joystick.cpp~

/******************************************************************************
 * 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 // library structure
{

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);

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);

// Check for joystick
if(SDL_NumJoysticks()>0){
  // Open joystick
  joy=SDL_JoystickOpen(0);

  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);
    }

//    /* 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);
}
}

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;
}