wiic.c

/*
 *    wiic.c
 *
 *	  This file is part of WiiC, written by:
 *		Gabriele Randelli
 *		Email: randelli@dis.uniroma1.it
 *
 *    Copyright 2010
 *		
 *	  This file is based on Wiiuse, written By:
 *		Michael Laforest	< para >
 *		Email: < thepara (--AT--) g m a i l [--DOT--] com >
 *
 *	  Copyright 2006-2007
 *
 *    This program 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 3 of the License, or
 *    (at your option) any later version.
 *
 *    This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 *	  $Header$
 */

/**
 *	@file
 *	@brief General wiimote operations.
 *
 *	The file includes functions that handle general
 *	tasks.  Most of these are functions that are part
 *	of the API.
 */

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/time.h>

#include "definitions.h"
#include "wiic_internal.h"
#include "events.h"
#include "io.h"

static int g_banner = 0;

/**
 *	@breif Returns the version of the library.
 */
const char* wiic_version() {
	return WIIC_VERSION;
}


/**
 *	@brief Clean up wiimote_t array created by wiic_init()
 */
void wiic_cleanup(struct wiimote_t** wm, int wiimotes) {
	int i = 0;

	if (!wm)
		return;

	WIIC_DEBUG("wiiC clean up...");

	for (; i < wiimotes; ++i) {
		wiic_disconnect(wm[i]);
		free(wm[i]);
	}

	free(wm);

	return;
}


/**
 *	@brief Initialize an array of wiimote structures.
 *
 *	@param wiimotes		Number of wiimote_t structures to create.
 *
 *	@return An array of initialized wiimote_t structures.
 *
 *	@see wiic_connect()
 *
 *	The array returned by this function can be passed to various
 *	functions, including wiic_connect().
 */
struct wiimote_t** wiic_init(int wiimotes) {
	int i = 0;
	struct wiimote_t** wm = NULL;

	/*
	 *	Please do not remove this banner.
	 *	GPL asks that you please leave output credits intact.
	 *	Thank you.
	 *
	 *	This banner is only displayed once so that if you need
	 *	to call this function again it won't be intrusive.
	 */
	if (!g_banner) {
		WIIC_DEBUG(	"WiiC v" WIIC_VERSION " loaded.\n"
				"By: Gabriele Randelli <randelli[at]dis{dot}uniroma1{dot}it>\n"
				"http://www.dis.uniroma1.it/~randelli\n\n");
		g_banner = 1;
	}

	if (!wiimotes)
		return NULL;

	wm = malloc(sizeof(struct wiimote_t*) * wiimotes);

	for (i = 0; i < wiimotes; ++i) {
		wm[i] = malloc(sizeof(struct wiimote_t));
		memset(wm[i], 0, sizeof(struct wiimote_t));

		wm[i]->unid = i+1;

		#ifdef __APPLE__
			wm[i]->device = 0;
			wm[i]->address = 0;
			wm[i]->inputCh = 0;
			wm[i]->outputCh = 0;
			wm[i]->disconnectionRef = 0;
			wm[i]->connectionHandler = 0;
		#elif LINUX
			wm[i]->bdaddr = *BDADDR_ANY;
			wm[i]->out_sock = -1;
			wm[i]->in_sock = -1;	
		#endif

		wm[i]->state = WIIMOTE_INIT_STATES;
		wm[i]->flags = WIIC_INIT_FLAGS;
		wm[i]->autoreconnect = 0;
		wm[i]->event = WIIC_NONE;

		wm[i]->exp.type = EXP_NONE;

		wiic_set_aspect_ratio(wm[i], WIIC_ASPECT_4_3);
		wiic_set_ir_position(wm[i], WIIC_IR_ABOVE);

		wm[i]->orient_threshold = 0.5f;
		wm[i]->accel_threshold = 5;

		wm[i]->accel_calib.st_alpha = WIIC_DEFAULT_SMOOTH_ALPHA;
		
		gettimeofday(&(wm[i]->timestamp),0);
	}

	return wm;
}


/**
 *	@brief	The wiimote disconnected.
 *
 *	@param wm	Pointer to a wiimote_t structure.
 */
void wiic_disconnected(struct wiimote_t* wm) {
	if (!wm)	return;
	
	// Auto-reconnect?
	if(wm->autoreconnect && wiic_connect_single(wm,NULL,1))
		return;
		
	WIIC_INFO("Wiimote disconnected [id %i].", wm->unid);

	/* disable the connected flag */
	WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_CONNECTED);

	/* reset a bunch of stuff */
	#if __APPLE__ // MacOSX
		if(wm->inputCh) {
			IOBluetoothObjectRelease(wm->inputCh);
			wm->inputCh = 0;
		}
		if(wm->outputCh) {
			IOBluetoothObjectRelease(wm->outputCh);			
			wm->outputCh = 0;			
		}
	#else // Linux
		wm->out_sock = -1;
		wm->in_sock = -1;
	#endif

	wm->leds = 0;
	wm->state = WIIMOTE_INIT_STATES;
	wm->read_req = NULL;
	wm->handshake_state = 0;
	wm->btns = 0;
	wm->btns_held = 0;
	wm->btns_released = 0;
	memset(wm->event_buf, 0, sizeof(wm->event_buf));
	wm->event = WIIC_DISCONNECT;
}


/**
 *	@brief	Enable or disable the rumble.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *	@param status	1 to enable, 0 to disable.
 */
void wiic_rumble(struct wiimote_t* wm, int status) {
	byte buf;

	if (!wm || !WIIMOTE_IS_CONNECTED(wm))
		return;

	/* make sure to keep the current lit leds */
	buf = wm->leds;

	if (status) {
		WIIC_DEBUG("Starting rumble...");
		WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
	} else {
		WIIC_DEBUG("Stopping rumble...");
		WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
	}

	/* preserve IR state */
	if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR))
		buf |= 0x04;

	wiic_send(wm, WM_CMD_RUMBLE, &buf, 1);
}


/**
 *	@brief	Toggle the state of the rumble.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 */
void wiic_toggle_rumble(struct wiimote_t* wm) {
	if (!wm)	return;

	wiic_rumble(wm, !WIIMOTE_IS_SET(wm, WIIMOTE_STATE_RUMBLE));
}


/**
 *	@brief	Set the enabled LEDs.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *	@param leds		What LEDs to enable.
 *
 *	\a leds is a bitwise or of WIIMOTE_LED_1, WIIMOTE_LED_2, WIIMOTE_LED_3, or WIIMOTE_LED_4.
 */
void wiic_set_leds(struct wiimote_t* wm, int leds) {
	byte buf;

	if (!wm || !WIIMOTE_IS_CONNECTED(wm)) 
		return;

	/* remove the lower 4 bits because they control rumble */
	wm->leds = (leds & 0xF0);
	buf = wm->leds;

	wiic_send(wm, WM_CMD_LED, &buf, 1);
}


/**
 *	@brief	Set if the wiimote should report motion sensing.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *	@param status	1 to enable, 0 to disable.
 *
 *	Since reporting motion sensing sends a lot of data,
 *	the wiimote saves power by not transmitting it
 *	by default.
 */
void wiic_motion_sensing(struct wiimote_t* wm, int status) {
	if (status)
		WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_ACC);
	else
		WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_ACC);

	wiic_set_report_type(wm);
}


/**
 *	@brief	Set the report type based on the current wiimote state.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *
 *	@return The report type sent.
 *
 *	The wiimote reports formatted packets depending on the
 *	report type that was last requested.  This function will
 *	update the type of report that should be sent based on
 *	the current state of the device.
 */
int wiic_set_report_type(struct wiimote_t* wm) {
	byte buf[2];
	int motion, exp, ir;

	if (!wm || !WIIMOTE_IS_CONNECTED(wm))
		return 0;

	buf[0] = (WIIMOTE_IS_FLAG_SET(wm, WIIC_CONTINUOUS) ? 0x04 : 0x00);	/* set to 0x04 for continuous reporting */
	buf[1] = 0x00;

	motion = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC);
	exp = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_EXP);
	ir = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR);

	if (motion && ir && exp)	buf[1] = WM_RPT_BTN_ACC_IR_EXP;
	else if (motion && exp)		buf[1] = WM_RPT_BTN_ACC_EXP;
	else if (motion && ir)		buf[1] = WM_RPT_BTN_ACC_IR;
	else if (ir && exp)			buf[1] = WM_RPT_BTN_IR_EXP;
	else if (ir)				buf[1] = WM_RPT_BTN_ACC_IR;
	else if (exp) 				buf[1] = WM_RPT_BTN_EXP; 
	else if (motion)			buf[1] = WM_RPT_BTN_ACC;
	else						buf[1] = WM_RPT_BTN;

	WIIC_DEBUG("Setting report type: 0x%x", buf[1]);

	exp = wiic_send(wm, WM_CMD_REPORT_TYPE, buf, 2);
	if (exp <= 0)
		return exp;

	return buf[1];
}


/**
 *	@brief	Read data from the wiimote (callback version).
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *	@param read_cb	Function pointer to call when the data arrives from the wiimote.
 *	@param buffer	An allocated buffer to store the data as it arrives from the wiimote.
 *					Must be persistent in memory and large enough to hold the data.
 *	@param addr		The address of wiimote memory to read from.
 *	@param len		The length of the block to be read.
 *
 *	The library can only handle one data read request at a time
 *	because it must keep track of the buffer and other
 *	events that are specific to that request.  So if a request
 *	has already been made, subsequent requests will be added
 *	to a pending list and be sent out when the previous
 *	finishes.
 */
int wiic_read_data_cb(struct wiimote_t* wm, wiic_read_cb read_cb, byte* buffer, unsigned int addr, unsigned short len) {
	struct read_req_t* req;

	if (!wm || !WIIMOTE_IS_CONNECTED(wm))
		return 0;
	if (!buffer || !len || !read_cb)
		return 0;

	/* make this request structure */
	req = (struct read_req_t*)malloc(sizeof(struct read_req_t));
	req->cb = read_cb;
	req->buf = buffer;
	req->addr = addr;
	req->size = len;
	req->wait = len;
	req->dirty = 0;
	req->next = NULL;

	/* add this to the request list */
	if (!wm->read_req) {
		/* root node */
		wm->read_req = req;

		WIIC_DEBUG("Data read request can be sent out immediately.");

		/* send the request out immediately */
		wiic_send_next_pending_read_request(wm);
	} else {
		struct read_req_t* nptr = wm->read_req;
		for (; nptr->next; nptr = nptr->next);
		nptr->next = req;

		WIIC_DEBUG("Added pending data read request.");
	}

	return 1;
}


/**
 *	@brief	Read data from the wiimote (event version).
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *	@param buffer	An allocated buffer to store the data as it arrives from the wiimote.
 *					Must be persistent in memory and large enough to hold the data.
 *	@param addr		The address of wiimote memory to read from.
 *	@param len		The length of the block to be read.
 *
 *	The library can only handle one data read request at a time
 *	because it must keep track of the buffer and other
 *	events that are specific to that request.  So if a request
 *	has already been made, subsequent requests will be added
 *	to a pending list and be sent out when the previous
 *	finishes.
 */
int wiic_read_data(struct wiimote_t* wm, byte* buffer, unsigned int addr, unsigned short len) {
	struct read_req_t* req;

	if (!wm || !WIIMOTE_IS_CONNECTED(wm))
		return 0;
	if (!buffer || !len)
		return 0;

	/* make this request structure */
	req = (struct read_req_t*)malloc(sizeof(struct read_req_t));
	req->cb = NULL;
	req->buf = buffer;
	req->addr = addr;
	req->size = len;
	req->wait = len;
	req->dirty = 0;
	req->next = NULL;

	/* add this to the request list */
	if (!wm->read_req) {
		/* root node */
		wm->read_req = req;

		WIIC_DEBUG("Data read request can be sent out immediately.");

		/* send the request out immediately */
		wiic_send_next_pending_read_request(wm);
	} else {
		struct read_req_t* nptr = wm->read_req;
		for (; nptr->next; nptr = nptr->next);
		nptr->next = req;

		WIIC_DEBUG("Added pending data read request.");
	}

	return 1;
}


/**
 *	@brief Send the next pending data read request to the wiimote.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *
 *	@see wiic_read_data()
 *
 *	This function is not part of the wiic API.
 */
void wiic_send_next_pending_read_request(struct wiimote_t* wm) {
	byte buf[6];
	struct read_req_t* req;

	if (!wm || !WIIMOTE_IS_CONNECTED(wm))
		return;
	if (!wm->read_req)	return;

	/* skip over dirty ones since they have already been read */
	req = wm->read_req;
	while (req && req->dirty)
		req = req->next;
	if (!req)
		return;
		
	/* the offset is in big endian */
	*(unsigned int*)(buf) = BIG_ENDIAN_LONG(req->addr);
	/* the length is in big endian */
	*(unsigned short*)(buf + 4) = BIG_ENDIAN_SHORT(req->size);

	WIIC_DEBUG("Request read at address: 0x%x  length: %i", req->addr, req->size);
	wiic_send(wm, WM_CMD_READ_DATA, buf, 6);
}


/**
 *	@brief Request the wiimote controller status.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *
 *	Controller status includes: battery level, LED status, expansions
 */
void wiic_status(struct wiimote_t* wm) {
	byte buf = 0;

	if (!wm || !WIIMOTE_IS_CONNECTED(wm))
		return;

	WIIC_DEBUG("Requested wiimote status.");

	wiic_send(wm, WM_CMD_CTRL_STATUS, &buf, 1);
}


/**
 *	@brief Find a wiimote_t structure by its unique identifier.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *	@param wiimotes	The number of wiimote_t structures in \a wm.
 *	@param unid		The unique identifier to search for.
 *
 *	@return Pointer to a wiimote_t structure, or NULL if not found.
 */
struct wiimote_t* wiic_get_by_id(struct wiimote_t** wm, int wiimotes, int unid) {
	int i = 0;

	for (; i < wiimotes; ++i) {
		if (wm[i]->unid == unid)
			return wm[i];
	}

	return NULL;
}


/**
 *	@brief	Write data to the wiimote.
 *
 *	@param wm			Pointer to a wiimote_t structure.
 *	@param addr			The address to write to.
 *	@param data			The data to be written to the memory location.
 *	@param len			The length of the block to be written.
 */
int wiic_write_data(struct wiimote_t* wm, unsigned int addr, byte* data, byte len) {
	byte buf[21] = {0};		/* the payload is always 23 */

	if (!wm || !WIIMOTE_IS_CONNECTED(wm))
		return 0;
	if (!data || !len)
		return 0;

	WIIC_DEBUG("Writing %i bytes to memory location 0x%x...", len, addr);

	#ifdef WITH_WIIC_DEBUG
	{
		int i = 0;
		printf("Write data is: ");
		for (; i < len; ++i)
			printf("%x ", data[i]);
		printf("\n");
	}
	#endif

	/* the offset is in big endian */
	*(int*)(buf) = BIG_ENDIAN_LONG(addr);

	/* length */
	*(byte*)(buf + 4) = len;

	/* data */
	memcpy(buf + 5, data, len);

	wiic_send(wm, WM_CMD_WRITE_DATA, buf, 21);
	return 1;
}


/**
 *	@brief	Send a packet to the wiimote.
 *
 *	@param wm			Pointer to a wiimote_t structure.
 *	@param report_type	The report type to send (WIIMOTE_CMD_LED, WIIMOTE_CMD_RUMBLE, etc). Found in wiic.h
 *	@param msg			The payload.
 *	@param len			Length of the payload in bytes.
 *
 *	This function should replace any write()s directly to the wiimote device.
 */
int wiic_send(struct wiimote_t* wm, byte report_type, byte* msg, int len) {
	byte buf[32];		/* no payload is better than this */
	int rumble = 0;

	buf[0] = WM_SET_REPORT | WM_BT_OUTPUT;
	buf[1] = report_type;

	switch (report_type) {
		case WM_CMD_LED:
		case WM_CMD_RUMBLE:
		case WM_CMD_CTRL_STATUS:
		case WM_CMD_REPORT_TYPE:
		{
			/* Rumble flag for: 0x11, 0x13, 0x14, 0x15, 0x19 or 0x1a */
			if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_RUMBLE))
				rumble = 1;
			break;
		}
		default:
			break;
	}

	memcpy(buf+2, msg, len);
	if (rumble) 
		buf[2] |= 0x01;
	else 
		buf[2] &= 0xFE;	// Fix for Wiiuse bug

	#ifdef WITH_WIIC_DEBUG
	{
		int x = 2;
		printf("[DEBUG] (id %i) SEND: (%x) %.2x ", wm->unid, buf[0], buf[1]);
		for (; x < len+2; ++x)
			printf("%.2x ", buf[x]);
		printf("\n");
	}
	#endif

	return wiic_io_write(wm, buf, len+2);
}


/**
 *	@brief Set flags for the specified wiimote.
 *
 *	@param wm			Pointer to a wiimote_t structure.
 *	@param enable		Flags to enable.
 *	@param disable		Flags to disable.
 *
 *	@return The flags set after 'enable' and 'disable' have been applied.
 *
 *	The values 'enable' and 'disable' may be any flags OR'ed together.
 *	Flags are defined in wiic.h.
 */
int wiic_set_flags(struct wiimote_t* wm, int enable, int disable) {
	if (!wm)	return 0;

	/* remove mutually exclusive flags */
	enable &= ~disable;
	disable &= ~enable;

	wm->flags |= enable;
	wm->flags &= ~disable;

	return wm->flags;
}


/**
 *	@brief Set the wiimote smoothing alpha value.
 *
 *	@param wm			Pointer to a wiimote_t structure.
 *	@param alpha		The alpha value to set. Between 0 and 1.
 *
 *	@return Returns the old alpha value.
 *
 *	The alpha value is between 0 and 1 and is used in an exponential
 *	smoothing algorithm.
 *
 *	Smoothing is only performed if the WIIC_SMOOTHING is set.
 */
float wiic_set_smooth_alpha(struct wiimote_t* wm, float alpha) {
	float old;

	if (!wm)	return 0.0f;

	old = wm->accel_calib.st_alpha;

	wm->accel_calib.st_alpha = alpha;

	/* if there is a nunchuk set that too */
	if (wm->exp.type == EXP_NUNCHUK)
		wm->exp.nunchuk.accel_calib.st_alpha = alpha;

	return old;
}


/**
 *	@brief	Set the orientation event threshold.
 *
 *	@param wm			Pointer to a wiimote_t structure.
 *	@param threshold	The decimal place that should be considered a significant change.
 *
 *	If threshold is 0.01, and any angle changes by 0.01 then a significant change
 *	has occured and the event callback will be invoked.  If threshold is 1 then
 *	the angle has to change by a full degree to generate an event.
 */
void wiic_set_orient_threshold(struct wiimote_t* wm, float threshold) {
	if (!wm)	return;

	wm->orient_threshold = threshold;
}


/**
 *	@brief	Set the accelerometer event threshold.
 *
 *	@param wm			Pointer to a wiimote_t structure.
 *	@param threshold	The decimal place that should be considered a significant change.
 */
void wiic_set_accel_threshold(struct wiimote_t* wm, int threshold) {
	if (!wm)	return;

	wm->accel_threshold = threshold;
}


/**
 *	@brief Try to resync with the wiimote by starting a new handshake.
 *
 *	@param wm			Pointer to a wiimote_t structure.
 */
void wiic_resync(struct wiimote_t* wm) {
	if (!wm)	return;

	wm->handshake_state = 0;
	wiic_handshake(wm, NULL, 0);
}

/**
 *	@brief Update the relative timestamp of a wiimote device
 *
 *	@param wm			Pointer to a wiimote_t structure.
 */
void wiic_update_timestamp(struct wiimote_t* wm)
{
	// We retrieve the overall gesture timestamp
	gettimeofday(&(wm->timestamp),0);
}