source: pacpussensors/trunk/Dualshock/controller.h@ 69

Last change on this file since 69 was 22, checked in by phudelai, 11 years ago

New control mode added + Security with the controller
File size: 3.2 KB
Line 
1/*********************************************************************
2// created: 2012/03/01 - 14:06
3// filename: controller.cpp
4//
5// author: Pierre Hudelaine
6// Copyright Heudiasyc UMR UTC/CNRS 7253
7//
8// version: $Id: $
9//
10// purpose: Read the dualshock 3 button using bluetooth
11//
12*********************************************************************/
13
14#ifndef CONTROLLER_H
15# define CONTROLLER_H
16
17# include <iostream>
18# include <stdlib.h>
19# include <unistd.h>
20# include <sys/socket.h>
21# include <bluetooth/bluetooth.h>
22# include <bluetooth/l2cap.h>
23# include <QApplication>
24# include <QThread>
25
26# include "kernel/ComponentBase.h"
27# include "kernel/DbiteFile.h"
28# include "kernel/DbiteFileTypes.h"
29# include "PacpusTools/ShMem.h"
30
31# define L2CAP_PSM_HIDP_CTRL 0x11
32# define L2CAP_PSM_HIDP_INTR 0x13
33
34# define HIDP_TRANS_GET_REPORT 0x40
35# define HIDP_TRANS_SET_REPORT 0x50
36# define HIDP_DATA_RTYPE_INPUT 0x01
37# define HIDP_DATA_RTYPE_OUTPUT 0x02
38# define HIDP_DATA_RTYPE_FEATURE 0x03
39
40namespace pacpus {
41
42 struct buttons_s {
43 struct {
44 uint8_t
45 leftStick_x,
46 leftStick_y,
47 rightStick_x,
48 rightStick_y;
49 } stick;
50
51 struct {
52 uint8_t
53 select:1,
54 l3:1,
55 r3:1,
56 start:1,
57 up:1,
58 right:1,
59 down:1,
60 left:1,
61 l2:1,
62 r2:1,
63 l1:1,
64 r1:1,
65 triangle:1,
66 circle:1,
67 cross:1,
68 square:1;
69 } digital;
70
71 struct {
72 uint8_t l1;
73 uint8_t l2;
74 uint8_t r1;
75 uint8_t r2;
76 uint8_t triangle;
77 uint8_t circle;
78 uint8_t cross;
79 uint8_t square;
80 uint8_t up;
81 uint8_t right;
82 uint8_t down;
83 uint8_t left;
84 } analog;
85
86 struct {
87 int8_t x;
88 int8_t y;
89 int8_t z;
90 int8_t gZ;
91 } axis;
92 };
93
94 class Controller {
95 public:
96 struct buttons_s buttons;
97 bdaddr_t addr;
98 int csk;
99 int isk;
100 int paired;
101 int timeout;
102 unsigned index;
103 };
104
105 struct dualshockButtons_s {
106 road_time_t time;
107 struct buttons_s buttons;
108 int available;
109 int timeout;
110 };
111
112 class DualshockAPI: public QThread {
113 Q_OBJECT
114
115 public:
116 DualshockAPI();
117 ~DualshockAPI();
118 void run();
119 void stop();
120
121 private:
122 void main_loop();
123 int l2cap_listen(const bdaddr_t *bdaddr, unsigned short psm);
124 void handle_connection();
125 void handle_disconnection();
126 void setup_device(int sk);
127 void handle_report(unsigned char buf[], int len);
128 void update_shared_memory();
129
130 Controller controller;
131 ShMem *shmem;
132 DbiteFile dbtFile;
133 int csk;
134 int isk;
135 int quit;
136 };
137}
138#endif /* CONTROLLER_H */
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