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-rw-r--r--src/main.c291
1 files changed, 154 insertions, 137 deletions
diff --git a/src/main.c b/src/main.c
index adb62d1..29c1240 100644
--- a/src/main.c
+++ b/src/main.c
@@ -3,156 +3,173 @@
#include <SDL.h>
#include "mavlink/common/mavlink.h"
#include "controller.h"
+#include "generic.h"
struct conf {
- //the joystick id to use by sdl
- int joystick_id;
+ //the joystick id to use by sdl
+ int joystick_id;
- //maximum delay before the controller's state is printed
- int timeout;
+ //maximum delay before the controller's state is printed [ms]
+ int timeout;
- //mav system id of local device
- int mav_local_system;
+ //mav system id of local device
+ int mav_local_system;
- //mav component id of local device
- int mav_local_component;
+ //mav component id of local device
+ int mav_local_component;
- //mav system id of target device
- int mav_target_system;
-
-};
-
-static int run(const struct conf* conf);
-static void mav_out(uint8_t system_id, uint8_t component_id, uint8_t rsystem_id, channel_t* channels);
+ //mav system id of target device
+ int mav_target_system;
+ //the controller to use
+ struct controller* controller;
-int main(int argc, char *argv[]) {
-
- //initialize joystick library
- if (SDL_InitSubSystem(SDL_INIT_JOYSTICK) < 0) {
- fprintf(stderr, "Couldn't initialize SDL joystick subsystem: %s\n", SDL_GetError());
- exit(1);
- }
-
- struct conf conf = {
- .joystick_id = 0,
- .timeout = 500,
- .mav_local_system = 42,
- .mav_local_component = 22,
- .mav_target_system = 0
- };
+};
- return run(&conf);
+static void print_mav(uint8_t system_id, uint8_t component_id, uint8_t rsystem_id, channel_t* channels);
+
+static SDL_Joystick* joystick_open(int joystick_id)
+{
+ SDL_Joystick* joystick = SDL_JoystickOpen(joystick_id);
+ if(joystick) {
+ fprintf(stderr, "Opened joystick number %d\n", joystick_id);
+ fprintf(stderr, "Name: %s\n", SDL_JoystickName(joystick));
+ fprintf(stderr, "Number of axes: %d\n", SDL_JoystickNumAxes(joystick));
+ fprintf(stderr, "Number of buttons: %d\n", SDL_JoystickNumButtons(joystick));
+ fprintf(stderr, "Number of balls: %d\n", SDL_JoystickNumBalls(joystick));
+ return joystick;
+ } else {
+ fprintf(stderr, "Couldn't open joystick number %d.\n", joystick_id);
+ return NULL;
+ }
}
-static int run(const struct conf* conf) {
-
- channel_t channels[CHANNELS];
- channel_reset(channels);
-
- int joystick_id = conf->joystick_id;
-
- //pointer to joystick in use
- SDL_Joystick* joystick = NULL;
-
- //event loop
- SDL_Event e;
- bool cont = true;
- while (cont) {
-
- if(SDL_WaitEventTimeout(&e, conf->timeout)) {
- switch( e.type ) {
-
- case SDL_JOYDEVICEADDED:
- if (e.jdevice.which == joystick_id) {
- fprintf(stderr, "Joystick %d connected\n", e.jdevice.which);
- joystick=SDL_JoystickOpen(e.jdevice.which);
- if(joystick) {
- fprintf(stderr, "Opened joystick %d\n", e.jdevice.which);
- fprintf(stderr, "Name: %s\n", SDL_JoystickName(joystick));
- fprintf(stderr, "Number of axes: %d\n", SDL_JoystickNumAxes(joystick));
- fprintf(stderr, "Number of buttons: %d\n", SDL_JoystickNumButtons(joystick));
- fprintf(stderr, "Number of balls: %d\n", SDL_JoystickNumBalls(joystick));
- } else {
- fprintf(stderr, "Couldn't open joystick %d\n", e.jdevice.which);
- }
- }
- break;
-
- case SDL_JOYDEVICEREMOVED:
- if (e.jdevice.which == joystick_id) {
- if (SDL_JoystickGetAttached(joystick)) {
- SDL_JoystickClose(joystick);
- }
- fprintf(stderr, "Joystick %d disconnected\n", e.jdevice.which);
- }
- break;
-
- case SDL_JOYAXISMOTION:
- event_axis(channels, e.jaxis.axis, e.jaxis.value);
- break;
-
- case SDL_JOYBUTTONDOWN:
- event_button(channels, e.jbutton.button, true);
- break;
+static int run(const struct conf* conf)
+{
+ struct controller* cont = conf->controller;
+ cont->reset(cont);
+
+ int joystick_id = conf->joystick_id;
+
+ //initialize joystick library
+ if (SDL_InitSubSystem(SDL_INIT_JOYSTICK) < 0) {
+ fprintf(stderr, "Couldn't initialize SDL joystick subsystem: %s\n", SDL_GetError());
+ return -1;
+ }
+
+ //pointer to joystick in use
+ SDL_Joystick* joystick = joystick_open(joystick_id);
+ if (joystick == NULL) {
+ return -1;
+ }
+
+ //event loop
+ SDL_Event e;
+ bool quit = false;
+ while (!quit) {
+
+ if(SDL_WaitEventTimeout(&e, conf->timeout)) {
+ switch (e.type) {
+ case SDL_JOYDEVICEADDED:
+ fprintf(stderr, "Joystick number %d connected\n", e.jdevice.which);
+ if (e.jdevice.which == joystick_id) {
+ joystick = joystick_open(joystick_id);
+ } else {
+ fprintf(stderr, "Wrong id. Found %d, expecting %d.\n", e.jdevice.which, joystick_id);
+ }
+ break;
+
+ case SDL_JOYDEVICEREMOVED:
+ if (e.jdevice.which == joystick_id) {
+ if (SDL_JoystickGetAttached(joystick)) {
+ SDL_JoystickClose(joystick);
+ }
+ fprintf(stderr, "Joystick %d disconnected\n", e.jdevice.which);
+ }
+ break;
+
+ case SDL_JOYAXISMOTION:
+ cont->axis(cont, e.jaxis.axis, e.jaxis.value);
+ break;
+
+ case SDL_JOYBUTTONDOWN:
+ cont->button(cont, e.jbutton.button, true);
+ break;
- case SDL_JOYBUTTONUP:
- event_button(channels, e.jbutton.button, false);
- break;
-
- case SDL_QUIT:
- cont = false;
- break;
-
- default:
- fprintf(stderr,"Unsupported event type: %d\n", e.type);
- break;
- }
-
- }
- mav_out(
- conf->mav_local_system,
- conf->mav_local_component,
- conf->mav_target_system,
- channels
- );
- }
- return 0;
+ case SDL_JOYBUTTONUP:
+ cont->button(cont, e.jbutton.button, false);
+ break;
+
+ case SDL_QUIT:
+ quit = true;
+ break;
+
+ default:
+ fprintf(stderr,"Unsupported event type: %d\n", e.type);
+ break;
+ }
+ }
+
+ print_mav(
+ conf->mav_local_system,
+ conf->mav_local_component,
+ conf->mav_target_system,
+ cont->channels
+ );
+ }
+ return 0;
}
-static void mav_out(uint8_t system_id, uint8_t component_id, uint8_t rsystem_id, channel_t* channels) {
-
- mavlink_message_t msg;
- uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-
- mavlink_msg_rc_channels_override_pack(
- system_id,
- component_id,
- &msg,
- rsystem_id,
- MAV_COMP_ID_ALL,
- channels[0],
- channels[1],
- channels[2],
- channels[3],
- channels[4],
- channels[5],
- channels[6],
- channels[7]
- );
+static void print_mav(uint8_t system_id, uint8_t component_id, uint8_t rsystem_id, channel_t* channels)
+{
+
+ mavlink_message_t msg;
+ uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+
+ mavlink_msg_rc_channels_override_pack(
+ system_id,
+ component_id,
+ &msg,
+ rsystem_id,
+ MAV_COMP_ID_ALL,
+ channels[0],
+ channels[1],
+ channels[2],
+ channels[3],
+ channels[4],
+ channels[5],
+ channels[6],
+ channels[7]
+ );
- uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
- fwrite(buf, len, 1, stdout);
- fflush(stdout);
- fsync(fileno(stdout));
-
- fprintf(stderr, "local system id: \t%u\n", system_id);
- fprintf(stderr, "local component id: \t%u\n", component_id);
- fprintf(stderr, "remote system id: \t%u\n", rsystem_id);
- fprintf(stderr, "remote component id: \t%u\n", MAV_COMP_ID_ALL);
- for (size_t i = 0; i < CHANNELS; ++i) {
- fprintf(stderr, "channel %zu: \t\t%u\n", i, channels[i]);
- }
- fprintf(stderr, "\n");
-} \ No newline at end of file
+ uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
+ fwrite(buf, len, 1, stdout);
+ fflush(stdout);
+ fsync(fileno(stdout));
+
+ fprintf(stderr, "local system id: \t%u\n", system_id);
+ fprintf(stderr, "local component id: \t%u\n", component_id);
+ fprintf(stderr, "remote system id: \t%u\n", rsystem_id);
+ fprintf(stderr, "remote component id: \t%u\n", MAV_COMP_ID_ALL);
+ for (size_t i = 0; i < CHANNELS; ++i) {
+ fprintf(stderr, "channel %zu: \t\t%u\n", i, channels[i]);
+ }
+ fprintf(stderr, "\n");
+}
+
+
+int main(int argc, char *argv[])
+{
+ struct conf conf = {
+ .joystick_id = 0,
+ .timeout = 500,
+ .mav_local_system = 42,
+ .mav_local_component = 22,
+ .mav_target_system = 0,
+ .controller = &controller_generic
+ };
+
+
+ return run(&conf);
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-05-20 05:48:23 +0000