (button_trigger[BUTTON_UP]==1)
316	if (selected_bt_device<bt_device_count-1) selected_bt_device++;	315	if (selected_bt_device<bt_device_count-1) selected_bt_device++;
317		316
318		317
319	}	318	}
320	*/	319	*/
321	break;	320	break;
322		321
323	case STATEID_CONNECTING:	322	case STATEID_CONNECTING:
324		323
325		324
326		325
327		326
328		327
329	confirm_misses=0;	328	confirm_misses=0;
330		329
331	RxBuffer[2]=0;	330	RxBuffer[2]=0;
332	if (connected)	331	if (connected)
333	{	332	{
334	read_from_mk();	333	read_from_mk();
335	if (RxBuffer[2]=='B')	334	if (RxBuffer[2]=='B')
336	complete_misses++;	335	complete_misses++;
337	/*while (RxBuffer[2]!='B')	336	/*while (RxBuffer[2]!='B')
338	{	337	{
339		338
340	RxBuffer[1]=0;	339	RxBuffer[1]=0;
341	read_from_mk();	340	read_from_mk();
342	// bt_host_send(RxBuffer,rx_last_length);	341	// bt_host_send(RxBuffer,rx_last_length);
343	printf("sending to host: %s",PrintableRxBuffer);	342	printf("sending to host: %s",PrintableRxBuffer);
344		343
345		344
346	// ftime(&time_struct);	345	// ftime(&time_struct);
347		346
348	printf("waiting for confirm frame ( confirmed:%d misses:%d %c)\n",complete_matches,complete_misses,RxBuffer[2]);	347	printf("waiting for confirm frame ( confirmed:%d misses:%d %c)\n",complete_matches,complete_misses,RxBuffer[2]);
349	// RxBuffer[2]=0;	348	// RxBuffer[2]=0;
350		349
351	// r=0;	350	// r=0;
352		351
353	// new	352	// new
354		353
355	//if (button_trigger[12]>1)	354	//if (button_trigger[12]>1)
356	// {	355	// {
357	// SendOutData('s', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));	356	// SendOutData('s', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
358	// button_trigger[12]=0;	357	// button_trigger[12]=0;
359	// }	358	// }
360		359
361	ExternControl.Frame='t';	360	ExternControl.Frame='t';
362	if (++confirm_misses>4)	361	if (++confirm_misses>4)
363	{	362	{
364	complete_misses++;	363	complete_misses++;
365	printf("sending again\n");	364	printf("sending again\n");
366	SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));	365	SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
367	}	366	}
368	*/	367	*/
369	}	368	}
370	else	369	else
371	printf("not connected to mk\n");	370	printf("not connected to mk\n");
372		371
373	// gettimeofday(&time_struct2,NULL);	372	// gettimeofday(&time_struct2,NULL);
374		373
375	// printf("last trip: %d\n",(int)(time_struct2.tv_usec-time_struct1.tv_usec));	374	// printf("last trip: %d\n",(int)(time_struct2.tv_usec-time_struct1.tv_usec));
376	// act_mode=button[24] \| (button[25]<<1);	375	// act_mode=button[24] \| (button[25]<<1);
377		376
378		377
379		378
380	// Step converting axis data to nick/roll/gier/gas/..	379	// Step converting axis data to nick/roll/gier/gas/..
381		380
382	// act_nick=(evdev_rel_axis[rel_axis_nick]-128)*nick_mul;	381	// act_nick=(evdev_rel_axis[rel_axis_nick]-128)*nick_mul;
383		382
384		383
385		384
386		385
387	/* Mix input values */	386	/* Mix input values */
388		387
389	act_gas=0;	388	act_gas=0;
390	act_nick=0;	389	act_nick=0;
391	act_roll=0;	390	act_roll=0;
392	act_gier=0;	391	act_gier=0;
393		392
394	int act_input=0;	393	int act_input=0;
395	for (act_input=0;act_input<input_count;act_input++)	394	for (act_input=0;act_input<input_count;act_input++)
396	{	395	{
397		396
398	printf("process b %d\n",inputs[act_input].nick_up_btn);	397	printf("process b %d\n",inputs[act_input].nick_up_btn);
399	//process buttons	398	//process buttons
400	if (inputs[act_input].nick_up_btn!=-1)	399	if (inputs[act_input].nick_up_btn!=-1)
401	{	400	{
402	if (inputs[act_input].evdev_button[inputs[act_input].nick_up_btn]!=0)	401	if (inputs[act_input].evdev_button[inputs[act_input].nick_up_btn]!=0)
403	act_nick=100;	402	act_nick=100;
404		403
405	}	404	}
406		405
407		406
408	if (inputs[act_input].nick_down_btn!=-1)	407	if (inputs[act_input].nick_down_btn!=-1)
409	{	408	{
410	if (inputs[act_input].evdev_button[inputs[act_input].nick_down_btn]!=0)	409	if (inputs[act_input].evdev_button[inputs[act_input].nick_down_btn]!=0)
411	act_nick=-100;	410	act_nick=-100;
412		411
413	}	412	}
414		413
415		414
416	if (inputs[act_input].roll_left_btn!=-1)	415	if (inputs[act_input].roll_left_btn!=-1)
417	{	416	{
418	if (inputs[act_input].evdev_button[inputs[act_input].roll_left_btn]!=0)	417	if (inputs[act_input].evdev_button[inputs[act_input].roll_left_btn]!=0)
419	act_roll=100;	418	act_roll=100;
420		419
421	}	420	}
422		421
423	if (inputs[act_input].roll_right_btn!=-1)	422	if (inputs[act_input].roll_right_btn!=-1)
424	{	423	{
425	if (inputs[act_input].evdev_button[inputs[act_input].roll_right_btn]!=0)	424	if (inputs[act_input].evdev_button[inputs[act_input].roll_right_btn]!=0)
426	act_roll=-100;	425	act_roll=-100;
427		426
428		427
429	}	428	}
430		429
431	// process axis	430	// process axis
432		431
433	if (inputs[act_input].rel_axis_nick!=-1)	432	if (inputs[act_input].rel_axis_nick!=-1)
434	act_nick=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_nick]*inputs[act_input].nick_mul;	433	act_nick=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_nick]*inputs[act_input].nick_mul;
435		434
436	if (inputs[act_input].rel_axis_roll!=-1)	435	if (inputs[act_input].rel_axis_roll!=-1)
437	act_roll=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_roll]*inputs[act_input].roll_mul;	436	act_roll=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_roll]*inputs[act_input].roll_mul;
438		437
439		438
440	if (inputs[act_input].rel_axis_gier!=-1)	439	if (inputs[act_input].rel_axis_gier!=-1)
441	act_gier=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gier]*inputs[act_input].gier_mul;	440	act_gier=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gier]*inputs[act_input].gier_mul;
442		441
443		442
444	if (inputs[act_input].rel_axis_gas!=-1)	443	if (inputs[act_input].rel_axis_gas!=-1)
445	act_gas=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gas]*inputs[act_input].gas_mul;	444	act_gas=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gas]*inputs[act_input].gas_mul;
446		445
447		446
448		447
449	if (inputs[act_input].rel_axis_alt!=-1)	448	if (inputs[act_input].rel_axis_alt!=-1)
450	{	449	{
451		450
452	if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]>300)	451	if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]>300)
453	act_long_alt-=last_trip_time/100;	452	act_long_alt-=last_trip_time/100;
454		453
455	if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]<-300)	454	if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]<-300)
456	act_long_alt+=last_trip_time/100;	455	act_long_alt+=last_trip_time/100;
457		456
458	act_alt=act_long_alt/1000;	457	act_alt=act_long_alt/1000;
459		458
460	if (act_alt>120)act_alt=120;	459	if (act_alt>120)act_alt=120;
461	else if (act_alt<-120)act_alt=-120;	460	else if (act_alt<-120)act_alt=-120;
462	}	461	}
463	// process_events	462	// process_events
464		463
465	if (inputs[act_input].engine_switch_btn!=-1)	464	if (inputs[act_input].engine_switch_btn!=-1)
466	{	465	{
467		466
468	if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]==0)&&(DebugOut.Analog[16]==1))	467	if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]==0)&&(DebugOut.Analog[16]==1))
469	{	468	{
470	ExternEvent.key=2;	469	ExternEvent.key=2;
471	SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));	470	SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));
472	}	471	}
473	if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]!=0)&&(DebugOut.Analog[16]==0))	472	if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]!=0)&&(DebugOut.Analog[16]==0))
474	{	473	{
475	ExternEvent.key=1;	474	ExternEvent.key=1;
476	SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));	475	SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));
477	}	476	}
478		477
479		478
480		479
481	}	480	}
482		481
483	}	482	}
484		483
485	switch(input)	484	switch(input)
486	{	485	{

Subversion Repositories Projects

(root)/Riddim/riddim.c - Rev 505 → 522