基于BBB的4轮移动轮式机器人系统设计与实现（七）-- 遥控手柄 控制 类

遥控手柄类应用的北通神鹰2手柄

北通（BETOP）BTP-2175 阿修罗SE 有线震动版 游戏手柄 镜面白

对这个手柄在 linux下的数据采集方案需要用到 PlayJoy 手柄框架，可以在



GraduationCommon类定义与实现

#ifndef QGRADUATIONCOMMON_H
#define QGRADUATIONCOMMON_H
#include <sstream>
#include <iostream>
#include <string>
typedef std::string	SFEString;
class GraduationCommon{
public:
static SFEString ShortToString(const short &i);
static SFEString UnCharToString(const unsigned char &type);
static SFEString UnIntToString(const unsigned int &iIput);
static SFEString IntToString(const int &iIput);
static int            StringToInt(const SFEString &stInput);
};
#endif // QGRADUATIONCOMMON_H

#include "QGraduationCommon.h"
SFEString GraduationCommon::ShortToString(const short &i)
{
SFEString strValue ;
std::stringstream stream;
stream << i;
stream >> strValue;
return strValue;
}
SFEString GraduationCommon::UnCharToString(const unsigned char &type)
{
SFEString strValue ;
std::stringstream stream;
stream << type;
stream >> strValue;
return strValue;
}
SFEString GraduationCommon::UnIntToString(const unsigned int &iIput)
{
SFEString strValue ;
std::stringstream stream;
stream << iIput;
stream >> strValue;
return strValue;
}
SFEString GraduationCommon::IntToString(const int &iIput)
{
SFEString strValue ;
std::stringstream stream;
stream << iIput;
stream >> strValue;
return strValue;
}
int GraduationCommon::StringToInt(const SFEString &stInput)
{
int  iValue ;
std::stringstream stream;
stream << stInput;
stream >> iValue;
return iValue;
}

PlayJoy类定义与实现

#ifndef QJOYSTICK_H
#define QJOYSTICK_H
#include <string>
typedef std::string	SFEString;
class JoyStickClass{
public:
typedef struct tagJoyStickEvent
{
unsigned int time;    /* event timestamp in milliseconds */
short value; /* value */
unsigned char type; /* event type */
unsigned char number; /* axis/button number */
tagJoyStickEvent& operator=(const tagJoyStickEvent& JseTemp){
this->time   = JseTemp.time;
this->value  = JseTemp.value;
this->type   = JseTemp.type;
this->number =  JseTemp.number;
return *this;
}
}stJoyStickEvent;
typedef struct tagJoyStickUsing
{
SFEString strTime;    /* event timestamp in milliseconds */
SFEString strValue; /* value */
SFEString strType; /* event type */
SFEString strNumber; /* axis/button number */
tagJoyStickUsing& operator=(const tagJoyStickUsing& JseTemp){
this->strTime   = JseTemp.strTime;
this->strValue  = JseTemp.strValue;
this->strType   =  JseTemp.strType;
this->strNumber =  JseTemp.strNumber;
return *this;
}
}stJoyStickUsing;
public:
bool  OpenJoyStickDevice(int &iJoyStickFd,const std::string &strJoystickDevice)const;
bool  ReadJoyStickEvent(stJoyStickEvent &o_stJoyStickEvent,const int &iJoyStickFd)const;
bool  CloseJoystickDevice(const int &iJoyStickFd)const;
bool  GetJoyStickStatus(const stJoyStickEvent &o_stJoyStickEvent,stJoyStickUsing &o_stJoyStickUsing)const;
bool  PackingJoyStickData(const stJoyStickUsing &o_stJoyStickUsing,SFEString &strPackingData)const;
};
#endif // QJOYSTICK_H

#include"QJoyStick.h"
#include <fcntl.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include"QGraduationCommon.h"

#define JS_EVENT_TYPE_FIRST             0x01 /*   TYPE1    */
#define JS_EVENT_TYPE_SECOND        0x02 /*   TYPE2    */
#define JS_EVENT_NEGATION              0x80 /*   Negation */

bool  JoyStickClass::OpenJoyStickDevice(int &iJoyStickFd,const std::string &strJoystickDevice)const
{
iJoyStickFd = open(strJoystickDevice.c_str(), O_RDONLY | O_NONBLOCK);
if (iJoyStickFd < 0){
return false;
}
return true;
}
bool  JoyStickClass::ReadJoyStickEvent(stJoyStickEvent &o_stJoyStickEvent,const int &iJoyStickFd)const
{
int ibytes;
ibytes = read(iJoyStickFd, &o_stJoyStickEvent, sizeof(o_stJoyStickEvent));
if (ibytes == -1){
return false;
}
if (ibytes == sizeof(o_stJoyStickEvent)){
return true;
}
std::cout<<"Unexpected bytes from joystick:"<<ibytes<<std::ends;
return false;
}
bool JoyStickClass::CloseJoystickDevice(const int &iJoyStickFd)const
{
if(0 != close(iJoyStickFd))
{
return false;
}
return true;
}
bool JoyStickClass::GetJoyStickStatus(const stJoyStickEvent &o_stJoyStickEvent,	stJoyStickUsing &o_stJoyStickUsing)const
{
stJoyStickEvent stJoyStickEventTemp = o_stJoyStickEvent;
stJoyStickEventTemp.type &= ~JS_EVENT_NEGATION;
o_stJoyStickUsing.strTime = GraduationCommon::UnIntToString(stJoyStickEventTemp.time);
o_stJoyStickUsing.strValue = GraduationCommon::ShortToString(stJoyStickEventTemp.value);
if (stJoyStickEventTemp.type == JS_EVENT_TYPE_FIRST){
o_stJoyStickUsing.strType = "1";
switch (o_stJoyStickEvent.number){
case 0:
o_stJoyStickUsing.strNumber = "0" ;
break;
case 1:
o_stJoyStickUsing.strNumber = "1" ;
break;
case 2:
o_stJoyStickUsing.strNumber = "2" ;
break;
case 3:
o_stJoyStickUsing.strNumber = "3" ;
break;
case 4:
o_stJoyStickUsing.strNumber = "4" ;
break;
case 5:
o_stJoyStickUsing.strNumber = "5" ;
break;
case 6:
o_stJoyStickUsing.strNumber = "6" ;
break;
case 7:
o_stJoyStickUsing.strNumber = "7" ;
break;
case 8:
o_stJoyStickUsing.strNumber = "8" ;
break;
default:
//return false;
break;

}
}
else if (stJoyStickEventTemp.type == JS_EVENT_TYPE_SECOND){
o_stJoyStickUsing.strType = "2";
switch (o_stJoyStickEvent.number){
case 0:
o_stJoyStickUsing.strNumber = "0" ;
break;
case 1:
o_stJoyStickUsing.strNumber = "1" ;
break;
case 2:
o_stJoyStickUsing.strNumber = "2" ;
break;
case 3:
o_stJoyStickUsing.strNumber = "3" ;
break;
case 4:
o_stJoyStickUsing.strNumber = "4" ;
break;
case 5:
o_stJoyStickUsing.strNumber = "5" ;
break;
case 6:
o_stJoyStickUsing.strNumber = "6" ;
break;
case 7:
o_stJoyStickUsing.strNumber = "7" ;
break;
default:
//return false;
break;
}
}
else
return false;

return true;
}
bool JoyStickClass::PackingJoyStickData(const stJoyStickUsing &o_stJoyStickUsing,SFEString &strPackingData)const
{
//    strPackingData  =  "T";//""Time";
//    strPackingData += o_stJoyStickUsing.strTime;
strPackingData += "Y";//"Type";
strPackingData += o_stJoyStickUsing.strType;
strPackingData += "N";//"Number";
strPackingData += o_stJoyStickUsing.strNumber;
strPackingData += "V";//"Value";
strPackingData += o_stJoyStickUsing.strValue;
return true;
}

方法

/*
* main.cpp
*
*  Created on: 2015-1-18
*      Author: root
*/
#include<stdio.h>
#include<stdlib.h>
#include<iostream>
#include<termios.h> //serial com
#include"QGraduationCommon.h"
#include"QJoyStick.h"
#include"SerialCom.h"
#include"Tcp.h"
//#define DEBUG_OUT_PUT 1
using namespace std;
bool TwoCommandIsSame(const JoyStickClass::stJoyStickEvent&FormerJse,
const JoyStickClass::stJoyStickEvent&NowJse)
{
if(FormerJse.number== NowJse.number)
{
if(FormerJse.type == NowJse.type)
{
if(FormerJse.value == NowJse.value)
{
return true;
}
}
}
return false;
}
//命令过滤
bool CommandFilter(const JoyStickClass::stJoyStickEvent&NowJse)
{
if(NowJse.type == 2)
{
if((NowJse.number== 3)||( NowJse.number== 4 )||( NowJse.number== 1 )||( NowJse.number== 0 ))
{
return true;
}
else
return false;
}
return false;
}
int main()
{
//打开joySick
const string strDevice("/dev/input/js0");
JoyStickClass  m_JoyStickClass;
//	SerialComClass oSerialCom;
//	int iComFd;
//	oSerialCom.open_port(iComFd,Com_Usb_Device_2,true);//B115200
//	oSerialCom.set_com_config(iComFd,115200, 8, 'N', 1, 0, 0);//115200
int m_iJoyStickFd;
if(!m_JoyStickClass.OpenJoyStickDevice(m_iJoyStickFd,strDevice)){
cout<<"open failed.\n"<<endl;
return 0;
}
MyTcpClient oMyTcpClient;
string strIP("192.168.1.150");
oMyTcpClient.ClientControl(strIP.c_str(),4567);

JoyStickClass::stJoyStickEvent jse;
JoyStickClass::stJoyStickEvent FormerJse;
JoyStickClass::stJoyStickUsing jsUsing;
SFEString strPackingData;
int i = 50;
std::cout<<"Begin"<<std::endl;
while(i > 0)
{
//i--;
if(m_JoyStickClass.ReadJoyStickEvent(jse,m_iJoyStickFd)){
#if DEBUG_OUT_PUT
printf("Event: time %8u, value %d, type: %u, axis/button: %u\n",
jse.time, jse.value, jse.type, jse.number);
#endif
}
if(!m_JoyStickClass.GetJoyStickStatus(jse,jsUsing))
{
std::cout<<" Read JoyStick Data Bad ! "<<std::endl;
break;
}
#if DEBUG_OUT_PUT
std::cout<<"using :"<< jsUsing.strTime<<" "<<jsUsing.strValue<<" "<< jsUsing.strType
<<" "<<jsUsing.strNumber<<std::endl;
#endif
if(!m_JoyStickClass.PackingJoyStickData(jsUsing,strPackingData))
{
std::cout<<" Packing JoyStick Data  Error! "<<std::endl;
break;
}
#if DEBUG_OUT_PUT
cout<<"Befor Packing Joy Stick Class Data:"<<strPackingData<<endl;
cout<<"Befor Packing Joy Stick Class Size:"<<strPackingData.size()<<endl;
#endif
while(strPackingData.length() < 12)
{
strPackingData += 's';
}
#if DEBUG_OUT_PUT
cout<<"After Repair Joy Stick Class Data:"<<strPackingData<<endl;
cout<<"After Repair Joy Stick Class Size:"<<strPackingData.size()<<endl;
#endif
if(!TwoCommandIsSame(FormerJse,jse))
{
if(CommandFilter(jse))
{
FormerJse = jse;
cout<<"After Repair Joy Stick Class Data:"<<strPackingData<<endl;
cout<<"After Repair Joy Stick Class Size:"<<strPackingData.size()<<endl;
oMyTcpClient.ClientSend((const unsigned char*)strPackingData.c_str(),strPackingData.size());
//oSerialCom.WriteSerialPortData(iComFd,strPackingData.c_str(),strPackingData.size());
}
}
strPackingData.clear();
}
return 0;
}

整个工程可以到这里：http://download.csdn.net/detail/sfe1012/8629735