[21] | 1 | /*********************************************************************
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| 2 | // created: 2012/03/01 - 14:06
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| 3 | // filename: PS3remote.cpp
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| 4 | //
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| 5 | // author: Pierre Hudelaine
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| 6 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 7 | //
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| 8 | // version: $Id: $
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| 9 | //
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| 10 | // purpose: Read the dualshock 3 button using bluetooth
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| 11 | //
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| 12 | *********************************************************************/
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| 13 |
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| 14 | #include "ps3remote.h"
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| 15 |
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| 16 | using namespace pacpus;
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| 17 |
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| 18 |
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| 19 | PS3remote::PS3remote()
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| 20 | {
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| 21 | quit = 0;
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| 22 | b = NULL;
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| 23 | shmem = new ShMem("dualshock", sizeof(struct dualshockButtons_s));
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| 24 | }
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| 25 |
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| 26 |
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| 27 | PS3remote::PS3remote(PacpusSocket * socket)
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| 28 | {
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| 29 | quit = 0;
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| 30 | b = NULL;
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| 31 | shmem = new ShMem("dualshock", sizeof(struct dualshockButtons_s));
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| 32 | socket_ = socket;
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| 33 | }
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| 34 |
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| 35 |
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| 36 | PS3remote::~PS3remote()
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| 37 | {
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| 38 |
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| 39 | }
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| 40 |
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| 41 |
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| 42 | void PS3remote::sendCmd(uint16_t Ls, uint16_t Rs, int leftF, int rightF)
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| 43 | {
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| 44 | float right, left;
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| 45 | static char lastLeft = 1;
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| 46 | static char lastRight = 1;
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| 47 | char buf[5] = {0};
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| 48 | buf[1] = leftF;
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| 49 | buf[3] = rightF;
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| 50 |
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| 51 | left = ((float)Ls / 127) * 100;
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| 52 | right = ((float)Rs / 127) * 100;
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| 53 | if(left > 100.0)
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| 54 | left = 100.0;
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| 55 | if(right > 100.0)
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| 56 | right = 100.0;
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| 57 | buf[0] = (char)left + 1;
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| 58 | buf[2] = (char)right + 1;
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| 59 | if(buf[0] != lastLeft || buf[2] != lastRight) {
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| 60 | fprintf(stderr, "left = %c%d right = %c%d\n", buf[1] == 1 ? '+' : '-', buf[0], buf[3] == 1 ? '+' : '-', buf[2]);
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| 61 | socket_->sendDatagrams(QByteArray(buf));
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| 62 | }
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| 63 |
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| 64 |
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| 65 | lastLeft = buf[0];
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| 66 | lastRight = buf[2];
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| 67 | }
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| 68 |
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| 69 |
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| 70 | void PS3remote::mode2()
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| 71 | {
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| 72 | uint16_t leftPWM = b->buttons.stick.leftStick_y;
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| 73 | uint16_t rightPWM = b->buttons.stick.rightStick_y;
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| 74 | int leftF = 1, rightF = 1;
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| 75 |
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| 76 | if(leftPWM < 135 && leftPWM > 120)
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| 77 | leftPWM = 0;
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| 78 | else {
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| 79 | if(leftPWM > 128) {
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| 80 | leftPWM -= 128;
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| 81 | leftF = -1;
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| 82 | }
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| 83 | else
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| 84 | leftPWM = 128 - leftPWM;
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| 85 | }
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| 86 | if(rightPWM < 135 && rightPWM > 120)
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| 87 | rightPWM = 0;
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| 88 | else {
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| 89 | if(rightPWM > 128) {
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| 90 | rightF = -1;
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| 91 | rightPWM -= 128;
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| 92 | }
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| 93 | else
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| 94 | rightPWM = 128 - rightPWM;
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| 95 | }
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| 96 | if(leftPWM > 127)
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| 97 | leftPWM = 126;
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| 98 | if(rightPWM > 127)
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| 99 | rightPWM = 126;
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| 100 | sendCmd(leftPWM, rightPWM, leftF, rightF);
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| 101 | }
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| 102 |
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| 103 |
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| 104 | void PS3remote::mode1()
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| 105 | {
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| 106 | uint16_t speed = b->buttons.stick.leftStick_y;
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| 107 | float x = (float)b->buttons.stick.rightStick_x;
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| 108 | int leftF = 1, rightF = 1;
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| 109 | if(speed < 140 && speed > 115) {
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| 110 | if(x > 140) {
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| 111 | x = x - 128;
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| 112 | rightF = -(leftF = 1);
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| 113 | }
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| 114 | else if (x < 115) {
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| 115 | x = 128 - x;
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| 116 | leftF = -(rightF = 1);
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| 117 | }
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| 118 | else
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| 119 | x = 0;
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| 120 | sendCmd(x, x, leftF, rightF);
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| 121 | }
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| 122 | else {
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| 123 | if(speed > 128) {
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| 124 | rightF = leftF = -1;
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| 125 | speed -= 128;
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| 126 | }
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| 127 | else
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| 128 | speed = 128 - speed;
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| 129 | float right = 1.0 - (x > 140 ? 0.0 : ((128.0 - x) / 128.0));
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| 130 | float left = 1.0 - (x < 115 ? 0.0 : ((x - 128.0) / 128.0));
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| 131 | sendCmd(right * speed, left * speed, leftF, rightF);
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| 132 | }
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| 133 | }
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| 134 |
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| 135 |
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| 136 | void PS3remote::checkMode()
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| 137 | {
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| 138 | static int lastState = 0;
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| 139 | static int mode = 1;
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| 140 |
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| 141 | if(b->buttons.digital.select) {
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| 142 | if(!lastState) {
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| 143 | mode = mode == 1 ? 2 : 1;
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| 144 | // TODO later
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| 145 | //blueshock_setLeds(0, mode);
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| 146 | lastState = 1;
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| 147 | }
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| 148 | }
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| 149 | else
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| 150 | lastState = 0;
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| 151 |
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| 152 | if (mode == 1)
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| 153 | mode1();
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| 154 | else
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| 155 | mode2();
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| 156 | }
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| 157 |
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| 158 |
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| 159 | void PS3remote::run()
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| 160 | {
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| 161 | while(!quit) {
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| 162 | shmem->wait();
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| 163 | b = (struct dualshockButtons_s *)shmem->read();
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| 164 |
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| 165 | checkMode();
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| 166 |
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| 167 | if(!b->available)
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| 168 | std::cerr << "Waiting for remote...\n";
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| 169 | }
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| 170 | }
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| 171 |
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| 172 |
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| 173 | void PS3remote::stop()
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| 174 | {
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| 175 | quit = 1;
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| 176 | }
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