WebSVN - Projects - /Riddim/riddim.c

#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

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];

#define STATEID_SCANNING 0
#define STATEID_CONNECTING 1
int state=STATEID_SCANNING;

#define BUTTON_SELECT 26
#define BUTTON_DOWN 27
#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);
}
*/

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();
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++)
{
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 )
if( button[x]==0)
button_trigger[x]=0;
else
{
if (button_trigger[x]<100)button_trigger[x]++;
}

switch(state)
{
case STATEID_SCANNING:
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:

_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);

sleep(0.05);

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);

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");
fflush(stdout);

/*
if( read( x52_input_fd, &x52_input_struct, JS_RETURN ) != JS_RETURN )
{
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 );

*/
}

close(x52_input_fd); /* too bad we never get here */

if (x52_output) x52_close(x52_output);
return 0;
}

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(root)/Riddim/riddim.c @ 43 - Rev