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00035 #include <stdio.h>
00036 #include <stdint.h>
00037 #include <getopt.h>
00038 #include <errno.h>
00039 #include <unistd.h>
00040 #include <SDL/SDL.h>
00041 #include <helicontrol.h>
00042
00043
00044 #define bound(min,num,max) ((num) >= (min) ? ((num) < (max) ? (num) : (max)) : (min))
00045
00046 #define JOYSTICK 0
00047 #define JOYSTICK_THROTTLE_MAX -32768
00048 #define JOYSTICK_YAW_MAX -32768
00049 #define JOYSTICK_PITCH_MAX -32768
00050 #define JOYSTICK_ROLL_MAX 32768
00051 #define JOYSTICK_AXIS_SAUCER_ROLL 2
00052 #define JOYSTICK_AXIS_SAUCER_YAW 0
00053 #define JOYSTICK_AXIS_THROTTLE 1
00054 #define JOYSTICK_AXIS_YAW 2
00055 #define JOYSTICK_AXIS_PITCH 3
00056 #define JOYSTICK_BUTTON_TRIM_L 6
00057 #define JOYSTICK_BUTTON_TRIM_R 7
00058 #define JOYSTICK_BUTTON_FIRE1 4
00059 #define JOYSTICK_BUTTON_FIRE2 5
00060 #define JOYSTICK_BUTTON_PITCH1 4
00061 #define JOYSTICK_BUTTON_PITCH2 5
00062
00063 #define INTERVAL 25000
00064
00065 #define MODE_NORMAL 0
00066 #define MODE_JOYSTICK 1
00067 #define MODE_STOP 2
00068
00069 static struct option long_options[] =
00070 {
00071 {"protocol", required_argument, 0, 'p'},
00072 {"channel", required_argument, 0, 'c'},
00073 {"throttle", required_argument, 0, 't'},
00074 {"trim", required_argument, 0, 'm'},
00075 {"yaw", required_argument, 0, 'y'},
00076 {"fire", required_argument, 0, 'f'},
00077 {"pitch", required_argument, 0, 'i'},
00078 {"roll", required_argument, 0, 'r'},
00079 {"stop", no_argument, 0, 's'},
00080 {"joystick", no_argument, 0, 'j'},
00081 {"help", no_argument, 0, 'h'},
00082 {0, 0, 0, 0}
00083 };
00084
00085 static void usage(void)
00086 {
00087 puts("Usage: -p p -c a -t 5 -y 0");
00088 puts("-p/--protocol: transmission protocol (p(icooz)/c(hallenger)/u(ranus)/(t)andemz/(s)aucer)");
00089 puts("-c/--channel: channel (a/b/c)");
00090 puts("-t/--throttle: throttle (0..15)");
00091 puts("-m/--trim: trim (l/r)");
00092 puts("-y/--yaw: yaw (-3(left)..3(right))");
00093 puts("-s/--stop: stop repeating the last signal");
00094 puts("-j/--joystick: use joystick/gamepad for interactive input");
00095 puts("-f/--fire: fire (0/1, challenger only)");
00096 puts("-i/--pitch: pitch control (uranus/tandemz/saucer only)");
00097 puts("-r/--roll: roll control (flying saucer only)");
00098 }
00099
00100 struct usb_dev_handle *handle;
00101
00102 static void send_frame(char protocol, char channel, char throttle, char trim, char yaw, char pitch, char special)
00103 {
00104 int error;
00105
00106 switch (protocol)
00107 {
00108 case PROTO_PICOOZ:
00109 error = HC_Send_Picooz(handle, bound(0, channel-'a', 2), throttle, yaw, trim);
00110 break;
00111 case PROTO_CHALLENGER:
00112 error = HC_Send_Challenger(handle, bound(1, channel-'a'+1, 2), throttle, yaw, trim, special);
00113 break;
00114 case PROTO_URANUS:
00115 error = HC_Send_Uranus(handle, bound(0, channel-'a', 2), throttle, yaw, pitch, trim, special);
00116 break;
00117 case PROTO_TANDEMZ:
00118 error = HC_Send_Tandemz(handle, bound(0, channel-'a', 2), throttle, yaw, pitch, trim, special);
00119 break;
00120 case PROTO_SAUCER:
00121 error = HC_Send_Saucer(handle, throttle, yaw, pitch, special);
00122 break;
00123 }
00124 if (error < 0)
00125 {
00126 puts("USB_control_msg error!");
00127 exit(EXIT_FAILURE);
00128 }
00129 }
00130
00131 int main(int argc, char **argv)
00132 {
00133 char channel, throttle, trim, yaw, pitch, special, protocol = PROTO_CHALLENGER;
00134 int c, mode = MODE_NORMAL, option_index = 0;
00135 SDL_Joystick *joy;
00136
00137 if (argc == 1)
00138 {
00139 usage();
00140 exit(EXIT_FAILURE);
00141 }
00142
00143 channel = throttle = trim = yaw = pitch = special = 0;
00144
00145 while (1)
00146 {
00147 c = getopt_long(argc, argv, "p:c:t:m:y:r:f:i:sjh", long_options, &option_index);
00148 if (c == -1) break;
00149 switch (c)
00150 {
00151 case 'h':
00152 usage();
00153 exit(EXIT_FAILURE);
00154 case 'p':
00155 switch (optarg[0])
00156 {
00157 case 'p':
00158 protocol = PROTO_PICOOZ;
00159 break;
00160 case 'c':
00161 protocol = PROTO_CHALLENGER;
00162 break;
00163 case 'u':
00164 case 'a':
00165 protocol = PROTO_URANUS;
00166 break;
00167 case 't':
00168 protocol = PROTO_TANDEMZ;
00169 break;
00170 case 's':
00171 protocol = PROTO_SAUCER;
00172 break;
00173 default:
00174 protocol = PROTO_PICOOZ;
00175 }
00176 break;
00177 case 'c':
00178 channel = optarg[0];
00179 break;
00180 case 't':
00181 throttle = atoi(optarg);
00182 break;
00183 case 'm':
00184 switch (optarg[0])
00185 {
00186 case 'l':
00187 trim = -1;
00188 break;
00189 case 'r':
00190 trim = 1;
00191 break;
00192 }
00193 break;
00194 case 'y':
00195 yaw = atoi(optarg);
00196 break;
00197 case 'r':
00198 special = atoi(optarg);
00199 break;
00200 case 'i':
00201 pitch = atoi(optarg);
00202 break;
00203 case 'f':
00204 special = (optarg[0] == '1')?3:0;
00205 break;
00206 case 'j':
00207 mode = MODE_JOYSTICK;
00208 break;
00209 case 's':
00210 mode = MODE_STOP;
00211 break;
00212 default:
00213 abort();
00214 }
00215 }
00216 if (optind < argc)
00217 {
00218 printf("Unsupported arguments: ");
00219 while (optind < argc)
00220 printf("%s ", argv[optind++]);
00221 putchar('\n');
00222 exit(EXIT_FAILURE);
00223 }
00224
00225 handle = HC_Init();
00226 if (handle == NULL)
00227 {
00228 puts("USB device handle not found!");
00229 exit(EXIT_FAILURE);
00230 }
00231
00232 if (mode == MODE_JOYSTICK)
00233 {
00234 SDL_Init(SDL_INIT_JOYSTICK);
00235 joy = SDL_JoystickOpen(JOYSTICK);
00236 if (!joy)
00237 {
00238 puts("Could not open joystick!");
00239 usb_close(handle);
00240 exit(EXIT_FAILURE);
00241 }
00242
00243 if (HC_CMD_Repeat(handle, FALSE) < 0)
00244 puts("USB_control_msg error!");
00245
00246 while (1)
00247 {
00248 SDL_JoystickUpdate();
00249
00250 throttle = (int)(SDL_JoystickGetAxis(joy, JOYSTICK_AXIS_THROTTLE) * 16.0/JOYSTICK_THROTTLE_MAX);
00251 yaw = (int)(SDL_JoystickGetAxis(joy, JOYSTICK_AXIS_YAW) * 4.0/JOYSTICK_YAW_MAX);
00252
00253 if (SDL_JoystickGetButton(joy, JOYSTICK_BUTTON_FIRE1) || SDL_JoystickGetButton(joy, JOYSTICK_BUTTON_FIRE2))
00254 special = 3;
00255
00256 if (SDL_JoystickGetButton(joy, JOYSTICK_BUTTON_TRIM_L))
00257 trim = -1;
00258 else if (SDL_JoystickGetButton(joy, JOYSTICK_BUTTON_TRIM_R))
00259 trim = 1;
00260
00261
00262 if (protocol == PROTO_URANUS)
00263 {
00264 if (SDL_JoystickGetButton(joy, JOYSTICK_BUTTON_PITCH1))
00265 pitch = 1;
00266 else if (SDL_JoystickGetButton(joy, JOYSTICK_BUTTON_PITCH2))
00267 pitch ^= 3;
00268 }
00269 else if (protocol == PROTO_TANDEMZ)
00270 {
00271 pitch = 2;
00272 trim = (int)(SDL_JoystickGetAxis(joy, JOYSTICK_AXIS_PITCH) * 16.5/JOYSTICK_PITCH_MAX + 15.5);
00273 yaw = (int)(SDL_JoystickGetAxis(joy, JOYSTICK_AXIS_YAW) * -16.5/JOYSTICK_YAW_MAX + 15.5);
00274 }
00275 else if (protocol == PROTO_SAUCER)
00276 {
00277 throttle = (int)(SDL_JoystickGetAxis(joy, JOYSTICK_AXIS_THROTTLE) * 15.0/JOYSTICK_THROTTLE_MAX);
00278 pitch = (int)(SDL_JoystickGetAxis(joy, JOYSTICK_AXIS_PITCH) * -7.5/JOYSTICK_PITCH_MAX);
00279 yaw = (int)(SDL_JoystickGetAxis(joy, JOYSTICK_AXIS_SAUCER_YAW) * -7.5/JOYSTICK_YAW_MAX);
00280 special = (int)(SDL_JoystickGetAxis(joy, JOYSTICK_AXIS_SAUCER_ROLL) * 7.5/JOYSTICK_ROLL_MAX);
00281 }
00282
00283 if (SDL_JoystickGetButton(joy, JOYSTICK_BUTTON_FIRE1) || SDL_JoystickGetButton(joy, JOYSTICK_BUTTON_FIRE2))
00284 {
00285 if (HC_CMD_Stop(handle) < 0)
00286 puts("USB_control_msg error!");
00287 }
00288 else
00289 send_frame(protocol, channel, throttle, trim, yaw, pitch, special);
00290
00291 usleep(INTERVAL);
00292 }
00293 }
00294 else if (mode == MODE_STOP)
00295 {
00296 if (HC_CMD_Stop(handle) < 0)
00297 puts("USB_control_msg error!");
00298 }
00299 else
00300 {
00301 if (HC_CMD_Repeat(handle, TRUE) < 0)
00302 puts("USB_control_msg error!");
00303 send_frame(protocol, channel, throttle, trim, yaw, pitch, special);
00304 }
00305
00306 HC_Close(handle);
00307
00308 exit(EXIT_SUCCESS);
00309 }
00310
