source: pacpussensors/trunk/Dualshock/controller.h@ 21

Last change on this file since 21 was 21, checked in by phudelai, 11 years ago

New component for the wifibot and the dualshock 3
File size: 2.8 KB
Line 
1#ifndef CONTROLLER_H
2# define CONTROLLER_H
3
4# include <iostream>
5# include <stdlib.h>
6# include <unistd.h>
7# include <sys/socket.h>
8# include <bluetooth/bluetooth.h>
9# include <bluetooth/l2cap.h>
10# include <QApplication>
11# include <QThread>
12
13# include "kernel/ComponentBase.h"
14# include "kernel/DbiteFile.h"
15# include "kernel/DbiteFileTypes.h"
16# include "PacpusTools/ShMem.h"
17
18# define L2CAP_PSM_HIDP_CTRL 0x11
19# define L2CAP_PSM_HIDP_INTR 0x13
20
21# define HIDP_TRANS_GET_REPORT 0x40
22# define HIDP_TRANS_SET_REPORT 0x50
23# define HIDP_DATA_RTYPE_INPUT 0x01
24# define HIDP_DATA_RTYPE_OUTPUT 0x02
25# define HIDP_DATA_RTYPE_FEATURE 0x03
26
27namespace pacpus {
28
29 struct buttons_s {
30 struct {
31 uint8_t
32 leftStick_x,
33 leftStick_y,
34 rightStick_x,
35 rightStick_y;
36 } stick;
37
38 struct {
39 uint8_t
40 select:1,
41 l3:1,
42 r3:1,
43 start:1,
44 up:1,
45 right:1,
46 down:1,
47 left:1,
48 l2:1,
49 r2:1,
50 l1:1,
51 r1:1,
52 triangle:1,
53 circle:1,
54 cross:1,
55 square:1;
56 } digital;
57
58 struct {
59 uint8_t l1;
60 uint8_t l2;
61 uint8_t r1;
62 uint8_t r2;
63 uint8_t triangle;
64 uint8_t circle;
65 uint8_t cross;
66 uint8_t square;
67 uint8_t up;
68 uint8_t right;
69 uint8_t down;
70 uint8_t left;
71 } analog;
72
73 struct {
74 int8_t x;
75 int8_t y;
76 int8_t z;
77 int8_t gZ;
78 } axis;
79 };
80
81 class Controller {
82 public:
83 struct buttons_s buttons;
84 bdaddr_t addr;
85 int csk;
86 int isk;
87 int paired;
88 unsigned index;
89 };
90
91 struct dualshockButtons_s {
92 road_time_t time;
93 struct buttons_s buttons;
94 int available;
95 };
96
97 class DualshockAPI: public QThread {
98 Q_OBJECT
99
100 public:
101 DualshockAPI();
102 ~DualshockAPI();
103 void run();
104 void stop();
105
106 private:
107 void main_loop();
108 int l2cap_listen(const bdaddr_t *bdaddr, unsigned short psm);
109 void handle_connection();
110 void handle_disconnection();
111 void setup_device(int sk);
112 void handle_report(unsigned char buf[], int len);
113 void update_shared_memory();
114
115 Controller controller;
116 ShMem *shmem;
117 DbiteFile dbtFile;
118 int csk;
119 int isk;
120 int quit;
121 };
122}
123#endif /* CONTROLLER_H */
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