void WiiCursor::process(std::vector<WiimoteData>& wiimotes, bool const& running) {
// Sets up the Wiimotes
for (std::vector<WiimoteData>::iterator iter = wiimotes.begin(); iter != wiimotes.end(); ++iter) {
DEBUG_MSG(1, "Enabling reporting of events and non-block signal checking in Wiimote #%d...\n", iter-wiimotes.begin());
cwiid_enable(iter->wiimote, CWIID_FLAG_MESG_IFC);
cwiid_disable(iter->wiimote, CWIID_FLAG_NONBLOCK);
}
// Sets up itself
m_thread_data.running = &running; // No need to check anything here since running is a reference
while (running) {
std::vector<WiiEvent> events;
get_wiis_event_data(wiimotes, m_thread_data.ir, events);
for (std::vector<WiiEvent>::const_iterator iter = events.begin(); iter != events.end(); ++iter) {
switch (iter->type) {
case WII_EVENT_TYPE_BUTTON:
//running = false; // NOTE: Not handling any key events for now
break;
case WII_EVENT_TYPE_IR:
process_ir_events(iter->ir, iter->transform);
break;
case WII_EVENT_TYPE_NON_EVENT:
default:
break;
}
}
}
}
int main(int argc, char *argv[])
{
cwiid_wiimote_t *wiimote; /* wiimote handle */
//struct cwiid_state state; /* wiimote state */
bdaddr_t bdaddr; /* bluetooth device address */
//unsigned char mesg = 0;
//unsigned char led_state = 0;
unsigned char rpt_mode = 0;
//unsigned char rumble = 0;
/* Make stdout unbuffered, which is useful for piping the output of
* this program into a timestamping utility, such as tai64n(1) */
setvbuf(stdout, NULL, _IOLBF, 0);
cwiid_set_err(err);
/* Connect to address given on command-line, if present */
if (argc > 1) {
str2ba(argv[1], &bdaddr);
}
else {
bdaddr = *BDADDR_ANY;
}
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
exit(1);
}
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
exit(1);
}
toggle_bit(rpt_mode, CWIID_RPT_ACC);
toggle_bit(rpt_mode, CWIID_RPT_BTN);
set_rpt_mode(wiimote, rpt_mode);
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Unable to set message flag\n");
exit(1);
}
while(1) {
sleep(1);
}
}
static void wiimote_report(t_wiimote*x, t_symbol*s, int onoff)
{
int flag=-1;
if(gensym("status")==s) flag=CWIID_RPT_STATUS;
else if(gensym("button")==s) flag=CWIID_RPT_BTN;
else if(gensym("acceleration")==s) flag=CWIID_RPT_ACC;
else if(gensym("ir")==s) flag=CWIID_RPT_IR;
#ifdef CWIID_RPT_NUNCHUK
else if(gensym("nunchuk")==s) flag=CWIID_RPT_NUNCHUK;
#endif
#ifdef CWIID_RPT_CLASSIC
else if(gensym("classic")==s) flag=CWIID_RPT_CLASSIC;
#endif
#ifdef CWIID_RPT_BALANCE
else if(gensym("balance")==s) flag=CWIID_RPT_BALANCE;
#endif
#ifdef CWIID_RPT_MOTIONPLUS
else if(gensym("motionplus")==s) flag=CWIID_RPT_MOTIONPLUS;
#endif
else if(gensym("ext")==s) flag=CWIID_RPT_EXT;
else {
pd_error(x, "unknown report mode '%s'", s->s_name);
}
#ifdef CWIID_RPT_MOTIONPLUS
if(CWIID_RPT_MOTIONPLUS==flag) {
if(x->connected) {
int err=0;
if(onoff) {
err=cwiid_enable(x->wiimote, CWIID_FLAG_MOTIONPLUS);
} else {
err=cwiid_disable(x->wiimote, CWIID_FLAG_MOTIONPLUS);
}
if(err) {
pd_error(x, "turning %s motionplus returned %d", (flag?"on":"off"), err);
}
}
}
#endif
if(flag!=-1) {
if(onoff) {
x->reportMode |= flag;
} else {
x->reportMode &= ~flag;
}
}
wiimote_resetReportMode(x);
}
int wii_open()
{
bdaddr = *BDADDR_ANY;
accmode = WII_ACCMODE_BTN;
as = 0;
speedacc = 0;
gettimeofday(&t1,NULL);
printf ( "N: wii: trying to find wiimote...\n" );
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "E: wii: Unable to connect to wiimote\n");
return -1;
}
printf ("N: wii: open\n" );
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "E: wii: Unable to set message callback\n");
cwiid_close(wiimote);
return -1;
}
printf ("N: wii: callback\n" );
if (cwiid_set_led(wiimote, 0x02)) {
fprintf(stderr, "Error setting LEDs \n");
cwiid_close(wiimote);
return -1;
}
printf ("N: wii: led\n" );
if (cwiid_set_rpt_mode(wiimote, CWIID_RPT_BTN | CWIID_RPT_ACC)) {
fprintf(stderr, "E: wii: could not set report mode\n");
cwiid_close(wiimote);
return -1;
}
printf ("N: wii: report mode set\n" );
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC | CWIID_FLAG_CONTINUOUS)) {
fprintf(stderr, "E: wii: could not enable reporting\n");
cwiid_close(wiimote);
return -1;
}
printf ("N: wii: reporting enabled\n" );
wii_connected = 1;
return 0;
}
Wiimote::Wiimote(bdaddr_t addr,QObject *parent) : QObject(parent), buttons_old(0), addr(addr) {
Q_ASSERT(instance == NULL);
qDebug("setting up cwiid");
{
cwiid_set_err(cwiid_err_callback);
instance = cwiid_open(&addr,0);
qinstance = this;
Q_ASSERT(instance);
cwiid_set_mesg_callback(instance,cwiid_msg_callback);
cwiid_enable(instance,CWIID_FLAG_MESG_IFC);
cwiid_command(instance,CWIID_CMD_LED,CWIID_LED2_ON | CWIID_LED3_ON);
//cwiid_command(instance,CWIID_CMD_RPT_MODE,CWIID_RPT_EXT | CWIID_RPT_BTN | CWIID_RPT_ACC | CWIID_RPT_STATUS | CWIID_RPT_IR);
cwiid_command(instance,CWIID_CMD_RPT_MODE,CWIID_RPT_EXT | CWIID_RPT_BTN | CWIID_RPT_STATUS | CWIID_RPT_ACC);
}
}
static PyObject *Wiimote_enable(Wiimote *self, PyObject *args, PyObject *kwds)
{
static char *kwlist[] = {"flags", NULL};
int flags;
if (!PyArg_ParseTupleAndKeywords(args, kwds, "i:cwiid.Wiimote.enable",
kwlist, &flags)) {
return NULL;
}
if (cwiid_enable(self->wiimote, flags)) {
PyErr_SetString(PyExc_RuntimeError, "Error enabling wiimote flags");
return NULL;
}
Py_RETURN_NONE;
}
// Creadora del device
TPFC_device_wiimote::TPFC_device_wiimote(int ident, string bta):TPFC_device(ident){
// creamos el bufer de datos
data = new TrackingPFC_data(TrackingPFC_data::TPFCDATA2D);
// sobreescribimos el mensaje de error por defecto con el nuestro, para evitar spam
cwiid_set_err(err);
// comprobamos si tenemos una direccion asignada
if (bta.compare("")==0){
// conectarse al primer wiimote que se encuentre
bdaddr = *BDADDR_ANY;// bluetooth device address
}else{
// conectarse al wiimote con direccion == bta
str2ba(bta.c_str(), &bdaddr);
}
// Conectar los wiimotes
printf("Pon el wiimote en modo discoverable (pulsa 1+2)...\n");
wiimote=NULL;
while (!wiimote){
if ( !(wiimote = cwiid_open(&bdaddr, 0)) ){
printf("Esperando al wiimote (pulsa 1+2)...\n");
}
}
// registramos el wiimote para poder identificar despues los callbacks
registerwiimote(wiimote, this);
// registramos nuestro callback con el wiimote
if (cwiid_set_mesg_callback(wiimote, callback)) {
fprintf(stderr, "No se ha podido registrar el callback\n");
}
// activamos el paso de mensajes desde el wiimote
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error activando los mensajes\n");
}
// configuramos el report mode
unsigned char rpt_mode = 0;
toggle_bit(rpt_mode, CWIID_RPT_IR);
set_rpt_mode(wiimote, rpt_mode);
printf("Wiimote conectado!\n");
}
void menuConnect_activate(void)
{
char reset_bdaddr = 0;
if (bacmp(&bdaddr, BDADDR_ANY) == 0) {
reset_bdaddr = 1;
}
message(GTK_MESSAGE_INFO,
"Put Wiimote in discoverable mode (press 1+2) and press OK",
GTK_WINDOW(winMain));
if ((wiimote = cwiid_open(&bdaddr, CWIID_FLAG_MESG_IFC)) == NULL) {
message(GTK_MESSAGE_ERROR, "Unable to connect", GTK_WINDOW(winMain));
status("No connection");
}
else if (cwiid_set_mesg_callback(wiimote, &cwiid_callback)) {
message(GTK_MESSAGE_ERROR, "Error setting callback",
GTK_WINDOW(winMain));
if (cwiid_close(wiimote)) {
message(GTK_MESSAGE_ERROR, "Error on disconnect",
GTK_WINDOW(winMain));
}
wiimote = NULL;
status("No connection");
}
else {
status("Connected");
if (cwiid_get_acc_cal(wiimote, CWIID_EXT_NONE, &wm_cal)) {
message(GTK_MESSAGE_ERROR, "Unable to retrieve accelerometer "
"calibration", GTK_WINDOW(winMain));
}
set_gui_state();
set_report_mode();
cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS);
cwiid_request_status(wiimote);
}
if (reset_bdaddr) {
bdaddr = *BDADDR_ANY;
}
}
void WiiTrackExtension::cwiidConnect()
{
bdaddr_t bdaddr; /* bluetooth device address */
bdaddr = *BDADDR_ANY;
// connect
if (!(m_wiimote = cwiid_connect(&bdaddr, 0))) {
qDebug() << "Unable to connect to wiimote";
return;
} else {
qDebug() << "Connected to wiimote";
m_actions.at(StartIndex)->setEnabled(false);
m_actions.at(StopIndex)->setEnabled(true);
}
// Set the callback function
if (cwiid_set_mesg_callback(m_wiimote, cwiid_callback)) {
qDebug() << "Unable to set message callback";
cwiidDisconnect();
}
// set the report mode
unsigned char rpt_mode = 0;
toggle_bit(rpt_mode, CWIID_RPT_IR);
cwiidSetReportMode(m_wiimote, rpt_mode);
// enable messaging
if (cwiid_enable(m_wiimote, CWIID_FLAG_MESG_IFC)) {
qDebug() << "Error enabling messages";
}
m_lastDistance = 0.0;
m_lastDot1x = 0.0;
m_lastDot1y = 0.0;
m_lastDot2x = 0.0;
m_lastDot2y = 0.0;
}
int wmplugin_init(int id, cwiid_wiimote_t *wiimote)
{
plugin_id = id;
ccd_center.valid=1;
ccd_center.size=1;
ccd_center.pos[0]=512;
ccd_center.pos[1]=384;
motionplus_cal.zero[0] = 8050;
motionplus_cal.zero[1] = 8000;
motionplus_cal.zero[2] = 8580;
data.buttons = 0;
data.axes[0].valid = 1;
data.axes[1].valid = 1;
data.axes[2].valid = 1;
data.axes[3].valid = 1;
data.axes[4].valid = 1;
data.axes[4].value = 0;
data.axes[5].valid = 1;
if (wmplugin_set_rpt_mode(id, CWIID_RPT_ACC | CWIID_RPT_MOTIONPLUS | CWIID_RPT_IR | CWIID_RPT_BTN)) {
return -1;
}
if(cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS)) {
wmplugin_err(id, "You need wiimotion plus to run this plugin");
return -1;
}
if (cwiid_get_acc_cal(wiimote, CWIID_EXT_NONE, &acc_cal)) {
wmplugin_err(id, "accelerometers calibration error");
return -1;
}
return 0;
}
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;
}
/*!
@brief Driver for Wiimote operation menu
Handles parsing wiimote input to determine correct operating mode.
This function will never exit once entered.
*/
ErrorID_t main_menu(cwiid_wiimote_t *wiimote,
volatile WiimoteStatusDataType *wiimote_status)
{
ErrorID_t error;
uint8_t menu_count;
uint16_t last_button_state = 0;
WII_OPERATE_STATE wii_operate_state = WII_OPERATE_INIT_MENU;
write_status_led(STATUS_LED_OFF, 0);
for (;;)
{
switch (wii_operate_state)
{
case WII_OPERATE_INIT_MENU:
menu_count = 0;
last_button_state = 0;
wii_operate_state = WII_OPERATE_WAIT_FOR_BUTTON_PRESS;
write_status_led(STATUS_LED_FLASH, 500);
if (0 > cwiid_set_led(wiimote, CWIID_LED1_ON))
return WII_ERROR_TRANSMIT;
if (0 > cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC))
return WII_ERROR_TRANSMIT;
if (0 > cwiid_set_rpt_mode(wiimote, CWIID_RPT_BTN))
return WII_ERROR_TRANSMIT;
/* Menu */
debug_print("%s", MENU);
set_lcd(0, "Connected.");
set_lcd(1, "Select Mode.");
break;
case WII_OPERATE_WAIT_FOR_BUTTON_PRESS:
error = wait_for_wiimotedata(wiimote_status, 2000);
if (error == ERR_WII_DATA_TIMEOUT)
{
set_lcd(0, "Select Mode");
set_lcd(1, (char *) lcd_menu_strings[menu_count]);
if (++menu_count >= MENU_ENTRIES)
menu_count = 0;
}
else if (0 < error)
{
shutdown_application(error);
}
else if (wiimote_status->button_data != last_button_state)
{
last_button_state = wiimote_status->button_data;
if (last_button_state & CWIID_BTN_A) // collect acceleration data
{
wii_operate_state = WII_OPERATE_DISPLAY_ACCELEROMETER_INFO;
}
else if (last_button_state & CWIID_BTN_B) // collect IR data
{
wii_operate_state = WII_OPERATE_DISPLAY_IR_STATUS;
}
else if (last_button_state & CWIID_BTN_HOME) // reset
{
shutdown_application(0);
}
else if (last_button_state & CWIID_BTN_PLUS)
{
sensor_cutoff_fwd += 5;
if (sensor_cutoff_fwd > 100)
sensor_cutoff_fwd = 100;
#if REVERSE_SENSOR_PRESENT
sensor_cutoff_rev += 5;
if (sensor_cutoff_rev > 100)
sensor_cutoff_rev = 100;
#endif
}
else if (last_button_state & CWIID_BTN_MINUS)
{
sensor_cutoff_fwd -= 5;
if (sensor_cutoff_fwd < 0)
sensor_cutoff_fwd = 0;
#if REVERSE_SENSOR_PRESENT
sensor_cutoff_rev -= 5;
if (sensor_cutoff_rev < 0)
sensor_cutoff_rev = 0;
#endif
}
else if (last_button_state & (CWIID_BTN_2 | CWIID_BTN_1))
{
wii_operate_state = WII_OPERATE_DISPLAY_BUTTON_STATUS;
}
}
break;
case WII_OPERATE_DISPLAY_ACCELEROMETER_INFO:
if (ERR_NONE != acceleration_mode(wiimote, wiimote_status))
wii_operate_state = WII_OPERATE_ERROR_STATE;
else
wii_operate_state = WII_OPERATE_INIT_MENU;
break;
case WII_OPERATE_DISPLAY_IR_STATUS:
if (ERR_NONE != infrared_mode(wiimote, wiimote_status))
wii_operate_state = WII_OPERATE_ERROR_STATE;
else
wii_operate_state = WII_OPERATE_INIT_MENU;
break;
case WII_OPERATE_DISPLAY_BUTTON_STATUS:
if (ERR_NONE != button_mode(wiimote, wiimote_status))
wii_operate_state = WII_OPERATE_ERROR_STATE;
else
wii_operate_state = WII_OPERATE_INIT_MENU;
break;
case WII_OPERATE_ERROR_STATE:
if (ERR_NONE == error_mode(wiimote, wiimote_status))
wii_operate_state = WII_OPERATE_INIT_MENU;
break;
}
}
return ERR_NONE;
}
int main(int argc, char** argv) {
cwiid_wiimote_t *wiimote;
struct cwiid_state state;
bdaddr_t bdaddr;
int exit = 0;
point3Df dimensions3PtsCap[3];
bdaddr = *BDADDR_ANY;
printf("connecting!\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
return -1;
}
printf("connected\n");
cwiid_set_led(wiimote, CWIID_LED1_ON | CWIID_LED4_ON);
cwiid_set_rpt_mode(wiimote, CWIID_RPT_STATUS | CWIID_RPT_IR);
//*
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
}
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error enabling messages\n");
}
// */
dimensions3PtsCap[0].x = 70;
dimensions3PtsCap[0].y = 80;
dimensions3PtsCap[0].z = 100;
Initialize3PCapModel(dimensions3PtsCap);
while (!exit) {
switch(getchar()) {
case 'q':
exit = 1;
break;
default:
if (cwiid_get_state(wiimote, &state)) {
printf("Error getting state\n");
} else {
print_state(&state);
}
}
}
/*
if (getchar()) {
printf("Exiting\n");
}
**/
if (cwiid_close(wiimote)) {
printf("Error on wiimote disconnect\n");
return -1;
}
return (EXIT_SUCCESS);
}
int main(int argc, char *argv[])
{
cwiid_wiimote_t *wiimote; /* wiimote handle */
struct cwiid_state state; /* wiimote state */
bdaddr_t bdaddr; /* bluetooth device address */
unsigned char mesg = 0;
unsigned char led_state = 0;
unsigned char rpt_mode = 0;
unsigned char rumble = 0;
int exit = 0;
deviceState.numButtons = NUM_BUTTONS;
deviceState.numAxis = NUM_AXIS;
deviceState.numSensors = NUM_SENSORS;
deviceState.axisValues = NULL;
deviceState.buttonValues = NULL;
deviceState.sensorValues = new SensorData[NUM_SENSORS];
cwiid_set_err(err);
if (argc < 2) {
fprintf(stderr, "Usage: %s HOSTNAME\n\n", argv[0]);
return 1;
} // if
// TODO: parse data from config file!!!
/* Connect to address given on command-line, if present */
if (argc > 2) {
str2ba(argv[2], &bdaddr);
}
else {
bdaddr = *BDADDR_ANY;
}
/* Connect to the wiimote */
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
return -1;
}
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
}
toggle_bit(led_state, CWIID_LED1_ON);
set_led_state(wiimote, led_state);
if (cwiid_get_state(wiimote, &state)) {
fprintf(stderr, "Error getting state\n");
}
print_state(&state);
toggle_bit(rpt_mode, CWIID_RPT_IR);
toggle_bit(rpt_mode, CWIID_RPT_BTN);
// toggle_bit(rpt_mode, CWIID_RPT_ACC);
set_rpt_mode(wiimote, rpt_mode);
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error enabling messages\n");
} else {
mesg = 1;
}
if (initNetwork(argv[1], CLIENTPORT)) {
fprintf(stderr, "Error at network initialization\n");
return -1;
} // if
bool running = true;
while (running) {sleep(1);}
if (cwiid_close(wiimote)) {
fprintf(stderr, "Error on wiimote disconnect\n");
return -1;
}
return 0;
}
int main(int argc, char *argv[])
{
if (argc != 2) {
printf("Usage: %s 3, where 3 is the number of gestures to recognize\n", argv[0]);
exit(1);
}
n_gestures = atoi(argv[1]);
hmms = malloc(n_gestures * sizeof(HmmStateRef));
int n_states = n_gestures+3;
int n_obs = 17;
for(int i = 0; i < n_gestures; i++) {
hmms[i] = hmm_new(n_states, n_obs);
}
cwiid_wiimote_t *wiimote; /* wiimote handle */
//struct cwiid_state state; /* wiimote state */
bdaddr_t bdaddr; /* bluetooth device address */
//unsigned char mesg = 0;
//unsigned char led_state = 0;
unsigned char rpt_mode = 0;
//unsigned char rumble = 0;
/* Make stdout unbuffered, which is useful for piping the output of
* this program into a timestamping utility, such as tai64n(1) */
setvbuf(stdout, NULL, _IOLBF, 0);
cwiid_set_err(err);
#if WE_ACTUALLY_CARE_ABOUT_BLUETOOTH
/* Connect to address given on command-line, if present */
if (argc > 1) {
str2ba(argv[1], &bdaddr);
}
else {
#endif
bdaddr = *BDADDR_ANY;
#if WE_ACTUALLY_CARE_ABOUT_BLUETOOTH
}
#endif
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
exit(1);
}
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
exit(1);
}
toggle_bit(rpt_mode, CWIID_RPT_ACC);
toggle_bit(rpt_mode, CWIID_RPT_BTN);
set_rpt_mode(wiimote, rpt_mode);
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Unable to set message flag\n");
exit(1);
}
while(1) {
sleep(1);
}
}
int main(int argc, char *argv[])
{
cwiid_wiimote_t *wiimote; /* wiimote handle */
struct cwiid_state state; /* wiimote state */
bdaddr_t bdaddr; /* bluetooth device address */
unsigned char mesg = 0;
unsigned char led_state = 0;
unsigned char rpt_mode = 0;
unsigned char rumble = 0;
int exit = 0;
cwiid_set_err(err);
/* Connect to address given on command-line, if present */
if (argc > 1) {
str2ba(argv[1], &bdaddr);
}
else {
bdaddr = *BDADDR_ANY;
}
/* Connect to the wiimote */
printf("Put Wiimote in discoverable mode now (press 1+2)...\n");
if (!(wiimote = cwiid_open(&bdaddr, 0))) {
fprintf(stderr, "Unable to connect to wiimote\n");
return -1;
}
if (cwiid_set_mesg_callback(wiimote, cwiid_callback)) {
fprintf(stderr, "Unable to set message callback\n");
}
printf("Note: To demonstrate the new API interfaces, wmdemo no longer "
"enables messages by default.\n"
"Output can be gathered through the new state-based interface (s), "
"or by enabling the messages interface (c).\n");
/* Menu */
printf("%s", MENU);
while (!exit) {
switch (getchar()) {
case '1':
toggle_bit(led_state, CWIID_LED1_ON);
set_led_state(wiimote, led_state);
break;
case '2':
toggle_bit(led_state, CWIID_LED2_ON);
set_led_state(wiimote, led_state);
break;
case '3':
toggle_bit(led_state, CWIID_LED3_ON);
set_led_state(wiimote, led_state);
break;
case '4':
toggle_bit(led_state, CWIID_LED4_ON);
set_led_state(wiimote, led_state);
break;
case '5':
toggle_bit(rumble, 1);
if (cwiid_set_rumble(wiimote, rumble)) {
fprintf(stderr, "Error setting rumble\n");
}
break;
case 'a':
toggle_bit(rpt_mode, CWIID_RPT_ACC);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'b':
toggle_bit(rpt_mode, CWIID_RPT_BTN);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'e':
/* CWIID_RPT_EXT is actually
* CWIID_RPT_NUNCHUK | CWIID_RPT_CLASSIC */
toggle_bit(rpt_mode, CWIID_RPT_EXT);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'i':
/* libwiimote picks the highest quality IR mode available with the
* other options selected (not including as-yet-undeciphered
* interleaved mode */
toggle_bit(rpt_mode, CWIID_RPT_IR);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'm':
if (!mesg) {
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error enabling messages\n");
}
else {
mesg = 1;
}
}
else {
if (cwiid_disable(wiimote, CWIID_FLAG_MESG_IFC)) {
fprintf(stderr, "Error disabling message\n");
}
else {
mesg = 0;
}
}
break;
case 'p':
printf("%s", MENU);
break;
case 'r':
if (cwiid_request_status(wiimote)) {
fprintf(stderr, "Error requesting status message\n");
}
break;
case 's':
if (cwiid_get_state(wiimote, &state)) {
fprintf(stderr, "Error getting state\n");
}
print_state(&state);
break;
case 't':
toggle_bit(rpt_mode, CWIID_RPT_STATUS);
set_rpt_mode(wiimote, rpt_mode);
break;
case 'x':
exit = -1;
break;
case '\n':
break;
default:
fprintf(stderr, "invalid option\n");
}
}
if (cwiid_close(wiimote)) {
fprintf(stderr, "Error on wiimote disconnect\n");
return -1;
}
return 0;
}
int main()
{
cwiid_wiimote_t *wiimote = NULL;
struct cwiid_state state;
uint8_t ledstate = 0x0f;
uint8_t cnt = 0;
uint8_t led[4] = {0, 0, 0, 0};
uint8_t step = 0;
uint8_t x = 0;
uint8_t i;
uint8_t next_mode = 0;
puts("Press 1+2 to connect wiimote.");
if ((wiimote = cwiid_open(BDADDR_ANY, 0)) == NULL) {
fputs("Unable to connect\n", stderr);
return EXIT_FAILURE;
}
fputs("connected\n", stdout);
sleep(2);
set_led_fun(0);
if (cwiid_get_acc_cal(wiimote, CWIID_EXT_NONE, &wm_cal))
fputs("unable to retrieve accelerometer calibration\n", stderr);
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);
/* cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS);
*/
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_BTN | CWIID_RPT_ACC | CWIID_RPT_STATUS | CWIID_RPT_EXT))
fputs("cannot set report mode. buttons won't work.\n", stderr);
while (1) {
if (++cnt >= cnt_max) {
cnt = 0;
if (++x == x_max) {
x = 0;
if (!auto_mode && (++next_mode == 42)) {
set_led_fun(cur_mode + 1);
next_mode = 0;
}
}
for (i = 0; i < 4; i++)
led[i] = f_led[i][x];
}
step = cnt % MAX_BRIGHTNESS;
if (step == 0)
ledstate = 0x0f;
for (i = 0; i < 4; i++)
if (step == led[i])
ledstate &= ~(1 << i);
if (cwiid_set_led(wiimote, ledstate))
fputs("Error setting LED state\n", stderr);
}
return EXIT_SUCCESS;
}
void *passthrough_polling_thread(struct wiimote *wiimote)
{
unsigned char buf, data;
while(1)
{
if ((wiimote->passthrough_activate_flag && wiimote->ext == NUNCHUK_MOTIONPLUS_PRESENT) ||
(wiimote->passthrough_activate_flag && wiimote->ext == CLASSIC_MOTIONPLUS_PRESENT) ||
(!wiimote->passthrough_activate_flag && wiimote->ext == MOTIONPLUS_PRESENT) ||
(!wiimote->passthrough_activate_flag && wiimote->ext == EXT_PRESENT_NOT_MOTIONPLUS))
{
pthread_mutex_lock(&wiimote->poll_mutex);
pthread_cond_wait(&wiimote->condition_var,&wiimote->poll_mutex);
pthread_mutex_unlock(&wiimote->poll_mutex);
}
//fprintf(stderr,"passthrough_thread: resume\n");
if (wiimote->passthrough_activate_flag) {
//fprintf(stderr,"passthrough_thread: try activating passthrough\n");
if (wiimote->ext != NUNCHUK_MOTIONPLUS_PRESENT && wiimote->ext != CLASSIC_MOTIONPLUS_PRESENT && wiimote->ext != MOTIONPLUS_PRESENT) {
/* re-detecting motionplus */
buf=0xAB; //any junk value initialisation
cwiid_try_read(wiimote, CWIID_RW_REG, 0xA600FE, 1, &buf); //Checking for the MotionPlus jackin
if(buf==0x00 || buf==0x04 || buf==0x05 )
{
cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS);
}
}
if (wiimote->ext == MOTIONPLUS_PRESENT) {
/* motionplus_present trying passthrough */
data = 0x55;
cwiid_write(wiimote, CWIID_RW_REG, 0xA400F0, 1, &data);
data = 0x00;
cwiid_write(wiimote, CWIID_RW_REG, 0xA400FB, 1, &data);
}
usleep(POLL_THREAD_DELAY);
cwiid_request_status(wiimote);
} else {
/* disabling passthrough and/or re-detecting motionplus if necessary */
/* only do this call if some other expansion is not already connected
this works because in this implementation motionplus takes precedence
over other kinds of extensions, like nunchuk and classic */
//fprintf(stderr,"passthrough_thread: reverting to motionplus\n");
if (wiimote->ext != EXT_PRESENT_NOT_MOTIONPLUS && wiimote->ext != EXT_UNINITIALIZED) {
//fprintf(stderr,"passthrough_thread: !EXT_PRESENT_NOT_MOTIONPLUS\n");
data = 0x55;
cwiid_write(wiimote, CWIID_RW_REG, 0xA400F0, 1, &data);
data = 0x00;
cwiid_write(wiimote, CWIID_RW_REG, 0xA400FB, 1, &data);
buf=0xAB; //any junk value initialisation
cwiid_try_read(wiimote, CWIID_RW_REG, 0xA600FE, 1, &buf); //Checking for the MotionPlus jackin
if(buf==0x00 || buf==0x04 || buf==0x05 || buf==0x07)
{
cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS);
usleep(POLL_THREAD_DELAY);
cwiid_request_status(wiimote);
}
}
}
}
return NULL;
}
