joystick und xorggrabber ausgelagert

1 files changed, 219 insertions, 0 deletions

diff --git a/joystick.cpp b/joystick.cpp
new file mode 100644
index 0000000..92c2d5e
--- /dev/null
+++ b/joystick.cpp
@@ -0,0 +1,219 @@
+#include "joystick.h"
+#include "os.h"
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include <string>
+#include <iostream>
+#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>
+
+using namespace std;
+
+#define THROTTLE_CNT_MAX 10
+
+#ifdef FREEBSD
+static 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
+
+
+
+#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();
+}
+
+Joystick::~Joystick()
+{
+	close(fifo_fd);
+}
+#endif // FREEBSD
+#ifdef LINUX
+Joystick::Joystick()
+{
+	fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK);
+	if(fd < 0) {
+		cerr << "open uinput failed. do you have privilegies to access it? (try chown flo:root /dev/uinput)" << endl;
+		exit(EXIT_FAILURE);
+	}
+	
+	int ret;
+	
+	ret=ioctl(fd, UI_SET_EVBIT, EV_KEY);
+	ret=ioctl(fd, UI_SET_EVBIT, EV_SYN);
+	ret=ioctl(fd, UI_SET_KEYBIT	, BTN_A);
+	ioctl(fd, UI_SET_EVBIT, EV_ABS);
+	ioctl(fd, UI_SET_ABSBIT, ABS_X);
+	ioctl(fd, UI_SET_ABSBIT, ABS_Y);
+	
+	struct uinput_user_dev meh;
+	memset(&meh,0,sizeof(meh));
+	
+	strcpy(meh.name, "flotest");
+	meh.id.bustype=BUS_USB;
+	meh.id.vendor=0xdead;
+	meh.id.product=0xbeef;
+	meh.id.version=1;
+	meh.absmin[ABS_X]=0;
+	meh.absmax[ABS_X]=10000;
+	meh.absmin[ABS_Y]=0;
+	meh.absmax[ABS_Y]=10000;
+	
+	
+	ret=write(fd, &meh, sizeof(meh));
+	
+	ioctl(fd,UI_DEV_CREATE);
+	
+	reset();
+}
+
+Joystick::~Joystick()
+{
+	ioctl(fd, UI_DEV_DESTROY);
+	close(fd);
+}
+
+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;
+	
+	struct input_event ev;
+	ev.type=EV_ABS;
+	ev.code=ABS_X;
+	ev.value=5000+dir*5000;
+	write(fd, &ev, sizeof(ev));
+}
+
+
+void Joystick::press_a(bool a)
+{
+	struct input_event ev;
+	ev.type=EV_KEY;
+	ev.code=BTN_A;
+	ev.value =  a ? 1 : 0;
+	write(fd, &ev, sizeof(ev));
+}
+
+void Joystick::reset()
+{
+	struct input_event ev;
+	ev.type=EV_ABS;
+	ev.code=ABS_Y;
+	ev.value=5001;
+	write(fd, &ev, sizeof(ev));
+	ev.value=5000;
+	write(fd, &ev, sizeof(ev));
+	
+	cout << "Y zeroed" << endl;
+	
+	steer(0.1);
+	steer(0);
+	cout << "X zeroed" << endl;
+	
+	press_a(true);
+	press_a(false);
+	cout << "A zeroed" << endl;
+}
+
+#endif // LINUX
+
+
+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));
+}
+