src/haptic/linux/SDL_syshaptic.c
author Edgar Simo <bobbens@gmail.com>
Mon, 30 Jun 2008 21:38:29 +0000
branchgsoc2008_force_feedback
changeset 2479 b9eb2cfe16cd
parent 2478 4fd783e0f34b
child 2480 b883974445fc
permissions -rw-r--r--
Added some preliminary support for haptic effect control.
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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_RUMBLE,     SDL_HAPTIC_RUMBLE);
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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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   159
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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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   185
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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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   213
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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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   224
   }
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   225
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   return 0;
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   227
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   228
   /* Error handling */
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open_err:
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   close(fd);
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   231
   if (haptic->hwdata != NULL) {
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   232
      free(haptic->hwdata);
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      haptic->hwdata = NULL;
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   234
   }
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   return -1;
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   236
}
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   237
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   238
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   239
/*
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   240
 * Closes the haptic device.
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   241
 */
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   242
void
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SDL_SYS_HapticClose(SDL_Haptic * haptic)
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   244
{
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   245
   if (haptic->hwdata) {
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   246
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   247
      /* Clean up */
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      close(haptic->hwdata->fd);
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   249
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   250
      /* 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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   256
}
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   257
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   258
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   259
/* 
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 * Clean up after system specific haptic stuff
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   261
 */
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   262
void
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SDL_SYS_HapticQuit(void)
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   264
{
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   265
   int i;
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   266
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   267
   for (i=0; SDL_hapticlist[i].fname != NULL; i++) {
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   268
      SDL_free(SDL_hapticlist[i].fname);
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   269
   }
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   270
   SDL_hapticlist[0].fname = NULL;
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   271
}
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   272
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   273
/*
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   274
 * Initializes the linux effect struct from a haptic_effect.
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   275
 */
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   276
static int
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   277
SDL_SYS_ToFFEffect( struct ff_effect * dest, struct haptic_effect * src )
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   278
{
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   SDL_memset(dest, 0, sizeof(struct ff_effect));
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   280
   switch (src->effect.type) {
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   281
      case SDL_HAPTIC_CONSTANT:
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         dest->type = FF_CONSTANT;
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         break;
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      default:
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         SDL_SetError("Unknown haptic effect type.");
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         return -1;
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   }
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   return 0;
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}
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/*
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 * Creates a new haptic effect.
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 */
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int
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SDL_SYS_HapticNewEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
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{
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   /* Allocate the hardware effect */
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   effect->hweffect = (struct haptic_hweffect *) 
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         SDL_malloc(sizeof(struct haptic_hweffect));
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   if (effect->hweffect == NULL) {
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      SDL_OutOfMemory();
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      return -1;
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   }
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   /* Prepare the ff_effect */
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   if (SDL_SYS_ToFFEffect( &effect->hweffect->effect, effect ) != 0) {
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      return -1;
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   }
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   effect->hweffect->effect.id = -1; /* Have the kernel give it an id */
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   /* Upload the effect */
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   if (ioctl(haptic->hwdata->fd, EVIOCSFF, &effect->hweffect->effect) < 0) {
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      SDL_SetError("Error uploading effect to the haptic device.");
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      return -1;
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   }
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   return 0;
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}
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/*
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 * Runs an effect.
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 */
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int
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SDL_SYS_HapticRunEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
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{
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   struct input_event run;
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   /* Prepare to run the effect */
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   run.type = EV_FF;
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   run.code = effect->hweffect->effect.id;
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   run.value = 1;
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   if (write(haptic->hwdata->fd, (const void*) &run, sizeof(run)) < 0) {
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      SDL_SetError("Unable to run the haptic effect.");
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      return -1;
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   }
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   return 0;
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}
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/*
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 * Frees the effect
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 */
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void
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SDL_SYS_HapticDestroyEffect(SDL_Haptic * haptic, struct haptic_effect * effect)
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{
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   if (ioctl(haptic->hwdata->fd, EVIOCRMFF, effect->hweffect->effect.id) < 0) {
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      SDL_SetError("Error removing the effect from the haptic device.");
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   }
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   SDL_free(effect->hweffect);
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   effect->hweffect = NULL;
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}
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   358
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   360
#endif /* SDL_HAPTIC_LINUX */