Joystick::Joystick(xml* temp_lll) {
this->lll = temp_lll; // the xml class that holds the configuration
strcpy(this->name,""); // reseting the name of the joystick
this->deviceName = new char[256];
strcpy(this->deviceName,this->lll->conf->getDeviceName(0)); // gets the device name usualy it is /dev/js0
#ifdef DEBUG2
cout << "Device Name for Joystick : " << this->deviceName << endl;
#endif
this->numberOfAxes=0; //reseting the number of axes that the joystick will suport
this->numberOfButtons=0; //reseting the number of buttons that the joystick will suport
speed=SPEED; // initial speed used by the joystick
this->sucess=false; // sucess to connect with file descriptor
if(!joyInit(this->deviceName)) {
cout << "Not able to connect with joystick" << endl;
}
}
void Joystick::JoyRead() {
struct js_event js; // joystick structure
MPI_Status status;
int received;
int input_update;
MPI_Request request;
MPI_Irecv(&input_update, 1, MPI_INT, MAIN, INPUT_UPDATE, MPI_COMM_WORLD, &request);
received=1;
int checkUpdate=0; // to check if joystick was removed
while(true) {
if(this->sucess) {
if (read(this->fd, &js, sizeof(struct js_event)) != sizeof(struct js_event)) {
checkUpdate++;
if(checkUpdate>800) {
close(this->fd);
if(!joyInit(this->deviceName)) {
cout << "Connection lost with joystick" << endl;
this->sucess=false;
}
checkUpdate=0;
}
}
else {
checkUpdate=0;
switch (js.type) {
case JS_EVENT_BUTTON: // Botoes controlam movimentacao
button[((int)js.number)] = (short int)js.value;
break;
case JS_EVENT_AXIS: // Axis controla direcao do olhar
axis[((int)js.number)] = (short int)js.value;
break;
}
}
MPI_Test(&request, &received, &status);
if(received) {
MPI_Wait(&request, &status);
MPI_Irecv(&input_update, 1, MPI_INT, MAIN, INPUT_UPDATE, MPI_COMM_WORLD, &request);
this->data[0]=0;
this->data[1]=0;
this->data[2]=0;
this->data[3]=0;
this->data[4]=0;
this->data[5]=0;
if(this->lll->conf->getJoystick(0)) {
cout << "Joystick defined in the configuration file" << endl;
} else {
//cout << "Joystick not defined in the configuration file" << endl;
}
switch(this->mode) {
case 1: // force feedback
if (button[2]==1) { this->data[1]= speed;}
if (button[3]==1) { this->data[1]= -speed; }
if ( (!button[2]) && (!button[3])) { this->data[1]= 0; }
this->data[4]= speed*((float)((int)(-axis[4])))/32767 ; // rotate in y
this->data[2]= (speed*20*((float)((int)(-axis[1])))/327670) + (speed*((float)((int)(-axis[5])))/327670); // translate in z
this->data[0]= speed*20*((float)((int)axis[0]))/327670 ; // translate in x
this->data[3]= speed*((float)((int)axis[7]))/32767 ; // rotate in x
break;
case 2: //skate
if (button[0]==1) { this->data[0]= -speed;} // translate to left
if (button[2]==1) { this->data[0]= speed;} // translate to right
if ( (!button[0]) && (!(int)button[2])) { this->data[0]= 0; } // not left and right
if (button[1]==1) { this->data[1]= speed;} // translate down
if (button[3]==1) { this->data[1]= -speed;} // translate up
if ( (!button[1]) && (!(int)button[3])) { this->data[1]= 0; } // not up and down
if (button[8]==1 || (((int)axis[1]) < 0 )) { this->data[2]= speed;} // left
//if ((int)button[9]==1 || (((int)axis[1]) > 0 )){ this->data[2]= -0.1; } // fowrward
if ( ((axis[1]) > 0 )){ this->data[2]= -speed; } // fowrward
if ( (!button[8]) && (!(int)button[9]) && (((int)axis[1])==0) ) { this->data[2]= 0; } // not left and right
this->data[4]= -((float)((int)axis[0]))/32767;
break;
case 3: //game pad
if ( ((axis[1]) < -1 )) { this->data[2]= speed;} //
if ( ((axis[1]) > 1 )) { this->data[2]= -speed;} //
if ( ((axis[0]) < -1 )) { this->data[4]=+1.25+speed*0.12;} //
if ( ((axis[0]) > 1 )) { this->data[4]= -1.25-speed*0.12;} //
if ( button[0]==1 ) { this->data[1]= speed;} //
if ( button[1]==1 ) { this->data[0]= speed;} //
if ( button[2]==1 ) { this->data[0]= -speed;} //
if ( button[3]==1 ) { this->data[1]= -speed;} //
if (button[4]==1) { speed /= 1.04;} //
if (button[5]==1) { speed *= 1.04;} //
break;
case 4: //soundblaster
if(axis[0]<30000) this->data[4] = speed/3; else
if(axis[0]<10000) this->data[4] = 0; else
this->data[4] = -speed/3;
if(axis[1]<20000) this->data[1] = speed/3; else
if(axis[1]<10000) this->data[1] = 0; else
this->data[1] = -speed/3;
this->data[2]= 2*speed/3;
break;
case 5: //
if(axis[0]<30000) this->data[4] = speed/3; else
if(axis[0]<10000) this->data[4] = 0; else
this->data[4] = -speed/3;
if(axis[1]<20000) this->data[1] = speed/3; else
if(axis[1]<10000) this->data[1] = 0; else
this->data[1] = -speed/3;
this->data[2]= 2*speed/3;
break;
case 6: //game pad
if ( ((axis[1]) < -1 )) { this->data[2]= speed;} //
if ( ((axis[1]) > 1 )) { this->data[2]= -speed;} //
if ( ((axis[0]) < -1 )) { this->data[4]=+1.25+speed*0.12;} //
if ( ((axis[0]) > 1 )) { this->data[4]= -1.25-speed*0.12;} //
if ( button[0]==1 ) { this->data[1]= speed;} //
if ( button[1]==1 ) { this->data[0]= speed;} //
if ( button[3]==1 ) { this->data[0]= -speed;} //
if ( button[4]==1 ) { this->data[1]= -speed;} //
if (button[6]==1) { speed /= 1.04;} //
if (button[7]==1) { speed *= 1.04;} //
break;
case 7: //soundblaster
if(axis[0]<-10000) this->data[4] = 1*speed; else
//if(axis[0]<-100) this->data[4] = 0; else
this->data[4] = -1*speed;
this->data[1]= 0.3*speed*((float)((int)(-axis[1])))/(32767) ; // rotate in y
/*
if(axis[1]<20000) this->data[1] = speed/3; else
if(axis[1]<10000) this->data[1] = 0; else
this->data[1] = -speed/3;
this->data[2]= 2*speed/3;
*/
break;
default:
if ( ((axis[1]) < -1 )) { this->data[2]= speed;} //
if ( ((axis[1]) > 1 )) { this->data[2]= -speed;} //
if ( ((axis[0]) < -1 )) { this->data[4]= 2;} //
if ( ((axis[0]) > 1 )) { this->data[4]= -2;} //
if ( button[0]==1 ) { this->data[1]= speed;} //
if ( button[1]==1 ) { this->data[0]= speed;} //
if ( button[2]==1 ) { this->data[0]= -speed;} //
if ( button[3]==1 ) { this->data[1]= -speed;} //
if (button[4]==1) { speed /= 1.1;} //
if (button[5]==1) { speed *= 1.1;} //
break;
}
Input::move(this->data);
}
#ifdef DEBUG
unsigned short int f;
for(f=0;f<(this->numberOfAxes);f++)
cout << "Axes " << f << " : " << axis[f] << endl;
for(f=0;f<(this->numberOfButtons);f++)
cout << "Button " << f << " : " << button[f] << endl;
for(f=0;f<6;f++)
cout << "Data " << f << " : " << data[f] << endl;
#endif
} else {
// do nothing
MPI_Test(&request, &received, &status);
if(received) {
MPI_Wait(&request, &status);
MPI_Irecv(&input_update, 1, MPI_INT, MAIN, INPUT_UPDATE, MPI_COMM_WORLD, &request);
Input::move(this->data); //just for not locking but have to be fixed
}
joyInit(this->deviceName); // try to reconect
}
breath(); // just a sleep
}
}
int main(void)
{
initUART(UBBR);
printf("Simple RAM TEST \r\n");
initExtMemIface();
initTimer();
initInterrupts();
SRAM_test();
joyInit();
initOLED();
initSPI();
initCAN(NORMAL);
struct joypos_t p;
enum joydir_t d;
struct canMessage m0,m1,m2s;
while(1){
/* slide1Point=getSlidePosition(1);
slide2Point=getSlidePosition(2);
printf("SLIDE1 -> %d",slide1Point.x);
printf("SLIDE2 -> %d",slide2Point.x);SLIDE READINGS*/
if (readControl) {
readControl = 0;
d = getJoyDirection();
p = getJoyPosition();
sendCANJoy(2,p,d);
if (d == TOP || d == RIGHT_TOP || d == LEFT_TOP) menuOption = (menuOption-1)%NUM_MENU_OPTIONS;
else if (d == BOTTOM || d == RIGHT_BOTTOM|| d == LEFT_BOTTOM) menuOption = (menuOption+1)%NUM_MENU_OPTIONS;
printMenu(menuOption);
}
if (flagJoyButton) {
m2s.id = JOY_BUTTON;
m2s.size = 0;
printf("Sending joy bu\r\n");
fillTxBufferMCP(0,m2s);
requestToSendMCP(0);
struct canMessage m2s;
flagJoyButton = 0;
gotoCharOLED(7,0);
putsOLED(" "); //Cleans last selected option from screen
switch(menuOption){
case 0: //Play
gotoCharOLED(7,0);
putsOLED("PLAY");
break;
case 1: //Options
gotoCharOLED(7,0);
putsOLED("OPTIONS");
break;
case 2: //Help
printHelp();
break;
default:
gotoCharOLED(7,0);
putsOLED("Stick to the OPTIONS !!!");
break;
}
}
/*
if(flagMCP) {
flagMCP = 0;
struct canMessage m0,m1;
m0 = readRxBufferMCP(0);
m1 = readRxBufferMCP(1);
printf ("Buffer 0 ID: %d, Size: %d, Data: %s \r\n", m0.id, m0.size, m0.data);
printf ("Buffer 1 ID: %d, Size: %d, Data: %s \r\n", m1.id, m1.size, m1.data);
}*/
}
}
