com.codeminders.ardrone.controllers.decoders.SonyPS3ControllerStateDecoder Maven / Gradle / Ivy

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Java API (without using native code) to control AR.Drone

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package com.codeminders.ardrone.controllers.decoders;

import java.io.IOException;
import java.util.BitSet;

import com.codeminders.ardrone.controllers.GameControllerState;
import com.codeminders.ardrone.controllers.ControllerData;

public class SonyPS3ControllerStateDecoder implements ControllerStateDecoder {
    
    private int joystickCoordConv(byte b)
    {
        int v = b < 0 ? b + 256 : b;
        return(v - 128);
    }
    
    public GameControllerState decodeState(ControllerData data) throws IOException {
        
        byte[] buf = data.getBuffer();
        
        BitSet bs = new BitSet(24);
        for(int i = 0; i < 8; i++)
        {
            if((1 & (buf[2] >> i)) == 1)
                bs.set(i);
        }

        for(int i = 0; i < 8; i++)
        {
            if((1 & (buf[3] >> i)) == 1)
                bs.set(8 + i);
        }
        for(int i = 0; i < 8; i++)
        {
            if((1 & (buf[4] >> i)) == 1)
                bs.set(16 + i);
        }

        int i = 0;
        boolean select = bs.get(i++);
        boolean leftJoystickPress = bs.get(i++);
        boolean rightJoystickPress = bs.get(i++);
        boolean start = bs.get(i++);
        bs.get(i++);
        bs.get(i++);
        bs.get(i++);
        bs.get(i++);
        boolean L2 = bs.get(i++);
        boolean R2 = bs.get(i++);
        boolean R1 = bs.get(i++);
        boolean L1 = bs.get(i++);
        boolean triangle = bs.get(i++);
        boolean circle = bs.get(i++);
        boolean cross = bs.get(i++);
        boolean square = bs.get(i++);
        boolean PS = bs.get(i++);

        int leftJoystickX = joystickCoordConv(buf[6]);
        int leftJoystickY = joystickCoordConv(buf[7]);
        int rightJoystickX = joystickCoordConv(buf[8]);
        int rightJoystickY = joystickCoordConv(buf[9]);

        // TODO: decode HAT switch
        int hatSwitchLeftRight = 0;
        int hatSwitchUpDown = 0;

        GameControllerState res = new GameControllerState(square, cross, circle, triangle, L1, R1, L2, R2, select, start,
                leftJoystickPress, rightJoystickPress, PS, hatSwitchLeftRight, hatSwitchUpDown, leftJoystickX,
                leftJoystickY, rightJoystickX, rightJoystickY);

        return res;
    }

}