ps3.hpp

[詳解]

#pragma once
 
#include <array>
#include <cstddef>
#include <cstdint>
 
#include "tutrcos/peripheral/uart.hpp"
#include "tutrcos/utility.hpp"
 
#include <cstdio>
 
namespace tutrcos {
namespace module {
 
class PS3 {
public:
  enum class Axis {
    LEFT_X,
    LEFT_Y,
    RIGHT_X,
    RIGHT_Y,
  };
 
  enum class Key {
    UP,
    DOWN,
    RIGHT,
    LEFT,
    TRIANGLE,
    CROSS,
    CIRCLE,
    SQUARE = 8,
    L1,
    L2,
    R1,
    R2,
    START,
    SELECT,
  };
 
  PS3(peripheral::UART &uart) : uart_{uart} {}
 
  void update() {
    keys_prev_ = keys_;
 
    while (true) {
      for (size_t i = 0; i < 8; ++i) {
        if (buf_[0] == 0x80 || !uart_.receive(buf_.data(), 1, 0)) {
          break;
        }
      }
      if (buf_[0] != 0x80 || !uart_.receive(buf_.data() + 1, 7, 0)) {
        return;
      }
 
      uint8_t checksum = 0;
      for (size_t i = 1; i < 7; ++i) {
        checksum += buf_[i];
      }
 
      if ((checksum & 0x7F) == buf_[7]) {
        keys_ = (buf_[1] << 8) | buf_[2];
        if ((keys_ & 0x03) == 0x03) {
          keys_ &= ~0x03;
          keys_ |= 1 << 13;
        }
        if ((keys_ & 0x0C) == 0x0C) {
          keys_ &= ~0x0C;
          keys_ |= 1 << 14;
        }
        for (size_t i = 0; i < 4; ++i) {
          axes_[i] = (static_cast<float>(buf_[i + 3]) - 64) / 64;
        }
      }
 
      buf_.fill(0);
    }
  }
 
  float get_axis(Axis axis) { return axes_[utility::to_underlying(axis)]; }
 
  bool get_key(Key key) {
    return (keys_ & (1 << utility::to_underlying(key))) != 0;
  }
 
  bool get_key_down(Key key) {
    return ((keys_ ^ keys_prev_) & keys_ &
            (1 << utility::to_underlying(key))) != 0;
  }
 
  bool get_key_up(Key key) {
    return ((keys_ ^ keys_prev_) & keys_prev_ &
            (1 << utility::to_underlying(key))) != 0;
  }
 
private:
  peripheral::UART &uart_;
  std::array<uint8_t, 8> buf_{};
  std::array<float, 4> axes_{};
  uint16_t keys_ = 0;
  uint16_t keys_prev_ = 0;
};
 
} // namespace module
} // namespace tutrcos