static PyObject *Wiimote_get_balance_cal(Wiimote *self)
{
struct balance_cal balance_cal;
PyObject *PyBalCal;
if (cwiid_get_balance_cal(self->wiimote, &balance_cal)) {
PyErr_SetString(PyExc_RuntimeError,
"Error getting balance board calibration");
return NULL;
}
if (!(PyBalCal = Py_BuildValue("([i,i,i],[i,i,i],[i,i,i],[i,i,i])",
balance_cal.right_top[0],
balance_cal.right_top[1],
balance_cal.right_top[2],
balance_cal.right_bottom[0],
balance_cal.right_bottom[1],
balance_cal.right_bottom[2],
balance_cal.left_top[0],
balance_cal.left_top[1],
balance_cal.left_top[2],
balance_cal.left_bottom[0],
balance_cal.left_bottom[1],
balance_cal.left_bottom[2]))) {
return NULL;
}
return PyBalCal;
}
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;
}
static void wiimote_cwiid_message(t_wiimote *x, union cwiid_mesg*mesg) {
if(NULL==x){
return;
}
if(NULL==mesg) {
return;
}
switch (mesg->type) {
case CWIID_MESG_STATUS:
wiimote_cwiid_battery(x, mesg->status_mesg.battery);
switch (mesg->status_mesg.ext_type) {
case CWIID_EXT_NONE:
verbose(1, "No extension attached");
break;
#ifdef CWIID_RPT_NUNCHUK
case CWIID_EXT_NUNCHUK:
post("Nunchuk extension attached");
if(cwiid_get_acc_cal(x->wiimote, CWIID_EXT_NUNCHUK, &x->nc_acc_cal)) {
post("Unable to retrieve nunchuk calibration");
} else {
post("Retrieved nunchuk calibration: zero=(%02d,%02d,%02d) one=(%02d,%02d,%02d)",
x->nc_acc_cal.zero[CWIID_X],
x->nc_acc_cal.zero[CWIID_Y],
x->nc_acc_cal.zero[CWIID_Z],
x->nc_acc_cal.one [CWIID_X],
x->nc_acc_cal.one [CWIID_Y],
x->nc_acc_cal.one [CWIID_Z]);
}
break;
#endif
#ifdef CWIID_RPT_CLASSIC
case CWIID_EXT_CLASSIC:
post("Classic controller attached. There is no real support for this yet.");
break;
#endif
#ifdef CWIID_RPT_BALANCE
case CWIID_EXT_BALANCE:
if(cwiid_get_balance_cal(x->wiimote, &x->balance_cal)) {
post("Unable to retrieve balance calibration");
}
break;
#endif
#ifdef CWIID_RPT_MOTIONPLUS
case CWIID_EXT_MOTIONPLUS:
post("MotionPlus controller attached.");
/* no calibration needed for MotionPlus */
break;
#endif
case CWIID_EXT_UNKNOWN:
post("Unknown extension attached");
break;
default:
post("ext mesg %d/%d unknown", mesg->type, mesg->status_mesg.ext_type);
break;
}
break;
case CWIID_MESG_BTN:
wiimote_cwiid_btn(x, &mesg->btn_mesg);
break;
case CWIID_MESG_ACC:
wiimote_cwiid_acc(x, &mesg->acc_mesg);
break;
case CWIID_MESG_IR:
wiimote_cwiid_ir(x, &mesg->ir_mesg);
break;
#ifdef CWIID_RPT_NUNCHUK
case CWIID_MESG_NUNCHUK:
wiimote_cwiid_nunchuk(x, &mesg->nunchuk_mesg);
break;
#endif
#ifdef CWIID_RPT_CLASSIC
case CWIID_MESG_CLASSIC:
wiimote_cwiid_classic(x, &mesg->classic_mesg);
// todo
break;
#endif
#ifdef CWIID_RPT_MOTIONPLUS
case CWIID_MESG_MOTIONPLUS:
wiimote_cwiid_motionplus(x, &mesg->motionplus_mesg);
break;
#endif
#ifdef CWIID_RPT_BALANCE
case CWIID_MESG_BALANCE:
wiimote_cwiid_balance(x, &mesg->balance_mesg);
break;
#endif
case CWIID_MESG_ERROR:
wiimote_cwiid_error(x, &mesg->error_mesg);
default:
post("mesg %d unknown", (mesg->type));
break;
}
}
