This repository has been archived by the owner on Feb 11, 2021. It is now read-only.
/
SDL_syshaptic.c
631 lines (508 loc) · 15.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
/*
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_JOYSTICK_LINUX
#include "SDL_haptic.h"
#include "../SDL_haptic_c.h"
#include "../SDL_syshaptic.h"
29
30
31
#include "SDL_joystick.h"
#include "../../joystick/SDL_sysjoystick.h" /* For the real SDL_Joystick */
#include "../../joystick/linux/SDL_sysjoystick_c.h" /* For joystick hwdata */
32
33
34
35
36
37
38
39
40
41
42
43
44
45
#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>
#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
91
92
93
static int
EV_IsHaptic(int fd)
{
unsigned int ret;
unsigned long features[1 + FF_MAX/sizeof(unsigned long)];
ret = 0;
ioctl(fd, EVIOCGBIT(EV_FF, sizeof(unsigned long) * 4), features);
EV_TEST(FF_CONSTANT, SDL_HAPTIC_CONSTANT);
94
95
96
97
98
EV_TEST(FF_PERIODIC, SDL_HAPTIC_SINE |
SDL_HAPTIC_SQUARE |
SDL_HAPTIC_TRIANGLE |
SDL_HAPTIC_SAWTOOTHUP |
SDL_HAPTIC_SAWTOOTHDOWN);
99
100
101
102
103
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);
104
EV_TEST(FF_CUSTOM, SDL_HAPTIC_CUSTOM);
105
106
107
108
109
110
111
112
113
114
115
116
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
160
161
162
163
164
165
166
EV_TEST(FF_GAIN, SDL_HAPTIC_GAIN);
EV_TEST(FF_AUTOCENTER, SDL_HAPTIC_AUTOCENTER);
return ret;
}
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 */
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;
}
167
168
169
/*
* Return the name of a haptic device, does not need to be opened.
*/
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
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;
}
193
194
195
/*
* Opens a haptic device for usage.
*/
196
197
198
int
SDL_SYS_HapticOpen(SDL_Haptic * haptic)
{
199
int i;
200
201
int fd;
202
/* Open the character device */
203
204
205
fd = open(SDL_hapticlist[haptic->index].fname, O_RDWR, 0);
if (fd < 0) {
SDL_SetError("Unable to open %s\n", SDL_hapticlist[haptic->index]);
206
return -1;
207
208
}
209
210
/* Allocate the hwdata */
haptic->hwdata = (struct haptic_hwdata *)
211
SDL_malloc(sizeof(*haptic->hwdata));
212
213
if (haptic->hwdata == NULL) {
SDL_OutOfMemory();
214
goto open_err;
215
216
}
SDL_memset(haptic->hwdata, 0, sizeof(*haptic->hwdata));
217
/* Set the data */
218
haptic->hwdata->fd = fd;
219
haptic->supported = EV_IsHaptic(fd);
220
221
222
223
224
225
226
227
228
229
230
231
/* Set the effects */
if (ioctl(fd, EVIOCGEFFECTS, &haptic->neffects) < 0) {
SDL_SetError("Unable to query haptic device memory.");
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;
}
232
233
234
/* Clear the memory */
SDL_memset(haptic->effects, 0,
sizeof(struct haptic_effect) * haptic->neffects);
235
236
return 0;
237
238
239
240
241
242
243
244
245
/* Error handling */
open_err:
close(fd);
if (haptic->hwdata != NULL) {
free(haptic->hwdata);
haptic->hwdata = NULL;
}
return -1;
246
247
248
}
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
/*
* Checks to see if a joystick has haptic features.
*/
int
SDL_SYS_JoystickIsHaptic(SDL_Joystick * joystick)
{
if (EV_IsHaptic(joystick->hwdata->fd) > 0)
return 1;
return 0;
}
/*
* Opens a SDL_Haptic from a SDL_Joystick.
*/
int
SDL_SYS_HapticOpenFromJoystick(SDL_Haptic * haptic, SDL_Joystick * joystick)
{
}
270
271
272
273
274
275
/*
* Closes the haptic device.
*/
void
SDL_SYS_HapticClose(SDL_Haptic * haptic)
{
276
277
278
279
280
281
282
283
if (haptic->hwdata) {
/* Clean up */
close(haptic->hwdata->fd);
/* Free */
SDL_free(haptic->hwdata);
haptic->hwdata = NULL;
284
285
SDL_free(haptic->effects);
haptic->neffects = 0;
286
}
287
288
289
}
290
291
292
/*
* Clean up after system specific haptic stuff
*/
293
294
295
296
297
298
299
300
301
302
303
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;
}
304
#define CLAMP(x) (((x) > 32767) ? 32767 : x)
305
306
/*
* Initializes the linux effect struct from a haptic_effect.
307
* Values above 32767 (for unsigned) are unspecified so we must clamp.
308
309
*/
static int
310
SDL_SYS_ToFFEffect( struct ff_effect * dest, SDL_HapticEffect * src )
311
{
312
int i;
313
314
SDL_HapticConstant *constant;
SDL_HapticPeriodic *periodic;
315
316
SDL_HapticCondition *condition;
SDL_HapticRamp *ramp;
317
318
/* Clear up */
319
SDL_memset(dest, 0, sizeof(struct ff_effect));
320
321
switch (src->type) {
322
case SDL_HAPTIC_CONSTANT:
323
324
325
constant = &src->constant;
/* Header */
326
dest->type = FF_CONSTANT;
327
dest->direction = CLAMP(constant->direction);
328
329
/* Replay */
330
331
dest->replay.length = CLAMP(constant->length);
dest->replay.delay = CLAMP(constant->delay);
332
333
/* Trigger */
334
335
dest->trigger.button = CLAMP(constant->button);
dest->trigger.interval = CLAMP(constant->interval);
336
337
338
339
340
/* Constant */
dest->u.constant.level = constant->level;
/* Envelope */
341
342
343
344
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);
345
346
347
break;
348
349
350
351
352
case SDL_HAPTIC_SINE:
case SDL_HAPTIC_SQUARE:
case SDL_HAPTIC_TRIANGLE:
case SDL_HAPTIC_SAWTOOTHUP:
case SDL_HAPTIC_SAWTOOTHDOWN:
353
354
355
356
periodic = &src->periodic;
/* Header */
dest->type = FF_PERIODIC;
357
dest->direction = CLAMP(periodic->direction);
358
359
/* Replay */
360
361
dest->replay.length = CLAMP(periodic->length);
dest->replay.delay = CLAMP(periodic->delay);
362
363
/* Trigger */
364
365
dest->trigger.button = CLAMP(periodic->button);
dest->trigger.interval = CLAMP(periodic->interval);
366
367
368
369
370
371
372
373
374
375
376
377
/* 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;
378
dest->u.periodic.period = CLAMP(periodic->period);
379
380
dest->u.periodic.magnitude = periodic->magnitude;
dest->u.periodic.offset = periodic->offset;
381
dest->u.periodic.phase = CLAMP(periodic->phase);
382
383
/* Envelope */
384
385
386
387
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);
388
389
390
break;
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
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;
dest->direction = CLAMP(condition->direction);
/* 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);
/* Condition - TODO handle axes */
dest->u.condition[0].right_saturation = CLAMP(condition->right_sat);
dest->u.condition[0].left_saturation = CLAMP(condition->left_sat);
dest->u.condition[0].right_coeff = condition->right_coeff;
dest->u.condition[0].left_coeff = condition->left_coeff;
dest->u.condition[0].deadband = CLAMP(condition->deadband);
dest->u.condition[0].center = condition->center;
break;
case SDL_HAPTIC_RAMP:
ramp = &src->ramp;
/* Header */
dest->type = FF_RAMP;
dest->direction = CLAMP(ramp->direction);
/* 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;
454
455
456
457
458
459
460
461
default:
SDL_SetError("Unknown haptic effect type.");
return -1;
}
return 0;
}
462
463
464
465
466
/*
* Creates a new haptic effect.
*/
int
467
468
SDL_SYS_HapticNewEffect(SDL_Haptic * haptic, struct haptic_effect * effect,
SDL_HapticEffect * base)
469
{
470
471
struct ff_effect * linux_effect;
472
473
474
475
476
477
478
479
480
/* 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 */
481
482
linux_effect = &effect->hweffect->effect;
if (SDL_SYS_ToFFEffect( linux_effect, base ) != 0) {
483
goto new_effect_err;
484
}
485
linux_effect->id = -1; /* Have the kernel give it an id */
486
487
/* Upload the effect */
488
if (ioctl(haptic->hwdata->fd, EVIOCSFF, linux_effect) < 0) {
489
SDL_SetError("Error uploading effect to the haptic device.");
490
goto new_effect_err;
491
492
493
}
return 0;
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
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("Error updating the haptic effect.");
return -1;
}
/* Copy the new effect into memory. */
SDL_memcpy( &effect->hweffect->effect, &linux_effect, sizeof(struct ff_effect) );
return effect->hweffect->effect.id;
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
}
/*
* 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) {
SDL_SetError("Unable to run the haptic effect.");
return -1;
}
return 0;
}
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
/*
* 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("Unable to stop the haptic effect.");
return -1;
}
return 0;
}
575
/*
576
* Frees the effect.
577
578
579
580
581
582
583
584
585
*/
void
SDL_SYS_HapticDestroyEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
{
if (ioctl(haptic->hwdata->fd, EVIOCRMFF, effect->hweffect->effect.id) < 0) {
SDL_SetError("Error removing the effect from the haptic device.");
}
SDL_free(effect->hweffect);
effect->hweffect = NULL;
586
587
}
588
589
590
591
592
593
594
595
596
597
598
599
600
/*
* 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;
601
if (write(haptic->hwdata->fd, &ie, sizeof(ie)) < 0) {
602
SDL_SetError("Error setting gain.");
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
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("Error setting autocenter.");
return -1;
625
626
}
627
return 0;
628
629
630
}
631
#endif /* SDL_HAPTIC_LINUX */