/* SDL - Simple DirectMedia Layer Copyright (C) 2008 Edgar Simo This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA Sam Lantinga slouken@libsdl.org */ #include "SDL_config.h" #ifdef SDL_HAPTIC_LINUX #include "SDL_haptic.h" #include "../SDL_syshaptic.h" #include "SDL_joystick.h" #include "../../joystick/SDL_sysjoystick.h" /* For the real SDL_Joystick */ #include "../../joystick/linux/SDL_sysjoystick_c.h" /* For joystick hwdata */ #include /* close */ #include /* Force feedback linux stuff. */ #include /* O_RDWR */ #include /* INT_MAX */ #include /* errno, strerror */ #include /* atan2 */ /* Just in case. */ #ifndef M_PI # define M_PI 3.14159265358979323846 #endif #define MAX_HAPTICS 32 /* It's doubtful someone has more then 32 evdev */ /* * List of available haptic devices. */ static struct { char *fname; /* Dev path name (like /dev/input/event1) */ SDL_Haptic *haptic; /* Assosciated haptic. */ } SDL_hapticlist[MAX_HAPTICS]; /* * Haptic system hardware data. */ struct haptic_hwdata { int fd; /* File descriptor of the device. */ char *fname; /* Points to the name in SDL_hapticlist. */ }; /* * Haptic system effect data. */ struct haptic_hweffect { struct ff_effect effect; /* The linux kernel effect structure. */ }; #define test_bit(nr, addr) \ (((1UL << ((nr) & 31)) & (((const unsigned int *) addr)[(nr) >> 5])) != 0) #define EV_TEST(ev,f) \ if (test_bit((ev), features)) ret |= (f); /* * Test whether a device has haptic properties. * Returns available properties or 0 if there are none. */ static int EV_IsHaptic(int fd) { unsigned int ret; unsigned long features[1 + FF_MAX/sizeof(unsigned long)]; /* Ask device for what it has. */ ret = 0; if (ioctl(fd, EVIOCGBIT(EV_FF, sizeof(features)), features) < 0) { SDL_SetError("Haptic: Unable to get device's features: %s", strerror(errno)); return -1; } /* Convert supported features to SDL_HAPTIC platform-neutral features. */ EV_TEST(FF_CONSTANT, SDL_HAPTIC_CONSTANT); EV_TEST(FF_SINE, SDL_HAPTIC_SINE); EV_TEST(FF_SQUARE, SDL_HAPTIC_SQUARE); EV_TEST(FF_TRIANGLE, SDL_HAPTIC_TRIANGLE); EV_TEST(FF_SAW_UP, SDL_HAPTIC_SAWTOOTHUP); EV_TEST(FF_SAW_DOWN, SDL_HAPTIC_SAWTOOTHDOWN); EV_TEST(FF_RAMP, SDL_HAPTIC_RAMP); EV_TEST(FF_SPRING, SDL_HAPTIC_SPRING); EV_TEST(FF_FRICTION, SDL_HAPTIC_FRICTION); EV_TEST(FF_DAMPER, SDL_HAPTIC_DAMPER); EV_TEST(FF_INERTIA, SDL_HAPTIC_INERTIA); EV_TEST(FF_CUSTOM, SDL_HAPTIC_CUSTOM); EV_TEST(FF_GAIN, SDL_HAPTIC_GAIN); EV_TEST(FF_AUTOCENTER, SDL_HAPTIC_AUTOCENTER); /* Return what it supports. */ return ret; } /* * Tests whether a device is a mouse or not. */ static int EV_IsMouse(int fd) { unsigned long argp[40]; /* Ask for supported features. */ if (ioctl(fd, EVIOCGBIT(EV_KEY, sizeof(argp)), argp) < 0) { return -1; } /* Currently we only test for BTN_MOUSE which can give fake positives. */ if (test_bit(BTN_MOUSE,argp) != 0) { return 1; } return 0; } /* * Initializes the haptic subsystem by finding available devices. */ int SDL_SYS_HapticInit(void) { const char joydev_pattern[] = "/dev/input/event%d"; dev_t dev_nums[MAX_HAPTICS]; char path[PATH_MAX]; struct stat sb; int fd; int i, j, k; int duplicate; int numhaptics; numhaptics = 0; /* * Limit amount of checks to MAX_HAPTICS since we may or may not have * permission to some or all devices. */ i = 0; for (j = 0; j < MAX_HAPTICS; ++j) { snprintf(path, PATH_MAX, joydev_pattern, i++); /* check to see if file exists */ if (stat(path,&sb) != 0) break; /* check for duplicates */ duplicate = 0; for (k = 0; (k < numhaptics) && !duplicate; ++k) { if (sb.st_rdev == dev_nums[k]) { duplicate = 1; } } if (duplicate) { continue; } /* try to open */ fd = open(path, O_RDWR, 0); if (fd < 0) continue; #ifdef DEBUG_INPUT_EVENTS printf("Checking %s\n", path); #endif /* see if it works */ if (EV_IsHaptic(fd) > 0) { SDL_hapticlist[numhaptics].fname = SDL_strdup(path); SDL_hapticlist[numhaptics].haptic = NULL; dev_nums[numhaptics] = sb.st_rdev; ++numhaptics; } close(fd); } return numhaptics; } /* * Gets the name from a file descriptor. */ static const char * SDL_SYS_HapticNameFromFD(int fd) { static char namebuf[128]; /* We use the evdev name ioctl. */ if (ioctl(fd, EVIOCGNAME(sizeof(namebuf)), namebuf) <= 0) { return NULL; } return namebuf; } /* * Return the name of a haptic device, does not need to be opened. */ const char * SDL_SYS_HapticName(int index) { int fd; const char *name; /* Open the haptic device. */ name = NULL; fd = open(SDL_hapticlist[index].fname, O_RDONLY, 0); if (fd >= 0) { name = SDL_SYS_HapticNameFromFD(fd); if (name==NULL) { /* No name found, return device character device */ name = SDL_hapticlist[index].fname; } } close(fd); return name; } /* * Opens the haptic device from the file descriptor. */ static int SDL_SYS_HapticOpenFromFD(SDL_Haptic * haptic, int fd) { const char *name; /* Allocate the hwdata */ haptic->hwdata = (struct haptic_hwdata *) SDL_malloc(sizeof(*haptic->hwdata)); if (haptic->hwdata == NULL) { SDL_OutOfMemory(); goto open_err; } SDL_memset(haptic->hwdata, 0, sizeof(*haptic->hwdata)); /* Set the data. */ haptic->hwdata->fd = fd; haptic->supported = EV_IsHaptic(fd); haptic->naxes = 2; /* Hardcoded for now, not sure if it's possible to find out. */ /* Set the effects */ if (ioctl(fd, EVIOCGEFFECTS, &haptic->neffects) < 0) { SDL_SetError("Haptic: Unable to query device memory: %s", strerror(errno)); goto open_err; } haptic->nplaying = haptic->neffects; /* Linux makes no distinction. */ haptic->effects = (struct haptic_effect *) SDL_malloc(sizeof(struct haptic_effect) * haptic->neffects); if (haptic->effects == NULL) { SDL_OutOfMemory(); goto open_err; } /* Clear the memory */ SDL_memset(haptic->effects, 0, sizeof(struct haptic_effect) * haptic->neffects); return 0; /* Error handling */ open_err: close(fd); if (haptic->hwdata != NULL) { free(haptic->hwdata); haptic->hwdata = NULL; } return -1; } /* * Opens a haptic device for usage. */ int SDL_SYS_HapticOpen(SDL_Haptic * haptic) { int fd; int ret; /* Open the character device */ fd = open(SDL_hapticlist[haptic->index].fname, O_RDWR, 0); if (fd < 0) { SDL_SetError("Haptic: Unable to open %s: %s", SDL_hapticlist[haptic->index], strerror(errno)); return -1; } /* Try to create the haptic. */ ret = SDL_SYS_HapticOpenFromFD(haptic,fd); /* Already closes on error. */ if (ret < 0) { return -1; } /* Set the fname. */ haptic->hwdata->fname = SDL_hapticlist[haptic->index].fname; return 0; } /* * Opens a haptic device from first mouse it finds for usage. */ int SDL_SYS_HapticMouse(void) { int fd; int i; for (i=0; ihwdata->fd); } /* * Checks to see if the haptic device and joystick and in reality the same. */ int SDL_SYS_JoystickSameHaptic(SDL_Haptic * haptic, SDL_Joystick * joystick) { /* We are assuming linux is using evdev which should trump the old * joystick methods. */ if (SDL_strcmp(joystick->hwdata->fname,haptic->hwdata->fname)==0) { return 1; } return 0; } /* * Opens a SDL_Haptic from a SDL_Joystick. */ int SDL_SYS_HapticOpenFromJoystick(SDL_Haptic * haptic, SDL_Joystick * joystick) { int i; int fd; int ret; /* Find the joystick in the haptic list. */ for (i=0; ihwdata->fname)==0) { haptic->index = i; } } } fd = open(joystick->hwdata->fname, O_RDWR, 0); ret = SDL_SYS_HapticOpenFromFD(haptic,fd); /* Already closes on error. */ if (ret < 0) { return -1; } haptic->hwdata->fname = SDL_hapticlist[haptic->index].fname; return 0; } /* * Closes the haptic device. */ void SDL_SYS_HapticClose(SDL_Haptic * haptic) { if (haptic->hwdata) { /* Free effects. */ SDL_free(haptic->effects); haptic->effects = NULL; haptic->neffects = 0; /* Clean up */ close(haptic->hwdata->fd); /* Free */ SDL_free(haptic->hwdata); haptic->hwdata = NULL; } /* Clear the rest. */ SDL_memset(haptic, 0, sizeof(SDL_Haptic)); } /* * Clean up after system specific haptic stuff */ void SDL_SYS_HapticQuit(void) { int i; for (i=0; SDL_hapticlist[i].fname != NULL; i++) { /* Opened and not closed haptics are leaked, this is on purpose. * Close your haptic devices after usage. */ SDL_free(SDL_hapticlist[i].fname); } SDL_hapticlist[0].fname = NULL; } /* * Converts an SDL button to a ff_trigger button. */ static Uint16 SDL_SYS_ToButton( Uint16 button ) { Uint16 ff_button; ff_button = 0; /* * Not sure what the proper syntax is because this actually isn't implemented * in the current kernel from what I've seen (2.6.26). */ if (button != 0) { ff_button = BTN_GAMEPAD + button - 1; } return ff_button; } /* * Returns the ff_effect usable direction from a SDL_HapticDirection. */ static Uint16 SDL_SYS_ToDirection( SDL_HapticDirection * dir ) { Uint32 tmp; float f; /* Ideally we'd use fixed point math instead of floats... */ switch (dir->type) { case SDL_HAPTIC_POLAR: /* Linux directions are inverted. */ tmp = (((18000 + dir->dir[0]) % 36000) * 0xFFFF) / 36000; return (Uint16) tmp; case SDL_HAPTIC_CARTESIAN: /* We must invert "x" and "y" to go clockwise. */ f = atan2(dir->dir[0], dir->dir[1]); tmp = (int)(f*18000./M_PI) % 36000; tmp = (tmp * 0xFFFF) / 36000; return (Uint16) tmp; case SDL_HAPTIC_SPHERICAL: tmp = (36000 - dir->dir[0]) + 27000; /* Convert to polars */ tmp = (((18000 + tmp) % 36000) * 0xFFFF) / 36000; return (Uint16) tmp; default: SDL_SetError("Haptic: Unsupported direction type."); return (Uint16)-1; } return 0; } #define CLAMP(x) (((x) > 32767) ? 32767 : x) /* * Initializes the linux effect struct from a haptic_effect. * Values above 32767 (for unsigned) are unspecified so we must clamp. */ static int SDL_SYS_ToFFEffect( struct ff_effect * dest, SDL_HapticEffect * src ) { Uint32 tmp; SDL_HapticConstant *constant; SDL_HapticPeriodic *periodic; SDL_HapticCondition *condition; SDL_HapticRamp *ramp; /* Clear up */ SDL_memset(dest, 0, sizeof(struct ff_effect)); switch (src->type) { case SDL_HAPTIC_CONSTANT: constant = &src->constant; /* Header */ dest->type = FF_CONSTANT; dest->direction = SDL_SYS_ToDirection(&constant->direction); if (dest->direction == (Uint16)-1) return -1; /* Replay */ dest->replay.length = (constant->length == SDL_HAPTIC_INFINITY) ? 0 : CLAMP(constant->length); dest->replay.delay = CLAMP(constant->delay); /* Trigger */ dest->trigger.button = SDL_SYS_ToButton(constant->button); dest->trigger.interval = CLAMP(constant->interval); /* Constant */ dest->u.constant.level = constant->level; /* Envelope */ dest->u.constant.envelope.attack_length = CLAMP(constant->attack_length); dest->u.constant.envelope.attack_level = CLAMP(constant->attack_level); dest->u.constant.envelope.fade_length = CLAMP(constant->fade_length); dest->u.constant.envelope.fade_level = CLAMP(constant->fade_level); break; case SDL_HAPTIC_SINE: case SDL_HAPTIC_SQUARE: case SDL_HAPTIC_TRIANGLE: case SDL_HAPTIC_SAWTOOTHUP: case SDL_HAPTIC_SAWTOOTHDOWN: periodic = &src->periodic; /* Header */ dest->type = FF_PERIODIC; dest->direction = SDL_SYS_ToDirection(&periodic->direction); if (dest->direction == (Uint16)-1) return -1; /* Replay */ dest->replay.length = (periodic->length == SDL_HAPTIC_INFINITY) ? 0 : CLAMP(periodic->length); dest->replay.delay = CLAMP(periodic->delay); /* Trigger */ dest->trigger.button = SDL_SYS_ToButton(periodic->button); dest->trigger.interval = CLAMP(periodic->interval); /* Periodic */ if (periodic->type == SDL_HAPTIC_SINE) dest->u.periodic.waveform = FF_SINE; else if (periodic->type == SDL_HAPTIC_SQUARE) dest->u.periodic.waveform = FF_SQUARE; else if (periodic->type == SDL_HAPTIC_TRIANGLE) dest->u.periodic.waveform = FF_TRIANGLE; else if (periodic->type == SDL_HAPTIC_SAWTOOTHUP) dest->u.periodic.waveform = FF_SAW_UP; else if (periodic->type == SDL_HAPTIC_SAWTOOTHDOWN) dest->u.periodic.waveform = FF_SAW_DOWN; dest->u.periodic.period = CLAMP(periodic->period); dest->u.periodic.magnitude = periodic->magnitude; dest->u.periodic.offset = periodic->offset; /* Phase is calculated based of offset from period and then clamped. */ tmp = ((periodic->phase % 36000) * dest->u.periodic.period) / 36000; dest->u.periodic.phase = CLAMP(tmp); /* Envelope */ dest->u.periodic.envelope.attack_length = CLAMP(periodic->attack_length); dest->u.periodic.envelope.attack_level = CLAMP(periodic->attack_level); dest->u.periodic.envelope.fade_length = CLAMP(periodic->fade_length); dest->u.periodic.envelope.fade_level = CLAMP(periodic->fade_level); break; case SDL_HAPTIC_SPRING: case SDL_HAPTIC_DAMPER: case SDL_HAPTIC_INERTIA: case SDL_HAPTIC_FRICTION: condition = &src->condition; /* Header */ if (condition->type == SDL_HAPTIC_SPRING) dest->type = FF_SPRING; else if (condition->type == SDL_HAPTIC_DAMPER) dest->type = FF_DAMPER; else if (condition->type == SDL_HAPTIC_INERTIA) dest->type = FF_INERTIA; else if (condition->type == SDL_HAPTIC_FRICTION) dest->type = FF_FRICTION; dest->direction = 0; /* Handled by the condition-specifics. */ /* Replay */ dest->replay.length = (condition->length == SDL_HAPTIC_INFINITY) ? 0 : CLAMP(condition->length); dest->replay.delay = CLAMP(condition->delay); /* Trigger */ dest->trigger.button = SDL_SYS_ToButton(condition->button); dest->trigger.interval = CLAMP(condition->interval); /* Condition */ /* X axis */ dest->u.condition[0].right_saturation = CLAMP(condition->right_sat[0]); dest->u.condition[0].left_saturation = CLAMP(condition->left_sat[0]); dest->u.condition[0].right_coeff = condition->right_coeff[0]; dest->u.condition[0].left_coeff = condition->left_coeff[0]; dest->u.condition[0].deadband = CLAMP(condition->deadband[0]); dest->u.condition[0].center = condition->center[0]; /* Y axis */ dest->u.condition[1].right_saturation = CLAMP(condition->right_sat[1]); dest->u.condition[1].left_saturation = CLAMP(condition->left_sat[1]); dest->u.condition[1].right_coeff = condition->right_coeff[1]; dest->u.condition[1].left_coeff = condition->left_coeff[1]; dest->u.condition[1].deadband = CLAMP(condition->deadband[1]); dest->u.condition[1].center = condition->center[1]; /* * There is no envelope in the linux force feedback api for conditions. */ break; case SDL_HAPTIC_RAMP: ramp = &src->ramp; /* Header */ dest->type = FF_RAMP; dest->direction = SDL_SYS_ToDirection(&ramp->direction); if (dest->direction == (Uint16)-1) return -1; /* Replay */ dest->replay.length = (ramp->length == SDL_HAPTIC_INFINITY) ? 0 : CLAMP(ramp->length); dest->replay.delay = CLAMP(ramp->delay); /* Trigger */ dest->trigger.button = SDL_SYS_ToButton(ramp->button); dest->trigger.interval = CLAMP(ramp->interval); /* Ramp */ dest->u.ramp.start_level = ramp->start; dest->u.ramp.end_level = ramp->end; /* Envelope */ dest->u.ramp.envelope.attack_length = CLAMP(ramp->attack_length); dest->u.ramp.envelope.attack_level = CLAMP(ramp->attack_level); dest->u.ramp.envelope.fade_length = CLAMP(ramp->fade_length); dest->u.ramp.envelope.fade_level = CLAMP(ramp->fade_level); break; default: SDL_SetError("Haptic: Unknown effect type."); return -1; } return 0; } /* * Creates a new haptic effect. */ int SDL_SYS_HapticNewEffect(SDL_Haptic * haptic, struct haptic_effect * effect, SDL_HapticEffect * base) { struct ff_effect * linux_effect; /* Allocate the hardware effect */ effect->hweffect = (struct haptic_hweffect *) SDL_malloc(sizeof(struct haptic_hweffect)); if (effect->hweffect == NULL) { SDL_OutOfMemory(); return -1; } /* Prepare the ff_effect */ linux_effect = &effect->hweffect->effect; if (SDL_SYS_ToFFEffect( linux_effect, base ) != 0) { goto new_effect_err; } linux_effect->id = -1; /* Have the kernel give it an id */ /* Upload the effect */ if (ioctl(haptic->hwdata->fd, EVIOCSFF, linux_effect) < 0) { SDL_SetError("Haptic: Error uploading effect to the device: %s", strerror(errno)); goto new_effect_err; } return 0; new_effect_err: free(effect->hweffect); effect->hweffect = NULL; return -1; } /* * Updates an effect. * * Note: Dynamically updating the direction can in some cases force * the effect to restart and run once. */ int SDL_SYS_HapticUpdateEffect(SDL_Haptic * haptic, struct haptic_effect * effect, SDL_HapticEffect * data) { struct ff_effect linux_effect; /* Create the new effect */ if (SDL_SYS_ToFFEffect( &linux_effect, data ) != 0) { return -1; } linux_effect.id = effect->hweffect->effect.id; /* See if it can be uploaded. */ if (ioctl(haptic->hwdata->fd, EVIOCSFF, &linux_effect) < 0) { SDL_SetError("Haptic: Error updating the effect: %s", strerror(errno)); return -1; } /* Copy the new effect into memory. */ SDL_memcpy( &effect->hweffect->effect, &linux_effect, sizeof(struct ff_effect) ); return effect->hweffect->effect.id; } /* * Runs an effect. */ int SDL_SYS_HapticRunEffect(SDL_Haptic * haptic, struct haptic_effect * effect, Uint32 iterations) { struct input_event run; /* Prepare to run the effect */ run.type = EV_FF; run.code = effect->hweffect->effect.id; /* We don't actually have infinity here, so we just do INT_MAX which is pretty damn close. */ run.value = (iterations > INT_MAX) ? INT_MAX : iterations; if (write(haptic->hwdata->fd, (const void*) &run, sizeof(run)) < 0) { SDL_SetError("Haptic: Unable to run the effect: %s", strerror(errno)); return -1; } return 0; } /* * Stops an effect. */ int SDL_SYS_HapticStopEffect(SDL_Haptic * haptic, struct haptic_effect * effect) { struct input_event stop; stop.type = EV_FF; stop.code = effect->hweffect->effect.id; stop.value = 0; if (write(haptic->hwdata->fd, (const void*) &stop, sizeof(stop)) < 0) { SDL_SetError("Haptic: Unable to stop the effect: %s", strerror(errno)); return -1; } return 0; } /* * Frees the effect. */ void SDL_SYS_HapticDestroyEffect(SDL_Haptic * haptic, struct haptic_effect * effect) { if (ioctl(haptic->hwdata->fd, EVIOCRMFF, effect->hweffect->effect.id) < 0) { SDL_SetError("Haptic: Error removing the effect from the device: %s", strerror(errno)); } SDL_free(effect->hweffect); effect->hweffect = NULL; } /* * Gets the status of a haptic effect. */ int SDL_SYS_HapticGetEffectStatus(SDL_Haptic * haptic, struct haptic_effect * effect) { #if 0 /* Not supported atm. */ struct input_event ie; ie.type = EV_FF; ie.type = EV_FF_STATUS; ie.code = effect->hweffect->effect.id; if (write(haptic->hwdata->fd, &ie, sizeof(ie)) < 0) { SDL_SetError("Haptic: Error getting device status."); return -1; } return 0; #endif return -1; } /* * Sets the gain. */ int SDL_SYS_HapticSetGain(SDL_Haptic * haptic, int gain) { struct input_event ie; ie.type = EV_FF; ie.code = FF_GAIN; ie.value = (0xFFFFUL * gain) / 100; if (write(haptic->hwdata->fd, &ie, sizeof(ie)) < 0) { SDL_SetError("Haptic: Error setting gain: %s", strerror(errno)); return -1; } return 0; } /* * Sets the autocentering. */ int SDL_SYS_HapticSetAutocenter(SDL_Haptic * haptic, int autocenter) { struct input_event ie; ie.type = EV_FF; ie.code = FF_AUTOCENTER; ie.value = (0xFFFFUL * autocenter) / 100; if (write(haptic->hwdata->fd, &ie, sizeof(ie)) < 0) { SDL_SetError("Haptic: Error setting autocenter: %s", strerror(errno)); return -1; } return 0; } /* * Pausing is not supported atm by linux. */ int SDL_SYS_HapticPause(SDL_Haptic * haptic) { return -1; } /* * Unpausing is not supported atm by linux. */ int SDL_SYS_HapticUnpause(SDL_Haptic * haptic) { return -1; } #endif /* SDL_HAPTIC_LINUX */