source: code/branches/wiimote/src/external/wiicpp/wiic/wiic_structs.h @ 9780

/*
 *    wiic_structs.h
 *
 *        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 WiiC structures.
 *
 *      Contains all the data structures, that represents
 *      devices, sensors, and everything necessary. This header 
 *      is included in wiic.h.
 */
struct vec3b_t;
struct orient_t;
struct gforce_t;

/**
 *      @struct read_req_t
 *      @brief Data read request structure.
 */
struct read_req_t {
        wiic_read_cb cb;                        /**< read data callback                                                                                 */
        byte* buf;                                      /**< buffer where read data is written                                                  */
        unsigned int addr;                      /**< the offset that the read started at                                                */
        unsigned short size;            /**< the length of the data read                                                                */
        unsigned short wait;            /**< num bytes still needed to finish read                                              */
        byte dirty;                                     /**< set to 1 if not using callback and needs to be cleaned up  */

        struct read_req_t* next;        /**< next read request in the queue                                                             */
};

/*** COMMON STRUCTURES ***/

/**
 *      @struct vec2b_t
 *      @brief Unsigned x,y byte vector.
 */
typedef struct vec2b_t {
        byte x, y;
} vec2b_t;


/**
 *      @struct vec3b_t
 *      @brief Unsigned x,y,z byte vector.
 */
typedef struct vec3b_t {
        byte x, y, z;
} vec3b_t;

/**
 *      @struct vec3f_t
 *      @brief Signed x,y,z float struct.
 */
typedef struct vec3f_t {
        float x, y, z;
} vec3f_t;

/**
 *      @struct ang3s_t
 *      @brief RPY short int angles.
 */
typedef struct ang3s_t {
        short roll, pitch, yaw;
} ang3s_t;

/**
 *      @struct ang3f_t
 *      @brief RPY float angles.
 */
typedef struct ang3f_t {
        float roll, pitch, yaw;
} ang3f_t;

/**
 *      @struct orient_t
 *      @brief Orientation struct.
 *
 *      Yaw, pitch, and roll range from -180 to 180 degrees.
 */
typedef struct orient_t {
        struct ang3f_t angle;   /**< roll, pitch and yaw (this may be smoothed if enabled)      */
} orient_t;

/**
 *      @struct ang_rate_t
 *      @brief Angular rate struct.
 *
 *      Yaw, pitch, and roll rate from -180 to 180 degrees.
 */
typedef struct ang_rate_t {
        struct ang3f_t rate;    /**< roll, pitch and yaw rate (this may be smoothed if enabled) */
        struct ang3f_t a_rate;  /**< roll, pitch and yaw rate (unsmoothed)      */
} ang_rate_t;

/**
 *      @struct vel_t
 *      @brief Velocity struct.
 */
typedef struct vel_t {
        struct ang3s_t vel;             /**< raw rate, this may be smoothed if enabled  */
        struct ang3s_t a_vel;   /**< raw rate (unsmoothed)      */
} vel_t;

/**
 *      @struct gforce_t
 *      @brief Gravity force struct.
 */
typedef struct gforce_t {
        struct vec3f_t vec;             /**< gforce, this may be smoothed if enabled    */
        struct vec3f_t a_vec;   /**< gforce (unsmoothed)        */
} gforce_t;


/**
 *      @struct accel_t
 *      @brief Accelerometer struct. For any device with an accelerometer.
 */
typedef struct accel_t {
        struct vec3b_t cal_zero;                /**< zero calibration                                   */
        struct vec3b_t cal_g;                   /**< 1g difference around 0cal                  */
        float st_alpha;                                 /**< alpha value for smoothing [0-1]    */
} accel_t;

/**
 *      @struct gyro_t
 *      @brief Gyro struct. For any device with a gyroscope.
 */
typedef struct gyro_t {
        struct vec3b_t cal_zero;                /**< zero calibration                                   */
        float st_alpha;                                 /**< alpha value for smoothing [0-1]    */
} gyro_t;

/**
 *  @struct pressure_t
 *  @brief Pressure sensor struct. Contains four pressure sensor measurements. Used for the Wii Balance Board.
 */
typedef struct pressure_t {
        unsigned short top_left;
        unsigned short top_right;
        unsigned short bottom_left;
        unsigned short bottom_right;
} pressure_t;

/**
 *  @struct pressure_weight_t
 *  @brief Pressure sensor weight struct. Contains four pressure sensor measurements in Kg. Used for the Wii Balance Board.
 */
typedef struct pressure_weight_t {
        float top_left;
        float top_right;
        float bottom_left;
        float bottom_right;
        float weight; // This is the sum of the weight on the four sensors
} pressure_weight_t;

/* IR correction types */
typedef enum ir_position_t {
        WIIC_IR_ABOVE,
        WIIC_IR_BELOW
} ir_position_t;

/**
 *      @struct ir_dot_t
 *      @brief A single IR source.
 */
typedef struct ir_dot_t {
        byte visible;                                   /**< if the IR source is visible                */

        unsigned int x;                                 /**< interpolated X coordinate                  */
        unsigned int y;                                 /**< interpolated Y coordinate                  */

        short rx;                                               /**< raw X coordinate (0-1023)                  */
        short ry;                                               /**< raw Y coordinate (0-767)                   */

        byte order;                                             /**< increasing order by x-axis value   */

        byte size;                                              /**< size of the IR dot (0-15)                  */
} ir_dot_t;


/**
 *      @struct ir_t
 *      @brief IR struct. Hold all data related to the IR tracking.
 */
typedef struct ir_t {
        struct ir_dot_t dot[4];                 /**< IR dots                                                    */
        byte num_dots;                                  /**< number of dots at this time                */

        enum aspect_t aspect;                   /**< aspect ratio of the screen                 */

        enum ir_position_t pos;                 /**< IR sensor bar position                             */

        unsigned int vres[2];                   /**< IR virtual screen resolution               */
        int offset[2];                                  /**< IR XY correction offset                    */
        int state;                                              /**< keeps track of the IR state                */

        int ax;                                                 /**< absolute X coordinate                              */
        int ay;                                                 /**< absolute Y coordinate                              */

        int x;                                                  /**< calculated X coordinate                    */
        int y;                                                  /**< calculated Y coordinate                    */

        float distance;                                 /**< pixel distance between first 2 dots*/
        float z;                                                /**< calculated distance                                */
} ir_t;


/**
 *      @struct joystick_t
 *      @brief Joystick calibration structure.
 *
 *      The angle \a ang is relative to the positive y-axis into quadrant I
 *      and ranges from 0 to 360 degrees.  So if the joystick is held straight
 *      upwards then angle is 0 degrees.  If it is held to the right it is 90,
 *      down is 180, and left is 270.
 *
 *      The magnitude \a mag is the distance from the center to where the
 *      joystick is being held.  The magnitude ranges from 0 to 1.
 *      If the joystick is only slightly tilted from the center the magnitude
 *      will be low, but if it is closer to the outter edge the value will
 *      be higher.
 */
typedef struct joystick_t {
        struct vec2b_t max;                             /**< maximum joystick values    */
        struct vec2b_t min;                             /**< minimum joystick values    */
        struct vec2b_t center;                  /**< center joystick values             */

        float ang;                                              /**< angle the joystick is being held           */
        float mag;                                              /**< magnitude of the joystick (range 0-1)      */
} joystick_t;


/**
 *      @struct nunchuk_t
 *      @brief Nunchuk expansion device.
 */
typedef struct nunchuk_t {
        struct accel_t accel_calib;             /**< nunchuk accelerometer calibration          */
        struct joystick_t js;                   /**< joystick calibration                                       */

        int* flags;                                             /**< options flag (points to wiimote_t.flags) */

        byte btns;                                              /**< what buttons have just been pressed        */
        byte btns_held;                                 /**< what buttons are being held down           */
        byte btns_released;                             /**< what buttons were just released this       */

        float orient_threshold;                 /**< threshold for orient to generate an event */
        int accel_threshold;                    /**< threshold for accel to generate an event */

        struct vec3b_t accel;                   /**< current raw acceleration data                      */
        struct orient_t orient;                 /**< current orientation on each axis           */
        struct orient_t a_orient;               /**< current orientation on each axis (unsmoothed)              */
        struct gforce_t gforce;                 /**< current gravity forces on each axis        */
        struct gforce_t a_gforce;               /**< current gravity forces on each axis (unsmoothed)   */
} nunchuk_t;


/**
 *      @struct classic_ctrl_t
 *      @brief Classic controller expansion device.
 */
typedef struct classic_ctrl_t {
        short btns;                                             /**< what buttons have just been pressed        */
        short btns_held;                                /**< what buttons are being held down           */
        short btns_released;                    /**< what buttons were just released this       */

        float r_shoulder;                               /**< right shoulder button (range 0-1)          */
        float l_shoulder;                               /**< left shoulder button (range 0-1)           */

        struct joystick_t ljs;                  /**< left joystick calibration                          */
        struct joystick_t rjs;                  /**< right joystick calibration                         */
} classic_ctrl_t;


/**
 *      @struct guitar_hero_3_t
 *      @brief Guitar Hero 3 expansion device.
 */
typedef struct guitar_hero_3_t {
        short btns;                                             /**< what buttons have just been pressed        */
        short btns_held;                                /**< what buttons are being held down           */
        short btns_released;                    /**< what buttons were just released this       */

        float whammy_bar;                               /**< whammy bar (range 0-1)                                     */

        struct joystick_t js;                   /**< joystick calibration                                       */
} guitar_hero_3_t;

/**
 *      @struct balance_board_t
 *      @brief Balance Board expansion device.
 */
typedef struct balance_board_t {
        struct pressure_t cal_low_weight; // equivalent 0Kg
        struct pressure_t cal_medium_weight; // equivalent 17Kg
        struct pressure_t cal_high_weight; // equivalent 34Kg
        struct pressure_t pressure_raw_data; // Actual reading
        struct pressure_weight_t pressure_weight; // In Kg
} balance_board_t;

/**
 *      @struct motion_plus_t
 *      @brief Motion Plus expansion device.
 */
typedef struct motion_plus_t {
        struct ang3s_t a_raw_gyro;                      /**< current raw gyroscope data (unsmoothed) */
        struct ang3s_t raw_gyro;                        /**< current raw gyroscope data (smoothed, if enabled) */
        struct ang3s_t cal_gyro;                        /**< calibration raw gyroscope data */
        struct ang3f_t a_gyro_rate;             /**< current gyro angle rate (unsmoothed) */
        struct ang3f_t gyro_rate;               /**< current gyro angle rate (smoothed, if enabled) */
        struct orient_t orient;                         /**< current orientation on each axis using Motion Plus gyroscopes */
        byte acc_mode;                                          /**< Fast/slow rotation mode for roll, pitch and yaw (0 if rotating fast, 1 if slow or still) */
        int raw_gyro_threshold;                 /**< threshold for gyroscopes to generate an event */
        int smooth;                                     /**< smoothing enabled/disabled */
        float smooth_alpha;                             /**< smoothness alpha parameter*/
} motion_plus_t;


/**
 *      @struct expansion_t
 *      @brief Generic expansion device plugged into wiimote.
 */
typedef struct expansion_t {
        int type;                                               /**< type of expansion attached                         */

        union {
                struct nunchuk_t nunchuk;
                struct classic_ctrl_t classic;
                struct guitar_hero_3_t gh3;
                struct motion_plus_t mp;
                struct balance_board_t bb;
        };
} expansion_t;


/**
 *      @struct wiimote_state_t
 *      @brief Significant data from the previous event.
 */
typedef struct wiimote_state_t {
        /* expansion_t */
        float exp_ljs_ang;
        float exp_rjs_ang;
        float exp_ljs_mag;
        float exp_rjs_mag;
        unsigned short exp_btns;
        struct orient_t exp_orient;
        struct vec3b_t exp_accel;
        float exp_r_shoulder;
        float exp_l_shoulder;
        
        /* motion_plus_t */
        byte mp_acc_mode;
        struct ang3s_t mp_raw_gyro;
        
        /* balance_board_t */
        struct pressure_t pressure_raw_data;

        /* ir_t */
        int ir_ax;
        int ir_ay;
        float ir_distance;

        /* wiimote_t */
        struct orient_t orient;
        unsigned short btns;
        struct vec3b_t accel;
} wiimote_state_t;


/**
 *      @enum WIIC_EVENT_TYPE
 *      @brief Events that wiic can generate from a poll.
 */
typedef enum WIIC_EVENT_TYPE {
        WIIC_NONE = 0,
        WIIC_EVENT,
        WIIC_STATUS,
        WIIC_CONNECT,
        WIIC_DISCONNECT,
        WIIC_UNEXPECTED_DISCONNECT,
        WIIC_READ_DATA,
        WIIC_NUNCHUK_INSERTED,
        WIIC_NUNCHUK_REMOVED,
        WIIC_CLASSIC_CTRL_INSERTED,
        WIIC_CLASSIC_CTRL_REMOVED,
        WIIC_GUITAR_HERO_3_CTRL_INSERTED,
        WIIC_GUITAR_HERO_3_CTRL_REMOVED,
        WIIC_MOTION_PLUS_INSERTED,
        WIIC_MOTION_PLUS_REMOVED,
        WIIC_BALANCE_BOARD_INSERTED,
        WIIC_BALANCE_BOARD_REMOVED
} WIIC_EVENT_TYPE;

/**
 *      @struct wiimote_t
 *      @brief Wiimote structure.
 */
typedef struct wiimote_t {
        WCONST int unid;                                                /**< user specified id                                          */

        #ifdef __APPLE__
                WCONST IOBluetoothDeviceRef device;     /**  Device reference object                */
                WCONST CFStringRef address;             /**  MacOS-like device address string       */
                WCONST IOBluetoothL2CAPChannelRef inputCh;              /**  Input L2CAP channel                                        */      
                WCONST IOBluetoothL2CAPChannelRef outputCh;     /**  Output L2CAP channel                                       */
                WCONST IOBluetoothUserNotificationRef disconnectionRef; /**  Disconnection Notification Reference **/
                WCONST void* connectionHandler; /** Wiimote connection handler for MACOSX **/
        #elif LINUX
                WCONST bdaddr_t bdaddr;                         /**< bt address                                                         */
                WCONST int out_sock;                            /**< output socket                                                      */
                WCONST int in_sock;                                     /**< input socket                                                       */      
        #endif
        
        WCONST char bdaddr_str[18];                     /**< readable bt address                                        */
        WCONST struct wiimote_state_t lstate;   /**< last saved state                                           */
        WCONST int state;                                               /**< various state flags                                        */
        WCONST int flags;                                               /**< options flag                                                       */
        WCONST int autoreconnect;                               /**< auto-reconnect the device in case of unexpected disconnection */
        WCONST byte handshake_state;                    /**< the state of the connection handshake      */
        
        WCONST byte leds;                                               /**< currently lit leds                                         */
        WCONST float battery_level;                             /**< battery level                                                      */

        WCONST struct read_req_t* read_req;             /**< list of data read requests                         */
        WCONST struct expansion_t exp;                  /**< wiimote expansion device                           */

        WCONST struct accel_t accel_calib;              /**< wiimote accelerometer calibration          */
        WCONST struct vec3b_t accel;                    /**< current raw acceleration data                      */
        WCONST struct orient_t orient;                  /**< current orientation on each axis (smoothed and unsmoothed)         */
        WCONST struct gforce_t gforce;                  /**< current gravity forces on each axis (smoothed and unsmoothed)      */
        WCONST float orient_threshold;                  /**< threshold for orient to generate an event */
        WCONST int accel_threshold;                             /**< threshold for accel to generate an event */

        WCONST struct ir_t ir;                                  /**< IR data                                                            */

        WCONST unsigned short btns;                             /**< what buttons have just been pressed        */
        WCONST unsigned short btns_held;                /**< what buttons are being held down           */
        WCONST unsigned short btns_released;    /**< what buttons were just released this       */

        WCONST WIIC_EVENT_TYPE event;                   /**< type of event that occured                         */
        WCONST byte event_buf[MAX_PAYLOAD];             /**< event buffer                                                       */
        
        struct timeval timestamp;                               /**< Absolute timestamp (relative to the most recent data) */
} wiimote;