struct wmplugin_data *wmplugin_exec(int mesg_count, union cwiid_mesg mesg[])
{
int i;
uint8_t button;
struct cwiid_btn_message *btn_mesg;
uint8_t led_state = (Led1 ? CWIID_LED1_ON : 0)
| (Led2 ? CWIID_LED2_ON : 0)
| (Led3 ? CWIID_LED3_ON : 0)
| (Led4 ? CWIID_LED4_ON : 0);
if(Battery != 0) {
btn_mesg = NULL;
for (i=0; i < mesg_count; i++) {
if (mesg[i].type == CWIID_MESG_BTN) {
btn_mesg = &mesg[i].btn_mesg;
button = mesg[i].btn_mesg.buttons;
}
}
if (!btn_mesg) {
return NULL;
}
if(button == Button) {
show_battery();
}
else {
cwiid_command(wiimote, CWIID_CMD_LED, led_state);
}
}
return &data;
}
Wiimote::Wiimote(bdaddr_t addr,QObject *parent) : QObject(parent), buttons_old(0), addr(addr) {
Q_ASSERT(instance == NULL);
qDebug("setting up cwiid");
{
cwiid_set_err(cwiid_err_callback);
instance = cwiid_open(&addr,0);
qinstance = this;
Q_ASSERT(instance);
cwiid_set_mesg_callback(instance,cwiid_msg_callback);
cwiid_enable(instance,CWIID_FLAG_MESG_IFC);
cwiid_command(instance,CWIID_CMD_LED,CWIID_LED2_ON | CWIID_LED3_ON);
//cwiid_command(instance,CWIID_CMD_RPT_MODE,CWIID_RPT_EXT | CWIID_RPT_BTN | CWIID_RPT_ACC | CWIID_RPT_STATUS | CWIID_RPT_IR);
cwiid_command(instance,CWIID_CMD_RPT_MODE,CWIID_RPT_EXT | CWIID_RPT_BTN | CWIID_RPT_STATUS | CWIID_RPT_ACC);
}
}
static void wiimote_setRumble(t_wiimote *x, t_floatarg f)
{
if (x->connected)
{
if (cwiid_command(x->wiimote, CWIID_CMD_RUMBLE, f)) {
pd_error(x, "wiimote: could not set rumble");
}
}
}
static void wiimote_resetReportMode(t_wiimote *x)
{
if (x->connected) {
verbose(1, "changing report mode for Wii%02d to %d", x->wiimoteID, x->reportMode);
if (cwiid_command(x->wiimote, CWIID_CMD_RPT_MODE, x->reportMode)) {
pd_error(x, "wiimote: could not set report mode.");
}
}
}
/* Tell cwiid the LED states */
void CWiiRemote::SetLedState()
{ //Sets our leds on the wiiremote
#ifdef CWIID_OLD
if (cwiid_command(m_wiiremoteHandle, CWIID_CMD_LED, m_ledState))
#else
if (cwiid_set_led(m_wiiremoteHandle, m_ledState))
#endif
{
CPacketLOG log(LOGERROR, "Error setting WiiRemote LED state");
log.Send(m_Socket, m_MyAddr);
}
}
/* Tell cwiid wich data will be reported */
void CWiiRemote::SetRptMode()
{ //Sets our wiiremote to report something, for example IR, Buttons
#ifdef CWIID_OLD
if (cwiid_command(m_wiiremoteHandle, CWIID_CMD_RPT_MODE, m_rptMode))
#else
if (cwiid_set_rpt_mode(m_wiiremoteHandle, m_rptMode))
#endif
{
CPacketLOG log(LOGERROR, "Error setting WiiRemote report mode");
log.Send(m_Socket, m_MyAddr);
}
}
static void wiimote_setLED(t_wiimote *x, t_floatarg f)
{
// some possible values:
// CWIID_LED0_ON 0x01
// CWIID_LED1_ON 0x02
// CWIID_LED2_ON 0x04
// CWIID_LED3_ON 0x08
if (x->connected)
{
if (cwiid_command(x->wiimote, CWIID_CMD_LED, f)) {
pd_error(x, "wiimote: could not set LED.");
}
}
}
int wmplugin_init(int id, cwiid_wiimote_t *arg_wiimote)
{
wiimote = arg_wiimote;
uint8_t led_state = (Led1 ? CWIID_LED1_ON : 0)
| (Led2 ? CWIID_LED2_ON : 0)
| (Led3 ? CWIID_LED3_ON : 0)
| (Led4 ? CWIID_LED4_ON : 0);
cwiid_command(wiimote, CWIID_CMD_LED, led_state);
if (wmplugin_set_rpt_mode(id, CWIID_RPT_BTN)) {
return -1;
}
return 0;
}
void wiimoteController::setup(){
bdaddr_t bdaddr;
str2ba("00:1A:E9:44:40:E5", &bdaddr);
if ((wiimote = cwiid_open(&bdaddr, CWIID_FLAG_MESG_IFC)) == NULL){
cout << "Unable to connect to the Wiimote!" << endl;
}
else{
cout << "Wiimote connected!" << endl;
//cwiid_set_rumble(wiimote, true);
//sleep(1);
//cwiid_set_rumble(wiimote, false);
//cwiid_enable(wiimote, CWIID_FLAG_NONBLOCK);
//cwiid_enable(wiimote, CWIID_FLAG_CONTINUOUS);
cwiid_command(wiimote, CWIID_CMD_RPT_MODE, CWIID_RPT_IR);
cwiid_set_mesg_callback(wiimote, messageCallback);
}
}
void
WiimoteController::connect()
{
assert(m_wiimote == 0);
/* Connect to any wiimote */
bdaddr_t bdaddr = Bluetooth::addr_any;
/* Connect to address in string WIIMOTE_BDADDR */
/* str2ba(WIIMOTE_BDADDR, &bdaddr); */
/* Connect to the wiimote */
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
// wait forever till a Wiimote is found
m_wiimote = cwiid_open_timeout(&bdaddr, CWIID_FLAG_MESG_IFC, -1);
{
std::cout << "Wiimote connected: " << m_wiimote << std::endl;
if (cwiid_set_mesg_callback(m_wiimote, &WiimoteController::mesg_callback)) {
std::cerr << "Unable to set message callback" << std::endl;
}
if (cwiid_command(m_wiimote, CWIID_CMD_RPT_MODE,
CWIID_RPT_STATUS |
CWIID_RPT_NUNCHUK |
CWIID_RPT_ACC |
CWIID_RPT_IR |
CWIID_RPT_BTN))
{
std::cerr << "Wiimote: Error setting report mode" << std::endl;
}
read_wiimote_calibration();
read_nunchuk_calibration();
}
}
void WiiTrackExtension::cwiidSetReportMode(cwiid_wiimote_t *wiimote, unsigned char rpt_mode)
{
if (cwiid_command(wiimote, CWIID_CMD_RPT_MODE, rpt_mode)) {
qDebug() << "Error setting report mode";
}
}
DEFINE_THREAD_ROUTINE(wiimote_logic, data){
//wiimote connection variables
static bdaddr_t bdaddr = {{0}};
static cwiid_wiimote_t *wiimote = NULL;
union cwiid_mesg *msg = NULL;
struct timespec timestamp;
int wiimote_connected = 0;
int drone_in_sight = 0;
int trigger_button = 0;
int number_of_led = 0;
int recharger_in_sight = 0;
int recharging_button = 0;
int bullets = magazine_capacity;
int i = 0;
int j = 0;
int msg_count = 0;
struct timespec shot_rumble_time;
shot_rumble_time.tv_sec = 1;
shot_rumble_time.tv_nsec = 0000000;
struct timespec recharging_time;
recharging_time.tv_sec = 10;
recharging_time.tv_nsec = 0000000;
while(game_active){
//CONNECT TO THE WIIMOTE
if(wiimote_connected == 0) {
if( ! (wiimote = cwiid_open(&bdaddr, CWIID_FLAG_MESG_IFC)) ) {
printf("Unable to connect to wiimote\n");
} else {
wiimote_connected = 1;
printf("Wiimote found\n");
cwiid_command(wiimote, CWIID_CMD_LED, CWIID_LED1_ON|CWIID_LED2_ON|CWIID_LED3_ON|CWIID_LED4_ON);
cwiid_command(wiimote, CWIID_CMD_RPT_MODE, CWIID_RPT_IR|CWIID_RPT_BTN);
}
//ALREADY CONNECTED
} else {
if(match_active){
//--- RESET VARIABLES ---//
number_of_led = 0;
drone_in_sight = 0;
recharger_in_sight = 0;
trigger_button = 0;
msg_count = 0;
//--- GET INPUTS FROM THE WIIMOTE ---//
//get messages (blocking)
cwiid_get_mesg(wiimote, &msg_count, &msg, ×tamp);
//scan the messages for the event "pression of trigger_button" or "pression of recharging_button"
//and to count the number of IR leds found
//NOTE: the wiimote find false positive (sometimes 1led == 4leds :O)
//NOTE: the wiimote is REALLY sensitive to sun light
for(i = 0; i < msg_count; i++){
if(msg[i].type == CWIID_MESG_BTN){
//is button B pressed?
if(msg[i].btn_mesg.buttons == CWIID_BTN_B){
trigger_button = 1;
printf("SHOOT\n");
} else {
trigger_button = 0;
}
//is button A pressed?
if(msg[i].btn_mesg.buttons == CWIID_BTN_A){
recharging_button = 1;
printf("BUTTON A\n");
} else {
recharging_button = 0;
}
//TODO: this is here in case the ar.drone stop sending video update
if(msg[i].btn_mesg.buttons == CWIID_BTN_HOME){
printf("The program will shutdown...\n");
match_active = 0; //This tell the drone_logic thread to land the drone
game_active = 0; //This make all the threads exit the while loop
exit_program = 0; // Force ardrone_tool to close
// Sometimes, ardrone_tool might not finish properly.
//This happens mainly because a thread is blocked on a syscall, in this case, wait 5 seconds then kill the app
sleep(5);
exit(0);
}
}
//are there leds?
if(msg[i].type == CWIID_MESG_IR){
for(j = 0; j < CWIID_IR_SRC_COUNT; j++){
if(msg[i].ir_mesg.src[j].valid != 0){
number_of_led++;
}
}
if(number_of_led > 0){
printf("LEDS\n");
drone_in_sight = 1;
} else {
drone_in_sight = 0;
}
}
}
//--- WIIMOTE LOGIC ---//
//SHOOTING
if((bullets > 0) && trigger_button){
bullets--;
printf("lost one bullet\n");
//haptic feedback
cwiid_command(wiimote, CWIID_CMD_RUMBLE, 1);
nanosleep(&shot_rumble_time, NULL);
cwiid_command(wiimote, CWIID_CMD_RUMBLE, 0);
if(drone_in_sight){
vp_os_mutex_lock(&drone_score_mutex);
drone_lose_score = 1;
vp_os_mutex_unlock(&drone_score_mutex);
printf("DRONE HIT\n");
} else {
printf("DRONE MISSED!!\n");
}
//This is to limit the frequency of shooting (i.e. the gun need to load)
nanosleep(&shot_rumble_time, NULL);
//you can recharge only if you don't have bullets any more
} else if(bullets < 1){
if(recharging_button){
//TODO: How should I let the enemy know that the wiimote is full again?
nanosleep(&recharging_time, NULL);
bullets = magazine_capacity;
}
}
}
}
}
return C_OK;
}
