Merge pull request #97 from nasa/96-add-daco-device

add daco THC device

3rdParty/trick/python/idf/config.py

@@ -40,6 +40,7 @@ def useFirstAvailableDevice(self):
         # loop through all supported devices
         for device in [
           trick.UsbChProPedals,
+          trick.UsbDacoThc,
           trick.UsbDualShock3,
           trick.UsbDualShock4,
           trick.UsbExtreme3dPro,

CMakeLists.txt

@@ -19,6 +19,7 @@ set(SRC_IDF
     source/idf/CompositeInput.cpp
     source/idf/CompositeRoboticsController.cpp
     source/idf/Controller.cpp
+    source/idf/DacoThc.cpp
     source/idf/Deadbandable.cpp
     source/idf/Deadband.cpp
     source/idf/DualShock3.cpp
@@ -72,6 +73,7 @@ set(SRC_IDF
     source/idf/ThrustMasterBase.cpp
     source/idf/ThrustMaster.cpp
     source/idf/UsbChProPedals.cpp
+    source/idf/UsbDacoThc.cpp
     source/idf/UsbDevice.cpp
     source/idf/UsbDualShock3.cpp
     source/idf/UsbDualShock4.cpp

apps/configurator/configurator.cpp

@@ -8,6 +8,7 @@
 #include "idf/SerialThrustMaster.hh"
 #include "idf/SerialThrustMaster2.hh"
 #include "idf/UsbDevice.hh"
+#include "idf/UsbDacoThc.hh"
 #include "idf/UsbChProPedals.hh"
 #include "idf/UsbDualShock3.hh"
 #include "idf/UsbDualShock4.hh"
@@ -62,6 +63,7 @@ void configure(idf::InputDevice& device) {
 
 void run() {
     idf::UsbChProPedals chProPedals;
+    idf::UsbDacoThc dacoThc;
     idf::UsbDualShock3 dualShock3;
     idf::UsbDualShock4 dualShock4;
     idf::UsbExtreme3dPro extreme3dPro;
@@ -85,6 +87,7 @@ void run() {
 
     std::vector<idf::UsbDevice*> devices;
     devices.push_back(&chProPedals);
+    devices.push_back(&dacoThc);
     devices.push_back(&dualShock3);
     devices.push_back(&dualShock4);
     devices.push_back(&extreme3dPro);

include/idf/DacoThc.hh

@@ -0,0 +1,56 @@
+/*
+PURPOSE:
+LIBRARY DEPENDENCIES: (
+(idf/DacoThc.cpp)
+)
+*/
+
+/**
+ * @trick_parse{everything}
+ * @trick_link_dependency{idf/DacoThc.cpp}
+ */
+
+#ifndef DACO_THC_HH
+#define DACO_THC_HH
+
+#include "idf/InputLayout.hh"
+#include "idf/SingleInput.hh"
+
+namespace idf {
+
+/**
+ * %DacoThc DF0201 3 Axes 5 Switch Controller input layout
+ *
+ * @author Philip Kunz
+ */
+class DacoThc : public virtual InputLayout {
+
+   public:
+
+   /** constructor */
+   DacoThc();
+
+   /** destructor */
+   virtual ~DacoThc() {};
+
+   /** forward backward */
+   SingleInput forwardBackwardTranslation;
+
+   /** y axis */
+   SingleInput leftRightTranslation;
+
+   /** z axis */
+   SingleInput upDownTranslation;
+
+   /** switch */
+   SingleInput switch1;
+
+   protected:
+
+   virtual const std::vector<Configurable>& getConfigurables();
+
+};
+
+} // namespace
+
+#endif

include/idf/PythonInterface.hh

@@ -48,6 +48,7 @@
 
 // USB Devices
 #include "idf/UsbChProPedals.hh"
+#include "idf/UsbDacoThc.hh"
 #include "idf/UsbDualShock3.hh"
 #include "idf/UsbDualShock4.hh"
 #include "idf/UsbExtreme3dPro.hh"

include/idf/SingleCameraController.hh

@@ -19,6 +19,7 @@ LIBRARY DEPENDENCIES: (
 #include "idf/Input.hh"
 #include "idf/CompositeInput.hh"
 
+#include "idf/DacoThc.hh"
 #include "idf/DualShock.hh"
 #include "idf/Extreme3dPro.hh"
 #include "idf/Gravis.hh"
@@ -248,7 +249,6 @@ class SingleCameraController : public CameraController {
      */
     static SingleCameraController* createInstance(const SaitekX56Throttle& saitekX56Throttle);
 
-
     /**
      * creates a new SingleCameraController mapped to @a XBoxOne using appropriate defaults
      *
@@ -257,6 +257,15 @@ class SingleCameraController : public CameraController {
      * @return a new XBoxOne-based camera controller
      */
     static SingleCameraController* createInstance(const XBoxOne& xBoxOne);
+
+    /**
+     * creates a new SingleCameraController mapped to @a DacoThc using appropriate defaults
+     *
+     * @param dacoThc the inputs to use in the default mapping
+     *
+     * @return a new DacoThc-based camera controller
+     */
+    static SingleCameraController* createInstance(const DacoThc& dacoThc);
 };
 
 }

include/idf/SingleFlightController.hh

@@ -19,6 +19,7 @@ LIBRARY DEPENDENCIES: (
 #include "idf/Input.hh"
 #include "idf/CompositeInput.hh"
 
+#include "idf/DacoThc.hh"
 #include "idf/DualShock.hh"
 #include "idf/Extreme3dPro.hh"
 #include "idf/Gravis.hh"
@@ -271,6 +272,14 @@ class SingleFlightController : public FlightController {
      */
     static SingleFlightController* createInstance(const XBoxOne& xBoxOne);
 
+    /**
+     * creates a new SingleFlightController mapped to @a DacoThc using appropriate defaults
+     *
+     * @param dacoThc the inputs to use in the default mapping
+     *
+     * @return a new DacoThc-based camera controller
+     */
+    static SingleFlightController* createInstance(const DacoThc& dacoThc);
 
 };
 

include/idf/SingleRoboticsController.hh

@@ -19,6 +19,7 @@ LIBRARY DEPENDENCIES: (
 #include "idf/Input.hh"
 #include "idf/CompositeInput.hh"
 
+#include "idf/DacoThc.hh"
 #include "idf/DualShock.hh"
 #include "idf/Extreme3dPro.hh"
 #include "idf/Gravis.hh"
@@ -333,6 +334,17 @@ class SingleRoboticsController : public RoboticsController {
      * @return a new Er7Orion-based flight controller
      */
     static SingleRoboticsController* createInstance(const Er7Orion& er7Orion);
+
+
+    /**
+     * creates a new SingleRoboticsController mapped to @a DacoThc using appropriate defaults
+     *
+     * @param dacoThc the inputs to use in the default mapping
+     *
+     * @return a new DacoThc-based camera controller
+     */
+    static SingleRoboticsController* createInstance(const DacoThc& dacoThc);
+
 };
 
 }

include/idf/UsbDacoThc.hh

@@ -0,0 +1,35 @@
+/*
+PURPOSE:
+LIBRARY DEPENDENCIES: (
+(idf/UsbDacoThc.cpp)
+)
+*/
+
+/**
+ * @trick_parse{everything}
+ * @trick_link_dependency{idf/UsbDacoThc.cpp}
+ */
+
+#ifndef USB_DACO_THC_HH
+#define USB_DACO_THC_HH
+
+#include "idf/UsbDevice.hh"
+#include "idf/DacoThc.hh"
+
+namespace idf {
+
+/** USB DacoThc DF0201 3 Axis 5 Switch Controller */
+class UsbDacoThc : public UsbDevice, public DacoThc {
+
+   public:
+
+   /* constructor */
+   UsbDacoThc();
+
+   void decode(const std::vector<unsigned char>& data);
+
+};
+
+} // namespace idf
+
+#endif

source/idf/DacoThc.cpp

@@ -0,0 +1,22 @@
+#include "idf/DacoThc.hh"
+
+namespace idf {
+
+DacoThc::DacoThc() :
+   forwardBackwardTranslation(0, 65535, 32768),
+   leftRightTranslation(0, 65535, 32768),
+   upDownTranslation(0, 65535, 32768),
+   switch1(0, 1) {}
+
+const std::vector<InputLayout::Configurable>& DacoThc::getConfigurables() {
+   static std::vector<Configurable> inputs;
+   if (inputs.empty()) {
+      append(InputLayout::getConfigurables(), inputs);
+      inputs.push_back(Configurable(forwardBackwardTranslation, "Forward/Backward Translation", "forwardBackwardTranslation"));
+      inputs.push_back(Configurable(leftRightTranslation, "Left/Right Translation", "leftRightTranslation"));
+      inputs.push_back(Configurable(upDownTranslation, "Up/Down Translation", "upDownTranslation"));
+   }
+   return inputs;
+}
+
+} // namespace idf

source/idf/SingleCameraController.cpp

@@ -265,4 +265,21 @@ SingleCameraController* SingleCameraController::createInstance(const XBoxOne& xB
     return controller;
 }
 
+SingleCameraController* SingleCameraController::createInstance(const DacoThc& dacoThc) {
+    SingleInput* dummyInput = new SingleInput(-1, 1);
+
+    SingleCameraController *controller =
+      new SingleCameraController(
+        dacoThc.leftRightTranslation,
+        dacoThc.leftRightTranslation,
+        *dummyInput,
+        dacoThc.forwardBackwardTranslation);
+
+    controller->pan.setInverted(true);
+    controller->tilt.setInverted(true);
+    controller->zoom.setInverted(true);
+
+    return controller;
+}
+
 }

source/idf/SingleFlightController.cpp

@@ -346,4 +346,24 @@ SingleFlightController* SingleFlightController::createInstance(const XBoxOne& xB
     return controller;
 }
 
+SingleFlightController* SingleFlightController::createInstance(const DacoThc& dacoThc) {
+    SingleInput* dummyInput = new SingleInput(-1, 1);
+
+    SingleFlightController *controller =
+      new SingleFlightController(
+        *dummyInput,
+        *dummyInput,
+        *dummyInput,
+        dacoThc.forwardBackwardTranslation,
+        dacoThc.leftRightTranslation,
+        dacoThc.upDownTranslation
+      );
+
+    controller->x.setInverted(true);
+    controller->y.setInverted(true);
+    controller->z.setInverted(true);
+
+    return controller;
+}
+
 }

source/idf/SingleRoboticsController.cpp

@@ -491,4 +491,24 @@ SingleRoboticsController* SingleRoboticsController::createInstance(const Er7Orio
     return controller;
 }
 
+SingleRoboticsController* SingleRoboticsController::createInstance(const DacoThc& dacoThc) {
+    SingleInput* dummyInput = new SingleInput(-1, 1);
+
+    SingleRoboticsController *controller =
+      new SingleRoboticsController(
+      *dummyInput,
+      *dummyInput,
+      *dummyInput,
+      dacoThc.forwardBackwardTranslation,
+      dacoThc.leftRightTranslation,
+      dacoThc.upDownTranslation,
+      *dummyInput,
+      dacoThc.switch1);
+
+    controller->x.setInverted(true);
+    controller->y.setInverted(true);
+    controller->z.setInverted(true);
+
+    return controller;
+}
 }

source/idf/UsbDacoThc.cpp

@@ -0,0 +1,16 @@
+#include "idf/UsbDacoThc.hh"
+
+namespace idf {
+
+UsbDacoThc::UsbDacoThc() :
+   UsbDevice("Daco THC DF0201", 7) {}
+
+void UsbDacoThc::decode(const std::vector<unsigned char>& data) {
+   leftRightTranslation.setValue(((unsigned)data[1] << 8) | data[0]);
+   upDownTranslation.setValue(((unsigned)data[3] << 8) | data[2]);
+   forwardBackwardTranslation.setValue(((unsigned)data[5] << 8) | data[4]);
+
+   switch1.setValue(data[6] & 0x1);
+}
+
+} // namespace idf

source/idf/UsbDevice.cpp

@@ -30,6 +30,7 @@ UsbDevice::UsbDevice(const std::string& id, unsigned length) :
         }
     }
     identifications["Ch Pdo Pedals"].push_back(Identification(0x068E, 0x00F2, 0));
+    identifications["Daco THC DF0201"].push_back(Identification(0x1CFA, 0x0044, 0));
     identifications["Extreme 3D Pro"].push_back(Identification(0x046D, 0xC215, 0));
     identifications["Gravis"].push_back(Identification(0x0428, 0x4001, 0));
     identifications["Hagstrom KE-USB36"].push_back(Identification(0x03EB, 0x3650, 0));