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stk-code_catmod/lib/wiiuse/example/example.c

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/*
* wiiuse
*
* Written By:
* Michael Laforest < para >
* Email: < thepara (--AT--) g m a i l [--DOT--] com >
*
* Copyright 2006-2007
*
* This file is part of wiiuse.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* $Header$
*
*/
/**
* @file
*
* @brief Example using the wiiuse API.
*
* This file is an example of how to use the wiiuse library.
*/
#include <stdio.h> /* for printf */
#include "wiiuse.h" /* for wiimote_t, classic_ctrl_t, etc */
#ifndef WIIUSE_WIN32
#include <unistd.h> /* for usleep */
#endif
#define MAX_WIIMOTES 4
/**
* @brief Callback that handles an event.
*
* @param wm Pointer to a wiimote_t structure.
*
* This function is called automatically by the wiiuse library when an
* event occurs on the specified wiimote.
*/
void handle_event(struct wiimote_t* wm) {
printf("\n\n--- EVENT [id %i] ---\n", wm->unid);
/* if a button is pressed, report it */
if (IS_PRESSED(wm, WIIMOTE_BUTTON_A)) {
printf("A pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_B)) {
printf("B pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_UP)) {
printf("UP pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_DOWN)) {
printf("DOWN pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_LEFT)) {
printf("LEFT pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_RIGHT)) {
printf("RIGHT pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_MINUS)) {
printf("MINUS pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_PLUS)) {
printf("PLUS pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_ONE)) {
printf("ONE pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_TWO)) {
printf("TWO pressed\n");
}
if (IS_PRESSED(wm, WIIMOTE_BUTTON_HOME)) {
printf("HOME pressed\n");
}
/*
* Pressing minus will tell the wiimote we are no longer interested in movement.
* This is useful because it saves battery power.
*/
if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_MINUS)) {
wiiuse_motion_sensing(wm, 0);
}
/*
* Pressing plus will tell the wiimote we are interested in movement.
*/
if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_PLUS)) {
wiiuse_motion_sensing(wm, 1);
}
/*
* Pressing B will toggle the rumble
*
* if B is pressed but is not held, toggle the rumble
*/
if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_B)) {
wiiuse_toggle_rumble(wm);
}
if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_UP)) {
wiiuse_set_ir(wm, 1);
}
if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_DOWN)) {
wiiuse_set_ir(wm, 0);
}
/*
* Motion+ support
*/
if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_ONE)) {
if (WIIUSE_USING_EXP(wm)) {
wiiuse_set_motion_plus(wm, 2); // nunchuck pass-through
} else {
wiiuse_set_motion_plus(wm, 1); // standalone
}
}
if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_TWO)) {
wiiuse_set_motion_plus(wm, 0); // off
}
/* if the accelerometer is turned on then print angles */
if (WIIUSE_USING_ACC(wm)) {
printf("wiimote roll = %f [%f]\n", wm->orient.roll, wm->orient.a_roll);
printf("wiimote pitch = %f [%f]\n", wm->orient.pitch, wm->orient.a_pitch);
printf("wiimote yaw = %f\n", wm->orient.yaw);
}
/*
* If IR tracking is enabled then print the coordinates
* on the virtual screen that the wiimote is pointing to.
*
* Also make sure that we see at least 1 dot.
*/
if (WIIUSE_USING_IR(wm)) {
int i = 0;
/* go through each of the 4 possible IR sources */
for (; i < 4; ++i) {
/* check if the source is visible */
if (wm->ir.dot[i].visible) {
printf("IR source %i: (%u, %u)\n", i, wm->ir.dot[i].x, wm->ir.dot[i].y);
}
}
printf("IR cursor: (%u, %u)\n", wm->ir.x, wm->ir.y);
printf("IR z distance: %f\n", wm->ir.z);
}
/* show events specific to supported expansions */
if (wm->exp.type == EXP_NUNCHUK || wm->exp.type == EXP_MOTION_PLUS_NUNCHUK) {
/* nunchuk */
struct nunchuk_t* nc = (nunchuk_t*)&wm->exp.nunchuk;
if (IS_PRESSED(nc, NUNCHUK_BUTTON_C)) {
printf("Nunchuk: C pressed\n");
}
if (IS_PRESSED(nc, NUNCHUK_BUTTON_Z)) {
printf("Nunchuk: Z pressed\n");
}
printf("nunchuk roll = %f\n", nc->orient.roll);
printf("nunchuk pitch = %f\n", nc->orient.pitch);
printf("nunchuk yaw = %f\n", nc->orient.yaw);
printf("nunchuk joystick angle: %f\n", nc->js.ang);
printf("nunchuk joystick magnitude: %f\n", nc->js.mag);
printf("nunchuk joystick vals: %f, %f\n", nc->js.x, nc->js.y);
printf("nunchuk joystick calibration (min, center, max): x: %i, %i, %i y: %i, %i, %i\n",
nc->js.min.x,
nc->js.center.x,
nc->js.max.x,
nc->js.min.y,
nc->js.center.y,
nc->js.max.y);
} else if (wm->exp.type == EXP_CLASSIC) {
/* classic controller */
struct classic_ctrl_t* cc = (classic_ctrl_t*)&wm->exp.classic;
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_ZL)) {
printf("Classic: ZL pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_B)) {
printf("Classic: B pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_Y)) {
printf("Classic: Y pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_A)) {
printf("Classic: A pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_X)) {
printf("Classic: X pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_ZR)) {
printf("Classic: ZR pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_LEFT)) {
printf("Classic: LEFT pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_UP)) {
printf("Classic: UP pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_RIGHT)) {
printf("Classic: RIGHT pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_DOWN)) {
printf("Classic: DOWN pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_FULL_L)) {
printf("Classic: FULL L pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_MINUS)) {
printf("Classic: MINUS pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_HOME)) {
printf("Classic: HOME pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_PLUS)) {
printf("Classic: PLUS pressed\n");
}
if (IS_PRESSED(cc, CLASSIC_CTRL_BUTTON_FULL_R)) {
printf("Classic: FULL R pressed\n");
}
printf("classic L button pressed: %f\n", cc->l_shoulder);
printf("classic R button pressed: %f\n", cc->r_shoulder);
printf("classic left joystick angle: %f\n", cc->ljs.ang);
printf("classic left joystick magnitude: %f\n", cc->ljs.mag);
printf("classic right joystick angle: %f\n", cc->rjs.ang);
printf("classic right joystick magnitude: %f\n", cc->rjs.mag);
} else if (wm->exp.type == EXP_GUITAR_HERO_3) {
/* guitar hero 3 guitar */
struct guitar_hero_3_t* gh3 = (guitar_hero_3_t*)&wm->exp.gh3;
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_STRUM_UP)) {
printf("Guitar: Strum Up pressed\n");
}
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_STRUM_DOWN)) {
printf("Guitar: Strum Down pressed\n");
}
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_YELLOW)) {
printf("Guitar: Yellow pressed\n");
}
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_GREEN)) {
printf("Guitar: Green pressed\n");
}
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_BLUE)) {
printf("Guitar: Blue pressed\n");
}
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_RED)) {
printf("Guitar: Red pressed\n");
}
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_ORANGE)) {
printf("Guitar: Orange pressed\n");
}
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_PLUS)) {
printf("Guitar: Plus pressed\n");
}
if (IS_PRESSED(gh3, GUITAR_HERO_3_BUTTON_MINUS)) {
printf("Guitar: Minus pressed\n");
}
printf("Guitar whammy bar: %f\n", gh3->whammy_bar);
printf("Guitar joystick angle: %f\n", gh3->js.ang);
printf("Guitar joystick magnitude: %f\n", gh3->js.mag);
} else if (wm->exp.type == EXP_WII_BOARD) {
/* wii balance board */
struct wii_board_t* wb = (wii_board_t*)&wm->exp.wb;
float total = wb->tl + wb->tr + wb->bl + wb->br;
float x = ((wb->tr + wb->br) / total) * 2 - 1;
float y = ((wb->tl + wb->tr) / total) * 2 - 1;
printf("Weight: %f kg @ (%f, %f)\n", total, x, y);
printf("Interpolated weight: TL:%f TR:%f BL:%f BR:%f\n", wb->tl, wb->tr, wb->bl, wb->br);
printf("Raw: TL:%d TR:%d BL:%d BR:%d\n", wb->rtl, wb->rtr, wb->rbl, wb->rbr);
}
if (wm->exp.type == EXP_MOTION_PLUS ||
wm->exp.type == EXP_MOTION_PLUS_NUNCHUK) {
printf("Motion+ angular rates (deg/sec): pitch:%03.2f roll:%03.2f yaw:%03.2f\n",
wm->exp.mp.angle_rate_gyro.pitch,
wm->exp.mp.angle_rate_gyro.roll,
wm->exp.mp.angle_rate_gyro.yaw);
}
}
/**
* @brief Callback that handles a read event.
*
* @param wm Pointer to a wiimote_t structure.
* @param data Pointer to the filled data block.
* @param len Length in bytes of the data block.
*
* This function is called automatically by the wiiuse library when
* the wiimote has returned the full data requested by a previous
* call to wiiuse_read_data().
*
* You can read data on the wiimote, such as Mii data, if
* you know the offset address and the length.
*
* The \a data pointer was specified on the call to wiiuse_read_data().
* At the time of this function being called, it is not safe to deallocate
* this buffer.
*/
void handle_read(struct wiimote_t* wm, byte* data, unsigned short len) {
int i = 0;
printf("\n\n--- DATA READ [wiimote id %i] ---\n", wm->unid);
printf("finished read of size %i\n", len);
for (; i < len; ++i) {
if (!(i % 16)) {
printf("\n");
}
printf("%x ", data[i]);
}
printf("\n\n");
}
/**
* @brief Callback that handles a controller status event.
*
* @param wm Pointer to a wiimote_t structure.
* @param attachment Is there an attachment? (1 for yes, 0 for no)
* @param speaker Is the speaker enabled? (1 for yes, 0 for no)
* @param ir Is the IR support enabled? (1 for yes, 0 for no)
* @param led What LEDs are lit.
* @param battery_level Battery level, between 0.0 (0%) and 1.0 (100%).
*
* This occurs when either the controller status changed
* or the controller status was requested explicitly by
* wiiuse_status().
*
* One reason the status can change is if the nunchuk was
* inserted or removed from the expansion port.
*/
void handle_ctrl_status(struct wiimote_t* wm) {
printf("\n\n--- CONTROLLER STATUS [wiimote id %i] ---\n", wm->unid);
printf("attachment: %i\n", wm->exp.type);
printf("speaker: %i\n", WIIUSE_USING_SPEAKER(wm));
printf("ir: %i\n", WIIUSE_USING_IR(wm));
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));
printf("battery: %f %%\n", wm->battery_level);
}
/**
* @brief Callback that handles a disconnection event.
*
* @param wm Pointer to a wiimote_t structure.
*
* This can happen if the POWER button is pressed, or
* if the connection is interrupted.
*/
void handle_disconnect(wiimote* wm) {
printf("\n\n--- DISCONNECTED [wiimote id %i] ---\n", wm->unid);
}
void test(struct wiimote_t* wm, byte* data, unsigned short len) {
printf("test: %i [%x %x %x %x]\n", len, data[0], data[1], data[2], data[3]);
}
short any_wiimote_connected(wiimote** wm, int wiimotes) {
int i;
if (!wm) {
return 0;
}
for (i = 0; i < wiimotes; i++) {
if (wm[i] && WIIMOTE_IS_CONNECTED(wm[i])) {
return 1;
}
}
return 0;
}
/**
* @brief main()
*
* Connect to up to two wiimotes and print any events
* that occur on either device.
*/
int main(int argc, char** argv) {
wiimote** wiimotes;
int found, connected;
/*
* Initialize an array of wiimote objects.
*
* The parameter is the number of wiimotes I want to create.
*/
wiimotes = wiiuse_init(MAX_WIIMOTES);
/*
* Find wiimote devices
*
* Now we need to find some wiimotes.
* Give the function the wiimote array we created, and tell it there
* are MAX_WIIMOTES wiimotes we are interested in.
*
* Set the timeout to be 5 seconds.
*
* This will return the number of actual wiimotes that are in discovery mode.
*/
found = wiiuse_find(wiimotes, MAX_WIIMOTES, 5);
if (!found) {
printf("No wiimotes found.\n");
return 0;
}
/*
* Connect to the wiimotes
*
* Now that we found some wiimotes, connect to them.
* Give the function the wiimote array and the number
* of wiimote devices we found.
*
* This will return the number of established connections to the found wiimotes.
*/
connected = wiiuse_connect(wiimotes, MAX_WIIMOTES);
if (connected) {
printf("Connected to %i wiimotes (of %i found).\n", connected, found);
} else {
printf("Failed to connect to any wiimote.\n");
return 0;
}
/*
* Now set the LEDs and rumble for a second so it's easy
* to tell which wiimotes are connected (just like the wii does).
*/
wiiuse_set_leds(wiimotes[0], WIIMOTE_LED_1);
wiiuse_set_leds(wiimotes[1], WIIMOTE_LED_2);
wiiuse_set_leds(wiimotes[2], WIIMOTE_LED_3);
wiiuse_set_leds(wiimotes[3], WIIMOTE_LED_4);
wiiuse_rumble(wiimotes[0], 1);
wiiuse_rumble(wiimotes[1], 1);
#ifndef WIIUSE_WIN32
usleep(200000);
#else
Sleep(200);
#endif
wiiuse_rumble(wiimotes[0], 0);
wiiuse_rumble(wiimotes[1], 0);
printf("\nControls:\n");
printf("\tB toggles rumble.\n");
printf("\t+ to start Wiimote accelerometer reporting, - to stop\n");
printf("\tUP to start IR camera (sensor bar mode), DOWN to stop.\n");
printf("\t1 to start Motion+ reporting, 2 to stop.\n");
printf("\n\n");
/*
* Maybe I'm interested in the battery power of the 0th
* wiimote. This should be WIIMOTE_ID_1 but to be sure
* you can get the wiimote associated with WIIMOTE_ID_1
* using the wiiuse_get_by_id() function.
*
* A status request will return other things too, like
* if any expansions are plugged into the wiimote or
* what LEDs are lit.
*/
/* wiiuse_status(wiimotes[0]); */
/*
* This is the main loop
*
* wiiuse_poll() needs to be called with the wiimote array
* and the number of wiimote structures in that array
* (it doesn't matter if some of those wiimotes are not used
* or are not connected).
*
* This function will set the event flag for each wiimote
* when the wiimote has things to report.
*/
while (any_wiimote_connected(wiimotes, MAX_WIIMOTES)) {
if (wiiuse_poll(wiimotes, MAX_WIIMOTES)) {
/*
* This happens if something happened on any wiimote.
* So go through each one and check if anything happened.
*/
int i = 0;
for (; i < MAX_WIIMOTES; ++i) {
switch (wiimotes[i]->event) {
case WIIUSE_EVENT:
/* a generic event occurred */
handle_event(wiimotes[i]);
break;
case WIIUSE_STATUS:
/* a status event occurred */
handle_ctrl_status(wiimotes[i]);
break;
case WIIUSE_DISCONNECT:
case WIIUSE_UNEXPECTED_DISCONNECT:
/* the wiimote disconnected */
handle_disconnect(wiimotes[i]);
break;
case WIIUSE_READ_DATA:
/*
* Data we requested to read was returned.
* Take a look at wiimotes[i]->read_req
* for the data.
*/
break;
case WIIUSE_NUNCHUK_INSERTED:
/*
* a nunchuk was inserted
* This is a good place to set any nunchuk specific
* threshold values. By default they are the same
* as the wiimote.
*/
/* wiiuse_set_nunchuk_orient_threshold((struct nunchuk_t*)&wiimotes[i]->exp.nunchuk, 90.0f); */
/* wiiuse_set_nunchuk_accel_threshold((struct nunchuk_t*)&wiimotes[i]->exp.nunchuk, 100); */
printf("Nunchuk inserted.\n");
break;
case WIIUSE_CLASSIC_CTRL_INSERTED:
printf("Classic controller inserted.\n");
break;
case WIIUSE_WII_BOARD_CTRL_INSERTED:
printf("Balance board controller inserted.\n");
break;
case WIIUSE_GUITAR_HERO_3_CTRL_INSERTED:
/* some expansion was inserted */
handle_ctrl_status(wiimotes[i]);
printf("Guitar Hero 3 controller inserted.\n");
break;
case WIIUSE_MOTION_PLUS_ACTIVATED:
printf("Motion+ was activated\n");
break;
case WIIUSE_NUNCHUK_REMOVED:
case WIIUSE_CLASSIC_CTRL_REMOVED:
case WIIUSE_GUITAR_HERO_3_CTRL_REMOVED:
case WIIUSE_WII_BOARD_CTRL_REMOVED:
case WIIUSE_MOTION_PLUS_REMOVED:
/* some expansion was removed */
handle_ctrl_status(wiimotes[i]);
printf("An expansion was removed.\n");
break;
default:
break;
}
}
}
}
/*
* Disconnect the wiimotes
*/
wiiuse_cleanup(wiimotes, MAX_WIIMOTES);
return 0;
}
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