void get_wiis_event_data_collect_all_events(
std::vector<WiimoteData>& wiimotes,
point_t const& ir_old,
std::vector< std::vector<WiiEvent> >& event_batches,
unsigned int& max_event_counts)
{
for (unsigned int i = 0; i != wiimotes.size(); ++i) {
std::vector<WiiEvent>& batch = event_batches[i]; // Readability
int msg_count = 0;
cwiid_mesg* msgs = 0;
// NOTE: The API's been changed, I don't know what to do with the last argument
#ifdef COMPATIBILITY_GUTSY
cwiid_get_mesg(wiimotes[i].wiimote, &msg_count, &msgs);
#else
timespec tspec;
cwiid_get_mesg(wiimotes[i].wiimote, &msg_count, &msgs, &tspec);
#endif // COMPATIBILITY_GUTSY
batch.resize(msg_count);
for (int i = 0; i != msg_count; ++i) {
WiiEvent& cur_event = batch[i]; // Readability
cur_event.ir = ir_old; // Read wiicontrol.cpp if you're not sure about this
cur_event.button = INVALID_BUTTON_MSG_ID;
process_messages(msgs[i], &cur_event.ir, &cur_event.button);
cur_event.type = (cur_event.button != INVALID_BUTTON_MSG_ID) ? WII_EVENT_TYPE_BUTTON : WII_EVENT_TYPE_IR;
}
if ( max_event_counts < static_cast<unsigned int>(msg_count) )
max_event_counts = static_cast<unsigned int>(msg_count);
}
}
static PyObject *Wiimote_get_mesg(Wiimote *self)
{
union cwiid_mesg *mesg;
int mesg_count;
struct timespec t;
PyObject *PyMesg;
if (!self->wiimote) {
SET_CLOSED_ERROR;
return NULL;
}
if (cwiid_get_mesg(self->wiimote, &mesg_count, &mesg, &t)) {
if (errno == EAGAIN) {
Py_RETURN_NONE;
}
else {
PyErr_SetString(PyExc_RuntimeError,
"Error getting wiimote message list");
return NULL;
}
}
PyMesg = ConvertMesgArray(mesg_count, mesg);
free(mesg);
return PyMesg;
}
DEFINE_THREAD_ROUTINE(wiimote_logic, data){
//wiimote connection variables
static bdaddr_t bdaddr = {{0}};
static cwiid_wiimote_t *wiimote = NULL;
union cwiid_mesg *msg = NULL;
struct timespec timestamp;
int wiimote_connected = 0;
int drone_in_sight = 0;
int trigger_button = 0;
int number_of_led = 0;
int recharger_in_sight = 0;
int recharging_button = 0;
int bullets = magazine_capacity;
int i = 0;
int j = 0;
int msg_count = 0;
struct timespec shot_rumble_time;
shot_rumble_time.tv_sec = 1;
shot_rumble_time.tv_nsec = 0000000;
struct timespec recharging_time;
recharging_time.tv_sec = 10;
recharging_time.tv_nsec = 0000000;
while(game_active){
//CONNECT TO THE WIIMOTE
if(wiimote_connected == 0) {
if( ! (wiimote = cwiid_open(&bdaddr, CWIID_FLAG_MESG_IFC)) ) {
printf("Unable to connect to wiimote\n");
} else {
wiimote_connected = 1;
printf("Wiimote found\n");
cwiid_command(wiimote, CWIID_CMD_LED, CWIID_LED1_ON|CWIID_LED2_ON|CWIID_LED3_ON|CWIID_LED4_ON);
cwiid_command(wiimote, CWIID_CMD_RPT_MODE, CWIID_RPT_IR|CWIID_RPT_BTN);
}
//ALREADY CONNECTED
} else {
if(match_active){
//--- RESET VARIABLES ---//
number_of_led = 0;
drone_in_sight = 0;
recharger_in_sight = 0;
trigger_button = 0;
msg_count = 0;
//--- GET INPUTS FROM THE WIIMOTE ---//
//get messages (blocking)
cwiid_get_mesg(wiimote, &msg_count, &msg, ×tamp);
//scan the messages for the event "pression of trigger_button" or "pression of recharging_button"
//and to count the number of IR leds found
//NOTE: the wiimote find false positive (sometimes 1led == 4leds :O)
//NOTE: the wiimote is REALLY sensitive to sun light
for(i = 0; i < msg_count; i++){
if(msg[i].type == CWIID_MESG_BTN){
//is button B pressed?
if(msg[i].btn_mesg.buttons == CWIID_BTN_B){
trigger_button = 1;
printf("SHOOT\n");
} else {
trigger_button = 0;
}
//is button A pressed?
if(msg[i].btn_mesg.buttons == CWIID_BTN_A){
recharging_button = 1;
printf("BUTTON A\n");
} else {
recharging_button = 0;
}
//TODO: this is here in case the ar.drone stop sending video update
if(msg[i].btn_mesg.buttons == CWIID_BTN_HOME){
printf("The program will shutdown...\n");
match_active = 0; //This tell the drone_logic thread to land the drone
game_active = 0; //This make all the threads exit the while loop
exit_program = 0; // Force ardrone_tool to close
// Sometimes, ardrone_tool might not finish properly.
//This happens mainly because a thread is blocked on a syscall, in this case, wait 5 seconds then kill the app
sleep(5);
exit(0);
}
}
//are there leds?
if(msg[i].type == CWIID_MESG_IR){
for(j = 0; j < CWIID_IR_SRC_COUNT; j++){
if(msg[i].ir_mesg.src[j].valid != 0){
number_of_led++;
}
}
if(number_of_led > 0){
printf("LEDS\n");
drone_in_sight = 1;
} else {
drone_in_sight = 0;
}
}
}
//--- WIIMOTE LOGIC ---//
//SHOOTING
if((bullets > 0) && trigger_button){
bullets--;
printf("lost one bullet\n");
//haptic feedback
cwiid_command(wiimote, CWIID_CMD_RUMBLE, 1);
nanosleep(&shot_rumble_time, NULL);
cwiid_command(wiimote, CWIID_CMD_RUMBLE, 0);
if(drone_in_sight){
vp_os_mutex_lock(&drone_score_mutex);
drone_lose_score = 1;
vp_os_mutex_unlock(&drone_score_mutex);
printf("DRONE HIT\n");
} else {
printf("DRONE MISSED!!\n");
}
//This is to limit the frequency of shooting (i.e. the gun need to load)
nanosleep(&shot_rumble_time, NULL);
//you can recharge only if you don't have bullets any more
} else if(bullets < 1){
if(recharging_button){
//TODO: How should I let the enemy know that the wiimote is full again?
nanosleep(&recharging_time, NULL);
bullets = magazine_capacity;
}
}
}
}
}
return C_OK;
}
