XBox.hpp

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#ifndef ORG_EEROS_HAL_XBOX_HPP_
#define ORG_EEROS_HAL_XBOX_HPP_

#include <string>
#include <functional>
#include <linux/joystick.h>
#include <eeros/hal/Input.hpp>
#include <eeros/core/Thread.hpp>

#define XBOX_BUTTON_COUNT (8)
#define XBOX_AXIS_COUNT (8)

namespace eeros {
    namespace hal {
        struct XBoxState {
            double axis[XBOX_AXIS_COUNT];
            bool button_state[XBOX_BUTTON_COUNT];
            bool button_up[XBOX_BUTTON_COUNT];
            bool button_down[XBOX_BUTTON_COUNT];
            
            static const double axis_max;
        };
        
        struct XBoxController {
            struct Axis {
                static constexpr int LX = 0;
                static constexpr int LY = 1;
                static constexpr int LT = 2;
                static constexpr int RY = 3;
                static constexpr int RX = 4;
                static constexpr int RT = 5;
                static constexpr int CX = 6;
                static constexpr int CY = 7;
            };
            struct Button {
                static constexpr int A = 0;
                static constexpr int B = 1;
                static constexpr int X = 2;
                static constexpr int Y = 3;
                static constexpr int LB = 4;
                static constexpr int RB = 5;
                static constexpr int back = 6;
                static constexpr int start = 7;
            };
        };
        
        class XBox : public eeros::Thread{
        public:
            explicit XBox(std::string dev);
            ~XBox();
            virtual void on_event(std::function<void(struct js_event)> action);
            virtual void on_button(std::function<void(int, bool)> action);
            virtual void on_axis(std::function<void(int, double)> action);
            virtual std::string name();
            
            XBoxState last;
            XBoxState current;
            
        private:
            virtual void run();
            virtual bool open(const char* device);
            virtual void close();
            int fd;
            bool running;
            std::function<void(struct js_event)> event_action;
            std::function<void(int, bool)> button_action;
            std::function<void(int, double)> axis_action;
            Input<bool>* button[XBOX_BUTTON_COUNT];
        };
    }
}

#endif // ORG_EEROS_HAL_XBOX_HPP_