/home/fayn/OpenKraken-dev/OpenKN-controller/src/WiimoteNunchuk.hpp

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/***************************************************************************\
 * Copyright (C) by University Paris-Est - MISS team   
 * WiimoteNunchuk.hpp created in 12 2008.
 * Mail : biri@univ-mlv.fr                                        
 *                                                                                                         
 * This file is part of the OpenKraken-controller.
 *
 * The OpenKraken-controller is free software; you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * The OpenKraken-controller is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.      If not, see <http://www.gnu.org/licenses/>.
 *
\***************************************************************************/


#ifndef __OPENKN_CONTROLLER__WIIMOTE_NUNCHUK_HPP__
#define __OPENKN_CONTROLLER__WIIMOTE_NUNCHUK_HPP__

/*
 * Internal Includes
 */
#include "InputController.hpp"

/*
 * External Includes
 */
#include <wiiuse.h>
#include <queue>

namespace kn{

        // Nunchuk buttons

        static const unsigned int EVENT_NONE=                      0x0;

        static const unsigned int EVENT_BUTTON_C_UP=       0x1;
        static const unsigned int EVENT_BUTTON_C_DOWN=     0x2;
        static const unsigned int EVENT_BUTTON_Z_UP=       0x4;
        static const unsigned int EVENT_BUTTON_Z_DOWN=     0x8;

/*      struct WiimoteMotion{
        float roll; // Movement around Y axis
        float pitch; // Movement around X axis
        float yaw; // Movement around Z axis
        float absoluteroll;
        float absolutepitch;
        float xforce; // Force applied along X axis
        float yforce; // Force applied along Y axis
        float zforce; // Force applied along Z axis
        };*/

        /*struct WiimoteJoystick{
          float angle; // Angle of the joystick 
          float magnitude; // Distance of the stick from default position 
          };*/

        class Nunchuk : public InputController{

        private:

                std::queue<unsigned int> eventsqueue; 
                static const unsigned int maxevents = 10; 
                wiimote * wm; 
        public:
                Nunchuk(void):InputController(){}

                Nunchuk(wiimote* wiimote);

                ~Nunchuk(void){clearEvents();}

                void addEvent(const unsigned int& event);

                void clearEvents(void);

                unsigned int popEvent(void) { if(eventsqueue.empty()){ return EVENT_NONE; this->updateAsNotUpdated();} unsigned int ev = eventsqueue.front(); eventsqueue.pop(); return ev;}

                unsigned int topEvent(void) { if(eventsqueue.empty()){ return EVENT_NONE; this->updateAsNotUpdated();} return eventsqueue.front();}

                unsigned int popError(void) {return 0;}

                unsigned int topError(void) {return 0;}

                float getRoll(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.orient.roll; return 0.0;}

                float getAbsoluteRoll(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.orient.a_roll; return 0.0;}

                float getPitch(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.orient.pitch; return 0.0;}

                float getAbsolutePitch(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.orient.a_pitch; return 0.0;}

                float getXForce(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.gforce.x; return 0.0;}

                float getYForce(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.gforce.y; return 0.0;}

                float getZForce(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.gforce.z; return 0.0;}

                // Seems to be useless
                // WiimoteMotion getMotion(void)const;

                float getJoystickAngle(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.js.ang; return 0.0;}

                float getJoystickMagnitude(void)const{if(wm->exp.type==EXP_NUNCHUK)return wm->exp.nunchuk.js.mag; return 0.0;}

                bool isConnected(void)const{return (wm->exp.type==EXP_NUNCHUK);}

                        

        };

}


#endif

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