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#include <stdio.h>
#include <unistd.h>
#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;
//maximum delay before the controller's state is printed [ms]
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;
//the controller to use
struct controller* controller;
};
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)
{
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:
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 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");
}
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);
}
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