/*
 JoystickController.cpp
 
 a module for trackd to use a standard joystick as a controller.   
 (c) 2003 ben chang (ben@bcchang.com)

*/

#ifndef WIN32

#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <sys/time.h>
#include <unistd.h>
#include "MessageH.h"
#include "BaseMod.h"
#include "JoystickController.h"
#include <math.h>
#include <sys/timeb.h>
#include <string.h>
#include <iostream.h>
#else

#include <stdio.h>
#include <stdlib.h>
#include "MessageH.h"
#include "BaseMod.h"
#include "JoystickController.h" 
#include <math.h>
#include <sys/timeb.h>
#include <time.h>
#include <windows.h>
#include <String.h>

#endif


// Please don't modify functions below, createDev and deleteDev,
// EXCEPT FOR THE NAME OF THE CLASS.
#ifndef _NO_DLL
extern "C" LINKAGE CBase *createDev(void *config, CMessageH *p_msgh)
{
	CBase *tempDev=NULL;
	tempDev = new JoystickController(config, p_msgh);
	return tempDev;
}

extern "C" LINKAGE bool deleteDev(CBase *dev)
{
	if (dev==NULL)
		return false;

	JoystickController *tempDev = (JoystickController *)dev;
	delete tempDev;
	return true;
}
#endif


// JoystickController Constructor
// This can be used to initialize member variables.
// The member variables of CBaseMod are initialized in its own constructor.
// Therefore they dont need to be initialized here.
JoystickController::JoystickController(void *_config, CMessageH *p_msgh)
	:CBaseMod(_config, p_msgh)
{

	// initialize all controllers to be not used
	for (int i=0;i<DT_MAX_NUM_CONTROLLERS; i++) {
		con[i]=false;
	}

	// set number of valuators and number of buttons.
	// then initialize all the valuators and buttons to 0.
	
	numVals = 4;
	numBut = 8;
	for (int i=0;i<numVals;++i) val[i]=0;
	for (int i=0;i<numBut;++i) but[i]=0;
}


// JoystickController Destructor
// All memory can be deallocated here.
JoystickController::~JoystickController(void)
{
	// Do nothing in this example.
}

// init
// This method initializes variables according to the config data.
// The fucntion "setInitInfo" of the CBaseMod class must be called at the 
// very first line as it initializes shared data storage area and some other 
// important variables.  
// Later the "for" loop is run to read config data from config structure
// variable. m_numTras, m_numCons, m_maxNumTras, and m_maxNumCons variables 
// must be set prior to calling initTables member method of CBaseMod class.
// The max value of these variables are 32 on the current version. If
// higher values are set, the behaviour is unknown.
int JoystickController::init(void *initInfo)
{
	static char * defaultPort = "/dev/js0";
	
	// Call setInitInfo to initialize variables defined in CBaseMod
	if (!setInitInfo(initInfo)) {
		cout << "Error: calling setInitInfo" << endl;
	}

	// Set the max number of trackers this device supports.
	m_maxNumTras = DT_MAX_NUM_TRACKERS;
	m_numTras = 0;
	
	// 1 controller.
	m_maxNumCons = DT_MAX_NUM_CONTROLLERS;

	unsigned int i, j;
	bool errorFound = false;

	// If num of controllers is not entered, default 1 is used
	if (config->def.token[0]==NULL) {
		m_numCons = 1;
	}
	// Check if proper number of controllers is entered and if correct, assigns
	// m_numCons the actual no of controllers based on user input.
	else if ((unsigned int)atoi(config->def.token[0])>=1 &&
			 (unsigned int)atoi(config->def.token[0])<=m_maxNumCons) {
		m_numCons = (int)atoi(config->def.token[0]);
	}
	// The value for the number of sensors are invalid.
	else {
		cout << "Invalid Number of Controllers on Line "
			 << config->def.lineNum << "." << endl;
		return -1;
	}

	
	// Read config info, such as the the name of the port and scaling for the valuators
	
	for (i=0;i<16;++i)
		valScale[i]=1;
	
	numVals = 2;
	numBut = 6;
		
	strcpy (port,defaultPort);

	for (i=0;i<config->numOpts;i++) {
		// port
		if (strcmp(config->opt[i].name,"port")==0) {
			strcpy (port,config->opt[i].token[0]);
		}
		// scale
		else if (strcmp(config->opt[i].name,"scale")==0) {
			for (j=0;j<config->opt[i].numTokens;j++)
				valScale[j]=atof(config->opt[i].token[j]);
		}
		// number of valuators
		else if (strcmp(config->opt[i].name,"valuators")==0) {
			numVals = atoi(config->opt[i].token[0]);
		}
		// number of buttons
		else if (strcmp(config->opt[i].name,"buttons")==0) {
			numBut = atoi(config->opt[i].token[0]);
		}
				
	}

	// InitTables  initialize internal tables based on the info received from
	// config and m_numTras, m_numCons, m_maxNumTras, m_maxNumCons etc.
	if (!initTables()) {
		return -1;
	}

    	// initialize controller datatable for each controller
	
    	con[0]=true;
	j=1;
	for (i=0; i<m_maxNumCons; i++)
	{
		if (con[i])
			//initConDataEntry (id,newID,numVals,numBut)
			initConDataEntry(i+1, i+1, 2, 6);
	}

	// This checks common options
	if (!setConfigOptions()) {
		return -1;
    }

    // This method prints out the information from the configuration file.
    printConfig();

	// This method must be called to handle calibration option if you need.
	if (!initCalib()){
		return -1;
	}


	// Initialize joystick variables
	// Some of these would be good to have as options
	
	char axis = 2;
	char buttons = 2;
	int version = 0x000800;
	char name[NAME_LENGTH] = "Unknown";
	char *devname = "/dev/js0";
	
	if ((fd = open(port, O_RDONLY)) < 0) {
		perror("couldn't open joystick port");
		
	}

	
	ioctl(fd, JSIOCGVERSION, &version);
	ioctl(fd, JSIOCGAXES, &axis);
	ioctl(fd, JSIOCGBUTTONS, &buttons);
	ioctl(fd, JSIOCGNAME(NAME_LENGTH), name);

	// Everything so far is good.
	return 1;
}

// This method can also be used to initalize data but it is not necessary.
int JoystickController::configure(void)
{
	// This method should return the type of data defined in Base.h,
	// even though this does not do anything.

	return TRACKD_CONTROLLER_DATA;
}

// This method can be used to start streaming data from a device.
// With this program, the implementation of this method is not required as 
// no device is used. 
bool JoystickController::start(void)
{
	return true;
}


// This method is called just before the destructor and can also be used
// to deallocate memory, clean up variables and stop the device. The Calibration
// must also be de-initialized here.
bool JoystickController::stop(void)
{
	if (!deinitCalib()) {
		return false;
	}

	return true;
}


/************************ updateConData ***********************/

int JoystickController::updateConData(void)
{
	
	
	struct js_event js;
	int readrc;
	struct timeval tv;
	fd_set set;
	int i;
	
	
	// call setConData () at the end
	for (i=0;i<m_numCons;++i) {
		tv.tv_sec = 0;
		tv.tv_usec = JS_SELECT_UDELAY;
			
		FD_ZERO (&set);
		FD_SET (fd,&set);
		if (!select(fd+1,&set,NULL,NULL, &tv))
			continue;
		
		readrc = read(fd,&js,sizeof(struct js_event));
		if (readrc == sizeof(struct js_event)) {
			
			switch ((js.type&3)) {
			case JS_EVENT_BUTTON:		
				but[js.number]=js.value;
				break;
			case JS_EVENT_AXIS:
				val[js.number]=js.value / valScale[js.number];
				break;
			}
		} else if (errno != EAGAIN) {
			perror ("\njoystick: error reading");
			exit (1);
		}		
		setConData (i+1,numVals,numBut,val,but);
	}	
	
	return 1;
}




// This method is called from recvData method of CBaseMod.
// Codes to get new data should be in this method and should call
// setTraData to update tracker data.
// This return 1 if everything is good, 0 if not.
int JoystickController::updateTraData(void)
{
	// do nothing since we're just a controller, not a tracker.
	return 1;
}

// This can be used to print out configuration information.
bool JoystickController::printConfig(void)
{
	// Prints the device name.
	printMyID();

	unsigned int i;

	// Print device type
	mp_msgh->printInfoMsg("DEVICE TYPE           : JoystickController");

	// Print version number
	mp_msgh->printInfoMsg("VERSION               : ", false);
	cout << JoystickController_VERSION << endl;

	// Print port 
	mp_msgh->printfInfoMsg("Port                  : %s\n", port);
	
	// Valuator Scaling
	mp_msgh->printfInfoMsg("Scaling			: %f, %f, %f\n", valScale[0],valScale[1],valScale[2]);
	
	// call this to print common config
	return printBaseConfig();
}