Feat/prk/generic hid decoding

3rdParty/trick/examples/SIM_python_generic/RUN_test/generic_hc_config.py

@@ -0,0 +1,53 @@
+import sys
+import traceback
+
+# Instantiate a Generic Joystick using its Vendor ID, Product ID and Interface ID
+# Use IDF/apps/hidScanner to assist with getting this information.
+# In this example, we are creating a mapping for a
+# Thrustmaster AVA Base: https://eshop.thrustmaster.com/en_us/ava-base.html
+# with an F16 grip: https://eshop.thrustmaster.com/en_us/viper-hotas-add-on-grip.html
+try:
+   device = trick.HidGenericJoystick( 0x044F, 0x0415, 0 )
+   device.thisown = 0
+   self.addMasterDevice( device )
+except Exception as e:
+   print( "IDF init error:", traceback.format_exc() )
+   sys.exit(1)
+
+# Create a SingleFlightController, including compositing X, Y, and Z from buttons
+# use IDF/apps/decoder to assist with figuring out which buttons to use
+
+# this grip does not have a twist so we'll use some buttons
+twist = trick.CompositeInput()
+twist.thisown = 0
+twist.addInput( device.getButton(14) )
+twist.addInput( device.getButton(12), -1 )
+
+x = trick.CompositeInput()
+x.thisown = 0
+x.addInput( device.getButton(15) )    # the buttons vector is zero indexed
+x.addInput( device.getButton(17), -1 )
+
+y = trick.CompositeInput()
+y.thisown = 0
+y.addInput( device.getButton(18) )
+y.addInput( device.getButton(16), -1 )
+
+z = trick.CompositeInput()
+z.thisown = 0
+z.addInput( device.getButton(7) )
+z.addInput( device.getButton(9), -1 )
+
+controller = trick.SingleFlightController(
+   device.leftRightPivot,
+   device.forwardBackwardPivot,
+   twist,
+   x, y, z
+)
+controller.roll.setInverted( True )
+controller.pitch.setInverted( True )
+controller.thisown = 0 # don't forget this!!
+
+
+# add controller to the InputDeviceManager
+self.inputDeviceManager.controller = controller

3rdParty/trick/examples/SIM_python_generic/RUN_test/input.py

@@ -0,0 +1,18 @@
+trick.real_time_enable()
+trick.exec_set_software_frame(0.1)
+
+# import IDF's modules
+import idf.config
+
+# inherit from IDF's Configurator
+class Configurator(idf.config.Configurator) :
+
+    # this method is abstract in the base class, and so we must override it
+    def addMasterDevice(self, device):
+
+        # Despite being abstract in the base class, this method is nevertheless implemented there.
+        # (It calls addInputDevice for you). Don't forget to call it!
+        super(Configurator, self).addMasterDevice(device)
+
+# Instantiate a Configurator, passing it the IdfInputDeviceManager instance from the S_define.
+configurator = Configurator(example, configFile="RUN_test/generic_hc_config.py")

3rdParty/trick/examples/SIM_python_generic/S_define

@@ -0,0 +1,99 @@
+#include "sim_objects/default_trick_sys.sm"
+#include "idf/IdfInputDeviceManager.sm"
+
+##include <sstream>
+##include <iomanip>
+
+##include "sim_services/Executive/include/exec_proto.h"
+##include "idf/SingleFlightController.hh"
+##include "idf/Deadband.hh"
+
+/**
+ * Demonstrates the use of IDF within a Trick simulation, using the Python
+ * class idf.config.Configurator to add a device at run-time. See
+ * RUN_test/input.py.
+ */
+class Example : public IdfInputDeviceManager {
+
+    public:
+
+    /**
+     * While other examples have declared devices here, we want to leave the
+     * choice of device up to the user this time. In this example, our only
+     * concern is the Controller.
+     */
+
+    /**
+     * While devices represent physical hardware, a controller represents a
+     * virtual interface into a control system. This separation allows
+     * control system developers to program against a domain-specific interface
+     * independent of any particular device that might service that
+     * interface. It further ensures that only devices that have been
+     * specifically mapped to the interface may be assigned to service it.
+     */
+    idf::SingleFlightController *controller;
+
+    Example() :
+        /**
+         * Call the base class constructor, specifying the period at which the
+         * updateDevices() job will be called. You can optionally specify the
+         * phase and class for this job as well. See IdfInputDeviceManager.sm
+         * for details.
+         */
+        IdfInputDeviceManager(0.1),
+        controller(NULL) {
+        /**
+         * Nothing to see here!
+         * All of the configuration is done in the input file.
+         */
+    }
+
+    /**
+     * If you want to perform some action after all devices have been updated,
+     * one possibility is overriding IdfInputDeviceManager's updateDevices()
+     * function. In this example, we just want to print the controller's
+     * normalized values to the console. Normalized values always fall in the
+     * range [-1, 1], with the extremes corresponing to the minimum and maximum
+     * raw values. 0 represents the "neutral" point. If you choose this method,
+     * be sure to call the base class version of the function or the devices
+     * will never be updated!
+     *
+     * Another option is to just declare another scheduled job and do your post-
+     * update logic there. This can be useful if you want the updateDevices()
+     * job and your post-update logic to run at different rates or have
+     * different phases or job classes.
+     */
+    void updateDevices() {
+
+        // Don't forget to call the base class version!
+        IdfInputDeviceManager::updateDevices();
+
+        /**
+         * The controller pointer is assigned via the input file (see Configurator.addMasterDevice).
+         * If no such assignment was made, then there is no physical device connected to the
+         * computer. In this case, IDF would launch the Virtual Hand Controller if the
+         * idf.config.Configurator was instantiated with support for the VHC. This sim does not
+         * do so (see SIM_virtual_hand_controller for an example that does), so we terminate.
+         */
+        if (!controller) {
+            exec_terminate("S_define", "This sim requires a physical device to be connected.");
+        }
+
+        bool blah = controller->isActive();
+
+        // Print the values.
+        std::cout << std::showpos << std::fixed << std::setprecision(2)
+
+                  << " Roll: "  << controller->getRoll()
+                  << " Pitch: " << controller->getPitch()
+                  << " Yaw: "   << controller->getYaw()
+                  << " X: "     << controller->getX()
+                  << " Y: "     << controller->getY()
+                  << " Z: "     << controller->getZ()
+
+                  << std::endl;
+    }
+
+};
+
+Example example;

3rdParty/trick/examples/SIM_python_generic/S_overrides.mk

@@ -0,0 +1 @@
+include ../../makefiles/core.mk

CMakeLists.txt

@@ -32,7 +32,11 @@ set(SRC_IDF
     source/idf/EthernetWingMan.cpp
     source/idf/Extreme3dPro.cpp
     source/idf/FlightController.cpp
+    source/idf/GenericJoystick.cpp
     source/idf/Gravis.cpp
+    source/idf/HidDevice.cpp
+    source/idf/HidDecoder.cpp
+    source/idf/HidGenericJoystick.cpp
     source/idf/HagstromKEUSB36.cpp
     source/idf/IndustrialProducts2.cpp
     source/idf/IndustrialProducts3.cpp

apps/decoder/.gitignore

@@ -0,0 +1 @@
+decoder

apps/decoder/Makefile

@@ -0,0 +1,18 @@
+IDF_HOME := $(abspath $(dir $(lastword $(MAKEFILE_LIST)))/../..)
+IDF_CONFIG := $(IDF_HOME)/bin/idf-config
+IDF_BUILD_DIR := $(IDF_HOME)/build
+IDF_LIB := $(IDF_BUILD_DIR)/libidf.a
+
+CXXFLAGS += $(shell $(IDF_CONFIG) --cxxflags)
+LDLIBS += $(shell $(IDF_CONFIG) --libs)
+
+decoder: $(IDF_LIB)
+
+$(IDF_LIB): | $(IDF_BUILD_DIR)
+	cd $| && cmake .. && $(MAKE)
+
+$(IDF_BUILD_DIR):
+	mkdir -p $@
+
+clean:
+	@rm -rf decoder