11#if defined(VRPN_USE_HID)
16static const vrpn_uint16 FUTABA_VENDOR = 0x1781;
17static const vrpn_uint16 FUTABA_ELITE = 0x0e56;
19static void normalize_axis(
const unsigned int value,
const short deadzone,
const vrpn_float64 scale, vrpn_float64& channel) {
20 channel = (
static_cast<float>(value) - 128.0f);
21 if (fabs(channel) < deadzone)
30 if (channel < -1.0) { channel = -1.0; }
31 if (channel > 1.0) { channel = 1.0; }
34static void normalize_axes(
const unsigned int x,
const unsigned int y,
const short deadzone,
const vrpn_float64 scale, vrpn_float64& channelX, vrpn_float64& channelY) {
35 normalize_axis(x, deadzone, scale, channelX);
36 normalize_axis(y, deadzone, scale, channelY);
40 vrpn_uint16 vendor, vrpn_uint16 product)
53 fprintf(stderr,
"vrpn_Futaba::~vrpn_Futaba(): delete failed\n");
101 struct timeval current_time;
150 if (buffer[0] == 5) {
155 normalize_axes(buffer[5], buffer[3], 5, (1.0f / 0.70f),
channel[0],
channel[1]);
158 normalize_axes(buffer[1], buffer[2], 5, (1.0f / 0.70f),
channel[2],
channel[3]);
171 normalize_axis(buffer[4], 5, 1.0f,
channel[4]);
185 for (
int btn = 0; btn < 8; btn++) {
186 vrpn_uint8 mask =
static_cast<vrpn_uint8
>(1 << (btn % 8));
187 buttons[btn] = ((value & mask) != 0);
213 const vrpn_uint8 btnCount = 10;
214 const vrpn_uint8 btnValues[btnCount] = {0xa2, 0x51, 0x36, 0x1b, 0x12, 0x09, 0x06, 0x03, 0x02, 0x01};
215 for (
int i = 0; i < btnCount; i++) {
216 if ((value & btnValues[i]) == btnValues[i]) {
217 value ^= btnValues[i];
224 fprintf(stderr,
"vrpn_Futaba_InterLink_Elite: Unknown report = %u\n",
static_cast<unsigned>(buffer[0]));
227 fprintf(stderr,
"vrpn_Futaba_InterLink_Elite: Found a corrupted report; # total bytes = %u\n",
static_cast<unsigned>(bytes));
vrpn_float64 last[vrpn_CHANNEL_MAX]
vrpn_float64 channel[vrpn_CHANNEL_MAX]
virtual void report(vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
Send a report whether something has changed or not (for servers) Optionally, tell what time to stamp ...
int register_autodeleted_handler(vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER)
Registers a handler with the connection, and remembers to delete at destruction.
vrpn_Connection * d_connection
Connection that this object talks to.
void server_mainloop(void)
Handles functions that all servers should provide in their mainloop() (ping/pong, for example) Should...
Class from which all user-level (and other) classes that communicate with vrpn_Connections should der...
Generic connection class not specific to the transport mechanism.
virtual vrpn_int32 register_message_type(const char *name)
vrpn_float64 dials[vrpn_DIAL_MAX]
virtual void report(void)
virtual void mainloop(void)
Called once through each main loop iteration to handle updates. Remote object mainloop() should call ...
void decodePacket(size_t bytes, vrpn_uint8 *buffer)
vrpn_Futaba_InterLink_Elite(const char *name, vrpn_Connection *c=0)
virtual ~vrpn_Futaba(void)
static int VRPN_CALLBACK on_last_disconnect(void *thisPtr, vrpn_HANDLERPARAM p)
struct timeval _timestamp
vrpn_Futaba(vrpn_HidAcceptor *filter, const char *name, vrpn_Connection *c=0, vrpn_uint16 vendor=0, vrpn_uint16 product=0)
static int VRPN_CALLBACK on_connect(void *thisPtr, vrpn_HANDLERPARAM p)
vrpn_HidAcceptor * _filter
void on_data_received(size_t bytes, vrpn_uint8 *buffer)
Derived class reimplements this callback.
virtual void decodePacket(size_t bytes, vrpn_uint8 *buffer)=0
virtual void update()
Polls the device buffers and causes on_data_received callbacks if appropriate You NEED to call this f...
Accepts any device with the given vendor and product IDs.
This structure is what is passed to a vrpn_Connection message callback.
const char * vrpn_dropped_last_connection
const char * vrpn_got_connection
unsigned long vrpn_TimevalDuration(struct timeval endT, struct timeval startT)
Return number of microseconds between startT and endT.
#define vrpn_gettimeofday