FAR void *trv_nxlistener(FAR void *arg)
{
int ret;
/* Process events forever */
for (;;)
{
/* Handle the next event. If we were configured blocking, then
* we will stay right here until the next event is received. Since
* we have dedicated a while thread to servicing events, it would
* be most natural to also select CONFIG_NX_BLOCKING -- if not, the
* following would be a tight infinite loop (unless we added addition
* logic with nx_eventnotify and sigwait to pace it).
*/
ret = nx_eventhandler(g_hnx);
if (ret < 0)
{
/* An error occurred... assume that we have lost connection with
* the server.
*/
trv_abort("Lost server connection: %d\n", errno);
}
/* If we received a message, we must be connected */
if (!g_trv_nxrconnected)
{
g_trv_nxrconnected = true;
sem_post(&g_trv_nxevent);
trv_debug("Connected to server\n");
}
}
}
static int trv_joystick_calibrate(void)
{
struct ajoy_sample_s sample;
int ret;
printf("Calibrating the joystick...\n");
/* Get the center position */
printf("Center the joystick and press any button\n");
ret = trv_joystick_sample(&sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: trv_joystick_sample() failed: %d\n", errno);
return ret;
}
g_trv_joystick.centerx = sample.as_x;
g_trv_joystick.centery = sample.as_y;
/* Get the left/right calibration data */
printf("Move the joystick to the far RIGHT and press any button\n");
ret = trv_joystick_sample(&sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: trv_joystick_sample() failed: %d\n", errno);
return ret;
}
g_trv_joystick.lplus = (sample.as_x > g_trv_joystick.centerx);
g_trv_joystick.leftslope = trv_joystick_slope(sample.as_x - g_trv_joystick.centerx, MAX_RATE);
g_trv_joystick.lturnslope = trv_joystick_slope(sample.as_x - g_trv_joystick.centerx, MAX_TURN);
printf("Move the joystick to the far LEFT and press any button\n");
ret = trv_joystick_sample(&sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: trv_joystick_sample() failed: %d\n", errno);
return ret;
}
g_trv_joystick.rightslope = trv_joystick_slope(sample.as_x - g_trv_joystick.centerx, -MAX_RATE);
g_trv_joystick.rturnslope = trv_joystick_slope(sample.as_x - g_trv_joystick.centerx, -MAX_TURN);
/* Get the forward/backward calibration data */
printf("Move the joystick to the far FORWARD and press any button\n");
ret = trv_joystick_sample(&sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: trv_joystick_sample() failed: %d\n", errno);
return ret;
}
g_trv_joystick.fplus = (sample.as_y > g_trv_joystick.centery);
g_trv_joystick.fwdslope = trv_joystick_slope(sample.as_y - g_trv_joystick.centery, MAX_RATE);
g_trv_joystick.uturnslope = trv_joystick_slope(sample.as_y - g_trv_joystick.centery, MAX_TURN);
printf("Move the joystick to the far BACKWARD and press any button\n");
ret = trv_joystick_sample(&sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: trv_joystick_sample() failed: %d\n", errno);
return ret;
}
g_trv_joystick.backslope = trv_joystick_slope(sample.as_y - g_trv_joystick.centery, -MAX_RATE);
g_trv_joystick.dturnslope = trv_joystick_slope(sample.as_y - g_trv_joystick.centery, -MAX_TURN);
printf("Calibrated:\n");
trv_debug(" X: center=%d, R-slope=%08lx L-slope=%08lx\n",
g_trv_joystick.centerx, g_trv_joystick.rightslope,
g_trv_joystick.leftslope);
trv_debug(" Y: center=%d, F-slope=%08lx B-slope=%08lx\n",
g_trv_joystick.centery, g_trv_joystick.fwdslope,
g_trv_joystick.backslope);
return OK;
}
