WiiMote.H

Go to the documentation of this file.
00001 /*!@file Devices/WiiMote.H read wiimote data  */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Lior Elazary
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Devices/WiiMote.H $
00035 // $Id: WiiMote.H 13901 2010-09-09 15:12:26Z lior $
00036 //
00037 
00038 #ifndef WIIMOTE_H_DEFINED
00039 #define WIIMOTE_H_DEFINED
00040 
00041 
00042 #ifdef HAVE_LIBWIIMOTE
00043 extern "C" {
00044 #define _ENABLE_TILT
00045 #define _ENABLE_FORCE
00046 #undef HAVE_CONFIG_H
00047 #include <libcwiimote/wiimote.h>
00048 #include <libcwiimote/wiimote_api.h>
00049 }
00050 #endif
00051 
00052 #include "Component/ModelComponent.H"
00053 #include "Component/ModelParam.H"
00054 #include "Util/Types.H"
00055 #include "Image/Point3D.H"
00056 #include "Image/Point2D.H"
00057 
00058 #include <pthread.h>
00059 #include <unistd.h>
00060 
00061 class WiiMote : public ModelComponent {
00062 public:
00063 
00064   struct SensorData {
00065     Point3D<float> tilt;
00066     Point3D<float> force;
00067     Point2D<int> IR1;
00068     int ir1Size;
00069     Point2D<int> IR2;
00070     int ir2Size;
00071     Point2D<int> IR3;
00072     int ir3Size;
00073     Point2D<int> IR4;
00074     int ir4Size;
00075   };
00076 
00077 
00078 
00079   //! Constructor
00080   WiiMote(OptionManager& mgr,
00081                const std::string& descrName = "WiiMote",
00082                const std::string& tagName = "WiiMote");
00083 
00084   //! Destructor
00085   ~WiiMote();
00086 
00087   //! This method should not be called (implements thread code)
00088   void run();
00089 
00090   //! init the thread and connect to the wiimote
00091   void init();
00092 
00093   //! Get sensor data
00094   SensorData getSensorData();
00095 
00096 protected:
00097   //! get started (see ModelComponent.H)
00098   void start1();
00099 
00100   //! get started (see ModelComponent.H)
00101   void start2();
00102 
00103   //! get stopped (see ModelComponent.H)
00104   void stop1();
00105 
00106 private:
00107 #ifdef HAVE_LIBWIIMOTE
00108   wiimote_t itsWiimote;
00109 #endif
00110   pthread_t runner;
00111   pthread_mutex_t itsLock;
00112   mutable bool running;
00113 };
00114 
00115 // ######################################################################
00116 /* So things look consistent in everyone's emacs... */
00117 /* Local Variables: */
00118 /* indent-tabs-mode: nil */
00119 /* End: */
00120 
00121 #endif
Generated on Sun May 8 08:40:38 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3