OpenKraken-controller: /home/fayn/OpenKraken-dev/OpenKN-controller/src/WiimoteManager.cpp Source File

00001 /***************************************************************************\
00002  * Copyright (C) by University Paris-Est - MISS team   
00003  * WiimoteManager.cpp created in 12 2008.
00004  * Mail : biri@univ-mlv.fr                                        
00005  *                                                                                                         
00006  * This file is part of the OpenKraken-controller.
00007  *
00008  * The OpenKraken-controller is free software; you can redistribute it and/or modify
00009  * it under the terms of the GNU Lesser General Public License as published by
00010  * the Free Software Foundation; either version 3 of the License, or
00011  * (at your option) any later version.
00012  *
00013  * The OpenKraken-controller is distributed in the hope that it will be useful,
00014  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016  * GNU Lesser General Public License for more details.
00017  *
00018  * You should have received a copy of the GNU Lesser General Public License
00019  * along with this program.      If not, see <http://www.gnu.org/licenses/>.
00020  *
00021 \***************************************************************************/
00022 
00023 /*********************************************************
00024  * Inclusions
00025 \*********************************************************/
00026 
00027 #include "WiimoteManager.hpp"
00028 #include "ControllerException.hpp"
00029 
00030 #include <boost/bind.hpp>
00031 
00032 
00033 namespace kn {
00034 
00035         WiimoteManager::WiimoteManager(void){
00036                 wiimotes=0;
00037                 wiimoteobservers=0;
00038                 treatevents = false;
00039                 maxnumberofwiimotes = 0;
00040                 numberofwiimotes = 0;
00041         thrd = 0;
00042         }
00043                 
00044         WiimoteManager::~WiimoteManager(void){
00045                 stop();
00046         }
00047 
00048         void WiimoteManager::launch(const unsigned int& maxtime, 
00049                                                                 const unsigned int& maxwiimotes){
00050 
00051                 maxnumberofwiimotes = maxwiimotes;
00052 
00053                 // Initialize an array of wiimote objects.
00054                 wiimotes = wiiuse_init(maxnumberofwiimotes);
00055                         
00056                 // Find wiimote devices during maxtime seconds
00057                 numberofwiimotes = wiiuse_find(wiimotes, maxnumberofwiimotes, maxtime);
00058                 if (!numberofwiimotes) throw ControllerException("No wiimote found","WiimoteManager");
00059 
00060                 // Connect to the wiimotes
00061                 int connected = wiiuse_connect(wiimotes, numberofwiimotes);
00062                 if (!connected) throw ControllerException("Unable to connect wiimotes","WiimoteManager");
00063 
00064                 wiimoteobservers = new Wiimote[numberofwiimotes];
00065 
00066                 for(unsigned int i = 0; i < numberofwiimotes; ++i)
00067                         wiimoteobservers[i] = Wiimote(wiimotes[i]);
00068 
00069                 // Launch 
00070                 treatevents=true;
00071                 thrd = new boost::thread(boost::bind(&WiimoteManager::handleEvents, this));
00072         }
00073 
00074         void WiimoteManager::stop(void){
00075                 if(thrd){
00076                         treatevents = false;
00077                         thrd->join();
00078                         delete thrd;
00079                         thrd = 0;
00080                 }
00081 
00082                 if(wiimoteobservers) delete[] wiimoteobservers;
00083                 wiimoteobservers = 0;
00084 
00085                 if(wiimotes) wiiuse_cleanup(wiimotes, maxnumberofwiimotes);
00086                 wiimotes = 0;
00087                                         
00088                 maxnumberofwiimotes = numberofwiimotes = 0;
00089 
00090         }        
00091 
00092 
00093         Wiimote& WiimoteManager::getWiimote(const unsigned int& i){
00094                 if(i >= numberofwiimotes) throw ControllerException("No such wiimote","getWiimote");
00095                 return wiimoteobservers[i];
00096         }
00097 
00098 
00099         /*void handle_ctrl_status(struct wiimote_t* wm){
00100           printf("\n\n--- CONTROLLER STATUS [wiimote id %i] ---\n", wm->unid);
00101                         
00102           printf("attachment:      %i\n", wm->exp.type);
00103           printf("speaker:                 %i\n", WIIUSE_USING_SPEAKER(wm));
00104           printf("ir:                      %i\n", WIIUSE_USING_IR(wm));
00105           printf("leds:                    %i %i %i %i\n", WIIUSE_IS_LED_SET(wm, 1), WIIUSE_IS_LED_SET(wm, 2), WIIUSE_IS_LED_SET(wm, 3), WIIUSE_IS_LED_SET(wm, 4));
00106           printf("battery:                 %d %%\n", int(100 * wm->battery_level));
00107           }*/
00108 
00109 
00110         void WiimoteManager::handle_event(struct wiimote_t* wm, const unsigned int& id){
00111 
00112                 // Wiimote buttons
00113                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_A)) wiimoteobservers[id].addEvent(EVENT_BUTTON_A_DOWN);
00114                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_A)) wiimoteobservers[id].addEvent(EVENT_BUTTON_A_UP);
00115 
00116                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_B)) wiimoteobservers[id].addEvent(EVENT_BUTTON_B_DOWN);
00117                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_B)) wiimoteobservers[id].addEvent(EVENT_BUTTON_B_UP);
00118 
00119                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_UP)) wiimoteobservers[id].addEvent(EVENT_BUTTON_UP_DOWN);
00120                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_UP)) wiimoteobservers[id].addEvent(EVENT_BUTTON_UP_UP);
00121 
00122                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_DOWN)) wiimoteobservers[id].addEvent(EVENT_BUTTON_DOWN_DOWN);
00123                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_DOWN)) wiimoteobservers[id].addEvent(EVENT_BUTTON_DOWN_UP); 
00124 
00125                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_LEFT)) wiimoteobservers[id].addEvent(EVENT_BUTTON_LEFT_DOWN);
00126                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_LEFT)) wiimoteobservers[id].addEvent(EVENT_BUTTON_LEFT_UP);
00127 
00128                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_RIGHT)) wiimoteobservers[id].addEvent(EVENT_BUTTON_RIGHT_DOWN);
00129                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_RIGHT)) wiimoteobservers[id].addEvent(EVENT_BUTTON_RIGHT_UP);
00130 
00131                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_MINUS)) wiimoteobservers[id].addEvent(EVENT_BUTTON_MINUS_DOWN);
00132                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_MINUS)) wiimoteobservers[id].addEvent(EVENT_BUTTON_MINUS_UP);
00133 
00134                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_PLUS)) wiimoteobservers[id].addEvent(EVENT_BUTTON_PLUS_DOWN);
00135                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_PLUS)) wiimoteobservers[id].addEvent(EVENT_BUTTON_PLUS_UP);
00136 
00137                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_ONE)) wiimoteobservers[id].addEvent(EVENT_BUTTON_ONE_DOWN);
00138                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_ONE)) wiimoteobservers[id].addEvent(EVENT_BUTTON_ONE_UP);
00139 
00140                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_TWO)) wiimoteobservers[id].addEvent(EVENT_BUTTON_TWO_DOWN);
00141                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_TWO)) wiimoteobservers[id].addEvent(EVENT_BUTTON_TWO_UP);
00142 
00143                 if (IS_PRESSED(wm, WIIMOTE_BUTTON_HOME)) wiimoteobservers[id].addEvent(EVENT_BUTTON_HOME_DOWN);
00144                 if (IS_RELEASED(wm, WIIMOTE_BUTTON_HOME)) wiimoteobservers[id].addEvent(EVENT_BUTTON_HOME_UP);
00145 
00146 
00147                 // Nunchuck buttons
00148                 if(wiimoteobservers[id].getNunchuk().isConnected()){
00149                         struct nunchuk_t* nc = (nunchuk_t*)&wm->exp.nunchuk;
00150                                 
00151                         if (IS_PRESSED(nc, NUNCHUK_BUTTON_C)) wiimoteobservers[id].getNunchuk().addEvent(EVENT_BUTTON_C_DOWN);
00152                         if (IS_RELEASED(nc, NUNCHUK_BUTTON_C)) wiimoteobservers[id].getNunchuk().addEvent(EVENT_BUTTON_C_UP);
00153                                 
00154                         if (IS_PRESSED(nc, NUNCHUK_BUTTON_Z)) wiimoteobservers[id].getNunchuk().addEvent(EVENT_BUTTON_Z_DOWN);
00155                         if (IS_RELEASED(nc, NUNCHUK_BUTTON_Z)) wiimoteobservers[id].getNunchuk().addEvent(EVENT_BUTTON_Z_UP);
00156                 }
00157         }
00158                 
00159 
00160         void WiimoteManager::handleEvents(void){
00161                 while(treatevents){
00162                         // Check events
00163                         if (wiiuse_poll(wiimotes, numberofwiimotes)) 
00164                                 for(unsigned int i = 0; i < numberofwiimotes; ++i){
00165                                         switch (wiimotes[i]->event) {
00166                                         case WIIUSE_EVENT:
00167                                                 // a generic event occured
00168                                                 handle_event(wiimotes[i],i);
00169                                                 break;
00170                                                 
00171                                         case WIIUSE_STATUS:
00172                                                 // a status event occured
00173                                                 //handle_ctrl_status(wiimotes[i]);
00174                                                 break;
00175 
00176                                         case WIIUSE_DISCONNECT:
00177                                         case WIIUSE_UNEXPECTED_DISCONNECT:
00178                                                 // the wiimote disconnected
00179                                                 break;
00180 
00181                                         case WIIUSE_NUNCHUK_INSERTED:
00182                                         case WIIUSE_NUNCHUK_REMOVED:
00183                                                 //wiimoteobservers[i].getNunchuk().checkConnected();
00184                                                 break;
00185 
00186                                                 //case WIIUSE_CLASSIC_CTRL_INSERTED:
00187                                                 //case WIIUSE_CLASSIC_CTRL_REMOVED:
00188                                                 //wiimoteobservers[i].setExpansion(EXP_CLASSIC);
00189                                                 //break;
00190 
00191                                                 //case WIIUSE_GUITAR_HERO_3_CTRL_INSERTED:
00192                                                 //case WIIUSE_GUITAR_HERO_3_CTRL_REMOVED:
00193                                                 //wiimoteobservers[i].setExpansion(EXP_GUITAR_HERO_3);
00194                                                 //break;
00195 
00196                                         default:
00197                                                 break;
00198 
00199 
00200                                         }
00201                                 }
00202                 }
00203         }
00204 
00205 
00206 }