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linux_joystick.cpp
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linux_joystick.cpp
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#ifdef LINUX
/* based on
* jstest.c Version 1.2
*
* Copyright (c) 1996-1999 Vojtech Pavlik
*
* Sponsored by SuSE
*/
#include <sys/ioctl.h>
#include <sys/time.h>
#include <sys/types.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <stdlib.h>
#include <stdint.h>
#include <iostream>
#include <sstream>
#include <linux/input.h>
#include <linux/joystick.h>
#include "r-tech1/input/linux_joystick.h"
#include "r-tech1/debug.h"
using namespace std;
static const char *axis_names[ABS_MAX + 1] = {
"X", "Y", "Z", "Rx", "Ry", "Rz", "Throttle", "Rudder",
"Wheel", "Gas", "Brake", "?", "?", "?", "?", "?",
"Hat0X", "Hat0Y", "Hat1X", "Hat1Y", "Hat2X", "Hat2Y", "Hat3X", "Hat3Y",
"?", "?", "?", "?", "?", "?", "?",
};
static const char *button_names[KEY_MAX - BTN_MISC + 1] = {
"Btn0", "Btn1", "Btn2", "Btn3", "Btn4", "Btn5", "Btn6", "Btn7", "Btn8", "Btn9", "?", "?", "?", "?", "?", "?",
"LeftBtn", "RightBtn", "MiddleBtn", "SideBtn", "ExtraBtn", "ForwardBtn", "BackBtn", "TaskBtn", "?", "?", "?", "?", "?", "?", "?", "?",
"Trigger", "ThumbBtn", "ThumbBtn2", "TopBtn", "TopBtn2", "PinkieBtn", "BaseBtn", "BaseBtn2", "BaseBtn3", "BaseBtn4", "BaseBtn5", "BaseBtn6", "BtnDead",
"BtnA", "BtnB", "BtnC", "BtnX", "BtnY", "BtnZ", "BtnTL", "BtnTR", "BtnTL2", "BtnTR2", "BtnSelect", "BtnStart", "BtnMode", "BtnThumbL", "BtnThumbR", "?",
"?", "?", "?", "?", "?", "?", "?", "?", "?", "?", "?", "?", "?", "?", "?", "?",
"WheelBtn", "Gear up",
};
/* tries to open one /dev/input/jsX and return an open file descriptor */
static int read_joystick(){
for (int num = 0; num < 100; num++){
ostringstream name;
name << "/dev/input/js" << num;
string raw = name.str();
int fd = open(raw.c_str(), O_RDONLY);
if (fd >= 0){
return fd;
}
}
return -1;
}
LinuxJoystick::LinuxJoystick():
button(0),
axis(0){
file = read_joystick();
if (file == -1){
Global::debug(0) << "Could not open joystick" << endl;
} else {
Global::debug(1) << "Opened joystick " << endl;
/* grab useful info */
ioctl(file, JSIOCGVERSION, &version);
ioctl(file, JSIOCGAXES, &axes);
ioctl(file, JSIOCGBUTTONS, &buttons);
ioctl(file, JSIOCGNAME(NAME_LENGTH), name);
ioctl(file, JSIOCGAXMAP, axmap);
ioctl(file, JSIOCGBTNMAP, btnmap);
/* put joystick in nonblocking mode */
fcntl(file, F_SETFL, O_NONBLOCK);
axis = new int[axes];
memset(axis, 0, sizeof(int) * axes);
button = new char[buttons];
memset(button, 0, sizeof(char) * buttons);
Global::debug(1) << "Joystick axis: " << (int)axes << " buttons: " << (int)buttons << endl;
}
}
LinuxJoystick::~LinuxJoystick(){
delete[] axis;
delete[] button;
if (file != -1){
close(file);
}
}
void LinuxJoystick::poll(){
struct js_event js;
if (file == -1){
return;
}
/* from an email by Vojtech Pavlik:
* "if you #include <linux/joystick.h>, the struct is defined in such a way
* that gcc doesn't add padding."
*/
int bytes = read(file, &js, sizeof(struct js_event));
if (bytes == sizeof(struct js_event)){
Global::debug(4) << "Event: type " << (int)js.type << " time " << (int)js.time << " number " << (int)js.number << " value " << (int)js.value << endl;
if (errno != EAGAIN) {
perror("joystick: error reading");
return;
}
switch (js.type & ~JS_EVENT_INIT) {
case JS_EVENT_BUTTON:
button[js.number] = js.value;
break;
case JS_EVENT_AXIS:
axis[js.number] = js.value;
break;
}
}
}
/*
JoystickInput LinuxJoystick::readAll(){
JoystickInput input;
if (file == -1){
return input;
}
if (axes > 0){
if (axis[0] < 0){
input.left = true;
}
if (axis[0] > 0){
input.right = true;
}
if (axes > 1){
if (axis[1] < 0){
input.up = true;
}
if (axis[1] > 0){
input.down = true;
}
}
}
if (buttons > 0 && button[0]){
input.button1 = true;
}
if (buttons > 1 && button[1]){
input.button2 = true;
}
if (buttons > 2 && button[2]){
input.button3 = true;
}
if (buttons > 3 && button[3]){
input.button4 = true;
}
Global::debug(1) << "joystick input up " << input.up
<< " down " << input.down
<< " left " << input.left
<< " right " << input.right
<< " button1 " << input.button1
<< " button2 " << input.button2
<< " button3 " << input.button3
<< " button4 " << input.button4
<< endl;
return input;
}
*/
#if 0
int main (int argc, char **argv)
{
int fd, i;
unsigned char axes = 2;
unsigned char buttons = 2;
int version = 0x000800;
char name[NAME_LENGTH] = "Unknown";
uint16_t btnmap[KEY_MAX - BTN_MISC + 1];
uint8_t axmap[ABS_MAX + 1];
if (argc < 2 || argc > 3 || !strcmp("--help", argv[1])) {
puts("");
puts("Usage: jstest [<mode>] <device>");
puts("");
puts("Modes:");
puts(" --normal One-line mode showing immediate status");
puts(" --old Same as --normal, using 0.x interface");
puts(" --event Prints events as they come in");
puts(" --nonblock Same as --event, in nonblocking mode");
puts(" --select Same as --event, using select() call");
puts("");
return 1;
}
if ((fd = open(argv[argc - 1], O_RDONLY)) < 0) {
perror("jstest");
return 1;
}
ioctl(fd, JSIOCGVERSION, &version);
ioctl(fd, JSIOCGAXES, &axes);
ioctl(fd, JSIOCGBUTTONS, &buttons);
ioctl(fd, JSIOCGNAME(NAME_LENGTH), name);
ioctl(fd, JSIOCGAXMAP, axmap);
ioctl(fd, JSIOCGBTNMAP, btnmap);
printf("Driver version is %d.%d.%d.\n",
version >> 16, (version >> 8) & 0xff, version & 0xff);
printf("Joystick (%s) has %d axes (", name, axes);
for (i = 0; i < axes; i++)
printf("%s%s", i > 0 ? ", " : "", axis_names[axmap[i]]);
puts(")");
printf("and %d buttons (", buttons);
for (i = 0; i < buttons; i++)
printf("%s%s", i > 0 ? ", " : "", button_names[btnmap[i] - BTN_MISC]);
puts(").");
printf("Testing ... (interrupt to exit)\n");
/*
* Old (0.x) interface.
*/
if ((argc == 2 && version < 0x010000) || !strcmp("--old", argv[1])) {
struct JS_DATA_TYPE js;
while (1) {
if (read(fd, &js, JS_RETURN) != JS_RETURN) {
perror("\njstest: error reading");
return 1;
}
printf("Axes: X:%3d Y:%3d Buttons: A:%s B:%s\r",
js.x, js.y, (js.buttons & 1) ? "on " : "off", (js.buttons & 2) ? "on " : "off");
fflush(stdout);
usleep(10000);
}
}
/*
* Event interface, single line readout.
*/
if (argc == 2 || !strcmp("--normal", argv[1])) {
int *axis;
char *button;
int i;
struct js_event js;
axis = calloc(axes, sizeof(int));
button = calloc(buttons, sizeof(char));
while (1) {
if (read(fd, &js, sizeof(struct js_event)) != sizeof(struct js_event)) {
perror("\njstest: error reading");
return 1;
}
switch(js.type & ~JS_EVENT_INIT) {
case JS_EVENT_BUTTON:
button[js.number] = js.value;
break;
case JS_EVENT_AXIS:
axis[js.number] = js.value;
break;
}
printf("\r");
if (axes) {
printf("Axes: ");
for (i = 0; i < axes; i++)
printf("%2d:%6d ", i, axis[i]);
}
if (buttons) {
printf("Buttons: ");
for (i = 0; i < buttons; i++)
printf("%2d:%s ", i, button[i] ? "on " : "off");
}
fflush(stdout);
}
}
/*
* Event interface, events being printed.
*/
if (!strcmp("--event", argv[1])) {
struct js_event js;
while (1) {
if (read(fd, &js, sizeof(struct js_event)) != sizeof(struct js_event)) {
perror("\njstest: error reading");
return 1;
}
printf("Event: type %d, time %d, number %d, value %d\n",
js.type, js.time, js.number, js.value);
fflush(stdout);
}
}
/*
* Reading in nonblocking mode.
*/
if (!strcmp("--nonblock", argv[1])) {
struct js_event js;
fcntl(fd, F_SETFL, O_NONBLOCK);
while (1) {
while (read(fd, &js, sizeof(struct js_event)) == sizeof(struct js_event)) {
printf("Event: type %d, time %d, number %d, value %d\n",
js.type, js.time, js.number, js.value);
}
if (errno != EAGAIN) {
perror("\njstest: error reading");
return 1;
}
usleep(10000);
}
}
/*
* Using select() on joystick fd.
*/
if (!strcmp("--select", argv[1])) {
struct js_event js;
struct timeval tv;
fd_set set;
tv.tv_sec = 1;
tv.tv_usec = 0;
while (1) {
FD_ZERO(&set);
FD_SET(fd, &set);
if (select(fd+1, &set, NULL, NULL, &tv)) {
if (read(fd, &js, sizeof(struct js_event)) != sizeof(struct js_event)) {
perror("\njstest: error reading");
return 1;
}
printf("Event: type %d, time %d, number %d, value %d\n",
js.type, js.time, js.number, js.value);
}
}
}
printf("jstest: unknown mode: %s\n", argv[1]);
return -1;
}
#endif
#endif

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