bool PhdController::Dither(double pixels, bool raOnly, const SettleParams& settle, wxString *errMsg)
{
if (ctrl.state != STATE_IDLE)
{
Debug.AddLine("PhdController::Dither reentrancy state = %d op = %d", ctrl.state, ctrl.settleOp);
*errMsg = ReentrancyError("dither");
return false;
}
Debug.AddLine("PhdController::Dither begins");
bool error = pFrame->Dither(pixels, raOnly);
if (error)
{
Debug.AddLine("PhdController::Dither pFrame->Dither failed");
*errMsg = _T("Dither error");
return false;
}
ctrl.settleOp = OP_DITHER;
ctrl.settle = settle;
SETSTATE(STATE_SETTLE_BEGIN);
UpdateControllerState();
return true;
}
void PhdController::AbortController(const wxString& reason)
{
if (ctrl.state != STATE_IDLE)
{
do_fail(reason);
UpdateControllerState();
}
}
//-----------------------------------------------------------------------------
// Name: WinMain()
// Desc: Entry point for the application. Since we use a simple dialog for
// user interaction we don't need to pump messages.
//-----------------------------------------------------------------------------
int WINAPI wWinMain( _In_ HINSTANCE hInstance, _In_opt_ HINSTANCE, _In_ LPWSTR, _In_ int )
{
// Initialize COM
HRESULT hr;
if( FAILED( hr = CoInitializeEx(nullptr, COINIT_MULTITHREADED) ) )
return 1;
// Register the window class
HBRUSH hBrush = CreateSolidBrush( 0xFF0000 );
WNDCLASSEX wc =
{
sizeof( WNDCLASSEX ), 0, MsgProc, 0L, 0L, hInstance, nullptr,
LoadCursor( nullptr, IDC_ARROW ), hBrush,
nullptr, L"XInputSample", nullptr
};
RegisterClassEx( &wc );
// Create the application's window
g_hWnd = CreateWindow( L"XInputSample", L"XInput Sample: RumbleController",
WS_OVERLAPPED | WS_VISIBLE | WS_CAPTION | WS_SYSMENU | WS_MINIMIZEBOX,
CW_USEDEFAULT, CW_USEDEFAULT, 600, 600,
nullptr, nullptr, hInstance, nullptr );
// Init state
ZeroMemory( g_Controllers, sizeof( CONTROLLER_STATE ) * MAX_CONTROLLERS );
// Enter the message loop
bool bGotMsg;
MSG msg;
msg.message = WM_NULL;
while( WM_QUIT != msg.message )
{
// Use PeekMessage() so we can use idle time to render the scene and call pEngine->DoWork()
bGotMsg = ( PeekMessage( &msg, nullptr, 0U, 0U, PM_REMOVE ) != 0 );
if( bGotMsg )
{
// Translate and dispatch the message
TranslateMessage( &msg );
DispatchMessage( &msg );
}
else
{
UpdateControllerState();
RenderFrame();
}
}
// Clean up
UnregisterClass( L"XInputSample", nullptr );
CoUninitialize();
return 0;
}
bool PhdController::Guide(bool recalibrate, const SettleParams& settle, wxString *error)
{
if (ctrl.state != STATE_IDLE)
{
Debug.AddLine("PhdController::Guide reentrancy state = %d op = %d", ctrl.state, ctrl.settleOp);
*error = ReentrancyError("guide");
return false;
}
Debug.AddLine("PhdController::Guide begins");
ctrl.forceCalibration = recalibrate;
ctrl.settleOp = OP_GUIDE;
ctrl.settle = settle;
SETSTATE(STATE_SETUP);
UpdateControllerState();
return true;
}
bool Input::Frame()
{
bool result;
result = ReadKeyboard();
if (!result)
return false;
result = UpdateControllerState();
if(!result)
return false;
return true;
}
void xInput::init(Input* input) {
for (int nId = 0; nId < CONTROL_DEVICE_NUMBER_MAX; nId++)
{
//コントローラーの情報を更新
UpdateControllerState(nId);
}
// キーボードデバイスオブジェクト生成
if (FAILED(input->getInputDevice()->CreateDevice(
GUID_SysKeyboard,
&_pKeyboradDevice,
NULL))) {
// 生成失敗
MessageBox(NULL, "キーボードデバイスオブジェクトの生成に失敗しました", "エラー", MB_OK | MB_ICONHAND);
return;
}
// データフォーマットの設定
if (FAILED(_pKeyboradDevice->SetDataFormat(&c_dfDIKeyboard))) {
// 設定失敗
MessageBox(NULL, "キーボードデータフォーマットの設定に失敗しました", "エラー", MB_OK | MB_ICONHAND);
return;
}
// 協調モードの設定
if (FAILED(_pKeyboradDevice->SetCooperativeLevel(App::instance().getHWnd(), (DISCL_FOREGROUND | DISCL_NONEXCLUSIVE)))) {
// 生成失敗
MessageBox(NULL, "キーボード協調モードの設定に失敗しました", "エラー", MB_OK | MB_ICONHAND);
return;
}
// キーボードへのアクセス権の取得
_pKeyboradDevice->Acquire();
memset(_aButtons, 0, sizeof(_aButtons));
memset(_aButtonsTrigger, 0, sizeof(_aButtonsTrigger));
memset(_aButtonsRelease, 0, sizeof(_aButtonsRelease));
memset(_aButtonsRepeat, 0, sizeof(_aButtonsRepeat));
}
int main()
{
Leap::Controller controller;
Leap::Frame frame;
Leap::HandList hands;
Leap::Hand h1;
Leap::FingerList fingers;
Leap::Finger index;
Leap::Finger thumb;
Leap::PointableList pointables;
float indexX = 0, indexY = 0, indexZ = 0, thumbX = 0, thumbY = 0, thumbZ = 0, sum = 0, supersample[20];
int i = 0;
// Setup serial port connection and needed variables.
HANDLE hSerial = CreateFile(L"COM6", GENERIC_WRITE | GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
if (hSerial != INVALID_HANDLE_VALUE)
{
printf("Port opened! \n");
DCB dcbSerialParams;
GetCommState(hSerial, &dcbSerialParams);
dcbSerialParams.BaudRate = CBR_14400;
dcbSerialParams.ByteSize = 8;
dcbSerialParams.Parity = NOPARITY;
dcbSerialParams.StopBits = ONESTOPBIT;
SetCommState(hSerial, &dcbSerialParams);
Sleep(1000);
}
else
{
if (GetLastError() == ERROR_FILE_NOT_FOUND)
{
printf("Serial port doesn't exist! \n");
}
printf("Error while setting up serial port! \n");
}
Controller[20].value = 9; //Verification Byte sent to make sure everything else ends up in the right location
FillByteSize();
while (true)
{
UpdateControllerState(); //Updates all values on the controller
WORD wButtons = g_Controllers[CONTROLLER1].state.Gamepad.wButtons;
//Stores all of the values from the controller into the controller structure
Controller[0].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRX;
Controller[1].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRY;
Controller[2].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLX;
Controller[3].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLY;
Controller[4].value = (g_Controllers[CONTROLLER1].state.Gamepad.bRightTrigger);
Controller[5].value = (g_Controllers[CONTROLLER1].state.Gamepad.bLeftTrigger);
Controller[6].value = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB);
Controller[7].value = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB);
Controller[8].value = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER);
Controller[9].value = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER);
Controller[10].value = (wButtons & XINPUT_GAMEPAD_DPAD_UP);
Controller[11].value = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN);
Controller[12].value = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT);
Controller[13].value = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT);
Controller[14].value = (wButtons & XINPUT_GAMEPAD_A);
Controller[15].value = (wButtons & XINPUT_GAMEPAD_B);
Controller[16].value = (wButtons & XINPUT_GAMEPAD_Y);
Controller[17].value = (wButtons & XINPUT_GAMEPAD_X);
Controller[18].value = (wButtons & XINPUT_GAMEPAD_START);
Controller[19].value = (wButtons & XINPUT_GAMEPAD_BACK);
CheckDeadZone();
if (controller.isConnected() == true)
{
sum = 0;
frame = controller.frame();
hands = frame.hands();
h1 = hands[0];
fingers = frame.fingers();
thumb = fingers[0];
index = fingers[1];
pointables = frame.pointables();
Leapvalues[0].value = h1.palmVelocity().x;
Leapvalues[1].value = h1.palmVelocity().y;
Leapvalues[2].value = h1.palmVelocity().z;
Leapvalues[3].value = h1.direction().pitch()*Leap::RAD_TO_DEG;
Leapvalues[4].value = h1.direction().yaw()*Leap::RAD_TO_DEG;
indexX = index.tipPosition().x;
indexY = index.tipPosition().y;
indexZ = index.tipPosition().z;
thumbX = thumb.tipPosition().x;
thumbY = thumb.tipPosition().y;
thumbZ = thumb.tipPosition().z;
Leapvalues[5].value = sqrt(pow((indexX - thumbX), 2) + pow((indexY - thumbY), 2) + pow((indexZ - thumbZ), 2));
leapConnected = true;
CheckLeapDeadZone();
}
for (i = 6; i < NUMBER_OF_BUTTONS; i++) //DO NOT SET TO <= NUMBER_OF_BUTTONS, NOT A MISTAKE. Verification bit should always keep its value
{
{
Controller[i].value = AnalogToDigital(Controller[i].value); //converts all of the button presses on the controller to a binary value
}
}
//turns all of the numerical values into buffers that can be passed to the arduino
for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
{
_itoa_s(Controller[i].value, Controller[i].passedValue, 10);
}
for (i = 0; i < NUMBER_OF_LEAP_INPUTS; i++)
{
_itoa_s(Leapvalues[i].value, Leapvalues[i].passedValue, 10);
}
SendData(hSerial);
std::cout << Controller[8].value << std::endl;
}
return 0;
}
void xInput::update() {
//コントローラーの数分ループ
for (int nId = 0; nId < CONTROL_DEVICE_NUMBER_MAX; nId++)
{
//コントローラーの情報を更新
UpdateControllerState(nId);
//コントローラーが接続中かどうか
if (_controlDevice[nId].bConnected){
// 入力情報格納ワーク
WORD wButtons = _controlDevice[nId].state.Gamepad.wButtons;
SHORT sThumbLX = _controlDevice[nId].state.Gamepad.sThumbLX;
SHORT sThumbLY = _controlDevice[nId].state.Gamepad.sThumbLY;
// 入力情報をステート毎に分離して管理
BYTE aKeyState[CONTROL_DEVICE_KEY_MAX];
int nCntKey = 0;
//方向キー 受け取り
aKeyState[0] = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT) ? 1 : 0;
aKeyState[1] = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT) ? 1 : 0;
aKeyState[2] = (wButtons & XINPUT_GAMEPAD_DPAD_UP) ? 1 : 0;
aKeyState[3] = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN) ? 1 : 0;
//アナログスティック 受け取り(方向キーとOR制御で取る) アナログスティック半倒し以上で取る
aKeyState[0] = aKeyState[0] | ((sThumbLX < -CONTROL_STICK_RANGE_MAX / 2) ? 1 : 0);
aKeyState[1] = aKeyState[1] | ((sThumbLX > CONTROL_STICK_RANGE_MAX / 2) ? 1 : 0);
aKeyState[2] = aKeyState[2] | ((sThumbLY > CONTROL_STICK_RANGE_MAX / 2) ? 1 : 0);
aKeyState[3] = aKeyState[3] | ((sThumbLY < -CONTROL_STICK_RANGE_MAX / 2) ? 1 : 0);
//ABXYボタン受け取り ABXYの順
aKeyState[4] = (wButtons & XINPUT_GAMEPAD_A) ? 1 : 0;
aKeyState[5] = (wButtons & XINPUT_GAMEPAD_B) ? 1 : 0;
aKeyState[6] = (wButtons & XINPUT_GAMEPAD_X) ? 1 : 0;
aKeyState[7] = (wButtons & XINPUT_GAMEPAD_Y) ? 1 : 0;
//L1 R1受け取り
aKeyState[8] = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB) ? 1 : 0;
aKeyState[9] = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB) ? 1 : 0;
//左右スティックボタン行けとり
aKeyState[10] = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER) ? 1 : 0;
aKeyState[11] = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER) ? 1 : 0;
//start backボタン受け取り
aKeyState[12] = (wButtons & XINPUT_GAMEPAD_START) ? 1 : 0;
aKeyState[13] = (wButtons & XINPUT_GAMEPAD_BACK) ? 1 : 0;
for (nCntKey = 0; nCntKey < CONTROL_DEVICE_KEY_MAX; nCntKey++) {
// トリガー作成 現在トリガーが押している間常にON
_aButtonsTrigger[nId][nCntKey] = (aKeyState[nCntKey] ^ _aButtons[nId][nCntKey]) & aKeyState[nCntKey];
// リリース作成 現在離した後他のキーが押されるまでON
_aButtonsRelease[nId][nCntKey] = (aKeyState[nCntKey] ^ _aButtons[nId][nCntKey]) & ~aKeyState[nCntKey];
// グローバルへ移す
_aButtons[nId][nCntKey] = aKeyState[nCntKey];
// リピート作成
if (_aButtons[nId][nCntKey] & 0x01) {
//0x20になったら0に戻す
(_aButtonsRepeat[nId][nCntKey] < 0x20) ? _aButtonsRepeat[nId][nCntKey]++ : _aButtonsRepeat[nId][nCntKey] = 0;
}
else {
_aButtonsRepeat[nId][nCntKey] = 0;
}
}//for
}//if 接続確認
//接続が切れていたら
else{
// 配列のクリア
}//else
}//for コントローラー分のループ
}
int main()
{
unsigned long cycles = 0;
int i = 0;
// ********************************************************************************************************************
// IMPORTANT: The serial port numbers here must correspond to those of the arduino on the ROV. The first number is the
// COM # and the second number is the baud rate set on the arduino.
SerialPort.Open(8, 115200);
// ********************************************************************************************************************
Controller[20].value = 9; //Verification Byte sent to make sure everything else ends up in the right location
FillByteSize();
while (true)
{
cycles++;
UpdateControllerState(); //Updates all values on the controller
WORD wButtons = g_Controllers[CONTROLLER1].state.Gamepad.wButtons;
//Stores all of the values from the controller into the controller structure
Controller[0].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRX;
Controller[1].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRY;
Controller[2].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLX;
Controller[3].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLY;
Controller[4].value = (g_Controllers[CONTROLLER1].state.Gamepad.bRightTrigger);
Controller[5].value = (g_Controllers[CONTROLLER1].state.Gamepad.bLeftTrigger);
Controller[6].value = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB);
Controller[7].value = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB);
Controller[8].value = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER);
Controller[9].value = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER);
Controller[10].value = (wButtons & XINPUT_GAMEPAD_DPAD_UP);
Controller[11].value = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN);
Controller[12].value = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT);
Controller[13].value = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT);
Controller[14].value = (wButtons & XINPUT_GAMEPAD_A);
Controller[15].value = (wButtons & XINPUT_GAMEPAD_B);
Controller[16].value = (wButtons & XINPUT_GAMEPAD_Y);
Controller[17].value = (wButtons & XINPUT_GAMEPAD_X);
Controller[18].value = (wButtons & XINPUT_GAMEPAD_START);
Controller[19].value = (wButtons & XINPUT_GAMEPAD_BACK);
CheckDeadZone();
for (i = 6; i < NUMBER_OF_BUTTONS; i++) //DO NOT SET TO <= NUMBER_OF_BUTTONS, NOT A MISTAKE. Verification bit should always keep its value
{
{
Controller[i].value = AnalogToDigital(Controller[i].value); //converts all of the button presses on the controller to a binary value
}
}
//turns all of the numerical values into buffers that can be passed to the arduino
for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
{
_itoa_s(Controller[i].value, Controller[i].passedValue, 10);
}
if (SendData() == 1)
{
//SerialPort.ReadData(recieved[0], 3);
}
std::cout << Controller[5].value << Controller[4].value << Controller[1].value << std::endl; // This shows the value being passed to the arduino from the selected controller button (#3 = Left stick Y position)
}
return 0;
}
