Changeset 22 in pacpussensors for trunk/Dualshock/controller.cpp

Timestamp:

08/02/13 16:19:44 (11 years ago)

Author:

phudelai

Message:

New control mode added + Security with the controller

File:

• trunk/Dualshock/controller.cpp (modified) (7 diffs)

trunk/Dualshock/controller.cpp

@@ +1 @@
+/*********************************************************************
+//  created:    2012/03/01 - 14:06
+//  filename:   controller.cpp
+//
+//  author:     Pierre Hudelaine
+//              Copyright Heudiasyc UMR UTC/CNRS 7253
+// 
+//  version:    $Id: $
+//
+//  purpose:    Read the dualshock 3 button using bluetooth
+//
+*********************************************************************/
+
 #include "controller.h"
 
@@ -45 +58 @@
     struct dualshockButtons_s d;
     d.available = controller.paired;
+    d.timeout = controller.timeout;
     d.buttons = controller.buttons;
     d.time = road_time();
@@ -73 +87 @@
         //std::cerr << "    elem\n";
         //std::cerr << "Select\n";
-        struct timeval tv = {2, 0}; //timeout = 2s
-        if (select(fdmax + 1, &fds, NULL, NULL, &tv) < 0)
+        struct timeval tv = {0, 500 * 1000}; //timeout = 0.5s
+        int ret = 0;
+        ret = select(fdmax + 1, &fds, NULL, NULL, &tv);
+        if (ret < 0)
             throw "Select";
+        
+        controller.timeout = (ret == 0 && controller.paired);
 
         if (FD_ISSET(csk, &fds))
@@ -87 +105 @@
                 handle_report(report, nr);
         }
+        update_shared_memory();
     }
     quit = 2;
@@ -129 +148 @@
     controller.addr = baddr;
     controller.paired = 1;
+    controller.timeout = 0;
     controller.csk = cs;
     controller.isk = is;
@@ -149 +169 @@
         HIDP_TRANS_SET_REPORT | HIDP_DATA_RTYPE_OUTPUT, 0x01,
         '\00', '\00', '\00', '\00', '\00', '\00', '\00', '\00',
-        '\00', static_cast<char>(ledmask[index % 10] << 1),
+        '\00', static_cast<char>(index << 1),
         LED_PERMANENT,
         LED_PERMANENT,
@@ -217 +237 @@
     controller.buttons.axis.z                = buf[47];
     controller.buttons.axis.gZ               = buf[47];
-
-    update_shared_memory();
 }