diff options
Diffstat (limited to 'joystick.cpp')
| -rw-r--r-- | joystick.cpp | 219 |
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)); +} + |