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#include <stdio.h>
#include <SDL.h>
#include "mavlink/common/mavlink.h"
#include "controller.h"
struct conf {
//the joystick id to use by sdl
int joystick_id;
//maximum delay before the controller's state is printed
int timeout;
//mav system id of local device
int mav_local_system;
//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);
int main(int argc, char *argv[]) {
//initialize joystick libraryz
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 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;
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;
}
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]
);
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
fwrite(buf, len, 1, stdout);
fflush(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");
/*
mavlink_msg_rc_channels_override_pack(ALL)
fprintf(stdout, "%u\n", channels[0]);
fprintf(stderr, "channel 0: %u\n", channels[0]);
fflush(stdout);
fflush(stderr);*/
}
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