v1.2版本改为通过xbox系列手柄进行遥控,并增加智能模式和手动模式
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#include "XboxControllerNotificationParser.h"
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#define XBOX_CONTROLLER_INDEX_BUTTONS_DIR 12
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#define XBOX_CONTROLLER_INDEX_BUTTONS_MAIN 13
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#define XBOX_CONTROLLER_INDEX_BUTTONS_CENTER 14
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#define XBOX_CONTROLLER_INDEX_BUTTONS_SHARE 15
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XboxControllerNotificationParser::XboxControllerNotificationParser() {
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btnA = btnB = btnX = btnY = false;
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btnShare = btnStart = btnSelect = btnXbox = false;
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btnLB = btnRB = btnLS = btnRS = false;
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btnDirUp = btnDirLeft = btnDirRight = btnDirDown = false;
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joyLHori = joyLVert = joyRHori = joyRVert = 0xffff / 2;
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trigLT = trigRT = 0;
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}
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uint8_t XboxControllerNotificationParser::update(uint8_t* data, size_t length) {
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if (length != expectedDataLen) {
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return XBOX_CONTROLLER_ERROR_INVALID_LENGTH;
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}
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for (uint8_t i = 0; i < expectedDataLen; i++)
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{
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rx_buf[i]=data[i];
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}
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uint8_t btnBits;
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btnBits = data[XBOX_CONTROLLER_INDEX_BUTTONS_MAIN];
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btnA = btnBits & 0b00000001;
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btnB = btnBits & 0b00000010;
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btnX = btnBits & 0b00001000;
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btnY = btnBits & 0b00010000;
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btnLB = btnBits & 0b01000000;
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btnRB = btnBits & 0b10000000;
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btnBits = data[XBOX_CONTROLLER_INDEX_BUTTONS_CENTER];
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btnSelect = btnBits & 0b00000100;
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btnStart = btnBits & 0b00001000;
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btnXbox = btnBits & 0b00010000;
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btnLS = btnBits & 0b00100000;
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btnRS = btnBits & 0b01000000;
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btnBits = data[XBOX_CONTROLLER_INDEX_BUTTONS_SHARE];
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btnShare = btnBits & 0b00000001;
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btnBits = data[XBOX_CONTROLLER_INDEX_BUTTONS_DIR];
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btnDirUp = btnBits == 1 || btnBits == 2 || btnBits == 8;
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btnDirRight = 2 <= btnBits && btnBits <= 4;
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btnDirDown = 4 <= btnBits && btnBits <= 6;
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btnDirLeft = 6 <= btnBits && btnBits <= 8;
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joyLHori = (uint16_t)data[0] | ((uint16_t)data[1] << 8);
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joyLVert = (uint16_t)data[2] | ((uint16_t)data[3] << 8);
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joyRHori = (uint16_t)data[4] | ((uint16_t)data[5] << 8);
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joyRVert = (uint16_t)data[6] | ((uint16_t)data[7] << 8);
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trigLT = (uint16_t)data[8] | ((uint16_t)data[9] << 8);
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trigRT = (uint16_t)data[10] | ((uint16_t)data[11] << 8);
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return 0;
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}
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void XboxControllerNotificationParser::convertU16TU8Arr(uint16_t vU16,
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uint8_t* data) {
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data[0] = vU16 & 0xff;
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data[1] = vU16 >> 8;
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}
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uint8_t XboxControllerNotificationParser::toArr(uint8_t* data, size_t length) {
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if (length < expectedDataLen) {
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return XBOX_CONTROLLER_ERROR_INVALID_LENGTH;
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}
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convertU16TU8Arr(joyLHori, &data[0]);
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convertU16TU8Arr(joyLVert, &data[2]);
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convertU16TU8Arr(joyRHori, &data[4]);
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convertU16TU8Arr(joyRVert, &data[6]);
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convertU16TU8Arr(trigLT, &data[8]);
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convertU16TU8Arr(trigRT, &data[10]);
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{
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uint8_t btnBits = 0;
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if (btnA) btnBits |= 0b00000001;
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if (btnB) btnBits |= 0b00000010;
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if (btnX) btnBits |= 0b00001000;
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if (btnY) btnBits |= 0b00010000;
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if (btnLB) btnBits |= 0b01000000;
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if (btnRB) btnBits |= 0b10000000;
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data[XBOX_CONTROLLER_INDEX_BUTTONS_MAIN] = btnBits;
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}
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{
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uint8_t btnBits = 0;
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if (btnSelect) btnBits |= 0b00000100;
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if (btnStart) btnBits |= 0b00001000;
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if (btnXbox) btnBits |= 0b00010000;
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if (btnLS) btnBits |= 0b00100000;
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if (btnRS) btnBits |= 0b01000000;
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data[XBOX_CONTROLLER_INDEX_BUTTONS_CENTER] = btnBits;
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}
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{
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uint8_t btnBits = 0;
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if (btnShare) btnBits |= 0b00000001;
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data[XBOX_CONTROLLER_INDEX_BUTTONS_SHARE] = btnBits;
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}
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{
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uint8_t btnBits = 0;
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if (btnDirUp) {
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if (btnDirRight) {
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btnBits = 2;
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} else if (btnDirLeft) {
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btnBits = 8;
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} else {
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btnBits = 1;
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}
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} else if (btnDirDown) {
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if (btnDirRight) {
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btnBits = 4;
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} else if (btnDirLeft) {
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btnBits = 6;
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} else {
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btnBits = 5;
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}
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} else {
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if (btnDirRight) {
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btnBits = 3;
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} else if (btnDirLeft) {
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btnBits = 7;
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} else {
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btnBits = 0;
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}
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}
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data[XBOX_CONTROLLER_INDEX_BUTTONS_DIR] = btnBits;
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}
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return 0;
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}
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String XboxControllerNotificationParser::toString() {
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// clang-format off
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String str = String("") +
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"btnY: " + String(btnY) + " " +
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"btnX: " + String(btnX) + " " +
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"btnB: " + String(btnB) + " " +
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"btnA: " + String(btnA) + " " +
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"btnLB: " + String(btnLB) + " " +
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"btnRB: " + String(btnRB) + "\n" +
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"btnSelect: " + String(btnSelect) + " " +
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"btnStart: " + String(btnStart) + " " +
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"btnXbox: " + String(btnXbox) + " " +
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"btnShare: " + String(btnShare) + " " +
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"btnLS: " + String(btnLS) + " " +
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"btnRS: " + String(btnRS) + "\n" +
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"btnDirUp: " + String(btnDirUp) + " " +
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"btnDirRight: " + String(btnDirRight) + " " +
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"btnDirDown: " + String(btnDirDown) + " " +
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"btnDirLeft: " + String(btnDirLeft) + "\n"
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"joyLHori: " + String(joyLHori) + "\n" +
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"joyLVert: " + String(joyLVert) + "\n" +
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"joyRHori: " + String(joyRHori) + "\n" +
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"joyRVert: " + String(joyRVert) + "\n" +
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"trigLT: " + String(trigLT) + "\n" +
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"trigRT: " + String(trigRT) + "\n";
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// clang-format on
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return str;
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}
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