Merge branch 'master' of archie:programme/mariokart

2 files changed, 374 insertions, 29 deletions

diff --git a/mariokart01.cpp b/mariokart01.cpp
index bc0be6f..f3e0039 100644
--- a/mariokart01.cpp
+++ b/mariokart01.cpp
@@ -20,6 +20,8 @@
  */
 
 
+#define FREEBSD
+
 #include <vector>
 #include <unistd.h>
 #include <stdio.h>
@@ -28,8 +30,17 @@
 #include <pthread.h>
 #include <semaphore.h>
 #include <fcntl.h>
+
+#ifdef LINUX
 #include <linux/input.h>
 #include <linux/uinput.h>
+#endif
+
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/uio.h>
+
 
 #include <iostream>
 #include <xcb/xcb.h>
@@ -217,14 +228,71 @@ void XorgGrabber::read(Mat& mat)
 
 
 
-#define THROTTLE_CNT_MAX 20
+#define THROTTLE_CNT_MAX 10
+
+
+#ifdef FREEBSD
+typedef union {
+    unsigned int Value;
+    struct {
+        unsigned R_DPAD       : 1;
+        unsigned L_DPAD       : 1;
+        unsigned D_DPAD       : 1;
+        unsigned U_DPAD       : 1;
+        unsigned START_BUTTON : 1;
+        unsigned Z_TRIG       : 1;
+        unsigned B_BUTTON     : 1;
+        unsigned A_BUTTON     : 1;
+
+        unsigned R_CBUTTON    : 1;
+        unsigned L_CBUTTON    : 1;
+        unsigned D_CBUTTON    : 1;
+        unsigned U_CBUTTON    : 1;
+        unsigned R_TRIG       : 1;
+        unsigned L_TRIG       : 1;
+        unsigned Reserved1    : 1;
+        unsigned Reserved2    : 1;
+
+        signed   X_AXIS       : 8;
+        signed   Y_AXIS       : 8;
+    };
+} BUTTONS;
+
+
+char* pack(const BUTTONS* buttons, char* buf)
+{
+	buf[0]= (buttons->A_BUTTON     ?  1 : 0) +
+	        (buttons->B_BUTTON     ?  2 : 0) +
+	        (buttons->L_TRIG       ?  4 : 0) +
+	        (buttons->R_TRIG       ?  8 : 0) +
+	        (buttons->Z_TRIG       ? 16 : 0) +
+	        (buttons->START_BUTTON ? 32 : 0) +
+	                                128;
+	                                 
+	buf[1]= (buttons->R_DPAD ?  1 : 0) +
+	        (buttons->L_DPAD ?  2 : 0) +
+	        (buttons->U_DPAD ?  4 : 0) +
+	        (buttons->D_DPAD ?  8 : 0) +
+	        ((buttons->X_AXIS & 128) ? 16 : 0) +
+	        ((buttons->Y_AXIS & 128) ? 32 : 0);
+	        
+	buf[2]= (buttons->R_CBUTTON ?  1 : 0) +
+	        (buttons->L_CBUTTON ?  2 : 0) +
+	        (buttons->U_CBUTTON ?  4 : 0) +
+	        (buttons->D_CBUTTON ?  8 : 0);
+	        
+	buf[3]= (buttons->X_AXIS & 127);
+	
+	buf[4]= (buttons->Y_AXIS & 127);
+	
+	return buf;
+}
+#endif
 
 class Joystick
 {
 	public:
 		Joystick();
-		~Joystick();
-		
 		void steer(float dir, float dead_zone=0.0);
 		void throttle(float t);
 		void press_a(bool);
@@ -232,14 +300,68 @@ class Joystick
 		
 		void process();
 		void reset();
-		
+	
 	private:
+#ifdef FREEBSD
+		BUTTONS buttons;
+		void send_data();
+		int fifo_fd;
+#endif
+
 		float throt;
 		int throttle_cnt;
 		
-		int fd;
 };
 
+#ifdef FREEBSD
+Joystick::Joystick()
+{
+	if ((fifo_fd=open("/var/tmp/mupen64plus_ctl", O_WRONLY )) == -1) {throw string(strerror(errno));}
+	cout << "opened" << endl;
+	if (fcntl(fifo_fd, F_SETFL, O_NONBLOCK) == -1) throw string("failed to set nonblocking io");
+	
+	reset();
+}
+
+void Joystick::press_a(bool state)
+{
+	buttons.A_BUTTON=state;
+	send_data();
+}
+
+void Joystick::send_data()
+{
+	char buf[5];
+	pack(&buttons, buf);
+	write(fifo_fd, buf, 5);
+}
+
+
+
+void Joystick::steer(float dir, float dead_zone)
+{
+	if (dir<-1.0) dir=-1.0;
+	if (dir>1.0) dir=1.0; 
+	
+	if (fabs(dir)<dead_zone) dir=0.0;
+	
+	buttons.X_AXIS = (signed) (127.0*dir);
+	send_data();
+}
+
+void Joystick::reset()
+{
+	memset(&buttons, sizeof(buttons), 0);
+	buttons.Z_TRIG=0;
+	buttons.R_TRIG=0;
+	buttons.L_TRIG=0;
+	buttons.A_BUTTON=0;
+	buttons.B_BUTTON=0;
+	send_data();
+}
+
+#endif
+#ifdef LINUX
 Joystick::Joystick()
 {
 	fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
@@ -298,21 +420,6 @@ void Joystick::steer(float dir, float dead_zone)
 	write(fd, &ev, sizeof(ev));
 }
 
-void Joystick::throttle(float t)
-{
-	if (t<0.0) t=0.0;
-	if (t>1.0) t=1.0;
-	
-	throt=t;
-}
-
-void Joystick::process()
-{
-	throttle_cnt++;
-	if (throttle_cnt>=THROTTLE_CNT_MAX) throttle_cnt=0;
-	
-	press_a((throttle_cnt < throt*THROTTLE_CNT_MAX));
-}
 
 void Joystick::press_a(bool a)
 {
@@ -344,6 +451,25 @@ void Joystick::reset()
 	cout << "A zeroed" << endl;
 }
 
+#endif
+
+
+void Joystick::throttle(float t)
+{
+	if (t<0.0) t=0.0;
+	if (t>1.0) t=1.0;
+	
+	throt=t;
+}
+
+void Joystick::process()
+{
+	throttle_cnt++;
+	if (throttle_cnt>=THROTTLE_CNT_MAX) throttle_cnt=0;
+	
+	press_a((throttle_cnt < throt*THROTTLE_CNT_MAX));
+}
+
 
 
 #define HIST_SMOOTH 7
@@ -420,7 +546,7 @@ void* thread1_func(void*)
 		
 		sem_wait(&thread1_go);
 		// now we have our private image at thread1_img.
-		
+/*		
 		cvtColor(thread1_img, gray, CV_BGR2GRAY);
 		
 		
@@ -491,7 +617,7 @@ void* thread1_func(void*)
 
 		cv::swap(gray_prev, gray);
 
-		
+		*/
 		// now we must stop accessing thread1_img, main() may access it
 		sem_post(&thread1_done);
 	}
@@ -511,13 +637,19 @@ try {
   
   
   string tmp;
-  Joystick joystick;
 
-  cout << "joystick initalized, now starting mupen." << endl;
-  
+#ifdef LINUX
+	Joystick joystick;
+	cout << "joystick initalized, now starting mupen." << endl;
+#endif
   
   if (fork()==0) { system("mupen64plus --nogui --noask ~/MarioKart64.rom"); exit(0); }
-  
+
+#ifdef FREEBSD
+  sleep(2);
+  Joystick joystick;
+#endif
+
   sleep(1);
   
   joystick.reset();
@@ -552,9 +684,18 @@ try {
   getchar();*/
   
   cout << "waiting for game to start, press enter when started." << endl;
+  joystick.press_a(false);
+  joystick.reset();
   getchar();
-
-  XorgGrabber capture("glN64");//("Mupen64Plus OpenGL Video");
+joystick.reset();
+joystick.press_a(true);
+getchar();
+#ifdef LINUX
+  XorgGrabber capture("glN64");
+#endif
+#ifdef FREEBSD
+  XorgGrabber capture("Mupen64Plus OpenGL Video");
+#endif
 
   int road_0=77, road_1=77, road_2=77;
   
@@ -873,7 +1014,7 @@ try {
 	  joystick.steer(- 4* flopow(  (((float)left_sum / (left_sum+right_sum))-0.5  )*2.0 , 1.6)  ,0.05);
   }
   else
-	joystick.steer(0.0);
+    joystick.steer(0.0);
 
 
 
diff --git a/mupen64plus-input-sdl.patch b/mupen64plus-input-sdl.patch
new file mode 100644
index 0000000..20e1f91
--- /dev/null
+++ b/mupen64plus-input-sdl.patch
@@ -0,0 +1,204 @@
+diff -ru mupen64plus-bundle-src-1.99.4-orig/source/mupen64plus-input-sdl/src/plugin.c mupen64plus-bundle-src-1.99.4/source/mupen64plus-input-sdl/src/plugin.c
+--- mupen64plus-bundle-src-1.99.4-orig/source/mupen64plus-input-sdl/src/plugin.c	2012-11-20 20:38:20.000000000 +0100
++++ mupen64plus-bundle-src-1.99.4/source/mupen64plus-input-sdl/src/plugin.c	2012-11-26 18:17:51.000000000 +0100
+@@ -24,6 +24,12 @@
+ #include <stdio.h>
+ #include <stdlib.h>
+ #include <string.h>
++#include <errno.h>
++#include <fcntl.h>
++#include <unistd.h>
++#include <sys/types.h>
++#include <sys/stat.h>
++#include <sys/uio.h>
+ 
+ #include <SDL.h>
+ 
+@@ -133,6 +139,151 @@
+ 
+ static CONTROL temp_core_controlinfo[4];
+ 
++/* FIFO-Control functions by flo */
++static BUTTONS unpack_fifo_data(const char* buf)
++{
++	BUTTONS buttons;
++	
++	buttons.A_BUTTON     = (buf[0] &  1) ? 1 : 0;
++	buttons.B_BUTTON     = (buf[0] &  2) ? 1 : 0;
++	buttons.L_TRIG       = (buf[0] &  4) ? 1 : 0;
++	buttons.R_TRIG       = (buf[0] &  8) ? 1 : 0;
++	buttons.Z_TRIG       = (buf[0] & 16) ? 1 : 0;
++	buttons.START_BUTTON = (buf[0] & 32) ? 1 : 0;
++	buttons.R_DPAD       = (buf[1] &  1) ? 1 : 0;
++	buttons.L_DPAD       = (buf[1] &  2) ? 1 : 0;
++	buttons.U_DPAD       = (buf[1] &  4) ? 1 : 0;
++	buttons.D_DPAD       = (buf[1] &  8) ? 1 : 0;
++	buttons.R_CBUTTON    = (buf[2] &  2) ? 1 : 0;
++	buttons.L_CBUTTON    = (buf[2] &  4) ? 1 : 0;
++	buttons.U_CBUTTON    = (buf[2] &  8) ? 1 : 0;
++	buttons.D_CBUTTON    = (buf[2] & 16) ? 1 : 0;
++	
++	buttons.X_AXIS = buf[3] | ((buf[1] & 16) ? 128 : 0);
++	buttons.Y_AXIS = buf[4] | ((buf[1] & 32) ? 128 : 0);
++	
++	return buttons;
++}
++
++typedef struct
++{
++	int fd;
++	int good;
++	char buf[5];
++	int bufptr;
++	int recovering;
++	BUTTONS buttons;
++	
++} ctl_fifo_t;
++
++static ctl_fifo_t init_ctl_fifo(const char* path)
++{
++	ctl_fifo_t ctl_fifo;
++	ctl_fifo.fd=-1;
++	ctl_fifo.good=0;
++	ctl_fifo.bufptr=0;
++	ctl_fifo.recovering=0;
++
++	if (unlink(path) < 0)
++		if (errno!=ENOENT)
++		{
++			fprintf(stderr, "The control fifo (%s) could not be unlinked, continuing without remote control support: %s", path, strerror(errno));
++			ctl_fifo.good=0;
++			return ctl_fifo;
++		}
++
++
++	if (mkfifo(path, S_IRWXU)!=0)
++	{
++		fprintf(stderr, "The control fifo (%s) could not be created, continuing without remote control support: %s", path, strerror(errno));
++		ctl_fifo.good=0;
++		return ctl_fifo;
++	}
++
++	if ((ctl_fifo.fd=open(path, O_RDONLY | O_NONBLOCK))<0)
++	{
++		fprintf(stderr, "The control fifo (%s) could not be opened, continuing without remote control support: %s", path, strerror(errno));
++		ctl_fifo.good=0;
++		return ctl_fifo;
++	}
++
++	if (fcntl(ctl_fifo.fd, F_SETFL, O_NONBLOCK)==-1)
++	{
++		fprintf(stderr, "Could not set nonblocking io mode on control fifo, continuing without remote control support: %s", strerror(errno));
++		close(ctl_fifo.fd);
++		ctl_fifo.fd=-1;
++		ctl_fifo.good=0;
++		return ctl_fifo;
++	}
++	
++	ctl_fifo.good=1;
++	
++	return ctl_fifo;
++}
++
++static BUTTONS read_buttons_from_fifo(ctl_fifo_t* ctl_fifo)
++{
++	ssize_t bytes;
++	
++	if (ctl_fifo->recovering)
++	{
++		do
++		{
++			ctl_fifo->bufptr=0;
++			if ((bytes = read(ctl_fifo->fd, ctl_fifo->buf, 1)) == -1 && errno!=EAGAIN)
++			{
++				printf("read error!\n");
++			}
++			
++			//if (bytes==1) printf("\tread %c\n", ctl_fifo->buf[0]);
++		} while ((ctl_fifo->buf[0] & 128)==0 && bytes>0);
++		
++		if (ctl_fifo->buf[0] & 128)
++		{
++			printf("successfully recovered :)\n");
++			ctl_fifo->recovering=0;
++			ctl_fifo->bufptr=1;
++		}
++	}
++	
++	
++	if (!ctl_fifo->recovering)
++		do
++		{
++			if ((bytes = read(ctl_fifo->fd, ctl_fifo->buf+ctl_fifo->bufptr, sizeof(ctl_fifo->buf)-ctl_fifo->bufptr)) == -1
++				&& (errno!=EAGAIN))
++			{
++				printf("read error!\n");
++			}
++			else if (bytes>0)
++			{
++				ctl_fifo->bufptr+=bytes;
++				if (ctl_fifo->bufptr==sizeof(ctl_fifo->buf))
++				{
++					ctl_fifo->bufptr=0;
++					
++					if (ctl_fifo->buf[0] & 128)
++					{
++						ctl_fifo->buttons = unpack_fifo_data(ctl_fifo->buf);
++					}
++					else
++					{
++						printf("fifo data corrupt, entering recovery mode\n");
++						ctl_fifo->recovering=1;
++						break;
++					}					
++				}
++			}
++		} while (bytes>0);
++	
++	return ctl_fifo->buttons;
++}
++
++static ctl_fifo_t ctl_fifo;
++static int ctl_fifo_inited=0;
++static int ctl_fifo_takeover=0;
++
++
+ /* Mupen64Plus plugin functions */
+ EXPORT m64p_error CALL PluginStartup(m64p_dynlib_handle CoreLibHandle, void *Context,
+                                    void (*DebugCallback)(void *, int, const char *))
+@@ -454,6 +605,12 @@
+     SDL_Event event;
+     unsigned char mstate;
+ 
++	if (ctl_fifo_inited==0)
++	{
++		ctl_fifo=init_ctl_fifo("/var/tmp/mupen64plus_ctl");
++		ctl_fifo_inited=1;
++	}
++
+     // Handle keyboard input first
+     doSdlKeys(SDL_GetKeyState(NULL));
+     doSdlKeys(myKeyState);
+@@ -596,7 +753,21 @@
+ #ifdef _DEBUG
+     DebugMessage(M64MSG_VERBOSE, "Controller #%d value: 0x%8.8X\n", Control, *(int *)&controller[Control].buttons );
+ #endif
+-    *Keys = controller[Control].buttons;
++    
++    if (Control==0)
++    {
++		BUTTONS fromfifo = read_buttons_from_fifo(&ctl_fifo);
++		if (fromfifo.A_BUTTON)
++			ctl_fifo_takeover=1;
++		
++		if (ctl_fifo_takeover)
++			*Keys = fromfifo;
++		else
++			*Keys = controller[Control].buttons;
++		
++	}
++	else
++		*Keys = controller[Control].buttons;
+ 
+     /* handle mempack / rumblepak switching (only if rumble is active on joystick) */
+ #ifdef __linux__