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WiimotePlayer: Handle IR signal

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This commit is contained in:
Matthias Schiffer 2010-04-10 13:03:25 +02:00
parent f86af7816c
commit 6af7b89939
1 changed files with 64 additions and 13 deletions
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71
src/WiimotePlayer.hs
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@ -1,11 +1,13 @@
{-# LANGUAGE DeriveDataTypeable #-}
module WiimotePlayer ( WiimotePlayer(..)
module WiimotePlayer ( WiimotePlayer
, newWiimotePlayer
) where
import Control.Monad
import Data.Bits
import Data.Function (on)
import Data.List (sortBy)
import Data.Ratio ((%))
import Data.Typeable
import HWiid
@ -28,29 +30,78 @@ instance Player WiimotePlayer where
y = (if (test buttons hwiidButtonDown) then (-1) else 0) + (if (test buttons hwiidButtonUp) then 1 else 0)
ext = stateExt state
(mx, my) <- if (extType ext) /= hwiidExtNunchuk
then return (x, y)
else do
(mx, my) = if (extType ext) /= hwiidExtNunchuk
then (x, y)
else
let nx = ((fromIntegral . extNunchukStickX $ ext) - 0x80)/0x80
ny = ((fromIntegral . extNunchukStickY $ ext) - 0x80)/0x80
return $ if (nx*nx + ny*ny) < 0.4 then (x, y) else (x+nx, y+ny)
in if (nx*nx + ny*ny) < 0.4 then (x, y) else (x+nx, y+ny)
--ax = aimx - (fromRational . toRational . tankX $ tank)
--ay = aimy - (fromRational . toRational . tankY $ tank)
let move = (mx /= 0 || my /= 0)
angle = if move then Just $ fromRational $ round ((atan2 my mx)*1000000*180/pi)%1000000 else Nothing
move = (mx /= 0 || my /= 0)
angle = atan2 my mx
moveangle = if move then Just $ fromRational $ round ((angle - (sin $ 8*x)/8)*1000000*180/pi)%1000000 else Nothing
--aangle = if (ax /= 0 || ay /= 0) then Just $ fromRational $ round ((atan2 ay ax)*1000000*180/pi)%1000000 else Nothing
when foo $ print state
return (WiimotePlayer wiimote, angle, move, Nothing, shoot)
when foo $ print $ handleIR state
return (WiimotePlayer wiimote, moveangle, move, Nothing, shoot)
irXScale :: Float
irXScale = 1
irXTranslate :: Float
irXTranslate = 0
irYScale :: Float
irYScale = 1
irYTranslate :: Float
irYTranslate = 0
handleIR :: WiimoteState -> Maybe (Float, Float)
handleIR state = handle $ sortIRSourcesByPos $ take 2 $ sortIRSourcesBySize $ stateIRSources state
where
handle [ira,irb] = let pa = pos ira
pb = pos irb
p = negV pa
b = pb `subV` pa
x = (p `dotV` b)/(lengthV b)
y = (sqrt ((lengthSqV p) - x*x)) * (signum $ sinV b p)
in Just ((x - (lengthV b)/2)*irXScale + irXTranslate, y*irYScale + irYTranslate)
handle _ = Nothing
pos src = (((fromIntegral $ irPosX src) - hMaxX)/hMaxX, ((fromIntegral $ irPosY src) - hMaxY)/hMaxY)
rot (x, y) = let s = (fromIntegral . stateAccX $ state) - 0x80
c = (fromIntegral . stateAccZ $ state) - 0x80
in (c*x + s*y, -s*x + c*y)
hMaxX = (fromIntegral hwiidIRMaxX)/2
hMaxY = (fromIntegral hwiidIRMaxY)/2
negV (a1, a2) = (-a1, -a2)
subV (a1, a2) (b1, b2) = (a1-b1, a2-b2)
dotV (a1, a2) (b1, b2) = a1*b1 + a2*b2
mulV x (a1, a2) = (x*a1, x*a2)
sinV (a1, a2) (b1, b2) = (a1 * b2 - b1 * a2)
lengthSqV a = dotV a a
lengthV a = sqrt $ lengthSqV a
sortIRSourcesBySize :: [WiimoteIRSource] -> [WiimoteIRSource]
sortIRSourcesBySize = sortBy (flip compare `on` irSize)
sortIRSourcesByPos :: [WiimoteIRSource] -> [WiimoteIRSource]
sortIRSourcesByPos = sortBy (compare `on` (fst . rot . pos))
newWiimotePlayer :: IO WiimotePlayer
newWiimotePlayer = do
wiimote <- hwiidOpen bdAddrAny (hwiidFlagMesgInterface .|. hwiidFlagNonblock)
when (wiimote == nullWiimote) $ fail "Wiimote error"
hwiidSetReportMode wiimote (hwiidReportButtons .|. hwiidReportIR .|. hwiidReportNunchuk)
hwiidSetReportMode wiimote (hwiidReportButtons .|. hwiidReportAcc .|. hwiidReportIR .|. hwiidReportNunchuk)
return $ WiimotePlayer wiimote
test :: (Bits a) => a -> a -> Bool