static int
Wiimote_set_mesg_callback(Wiimote *self, PyObject *NewCallback,
void *closure)
{
PyObject *OldCallback;
if (!PyCallable_Check(NewCallback)) {
PyErr_SetString(PyExc_TypeError, "callback must be callable!");
}
OldCallback = self->callback;
if ((OldCallback == Py_None) && (NewCallback != Py_None)) {
if (cwiid_set_mesg_callback(self->wiimote, CallbackBridge)) {
PyErr_SetString(PyExc_AttributeError,
"Error setting wiimote callback");
return -1;
}
}
else if ((OldCallback != Py_None) && (NewCallback == Py_None)) {
if (cwiid_set_mesg_callback(self->wiimote, NULL)) {
PyErr_SetString(PyExc_AttributeError,
"Error clearing wiimote callback");
return -1;
}
}
Py_INCREF(NewCallback);
Py_DECREF(OldCallback);
self->callback = NewCallback;
return 0;
}
void Wiimote::StartReporting(uint8_t aReportMode)
{
ULOG_DEBUG_F();
if (cwiid_set_mesg_callback(mWiimote, &Wiimote::CWiidCallback)) {
ULOG_DEBUG_F("Error setting callback");
if (cwiid_close(mWiimote)) {
ULOG_DEBUG_F("Error on disconnect");
}
mWiimote = NULL;
NotifyConnectionStatus(IWiimoteObserver::EConnectionError);
NotifyConnectionStatus(IWiimoteObserver::ENotConnected);
} else {
ULOG_DEBUG_F("Connected");
if (cwiid_get_acc_cal(mWiimote, CWIID_EXT_NONE, &mWmCal)) {
ULOG_DEBUG_F("Unable to retrieve accelerometer calibration");
}
NotifyConnectionStatus(IWiimoteObserver::EConnected);
/*
set_gui_state();
set_report_mode();
cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS);
*/
//uint8_t rpt_mode;
//rpt_mode = CWIID_RPT_STATUS | CWIID_RPT_BTN | CWIID_RPT_ACC;
if (cwiid_set_rpt_mode(mWiimote, aReportMode)) {
ULOG_DEBUG_F("Error setting report mode");
}
cwiid_request_status(mWiimote);
}
}
int main(int argc, char *argv[])
{
cwiid_wiimote_t *wiimote; /* wiimote handle */
//struct cwiid_state state; /* wiimote state */
bdaddr_t bdaddr; /* bluetooth device address */
//unsigned char mesg = 0;
//unsigned char led_state = 0;
unsigned char rpt_mode = 0;
//unsigned char rumble = 0;
/* Make stdout unbuffered, which is useful for piping the output of
* this program into a timestamping utility, such as tai64n(1) */
setvbuf(stdout, NULL, _IOLBF, 0);
cwiid_set_err(err);
/* Connect to address given on command-line, if present */
if (argc > 1) {
str2ba(argv[1], &bdaddr);
}
else {
bdaddr = *BDADDR_ANY;
}
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
exit(1);
}
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
exit(1);
}
toggle_bit(rpt_mode, CWIID_RPT_ACC);
toggle_bit(rpt_mode, CWIID_RPT_BTN);
set_rpt_mode(wiimote, rpt_mode);
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Unable to set message flag\n");
exit(1);
}
while(1) {
sleep(1);
}
}
int wii_open()
{
bdaddr = *BDADDR_ANY;
accmode = WII_ACCMODE_BTN;
as = 0;
speedacc = 0;
gettimeofday(&t1,NULL);
printf ( "N: wii: trying to find wiimote...\n" );
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "E: wii: Unable to connect to wiimote\n");
return -1;
}
printf ("N: wii: open\n" );
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "E: wii: Unable to set message callback\n");
cwiid_close(wiimote);
return -1;
}
printf ("N: wii: callback\n" );
if (cwiid_set_led(wiimote, 0x02)) {
fprintf(stderr, "Error setting LEDs \n");
cwiid_close(wiimote);
return -1;
}
printf ("N: wii: led\n" );
if (cwiid_set_rpt_mode(wiimote, CWIID_RPT_BTN | CWIID_RPT_ACC)) {
fprintf(stderr, "E: wii: could not set report mode\n");
cwiid_close(wiimote);
return -1;
}
printf ("N: wii: report mode set\n" );
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC | CWIID_FLAG_CONTINUOUS)) {
fprintf(stderr, "E: wii: could not enable reporting\n");
cwiid_close(wiimote);
return -1;
}
printf ("N: wii: reporting enabled\n" );
wii_connected = 1;
return 0;
}
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);
}
}
/* Sets rpt mode when a new wiiremote is connected */
void CWiiRemote::SetupWiiRemote()
{ //Lights up the apropriate led and setups the rapport mode, so buttons and IR work
SetRptMode();
SetLedState();
for (int i = 0; i < WIIREMOTE_SAMPLES; i++)
{
m_SamplesX[i] = 0;
m_SamplesY[i] = 0;
}
if (cwiid_set_mesg_callback(m_wiiremoteHandle, MessageCallback))
{
CPacketLOG log(LOGERROR, "Unable to set message callback to the WiiRemote");
log.Send(m_Socket, m_MyAddr);
}
}
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 runWiimote() {
//cwiid_set_err(err);
unsigned char mesg;
mesg = 0;
this->led_state = 0;
this->rumbleM = 0;
this->exit = 0;
//Connect to address given on command-line, if present
bdaddr = *BDADDR_ANY;
usleep(100);
cout << endl;
//Connect to the wiimote
cout << "*******************************************************" << endl;
printf("* Put Wiimote in discoverable mode now (press 1+2)... *\n");
cout << "*******************************************************" << endl;
if (!(wiimote = cwiid_open(&bdaddr, CWIID_FLAG_MESG_IFC))) {
fprintf(stderr, "Unable to connect to wiimote\n");
//return -1;
}
if (cwiid_set_mesg_callback(wiimote, &cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
}else{
cwiid_get_acc_cal(wiimote, CWIID_EXT_NONE, &nc_cal);
}
uint8_t rpt_mode;
rpt_mode = CWIID_RPT_STATUS | CWIID_RPT_BTN;
cwiid_set_rpt_mode(wiimote, rpt_mode);
cout << endl;
cout << "Info: wiimote ready to use" << endl;
}
// Creadora del device
TPFC_device_wiimote::TPFC_device_wiimote(int ident, string bta):TPFC_device(ident){
// creamos el bufer de datos
data = new TrackingPFC_data(TrackingPFC_data::TPFCDATA2D);
// sobreescribimos el mensaje de error por defecto con el nuestro, para evitar spam
cwiid_set_err(err);
// comprobamos si tenemos una direccion asignada
if (bta.compare("")==0){
// conectarse al primer wiimote que se encuentre
bdaddr = *BDADDR_ANY;// bluetooth device address
}else{
// conectarse al wiimote con direccion == bta
str2ba(bta.c_str(), &bdaddr);
}
// Conectar los wiimotes
printf("Pon el wiimote en modo discoverable (pulsa 1+2)...\n");
wiimote=NULL;
while (!wiimote){
if ( !(wiimote = cwiid_open(&bdaddr, 0)) ){
printf("Esperando al wiimote (pulsa 1+2)...\n");
}
}
// registramos el wiimote para poder identificar despues los callbacks
registerwiimote(wiimote, this);
// registramos nuestro callback con el wiimote
if (cwiid_set_mesg_callback(wiimote, callback)) {
fprintf(stderr, "No se ha podido registrar el callback\n");
}
// activamos el paso de mensajes desde el wiimote
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error activando los mensajes\n");
}
// configuramos el report mode
unsigned char rpt_mode = 0;
toggle_bit(rpt_mode, CWIID_RPT_IR);
set_rpt_mode(wiimote, rpt_mode);
printf("Wiimote conectado!\n");
}
void menuConnect_activate(void)
{
char reset_bdaddr = 0;
if (bacmp(&bdaddr, BDADDR_ANY) == 0) {
reset_bdaddr = 1;
}
message(GTK_MESSAGE_INFO,
"Put Wiimote in discoverable mode (press 1+2) and press OK",
GTK_WINDOW(winMain));
if ((wiimote = cwiid_open(&bdaddr, CWIID_FLAG_MESG_IFC)) == NULL) {
message(GTK_MESSAGE_ERROR, "Unable to connect", GTK_WINDOW(winMain));
status("No connection");
}
else if (cwiid_set_mesg_callback(wiimote, &cwiid_callback)) {
message(GTK_MESSAGE_ERROR, "Error setting callback",
GTK_WINDOW(winMain));
if (cwiid_close(wiimote)) {
message(GTK_MESSAGE_ERROR, "Error on disconnect",
GTK_WINDOW(winMain));
}
wiimote = NULL;
status("No connection");
}
else {
status("Connected");
if (cwiid_get_acc_cal(wiimote, CWIID_EXT_NONE, &wm_cal)) {
message(GTK_MESSAGE_ERROR, "Unable to retrieve accelerometer "
"calibration", GTK_WINDOW(winMain));
}
set_gui_state();
set_report_mode();
cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS);
cwiid_request_status(wiimote);
}
if (reset_bdaddr) {
bdaddr = *BDADDR_ANY;
}
}
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::cwiidConnect()
{
bdaddr_t bdaddr; /* bluetooth device address */
bdaddr = *BDADDR_ANY;
// connect
if (!(m_wiimote = cwiid_connect(&bdaddr, 0))) {
qDebug() << "Unable to connect to wiimote";
return;
} else {
qDebug() << "Connected to wiimote";
m_actions.at(StartIndex)->setEnabled(false);
m_actions.at(StopIndex)->setEnabled(true);
}
// Set the callback function
if (cwiid_set_mesg_callback(m_wiimote, cwiid_callback)) {
qDebug() << "Unable to set message callback";
cwiidDisconnect();
}
// set the report mode
unsigned char rpt_mode = 0;
toggle_bit(rpt_mode, CWIID_RPT_IR);
cwiidSetReportMode(m_wiimote, rpt_mode);
// enable messaging
if (cwiid_enable(m_wiimote, CWIID_FLAG_MESG_IFC)) {
qDebug() << "Error enabling messages";
}
m_lastDistance = 0.0;
m_lastDot1x = 0.0;
m_lastDot1y = 0.0;
m_lastDot2x = 0.0;
m_lastDot2y = 0.0;
}
int main(int argc, char *argv[])
{
cwiid_wiimote_t *wiimote; /* wiimote handle */
struct cwiid_state state; /* wiimote state */
bdaddr_t bdaddr; /* bluetooth device address */
unsigned char mesg = 0;
unsigned char led_state = 0;
unsigned char rpt_mode = 0;
unsigned char rumble = 0;
int exit = 0;
deviceState.numButtons = NUM_BUTTONS;
deviceState.numAxis = NUM_AXIS;
deviceState.numSensors = NUM_SENSORS;
deviceState.axisValues = NULL;
deviceState.buttonValues = NULL;
deviceState.sensorValues = new SensorData[NUM_SENSORS];
cwiid_set_err(err);
if (argc < 2) {
fprintf(stderr, "Usage: %s HOSTNAME\n\n", argv[0]);
return 1;
} // if
// TODO: parse data from config file!!!
/* Connect to address given on command-line, if present */
if (argc > 2) {
str2ba(argv[2], &bdaddr);
}
else {
bdaddr = *BDADDR_ANY;
}
/* Connect to the wiimote */
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
return -1;
}
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
}
toggle_bit(led_state, CWIID_LED1_ON);
set_led_state(wiimote, led_state);
if (cwiid_get_state(wiimote, &state)) {
fprintf(stderr, "Error getting state\n");
}
print_state(&state);
toggle_bit(rpt_mode, CWIID_RPT_IR);
toggle_bit(rpt_mode, CWIID_RPT_BTN);
// toggle_bit(rpt_mode, CWIID_RPT_ACC);
set_rpt_mode(wiimote, rpt_mode);
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error enabling messages\n");
} else {
mesg = 1;
}
if (initNetwork(argv[1], CLIENTPORT)) {
fprintf(stderr, "Error at network initialization\n");
return -1;
} // if
bool running = true;
while (running) {sleep(1);}
if (cwiid_close(wiimote)) {
fprintf(stderr, "Error on wiimote disconnect\n");
return -1;
}
return 0;
}
/*!
@brief High level task for wiimote.
Handles initializing wiimote.
*/
void control_tasks(char *dev_name)
{
WiimoteState_t WiimoteState = WII_PROMPT;
bdaddr_t bdaddr = *BDADDR_ANY; /* bluetooth device address */
init_tick_count();
#if _MUTEX_ENABLE
pthread_mutex_lock(&mutex);
#endif
#if HAVE_GTK
int argc_dummy = 0;
char **argv_dummy = NULL;
init_gui(argc_dummy, argv_dummy);
set_comm_trace(true);
set_diagnostic_mode(true);
#else
if (0 >= comm_init(dev_name))
{
debug_print("@%u: Cannot initialize %s\n", get_tick_count(), dev_name);
exit(4);
}
else
{
debug_print("@%u: %s initialized.\n", get_tick_count(), dev_name);
}
do
{
debug_print("Connecting to controller board... ");
if (0 > send_password("WIFIBOT123"))
{
debug_print("Error\n");
}
else
{
debug_print("Done\n");
break;
}
}while (1);
#endif
set_lcd(0, "%s", PACKAGE_NAME);
set_lcd(1, "Rev: %s", PACKAGE_VERSION);
// display startup for 1 s
sleep(1);
cwiid_set_err(err);
for (;;)
{
switch (WiimoteState)
{
case WII_PROMPT:
/* Connect to the wiimote */
debug_print(
"Put Wiimote in discoverable mode now (press 1+2)...\n");
set_lcd(0, "Connecting...");
set_lcd(1, "Press 1+2 now");
WiimoteState = WII_WAIT_FOR_CONNECTION;
break;
case WII_WAIT_FOR_CONNECTION:
if (!(wiimote = cwiid_open(&bdaddr, 0)))
{
fprintf(stderr, "Unable to connect to wiimote, retrying...\n");
WiimoteState = WII_PROMPT;
}
else if (cwiid_set_mesg_callback(wiimote, cwiid_callback))
{
fprintf(stderr,
"Unable to set message callback, retrying...\n");
WiimoteState = WII_PROMPT;
}
else
{
WiimoteState = WII_OPERATE;
}
break;
case WII_OPERATE:
default:
main_menu(wiimote, &wiimote_status_data);
debug_print("exiting.\n");
shutdown_application(0);
break;
}
}
}
int main(int argc, char** argv) {
cwiid_wiimote_t *wiimote;
struct cwiid_state state;
bdaddr_t bdaddr;
int exit = 0;
point3Df dimensions3PtsCap[3];
bdaddr = *BDADDR_ANY;
printf("connecting!\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
return -1;
}
printf("connected\n");
cwiid_set_led(wiimote, CWIID_LED1_ON | CWIID_LED4_ON);
cwiid_set_rpt_mode(wiimote, CWIID_RPT_STATUS | CWIID_RPT_IR);
//*
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
}
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error enabling messages\n");
}
// */
dimensions3PtsCap[0].x = 70;
dimensions3PtsCap[0].y = 80;
dimensions3PtsCap[0].z = 100;
Initialize3PCapModel(dimensions3PtsCap);
while (!exit) {
switch(getchar()) {
case 'q':
exit = 1;
break;
default:
if (cwiid_get_state(wiimote, &state)) {
printf("Error getting state\n");
} else {
print_state(&state);
}
}
}
/*
if (getchar()) {
printf("Exiting\n");
}
**/
if (cwiid_close(wiimote)) {
printf("Error on wiimote disconnect\n");
return -1;
}
return (EXIT_SUCCESS);
}
int main(int argc, char *argv[])
{
char wait_forever = 0, quiet = 0, reconnect = 0, reconnect_wait = 0;
char *config_search_dirs[3], *plugin_search_dirs[3];
char *config_filename = DEFAULT_CONFIG_FILE;
char home_config_dir[HOME_DIR_LEN];
char home_plugin_dir[HOME_DIR_LEN];
char *tmp;
const char *dev_name = NULL;
int c, i;
char *str_addr;
bdaddr_t bdaddr, current_bdaddr;
sigset_t sigset;
int signum, ret=0;
struct uinput_listen_data uinput_listen_data;
pthread_t uinput_listen_thread;
init = 1;
/* Parse Options */
while (1) {
int option_index = 0;
static struct option long_options[] = {
{"help", 0, 0, 'h'},
{"version", 0, 0, 'v'},
{"config", 1, 0, 'c'},
{"daemon", 0, 0, 'd'},
{"quiet", 0, 0, 'q'},
{"reconnect", 2, 0, 'r'},
{"wait", 0, 0, 'w'},
{"name", 1, 0, 'n'},
{0, 0, 0, 0}
};
c = getopt_long (argc, argv, "hvc:dqr::wn:", long_options, &option_index);
if (c == -1) {
break;
}
switch (c) {
case 'h':
print_usage();
return 0;
break;
case 'v':
printf("CWiid Version %s\n", PACKAGE_VERSION);
return 0;
break;
case 'c':
config_filename = optarg;
break;
case 'd':
wait_forever = 1;
quiet = 1;
reconnect = 1;
break;
case 'q':
quiet = 1;
break;
case 'r':
reconnect = 1;
if (optarg) {
reconnect_wait = strtol(optarg, &tmp, 10);
if (*tmp != '\0') {
wminput_err("bad reconnect wait time");
return -1;
}
}
break;
case 'w':
wait_forever = 1;
break;
case 'n':
dev_name = optarg;
break;
case '?':
printf("Try `wminput --help` for more information\n");
return 1;
break;
default:
return -1;
break;
}
}
if (c_init()) {
return -1;
}
#ifdef HAVE_PYTHON
if (py_init()) {
return -1;
}
#endif
/* Load Config */
/* Setup search directory arrays */
if ((tmp = getenv("HOME")) == NULL) {
wminput_err("Unable to find home directory");
config_search_dirs[0] = WMINPUT_CONFIG_DIR;
plugin_search_dirs[0] = CWIID_PLUGINS_DIR;
config_search_dirs[1] = plugin_search_dirs[1] = NULL;
}
else {
snprintf(home_config_dir, HOME_DIR_LEN, "%s/.cwiid/wminput", tmp);
snprintf(home_plugin_dir, HOME_DIR_LEN, "%s/.cwiid/plugins", tmp);
config_search_dirs[0] = home_config_dir;
plugin_search_dirs[0] = home_plugin_dir;
config_search_dirs[1] = WMINPUT_CONFIG_DIR;
plugin_search_dirs[1] = CWIID_PLUGINS_DIR;
config_search_dirs[2] = plugin_search_dirs[2] = NULL;
}
if (conf_load(&conf, config_filename, config_search_dirs,
plugin_search_dirs, dev_name)) {
return -1;
}
/* Determine BDADDR */
/* priority: command-line option, environment variable, BDADDR_ANY */
if (optind < argc) {
if (str2ba(argv[optind], &bdaddr)) {
wminput_err("invalid bdaddr");
bdaddr = *BDADDR_ANY;
}
optind++;
if (optind < argc) {
wminput_err("invalid command-line");
print_usage();
conf_unload(&conf);
return -1;
}
}
else if ((str_addr = getenv(WIIMOTE_BDADDR)) != NULL) {
if (str2ba(str_addr, &bdaddr)) {
wminput_err("invalid address in %s", WIIMOTE_BDADDR);
bdaddr = *BDADDR_ANY;
}
}
else {
bdaddr = *BDADDR_ANY;
}
sigemptyset(&sigset);
sigaddset(&sigset, SIGTERM);
sigaddset(&sigset, SIGINT);
sigaddset(&sigset, SIGUSR1);
do {
bacpy(¤t_bdaddr, &bdaddr);
/* Wiimote Connect */
if (!quiet) {
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
}
if (wait_forever) {
if (!bacmp(¤t_bdaddr, BDADDR_ANY)) {
if (cwiid_find_wiimote(¤t_bdaddr, -1)) {
wminput_err("error finding wiimote");
conf_unload(&conf);
return -1;
}
}
/* TODO: avoid continuously calling cwiid_open */
cwiid_set_err(cwiid_err_connect);
while (!(wiimote = cwiid_open(¤t_bdaddr, CWIID_FLAG_MESG_IFC)));
cwiid_set_err(cwiid_err_default);
}
else {
if ((wiimote = cwiid_open(¤t_bdaddr, CWIID_FLAG_MESG_IFC)) == NULL) {
wminput_err("unable to connect");
conf_unload(&conf);
return -1;
}
}
if (cwiid_set_mesg_callback(wiimote, &cwiid_callback)) {
wminput_err("error setting callback");
conf_unload(&conf);
return -1;
}
if (c_wiimote(wiimote)) {
conf_unload(&conf);
return -1;
}
#ifdef HAVE_PYTHON
if (py_wiimote(wiimote)) {
conf_unload(&conf);
return -1;
}
#endif
/* init plugins */
for (i=0; (i < CONF_MAX_PLUGINS) && conf.plugins[i].name; i++) {
switch (conf.plugins[i].type) {
case PLUGIN_C:
if (c_plugin_init(&conf.plugins[i], i)) {
wminput_err("error on %s init", conf.plugins[i].name);
conf_unload(&conf);
cwiid_close(wiimote);
return -1;
}
break;
#ifdef HAVE_PYTHON
case PLUGIN_PYTHON:
if (py_plugin_init(&conf.plugins[i], i)) {
wminput_err("error %s init", conf.plugins[i].name);
conf_unload(&conf);
cwiid_close(wiimote);
return -1;
}
break;
#endif
}
}
if (wminput_set_report_mode()) {
conf_unload(&conf);
cwiid_close(wiimote);
return -1;
}
uinput_listen_data.wiimote = wiimote;
uinput_listen_data.conf = &conf;
if (pthread_create(&uinput_listen_thread, NULL,
(void *(*)(void *))uinput_listen,
&uinput_listen_data)) {
wminput_err("error starting uinput listen thread");
conf_unload(&conf);
cwiid_close(wiimote);
return -1;
}
if (!quiet) {
printf("Ready.\n");
}
init = 0;
/* wait */
sigprocmask(SIG_BLOCK, &sigset, NULL);
sigwait(&sigset, &signum);
sigprocmask(SIG_UNBLOCK, &sigset, NULL);
if ((signum == SIGTERM) || (signum == SIGINT)) {
reconnect = 0;
}
if (pthread_cancel(uinput_listen_thread)) {
wminput_err("Error canceling uinput listen thread");
ret = -1;
}
else if (pthread_join(uinput_listen_thread, NULL)) {
wminput_err("Error joining uinput listen thread");
ret = -1;
}
c_wiimote_deinit();
#ifdef HAVE_PYTHON
py_wiimote_deinit();
#endif
/* disconnect */
if (cwiid_close(wiimote)) {
wminput_err("Error on wiimote disconnect");
ret = -1;
}
if (reconnect && reconnect_wait) {
sleep(reconnect_wait);
}
} while (reconnect);
if (conf_unload(&conf)) {
ret = -1;
}
c_deinit();
#ifdef HAVE_PYTHON
py_deinit();
#endif
if (!quiet) {
printf("Exiting.\n");
}
return ret;
}
int main(int argc, char *argv[])
{
if (argc != 2) {
printf("Usage: %s 3, where 3 is the number of gestures to recognize\n", argv[0]);
exit(1);
}
n_gestures = atoi(argv[1]);
hmms = malloc(n_gestures * sizeof(HmmStateRef));
int n_states = n_gestures+3;
int n_obs = 17;
for(int i = 0; i < n_gestures; i++) {
hmms[i] = hmm_new(n_states, n_obs);
}
cwiid_wiimote_t *wiimote; /* wiimote handle */
//struct cwiid_state state; /* wiimote state */
bdaddr_t bdaddr; /* bluetooth device address */
//unsigned char mesg = 0;
//unsigned char led_state = 0;
unsigned char rpt_mode = 0;
//unsigned char rumble = 0;
/* Make stdout unbuffered, which is useful for piping the output of
* this program into a timestamping utility, such as tai64n(1) */
setvbuf(stdout, NULL, _IOLBF, 0);
cwiid_set_err(err);
#if WE_ACTUALLY_CARE_ABOUT_BLUETOOTH
/* Connect to address given on command-line, if present */
if (argc > 1) {
str2ba(argv[1], &bdaddr);
}
else {
#endif
bdaddr = *BDADDR_ANY;
#if WE_ACTUALLY_CARE_ABOUT_BLUETOOTH
}
#endif
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
exit(1);
}
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
exit(1);
}
toggle_bit(rpt_mode, CWIID_RPT_ACC);
toggle_bit(rpt_mode, CWIID_RPT_BTN);
set_rpt_mode(wiimote, rpt_mode);
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Unable to set message flag\n");
exit(1);
}
while(1) {
sleep(1);
}
}
int main()
{
cwiid_wiimote_t *wiimote = NULL;
struct cwiid_state state;
uint8_t ledstate = 0x0f;
uint8_t cnt = 0;
uint8_t led[4] = {0, 0, 0, 0};
uint8_t step = 0;
uint8_t x = 0;
uint8_t i;
uint8_t next_mode = 0;
puts("Press 1+2 to connect wiimote.");
if ((wiimote = cwiid_open(BDADDR_ANY, 0)) == NULL) {
fputs("Unable to connect\n", stderr);
return EXIT_FAILURE;
}
fputs("connected\n", stdout);
sleep(2);
set_led_fun(0);
if (cwiid_get_acc_cal(wiimote, CWIID_EXT_NONE, &wm_cal))
fputs("unable to retrieve accelerometer calibration\n", stderr);
if (!cwiid_get_state(wiimote, &state))
printf("battery at %d%%\n",
(int)(100.0 * state.battery / CWIID_BATTERY_MAX));
if (cwiid_set_mesg_callback(wiimote, cwiid_callback))
fputs("cannot set callback. buttons won't work.\n", stderr);
/* cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS);
*/
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC))
fputs("cannot enable callback. buttons won't work.\n", stderr);
if (cwiid_set_rpt_mode(wiimote,
CWIID_RPT_BTN | CWIID_RPT_ACC | CWIID_RPT_STATUS | CWIID_RPT_EXT))
fputs("cannot set report mode. buttons won't work.\n", stderr);
while (1) {
if (++cnt >= cnt_max) {
cnt = 0;
if (++x == x_max) {
x = 0;
if (!auto_mode && (++next_mode == 42)) {
set_led_fun(cur_mode + 1);
next_mode = 0;
}
}
for (i = 0; i < 4; i++)
led[i] = f_led[i][x];
}
step = cnt % MAX_BRIGHTNESS;
if (step == 0)
ledstate = 0x0f;
for (i = 0; i < 4; i++)
if (step == led[i])
ledstate &= ~(1 << i);
if (cwiid_set_led(wiimote, ledstate))
fputs("Error setting LED state\n", stderr);
}
return EXIT_SUCCESS;
}
int main(int argc, char *argv[])
{
cwiid_wiimote_t *wiimote; /* wiimote handle */
struct cwiid_state state; /* wiimote state */
bdaddr_t bdaddr; /* bluetooth device address */
unsigned char mesg = 0;
unsigned char led_state = 0;
unsigned char rpt_mode = 0;
unsigned char rumble = 0;
int exit = 0;
cwiid_set_err(err);
/* Connect to address given on command-line, if present */
if (argc > 1) {
str2ba(argv[1], &bdaddr);
}
else {
bdaddr = *BDADDR_ANY;
}
/* Connect to the wiimote */
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
return -1;
}
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
}
printf("Note: To demonstrate the new API interfaces, wmdemo no longer "
"enables messages by default.\n"
"Output can be gathered through the new state-based interface (s), "
"or by enabling the messages interface (c).\n");
/* Menu */
printf("%s", MENU);
while (!exit) {
switch (getchar()) {
case '1':
toggle_bit(led_state, CWIID_LED1_ON);
set_led_state(wiimote, led_state);
break;
case '2':
toggle_bit(led_state, CWIID_LED2_ON);
set_led_state(wiimote, led_state);
break;
case '3':
toggle_bit(led_state, CWIID_LED3_ON);
set_led_state(wiimote, led_state);
break;
case '4':
toggle_bit(led_state, CWIID_LED4_ON);
set_led_state(wiimote, led_state);
break;
case '5':
toggle_bit(rumble, 1);
if (cwiid_set_rumble(wiimote, rumble)) {
fprintf(stderr, "Error setting rumble\n");
}
break;
case 'a':
toggle_bit(rpt_mode, CWIID_RPT_ACC);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'b':
toggle_bit(rpt_mode, CWIID_RPT_BTN);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'e':
/* CWIID_RPT_EXT is actually
* CWIID_RPT_NUNCHUK | CWIID_RPT_CLASSIC */
toggle_bit(rpt_mode, CWIID_RPT_EXT);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'i':
/* libwiimote picks the highest quality IR mode available with the
* other options selected (not including as-yet-undeciphered
* interleaved mode */
toggle_bit(rpt_mode, CWIID_RPT_IR);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'm':
if (!mesg) {
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error enabling messages\n");
}
else {
mesg = 1;
}
}
else {
if (cwiid_disable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error disabling message\n");
}
else {
mesg = 0;
}
}
break;
case 'p':
printf("%s", MENU);
break;
case 'r':
if (cwiid_request_status(wiimote)) {
fprintf(stderr, "Error requesting status message\n");
}
break;
case 's':
if (cwiid_get_state(wiimote, &state)) {
fprintf(stderr, "Error getting state\n");
}
print_state(&state);
break;
case 't':
toggle_bit(rpt_mode, CWIID_RPT_STATUS);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'x':
exit = -1;
break;
case '\n':
break;
default:
fprintf(stderr, "invalid option\n");
}
}
if (cwiid_close(wiimote)) {
fprintf(stderr, "Error on wiimote disconnect\n");
return -1;
}
return 0;
}
int main()
{
cwiid_wiimote_t *wiimote = NULL;
struct cwiid_state state;
double wlt, wrt, wlb, wrb;
double bal_x, bal_y;
if ((wiimote = cwiid_open(BDADDR_ANY, 0)) == NULL) {
fputs("Unable to connect\n", stderr);
return EXIT_FAILURE;
}
fputs("connected\n", stdout);
sleep(2);
if (cwiid_set_led(wiimote, 1))
fputs("Unable to set LED state\n", stderr);
if (cwiid_get_balance_cal(wiimote, &balance_cal))
fputs("unable to retrieve balance calibration\n", stderr);
printf("bcal %d/%d/%d %d/%d/%d\n %d/%d/%d %d/%d/%d\n",
balance_cal.left_top[0],
balance_cal.left_top[1],
balance_cal.left_top[2],
balance_cal.right_top[0],
balance_cal.right_top[1],
balance_cal.right_top[2],
balance_cal.left_bottom[0],
balance_cal.left_bottom[1],
balance_cal.left_bottom[2],
balance_cal.right_bottom[0],
balance_cal.right_bottom[1],
balance_cal.right_bottom[2]
);
if (!cwiid_get_state(wiimote, &state))
printf("battery at %d%%\n",
(int)(100.0 * state.battery / CWIID_BATTERY_MAX));
if (cwiid_set_mesg_callback(wiimote, cwiid_callback))
fputs("cannot set callback. buttons won't work.\n", stderr);
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC))
fputs("cannot enable callback. buttons won't work.\n", stderr);
if (cwiid_set_rpt_mode(wiimote,
CWIID_RPT_ACC | CWIID_RPT_STATUS | CWIID_RPT_EXT))
fputs("cannot set report mode. buttons won't work.\n", stderr);
while (1) {
cwiid_get_state(wiimote, &state);
wlt = weight(state.ext.balance.left_top, balance_cal.left_top);
wrt = weight(state.ext.balance.right_top, balance_cal.right_top);
wlb = weight(state.ext.balance.left_bottom, balance_cal.left_bottom);
wrb = weight(state.ext.balance.right_bottom, balance_cal.right_bottom);
bal_x = (wrt + wrb) / (wlt + wlb);
if (bal_x > 1)
bal_x = ((wlt + wlb) / (wrt + wrb) * (-1.0)) + 1.0;
else
bal_x -= 1;
bal_y = (wlt + wrt) / (wlb + wrb);
if (bal_y > 1)
bal_y = ((wlb + wrb) / (wlt + wrt) * (-1.0)) + 1.0;
else
bal_y -= 1;
printf("%6.1f kg %6.1f kg %04x %04x (%5.1f kg)\n%6.1f kg %6.1f kg %04x %04x\n\n",
wlt, wrt,
state.ext.balance.left_top, state.ext.balance.right_top,
wlt + wrt + wlb + wrb,
wlb, wrb,
state.ext.balance.left_bottom, state.ext.balance.right_bottom
);
printf("balance %6f %6f\n\n", bal_x, bal_y);
sleep(1);
}
return EXIT_SUCCESS;
}
// The following function attempts to connect to a wiimote at a
// specific address, provided as an argument. eg, 00:19:1D:70:CE:72
// This address can be discovered by running the following command
// in a console:
// hcitool scan | grep Nintendo
static void wiimote_doConnect(t_wiimote *x, t_symbol *addr, t_symbol *dongaddr)
{
bdaddr_t bdaddr;
unsigned int flags = CWIID_FLAG_MESG_IFC;
bdaddr_t dong_bdaddr;
bdaddr_t* dong_bdaddr_ptr=&dong_bdaddr;
if(x->connected) {
wiimote_doDisconnect(x);
}
// determine address:
if (NULL==addr || addr==gensym("")) {
verbose(1, "searching for wii...");
bdaddr = *BDADDR_ANY;
} else {
str2ba(addr->s_name, &bdaddr);
verbose(1, "Connecting to Wii '%s'", addr->s_name);
}
post("Press buttons 1 and 2 simultaneously.");
// determine dongleaddress:
if (NULL==dongaddr || dongaddr==gensym("")) {
verbose(1, "using default dongle");
dong_bdaddr_ptr = NULL;
} else {
verbose(1, "using dongle '%s'", dongaddr->s_name);
str2ba(dongaddr->s_name, &dong_bdaddr);
}
// connect:
#ifdef CWIID_OPEN_WITH_DONGLE
verbose(1,"wiimote: opening multidongle");
x->wiimote = cwiid_open(&bdaddr, dong_bdaddr_ptr, flags);
#else
verbose(1,"wiimote: opening");
x->wiimote = cwiid_open(&bdaddr, flags);
#endif
if(NULL==x->wiimote) {
pd_error(x, "wiimote: unable to connect");
wiimote_out_status(x, x->connected);
return;
}
if(!addWiimoteObject(x, cwiid_get_id(x->wiimote))) {
cwiid_close(x->wiimote);
x->wiimote=NULL;
wiimote_out_status(x, x->connected);
return;
}
x->wiimoteID= cwiid_get_id(x->wiimote);
post("wiimote %i is successfully connected", x->wiimoteID);
if(cwiid_get_acc_cal(x->wiimote, CWIID_EXT_NONE, &x->acc_cal)) {
post("Unable to retrieve accelerometer calibration");
} else {
post("Retrieved wiimote calibration: zero=(%02d,%02d,%02d) one=(%02d,%02d,%02d)",
x->acc_cal.zero[CWIID_X],
x->acc_cal.zero[CWIID_Y],
x->acc_cal.zero[CWIID_Z],
x->acc_cal.one [CWIID_X],
x->acc_cal.one [CWIID_Y],
x->acc_cal.one [CWIID_Z]);
}
x->connected = 1;
wiimote_out_status(x, x->connected);
x->reportMode |= CWIID_RPT_STATUS;
x->reportMode |= CWIID_RPT_BTN;
wiimote_resetReportMode(x);
if (cwiid_set_mesg_callback(x->wiimote, &cwiid_callback)) {
pd_error(x, "Unable to set message callback");
}
wiimote_setbasetime(x);
}
