//
// Joy2TX, Version 1.2
// --------------------------------------------------
// PC Joystick -> SC-8000RF Interface -> RC-TX Unit
// Sample/Demo Application for Windows NT/2K/XP/NET
// --------------------------------------------------
// Copyright (c) 2005 by Antoni Sawicki <as@tenox.tc>
// Licensed under GPL. Terms and conditions apply
// SC-8000RF Interface is a product of Tom's RC
// This version has been sponsored by TCNI
// --------------------------------------------------
//

#include <windows.h>
#include <stdio.h>
#include <mmsystem.h>

#pragma comment (lib, "winmm.lib")

#define COMM "COM8"
#define JOYSTICK 0
#define INTERVAL 30  

#define VER "Joy2TX: Version 1.1, Copyright (c) 2005 by Antoni Sawicki <as@tenox.tc>"

#define HI 1
#define LO 0

int main(void) {

	//
	// init stuff
	//

	HANDLE con;
	CONSOLE_SCREEN_BUFFER_INFO console_info;
	COORD cursor_home = {0,6}, cursor_zero = {0,0};

	HANDLE comm;
	DCB dcb;
	JOYINFOEX joy;

	DWORD wchars;
	char string[1024];
	char commbuff[32];

	// joystick axes
	int x, y, z, r;
	unsigned char *px, *py, *pz, *pr;

	joy.dwSize=sizeof(JOYINFOEX);
	joy.dwFlags=JOY_RETURNX|JOY_RETURNY|JOY_RETURNZ|JOY_RETURNV|JOY_RETURNU|JOY_RETURNR;


	// setting realtime priority is recommended in order for all data to be sent at same time;
	// this application takes very little CPU time and shouldn't cause any delays to the system;
	// on another hand if another application running simultaneously (for example video decoder)
	// would be taking some CPU - it would cause violent shaking to servos, etc.
	SetPriorityClass(GetCurrentProcess(), REALTIME_PRIORITY_CLASS);

	// console i/o
	con = GetStdHandle(STD_OUTPUT_HANDLE);

	GetConsoleScreenBufferInfo(con, &console_info);
	SetConsoleCursorPosition(con, cursor_zero);
	FillConsoleOutputCharacter(con, ' ', console_info.dwSize.X * console_info.dwSize.Y, cursor_zero, &wchars);
	SetConsoleTitle("Joy2TX");

	printf("%s\n[Interface: SC8000RF] [IN: JOY%d] [OUT: %s] [FR: %dms] [PRI: RealTime]\n", VER, JOYSTICK, COMM, INTERVAL);

	// serial i/o
	comm=CreateFile(COMM, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);

	if(comm==INVALID_HANDLE_VALUE) {
		fprintf(stderr, "I/O Error: Unable to open %s:.\n", COMM);
		return 1;
	}

	// before we do anything else - purge all the garbage
	if(!PurgeComm(comm, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR )) {
		fprintf(stderr, "I/O Error: Unable to purge %s:.\n", COMM);
		return 1;
	}

	// get current settings
	if(!GetCommState(comm, &dcb)) {
		fprintf(stderr, "I/O Error: Unable to retreive %s: state.\n", COMM);
		return 1;
	}


	dcb.BaudRate = CBR_9600;     // 9600 BPS
	dcb.ByteSize = 8;            // 8
	dcb.Parity = NOPARITY;       // N
	dcb.StopBits = ONESTOPBIT;   // 1
	dcb.fParity = NOPARITY;
	dcb.fOutxCtsFlow = TRUE;     // enable CTS transmit handshaking
	dcb.fOutxDsrFlow = FALSE;
	dcb.fDtrControl = DTR_CONTROL_ENABLE; // DTR disabled, but allows controll lines
	dcb.fDsrSensitivity = FALSE;
	dcb.fTXContinueOnXoff = TRUE; //
	dcb.fOutX = FALSE;            // disable xon/xoff completely
	dcb.fInX = FALSE;             //
	dcb.fErrorChar = FALSE;
	dcb.fNull = FALSE;
	dcb.fBinary = TRUE;
	dcb.fRtsControl = RTS_CONTROL_ENABLE; // RTS enabled but no handshake & allow controll lines
	dcb.fAbortOnError = FALSE;    // continue on error...(there should be error handling implemented instead...)

	// set new settings
 	if(!SetCommState(comm, &dcb)) {
		fprintf(stderr, "I/O Error: Unable to set communication parameters for %s:.\n", COMM);
		return 1;
	}

	// remove break signal (if any set)
	EscapeCommFunction(comm, CLRBREAK);


	printf("====[ STATUS ]=========================================================\n\n        Joystick        Channel\n ---------------------------------");

	//
	// main loop
	//

	while(joyGetPosEx(JOYSTICK, &joy)==JOYERR_NOERROR) {

		// conversion table
		x=(joy.dwXpos/4.681)+8000;
		y=(joy.dwYpos/4.681)+8000;
		z=(joy.dwZpos/4.681)+8000;
		r=(joy.dwRpos/4.681)+8000;


		// Console window update
		_snprintf(string, 1024, 
			" X: %12d  ->  4: %6d   \n"
			" Y: %12d  ->  2: %6d   \n"
			" Z: %12d  ->  1: %6d   \n"
			" R: %12d  ->  3: %6d   \n"
			"\n\n",
			joy.dwXpos, x,
			joy.dwYpos, y,
			joy.dwZpos, z,
			joy.dwRpos, r
		);

		SetConsoleCursorPosition(con, cursor_home);
		WriteConsole(con, string, strlen(string), &wchars, NULL);

		// Send out the data
		px=(unsigned char *) &x;
		py=(unsigned char *) &y;
		pz=(unsigned char *) &z;
		pr=(unsigned char *) &r;

		_snprintf(commbuff, 32, "~~\0170%c%c%c%c%c%c%c%c", 
			pz[HI], pz[LO], // ch1
			py[HI], py[LO], // ch2
			pr[HI], pr[LO], // ch3
			px[HI], px[LO]  // ch4
		);

		WriteFile(comm, commbuff, strlen(commbuff), &wchars, NULL);

		// flush output to comm port & sleep
		FlushFileBuffers(comm);

		Sleep(INTERVAL);
	}

	return 0;
}