This repository has been archived by the owner on Feb 11, 2021. It is now read-only.
/
SDL_syshaptic.c
720 lines (583 loc) · 17.9 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
/*
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"
24
#ifdef SDL_HAPTIC_LINUX
25
26
27
#include "SDL_haptic.h"
#include "../SDL_syshaptic.h"
28
29
30
#include "SDL_joystick.h"
#include "../../joystick/SDL_sysjoystick.h" /* For the real SDL_Joystick */
#include "../../joystick/linux/SDL_sysjoystick_c.h" /* For joystick hwdata */
31
32
33
34
35
36
37
38
39
#include <unistd.h> /* close */
#include <linux/input.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <linux/limits.h>
#include <string.h>
40
#include <errno.h>
41
42
43
44
45
#define MAX_HAPTICS 32
46
47
48
/*
* List of available haptic devices.
*/
49
50
51
52
53
54
static struct
{
char *fname;
SDL_Haptic *haptic;
} SDL_hapticlist[MAX_HAPTICS];
55
56
57
58
/*
* Haptic system hardware data.
*/
59
60
61
62
63
64
struct haptic_hwdata
{
int fd;
};
65
66
67
68
69
/*
* Haptic system effect data.
*/
struct haptic_hweffect
{
70
struct ff_effect effect;
71
72
73
};
74
75
76
77
78
#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);
79
80
81
82
/*
* Test whether a device has haptic properties.
* Returns available properties or 0 if there are none.
*/
83
84
85
86
87
88
89
90
static int
EV_IsHaptic(int fd)
{
unsigned int ret;
unsigned long features[1 + FF_MAX/sizeof(unsigned long)];
ret = 0;
91
if (ioctl(fd, EVIOCGBIT(EV_FF, sizeof(unsigned long) * 4), features) < 0) {
92
SDL_SetError("Unable to get device's haptic abilities: %s", strerror(errno));
93
94
return -1;
}
95
96
EV_TEST(FF_CONSTANT, SDL_HAPTIC_CONSTANT);
97
98
99
100
101
EV_TEST(FF_PERIODIC, SDL_HAPTIC_SINE |
SDL_HAPTIC_SQUARE |
SDL_HAPTIC_TRIANGLE |
SDL_HAPTIC_SAWTOOTHUP |
SDL_HAPTIC_SAWTOOTHDOWN);
102
103
104
105
106
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);
107
EV_TEST(FF_CUSTOM, SDL_HAPTIC_CUSTOM);
108
109
110
111
112
113
EV_TEST(FF_GAIN, SDL_HAPTIC_GAIN);
EV_TEST(FF_AUTOCENTER, SDL_HAPTIC_AUTOCENTER);
return ret;
}
114
115
116
/*
* Initializes the haptic subsystem by finding available devices.
*/
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
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;
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 */
160
if (EV_IsHaptic(fd) > 0) {
161
162
163
164
165
166
167
168
169
170
171
172
SDL_hapticlist[numhaptics].fname = SDL_strdup(path);
SDL_hapticlist[numhaptics].haptic = NULL;
dev_nums[numhaptics] = sb.st_rdev;
++numhaptics;
}
close(fd);
}
return numhaptics;
}
173
174
175
/*
* Return the name of a haptic device, does not need to be opened.
*/
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
const char *
SDL_SYS_HapticName(int index)
{
int fd;
static char namebuf[128];
char *name;
name = NULL;
fd = open(SDL_hapticlist[index].fname, O_RDONLY, 0);
if (fd >= 0) {
if (ioctl(fd, EVIOCGNAME(sizeof(namebuf)), namebuf) <= 0) {
name = SDL_hapticlist[index].fname;
}
else {
name = namebuf;
}
}
close(fd);
return name;
}
199
/*
200
* Opens the haptic device from the file descriptor.
201
*/
202
203
static int
SDL_SYS_HapticOpenFromFD(SDL_Haptic * haptic, int fd)
204
{
205
206
/* Allocate the hwdata */
haptic->hwdata = (struct haptic_hwdata *)
207
SDL_malloc(sizeof(*haptic->hwdata));
208
209
if (haptic->hwdata == NULL) {
SDL_OutOfMemory();
210
goto open_err;
211
212
}
SDL_memset(haptic->hwdata, 0, sizeof(*haptic->hwdata));
213
/* Set the data */
214
haptic->hwdata->fd = fd;
215
haptic->supported = EV_IsHaptic(fd);
216
217
218
/* Set the effects */
if (ioctl(fd, EVIOCGEFFECTS, &haptic->neffects) < 0) {
219
SDL_SetError("Unable to query haptic device memory: %s", strerror(errno));
220
221
222
223
224
225
226
227
goto open_err;
}
haptic->effects = (struct haptic_effect *)
SDL_malloc(sizeof(struct haptic_effect) * haptic->neffects);
if (haptic->effects == NULL) {
SDL_OutOfMemory();
goto open_err;
}
228
229
230
/* Clear the memory */
SDL_memset(haptic->effects, 0,
sizeof(struct haptic_effect) * haptic->neffects);
231
232
return 0;
233
234
235
236
237
238
239
240
241
/* Error handling */
open_err:
close(fd);
if (haptic->hwdata != NULL) {
free(haptic->hwdata);
haptic->hwdata = NULL;
}
return -1;
242
243
244
}
245
246
247
248
249
250
251
252
253
254
255
/*
* Opens a haptic device for usage.
*/
int
SDL_SYS_HapticOpen(SDL_Haptic * haptic)
{
int fd;
/* Open the character device */
fd = open(SDL_hapticlist[haptic->index].fname, O_RDWR, 0);
if (fd < 0) {
256
257
SDL_SetError("Unable to open %s: %s",
SDL_hapticlist[haptic->index], strerror(errno));
258
259
260
261
262
263
264
return -1;
}
return SDL_SYS_HapticOpenFromFD(haptic,fd);
}
265
266
267
268
269
270
/*
* Checks to see if a joystick has haptic features.
*/
int
SDL_SYS_JoystickIsHaptic(SDL_Joystick * joystick)
{
271
272
273
274
275
276
277
278
279
280
281
return EV_IsHaptic(joystick->hwdata->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)
{
if (SDL_strcmp(joystick->name,haptic->name)==0) {
282
return 1;
283
}
284
285
286
287
288
289
290
291
292
293
return 0;
}
/*
* Opens a SDL_Haptic from a SDL_Joystick.
*/
int
SDL_SYS_HapticOpenFromJoystick(SDL_Haptic * haptic, SDL_Joystick * joystick)
{
294
295
296
int fd;
fd = open(joystick->hwdata->fname, O_RDWR, 0);
return SDL_SYS_HapticOpenFromFD(haptic,fd);
297
298
299
}
300
301
302
303
304
305
/*
* Closes the haptic device.
*/
void
SDL_SYS_HapticClose(SDL_Haptic * haptic)
{
306
307
308
309
310
311
312
313
if (haptic->hwdata) {
/* Clean up */
close(haptic->hwdata->fd);
/* Free */
SDL_free(haptic->hwdata);
haptic->hwdata = NULL;
314
315
SDL_free(haptic->effects);
haptic->neffects = 0;
316
}
317
318
319
}
320
321
322
/*
* Clean up after system specific haptic stuff
*/
323
324
325
326
327
328
329
330
331
332
333
void
SDL_SYS_HapticQuit(void)
{
int i;
for (i=0; SDL_hapticlist[i].fname != NULL; i++) {
SDL_free(SDL_hapticlist[i].fname);
}
SDL_hapticlist[0].fname = NULL;
}
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
/*
* Returns the ff_effect usable direction from a SDL_HapticDirection.
*/
static Uint16
SDL_SYS_ToDirection( SDL_HapticDirection * dir )
{
Uint32 tmp;
switch (dir->type) {
case SDL_HAPTIC_POLAR:
tmp = ((dir->dir[0] % 36000) * 0xFFFF) / 36000;
return (Uint16) tmp;
break;
case SDL_HAPTIC_CARTESIAN:
/* TODO implement cartesian for linux since it's not supported
* by driver */
break;
default:
return -1;
}
return 0;
}
359
#define CLAMP(x) (((x) > 32767) ? 32767 : x)
360
361
/*
* Initializes the linux effect struct from a haptic_effect.
362
* Values above 32767 (for unsigned) are unspecified so we must clamp.
363
364
*/
static int
365
SDL_SYS_ToFFEffect( struct ff_effect * dest, SDL_HapticEffect * src )
366
{
367
int i;
368
369
SDL_HapticConstant *constant;
SDL_HapticPeriodic *periodic;
370
371
SDL_HapticCondition *condition;
SDL_HapticRamp *ramp;
372
373
/* Clear up */
374
SDL_memset(dest, 0, sizeof(struct ff_effect));
375
376
switch (src->type) {
377
case SDL_HAPTIC_CONSTANT:
378
379
380
constant = &src->constant;
/* Header */
381
dest->type = FF_CONSTANT;
382
dest->direction = SDL_SYS_ToDirection(&constant->direction);
383
384
/* Replay */
385
386
dest->replay.length = CLAMP(constant->length);
dest->replay.delay = CLAMP(constant->delay);
387
388
/* Trigger */
389
390
dest->trigger.button = CLAMP(constant->button);
dest->trigger.interval = CLAMP(constant->interval);
391
392
393
394
395
/* Constant */
dest->u.constant.level = constant->level;
/* Envelope */
396
397
398
399
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);
400
401
402
break;
403
404
405
406
407
case SDL_HAPTIC_SINE:
case SDL_HAPTIC_SQUARE:
case SDL_HAPTIC_TRIANGLE:
case SDL_HAPTIC_SAWTOOTHUP:
case SDL_HAPTIC_SAWTOOTHDOWN:
408
409
410
411
periodic = &src->periodic;
/* Header */
dest->type = FF_PERIODIC;
412
dest->direction = SDL_SYS_ToDirection(&periodic->direction);
413
414
/* Replay */
415
416
dest->replay.length = CLAMP(periodic->length);
dest->replay.delay = CLAMP(periodic->delay);
417
418
/* Trigger */
419
420
dest->trigger.button = CLAMP(periodic->button);
dest->trigger.interval = CLAMP(periodic->interval);
421
422
423
424
425
426
427
428
429
430
431
432
/* 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;
433
dest->u.periodic.period = CLAMP(periodic->period);
434
435
dest->u.periodic.magnitude = periodic->magnitude;
dest->u.periodic.offset = periodic->offset;
436
dest->u.periodic.phase = CLAMP(periodic->phase);
437
438
/* Envelope */
439
440
441
442
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);
443
444
445
break;
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
case SDL_HAPTIC_SPRING:
case SDL_HAPTIC_DAMPER:
case SDL_HAPTIC_INERTIA:
case SDL_HAPTIC_FRICTION:
condition = &src->condition;
/* Header */
if (dest->type == SDL_HAPTIC_SPRING)
dest->type = FF_SPRING;
else if (dest->type == SDL_HAPTIC_DAMPER)
dest->type = FF_DAMPER;
else if (dest->type == SDL_HAPTIC_INERTIA)
dest->type = FF_INERTIA;
else if (dest->type == SDL_HAPTIC_FRICTION)
dest->type = FF_FRICTION;
461
dest->direction = 0; /* Handled by the condition-specifics. */
462
463
464
465
466
467
468
469
470
/* Replay */
dest->replay.length = CLAMP(condition->length);
dest->replay.delay = CLAMP(condition->delay);
/* Trigger */
dest->trigger.button = CLAMP(condition->button);
dest->trigger.interval = CLAMP(condition->interval);
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
/* 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];
486
487
488
489
490
491
492
493
break;
case SDL_HAPTIC_RAMP:
ramp = &src->ramp;
/* Header */
dest->type = FF_RAMP;
494
dest->direction = SDL_SYS_ToDirection(&ramp->direction);
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
/* Replay */
dest->replay.length = CLAMP(ramp->length);
dest->replay.delay = CLAMP(ramp->delay);
/* Trigger */
dest->trigger.button = CLAMP(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;
517
default:
518
SDL_SetError("Unknown haptic effect type");
519
520
521
522
523
524
return -1;
}
return 0;
}
525
526
527
528
529
/*
* Creates a new haptic effect.
*/
int
530
531
SDL_SYS_HapticNewEffect(SDL_Haptic * haptic, struct haptic_effect * effect,
SDL_HapticEffect * base)
532
{
533
534
struct ff_effect * linux_effect;
535
536
537
538
539
540
541
542
543
/* 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 */
544
545
linux_effect = &effect->hweffect->effect;
if (SDL_SYS_ToFFEffect( linux_effect, base ) != 0) {
546
goto new_effect_err;
547
}
548
linux_effect->id = -1; /* Have the kernel give it an id */
549
550
/* Upload the effect */
551
if (ioctl(haptic->hwdata->fd, EVIOCSFF, linux_effect) < 0) {
552
SDL_SetError("Error uploading effect to the haptic device: %s", strerror(errno));
553
goto new_effect_err;
554
555
556
}
return 0;
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
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) {
584
SDL_SetError("Error updating the haptic effect: %s", strerror(errno));
585
586
587
588
589
590
591
return -1;
}
/* Copy the new effect into memory. */
SDL_memcpy( &effect->hweffect->effect, &linux_effect, sizeof(struct ff_effect) );
return effect->hweffect->effect.id;
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
}
/*
* Runs an effect.
*/
int
SDL_SYS_HapticRunEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
{
struct input_event run;
/* Prepare to run the effect */
run.type = EV_FF;
run.code = effect->hweffect->effect.id;
run.value = 1;
if (write(haptic->hwdata->fd, (const void*) &run, sizeof(run)) < 0) {
609
SDL_SetError("Unable to run the haptic effect: %s", strerror(errno));
610
611
612
613
614
615
616
return -1;
}
return 0;
}
617
618
619
620
621
622
623
624
625
626
627
628
629
/*
* 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) {
630
SDL_SetError("Unable to stop the haptic effect: %s", strerror(errno));
631
632
633
634
635
636
637
return -1;
}
return 0;
}
638
/*
639
* Frees the effect.
640
641
642
643
644
*/
void
SDL_SYS_HapticDestroyEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
{
if (ioctl(haptic->hwdata->fd, EVIOCRMFF, effect->hweffect->effect.id) < 0) {
645
646
SDL_SetError("Error removing the effect from the haptic device: %s",
strerror(errno));
647
648
649
}
SDL_free(effect->hweffect);
effect->hweffect = NULL;
650
651
}
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
/*
* 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("Error getting haptic device status.");
return -1;
}
return 0;
#endif
return -1;
}
678
679
680
681
682
683
684
685
686
687
688
689
/*
* 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;
690
if (write(haptic->hwdata->fd, &ie, sizeof(ie)) < 0) {
691
SDL_SetError("Error setting gain: %s", strerror(errno));
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
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) {
712
SDL_SetError("Error setting autocenter: %s", strerror(errno));
713
return -1;
714
715
}
716
return 0;
717
718
719
}
720
#endif /* SDL_HAPTIC_LINUX */