Merge pull request #95 from nasa/94-add-a-new-apem-device

Add new APEM HC as IndustrialProducts4

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

@@ -46,6 +46,7 @@ def useFirstAvailableDevice(self):
           trick.UsbGravis,
           trick.UsbIndustrialProducts,
           trick.UsbIndustrialProducts3,
+          trick.UsbIndustrialProducts4,
           trick.UsbSaitek,
           trick.UsbSaitekX52,
           trick.UsbSaitekX56Stick,

CMakeLists.txt

@@ -34,6 +34,7 @@ set(SRC_IDF
     source/idf/HagstromKEUSB36.cpp
     source/idf/IndustrialProducts2.cpp
     source/idf/IndustrialProducts3.cpp
+    source/idf/IndustrialProducts4.cpp
     source/idf/IndustrialProducts.cpp
     source/idf/Input.cpp
     source/idf/InputDevice.cpp
@@ -81,6 +82,7 @@ set(SRC_IDF
     source/idf/UsbHagstromKEUSB36FS.cpp
     source/idf/UsbIndustrialProducts2.cpp
     source/idf/UsbIndustrialProducts3.cpp
+    source/idf/UsbIndustrialProducts4.cpp
     source/idf/UsbIndustrialProducts.cpp
     source/idf/UsbKeyboard.cpp
     source/idf/UsbMadCatz.cpp

apps/configurator/configurator.cpp

@@ -16,6 +16,7 @@
 #include "idf/UsbIndustrialProducts.hh"
 #include "idf/UsbIndustrialProducts2.hh"
 #include "idf/UsbIndustrialProducts3.hh"
+#include "idf/UsbIndustrialProducts4.hh"
 #include "idf/UsbMadCatz.hh"
 #include "idf/UsbSaitek.hh"
 #include "idf/UsbSaitekX52.hh"
@@ -68,6 +69,7 @@ void run() {
     idf::UsbIndustrialProducts industrialProducts;
     idf::UsbIndustrialProducts2 industrialProducts2;
     idf::UsbIndustrialProducts3 industrialProducts3;
+    idf::UsbIndustrialProducts4 industrialProducts4;
     idf::UsbMadCatz madcatz;
     idf::UsbSaitek saitek;
     idf::UsbSaitekX52 saitekX52;
@@ -90,6 +92,7 @@ void run() {
     devices.push_back(&industrialProducts);
     devices.push_back(&industrialProducts2);
     devices.push_back(&industrialProducts3);
+    devices.push_back(&industrialProducts4);
     devices.push_back(&madcatz);
     devices.push_back(&saitek);
     devices.push_back(&saitekX52);

include/idf/IndustrialProducts4.hh

@@ -0,0 +1,76 @@
+/*
+PURPOSE:
+LIBRARY DEPENDENCIES: (
+(idf/IndustrialProducts4.cpp)
+)
+*/
+
+/**
+ * @trick_parse{everything}
+ * @trick_link_dependency{idf/IndustrialProducts4.cpp}
+ */
+
+#ifndef INDUSTRIAL_PRODUCTS4_HH
+#define INDUSTRIAL_PRODUCTS4_HH
+
+#include "idf/InputLayout.hh"
+#include "idf/SingleInput.hh"
+
+namespace idf {
+
+/**
+ * %IndustrialProducts4 hand controller's input layout
+ *
+ * @author Philip Kunz
+ */
+class IndustrialProducts4 : public virtual InputLayout {
+
+    public:
+
+    /** constructor */
+    IndustrialProducts4();
+
+    /** destructor */
+    virtual ~IndustrialProducts4() {};
+
+    /** forward-backward pivoting */
+    SingleInput forwardBackwardPivot;
+
+    /** left-right pivoting */
+    SingleInput leftRightPivot;
+
+    /** twisting */
+    SingleInput twist;
+
+    /** the trigger button */
+    SingleInput trigger;
+
+    /** the grip button */
+    SingleInput grip;
+
+    /** the upper trigger of the switch */
+    SingleInput switchUp;
+
+    /** the lower trigger of the switch */
+    SingleInput switchDown;
+
+    /** up-down pivoting of the analog hat */
+    SingleInput hatUpDownPivot;
+
+    /** left-right pivoting of the analog hat */
+    SingleInput hatLeftRightPivot;
+
+    /** the upper button */
+    SingleInput button1;
+
+    /* the lower button*/
+    SingleInput button2;
+
+    protected:
+
+    virtual const std::vector<Configurable>& getConfigurables();
+};
+
+}
+
+#endif

include/idf/PythonInterface.hh

@@ -57,6 +57,7 @@
 #include "idf/UsbIndustrialProducts.hh"
 #include "idf/UsbIndustrialProducts2.hh"
 #include "idf/UsbIndustrialProducts3.hh"
+#include "idf/UsbIndustrialProducts4.hh"
 #include "idf/UsbKeyboard.hh"
 #include "idf/UsbSaitek.hh"
 #include "idf/UsbSaitekX52.hh"

include/idf/SingleCameraController.hh

@@ -25,6 +25,7 @@ LIBRARY DEPENDENCIES: (
 #include "idf/IndustrialProducts.hh"
 #include "idf/IndustrialProducts2.hh"
 #include "idf/IndustrialProducts3.hh"
+#include "idf/IndustrialProducts4.hh"
 #include "idf/SaitekX52.hh"
 #include "idf/SaitekX56Stick.hh"
 #include "idf/SaitekX56Throttle.hh"
@@ -211,6 +212,15 @@ class SingleCameraController : public CameraController {
      */
     static SingleCameraController* createInstance(const IndustrialProducts3& industrialProducts3);
 
+    /**
+     * creates a new SingleCameraController mapped to @a industrialProducts4 using appropriate defaults
+     *
+     * @param industrialProducts4 the inputs to use in the default mapping
+     *
+     * @return a new industrialProducts4-based camera controller
+     */
+    static SingleCameraController* createInstance(const IndustrialProducts4& industrialProducts4);
+
     /**
      * creates a new SingleCameraController mapped to @a SaitekX52 using appropriate defaults
      *

include/idf/SingleFlightController.hh

@@ -25,6 +25,7 @@ LIBRARY DEPENDENCIES: (
 #include "idf/IndustrialProducts.hh"
 #include "idf/IndustrialProducts2.hh"
 #include "idf/IndustrialProducts3.hh"
+#include "idf/IndustrialProducts4.hh"
 #include "idf/SaitekX52.hh"
 #include "idf/SaitekX56Stick.hh"
 #include "idf/SpaceBase.hh"
@@ -234,6 +235,15 @@ class SingleFlightController : public FlightController {
      */
     static SingleFlightController* createInstance(const IndustrialProducts3& industrialProducts3);
 
+    /*
+     * creates a new SingleFlightController mapped to @a industrialProducts4 using appropriate defaults
+     *
+     * @param industrialProducts4 the inputs to use in the default mapping
+     *
+     * @return a new IndustrialProducts4-based flight controller
+     */
+    static SingleFlightController* createInstance(const IndustrialProducts4& industrialProducts4);
+
     /**
      * creates a new SingleFlightController mapped to @a SaitekX52 using appropriate defaults
      *

include/idf/SingleRoboticsController.hh

@@ -26,6 +26,7 @@ LIBRARY DEPENDENCIES: (
 #include "idf/IndustrialProducts.hh"
 #include "idf/IndustrialProducts2.hh"
 #include "idf/IndustrialProducts3.hh"
+#include "idf/IndustrialProducts4.hh"
 #include "idf/SaitekX52.hh"
 #include "idf/SaitekX56Stick.hh"
 #include "idf/SpaceExplorer.hh"
@@ -297,6 +298,15 @@ class SingleRoboticsController : public RoboticsController {
      */
     static SingleRoboticsController* createInstance(const IndustrialProducts3& industrialProducts3);
 
+    /*
+     * creates a new SingleRoboticsController mapped to @a industrialProducts4 using appropriate defaults
+     *
+     * @param industrialProducts4 the inputs to use in the default mapping
+     *
+     * @return a new industrialProducts4-based robotics controller
+     */
+    static SingleRoboticsController* createInstance(const IndustrialProducts4& industrialProducts4);
+
     /*
      * creates a new SingleRoboticsController mapped to @a SaitekX52 using appropriate defaults
      *

include/idf/UsbIndustrialProducts4.hh

@@ -0,0 +1,35 @@
+/*
+PURPOSE:
+LIBRARY DEPENDENCIES: (
+(idf/UsbIndustrialProducts4.cpp)
+)
+*/
+
+/**
+ * @trick_parse{everything}
+ * @trick_link_dependency{idf/UsbIndustrialProducts4.cpp}
+ */
+
+#ifndef USB_INDUSTRIAL_PRODUCTS4_HH
+#define USB_INDUSTRIAL_PRODUCTS4_HH
+
+#include "idf/UsbDevice.hh"
+#include "idf/IndustrialProducts4.hh"
+
+namespace idf {
+
+/** USB IndustrialProducts joystick. Implementation of APEM HJRMCSAUYGLEA Hand Controller */
+class UsbIndustrialProducts4 : public UsbDevice, public IndustrialProducts4 {
+
+    public:
+
+    /** constructor */
+    UsbIndustrialProducts4();
+
+    void decode(const std::vector<unsigned char>& data);
+
+};
+
+}
+
+#endif

source/idf/IndustrialProducts4.cpp

@@ -0,0 +1,31 @@
+#include "idf/IndustrialProducts4.hh"
+
+namespace idf {
+
+IndustrialProducts4::IndustrialProducts4() :
+    forwardBackwardPivot(0, 1023, 512),
+    leftRightPivot(0, 1023, 512),
+    twist(0, 1023, 512),
+    trigger(0, 1),
+    grip(0,1),
+    switchUp(0, 1),
+    switchDown(0, 1),
+    hatUpDownPivot(0, 1023, 512),
+    hatLeftRightPivot(0, 1023, 512),
+    button1(0, 1),
+    button2(0, 1) {}
+
+const std::vector<InputLayout::Configurable>& IndustrialProducts4::getConfigurables() {
+    static std::vector<Configurable> inputs;
+    if (inputs.empty()) {
+        append(InputLayout::getConfigurables(), inputs);
+        inputs.push_back(Configurable(forwardBackwardPivot, "Forward/Backward Pivot", "forwardBackwardPivot"));
+        inputs.push_back(Configurable(leftRightPivot, "Left/Right Pivot", "leftRightPivot"));
+        inputs.push_back(Configurable(twist, "Twist", "twist"));
+        inputs.push_back(Configurable(hatUpDownPivot, "Hat Up/Down Pivot", "hatUpDownPivot"));
+        inputs.push_back(Configurable(hatLeftRightPivot, "Hat Left/Right Pivot", "hatLeftRightPivot"));
+    }
+    return inputs;
+}
+
+}

source/idf/SingleCameraController.cpp

@@ -191,6 +191,21 @@ SingleCameraController* SingleCameraController::createInstance(const IndustrialP
     return controller;
 }
 
+SingleCameraController* SingleCameraController::createInstance(const IndustrialProducts4& industrialProducts) {
+    SingleCameraController *controller =
+      new SingleCameraController(
+      industrialProducts.twist,
+      industrialProducts.forwardBackwardPivot,
+      industrialProducts.leftRightPivot,
+      industrialProducts.hatUpDownPivot);
+
+    controller->pan.setInverted(true);
+    controller->tilt.setInverted(true);
+
+    return controller;
+}
+
+
 SingleCameraController* SingleCameraController::createInstance(const SaitekX52& saitekX52) {
     CompositeInput* spin = new CompositeInput();
     spin->addInput(saitekX52.toggle1);

source/idf/SingleFlightController.cpp

@@ -268,6 +268,26 @@ SingleFlightController* SingleFlightController::createInstance(const IndustrialP
     return controller;
 }
 
+SingleFlightController* SingleFlightController::createInstance(const IndustrialProducts4& industrialProducts) {
+    CompositeInput* z = new CompositeInput();
+    z->addInput(industrialProducts.switchUp);
+    z->addInput(industrialProducts.switchDown, -1);
+
+    SingleFlightController *controller =
+      new SingleFlightController(
+      industrialProducts.leftRightPivot,
+      industrialProducts.forwardBackwardPivot,
+      industrialProducts.twist,
+      industrialProducts.hatUpDownPivot,
+      industrialProducts.hatLeftRightPivot,
+      *z);
+
+    controller->pitch.setInverted(true);
+    controller->yaw.setInverted(true);
+    controller->y.setInverted(true);
+
+    return controller;
+}
 
 SingleFlightController* SingleFlightController::createInstance(const SaitekX52& saitekX52) {
     CompositeInput* z = new CompositeInput();

source/idf/SingleRoboticsController.cpp

@@ -411,6 +411,31 @@ SingleRoboticsController* SingleRoboticsController::createInstance(const Industr
     return controller;
 }
 
+SingleRoboticsController* SingleRoboticsController::createInstance(const IndustrialProducts4& industrialProducts) {
+    CompositeInput* z = new CompositeInput();
+    z->addInput(industrialProducts.switchUp);
+    z->addInput(industrialProducts.switchDown, -1);
+
+    SingleRoboticsController *controller =
+      new SingleRoboticsController(
+      industrialProducts.leftRightPivot,
+      industrialProducts.forwardBackwardPivot,
+      industrialProducts.twist,
+      industrialProducts.hatUpDownPivot,
+      industrialProducts.hatLeftRightPivot,
+      *z,
+      industrialProducts.trigger,
+      industrialProducts.button1);
+
+    controller->pitch.setInverted(true);
+    controller->yaw.setInverted(true);
+    controller->y.setInverted(true);
+
+    controller->rateMode.setToggle(true);
+
+    return controller;
+}
+
 SingleRoboticsController* SingleRoboticsController::createInstance(const SaitekX52& saitekX52) {
     CompositeInput* z = new CompositeInput();
     z->addInput(saitekX52.buttonA);

source/idf/UsbDevice.cpp

@@ -37,6 +37,7 @@ UsbDevice::UsbDevice(const std::string& id, unsigned length) :
     identifications["Industrial Products"].push_back(Identification(0x068E, 0x002E, 0));
     identifications["Industrial Products 2"].push_back(Identification(0x068E, 0x0019, 0));
     identifications["Industrial Products 3"].push_back(Identification(0x068E, 0x0026, 0));
+    identifications["Industrial Products 4"].push_back(Identification(0x068E, 0x0177, 0));
     identifications["Playstation 3 Controller"].push_back(Identification(0x054C, 0x0268, 0));
     identifications["Playstation 4 Controller"].push_back(Identification(0x054C, 0x05C4, 0));
     identifications["Playstation 4 Controller"].push_back(Identification(0x054C, 0x09CC, 3));

source/idf/UsbIndustrialProducts4.cpp

@@ -0,0 +1,25 @@
+#include "idf/UsbIndustrialProducts4.hh"
+
+namespace idf {
+
+UsbIndustrialProducts4::UsbIndustrialProducts4() :
+    UsbDevice("Industrial Products 4", 11) {}
+
+void UsbIndustrialProducts4::decode(const std::vector<unsigned char>& data) {
+    leftRightPivot.setValue(((unsigned)data[1]) << 8 | data[0]);
+    forwardBackwardPivot.setValue(((unsigned)data[3]) << 8 | data[2]);
+    twist.setValue(((unsigned)data[5]) << 8 | data[4]);
+
+    hatLeftRightPivot.setValue(((unsigned)data[7]) << 8 | data[6]);
+    hatUpDownPivot.setValue(((unsigned)data[9]) << 8 | data[8]);
+
+    trigger.setValue(data[10] & 1);
+    grip.setValue(data[10] >> 1 & 1);
+    switchUp.setValue(data[10] >> 2 & 1);
+    switchDown.setValue(data[10] >> 3 & 1);
+    button1.setValue(data[10] >> 4 & 1);
+    button2.setValue(data[10] >> 5 & 1);
+
+}
+
+}