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vrpn_Saitek_Controller_Raw.C
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vrpn_Saitek_Controller_Raw.C
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// vrpn_Saitek_Controller_Raw.C: VRPN driver for Saitek Controller Raw devices
#include <stdio.h> // for fprintf, stderr, NULL
#include <string.h> // for memset
#include <math.h> // for sqrt and fabs
#include "vrpn_Saitek_Controller_Raw.h"
VRPN_SUPPRESS_EMPTY_OBJECT_WARNING()
#if defined(VRPN_USE_HID)
// USB vendor and product IDs for the models we support
static const vrpn_uint16 SAITEK_VENDOR = 0x06a3;
static const vrpn_uint16 ST290_PRO = 0x0d60;
static const double POLL_INTERVAL = 1e+6 / 30.0; // If we have not heard, ask.
#define GAMEPAD_TRIGGER_THRESHOLD 30
//////////////////////////////////////////////////////////////////////////
// helpers
//////////////////////////////////////////////////////////////////////////
static vrpn_float64 normalize_dpad(unsigned char up, unsigned char right, unsigned char down, unsigned char left)
{
int x = 0;
int y = 0;
if (right)
{
x += 1;
}
if (left)
{
x -= 1;
}
if (up)
{
y += 1;
}
if (down)
{
y -= 1;
}
size_t index = ((x + 1) * 3) + (y + 1);
vrpn_float64 angles[] = {225, 270, 315, 180, -1, 0, 135, 90, 45};
return (angles[index]);
}
static void normalize_axis(const unsigned int value, const short deadzone, const vrpn_float64 scale, vrpn_float64& channel, int wordSize = 16)
{
channel = (static_cast<float>(value) - (float) (1 << (wordSize - 1)));
if (fabs(channel) < (deadzone * 3 / 4))
{
channel = 0.0f;
}
else
{
channel /= (float) (1 << (wordSize - 1));
}
channel *= scale;
if (channel < -1.0) { channel = -1.0; }
if (channel > 1.0) { channel = 1.0; }
}
static void normalize_axes(const unsigned int x, const unsigned int y, const short deadzone, const vrpn_float64 scale, vrpn_float64& channelX, vrpn_float64& channelY, int wordSize = 16)
{
normalize_axis(x, deadzone, scale, channelX, wordSize);
normalize_axis(y, deadzone, scale, channelY, wordSize);
}
static vrpn_float64 normalize_trigger(unsigned int trigger)
{
// Filter out low-intensity signals
int value = trigger - 0x80;
return ((fabs(static_cast<double>(value)) < GAMEPAD_TRIGGER_THRESHOLD) ? 0.0f : (value * 2.0f / 255.0f));
}
//////////////////////////////////////////////////////////////////////////
// Common base class
//////////////////////////////////////////////////////////////////////////
vrpn_Saitek_Controller_Raw::vrpn_Saitek_Controller_Raw(vrpn_HidAcceptor *filter, const char *name, vrpn_Connection *c) :
vrpn_HidInterface(filter), vrpn_BaseClass(name, c), _filter(filter)
{
init_hid();
}
vrpn_Saitek_Controller_Raw::~vrpn_Saitek_Controller_Raw(void)
{
delete _filter;
}
void vrpn_Saitek_Controller_Raw::init_hid()
{
// Get notifications when clients connect and disconnect
register_autodeleted_handler(d_connection->register_message_type(vrpn_dropped_last_connection), on_last_disconnect, this);
register_autodeleted_handler(d_connection->register_message_type(vrpn_got_connection), on_connect, this);
}
void vrpn_Saitek_Controller_Raw::on_data_received(size_t bytes, vrpn_uint8 *buffer)
{
decodePacket(bytes, buffer);
}
int vrpn_Saitek_Controller_Raw::on_last_disconnect(void *thisPtr, vrpn_HANDLERPARAM /*p*/)
{
vrpn_Saitek_Controller_Raw* me = static_cast<vrpn_Saitek_Controller_Raw*>(thisPtr);
return (0);
}
int vrpn_Saitek_Controller_Raw::on_connect(void* thisPtr, vrpn_HANDLERPARAM /*p*/)
{
vrpn_Saitek_Controller_Raw* me = static_cast<vrpn_Saitek_Controller_Raw*>(thisPtr);
return (0);
}
//////////////////////////////////////////////////////////////////////////
// ST290 Pro Joystick
//////////////////////////////////////////////////////////////////////////
vrpn_Saitek_ST290_Pro::vrpn_Saitek_ST290_Pro(const char *name, vrpn_Connection *c) :
vrpn_Saitek_Controller_Raw(_filter = new vrpn_HidProductAcceptor(SAITEK_VENDOR, ST290_PRO), name, c),
vrpn_Button_Filter(name, c), vrpn_Analog(name, c), vrpn_Dial(name, c)
{
vrpn_Analog::num_channel = 5;
vrpn_Dial::num_dials = 0;
vrpn_Button::num_buttons = 10;
// Initialize the state of all the analogs, buttons, and dials
memset(buttons, 0, sizeof(buttons));
memset(lastbuttons, 0, sizeof(lastbuttons));
memset(channel, 0, sizeof(channel));
memset(last, 0, sizeof(last));
}
void vrpn_Saitek_ST290_Pro::mainloop(void)
{
update();
server_mainloop();
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
if (vrpn_TimevalDuration(current_time, _timestamp) > POLL_INTERVAL)
{
_timestamp = current_time;
report_changes();
vrpn_Analog::server_mainloop();
vrpn_Button::server_mainloop();
if (vrpn_Dial::num_dials > 0)
{
vrpn_Dial::server_mainloop();
}
}
}
void vrpn_Saitek_ST290_Pro::report(vrpn_uint32 class_of_service)
{
vrpn_Analog::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
if (vrpn_Dial::num_dials > 0)
{
vrpn_Dial::timestamp = _timestamp;
}
vrpn_Analog::report_changes(class_of_service);
vrpn_Button::report_changes();
if (vrpn_Dial::num_dials > 0)
{
vrpn_Dial::report();
}
}
void vrpn_Saitek_ST290_Pro::report_changes(vrpn_uint32 class_of_service)
{
vrpn_Analog::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
if (vrpn_Dial::num_dials > 0)
{
vrpn_Dial::timestamp = _timestamp;
}
vrpn_Analog::report(class_of_service);
vrpn_Button::report_changes();
if (vrpn_Dial::num_dials > 0)
{
vrpn_Dial::report();
}
}
void vrpn_Saitek_ST290_Pro::decodePacket(size_t bytes, vrpn_uint8 *buffer)
{
// ST290 Pro joystick
// Decode all full reports, each of which is 6 bytes long.
// Because there is only one type of report, the initial "0" report-type
// byte is removed by the HIDAPI driver.
/*
[0]: X-axis (left=00, right=ff)
[1]: Y-axis - lower byte (up=00, down=ff)
[2]: Z-rotate (left=00, right=ff)
[3]: Slider (up=00, down=ff)
[4]: buttons high nibble "1"=0x10, "2"=0x20, "3"=0x40, "4"=0x80, POV Hat low nibble (none=0x00, N=0x01, NE=0x02, ... NW=0x08)
[5]: 0xf0 high nibble, buttons low nibble (none=0x00, "5"=0x01, "6"=0x02)
*/
// XXX Check to see that this works with HIDAPI, there may be two smaller reports.
if (bytes == 6)
{
normalize_axes(buffer[0], buffer[1], 0x08, 1.0f, channel[0], channel[1], 8);
normalize_axis(buffer[2], 0x08, 1.0f, channel[2], 8);
normalize_axis(buffer[3], 0x08, 1.0f, channel[3], 8);
vrpn_uint8 value, mask;
value = (buffer[4] >> 4);
for (int btn = 0; btn < 4; btn++)
{
mask = static_cast<vrpn_uint8>(1 << (btn % 8));
buttons[btn] = ((value & mask) != 0);
}
value = (buffer[5] & 0x0f);
for (int btn = 0; btn < 4; btn++)
{
mask = static_cast<vrpn_uint8>(1 << (btn % 8));
buttons[btn + 4] = ((value & mask) != 0);
}
// Point of View Hat
buttons[6] = buttons[7] = buttons[8] = buttons[9] = 0;
switch (buffer[4] & 0x0f)
{
case 1: // up
buttons[6] = true;
break;
case 2:
buttons[6] = buttons[7] = true;
break;
case 3: // right
buttons[7] = true;
break;
case 4:
buttons[7] = buttons[8] = true;
break;
case 5: // down
buttons[8] = true;
break;
case 6:
buttons[8] = buttons[9] = true;
break;
case 7: // left
buttons[9] = true;
break;
case 8:
buttons[9] = buttons[6] = true;
break;
case 0:
default:
// nothing to do
break;
}
channel[4] = normalize_dpad(buttons[7], buttons[8], buttons[9], buttons[10]);
}
else
{
fprintf(stderr, "vrpn_Saitek_ST290_Pro: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
}
}
// End of VRPN_USE_HID
#endif