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joystick.cpp
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joystick.cpp
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/******************************************************************************
* tcp_client.c
*
*****************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/uio.h>
#include <sys/time.h>
#include <unistd.h>
#include <fcntl.h>
#include <string.h> // some can be standard, others are ethernet based
#include <strings.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netdb.h>
#include <SDL/SDL.h> // has a lot of joystick libraries
#include <time.h>
#include <unistd.h>
struct Motors {
unsigned char motorA;
unsigned char motorB;
unsigned char motorC;
unsigned char motorD;
unsigned char motorServo;
unsigned char motorClaw;
} __attribute__((__packed__));
// for the server side
int tcp_recv_setup();
int tcp_listen(int server_socket, int back_log);
// for the client side
int tcp_send_setup(char *host_name, char *port);
void testController(SDL_Joystick *joy) {
while(1)
{
SDL_JoystickUpdate();
printf("Buttons: ");
for(int i = 0; i < 20; i++) {
printf("%d ", SDL_JoystickGetButton(joy, i));
}
printf("Joysticks: ");
printf("%d ", SDL_JoystickGetAxis(joy, 1));
printf("%d ", SDL_JoystickGetAxis(joy, 2));
printf("\n");
usleep(10000);
}
}
int main(int argc, char * argv[]) {
SDL_Joystick *joy;
Sint16 x_move, y_move, x2_move, y2_move;
// Initialize the joystick subsystem
SDL_InitSubSystem(SDL_INIT_JOYSTICK);
printf("Checking for joysticks...\n");
// Check for joystick
if (SDL_NumJoysticks() > 0) {
// Open joystick
joy = SDL_JoystickOpen(0);
//testController(joy);
// Getting hung up after the printf's...
if (joy) {
printf("Opened Joystick 0\n");
printf("Name: %s\n", SDL_JoystickName(0));
printf("Number of Axes: %d\n", SDL_JoystickNumAxes(joy));
printf("Number of Buttons: %d\n", SDL_JoystickNumButtons(joy));
printf("Number of Balls: %d\n", SDL_JoystickNumBalls(joy));
//SDL_JoystickEventState(SDL_ENABLE);
int socket_num; //socket descriptor
char *send_buf; //data buffer
int bufsize= 0; //data buffer size
int send_len= 0; //amount of data to send
int sent= 0; //actual amount of data sent
/* check command line arguments */
if (argc!= 3) {
printf("usage: %s host-name port-number \n", argv[0]);
exit(1);
}
printf("stuff\n");
/* set up the socket for TCP transmission */
socket_num= tcp_send_setup(argv[1], argv[2]);
/* initialize data buffer for the packet */
bufsize= 1024;
send_buf= (char *) malloc(bufsize);
/* get the data and send it */
printf("Enter the data to send: ");
//send_len = 0;
while ((send_buf[send_len] = getchar()) != '\n' && send_len < 80) {
send_len++;
}
send_buf[send_len] = '\0';
struct Motors motors;
while(1) {
usleep(1000);
SDL_JoystickUpdate();
if (SDL_JoystickGetButton(joy, 1)) {
motors.motorServo = 127 + -128.0 * SDL_JoystickGetAxis(joy, 1) / 32768;
motors.motorA = 127;
motors.motorB = 127;
motors.motorC = 127;
motors.motorD = 127;
}
else if(SDL_JoystickGetButton(joy, 2)) {
motors.motorClaw = 127 + -128.0 * SDL_JoystickGetAxis(joy, 1) / 32768;
motors.motorA = 127;
motors.motorB = 127;
motors.motorC = 127;
motors.motorD = 127;
}
else {
x_move=SDL_JoystickGetAxis(joy, 0);
y_move=SDL_JoystickGetAxis(joy, 1);
motors.motorA = 127 + (-y_move + x_move) * 64.0 /32768;
motors.motorB = 127 + (-y_move - x_move) * 64.0 /32768;
//motors.motorA = 128 + (- 1 * x_move + - 1 * y_move) * 125.0 / 32768;
x2_move=SDL_JoystickGetAxis(joy, 2);
y2_move=SDL_JoystickGetAxis(joy, 3);
motors.motorC =127 + (-y2_move + x2_move) * 64.0 /32768;
motors.motorD = 127 + (-y2_move - x2_move) * 64.0 /32768;
motors.motorClaw = 127;
motors.motorServo = 127;
}
//printf("%d\n", y_move);
printf("Motor A: %d, Motor B: %d, Motor C: %d, Motor D: %d, Servo: %d, Claw: %d\n",
motors.motorA, motors.motorB, motors.motorC, motors.motorD, motors.motorServo, motors.motorClaw);
/* now send the data */
sent = send(socket_num, &motors, sizeof(Motors), 0);
if (sent < 0) {
perror("send call");
exit(-1);
}
printf("String sent: %s \n", send_buf);
printf("Amount of data sent is: %d\n", sent);
usleep(100000);
}
close(socket_num);
}
else {
printf("Couldn't open Joystick 0\n");
}
//Close if opened
if(SDL_JoystickOpened(0)) {
SDL_JoystickClose(joy);
}
}
else {
printf("No joysticks attached to the system.\n");
}
}
int tcp_send_setup(char *host_name, char *port) {
int socket_num;
struct sockaddr_in remote; // socket address for remote side
struct hostent *hp; // address of remote host
// create the socket
if ((socket_num = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
perror("socket call");
exit(-1);
}
// designate the addressing family
remote.sin_family= AF_INET;
// get the address of the remote host and store
if ((hp = gethostbyname(host_name)) == NULL) {
printf("Error getting hostname: %s\n", host_name);
exit(-1);
}
memcpy((char*)&remote.sin_addr, (char*)hp->h_addr, hp->h_length);
// get the port used on the remote side and store
remote.sin_port= htons(atoi(port));
if(connect(socket_num, (struct sockaddr*)&remote, sizeof(struct sockaddr_in)) < 0) {
perror("connect call");
exit(-1);
}
return socket_num;
}