Source/Contrib/ComplexSceneManager/Sensor/InterfaceSensors/Devices/OSGLinux3AxisEventInterface.cpp

   1 /*---------------------------------------------------------------------------*\
   2  *                                OpenSG                                     *
   3  *                                                                           *
   4  *                                                                           *
   5  *               Copyright (C) 2000-2006 by the OpenSG Forum                 *
   6  *                                                                           *
   7  *                            www.opensg.org                                 *
   8  *                                                                           *
   9  *   contact: dirk@opensg.org, gerrit.voss@vossg.org, jbehr@zgdv.de          *
  10  *                                                                           *
  11 \*---------------------------------------------------------------------------*/
  12 /*---------------------------------------------------------------------------*\
  13  *                                License                                    *
  14  *                                                                           *
  15  * This library is free software; you can redistribute it and/or modify it   *
  16  * under the terms of the GNU Library General Public License as published    *
  17  * by the Free Software Foundation, version 2.                               *
  18  *                                                                           *
  19  * This library is distributed in the hope that it will be useful, but       *
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of                *
  21  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU         *
  22  * Library General Public License for more details.                          *
  23  *                                                                           *
  24  * You should have received a copy of the GNU Library General Public         *
  25  * License along with this library; if not, write to the Free Software       *
  26  * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.                 *
  27  *                                                                           *
  28 \*---------------------------------------------------------------------------*/
  29 /*---------------------------------------------------------------------------*\
  30  *                                Changes                                    *
  31  *                                                                           *
  32  *                                                                           *
  33  *                                                                           *
  34  *                                                                           *
  35  *                                                                           *
  36  *                                                                           *
  37 \*---------------------------------------------------------------------------*/
  38
  39 //---------------------------------------------------------------------------
  40 //  Includes
  41 //---------------------------------------------------------------------------
  42
  43 #include <cstdlib>
  44 #include <cstdio>
  45
  46 #include "OSGConfig.h"
  47 #include "OSGLinux3AxisEventInterface.h"
  48 #include "OSGThreadManager.h"
  49 #include "OSGLinuxEventOptions.h"
  50 #include "OSGConceptPropertyChecks.h"
  51
  52 #if defined(__linux)
  53 #include <fcntl.h>
  54 #include <termios.h>
  55 #include <sys/ioctl.h>
  56 #include <linux/input.h>
  57 #include <sys/time.h>
  58 #endif
  59
  60 OSG_BEGIN_NAMESPACE
  61
  62 /***************************************************************************\
  63  *                           Class variables                               *
  64 \***************************************************************************/
  65
  66 MPThreadType Linux3AxisEventInterface::_type(
  67     "Linux3AxisEventInterface",
  68     "OSGThread",
  69     static_cast<CreateThreadF>(Linux3AxisEventInterface::create),
  70     NULL);
  71
  72 /***************************************************************************\
  73  *                           Class methods                                 *
  74 \***************************************************************************/
  75
  76 /***************************************************************************\
  77  *                           Instance methods                              *
  78 \***************************************************************************/
  79
  80 /*-------------------------------------------------------------------------*\
  81  -  private                                                                 -
  82 \*-------------------------------------------------------------------------*/
  83
  84 Linux3AxisEventInterface *Linux3AxisEventInterface::find(Char8 *szName)
  85 {
  86     BaseThread *pThread = ThreadManager::the()->findThread(szName);
  87
  88     return dynamic_cast<Linux3AxisEventInterface *>(pThread);
  89 }
  90
  91 Linux3AxisEventInterface::ObjTransitPtr
  92     Linux3AxisEventInterface::get(Char8 *szName, bool bGlobal)
  93 {
  94     BaseThreadTransitPtr pThread = ThreadManager::the()->getThread(
  95         szName,
  96         bGlobal,
  97         "Linux3AxisEventInterface");
  98
  99     return dynamic_pointer_cast<Linux3AxisEventInterface>(pThread);
 100 }
 101
 102
 103 BaseThread *Linux3AxisEventInterface::create(const Char8  *szName,
 104                                                    UInt32  uiId,
 105                                                    bool    bGlobal)
 106 {
 107     return new Linux3AxisEventInterface(szName, uiId, bGlobal);
 108 }
 109
 110 Linux3AxisEventInterface::Linux3AxisEventInterface(const Char8  *szName,
 111                                                          UInt32  uiId,
 112                                                          bool    bGlobal) :
 113      Inherited(szName,
 114                uiId,
 115                bGlobal),
 116     _rTxRange (450.f  ),
 117     _rTyRange (450.f  ),
 118     _rTzRange (450.f  ),
 119     _rRxRange (450.f  ),
 120     _rRyRange (450.f  ),
 121     _rRzRange (450.f  ),
 122     _iFileDesc(-1     ),
 123 #ifdef __linux
 124     _rFds     (       ),
 125 #endif
 126     _szPort   (       )
 127 {
 128 }
 129
 130 Linux3AxisEventInterface::~Linux3AxisEventInterface(void)
 131 {
 132 }
 133
 134 bool Linux3AxisEventInterface::start(void)
 135 {
 136     bool returnValue = Inherited::start();
 137
 138 #if defined(__linux)
 139
 140     if(_szPort.empty() == true)
 141         return false;
 142
 143     _iFileDesc = open(_szPort.c_str(), O_RDONLY); // | O_NONBLOCK);
 144
 145     if(_iFileDesc == -1)
 146     {
 147         FWARNING(("Could not open device at %s\n", _szPort.c_str()));
 148
 149         returnValue = false;
 150     }
 151     else
 152     {
 153         int iGrab = 1;
 154
 155         ioctl(_iFileDesc, EVIOCGRAB, &iGrab);
 156
 157         osgSinkUnusedWarning(iGrab);
 158     }
 159
 160 #endif
 161
 162     return returnValue;
 163 }
 164
 165 void Linux3AxisEventInterface::shutdown(void)
 166 {
 167 #if defined(__linux)
 168     if(_iFileDesc != -1)
 169         ::close(_iFileDesc);
 170 #endif
 171 }
 172
 173 void Linux3AxisEventInterface::workProc(void)
 174 {
 175     while(_bRunning == true)
 176     {
 177         getRawData();
 178
 179         if(_uiNapTime > 0)
 180             osgSleep(_uiNapTime);
 181     }
 182 }
 183
 184 #ifdef OSG_DEBUG_OLD_C_CASTS
 185
 186 // For my debugging, should not be active for any other case (GV)
 187 #ifdef __FDMASK
 188 # undef __FDMASK
 189 # define __FDMASK(d)     (__fd_mask(1) << ((d) % __NFDBITS))
 190 #endif
 191 #ifdef __FD_MASK
 192 # undef __FD_MASK
 193 # define __FD_MASK(d) (__fd_mask(1) << ((d) % __NFDBITS))
 194 #endif
 195 #ifdef  __NFDBITS
 196 # undef  __NFDBITS
 197 # define __NFDBITS      (8 * int(sizeof (__fd_mask)))
 198 #endif
 199 #if defined(__FD_SET) && defined(__FD_ELT) && defined(__FD_MASK)
 200 # undef __FD_SET
 201 # define __FD_SET(d, set) \
 202     (void ((__FDS_BITS (set)[__FD_ELT (d)] |= __FD_MASK (d))))
 203 #endif
 204 #if  defined(__FD_CLR) && defined(__FD_ELT) && defined(__FD_MASK)
 205 #  undef __FD_CLR
 206 #  define __FD_CLR(d, set) \
 207     (void ((__FDS_BITS (set)[__FD_ELT (d)] &= ~__FD_MASK (d))))
 208 #endif
 209
 210 #endif
 211
 212 void Linux3AxisEventInterface::getRawData(void)
 213 {
 214     Int32 iBytesRead = 0;
 215
 216 #if defined(__linux)
 217
 218     input_event ev[64];
 219
 220     struct timeval tv;
 221     Int32  iSelRet = 0;
 222
 223     FD_ZERO(&_rFds);
 224     FD_SET (_iFileDesc, &_rFds);
 225
 226     tv.tv_sec  = 0;
 227     tv.tv_usec = 500000;
 228
 229     iSelRet = select(_iFileDesc + 1, &_rFds, NULL, NULL, &tv);
 230
 231     if(iSelRet > 0 && FD_ISSET(_iFileDesc, &_rFds) == true)
 232     {
 233         iBytesRead = read(_iFileDesc, ev, sizeof(input_event) * 64);
 234
 235         if(iBytesRead > 0)
 236         {
 237             Inherited::lock();
 238
 239             _bHasNewData = false;
 240
 241             for (UInt32 i = 0;
 242                         i < UInt32(iBytesRead / sizeof(input_event));
 243                       ++i)
 244             {
 245                 if(ev[i].type == EV_REL)
 246                 {
 247                     if(ev[i].code == REL_X)
 248                     {
 249                         _vTranslate[0] = Real32(ev[i].value) / _rTxRange;
 250                     }
 251                     else if(ev[i].code == REL_Y)
 252                     {
 253                         _vTranslate[2] = Real32(ev[i].value) / _rTyRange;
 254                     }
 255                     else if(ev[i].code == REL_Z)
 256                     {
 257                         _vTranslate[1] = -(Real32(ev[i].value) / _rTzRange);
 258                     }
 259                     else if(ev[i].code == REL_RX)
 260                     {
 261                         _qRotate[0] =  Real32(ev[i].value) / _rRxRange;
 262                     }
 263                     else if(ev[i].code == REL_RY)
 264                     {
 265                         _qRotate[2] = Real32(ev[i].value) / _rRzRange;
 266                     }
 267                     else if(ev[i].code == REL_RZ)
 268                     {
 269                         _qRotate[1] =  -(Real32(ev[i].value) / _rRyRange);
 270                     }
 271
 272                 }
 273             }
 274
 275             _bHasNewData = true;
 276
 277             Inherited::unlock();
 278         }
 279     }
 280 #endif
 281 }
 282
 283 void Linux3AxisEventInterface::setOptions(InterfaceOptions *pOptions)
 284 {
 285     if(pOptions == NULL)
 286         return;
 287
 288     Inherited::setOptions(pOptions);
 289
 290     LinuxEventOptions *pOpts =
 291         dynamic_cast<LinuxEventOptions *>(pOptions);
 292
 293     if(pOpts != NULL)
 294     {
 295         _szPort = pOpts->getDevice();
 296
 297         _rTxRange = pOpts->getTRange()[0];
 298         _rTyRange = pOpts->getTRange()[1];
 299         _rTzRange = pOpts->getTRange()[2];
 300         _rRxRange = pOpts->getRRange()[0];
 301         _rRyRange = pOpts->getRRange()[1];
 302         _rRzRange = pOpts->getRRange()[2];
 303     }
 304 }
 305
 306 OSG_END_NAMESPACE