client/guiclient.cpp

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// gluicli.cpp : Defines the entry point for the console application.
//

#include <unistd.h>
#include "../trucknet/trucknet.h"
#include "../trucknet/unp.h"
#include "../trucknet/TCPmsg.h"
#include "../trucknet/msg.h"

#include "joystick.h"
#include "command.h"

#include <GL/openglut.h>
//#include <stdarg.h>
//#include <stdio.h>
//#include <stdlib.h>


//#include <string>
using std::string;
using std::cout;
using std::endl;
using std::cerr;


TCPmsg *m;
int processNet(void);
int joystickEnable = 0;
float joyX=0, joyY=0, joyZ=0;
Joystick joy;
Command cmd;


void usage(void) {
        cout <<
                "usage : guiclient ip <address> | [no-net] \n"
                "  ip <address>  - use this as server address (default = 'localhost')\n"
                "  no-net        - don't use networking, won't attempt to connect server\n";
}

void sendMessages(int data) {
        if (m != NULL) {
        
                // Send output messages
                if (joystickEnable) {
                        *m << startmsg("joyX") << - joyX << endmsg;
                        *m << startmsg("joyY") << - joyY << (joyZ+1)*0.1 << endmsg;
                }

                *m << startmsg("heartbeat") << endmsg;
                
                // Processes any input messages
                processNet();
        }
        
        // reschedule this function
        glutTimerFunc(500, sendMessages, data);
        //cerr << '.';
}

int processNet(void) {
        int result;
        result = m->recvNoWait();       
        if (result == -1) {     
                if (m->error() == EAGAIN) {
                        return 0;
                }
                else {
                        cerr << "processNET() : error with TCPmsg.recv()" << endl;
                        exit(EXIT_FAILURE);
                }
        }
        
        while (m->dispatch()) { 
                cout << "Recieved messge : '" << m->type();
                while(m) {      
                        cout << ' ' << *m;
                }
                cout << '\'' << endl;
        }
        
        return 0;
}


// GLUT callback Handlers 

static void
display(void) {
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        joy.display();
        cmd.display();
        
        glutSwapBuffers();
}

static void
resize(int width, int height)
{
    glViewport(0, 0, width, height);

        joy.resize(width, height);
}

static void
joystick(unsigned int buttons, int xaxis, int yaxis, int zaxis)
{
        joy.joystick(buttons, xaxis, yaxis, zaxis);

        joyX = xaxis * 0.001;
        joyY = yaxis * 0.001;
        joyZ = zaxis * 0.001;
}

static void
key(unsigned char key, int x, int y)
{
        cout << "key = " << (int) key << endl;

        cmd.key(key,x,y);
        
        switch (key)
    {
    case 27 :
                cout << "Quiting..." << endl; 
                //exit(0); 
                glutLeaveMainLoop();
                break;
        }

        //cout << "ctrl-'" << (int) key << "'" << endl;
        if (glutGetModifiers() == GLUT_ACTIVE_ALT) { 
                switch (key)
                {
                        case 'j':
                        case 'J':                       
                                joystickEnable ^= 1;                    
                                cout << "joystick " << (joystickEnable ? "enabled" : "disabled") << endl; 
                                break;
                        case 'q' :
                        case 'Q' :
                                cout << "Quiting..." << endl; 
                                //exit(0); 
                                glutLeaveMainLoop();
                                break;
                }
        }

        glutPostRedisplay();
}



/* Program entry point */
int
main(int argc, char *argv[])
{
    int i;

        // let glut parse out its command line flags
    glutInit(&argc, argv);

        // parse the command line flags for us
        char *serverIpAddr = "localhost";       
        for (int i = 1; i<argc; ++i) {
                if (strcmp(argv[i], "ip") == 0) {
                        ++i;
                        if (argc > i) {
                                serverIpAddr = argv[i];
                        }
                        else {
                                cerr << "error : missing IP address / name after 'ip'" << endl;
                                usage();
                                return -1;
                        }
                }
                else if (strcmp(argv[i], "no-net")==0) {
                        serverIpAddr = NULL;
                }
                else {
                        cerr << "error : invalue option '" << argv[i] << "'" << endl;
                        usage();
                        return -1;
                }
        }
        
        // create TcpMsg connection to server
        if (serverIpAddr != NULL) {
                cout << "Connecting to server at '" << serverIpAddr << "' ..." << endl;
                m = new TCPmsg(serverIpAddr, GUI_PORT);
                cout << "Connected!'" << endl;
        } else {
                m = NULL;
        }               
        
    glutInitWindowSize(640,480);
    glutInitWindowPosition(40,40);
    glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);                              
    glutCreateWindow("RAPTOR truck client + OpenGLUT Joystick");

    glutReshapeFunc(resize);
    glutDisplayFunc(display);
    glutJoystickFunc(joystick,50);
    glutKeyboardFunc(key);

    glClearColor(1,1,1,1);
    glEnable(GL_CULL_FACE);
    glCullFace(GL_BACK);

    glEnable(GL_DEPTH_TEST);
    glDepthFunc(GL_LESS);

    glEnable(GL_LIGHT0);
    glEnable(GL_NORMALIZE);
    glEnable(GL_COLOR_MATERIAL);

        // Setup joystick
    if( glutDeviceGet(GLUT_HAS_JOYSTICK) )
    {
        printf("Joystick detected.\n");
        printf("%d joystick axes.\n",glutDeviceGet(GLUT_JOYSTICK_AXES));
        printf("Joystick poll rate is %d.\n",glutDeviceGet(GLUT_JOYSTICK_POLL_RATE));
        printf("Joystick %savailable.\n",glutDeviceGet(GLUT_OWNS_JOYSTICK) ? "" : "un");
    }
    else
        printf("Joystick not detected.\n");

        
        // Setup periodic function for sending / recieving messages
        // from server / truck
        glutTimerFunc(1000, sendMessages, 0 /*data*/);

    glutMainLoop();

    return EXIT_SUCCESS;
}

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