int wiiuse_os_read(struct wiimote_t* wm, byte* buf, int len) {
DWORD b, r;
if (!wm || !WIIMOTE_IS_CONNECTED(wm)) {
return 0;
}
if (!ReadFile(wm->dev_handle, buf, len, &b, &wm->hid_overlap)) {
/* partial read */
b = GetLastError();
if ((b == ERROR_HANDLE_EOF) || (b == ERROR_DEVICE_NOT_CONNECTED)) {
/* remote disconnect */
wiiuse_disconnected(wm);
return 0;
}
r = WaitForSingleObject(wm->hid_overlap.hEvent, wm->timeout);
if (r == WAIT_TIMEOUT) {
/* timeout - cancel and continue */
if (*buf) {
WIIUSE_WARNING("Packet ignored. This may indicate a problem (timeout is %i ms).", wm->timeout);
}
CancelIo(wm->dev_handle);
ResetEvent(wm->hid_overlap.hEvent);
return 0;
} else if (r == WAIT_FAILED) {
WIIUSE_WARNING("A wait error occurred on reading from wiimote %i.", wm->unid);
return 0;
}
if (!GetOverlappedResult(wm->dev_handle, &wm->hid_overlap, &b, 0)) {
return 0;
}
/* log the received data */
#ifdef WITH_WIIUSE_DEBUG
{
DWORD i;
printf("[DEBUG] (id %i) RECV: (%.2x) ", wm->unid, buf[0]);
for (i = 1; i < b; i++) {
printf("%.2x ", buf[i]);
}
printf("\n");
}
#endif
}
ResetEvent(wm->hid_overlap.hEvent);
return 1;
}
int wiiuse_os_read(struct wiimote_t* wm, byte* buf, int len) {
int rc;
int i;
rc = read(wm->in_sock, buf, len);
if (rc == -1) {
/* error reading data */
WIIUSE_ERROR("Receiving wiimote data (id %i).", wm->unid);
perror("Error Details");
if (errno == ENOTCONN) {
/* this can happen if the bluetooth dongle is disconnected */
WIIUSE_ERROR("Bluetooth appears to be disconnected. Wiimote unid %i will be disconnected.", wm->unid);
wiiuse_os_disconnect(wm);
wiiuse_disconnected(wm);
}
} else if (rc == 0) {
/* remote disconnect */
wiiuse_disconnected(wm);
} else {
/* read successful */
/* on *nix we ignore the first byte */
memmove(buf, buf + 1, len - 1);
/* log the received data */
#ifdef WITH_WIIUSE_DEBUG
{
int i;
printf("[DEBUG] (id %i) RECV: (%.2x) ", wm->unid, buf[0]);
for (i = 1; i < rc; i++) {
printf("%.2x ", buf[i]);
}
printf("\n");
}
#endif
}
return rc;
}
int wiiuse_os_write(struct wiimote_t* wm, byte report_type, byte* buf, int len) {
int rc;
byte write_buffer[MAX_PAYLOAD];
write_buffer[0] = WM_SET_REPORT | WM_BT_OUTPUT;
write_buffer[1] = report_type;
memcpy(write_buffer + 2, buf, len);
rc = write(wm->out_sock, write_buffer, len + 2);
if (rc < 0) {
wiiuse_disconnected(wm);
}
return rc;
}
int wiiuse_io_read(struct wiimote_t* wm) {
DWORD b, r;
if (!wm || !WIIMOTE_IS_CONNECTED(wm))
return 0;
if (!ReadFile(wm->dev_handle, wm->event_buf, sizeof(wm->event_buf), &b, &wm->hid_overlap)) {
/* partial read */
b = GetLastError();
if ((b == ERROR_HANDLE_EOF) || (b == ERROR_DEVICE_NOT_CONNECTED)) {
/* remote disconnect */
wiiuse_disconnected(wm);
return 0;
}
r = WaitForSingleObject(wm->hid_overlap.hEvent, wm->timeout);
if (r == WAIT_TIMEOUT) {
/* timeout - cancel and continue */
if (*wm->event_buf)
WIIUSE_WARNING("Packet ignored. This may indicate a problem (timeout is %i ms).", wm->timeout);
CancelIo(wm->dev_handle);
ResetEvent(wm->hid_overlap.hEvent);
return 0;
} else if (r == WAIT_FAILED) {
WIIUSE_WARNING("A wait error occured on reading from wiimote %i.", wm->unid);
return 0;
}
if (!GetOverlappedResult(wm->dev_handle, &wm->hid_overlap, &b, 0))
return 0;
}
ResetEvent(wm->hid_overlap.hEvent);
return 1;
}
/**
* @brief main()
*
* Connect to up to two wiimotes and print any events
* that occur on either device.
*/
ControlResult TickRemote()
{
// If not connected then attempt to connect
if (sControlMode == ControlMode::Off)
{
sResult.steering_demand.x = 0;
sResult.steering_demand.y = 0;
sResult.steering_demand.z = 0;
sResult.fire = false;
sResult.exit = false;
int found = wiiuse_find(sWiimotes, 1, 5);
if (found > 0)
{
int connected = wiiuse_connect(sWiimotes, 1);
if (connected > 0)
{
change_control_mode(ControlMode::Slaved);
wiiuse_set_leds(sWiimotes[0], WIIMOTE_LED_1);
wiiuse_motion_sensing(sWiimotes[0], 0);
usleep(100000);
wiiuse_set_ir(sWiimotes[0], 1);
wiiuse_set_ir_sensitivity(sWiimotes[0], 3);
}
}
}
bool first = true;
while (sControlMode != ControlMode::Off &&
wiiuse_poll(sWiimotes, 1)) // Returns number of events to be processed
{
if (first)
{
first = false;
sResult.steering_demand.x = 0;
sResult.steering_demand.y = 0;
sResult.steering_demand.z = 0;
sResult.fire = false;
sResult.exit = false;
}
switch (sWiimotes[0]->event) {
case WIIUSE_EVENT:
/* a generic event occured */
handle_event(sWiimotes[0]);
break;
case WIIUSE_DISCONNECT:
case WIIUSE_UNEXPECTED_DISCONNECT:
/* the wiimote disconnected */
wiiuse_disconnected(sWiimotes[0]);
change_control_mode(ControlMode::Off);
break;
default:
break;
}
}
clock_t current_time = clock();
if (sControlMode == ControlMode::Seeking)
{
if (current_time > sTrackAge + 0.25 * CLOCKS_PER_SEC && sTrackValid)
{
sResult.steering_demand.x = 0;
sResult.steering_demand.y = 0;
sTrackValid = false;
Log("Lost track\n");
}
if (current_time > sTrackAge + 1 * CLOCKS_PER_SEC)
{
change_control_mode(ControlMode::Searching);
sSearchDirectionChangeTime = current_time + 2 * CLOCKS_PER_SEC;
sSearchDirection = 1;
}
}
if (sControlMode == ControlMode::Searching)
{
if (current_time > sSearchDirectionChangeTime)
{
sSearchDirectionChangeTime = current_time + 2 * CLOCKS_PER_SEC;
Log("Turning\n");
sSearchDirection *= -1;
}
sResult.steering_demand.x = sSearchDirection;
sResult.steering_demand.y = 0;
sResult.steering_demand.z = -1;
}
return sResult;
}
void Wiimote::disconnected()
{
wiiuse_disconnected(this->wm);
emit this->disconnectedSignal();
}
