This repository has been archived by the owner on Feb 11, 2021. It is now read-only.
/
SDL_syshaptic.c
729 lines (591 loc) · 18.2 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
#include <math.h>
#ifndef M_PI
# define M_PI 3.14159265358979323846
#endif
46
47
48
49
50
#define MAX_HAPTICS 32
51
52
53
/*
* List of available haptic devices.
*/
54
55
56
57
58
59
static struct
{
char *fname;
SDL_Haptic *haptic;
} SDL_hapticlist[MAX_HAPTICS];
60
61
62
63
/*
* Haptic system hardware data.
*/
64
65
66
67
68
69
struct haptic_hwdata
{
int fd;
};
70
71
72
73
74
/*
* Haptic system effect data.
*/
struct haptic_hweffect
{
75
struct ff_effect effect;
76
77
78
};
79
80
81
82
83
#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);
84
85
86
87
/*
* Test whether a device has haptic properties.
* Returns available properties or 0 if there are none.
*/
88
89
90
91
92
93
94
95
static int
EV_IsHaptic(int fd)
{
unsigned int ret;
unsigned long features[1 + FF_MAX/sizeof(unsigned long)];
ret = 0;
96
if (ioctl(fd, EVIOCGBIT(EV_FF, sizeof(unsigned long) * 4), features) < 0) {
97
SDL_SetError("Unable to get device's haptic abilities: %s", strerror(errno));
98
99
return -1;
}
100
101
EV_TEST(FF_CONSTANT, SDL_HAPTIC_CONSTANT);
102
103
104
105
106
EV_TEST(FF_PERIODIC, SDL_HAPTIC_SINE |
SDL_HAPTIC_SQUARE |
SDL_HAPTIC_TRIANGLE |
SDL_HAPTIC_SAWTOOTHUP |
SDL_HAPTIC_SAWTOOTHDOWN);
107
108
109
110
111
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);
112
EV_TEST(FF_CUSTOM, SDL_HAPTIC_CUSTOM);
113
114
115
116
117
118
EV_TEST(FF_GAIN, SDL_HAPTIC_GAIN);
EV_TEST(FF_AUTOCENTER, SDL_HAPTIC_AUTOCENTER);
return ret;
}
119
120
121
/*
* Initializes the haptic subsystem by finding available devices.
*/
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
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 */
165
if (EV_IsHaptic(fd) > 0) {
166
167
168
169
170
171
172
173
174
175
176
177
SDL_hapticlist[numhaptics].fname = SDL_strdup(path);
SDL_hapticlist[numhaptics].haptic = NULL;
dev_nums[numhaptics] = sb.st_rdev;
++numhaptics;
}
close(fd);
}
return numhaptics;
}
178
179
180
/*
* Return the name of a haptic device, does not need to be opened.
*/
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
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;
}
204
/*
205
* Opens the haptic device from the file descriptor.
206
*/
207
208
static int
SDL_SYS_HapticOpenFromFD(SDL_Haptic * haptic, int fd)
209
{
210
211
/* Allocate the hwdata */
haptic->hwdata = (struct haptic_hwdata *)
212
SDL_malloc(sizeof(*haptic->hwdata));
213
214
if (haptic->hwdata == NULL) {
SDL_OutOfMemory();
215
goto open_err;
216
217
}
SDL_memset(haptic->hwdata, 0, sizeof(*haptic->hwdata));
218
/* Set the data */
219
haptic->hwdata->fd = fd;
220
haptic->supported = EV_IsHaptic(fd);
221
222
223
/* Set the effects */
if (ioctl(fd, EVIOCGEFFECTS, &haptic->neffects) < 0) {
224
SDL_SetError("Unable to query haptic device memory: %s", strerror(errno));
225
226
227
228
229
230
231
232
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;
}
233
234
235
/* Clear the memory */
SDL_memset(haptic->effects, 0,
sizeof(struct haptic_effect) * haptic->neffects);
236
237
return 0;
238
239
240
241
242
243
244
245
246
/* Error handling */
open_err:
close(fd);
if (haptic->hwdata != NULL) {
free(haptic->hwdata);
haptic->hwdata = NULL;
}
return -1;
247
248
249
}
250
251
252
253
254
255
256
257
258
259
260
/*
* 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) {
261
262
SDL_SetError("Unable to open %s: %s",
SDL_hapticlist[haptic->index], strerror(errno));
263
264
265
266
267
268
269
return -1;
}
return SDL_SYS_HapticOpenFromFD(haptic,fd);
}
270
271
272
273
274
275
/*
* Checks to see if a joystick has haptic features.
*/
int
SDL_SYS_JoystickIsHaptic(SDL_Joystick * joystick)
{
276
277
278
279
280
281
282
283
284
285
286
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) {
287
return 1;
288
}
289
290
291
292
293
294
295
296
297
298
return 0;
}
/*
* Opens a SDL_Haptic from a SDL_Joystick.
*/
int
SDL_SYS_HapticOpenFromJoystick(SDL_Haptic * haptic, SDL_Joystick * joystick)
{
299
300
301
int fd;
fd = open(joystick->hwdata->fname, O_RDWR, 0);
return SDL_SYS_HapticOpenFromFD(haptic,fd);
302
303
304
}
305
306
307
308
309
310
/*
* Closes the haptic device.
*/
void
SDL_SYS_HapticClose(SDL_Haptic * haptic)
{
311
312
313
314
315
316
317
318
if (haptic->hwdata) {
/* Clean up */
close(haptic->hwdata->fd);
/* Free */
SDL_free(haptic->hwdata);
haptic->hwdata = NULL;
319
320
SDL_free(haptic->effects);
haptic->neffects = 0;
321
}
322
323
324
}
325
326
327
/*
* Clean up after system specific haptic stuff
*/
328
329
330
331
332
333
334
335
336
337
338
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;
}
339
340
341
342
343
344
345
/*
* Returns the ff_effect usable direction from a SDL_HapticDirection.
*/
static Uint16
SDL_SYS_ToDirection( SDL_HapticDirection * dir )
{
Uint32 tmp;
346
float f;
347
348
349
switch (dir->type) {
case SDL_HAPTIC_POLAR:
350
351
/* Linux directions are inverted. */
tmp = (((18000 + dir->dir[0]) % 36000) * 0xFFFF) / 36000;
352
353
354
return (Uint16) tmp;
break;
case SDL_HAPTIC_CARTESIAN:
355
356
357
358
f = atan2(dir->dir[0], dir->dir[1]);
tmp = (int)(f*18000./M_PI) % 36000;
tmp = (tmp * 0xFFFF) / 36000;
return (Uint16) tmp;
359
360
361
362
363
364
365
366
367
break;
default:
return -1;
}
return 0;
}
368
#define CLAMP(x) (((x) > 32767) ? 32767 : x)
369
370
/*
* Initializes the linux effect struct from a haptic_effect.
371
* Values above 32767 (for unsigned) are unspecified so we must clamp.
372
373
*/
static int
374
SDL_SYS_ToFFEffect( struct ff_effect * dest, SDL_HapticEffect * src )
375
{
376
int i;
377
378
SDL_HapticConstant *constant;
SDL_HapticPeriodic *periodic;
379
380
SDL_HapticCondition *condition;
SDL_HapticRamp *ramp;
381
382
/* Clear up */
383
SDL_memset(dest, 0, sizeof(struct ff_effect));
384
385
switch (src->type) {
386
case SDL_HAPTIC_CONSTANT:
387
388
389
constant = &src->constant;
/* Header */
390
dest->type = FF_CONSTANT;
391
dest->direction = SDL_SYS_ToDirection(&constant->direction);
392
393
/* Replay */
394
395
dest->replay.length = CLAMP(constant->length);
dest->replay.delay = CLAMP(constant->delay);
396
397
/* Trigger */
398
399
dest->trigger.button = CLAMP(constant->button);
dest->trigger.interval = CLAMP(constant->interval);
400
401
402
403
404
/* Constant */
dest->u.constant.level = constant->level;
/* Envelope */
405
406
407
408
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);
409
410
411
break;
412
413
414
415
416
case SDL_HAPTIC_SINE:
case SDL_HAPTIC_SQUARE:
case SDL_HAPTIC_TRIANGLE:
case SDL_HAPTIC_SAWTOOTHUP:
case SDL_HAPTIC_SAWTOOTHDOWN:
417
418
419
420
periodic = &src->periodic;
/* Header */
dest->type = FF_PERIODIC;
421
dest->direction = SDL_SYS_ToDirection(&periodic->direction);
422
423
/* Replay */
424
425
dest->replay.length = CLAMP(periodic->length);
dest->replay.delay = CLAMP(periodic->delay);
426
427
/* Trigger */
428
429
dest->trigger.button = CLAMP(periodic->button);
dest->trigger.interval = CLAMP(periodic->interval);
430
431
432
433
434
435
436
437
438
439
440
441
/* 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;
442
dest->u.periodic.period = CLAMP(periodic->period);
443
444
dest->u.periodic.magnitude = periodic->magnitude;
dest->u.periodic.offset = periodic->offset;
445
dest->u.periodic.phase = CLAMP(periodic->phase);
446
447
/* Envelope */
448
449
450
451
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);
452
453
454
break;
455
456
457
458
459
460
461
case SDL_HAPTIC_SPRING:
case SDL_HAPTIC_DAMPER:
case SDL_HAPTIC_INERTIA:
case SDL_HAPTIC_FRICTION:
condition = &src->condition;
/* Header */
462
if (condition->type == SDL_HAPTIC_SPRING)
463
dest->type = FF_SPRING;
464
else if (condition->type == SDL_HAPTIC_DAMPER)
465
dest->type = FF_DAMPER;
466
else if (condition->type == SDL_HAPTIC_INERTIA)
467
dest->type = FF_INERTIA;
468
else if (condition->type == SDL_HAPTIC_FRICTION)
469
dest->type = FF_FRICTION;
470
dest->direction = 0; /* Handled by the condition-specifics. */
471
472
473
474
475
476
477
478
479
/* 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);
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
/* 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];
495
496
497
498
499
500
501
502
break;
case SDL_HAPTIC_RAMP:
ramp = &src->ramp;
/* Header */
dest->type = FF_RAMP;
503
dest->direction = SDL_SYS_ToDirection(&ramp->direction);
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
/* 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;
526
default:
527
SDL_SetError("Unknown haptic effect type");
528
529
530
531
532
533
return -1;
}
return 0;
}
534
535
536
537
538
/*
* Creates a new haptic effect.
*/
int
539
540
SDL_SYS_HapticNewEffect(SDL_Haptic * haptic, struct haptic_effect * effect,
SDL_HapticEffect * base)
541
{
542
543
struct ff_effect * linux_effect;
544
545
546
547
548
549
550
551
552
/* 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 */
553
554
linux_effect = &effect->hweffect->effect;
if (SDL_SYS_ToFFEffect( linux_effect, base ) != 0) {
555
goto new_effect_err;
556
}
557
linux_effect->id = -1; /* Have the kernel give it an id */
558
559
/* Upload the effect */
560
if (ioctl(haptic->hwdata->fd, EVIOCSFF, linux_effect) < 0) {
561
SDL_SetError("Error uploading effect to the haptic device: %s", strerror(errno));
562
goto new_effect_err;
563
564
565
}
return 0;
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
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) {
593
SDL_SetError("Error updating the haptic effect: %s", strerror(errno));
594
595
596
597
598
599
600
return -1;
}
/* Copy the new effect into memory. */
SDL_memcpy( &effect->hweffect->effect, &linux_effect, sizeof(struct ff_effect) );
return effect->hweffect->effect.id;
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
}
/*
* 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) {
618
SDL_SetError("Unable to run the haptic effect: %s", strerror(errno));
619
620
621
622
623
624
625
return -1;
}
return 0;
}
626
627
628
629
630
631
632
633
634
635
636
637
638
/*
* 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) {
639
SDL_SetError("Unable to stop the haptic effect: %s", strerror(errno));
640
641
642
643
644
645
646
return -1;
}
return 0;
}
647
/*
648
* Frees the effect.
649
650
651
652
653
*/
void
SDL_SYS_HapticDestroyEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
{
if (ioctl(haptic->hwdata->fd, EVIOCRMFF, effect->hweffect->effect.id) < 0) {
654
655
SDL_SetError("Error removing the effect from the haptic device: %s",
strerror(errno));
656
657
658
}
SDL_free(effect->hweffect);
effect->hweffect = NULL;
659
660
}
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
/*
* 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;
}
687
688
689
690
691
692
693
694
695
696
697
698
/*
* 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;
699
if (write(haptic->hwdata->fd, &ie, sizeof(ie)) < 0) {
700
SDL_SetError("Error setting gain: %s", strerror(errno));
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
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) {
721
SDL_SetError("Error setting autocenter: %s", strerror(errno));
722
return -1;
723
724
}
725
return 0;
726
727
728
}
729
#endif /* SDL_HAPTIC_LINUX */