JoystickBase.java

/*
 *    Copyright (C) 2016  John H. Gaby
 *
 *    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, version 3 of the License.
 *
 *    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/>.
 *    
 *    Contact: robotics@gabysoft.com
 */
 
package robotCore;
 

 
public class JoystickBase extends GenericHID
{
    static JoystickBase m_rootJoystick = null;
    JoystickBase m_joystick;
    boolean m_gamepad = false;
    double m_x = 0;
    double m_y = 0;
    double m_rx = 0;
    double m_ry = 0;
    double m_throttle = 0;
    double m_pov = 0;
    double m_twist = 0;
    int m_buttons = 0;
    
    public static JoystickBase getInstance()
    {
        if (m_rootJoystick == null)
        {
            new JoystickBase();
        }
        
        return(m_rootJoystick);
    }
    
    private JoystickBase()
    {
        if (m_rootJoystick == null)
        {
            m_rootJoystick  = this;
        }
        
        m_joystick  = m_rootJoystick;
    }
    
    public JoystickBase(int id)
    {
        m_joystick = getInstance();
    }
 
    public void getAllJoystickData(
      int stick,
      float[] axesArray,
      short[] rawAxesArray,
      byte[] povsArray,
      float[] touchpadFingersArray,
      long[] buttonsAndMetadata) {
 
        java.util.Arrays.fill(axesArray, 0f);
        java.util.Arrays.fill(rawAxesArray, (short) 0);
        java.util.Arrays.fill(povsArray, (byte) 0);
        java.util.Arrays.fill(touchpadFingersArray, 0f);
        java.util.Arrays.fill(buttonsAndMetadata, 0L);
      
        if (isGamepad()) {
            axesArray[0] = (float) getX();
            axesArray[1] = (float) getY();
            axesArray[2] = (float) getRX();
            axesArray[3] = (float) getRY();
            // TODO - need left & right trigger
        } else {
            axesArray[0] = (float) getX();
            axesArray[1] = (float) getY();
            axesArray[2] = (float) getTwist();
            axesArray[3] = (float) getThrottle();
        }
 
        buttonsAndMetadata[0] = 0b01111;            // Only support the 4 axis at this time (TODO - change if left & right trigger added)
        buttonsAndMetadata[2] = 0b0111111111111;    // Support 12 buttons
        buttonsAndMetadata[3] = m_buttons;          // Buttons states
 
        // if (m_joystick.m_buttons != 0)
        // {
        //  Logger.log("JoystickBase", 1, String.format("buttons = 0x%x", m_buttons));
        // }
 
    } 
    
    public boolean isGamepad()
    {
        // System.out.println(String.format("m_gamepad = %b", m_joystick.m_gamepad));
        return(m_joystick.m_gamepad);
    }

    @Override
    public double getX()
    {
        return(m_joystick.m_x);
    }
    
    @Override
    public double getY()
    {
        return(m_joystick.m_y);
    }
    
    public double getRX()
    {
        return(m_joystick.m_rx);
    }
    
    public double getRY()
    {
        return(m_joystick.m_ry);
    }
    
    public double getThrottle()
    {
        return(m_joystick.m_throttle);
    }
    
    public double getTwist() {
        return(m_joystick.m_twist);
    }
    
    public double getPOV()
    {
        return(m_joystick.m_pov);
    }
    
    @Override
    public boolean getRawButton(final int button)
    {
        if (button > 0)
        {
            return((m_joystick.m_buttons & (1 << (button - 1))) != 0);
        }
        
        return(false);
    }
    
    public void setData(boolean gamepad, double x, double y, double rx, double ry, double throttle, double pov, double twist, int buttons)
    {
        // System.out.println(String.format("gamepad=%b", gamepad));
 
        m_gamepad = gamepad;
        m_x = x;
        m_y = y;
        m_rx = rx;
        m_ry = ry;
        m_throttle = throttle;
        m_twist = twist;
        m_pov = pov;
        m_buttons = buttons;
    }
}