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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