TOBI SignalServer
0.1
|
00001 /* 00002 This file is part of the TOBI SignalServer. 00003 00004 Commercial Usage 00005 Licensees holding valid Graz University of Technology Commercial 00006 licenses may use this file in accordance with the Graz University 00007 of Technology Commercial License Agreement provided with the 00008 Software or, alternatively, in accordance with the terms contained in 00009 a written agreement between you and Graz University of Technology. 00010 00011 -------------------------------------------------- 00012 00013 GNU General Public License Usage 00014 Alternatively, this file may be used under the terms of the GNU 00015 General Public License version 3.0 as published by the Free Software 00016 Foundation and appearing in the file gpl.txt included in the 00017 packaging of this file. Please review the following information to 00018 ensure the GNU General Public License version 3.0 requirements will be 00019 met: http://www.gnu.org/copyleft/gpl.html. 00020 00021 In case of GNU General Public License Usage ,the TOBI SignalServer 00022 is distributed in the hope that it will be useful, 00023 but WITHOUT ANY WARRANTY; without even the implied warranty of 00024 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00025 GNU General Public License for more details. 00026 00027 You should have received a copy of the GNU General Public License 00028 along with the TOBI SignalServer. If not, see <http://www.gnu.org/licenses/>. 00029 00030 Copyright 2010 Graz University of Technology 00031 Contact: SignalServer@tobi-project.org 00032 */ 00033 00038 #include "hardware/jstick.h" 00039 00040 #include "SDL/SDL.h" 00041 00042 namespace tobiss 00043 { 00044 00045 using std::vector; 00046 using std::string; 00047 using std::pair; 00048 using std::cout; 00049 using std::endl; 00050 using std::make_pair; 00051 using std::set; 00052 00053 set<boost::uint16_t> JStick::used_ids_; 00054 00055 00056 const HWThreadBuilderTemplateRegistratorWithoutIOService<JStick> JStick::FACTORY_REGISTRATOR_ ("jstick", "joystick", "joycable"); 00057 00058 //----------------------------------------------------------------------------- 00059 JStick::JStick(ticpp::Iterator<ticpp::Element> hw) 00060 : HWThread() 00061 { 00062 #ifdef DEBUG 00063 cout << "JStick: Constructor" << endl; 00064 #endif 00065 00066 setType("Joystick"); 00067 checkMandatoryHardwareTags(hw); 00068 if(mode_ != APERIODIC) 00069 throw(std::invalid_argument("Joystick has to be started as aperiodic device!")); 00070 00071 initJoystick(); 00072 setDeviceSettings(0); 00073 00074 data_.init(1, channel_types_.size() , channel_types_); 00075 00076 vector<boost::uint32_t> v; 00077 empty_block_.init(0,0, v); 00078 // cout << " * Joystick sucessfully initialized -- running as aperiodic: "; 00079 // cout << (mode_ == APERIODIC) << "; "; 00080 cout << " --> Jostick ID: " << id_ << ", Name: " << name_ << endl; 00081 cout << " ... buttons: " << buttons_; 00082 cout << ", axes: " << axes_; 00083 cout << ", balls: " << balls_ << endl; 00084 } 00085 00086 //----------------------------------------------------------------------------- 00087 00088 JStick::~JStick() 00089 { 00090 if(SDL_JoystickOpened(id_)) 00091 SDL_JoystickClose(static_cast<SDL_Joystick*>(joy_)); 00092 } 00093 00094 //----------------------------------------------------------------------------- 00095 00096 void JStick::setDeviceSettings(ticpp::Iterator<ticpp::Element>const&) 00097 { 00098 #ifdef DEBUG 00099 cout << "JStick: setDeviceSettings" << endl; 00100 #endif 00101 00102 string naming; 00103 string type; 00104 00105 if(buttons_) 00106 channel_types_.push_back(SIG_BUTTON); 00107 for(boost::uint32_t n = 0; n < buttons_; n++) 00108 channel_types_.push_back(SIG_BUTTON); 00109 00110 if(axes_) 00111 channel_types_.push_back(SIG_JOYSTICK); 00112 for(boost::uint32_t n = 0; n < axes_; n++) 00113 channel_types_.push_back(SIG_JOYSTICK); 00114 00115 if(balls_) 00116 channel_types_.push_back(SIG_JOYSTICK); 00117 for(boost::int32_t n = 0; n < 2*balls_; n++) 00118 channel_types_.push_back(SIG_JOYSTICK); 00119 00120 nr_ch_= channel_types_.size(); 00121 00122 boost::uint16_t n = 1; 00123 if(buttons_) 00124 for( ; n <= buttons_ +1; n++) 00125 channel_info_.insert(pair<boost::uint16_t, pair<string, boost::uint32_t> >(n, pair<string, boost::uint32_t>(naming, SIG_BUTTON))); 00126 00127 if(axes_) 00128 for( ; n <= axes_ + buttons_ +2; n++) 00129 channel_info_.insert(pair<boost::uint16_t, pair<string, boost::uint32_t> >(n, pair<string, boost::uint32_t>(naming, SIG_JOYSTICK))); 00130 00131 if(balls_) 00132 for( ; n <= (2*balls_)+ axes_ + buttons_ +3; n++) 00133 channel_info_.insert(pair<boost::uint16_t, pair<string, boost::uint32_t> >(n, pair<string, boost::uint32_t>(naming, SIG_JOYSTICK))); 00134 00135 homogenous_signal_type_ = 0; 00136 00137 } 00138 00139 //--------------------------------------------------------------------------------------- 00140 00141 void JStick::setChannelSettings(ticpp::Iterator<ticpp::Element>const& ) 00142 { 00143 #ifdef DEBUG 00144 cout << "JStick: setChannelSettings" << endl; 00145 #endif 00146 00147 } 00148 00149 //--------------------------------------------------------------------------------------- 00150 00151 SampleBlock<double> JStick::getAsyncData() 00152 { 00153 #ifdef DEBUG 00154 cout << "JStick: getAsyncData" << endl; 00155 #endif 00156 00157 bool dirty = 0; 00158 00159 if(!SDL_JoystickOpened(id_) ) 00160 throw(std::runtime_error("JStick::getAsyncData -- Joystick not opened any more -- ID: " + id_) ); 00161 00162 00163 SDL_JoystickUpdate(); 00164 00165 for(boost::uint8_t n = 0; n < buttons_values_.size(); n++) 00166 if(SDL_JoystickGetButton(static_cast<SDL_Joystick*>(joy_), n) != buttons_values_[n]) 00167 { 00168 dirty = 1; 00169 buttons_values_[n] = SDL_JoystickGetButton(static_cast<SDL_Joystick*>(joy_), n); 00170 } 00171 00172 for(boost::uint8_t n = 0; n < axes_values_.size(); n++) 00173 if(SDL_JoystickGetAxis(static_cast<SDL_Joystick*>(joy_), n) != axes_values_[n]) 00174 { 00175 dirty = 1; 00176 axes_values_[n] = SDL_JoystickGetAxis(static_cast<SDL_Joystick*>(joy_), n); 00177 } 00178 00179 for(boost::uint8_t n = 0; n < balls_values_.size(); n++) 00180 { 00181 int dx = 0; 00182 int dy = 0; 00183 SDL_JoystickGetBall(static_cast<SDL_Joystick*>(joy_), n, &dx, &dy); 00184 pair<int,int> dxy = make_pair(dx,dy); 00185 if(dxy != balls_values_[n]) 00186 { 00187 dirty = 1; 00188 balls_values_[n] = dxy; 00189 } 00190 } 00191 00192 if(!dirty) 00193 return(empty_block_); 00194 00195 vector<double> v; 00196 00197 if(buttons_) 00198 v.push_back(id_); 00199 for(boost::uint8_t n = 0; n < buttons_values_.size(); n++) 00200 v.push_back(buttons_values_[n]); 00201 00202 if(axes_) 00203 v.push_back(id_); 00204 for(boost::uint8_t n = 0; n < axes_values_.size(); n++) 00205 v.push_back(axes_values_[n]); 00206 00207 if(balls_) 00208 v.push_back(id_); 00209 for(boost::uint8_t n = 0; n < balls_values_.size(); n++) 00210 { 00211 v.push_back(balls_values_[n].first); 00212 v.push_back(balls_values_[n].second); 00213 } 00214 00215 data_.setSamples(v); 00216 return(data_); 00217 } 00218 00219 //----------------------------------------------------------------------------- 00220 00221 void JStick::run() { } 00222 00223 //----------------------------------------------------------------------------- 00224 00225 void JStick::stop() { } 00226 00227 //----------------------------------------------------------------------------- 00228 00229 void JStick::initJoystick() 00230 { 00231 set<boost::uint16_t>::iterator it(used_ids_.begin()); 00232 00233 boost::int16_t nr_of_jsticks = 0; 00234 if ( SDL_Init(SDL_INIT_JOYSTICK) < 0 ) 00235 { 00236 string error_msg(SDL_GetError()); 00237 throw(std::runtime_error("JStick::Constructor -- Unable to init SDL: " + error_msg )); 00238 } 00239 if( (nr_of_jsticks = SDL_NumJoysticks()) <= 0 ) 00240 throw(std::runtime_error("JStick::initJoystick -- No Joysticks found!")); 00241 00242 for(boost::uint8_t n = 0; n < nr_of_jsticks; n++) 00243 if(used_ids_.find(n) == used_ids_.end()) 00244 { 00245 joy_ = SDL_JoystickOpen(n); 00246 if(!static_cast<SDL_Joystick*>(joy_)) 00247 throw(std::runtime_error("JStick::initJoystick -- Unable to open joystick at position: " + n)); 00248 name_= SDL_JoystickName(n); 00249 id_ = n; 00250 used_ids_.insert(n); 00251 break; 00252 } 00253 00254 if(!static_cast<SDL_Joystick*>(joy_)) 00255 throw(std::runtime_error("JStick::initJoystick -- Joystick already opened!")); 00256 00257 axes_ = SDL_JoystickNumAxes(static_cast<SDL_Joystick*>(joy_)); 00258 buttons_ = SDL_JoystickNumButtons(static_cast<SDL_Joystick*>(joy_)); 00259 balls_ = SDL_JoystickNumBalls(static_cast<SDL_Joystick*>(joy_)); 00260 00261 axes_values_.resize(axes_,0); 00262 balls_values_.resize(balls_, make_pair(0,0) ); 00263 buttons_values_.resize(buttons_,0); 00264 00265 SDL_JoystickEventState(SDL_ENABLE); 00266 SDL_JoystickUpdate(); 00267 } 00268 00269 //----------------------------------------------------------------------------- 00270 00271 } // Namespace tobiss