void Hardware_Init( void )
{
System_Init();
Vbl_Init();
Video_Init();
IKBD_Init();
Graphic_Init();
}
int main(int argc, char **argv)
{
struct sockaddr_in addr;
int opt, result;
char dest_addr[OPT_BUF_SIZE + 1] = "127.0.0.1";
char dest_port[OPT_BUF_SIZE + 1] = "3425";
unsigned char joystickID = 0; /* Default joystick Id */
/* Init SDL */
if( SDL_Init( SDL_INIT_EVERYTHING ) == -1 )
{
return 1;
}
/* Init SDL_ttf */
if( TTF_Init() != 0 )
{
return 1;
}
while (-1 != (opt = getopt(argc, argv, "hJj:i:p:"))) {
switch (opt) {
/* Show help */
case '?':
case 'h':
puts("help: ");
return 0;
/* Show available joysticks */
case 'J':
/* Check for joysticks */
if( SDL_NumJoysticks() < 1 ) {
printf( "Joysticks discovering: No joysticks connected!\n" );
}
else {
printf( "Joysticks discovering: %d joysticks found!\n", SDL_NumJoysticks());
int i;
printf("ID DEVICE NAME\n");
for (i = 0; i < SDL_NumJoysticks(); i++) {
printf( "%d - %s\n", i, SDL_JoystickNameForIndex(i));
}
}
return 0;
break;
/* Choise joystick by id */
case 'j':
joystickID = atoi(optarg);
break;
/* Set destination ip addres */
case 'i':
snprintf(dest_addr, OPT_BUF_SIZE, "%s", optarg);
break;
/* Set destination port */
case 'p':
snprintf(dest_port, OPT_BUF_SIZE, "%s", optarg);
break;
default:
break;
}
}
sock = socket(AF_INET, SOCK_STREAM, 0);
if(sock < 0) {
perror("Socket");
return 1;
}
addr.sin_family = AF_INET;
addr.sin_addr.s_addr = inet_addr(dest_addr);
addr.sin_port = htons(atoi(dest_port));
printf("Connecting %s:%s...\n", dest_addr, dest_port);
if(connect(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("Connect");
return 2;
}
puts("Connected!");
puts("press ENTER to exit");
/* Telemetry thread creating */
result = pthread_create(&telemetry_thread, NULL, thread_telemetry, NULL);
if (result != 0) {
perror("Creating the thread");
return 1;
}
/* Check for joysticks */
if( SDL_NumJoysticks() < 1 ) {
printf( "Warning: No joysticks connected!\n" );
}
else {
/* Open joystick */
if( SDL_JoystickOpen( joystickID ) == NULL ) {
printf( "Warning: Unable to open game controller!\n" );
//SDL_JoystickEventState(SDL_ENABLE);
}
/* Joystick control thread creating */
result = pthread_create(&joystick_thread, NULL, thread_joystick_control, NULL);
if (result != 0) {
perror("Creating the thread");
return 1;
}
}
Graphic_Init();
while(1) {
if( SDL_PollEvent( &event ) ) {
if( event.type == SDL_KEYDOWN ) {
/* We don't use keybord repeat events */
if ( !event.key.repeat ) {
switch( event.key.keysym.sym ) {
case SDLK_UP:
chassis_state = FORWARD;
thread_id = 1;
//sprintf(thread_commands[thread_id], "run=F,%d,%d\n", run_speed, run_time);
puts("UP");
result = pthread_create(&thread, NULL, thread_command_send, &thread_id);
if (result != 0) {
perror("Creating the thread");
return 1;
}
SET_DIGITAL_INPUT;
break;
case SDLK_DOWN:
chassis_state = BACKWARD;
thread_id = 2;
//sprintf(thread_commands[thread_id], "run=B,%d,%d\n", run_speed, run_time);
puts("DOWN");
result = pthread_create(&thread, NULL, thread_command_send, &thread_id);
if (result != 0) {
perror("Creating the thread");
return 1;
}
SET_DIGITAL_INPUT;
break;
case SDLK_LEFT:
steer_pos = LEFT_STEER_POS;
sprintf(single_command, "steer=%d\n", steer_pos);
send(sock, single_command, strlen(single_command), 0);
puts("LEFT");
break;
case SDLK_RIGHT:
steer_pos = RIGHT_STEER_POS;
sprintf(single_command, "steer=%d\n", steer_pos);
//single_command = strbuf;
send(sock, single_command, strlen(single_command), 0);
puts("RIGHT");
break;
case SDLK_PAGEUP:
thread_id = 1;
result = pthread_create(&thread, NULL, thread_speed_change, &thread_id);
if (result != 0) {
perror("Creating the thread");
return 1;
}
break;
case SDLK_PAGEDOWN:
thread_id = 2;
result = pthread_create(&thread, NULL, thread_speed_change, &thread_id);
if (result != 0) {
perror("Creating the thread");
return 1;
}
break;
case SDLK_RETURN:
Quit();
return 0;
break;
default:
break;
}
}
}
else if( event.type == SDL_KEYUP ) {
/* We don't use keybord repeat events */
if ( !event.key.repeat ) {
switch( event.key.keysym.sym ) {
case SDLK_UP:
chassis_state = NONE;
puts("STOP");
//UpdateScreen(0.0, NONE, run_speed);
break;
case SDLK_DOWN:
chassis_state = NONE;
puts("STOP");
//UpdateScreen(0.0, NONE, run_speed);
break;
case SDLK_LEFT:
case SDLK_RIGHT:
steer_pos = CENTER_STEER_POS;
sprintf(single_command, "steer=%d\n", steer_pos);
send(sock, single_command, strlen(single_command), 0);
//UpdateScreen(0.0, NONE, run_speed);
puts("CENTER");
break;
case SDLK_PAGEUP:
case SDLK_PAGEDOWN:
/*
result = pthread_cancel(thread3);
if (result != 0) {
perror("Cancelling the thread");
return 1;
}
*/
break;
default:
break;
}
}
}
else if( event.type == SDL_QUIT ) {
Quit();
return 0;
}
else if( event.type == SDL_JOYAXISMOTION ) {
//Motion on controller 0
if( event.jaxis.which == joystickID ) {
unsigned short value = 0;
switch (event.jaxis.axis) {
/* Steering axis */
case 3:
value = CENTER_STEER_POS + ((( RIGHT_STEER_POS - LEFT_STEER_POS ) / 2 ) * \
event.jaxis.value ) / 32768;
/* Joystick steer treshold protection */
if ( ABS( steer_pos - value ) > JOYSTICK_STEER_TRESHOLD_VALUE ) {
steer_pos = value;
printf("steer_pos = %d\n", steer_pos);
sprintf(single_command, "steer=%d\n", steer_pos);
send(sock, single_command, strlen(single_command), 0);
}
break;
/* Speed & direction axis */
case 2:
if ( event.jaxis.value < 0 ) {
run_direction = "F";
chassis_state = FORWARD;
//run_speed = (( 0 - event.jaxis.value ) * 255 ) / 32768;
//printf("%d\n",0 - event.jaxis.value ); // debug
}
else if ( event.jaxis.value > 0 ) {
run_direction = "B";
chassis_state = BACKWARD;
//run_speed = ((event.jaxis.value ) * 255 ) / 32767;
//printf("%d\n", event.jaxis.value ); // debug
}
else {
chassis_state = NONE;
}
value = ( ABS(event.jaxis.value) * ( 255 - JOYSTICK_RUN_DEADZONE_VALUE ) ) / 32768 + JOYSTICK_RUN_DEADZONE_VALUE;
printf("%d\n", ABS(event.jaxis.value) ); // debug
/* Joystick run treshold protection */
if ( ABS( run_speed - value ) > JOYSTICK_RUN_TRESHOLD_VALUE ) {
run_speed = value;
sprintf(single_command, "run=%s,%d,%d\n", run_direction, run_speed, run_time);
send(sock, single_command, strlen(single_command), 0);
SET_ANALOG_INPUT;
}
break;
/* Turret axis */
case 0:
if (turret_state == STOP) {
turn_speed = 150;
}
else {
value = ( ABS(event.jaxis.value) * ( 200 - TURRET_HOR_DC_DEADZONE_VALUE ) ) / 32768 + TURRET_HOR_DC_DEADZONE_VALUE;
printf("%d\n", ABS(event.jaxis.value) ); // debug
turn_speed = value;
}
if ( event.jaxis.value < 0 ) {
turn_direction = "R";
turret_state = RIGHT;
}
else if ( event.jaxis.value > 0 ) {
turn_direction = "L";
turret_state = LEFT;
}
else {
turret_state = STOP;
}
/* Joystick run treshold protection */
if ( ABS( turn_speed - value ) > TURRET_HOR_DC_TRESHOLD_VALUE ) {
sprintf(single_command, "turhdc=%s,%d,%d\n", turn_direction, turn_speed, turn_time);
send(sock, single_command, strlen(single_command), 0);
}
SET_ANALOG_INPUT;
break;
/* Turret axis */
case 1:
break;
}
}
}
else if( event.type == SDL_JOYBUTTONDOWN ) {
//Motion on controller 0
if( event.jaxis.which == joystickID ) {
}
}
}
UpdateScreen((double)((0 - CENTER_STEER_POS + steer_pos) / 6), chassis_state, run_speed, 0);
}
return 0;
}
