joyconfig.cpp

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/*
 * joyconfig.cpp
 *
 *  Created on: Oct 24, 2011
 *      Author: mriedel
 */


#include <telekyb_hid/Joystick.hpp>
#include <telekyb_base/TeleKyb.hpp>

#include <hidapi.h>

using namespace telekyb;

int main(int argc, char* argv[])
{
        TeleKyb::init(argc, argv, "tJoyConfig");

        int res;
        unsigned char buf[256];
        #define MAX_STR 255
        //wchar_t wstr[MAX_STR];
        hid_device *handle;
        //int i;

        struct hid_device_info *devs, *cur_dev;

        devs = hid_enumerate(0x0, 0x0);
        cur_dev = devs;
        while (cur_dev) {
                printf("Device Found\n  type: %04hx %04hx\n  path: %s\n  serial_number: %ls", cur_dev->vendor_id, cur_dev->product_id, cur_dev->path, cur_dev->serial_number);
                printf("\n");
                printf("  Manufacturer: %ls\n", cur_dev->manufacturer_string);
                printf("  Product:      %ls\n", cur_dev->product_string);
                printf("  Release:      %hx\n", cur_dev->release_number);
                printf("  Interface:    %d\n",  cur_dev->interface_number);
                printf("\n");
                cur_dev = cur_dev->next;
        }
        hid_free_enumeration(devs);


        handle = hid_open(0x054c, 0x0268, NULL);
        //handle = hid_open(0x046d, 0xc218, NULL);
        if (!handle) {
                printf("unable to open device\n");
                return 1;
        }

        hid_set_nonblocking(handle, 1);

        while(ros::ok()) {
                if ((res = hid_read(handle, buf, sizeof(buf))) > 0) {
                        for (int i = 0; i < res; i++) {
                                printf("%02hhx ", buf[i]);
                        }
                        printf("\n");
                }
                usleep(1000);
        }


        TeleKyb::shutdown();
        return 0;
}