mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
[nps] Switched radio control via joystick to use SDL instead of native linux interface for cross-platform support.
* now explicitly update the joystick values instead of running in a glib event loop * combination of polled axes and event driven buttons * options now uses just the SDL index as an optional argument, defaults to index 0 (first joystick on system) closes #232
This commit is contained in:
Stephen Dwyer
committed by
Felix Ruess
Felix Ruess
parent
612aab8dfe
commit
3fd335c358
@@ -24,6 +24,7 @@ nps.CFLAGS += -DSITL -DUSE_NPS
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nps.CFLAGS += `pkg-config glib-2.0 --cflags`
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nps.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lglibivy -lgsl -lgslcblas
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nps.CFLAGS += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
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nps.LDFLAGS += `sdl-config --libs`
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# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
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ifndef JSBSIM_PKG
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@@ -1,3 +1,25 @@
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/*
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* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
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* Copyright (C) 2012 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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@@ -227,7 +249,7 @@ static bool_t nps_main_parse_options(int argc, char** argv) {
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" -h Display this help\n"
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" --fg_host <flight gear host> e.g. 127.0.0.1\n"
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" --fg_port <flight gear port> e.g. 5501\n"
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" -j --js_dev <joystick device or index> e.g. /dev/input/js0 or 0\n"
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" -j --js_dev <optional joystick index> e.g. 1 (default 0)\n"
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" --spektrum_dev <spektrum device> e.g. /dev/ttyUSB0\n"
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" --rc_script <number> e.g. 0\n";
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@@ -237,13 +259,13 @@ static bool_t nps_main_parse_options(int argc, char** argv) {
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static struct option long_options[] = {
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{"fg_host", 1, NULL, 0},
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{"fg_port", 1, NULL, 0},
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{"js_dev", 1, NULL, 0},
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{"js_dev", 2, NULL, 0},
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{"spektrum_dev", 1, NULL, 0},
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{"rc_script", 1, NULL, 0},
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{0, 0, 0, 0}
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};
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int option_index = 0;
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int c = getopt_long(argc, argv, "j:h",
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int c = getopt_long(argc, argv, "jh",
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long_options, &option_index);
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if (c == -1)
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break;
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@@ -256,7 +278,9 @@ static bool_t nps_main_parse_options(int argc, char** argv) {
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case 1:
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nps_main.fg_port = atoi(optarg); break;
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case 2:
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nps_main.js_dev = strdup(optarg); break;
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if (optarg == NULL) {nps_main.js_dev = strdup("0");}
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else {nps_main.js_dev = strdup(optarg);}
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break;
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case 3:
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nps_main.spektrum_dev = strdup(optarg); break;
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case 4:
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@@ -265,7 +289,8 @@ static bool_t nps_main_parse_options(int argc, char** argv) {
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break;
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case 'j':
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nps_main.js_dev = strdup(optarg);
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if (optarg == NULL) {nps_main.js_dev = strdup("0");}
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else {nps_main.js_dev = strdup(optarg);}
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break;
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case 'h':
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@@ -78,6 +78,7 @@ bool_t nps_radio_control_available(double time) {
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nps_radio_control.next_update += RADIO_CONTROL_DT;
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if (nps_radio_control.type == JOYSTICK) {
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nps_radio_control_joystick_update();
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nps_radio_control.throttle = nps_joystick.throttle;
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nps_radio_control.roll = nps_joystick.roll;
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nps_radio_control.pitch = nps_joystick.pitch;
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@@ -1,21 +1,69 @@
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/*
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* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
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* Copyright (C) 2012 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file nps_radio_control_joystick.c
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* Direct RC control for NPS with a standard joystick using SDL.
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*
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* Simple DirectMedia Layer library is used for cross-platform support.
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* Joystick button and axes are mapped to RC commands directly with defines.
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*
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* Currently it doesn't support different RC configurations.
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*/
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#include "nps_radio_control.h"
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#include "nps_radio_control_joystick.h"
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#include <glib.h>
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#include <stdio.h>
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#include <string.h>
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#include <sys/types.h>
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#include <glib.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <linux/joystick.h>
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#include <stdlib.h>
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#include <SDL/SDL.h>
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// axes indice
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#define JS_ROLL 0
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#define JS_PITCH 1
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#define JS_YAW 2
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#define JS_THROTTLE 3
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#define JS_NB_AXIS 4
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// buttons to switch modes
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#define JS_MODE_MANUAL 4
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#define JS_MODE_AUTO1 5
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#define JS_MODE_AUTO2 6
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#define JS_NB_BUTTONS 3
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NpsJoystick nps_joystick;
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SDL_Joystick *sdl_joystick;
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SDL_Event sdl_event;
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static gboolean on_js_data_received(GIOChannel *source, GIOCondition condition, gpointer data);
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/**
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* Initializes SDL and the joystick.
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*
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* Function exits with -1 if fails
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*
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* @param device_index string integer of desired joystick device
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*
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* @returns 0 on success
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*/
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int nps_radio_control_joystick_init(const char* device) {
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nps_joystick.throttle = 0.5;
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@@ -24,74 +72,117 @@ int nps_radio_control_joystick_init(const char* device) {
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nps_joystick.yaw = 0.;
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nps_joystick.mode = MODE_SWITCH_AUTO2;
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int fd = open(device, O_RDONLY | O_NONBLOCK);
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if (fd == -1) {
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printf("opening joystick device %s : %s\n", device, strerror(errno));
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return -1;
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//Convert device index string to integer
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int device_index = atoi(device);
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//Initialize SDL with joystick support and event support (through video)
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if (SDL_Init(SDL_INIT_JOYSTICK|SDL_INIT_VIDEO) < 0)
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{
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printf("Could not initialize SDL: %s.\n", SDL_GetError());
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exit(-1);
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}
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GIOChannel* channel = g_io_channel_unix_new(fd);
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g_io_channel_set_encoding(channel, NULL, NULL);
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g_io_add_watch (channel, G_IO_IN , on_js_data_received, NULL);
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//Quit SDL at exit
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atexit(SDL_Quit);
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//Start the event handler, disable all but joystick button events and quit handler
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SDL_EventState(SDL_ACTIVEEVENT,SDL_IGNORE);
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SDL_EventState(SDL_KEYDOWN,SDL_IGNORE);
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SDL_EventState(SDL_KEYUP,SDL_IGNORE);
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SDL_EventState(SDL_MOUSEMOTION,SDL_IGNORE);
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SDL_EventState(SDL_MOUSEBUTTONDOWN,SDL_IGNORE);
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SDL_EventState(SDL_MOUSEBUTTONUP,SDL_IGNORE);
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SDL_EventState(SDL_JOYAXISMOTION,SDL_IGNORE);
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SDL_EventState(SDL_JOYBALLMOTION,SDL_IGNORE);
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SDL_EventState(SDL_JOYHATMOTION,SDL_IGNORE);
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//SDL_EventState(SDL_JOYBUTTONDOWN,SDL_IGNORE);
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SDL_EventState(SDL_JOYBUTTONUP,SDL_IGNORE);
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SDL_EventState(SDL_VIDEORESIZE,SDL_IGNORE);
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SDL_EventState(SDL_VIDEOEXPOSE,SDL_IGNORE);
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//SDL_EventState(SDL_QUIT,SDL_IGNORE);
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SDL_EventState(SDL_USEREVENT,SDL_IGNORE);
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SDL_EventState(SDL_SYSWMEVENT,SDL_IGNORE);
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//Check there are actually joysticks attached
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if (!SDL_NumJoysticks())
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{
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printf("No joysticks attached! Quitting.\n");
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exit(-1);
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}
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//Open the desired joystick and make sure it will work
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sdl_joystick = SDL_JoystickOpen(device_index);
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if (!sdl_joystick)
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{
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printf("Joystick corresponding to SDL Index %d failed to open! Exiting.\n", device_index);
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exit(-1);
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}
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else if (SDL_JoystickNumAxes(sdl_joystick) < JS_NB_AXIS)
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{
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printf("Selected joystick does not support enough axes!\n");
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SDL_JoystickClose(sdl_joystick);
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exit(-1);
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}
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else if (SDL_JoystickNumButtons(sdl_joystick) < JS_NB_BUTTONS)
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{
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printf("Selected joystick does not support enough buttons!\n");
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SDL_JoystickClose(sdl_joystick);
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exit(-1);
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}
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else
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{
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printf("Using joystick named: %s\n",SDL_JoystickName(device_index));
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}
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return 0;
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}
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/**
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* Updates joystick buttons from events, directly reads current axis positions..
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*/
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void nps_radio_control_joystick_update(void) {
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#define JS_ROLL 0
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#define JS_PITCH 1
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#define JS_YAW 2
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#define JS_THROTTLE 3
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#define JS_NB_AXIS 7
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nps_joystick.throttle = ((float)(SDL_JoystickGetAxis(sdl_joystick,JS_THROTTLE)) - 32767.)/-65534.;
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nps_joystick.roll = (float)(SDL_JoystickGetAxis(sdl_joystick,JS_ROLL))/32767.;
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nps_joystick.pitch = (float)(SDL_JoystickGetAxis(sdl_joystick,JS_PITCH))/32767.;
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nps_joystick.yaw = (float)(SDL_JoystickGetAxis(sdl_joystick,JS_YAW))/32767.;
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// buttons to switch modes
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#define JS_MODE_MANUAL 4
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#define JS_MODE_AUTO1 5
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#define JS_MODE_AUTO2 6
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while(SDL_PollEvent(&sdl_event))
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{
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switch(sdl_event.type)
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{
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case SDL_JOYBUTTONDOWN:
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{
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switch(sdl_event.jbutton.button)
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{
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case JS_MODE_MANUAL:
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nps_joystick.mode = MODE_SWITCH_MANUAL;
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break;
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static gboolean on_js_data_received(GIOChannel *source,
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GIOCondition condition __attribute__ ((unused)),
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gpointer data __attribute__ ((unused))) {
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case JS_MODE_AUTO1:
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nps_joystick.mode = MODE_SWITCH_AUTO1;
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break;
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struct js_event js;
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gsize len;
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GError *err = NULL;
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g_io_channel_read_chars(source, (gchar*)(&js), sizeof(struct js_event), &len, &err);
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case JS_MODE_AUTO2:
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nps_joystick.mode = MODE_SWITCH_AUTO2;
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break;
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if (js.type == JS_EVENT_AXIS) {
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if (js.number < JS_NB_AXIS) {
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switch (js.number) {
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case JS_THROTTLE:
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nps_joystick.throttle = ((float)js.value - 32767.)/-65534.;
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//printf("joystick throttle %d\n",js.value);
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break;
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case JS_ROLL:
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nps_joystick.roll = (float)js.value/32767.;
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//printf("joystick roll %d %f\n",js.value, nps_joystick.roll);
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break;
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case JS_PITCH:
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nps_joystick.pitch = (float)js.value/32767.;
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//printf("joystick pitch %d %f\n",js.value, nps_joystick.pitch);
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break;
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case JS_YAW:
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//nps_joystick.yaw = 0.;
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nps_joystick.yaw = (float)js.value/32767.;
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//printf("joystick yaw %d %f\n",js.value, nps_joystick.yaw);
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break;
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default:
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//ignore
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break;
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}
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}
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}
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}
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if (js.type == JS_EVENT_BUTTON) {
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switch (js.number) {
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case JS_MODE_MANUAL:
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nps_joystick.mode = MODE_SWITCH_MANUAL;
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break;
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case JS_MODE_AUTO1:
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nps_joystick.mode = MODE_SWITCH_AUTO1;
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break;
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case JS_MODE_AUTO2:
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nps_joystick.mode = MODE_SWITCH_AUTO2;
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break;
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}
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}
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return TRUE;
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case SDL_QUIT:
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printf("Quitting...\n");
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exit(-1);
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break;
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default:
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//do nothing
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printf("unknown SDL event!!!\n");
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break;
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}
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}
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}
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@@ -1,7 +1,30 @@
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/*
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* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
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* Copyright (C) 2012 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
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*/
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#ifndef NPS_RADIO_CONTROL_JOYSTICK_H
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#define NPS_RADIO_CONTROL_JOYSTICK_H
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extern int nps_radio_control_joystick_init(const char* device);
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extern void nps_radio_control_joystick_update(void);
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struct NpsJoystick {
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double throttle;
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@@ -13,5 +36,4 @@ struct NpsJoystick {
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extern struct NpsJoystick nps_joystick;
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#endif /* NPS_RADIO_CONTROL_SPEKTRUM_H */
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#endif /* NPS_RADIO_CONTROL_JOYSTICK_H */
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Reference in New Issue
Block a user