KinectStick.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __KINECT_STICK_H__
#define __KINECT_STICK_H__

#include "ErrorBase.h"
#include "GenericHID.h"

class KinectStick : public GenericHID, public ErrorBase
{
public:
    explicit KinectStick(int id);
    virtual float GetX(JoystickHand hand = kRightHand);
    virtual float GetY(JoystickHand hand = kRightHand);
    virtual float GetZ();
    virtual float GetTwist();
    virtual float GetThrottle();
    virtual float GetRawAxis(uint32_t axis);

    virtual bool GetTrigger(JoystickHand hand = kRightHand);
    virtual bool GetTop(JoystickHand hand = kRightHand);
    virtual bool GetBumper(JoystickHand hand = kRightHand);
    virtual bool GetRawButton(uint32_t button);

private:
    void GetData();
    float ConvertRawToFloat(int8_t charValue);

    typedef union
    {
        struct
        {
            uint8_t size;
            uint8_t id;
            struct
            {
                unsigned char axis[6];
                unsigned short buttons;
            } rawSticks[2];
        } formatted;
        char data[18];
    } KinectStickData;

    int m_id;
    static uint32_t _recentPacketNumber;
    static KinectStickData _sticks;
};

#endif