src/haptic/linux/SDL_syshaptic.c
author Edgar Simo <bobbens@gmail.com>
Tue, 01 Jul 2008 14:31:04 +0000
branchgsoc2008_force_feedback
changeset 2485 67978eea6d10
parent 2484 666472fd4cb0
child 2486 24dd8b8669fa
permissions -rw-r--r--
Added SDL_HapticStopEffect().
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/*
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    SDL - Simple DirectMedia Layer
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    Copyright (C) 2008 Edgar Simo
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    This library is free software; you can redistribute it and/or
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    modify it under the terms of the GNU Lesser General Public
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    License as published by the Free Software Foundation; either
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    version 2.1 of the License, or (at your option) any later version.
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    This library is distributed in the hope that it will be useful,
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    but WITHOUT ANY WARRANTY; without even the implied warranty of
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    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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    Lesser General Public License for more details.
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    You should have received a copy of the GNU Lesser General Public
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    License along with this library; if not, write to the Free Software
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    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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    Sam Lantinga
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    slouken@libsdl.org
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*/
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#include "SDL_config.h"
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#ifdef SDL_JOYSTICK_LINUX
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#include "SDL_haptic.h"
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#include "../SDL_haptic_c.h"
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#include "../SDL_syshaptic.h"
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#include <unistd.h> /* close */
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#include <linux/input.h>
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <linux/limits.h>
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#include <string.h>
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#define MAX_HAPTICS  32
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/*
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 * List of available haptic devices.
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 */
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static struct
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{
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   char *fname;
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   SDL_Haptic *haptic;
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} SDL_hapticlist[MAX_HAPTICS];
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/*
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 * Haptic system hardware data.
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 */
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struct haptic_hwdata
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{
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   int fd;
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};
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/*
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 * Haptic system effect data.
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 */
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struct haptic_hweffect
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{
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   struct ff_effect effect;
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};
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#define test_bit(nr, addr) \
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   (((1UL << ((nr) & 31)) & (((const unsigned int *) addr)[(nr) >> 5])) != 0)
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#define EV_TEST(ev,f) \
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   if (test_bit((ev), features)) ret |= (f);
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/*
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 * Test whether a device has haptic properties.
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 * Returns available properties or 0 if there are none.
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 */
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static int
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EV_IsHaptic(int fd)
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{
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   unsigned int ret;
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   unsigned long features[1 + FF_MAX/sizeof(unsigned long)];
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   ret = 0;
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   ioctl(fd, EVIOCGBIT(EV_FF, sizeof(unsigned long) * 4), features);
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   EV_TEST(FF_CONSTANT,   SDL_HAPTIC_CONSTANT);
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   EV_TEST(FF_PERIODIC,   SDL_HAPTIC_PERIODIC);
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   EV_TEST(FF_RAMP,       SDL_HAPTIC_RAMP);
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   EV_TEST(FF_SPRING,     SDL_HAPTIC_SPRING);
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   EV_TEST(FF_FRICTION,   SDL_HAPTIC_FRICTION);
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   EV_TEST(FF_DAMPER,     SDL_HAPTIC_DAMPER);
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   EV_TEST(FF_INERTIA,    SDL_HAPTIC_INERTIA);
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   EV_TEST(FF_GAIN,       SDL_HAPTIC_GAIN);
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   EV_TEST(FF_AUTOCENTER, SDL_HAPTIC_AUTOCENTER);
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   return ret;
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}
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int
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SDL_SYS_HapticInit(void)
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{
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   const char joydev_pattern[] = "/dev/input/event%d";
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   dev_t dev_nums[MAX_HAPTICS];
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   char path[PATH_MAX];
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   struct stat sb;
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   int fd;
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   int i, j, k;
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   int duplicate;
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   int numhaptics;
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   numhaptics = 0;
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   i = 0;
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   for (j = 0; j < MAX_HAPTICS; ++j) {
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      snprintf(path, PATH_MAX, joydev_pattern, i++);
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      /* check to see if file exists */
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      if (stat(path,&sb) != 0)
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         break;
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      /* check for duplicates */
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      duplicate = 0;
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      for (k = 0; (k < numhaptics) && !duplicate; ++k) {
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         if (sb.st_rdev == dev_nums[k]) {
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            duplicate = 1;
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         }                                                     
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      }                                                         
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      if (duplicate) {
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         continue;
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      }
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      /* try to open */
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      fd = open(path, O_RDWR, 0);
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      if (fd < 0) continue;
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#ifdef DEBUG_INPUT_EVENTS
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      printf("Checking %s\n", path);
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#endif          
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      /* see if it works */
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      if (EV_IsHaptic(fd)!=0) {
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         SDL_hapticlist[numhaptics].fname = SDL_strdup(path);
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         SDL_hapticlist[numhaptics].haptic = NULL;
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         dev_nums[numhaptics] = sb.st_rdev;
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         ++numhaptics;
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      }
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      close(fd);
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   }
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   return numhaptics;
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}
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/*
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 * Return the name of a haptic device, does not need to be opened.
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 */
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const char *
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SDL_SYS_HapticName(int index)
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{
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   int fd;
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   static char namebuf[128];
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   char *name;
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   name = NULL;
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   fd = open(SDL_hapticlist[index].fname, O_RDONLY, 0);
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   if (fd >= 0) {
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      if (ioctl(fd, EVIOCGNAME(sizeof(namebuf)), namebuf) <= 0) {
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         name = SDL_hapticlist[index].fname;
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      }
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      else {
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         name = namebuf;
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      }
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   }
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   close(fd);
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   return name;
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}
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/*
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 * Opens a haptic device for usage.
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 */
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int
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SDL_SYS_HapticOpen(SDL_Haptic * haptic)
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{
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   int i;
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   int fd;
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   /* Open the character device */
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   fd = open(SDL_hapticlist[haptic->index].fname, O_RDWR, 0);
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   if (fd < 0) {
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      SDL_SetError("Unable to open %s\n", SDL_hapticlist[haptic->index]);
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      return -1;
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   }
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   /* Allocate the hwdata */
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   haptic->hwdata = (struct haptic_hwdata *)
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         SDL_malloc(sizeof(*haptic->hwdata));
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   if (haptic->hwdata == NULL) {
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      SDL_OutOfMemory();
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      goto open_err;
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   }
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   SDL_memset(haptic->hwdata, 0, sizeof(*haptic->hwdata));
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   /* Set the data */
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   haptic->hwdata->fd = fd;
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   haptic->supported = EV_IsHaptic(fd);
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   /* Set the effects */
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   if (ioctl(fd, EVIOCGEFFECTS, &haptic->neffects) < 0) {
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      SDL_SetError("Unable to query haptic device memory.");
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      goto open_err;
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   }
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   haptic->effects = (struct haptic_effect *)
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         SDL_malloc(sizeof(struct haptic_effect) * haptic->neffects);
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   if (haptic->effects == NULL) {
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      SDL_OutOfMemory();
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      goto open_err;
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   }
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   /* Clear the memory */
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   SDL_memset(haptic->effects, 0,
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         sizeof(struct haptic_effect) * haptic->neffects);
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   return 0;
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   /* Error handling */
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open_err:
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   close(fd);
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   if (haptic->hwdata != NULL) {
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      free(haptic->hwdata);
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      haptic->hwdata = NULL;
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   }
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   return -1;
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}
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/*
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 * Closes the haptic device.
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 */
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void
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SDL_SYS_HapticClose(SDL_Haptic * haptic)
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{
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   if (haptic->hwdata) {
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      /* Clean up */
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      close(haptic->hwdata->fd);
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      /* Free */
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      SDL_free(haptic->hwdata);
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      haptic->hwdata = NULL;
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      SDL_free(haptic->effects);
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      haptic->neffects = 0;
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   }
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}
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/* 
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 * Clean up after system specific haptic stuff
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 */
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void
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SDL_SYS_HapticQuit(void)
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{
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   int i;
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   for (i=0; SDL_hapticlist[i].fname != NULL; i++) {
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      SDL_free(SDL_hapticlist[i].fname);
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   }
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   SDL_hapticlist[0].fname = NULL;
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}
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#define  CLAMP(x)    (((x) > 32767) ? 32767 : x)
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/*
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 * Initializes the linux effect struct from a haptic_effect.
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 * Values above 32767 (for unsigned) are unspecified so we must clamp.
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 */
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static int
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SDL_SYS_ToFFEffect( struct ff_effect * dest, SDL_HapticEffect * src )
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{
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   283
   int i;
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   284
   SDL_HapticConstant *constant;
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   285
   SDL_HapticPeriodic *periodic;
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   286
   SDL_HapticCondition *condition;
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   SDL_HapticRamp *ramp;
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   /* Clear up */
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   SDL_memset(dest, 0, sizeof(struct ff_effect));
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   292
   switch (src->type) {
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      case SDL_HAPTIC_CONSTANT:
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         constant = &src->constant;
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   296
         /* Header */
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         dest->type = FF_CONSTANT;
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         dest->direction = CLAMP(constant->direction);
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   299
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   300
         /* Replay */
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         dest->replay.length = CLAMP(constant->length);
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         dest->replay.delay = CLAMP(constant->delay);
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   303
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   304
         /* Trigger */
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         dest->trigger.button = CLAMP(constant->button);
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   306
         dest->trigger.interval = CLAMP(constant->interval);
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   307
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   308
         /* Constant */
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   309
         dest->u.constant.level = constant->level;
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   310
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   311
         /* Envelope */
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   312
         dest->u.constant.envelope.attack_length = CLAMP(constant->attack_length);
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   313
         dest->u.constant.envelope.attack_level = CLAMP(constant->attack_level);
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   314
         dest->u.constant.envelope.fade_length = CLAMP(constant->fade_length);
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   315
         dest->u.constant.envelope.fade_level = CLAMP(constant->fade_level);
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   316
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   317
         break;
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   318
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   319
      case SDL_HAPTIC_PERIODIC:
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   320
         periodic = &src->periodic;
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   321
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   322
         /* Header */
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   323
         dest->type = FF_PERIODIC;
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   324
         dest->direction = CLAMP(periodic->direction);
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   325
         
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   326
         /* Replay */
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   327
         dest->replay.length = CLAMP(periodic->length);
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   328
         dest->replay.delay = CLAMP(periodic->delay);
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   329
         
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   330
         /* Trigger */
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   331
         dest->trigger.button = CLAMP(periodic->button);
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   332
         dest->trigger.interval = CLAMP(periodic->interval);
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   333
         
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   334
         /* Constant */
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   335
         switch (periodic->waveform) {
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   336
            case SDL_WAVEFORM_SINE:
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   337
               dest->u.periodic.waveform = FF_SINE;
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   338
               break;
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   339
            case SDL_WAVEFORM_SQUARE:
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   340
               dest->u.periodic.waveform = FF_SQUARE;
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   341
               break;
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   342
            case SDL_WAVEFORM_TRIANGLE:
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   343
               dest->u.periodic.waveform = FF_TRIANGLE;
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   344
               break;
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   345
            case SDL_WAVEFORM_SAWTOOTHUP:
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   346
               dest->u.periodic.waveform = FF_SAW_UP;
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   347
               break;
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   348
            case SDL_WAVEFORM_SAWTOOTHDOWN:
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   349
               dest->u.periodic.waveform = FF_SAW_DOWN;
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   350
               break;
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   351
bobbens@2481
   352
            default:
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   353
               SDL_SetError("Unknown waveform.");
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   354
               return -1;
bobbens@2481
   355
         }
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   356
         dest->u.periodic.period = CLAMP(periodic->period);
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   357
         dest->u.periodic.magnitude = periodic->magnitude;
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   358
         dest->u.periodic.offset = periodic->offset;
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   359
         dest->u.periodic.phase = CLAMP(periodic->phase);
bobbens@2480
   360
         
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   361
         /* Envelope */
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   362
         dest->u.periodic.envelope.attack_length = CLAMP(periodic->attack_length);
bobbens@2481
   363
         dest->u.periodic.envelope.attack_level = CLAMP(periodic->attack_level);
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   364
         dest->u.periodic.envelope.fade_length = CLAMP(periodic->fade_length);
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   365
         dest->u.periodic.envelope.fade_level = CLAMP(periodic->fade_level);
bobbens@2479
   366
bobbens@2479
   367
         break;
bobbens@2479
   368
bobbens@2482
   369
      case SDL_HAPTIC_SPRING:
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   370
      case SDL_HAPTIC_DAMPER:
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   371
      case SDL_HAPTIC_INERTIA:
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   372
      case SDL_HAPTIC_FRICTION:
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   373
         condition = &src->condition;
bobbens@2482
   374
bobbens@2482
   375
         /* Header */
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   376
         if (dest->type == SDL_HAPTIC_SPRING)
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   377
            dest->type = FF_SPRING;
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   378
         else if (dest->type == SDL_HAPTIC_DAMPER)
bobbens@2482
   379
            dest->type = FF_DAMPER;
bobbens@2482
   380
         else if (dest->type == SDL_HAPTIC_INERTIA)
bobbens@2482
   381
            dest->type = FF_INERTIA;
bobbens@2482
   382
         else if (dest->type == SDL_HAPTIC_FRICTION)
bobbens@2482
   383
            dest->type = FF_FRICTION;
bobbens@2482
   384
         dest->direction = CLAMP(condition->direction);
bobbens@2482
   385
bobbens@2482
   386
         /* Replay */
bobbens@2482
   387
         dest->replay.length = CLAMP(condition->length);
bobbens@2482
   388
         dest->replay.delay = CLAMP(condition->delay);
bobbens@2482
   389
bobbens@2482
   390
         /* Trigger */
bobbens@2482
   391
         dest->trigger.button = CLAMP(condition->button);
bobbens@2482
   392
         dest->trigger.interval = CLAMP(condition->interval);
bobbens@2482
   393
bobbens@2482
   394
         /* Condition - TODO handle axes */
bobbens@2482
   395
         dest->u.condition[0].right_saturation = CLAMP(condition->right_sat);
bobbens@2482
   396
         dest->u.condition[0].left_saturation = CLAMP(condition->left_sat);
bobbens@2482
   397
         dest->u.condition[0].right_coeff = condition->right_coeff;
bobbens@2482
   398
         dest->u.condition[0].left_coeff = condition->left_coeff;
bobbens@2482
   399
         dest->u.condition[0].deadband = CLAMP(condition->deadband);
bobbens@2482
   400
         dest->u.condition[0].center = condition->center;
bobbens@2482
   401
bobbens@2482
   402
         break;
bobbens@2482
   403
bobbens@2482
   404
      case SDL_HAPTIC_RAMP:
bobbens@2482
   405
         ramp = &src->ramp;
bobbens@2482
   406
bobbens@2482
   407
         /* Header */
bobbens@2482
   408
         dest->type = FF_RAMP;
bobbens@2482
   409
         dest->direction = CLAMP(ramp->direction);
bobbens@2482
   410
bobbens@2482
   411
         /* Replay */
bobbens@2482
   412
         dest->replay.length = CLAMP(ramp->length);
bobbens@2482
   413
         dest->replay.delay = CLAMP(ramp->delay);
bobbens@2482
   414
bobbens@2482
   415
         /* Trigger */
bobbens@2482
   416
         dest->trigger.button = CLAMP(ramp->button);
bobbens@2482
   417
         dest->trigger.interval = CLAMP(ramp->interval);
bobbens@2482
   418
bobbens@2482
   419
         /* Ramp */
bobbens@2482
   420
         dest->u.ramp.start_level = ramp->start;
bobbens@2482
   421
         dest->u.ramp.end_level = ramp->end;
bobbens@2482
   422
bobbens@2482
   423
         /* Envelope */
bobbens@2482
   424
         dest->u.ramp.envelope.attack_length = CLAMP(ramp->attack_length);
bobbens@2482
   425
         dest->u.ramp.envelope.attack_level = CLAMP(ramp->attack_level);
bobbens@2482
   426
         dest->u.ramp.envelope.fade_length = CLAMP(ramp->fade_length);
bobbens@2482
   427
         dest->u.ramp.envelope.fade_level = CLAMP(ramp->fade_level);
bobbens@2482
   428
bobbens@2482
   429
         break;
bobbens@2482
   430
bobbens@2482
   431
bobbens@2479
   432
      default:
bobbens@2479
   433
         SDL_SetError("Unknown haptic effect type.");
bobbens@2479
   434
         return -1;
bobbens@2479
   435
   }
bobbens@2479
   436
bobbens@2479
   437
   return 0;
bobbens@2479
   438
}
bobbens@2479
   439
bobbens@2483
   440
bobbens@2479
   441
/*
bobbens@2477
   442
 * Creates a new haptic effect.
bobbens@2477
   443
 */
bobbens@2477
   444
int
bobbens@2480
   445
SDL_SYS_HapticNewEffect(SDL_Haptic * haptic, struct haptic_effect * effect,
bobbens@2480
   446
      SDL_HapticEffect * base)
bobbens@2477
   447
{
bobbens@2480
   448
   struct ff_effect * linux_effect;
bobbens@2480
   449
bobbens@2479
   450
   /* Allocate the hardware effect */
bobbens@2479
   451
   effect->hweffect = (struct haptic_hweffect *) 
bobbens@2479
   452
         SDL_malloc(sizeof(struct haptic_hweffect));
bobbens@2479
   453
   if (effect->hweffect == NULL) {
bobbens@2479
   454
      SDL_OutOfMemory();
bobbens@2479
   455
      return -1;
bobbens@2479
   456
   }
bobbens@2479
   457
bobbens@2479
   458
   /* Prepare the ff_effect */
bobbens@2480
   459
   linux_effect = &effect->hweffect->effect;
bobbens@2480
   460
   if (SDL_SYS_ToFFEffect( linux_effect, base ) != 0) {
bobbens@2479
   461
      return -1;
bobbens@2479
   462
   }
bobbens@2480
   463
   linux_effect->id = -1; /* Have the kernel give it an id */
bobbens@2479
   464
bobbens@2479
   465
   /* Upload the effect */
bobbens@2480
   466
   if (ioctl(haptic->hwdata->fd, EVIOCSFF, linux_effect) < 0) {
bobbens@2483
   467
      SDL_SetError("Error uploading effect to the haptic device.");
bobbens@2479
   468
      return -1;
bobbens@2479
   469
   }
bobbens@2479
   470
bobbens@2479
   471
   return 0;
bobbens@2477
   472
}
bobbens@2477
   473
bobbens@2474
   474
bobbens@2479
   475
/*
bobbens@2479
   476
 * Runs an effect.
bobbens@2479
   477
 */
bobbens@2479
   478
int
bobbens@2479
   479
SDL_SYS_HapticRunEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
bobbens@2479
   480
{
bobbens@2479
   481
   struct input_event run;
bobbens@2479
   482
bobbens@2479
   483
   /* Prepare to run the effect */
bobbens@2479
   484
   run.type = EV_FF;
bobbens@2479
   485
   run.code = effect->hweffect->effect.id;
bobbens@2479
   486
   run.value = 1;
bobbens@2479
   487
bobbens@2479
   488
   if (write(haptic->hwdata->fd, (const void*) &run, sizeof(run)) < 0) {
bobbens@2479
   489
      SDL_SetError("Unable to run the haptic effect.");
bobbens@2479
   490
      return -1;
bobbens@2479
   491
   }
bobbens@2479
   492
bobbens@2479
   493
   return 0;
bobbens@2479
   494
}
bobbens@2479
   495
bobbens@2479
   496
bobbens@2479
   497
/*
bobbens@2485
   498
 * Stops an effect.
bobbens@2485
   499
 */
bobbens@2485
   500
int
bobbens@2485
   501
SDL_SYS_HapticStopEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
bobbens@2485
   502
{
bobbens@2485
   503
   struct input_event stop;
bobbens@2485
   504
bobbens@2485
   505
   stop.type = EV_FF;
bobbens@2485
   506
   stop.code = effect->hweffect->effect.id;
bobbens@2485
   507
   stop.value = 0;
bobbens@2485
   508
bobbens@2485
   509
   if (write(haptic->hwdata->fd, (const void*) &stop, sizeof(stop)) < 0) {
bobbens@2485
   510
      SDL_SetError("Unable to stop the haptic effect.");
bobbens@2485
   511
      return -1;
bobbens@2485
   512
   }
bobbens@2485
   513
bobbens@2485
   514
   return 0;
bobbens@2485
   515
}
bobbens@2485
   516
bobbens@2485
   517
bobbens@2485
   518
/*
bobbens@2479
   519
 * Frees the effect
bobbens@2479
   520
 */
bobbens@2479
   521
void
bobbens@2479
   522
SDL_SYS_HapticDestroyEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
bobbens@2479
   523
{
bobbens@2479
   524
   if (ioctl(haptic->hwdata->fd, EVIOCRMFF, effect->hweffect->effect.id) < 0) {
bobbens@2479
   525
      SDL_SetError("Error removing the effect from the haptic device.");
bobbens@2479
   526
   }
bobbens@2479
   527
   SDL_free(effect->hweffect);
bobbens@2479
   528
   effect->hweffect = NULL;
bobbens@2479
   529
}
bobbens@2479
   530
bobbens@2479
   531
bobbens@2483
   532
/*
bobbens@2483
   533
 * Sets the gain.
bobbens@2483
   534
 */
bobbens@2483
   535
int
bobbens@2483
   536
SDL_SYS_HapticSetGain(SDL_Haptic * haptic, int gain)
bobbens@2483
   537
{
bobbens@2483
   538
   struct input_event ie;
bobbens@2483
   539
bobbens@2483
   540
   ie.type = EV_FF;
bobbens@2483
   541
   ie.code = FF_GAIN;
bobbens@2483
   542
   ie.value = (0xFFFFUL * gain) / 100;
bobbens@2483
   543
bobbens@2484
   544
   if (write(haptic->hwdata->fd, &ie, sizeof(ie)) < 0) {
bobbens@2483
   545
      SDL_SetError("Error setting gain.");
bobbens@2484
   546
      return -1;
bobbens@2483
   547
   }
bobbens@2483
   548
bobbens@2484
   549
   return 0;
bobbens@2483
   550
}
bobbens@2483
   551
bobbens@2483
   552
bobbens@2484
   553
/*
bobbens@2484
   554
 * Sets the autocentering.
bobbens@2484
   555
 */
bobbens@2484
   556
int
bobbens@2484
   557
SDL_SYS_HapticSetAutocenter(SDL_Haptic * haptic, int autocenter)
bobbens@2484
   558
{
bobbens@2484
   559
   struct input_event ie;
bobbens@2484
   560
bobbens@2484
   561
   ie.type = EV_FF;
bobbens@2484
   562
   ie.code = FF_AUTOCENTER;
bobbens@2484
   563
   ie.value = (0xFFFFUL * autocenter) / 100;
bobbens@2484
   564
bobbens@2484
   565
   if (write(haptic->hwdata->fd, &ie, sizeof(ie)) < 0) {
bobbens@2484
   566
      SDL_SetError("Error setting autocenter.");
bobbens@2484
   567
      return -1;
bobbens@2484
   568
   }
bobbens@2484
   569
bobbens@2484
   570
   return 0;
bobbens@2484
   571
}
bobbens@2484
   572
bobbens@2484
   573
bobbens@2484
   574
bobbens@2472
   575
#endif /* SDL_HAPTIC_LINUX */