xbox_controller.hpp

Go to the documentation of this file.

/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2021 Veysi ADIN, UST KIST
 *
 *  This file is part of the Wrapped IgH EtherCAT master userspace program 
 * for control applications.
 *
 *  The Wrapped IgH EtherCAT master userspace program for control application
 *  in userspace is free software; you canredistribute it and/or modify it 
 * under the terms of the GNU General Public License as published by the 
 * Free Software Foundation; version 2 of the License.
 *
 *  The Wrapped IgH EtherCAT master userspace program for control application
 *  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 the Wrapped IgH EtherCAT master userspace program for control application. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *  Contact information: veysi.adin@kist.re.kr
 *****************************************************************************/
/*******************************************************************************
 * \file  xboxController.hpp
 * \brief Contains blueprint for reading values from XboxController
 *******************************************************************************/
 
/*
 *  Xbox Controller code has been downloaded from  ; 
 *  https://github.com/msch26/scholtyssek-blogspot/tree/master/xboxControllerClient/src
 *  as a C code, this code has been modified to C++ code, and class implementation
 *  added by 
 *  VeysiADN
 *  01/18/2020 
 *  veysi.adin@kist.re.kr
 */
 
#ifndef XBOXCONTROLLER_H_
#define XBOXCONTROLLER_H_
 
#include <string>
#include <stdlib.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <linux/joystick.h>
#include <iostream>
 
#define IDENTIFIER_SIZE         64
 
#define STICK_LEFT_X_ID         0x00
#define STICK_LEFT_Y_ID         0x01
#define STICK_RIGHT_X_ID        0x03
#define STICK_RIGHT_Y_ID        0x04
#define STICK_LEFT_TOP_ID       0x02
#define STICK_RIGHT_TOP_ID      0x05
#define CROSS_LR_ID             0x06
#define CROSS_FB_ID             0x07
 
#define BTN_BACK_ID             0x06
#define BTN_START_ID            0x07
#define BTN_XBOX_ID             0x08
#define BTN_LEFT_STICK_ID       0x09
#define BTN_RIGHT_STICK_ID      0x0A
 
#define BTN_A_ID                0x00
#define BTN_B_ID                0x01
#define BTN_X_ID                0x02
#define BTN_Y_ID                0x03
#define BTN_TOP_LEFT_ID         0x04
#define BTN_TOP_RIGHT_ID        0x05
 
static std::string s = "/dev/input/js0";
static char* XBOX_DEVICE = const_cast<char*>(s.c_str());
typedef struct {
    int numOfAxis;
    int numOfButtons;
    char identifier[IDENTIFIER_SIZE];
    int stk_LeftX;      /* left stick */
    int stk_LeftY;      /* left stick */
    int stk_RightX;     /* right stick */
    int stk_RightY;     
    int stk_crossFB;    /* cross front/back */
    int stk_crossLR;    /* cross left/right */
    int stk_LeftTop;    /* left top stick */
    int stk_RightTop;   /* right top stick */
    int btn_back;
    int btn_start;
    int btn_leftStk;
    int btn_rightStk;
    int btn_A;
    int btn_B;
    int btn_X;
    int btn_Y;
    int btn_xbox;
    int btn_leftTop;
    int btn_rightTop;
} XboxCtrl;
class XboxController{
public: 
    struct js_event js;
    char joysickIdentifier[IDENTIFIER_SIZE];
    int fd = -1;
    XboxCtrl* xbox = NULL;
    int InitXboxController(char* dev);
    void DeinitXboxController(XboxCtrl* xbox);
    XboxCtrl* GetXboxDataStruct(void);
    void ReadXboxControllerInformation(XboxCtrl* xbox);
    void ReadXboxData(XboxCtrl* xbox);
    void SetXboxCtrlValue(XboxCtrl* xbox, struct js_event* js);
    void PrintXboxCtrlValues(XboxCtrl* xbox);
};
#endif /* XBOXCONTROLLER_H_ */