initial commit
This commit is contained in:
huangweifeng
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#ifndef GAMEPAD_H
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#define GAMEPAD_H
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#include <functional>
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#include <thread>
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#include <mutex>
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#include <atomic>
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#include <vector>
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#include "gamepad_keys.h"
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#include <iostream>
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/**
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* @brief A template class for a generic Gamepad.
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*
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* This class serves as a generic gamepad template. It can be specialized for specific gamepad types.
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*
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* @tparam KeysType The type of keys for the gamepad (e.g., XboxKeys, PlayStationKeys).
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*/
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template <typename KeysType>
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class Gamepad {
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public:
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std::vector<std::string> button_status_;
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/**
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* @brief Constructor for the Gamepad class.
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*
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* Initializes the gamepad with the specified UDP port for data reception.
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*
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* @param port The UDP port to use for receiving gamepad data.
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*/
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Gamepad(int port = kDefaultPort);
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/**
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* @brief Destructor for the Gamepad class.
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*
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* This destructor stops the data thread to clean up resources when the gamepad instance is destroyed.
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*/
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virtual ~Gamepad(){
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StopDataThread();
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}
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/**
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* @brief Starts the data thread for simulating gamepad data.
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*/
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void StartDataThread();
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/**
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* @brief Stops the data thread.
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*/
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void StopDataThread();
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/**
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* @brief Gets the gamepad keys.
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* @return The current gamepad keys.
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*/
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KeysType& GetKeys();
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/**
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* @brief Sets a callback function to be called on each data update.
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* @param callback The callback function that takes an update count as an argument.
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*/
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void SetUpdateCallback(const std::function<void(uint32_t)>& callback);
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/**
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* @brief Calculate the CRC-16 checksum for a given data buffer.
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*
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* @param data Pointer to the data buffer.
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* @param length Length of the data buffer.
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* @return The CRC-16 checksum of the data.
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*/
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uint16_t CalculateCrc16(const uint8_t* data, size_t length);
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std::function<void(uint32_t)> updateCallback_; ///< Callback function for data updates.
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protected:
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std::thread data_thread_; ///< Thread for generating simulated data.
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std::atomic<bool> stop_thread_; ///< Flag to signal the data thread to stop.
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mutable std::mutex mutex_; ///< Mutex for data access synchronization.
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KeysType keys_; ///< Gamepad keys.
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int port_; ///< The UDP port for data reception.
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timespec start_time_; //receive timestamp start time
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/**
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* @brief Updates the gamepad data buffer and keys.
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*
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* @param buffer The data buffer to be updated.
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* @param keys The keys to be updated.
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* @return True if the data is valid and updated, false otherwise.
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*/
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virtual bool UpdateData(std::vector<uint8_t>& buffer, KeysType& keys) = 0;
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};
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#endif
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#ifndef GAMEPAD_KEYS_H
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#define GAMEPAD_KEYS_H
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/**
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* @file gamepad_keys.h
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* @brief Defines structures and constants related to gamepad keys and data.
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*/
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#include <cstddef>
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#include <cstdint>
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#include <cmath>
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#include <array>
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/** @brief Size of the header in bytes. */
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const size_t kHeaderSize = 2;
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/** @brief Total number of channels for gamepad keys. */
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const size_t kChannlSize = 16;
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/** @brief Number of channels dedicated to axis values in the gamepad data. */
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const size_t kAxisChannlSize = 4;
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/** @brief Number of channels dedicated to axis buttons in the gamepad data. */
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const size_t kAxisButtonSize = 2;
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const size_t kSwitchKeysSize = 4;
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/** @brief Maximum range of the joystick axis values. */
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const uint16_t kJoystickRange = 1000;
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/** @brief Default UDP port for gamepad data reception. */
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const uint16_t kDefaultPort = 12121;
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/** @brief Header bytes for identifying gamepad data. */
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const unsigned char kHeader[kHeaderSize] = {0x55, 0x66};
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const size_t kRetroidButtonSize = 10;
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const size_t kSkydroidButtonSize = 8;
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/** @brief Enumerates different types of gamepads. */
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enum class GamepadType {
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kRetroid = 1, /**< RETROID gamepad type. */
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kSkydroid = 2,
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};
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/** @brief Enumerates the status of keys, whether pressed or released. */
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enum class KeyStatus {
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kReleased = 0, /**< Key is released. */
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kPressed = 1, /**< Key is pressed. */
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};
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/**
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* @brief Structure representing the keys of a Retroid gamepad.
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*/
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struct RetroidKeys {
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double time_stamp;
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union {
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uint16_t value; /**< Union to represent the keys as a single value. */
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struct {
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uint8_t R1 : 1; /**< R1 button. */
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uint8_t L1 : 1; /**< L1 button. */
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uint8_t start : 1; /**< Start button. */
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uint8_t select : 1; /**< Select button. */
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uint8_t R2 : 1; /**< R2 button. */
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uint8_t L2 : 1; /**< L2 button. */
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uint8_t A : 1; /**< A button. */
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uint8_t B : 1; /**< B button. */
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uint8_t X : 1; /**< X button. */
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uint8_t Y : 1; /**< Y button. */
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uint8_t left : 1; /**< Left button on the directional pad. */
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uint8_t right : 1; /**< Right button on the directional pad. */
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uint8_t up : 1; /**< Up button on the directional pad. */
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uint8_t down : 1; /**< Down button on the directional pad. */
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uint8_t left_axis_button : 1; /**< Left analog stick button. */
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uint8_t right_axis_button : 1; /**< Right analog stick button. */
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};
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};
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union {
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float axis_values[kAxisChannlSize]; /**< Array representing axis values. */
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struct {
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float left_axis_x; /**< X-axis value of the left analog stick. */
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float left_axis_y; /**< Y-axis value of the left analog stick. */
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float right_axis_x; /**< X-axis value of the right analog stick. */
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float right_axis_y; /**< Y-axis value of the right analog stick. */
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};
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};
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};
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/**
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* @brief Structure representing the keys of a Skydroid Gamepad.
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*/
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struct SkydroidKeys {
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double time_stamp;
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union {
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uint8_t keys_value; /**< Union to represent the button as a single value. */
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struct {
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uint8_t C : 1; /**< C button. */
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uint8_t right : 1; /**< right button. */
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uint8_t D : 1; /**< D button. */
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uint8_t E : 1; /**< E button. */
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uint8_t F : 1; /**< F button. */
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uint8_t reserved : 1; /**< reserved. */
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uint8_t A : 1; /**< A button. */
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uint8_t B : 1; /**< B button. */
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};
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};
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union {
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uint8_t switch_keys[kSwitchKeysSize]; /**< Array representing switch_keys values. */
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struct {
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uint8_t sw1 ; /**< switch_key1 */
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uint8_t sw2 ; /**< switch_key2 */
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uint8_t sw3 ; /**< switch_key3 */
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uint8_t sw4 ; /**< switch_key4 */
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};
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};
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union {
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float axis_values[kAxisChannlSize]; /**< Array representing axis values. */
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struct {
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float left_axis_x; /**< X-axis value of the left analog stick. */
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float left_axis_y; /**< Y-axis value of the left analog stick. */
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float right_axis_x; /**< X-axis value of the right analog stick. */
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float right_axis_y; /**< Y-axis value of the right analog stick. */
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};
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};
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};
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#pragma pack(1)
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/**
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* @brief Structure representing the complete gamepad data packet.
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*/
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struct RetroidGamepadData {
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uint8_t stx[kHeaderSize]; /**< Start-of-text bytes for identifying the start of data. */
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uint8_t ctrl; /**< Control byte for additional flags or information. */
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uint16_t data_len; /**< Length of the data in the packet. */
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uint16_t seq; /**< Sequence number for tracking packet order or identifying duplicates. */
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uint8_t id; /**< Identifier for the type of gamepad. */
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uint16_t crc16; /**< CRC-16 checksum for data integrity verification. */
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union {
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uint8_t data[kChannlSize * sizeof(uint16_t)]; /**< Array representing raw data channels. */
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struct {
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uint16_t buttons[kRetroidButtonSize]; /**< Array representing button values. */
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int16_t left_axis_x; /**< X-axis value of the left analog stick. */
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int16_t left_axis_y; /**< Y-axis value of the left analog stick. */
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int16_t right_axis_x; /**< X-axis value of the right analog stick. */
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int16_t right_axis_y; /**< Y-axis value of the right analog stick. */
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uint16_t axis_buttons[kAxisButtonSize]; /**< Array representing axis button values. */
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};
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};
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};
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#pragma pack()
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#pragma pack(1)
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/**
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* @brief Structure representing the complete Gamepad data packet.
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*/
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struct SkydroidGamepadData {
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uint8_t stx[kHeaderSize]; /**< Start-of-text bytes for identifying the start of data. */
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uint8_t ctrl; /**< Control byte for additional flags or information. */
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uint16_t data_len; /**< Length of the data in the packet. */
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uint16_t seq; /**< Sequence number for tracking packet order or identifying duplicates. */
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uint8_t id; /**< Identifier for the type of Gamepad. */
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uint16_t crc16; /**< CRC-16 checksum for data integrity verification. */
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union {
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uint8_t data[kChannlSize * sizeof(uint16_t)]; /**< Array representing raw data channels. */
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struct {
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int16_t right_axis_x; /**< X-axis value of the right analog stick. */
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int16_t right_axis_y; /**< Y-axis value of the right analog stick. */
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int16_t left_axis_y; /**< Y-axis value of the left analog stick. */
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int16_t left_axis_x; /**< X-axis value of the left analog stick. */
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uint16_t switch_keys[kSwitchKeysSize]; /**< Array representing switch_keys values. */
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uint16_t buttons[kSkydroidButtonSize]; /**< Array representing button values. */
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};
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};
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};
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#pragma pack()
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#endif
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+54
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#ifndef RETROID_GAMEPAD_H
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#define RETROID_GAMEPAD_H
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#include <iostream>
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#include <ostream>
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#include "gamepad.h"
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/**
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* @brief A specialized class for RETROID gamepad.
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*
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* This class specializes the generic Gamepad class for RETROID gamepad.
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*/
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class RetroidGamepad : public Gamepad<RetroidKeys> {
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public:
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/**
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* @brief Constructor for the RetroidGamepad class.
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*
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* Initializes the Retroid gamepad with the specified UDP port for data reception.
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*
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* @param port The UDP port to use for receiving gamepad data.
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*/
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RetroidGamepad(int port = kDefaultPort);
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// /**
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// * @brief Overloaded output stream operator for RetroidGamepad.
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// *
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// * Allows printing RetroidGamepad information to an output stream.
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// *
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// * @param o The output stream.
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// * @param is The RetroidGamepad object.
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// * @return Reference to the output stream.
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// */
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// friend std::ostream& operator<<(std::ostream& o, RetroidGamepad& is);
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protected:
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/**
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* @brief Updates the RETROID gamepad data buffer and keys.
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*
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* @param buffer The data buffer to be updated.
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* @param keys The RETROID gamepad keys to be updated.
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* @return True if the data is valid and updated, false otherwise.
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*/
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bool UpdateData(std::vector<uint8_t>& buffer, RetroidKeys& keys) override;
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/**
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* @brief Checks if the received data from the RETROID gamepad is valid.
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*
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* @param data The gamepad data to be validated.
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* @return True if the data is valid, false otherwise.
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*/
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bool DataIsValid(const RetroidGamepadData& data);
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};
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#endif // RETROID_GAMEPAD_H
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+54
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#ifndef SKYDROID_GAMEPAD_H
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#define SKYDROID_GAMEPAD_H
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#include <iostream>
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#include <ostream>
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#include "gamepad.h"
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/**
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* @brief A specialized class for Skydroid gamepad.
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*
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* This class specializes the generic Gamepad class for Skydroid gamepad.
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*/
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class SkydroidGamepad : public Gamepad<SkydroidKeys> {
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public:
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/**
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* @brief Constructor for the SkydroidGamepad class.
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*
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* Initializes the Skydroid gamepad with the specified UDP port for data reception.
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*
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* @param port The UDP port to use for receiving gamepad data.
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*/
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SkydroidGamepad(int port = kDefaultPort);
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// /**
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// * @brief Overloaded output stream operator for SkydroidGamepad.
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// *
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// * Allows printing SkydroidGamepad information to an output stream.
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// *
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// * @param o The output stream.
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// * @param is The SkydroidGamepad object.
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// * @return Reference to the output stream.
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// */
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// friend std::ostream& operator<<(std::ostream& o, SkydroidGamepad& is);
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protected:
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/**
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* @brief Updates the Skydroid gamepad data buffer and keys.
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*
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* @param buffer The data buffer to be updated.
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* @param keys The Skydroid gamepad keys to be updated.
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* @return True if the data is valid and updated, false otherwise.
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*/
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bool UpdateData(std::vector<uint8_t>& buffer, SkydroidKeys& keys) override;
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/**
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* @brief Checks if the received data from the Skydroid gamepad is valid.
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*
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* @param data The gamepad data to be validated.
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* @return True if the data is valid, false otherwise.
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*/
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bool DataIsValid(const SkydroidGamepadData& data);
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};
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#endif // SKYDROID_GAMEPAD_H
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+33
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#ifndef UDP_RECEIVER_H
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#define UDP_RECEIVER_H
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#include <vector>
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#include <cstdint>
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/**
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* @brief The UdpReceiver class for receiving UDP data.
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*/
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class UdpReceiver {
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public:
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/**
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* @brief Constructor for UdpReceiver.
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* @param port The port to listen for UDP data.
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*/
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UdpReceiver(int port);
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/**
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* @brief Receive UDP data.
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* @return A vector containing received data as uint8_t.
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*/
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std::vector<uint8_t> ReceiveData();
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/**
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* @brief Destructor for UdpReceiver.
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*/
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~UdpReceiver();
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private:
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int socket_fd_;
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};
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#endif
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