nuttx-apps/examples/ajoystick/ajoy_main.c

/****************************************************************************
 * examplex/ajoystick/ajoy_main.c
 *
 *   Copyright (C) 2014-2015 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <sys/ioctl.h>
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <errno.h>
#include <fixedmath.h>
#include <debug.h>

#include <nuttx/input/ajoystick.h>

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
/* Configuration ************************************************************/

#ifndef CONFIG_AJOYSTICK
#  error "CONFIG_AJOYSTICK is not defined in the configuration"
#endif

#ifndef CONFIG_EXAMPLES_AJOYSTICK_DEVNAME
#  define CONFIG_EXAMPLES_AJOYSTICK_DEVNAME "/dev/ajoy0"
#endif

#ifndef CONFIG_EXAMPLES_AJOYSTICK_SIGNO
#  define CONFIG_EXAMPLES_AJOYSTICK_SIGNO 13
#endif

#define FULL_RANGE 16

/* Helpers ******************************************************************/

#ifndef MIN
#  define MIN(a,b) (a < b ? a : b)
#endif
#ifndef MAX
#  define MAX(a,b) (a > b ? a : b)
#endif

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

static void show_buttons(ajoy_buttonset_t oldset, ajoy_buttonset_t newset);
static void show_joystick(FAR const struct ajoy_sample_s *sample);
static int ajoy_wait(int fd, FAR const struct timespec *timeout);
static int ajoy_read(int fd, FAR struct ajoy_sample_s *sample);
static int ajoy_calibrate(int fd);

/****************************************************************************
 * Private Data
 ****************************************************************************/
/* The set of supported joystick buttons */

static ajoy_buttonset_t g_ajoysupported;

/* Last sampled button set */

static ajoy_buttonset_t g_ajoylast;

/* Calibration data */

static bool    g_calibrated;
static bool    g_lispositive;
static bool    g_fispositive;
static int16_t g_xcenter;
static int16_t g_ycenter;
static b16_t   g_xlslope;
static b16_t   g_xrslope;
static b16_t   g_yfslope;
static b16_t   g_ybslope;

/* Joystick button names */

static const char *g_ajoynames[AJOY_NBUTTONS] =
{
  "SELECT",   "FIRE",     "JUMP",     "BUTTON 4",
  "BUTTON 5", "BUTTON 6", "BUTTON 7", "BUTTON 8",
};

/****************************************************************************
 * Private Functions
 ****************************************************************************/

static void show_buttons(ajoy_buttonset_t oldset, ajoy_buttonset_t newset)
{
  ajoy_buttonset_t chgset = oldset ^ newset;
  int i;

  if (chgset != 0)
    {
      /* Show each button state change */

      for (i = 0; i <= AJOY_NBUTTONS; i++)
        {
          ajoy_buttonset_t mask = (1 << i);
          if ((chgset & mask) != 0)
            {
             FAR const char *state;

              /* Get the button state */

              if ((newset & mask) != 0)
                {
                  state = "selected";
                }
              else
                {
                  state = "released";
                }

              printf("  %-6s: %s\n", g_ajoynames[i], state);
            }
        }
    }
}

/****************************************************************************
 * Private Functions
 ****************************************************************************/

static void show_joystick(FAR const struct ajoy_sample_s *sample)
{
  printf("  RAW: X=%d Y=%d\n", sample->as_x, sample->as_y);
  if (g_calibrated)
    {
      int tmp;
      int x;
      int y;

      tmp = sample->as_x - g_xcenter;
      if ((g_lispositive && tmp >= 0) ||
          (!g_lispositive && tmp < 0))
        {
           x = tmp * g_xlslope;
        }
      else
        {
           x = tmp * g_xrslope;
        }

      tmp = sample->as_y - g_ycenter;
      if ((g_fispositive && tmp >= 0) ||
          (!g_fispositive && tmp < 0))
        {
           y = tmp * g_yfslope;
        }
      else
        {
           y = tmp * g_ybslope;
        }

      printf("  Calibrated: X=%d Y=%d\n", x, y);
    }
}

static int ajoy_wait(int fd, FAR const struct timespec *timeout)
{
  sigset_t set;
  struct siginfo value;
  ajoy_buttonset_t newset;
  int ret;

  /* Wait for a signal */

  (void)sigemptyset(&set);
  (void)sigaddset(&set, CONFIG_EXAMPLES_AJOYSTICK_SIGNO);
  ret = sigtimedwait(&set, &value, timeout);
  if (ret < 0)
    {
      int errcode = errno;

      if (!timeout || errcode != EAGAIN)
        {
          fprintf(stderr, "ERROR: sigtimedwait() failed: %d\n", errcode);
          return -errcode;
        }

      /* Timeout is not an error */

      printf("Timeout!\n");
      return OK;
    }

  /* Show the set of joystick buttons accompanying the signal */

  printf("Signalled button set\n");
  newset = (ajoy_buttonset_t)value.si_value.sival_int;
  show_buttons(g_ajoylast, newset);
  g_ajoylast = newset;
  return OK;
}

static int ajoy_read(int fd, FAR struct ajoy_sample_s *sample)
{
  ssize_t nread;

  /* Read the joystack sample */

  nread = read(fd, sample, sizeof(struct ajoy_sample_s));
  if (nread < 0)
    {
      int errcode = errno;
      fprintf(stderr, "ERROR: read() failed: %d\n", errcode);
      return -errcode;
    }
  else if (nread != sizeof(struct ajoy_sample_s))
    {
      fprintf(stderr, "ERROR: read() unexpected size: %ld vs %d\n",
              (long)nread, sizeof(struct ajoy_sample_s));
      return -EIO;
    }

  /* Show the joystick position and set buttons accompanying the signal */
  /* Show the set of joystick buttons that we just read */

  printf("Read position and button set\n");
  show_joystick(sample);
  show_buttons(g_ajoylast, sample->as_buttons);
  g_ajoylast =  sample->as_buttons;
  return OK;
}

static int ajoy_waitread(int fd, FAR const struct timespec *timeout,
                         FAR struct ajoy_sample_s *sample)
{
  int ret;

  /* Wait for a signal */

  ret = ajoy_wait(fd, timeout);
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ajoy_wait() failed: %d\n", ret);
      return ret;
    }

  /* Read the joystick sample */

  ret = ajoy_read(fd, sample);
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ajoy_read() failed: %d\n", ret);
      return ret;
    }

  return OK;
}

static b16_t ajoy_slope(int16_t value, int32_t full_range)
{
  return itob16(full_range) / (int32_t)value;
}

static int ajoy_calibrate(int fd)
{
  struct ajoy_sample_s sample;
  int ret;

  printf("Calibrating the joystick...\n");

  /* Get the center position */

  printf("Center the joystick and press any button\n");
  ret = ajoy_waitread(fd, NULL, &sample);
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
      return ret;
    }

  g_xcenter = sample.as_x;
  g_ycenter = sample.as_y;

  /* Get the left/right calibration data */

  printf("Move the joystick to the far RIGHT and press any button\n");
  ret = ajoy_waitread(fd, NULL, &sample);
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
      return ret;
    }

  g_lispositive = (sample.as_x > g_xcenter);
  g_xlslope = ajoy_slope(sample.as_x - g_xcenter, FULL_RANGE);

  printf("Move the joystick to the far LEFT and press any button\n");
  ret = ajoy_waitread(fd, NULL, &sample);
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
      return ret;
    }

  g_xrslope = ajoy_slope(sample.as_x - g_xcenter, -FULL_RANGE);

  /* Get the forward/backward calibration data */

  printf("Move the joystick to the far FORWARD and press any button\n");
  ret = ajoy_waitread(fd, NULL, &sample);
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
      return ret;
    }

  g_fispositive = (sample.as_y > g_ycenter);
  g_yfslope = ajoy_slope(sample.as_y - g_ycenter, FULL_RANGE);

  printf("Move the joystick to the far BACKWARD and press any button\n");
  ret = ajoy_waitread(fd, NULL, &sample);
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
      return ret;
    }

  g_ybslope = ajoy_slope(sample.as_y - g_ycenter, -FULL_RANGE);

  printf("Calibrated:\n");
  g_calibrated = true;

  printf("  X: center=%d, R-slope=%08lx L-slope=%08lx\n",
         g_xcenter, g_xrslope, g_xlslope);
  printf("  Y: center=%d, F-slope=%08lx B-slope=%08lx\n",
         g_ycenter, g_yfslope, g_ybslope);
  return OK;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * ajoy_main
 ****************************************************************************/

#ifdef CONFIG_BUILD_KERNEL
int main(int argc, FAR char *argv[])
#else
int ajoy_main(int argc, char *argv[])
#endif
{
  struct timespec timeout;
  struct ajoy_notify_s notify;
  int fd;
  int tmp;
  int ret;
  int errcode = EXIT_FAILURE;

  /* Reset some globals that might been been left in a bad state */

  g_ajoylast = 0;

  /* Open the ajoystick device */

  fd = open(CONFIG_EXAMPLES_AJOYSTICK_DEVNAME, O_RDONLY);
  if (fd < 0)
    {
      fprintf(stderr, "ERROR: Failed to open %s: %d\n",
              CONFIG_EXAMPLES_AJOYSTICK_DEVNAME, errno);
      return EXIT_FAILURE;
    }

  /* Get the set of supported buttons */

  ret = ioctl(fd, AJOYIOC_SUPPORTED,  (unsigned long)((uintptr_t)&tmp));
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ioctl(AJOYIOC_SUPPORTED) failed: %d\n", errno);
      goto errout_with_fd;
    }

  g_ajoysupported = (ajoy_buttonset_t)tmp;
  printf("Supported joystick buttons:\n");
  show_buttons(0, g_ajoysupported);

  /* Register to receive a signal on any change in the joystick buttons. */

  notify.an_press   = g_ajoysupported;
  notify.an_release = g_ajoysupported;
  notify.an_signo   = CONFIG_EXAMPLES_AJOYSTICK_SIGNO;

  ret = ioctl(fd, AJOYIOC_REGISTER, (unsigned long)((uintptr_t)&notify));
  if (ret < 0)
    {
      fprintf(stderr, "ERROR: ioctl(AJOYIOC_REGISTER) failed: %d\n", errno);
      goto errout_with_fd;
    }

  /* Calibrate the joystick */

  ajoy_calibrate(fd);

  /* Then loop, receiving signals indicating joystick events.  If this is an
   * NSH builtin application, we will turn as soon as the SELECT button is
   * depressed.
   */

  timeout.tv_sec  = 0;
  timeout.tv_nsec = 600*1000*1000;

#ifdef CONFIG_NSH_BUILTIN_APPS
  while ((g_ajoylast & AJOY_BUTTON_SELECT_BIT) == 0)
#else
  for (;;)
#endif
    {
      struct ajoy_sample_s sample;

      /* Wait for a signal and read the sample */

      ret = ajoy_waitread(fd, &timeout, &sample);
      if (ret < 0)
        {
          fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
          goto errout_with_fd;
        }
    }

  errcode = EXIT_SUCCESS;

errout_with_fd:
  close(fd);
  return errcode;
}