From abdc556747e5b49549b84a7e020a0e9d6ab7619d Mon Sep 17 00:00:00 2001
From: Florian Jung <florian.a.jung@web.de>
Date: Mon, 26 Nov 2012 17:40:07 +0100
Subject: an freebsd angepasst

---
 mariokart01.cpp | 187 ++++++++++++++++++++++++++++++++------------------------
 1 file changed, 106 insertions(+), 81 deletions(-)

diff --git a/mariokart01.cpp b/mariokart01.cpp
index bc0be6f..3eb5a73 100644
--- a/mariokart01.cpp
+++ b/mariokart01.cpp
@@ -28,8 +28,12 @@
 #include <pthread.h>
 #include <semaphore.h>
 #include <fcntl.h>
-#include <linux/input.h>
-#include <linux/uinput.h>
+
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/uio.h>
+
 
 #include <iostream>
 #include <xcb/xcb.h>
@@ -217,14 +221,71 @@ void XorgGrabber::read(Mat& mat)
 
 
 
-#define THROTTLE_CNT_MAX 20
+#define THROTTLE_CNT_MAX 10
+
+
+
+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;
+}
+
 
 class Joystick
 {
 	public:
-		Joystick();
-		~Joystick();
-		
+		Joystick(const char* fifo);
 		void steer(float dir, float dead_zone=0.0);
 		void throttle(float t);
 		void press_a(bool);
@@ -232,58 +293,41 @@ class Joystick
 		
 		void process();
 		void reset();
-		
+	
 	private:
+		BUTTONS buttons;
+		void send_data();
+		int fifo_fd;
+
 		float throt;
 		int throttle_cnt;
 		
-		int fd;
 };
 
-Joystick::Joystick()
+Joystick::Joystick(const char* fifo)
 {
-	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);
+	if ((fifo_fd=open(fifo, 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();
 }
 
-Joystick::~Joystick()
+void Joystick::press_a(bool state)
 {
-	ioctl(fd, UI_DEV_DESTROY);
-	close(fd);
+	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;
@@ -291,11 +335,8 @@ void Joystick::steer(float dir, float dead_zone)
 	
 	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));
+	buttons.X_AXIS = (signed) (127.0*dir);
+	send_data();
 }
 
 void Joystick::throttle(float t)
@@ -314,34 +355,15 @@ void Joystick::process()
 	press_a((throttle_cnt < throt*THROTTLE_CNT_MAX));
 }
 
-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;
+	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();
 }
 
 
@@ -420,7 +442,7 @@ 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 +513,7 @@ void* thread1_func(void*)
 
 		cv::swap(gray_prev, gray);
 
-		
+		*/
 		// now we must stop accessing thread1_img, main() may access it
 		sem_post(&thread1_done);
 	}
@@ -511,12 +533,14 @@ try {
   
   
   string tmp;
-  Joystick joystick;
 
-  cout << "joystick initalized, now starting mupen." << endl;
   
   
   if (fork()==0) { system("mupen64plus --nogui --noask ~/MarioKart64.rom"); exit(0); }
+
+  sleep(2);
+
+  Joystick joystick("/var/tmp/mupen64plus_ctl");
   
   sleep(1);
   
@@ -552,9 +576,10 @@ try {
   getchar();*/
   
   cout << "waiting for game to start, press enter when started." << endl;
+  joystick.press_a(false);
   getchar();
 
-  XorgGrabber capture("glN64");//("Mupen64Plus OpenGL Video");
+  XorgGrabber capture("Mupen64Plus OpenGL Video");
 
   int road_0=77, road_1=77, road_2=77;
   
@@ -873,7 +898,7 @@ 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);
 
 
 
-- 
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