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Merge pull request #95 from nasa/94-add-a-new-apem-device
Add new APEM HC as IndustrialProducts4
2 parents 15c27f7 + 7440c19 commit 7c3a3ac

15 files changed

+265
-0
lines changed

‎3rdParty/trick/python/idf/config.py

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@@ -46,6 +46,7 @@ def useFirstAvailableDevice(self):
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trick.UsbGravis,
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trick.UsbIndustrialProducts,
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trick.UsbIndustrialProducts3,
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trick.UsbIndustrialProducts4,
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trick.UsbSaitek,
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trick.UsbSaitekX52,
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trick.UsbSaitekX56Stick,

‎CMakeLists.txt

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@@ -34,6 +34,7 @@ set(SRC_IDF
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source/idf/HagstromKEUSB36.cpp
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source/idf/IndustrialProducts2.cpp
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source/idf/IndustrialProducts3.cpp
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source/idf/IndustrialProducts4.cpp
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source/idf/IndustrialProducts.cpp
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source/idf/Input.cpp
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source/idf/InputDevice.cpp
@@ -81,6 +82,7 @@ set(SRC_IDF
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source/idf/UsbHagstromKEUSB36FS.cpp
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source/idf/UsbIndustrialProducts2.cpp
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source/idf/UsbIndustrialProducts3.cpp
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source/idf/UsbIndustrialProducts4.cpp
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source/idf/UsbIndustrialProducts.cpp
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source/idf/UsbKeyboard.cpp
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source/idf/UsbMadCatz.cpp

‎apps/configurator/configurator.cpp

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@@ -16,6 +16,7 @@
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#include "idf/UsbIndustrialProducts.hh"
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#include "idf/UsbIndustrialProducts2.hh"
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#include "idf/UsbIndustrialProducts3.hh"
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#include "idf/UsbIndustrialProducts4.hh"
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#include "idf/UsbMadCatz.hh"
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#include "idf/UsbSaitek.hh"
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#include "idf/UsbSaitekX52.hh"
@@ -68,6 +69,7 @@ void run() {
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idf::UsbIndustrialProducts industrialProducts;
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idf::UsbIndustrialProducts2 industrialProducts2;
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idf::UsbIndustrialProducts3 industrialProducts3;
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idf::UsbIndustrialProducts4 industrialProducts4;
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idf::UsbMadCatz madcatz;
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idf::UsbSaitek saitek;
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idf::UsbSaitekX52 saitekX52;
@@ -90,6 +92,7 @@ void run() {
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devices.push_back(&industrialProducts);
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devices.push_back(&industrialProducts2);
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devices.push_back(&industrialProducts3);
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devices.push_back(&industrialProducts4);
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devices.push_back(&madcatz);
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devices.push_back(&saitek);
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devices.push_back(&saitekX52);

‎include/idf/IndustrialProducts4.hh

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/*
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PURPOSE:
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LIBRARY DEPENDENCIES: (
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(idf/IndustrialProducts4.cpp)
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)
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*/
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/**
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* @trick_parse{everything}
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* @trick_link_dependency{idf/IndustrialProducts4.cpp}
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*/
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#ifndef INDUSTRIAL_PRODUCTS4_HH
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#define INDUSTRIAL_PRODUCTS4_HH
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#include "idf/InputLayout.hh"
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#include "idf/SingleInput.hh"
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namespace idf {
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/**
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* %IndustrialProducts4 hand controller's input layout
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*
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* @author Philip Kunz
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*/
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class IndustrialProducts4 : public virtual InputLayout {
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public:
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/** constructor */
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IndustrialProducts4();
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/** destructor */
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virtual ~IndustrialProducts4() {};
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/** forward-backward pivoting */
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SingleInput forwardBackwardPivot;
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/** left-right pivoting */
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SingleInput leftRightPivot;
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/** twisting */
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SingleInput twist;
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/** the trigger button */
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SingleInput trigger;
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/** the grip button */
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SingleInput grip;
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/** the upper trigger of the switch */
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SingleInput switchUp;
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/** the lower trigger of the switch */
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SingleInput switchDown;
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/** up-down pivoting of the analog hat */
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SingleInput hatUpDownPivot;
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/** left-right pivoting of the analog hat */
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SingleInput hatLeftRightPivot;
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/** the upper button */
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SingleInput button1;
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/* the lower button*/
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SingleInput button2;
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protected:
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virtual const std::vector<Configurable>& getConfigurables();
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};
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}
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#endif

‎include/idf/PythonInterface.hh

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@@ -57,6 +57,7 @@
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#include "idf/UsbIndustrialProducts.hh"
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#include "idf/UsbIndustrialProducts2.hh"
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#include "idf/UsbIndustrialProducts3.hh"
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#include "idf/UsbIndustrialProducts4.hh"
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#include "idf/UsbKeyboard.hh"
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#include "idf/UsbSaitek.hh"
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#include "idf/UsbSaitekX52.hh"

‎include/idf/SingleCameraController.hh

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@@ -25,6 +25,7 @@ LIBRARY DEPENDENCIES: (
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#include "idf/IndustrialProducts.hh"
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#include "idf/IndustrialProducts2.hh"
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#include "idf/IndustrialProducts3.hh"
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#include "idf/IndustrialProducts4.hh"
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#include "idf/SaitekX52.hh"
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#include "idf/SaitekX56Stick.hh"
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#include "idf/SaitekX56Throttle.hh"
@@ -211,6 +212,15 @@ class SingleCameraController : public CameraController {
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*/
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static SingleCameraController* createInstance(const IndustrialProducts3& industrialProducts3);
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/**
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* creates a new SingleCameraController mapped to @a industrialProducts4 using appropriate defaults
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*
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* @param industrialProducts4 the inputs to use in the default mapping
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*
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* @return a new industrialProducts4-based camera controller
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*/
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static SingleCameraController* createInstance(const IndustrialProducts4& industrialProducts4);
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/**
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* creates a new SingleCameraController mapped to @a SaitekX52 using appropriate defaults
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*

‎include/idf/SingleFlightController.hh

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@@ -25,6 +25,7 @@ LIBRARY DEPENDENCIES: (
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#include "idf/IndustrialProducts.hh"
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#include "idf/IndustrialProducts2.hh"
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#include "idf/IndustrialProducts3.hh"
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#include "idf/IndustrialProducts4.hh"
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#include "idf/SaitekX52.hh"
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#include "idf/SaitekX56Stick.hh"
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#include "idf/SpaceBase.hh"
@@ -234,6 +235,15 @@ class SingleFlightController : public FlightController {
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*/
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static SingleFlightController* createInstance(const IndustrialProducts3& industrialProducts3);
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/*
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* creates a new SingleFlightController mapped to @a industrialProducts4 using appropriate defaults
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*
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* @param industrialProducts4 the inputs to use in the default mapping
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*
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* @return a new IndustrialProducts4-based flight controller
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*/
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static SingleFlightController* createInstance(const IndustrialProducts4& industrialProducts4);
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/**
238248
* creates a new SingleFlightController mapped to @a SaitekX52 using appropriate defaults
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*

‎include/idf/SingleRoboticsController.hh

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@@ -26,6 +26,7 @@ LIBRARY DEPENDENCIES: (
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#include "idf/IndustrialProducts.hh"
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#include "idf/IndustrialProducts2.hh"
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#include "idf/IndustrialProducts3.hh"
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#include "idf/IndustrialProducts4.hh"
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#include "idf/SaitekX52.hh"
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#include "idf/SaitekX56Stick.hh"
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#include "idf/SpaceExplorer.hh"
@@ -297,6 +298,15 @@ class SingleRoboticsController : public RoboticsController {
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*/
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static SingleRoboticsController* createInstance(const IndustrialProducts3& industrialProducts3);
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/*
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* creates a new SingleRoboticsController mapped to @a industrialProducts4 using appropriate defaults
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*
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* @param industrialProducts4 the inputs to use in the default mapping
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*
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* @return a new industrialProducts4-based robotics controller
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*/
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static SingleRoboticsController* createInstance(const IndustrialProducts4& industrialProducts4);
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/*
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* creates a new SingleRoboticsController mapped to @a SaitekX52 using appropriate defaults
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*

‎include/idf/UsbIndustrialProducts4.hh

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/*
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PURPOSE:
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LIBRARY DEPENDENCIES: (
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(idf/UsbIndustrialProducts4.cpp)
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)
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*/
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/**
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* @trick_parse{everything}
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* @trick_link_dependency{idf/UsbIndustrialProducts4.cpp}
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*/
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#ifndef USB_INDUSTRIAL_PRODUCTS4_HH
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#define USB_INDUSTRIAL_PRODUCTS4_HH
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#include "idf/UsbDevice.hh"
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#include "idf/IndustrialProducts4.hh"
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namespace idf {
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/** USB IndustrialProducts joystick. Implementation of APEM HJRMCSAUYGLEA Hand Controller */
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class UsbIndustrialProducts4 : public UsbDevice, public IndustrialProducts4 {
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public:
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/** constructor */
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UsbIndustrialProducts4();
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void decode(const std::vector<unsigned char>& data);
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};
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}
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#endif

‎source/idf/IndustrialProducts4.cpp

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#include "idf/IndustrialProducts4.hh"
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namespace idf {
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IndustrialProducts4::IndustrialProducts4() :
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forwardBackwardPivot(0, 1023, 512),
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leftRightPivot(0, 1023, 512),
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twist(0, 1023, 512),
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trigger(0, 1),
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grip(0,1),
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switchUp(0, 1),
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switchDown(0, 1),
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hatUpDownPivot(0, 1023, 512),
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hatLeftRightPivot(0, 1023, 512),
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button1(0, 1),
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button2(0, 1) {}
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const std::vector<InputLayout::Configurable>& IndustrialProducts4::getConfigurables() {
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static std::vector<Configurable> inputs;
20+
if (inputs.empty()) {
21+
append(InputLayout::getConfigurables(), inputs);
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inputs.push_back(Configurable(forwardBackwardPivot, "Forward/Backward Pivot", "forwardBackwardPivot"));
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inputs.push_back(Configurable(leftRightPivot, "Left/Right Pivot", "leftRightPivot"));
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inputs.push_back(Configurable(twist, "Twist", "twist"));
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inputs.push_back(Configurable(hatUpDownPivot, "Hat Up/Down Pivot", "hatUpDownPivot"));
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inputs.push_back(Configurable(hatLeftRightPivot, "Hat Left/Right Pivot", "hatLeftRightPivot"));
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}
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return inputs;
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}
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}

‎source/idf/SingleCameraController.cpp

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@@ -191,6 +191,21 @@ SingleCameraController* SingleCameraController::createInstance(const IndustrialP
191191
return controller;
192192
}
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SingleCameraController* SingleCameraController::createInstance(const IndustrialProducts4& industrialProducts) {
195+
SingleCameraController *controller =
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new SingleCameraController(
197+
industrialProducts.twist,
198+
industrialProducts.forwardBackwardPivot,
199+
industrialProducts.leftRightPivot,
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industrialProducts.hatUpDownPivot);
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controller->pan.setInverted(true);
203+
controller->tilt.setInverted(true);
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return controller;
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}
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SingleCameraController* SingleCameraController::createInstance(const SaitekX52& saitekX52) {
195210
CompositeInput* spin = new CompositeInput();
196211
spin->addInput(saitekX52.toggle1);

‎source/idf/SingleFlightController.cpp

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@@ -268,6 +268,26 @@ SingleFlightController* SingleFlightController::createInstance(const IndustrialP
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return controller;
269269
}
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271+
SingleFlightController* SingleFlightController::createInstance(const IndustrialProducts4& industrialProducts) {
272+
CompositeInput* z = new CompositeInput();
273+
z->addInput(industrialProducts.switchUp);
274+
z->addInput(industrialProducts.switchDown, -1);
275+
276+
SingleFlightController *controller =
277+
new SingleFlightController(
278+
industrialProducts.leftRightPivot,
279+
industrialProducts.forwardBackwardPivot,
280+
industrialProducts.twist,
281+
industrialProducts.hatUpDownPivot,
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industrialProducts.hatLeftRightPivot,
283+
*z);
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285+
controller->pitch.setInverted(true);
286+
controller->yaw.setInverted(true);
287+
controller->y.setInverted(true);
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return controller;
290+
}
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272292
SingleFlightController* SingleFlightController::createInstance(const SaitekX52& saitekX52) {
273293
CompositeInput* z = new CompositeInput();

‎source/idf/SingleRoboticsController.cpp

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@@ -411,6 +411,31 @@ SingleRoboticsController* SingleRoboticsController::createInstance(const Industr
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return controller;
412412
}
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414+
SingleRoboticsController* SingleRoboticsController::createInstance(const IndustrialProducts4& industrialProducts) {
415+
CompositeInput* z = new CompositeInput();
416+
z->addInput(industrialProducts.switchUp);
417+
z->addInput(industrialProducts.switchDown, -1);
418+
419+
SingleRoboticsController *controller =
420+
new SingleRoboticsController(
421+
industrialProducts.leftRightPivot,
422+
industrialProducts.forwardBackwardPivot,
423+
industrialProducts.twist,
424+
industrialProducts.hatUpDownPivot,
425+
industrialProducts.hatLeftRightPivot,
426+
*z,
427+
industrialProducts.trigger,
428+
industrialProducts.button1);
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430+
controller->pitch.setInverted(true);
431+
controller->yaw.setInverted(true);
432+
controller->y.setInverted(true);
433+
434+
controller->rateMode.setToggle(true);
435+
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return controller;
437+
}
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414439
SingleRoboticsController* SingleRoboticsController::createInstance(const SaitekX52& saitekX52) {
415440
CompositeInput* z = new CompositeInput();
416441
z->addInput(saitekX52.buttonA);

‎source/idf/UsbDevice.cpp

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@@ -37,6 +37,7 @@ UsbDevice::UsbDevice(const std::string& id, unsigned length) :
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identifications["Industrial Products"].push_back(Identification(0x068E, 0x002E, 0));
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identifications["Industrial Products 2"].push_back(Identification(0x068E, 0x0019, 0));
3939
identifications["Industrial Products 3"].push_back(Identification(0x068E, 0x0026, 0));
40+
identifications["Industrial Products 4"].push_back(Identification(0x068E, 0x0177, 0));
4041
identifications["Playstation 3 Controller"].push_back(Identification(0x054C, 0x0268, 0));
4142
identifications["Playstation 4 Controller"].push_back(Identification(0x054C, 0x05C4, 0));
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identifications["Playstation 4 Controller"].push_back(Identification(0x054C, 0x09CC, 3));

‎source/idf/UsbIndustrialProducts4.cpp

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#include "idf/UsbIndustrialProducts4.hh"
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namespace idf {
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UsbIndustrialProducts4::UsbIndustrialProducts4() :
6+
UsbDevice("Industrial Products 4", 11) {}
7+
8+
void UsbIndustrialProducts4::decode(const std::vector<unsigned char>& data) {
9+
leftRightPivot.setValue(((unsigned)data[1]) << 8 | data[0]);
10+
forwardBackwardPivot.setValue(((unsigned)data[3]) << 8 | data[2]);
11+
twist.setValue(((unsigned)data[5]) << 8 | data[4]);
12+
13+
hatLeftRightPivot.setValue(((unsigned)data[7]) << 8 | data[6]);
14+
hatUpDownPivot.setValue(((unsigned)data[9]) << 8 | data[8]);
15+
16+
trigger.setValue(data[10] & 1);
17+
grip.setValue(data[10] >> 1 & 1);
18+
switchUp.setValue(data[10] >> 2 & 1);
19+
switchDown.setValue(data[10] >> 3 & 1);
20+
button1.setValue(data[10] >> 4 & 1);
21+
button2.setValue(data[10] >> 5 & 1);
22+
23+
}
24+
25+
}

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