diff --git a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
index 1e7dacc348c3101705f4ae650ab978b031cd23d7..1431b8b5219ef4622d21024132397690a81d9526 100644
--- a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
+++ b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
@@ -33,7 +33,6 @@ void GamepadUnit::onInitComponent()
ARMARX_TRACE;
offeringTopic(getProperty<std::string>("GamepadTopicName").getValue());
deviceName = getProperty<std::string>("GamepadDeviceName").getValue();
- deviceEventName = getProperty<std::string>("GamepadForceFeedbackName").getValue();
readTask = new RunningTask<GamepadUnit>(this, &GamepadUnit::run, "GamepadUnit");
}
@@ -70,23 +69,15 @@ void GamepadUnit::onConnectComponent()
ARMARX_INFO << deactivateSpam(100000, std::to_string(dataTimestamp->getTimestamp())) << "No new signal from gamepad for " << age.toMilliSecondsDouble() << " milliseconds. Not sending data. Timeout: " << getProperty<int>("PublishTimeout").getValue() << " ms";
}
}, 30);
-
sendTask->start();
ARMARX_TRACE;
openGamepadConnection();
}
-void GamepadUnit::vibrate(const ::Ice::Current&)
-{
- ARMARX_INFO << "vibration!";
- js.executeEffect();
-}
-
bool GamepadUnit::openGamepadConnection()
{
- if (js.open(deviceName, deviceEventName))
+ if (js.open(deviceName))
{
-
ARMARX_TRACE;
ARMARX_INFO << "opened a gamepad named " << js.name << " with " << js.numberOfAxis << " axis and " << js.numberOfButtons << " buttons.";
if (js.numberOfAxis == 8 && js.numberOfButtons == 11)
@@ -194,3 +185,4 @@ armarx::PropertyDefinitionsPtr GamepadUnit::createPropertyDefinitions()
return armarx::PropertyDefinitionsPtr(new GamepadUnitPropertyDefinitions(
getConfigIdentifier()));
}
+
diff --git a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
index 254322dbf363cb5dc2212e6f8e4fc8237f4bb08e..109ce81a17a98c5154b396e09064d9943be6ff0a 100644
--- a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
+++ b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
@@ -53,7 +53,6 @@ namespace armarx
//defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
defineOptionalProperty<std::string>("GamepadTopicName", "GamepadValues", "Name of the Gamepad Topic");
defineOptionalProperty<std::string>("GamepadDeviceName", "/dev/input/js2", "device that will be opened as a gamepad");
- defineOptionalProperty<std::string>("GamepadForceFeedbackName", "", "device that will be used for force feedback, leave empty to disable");
defineOptionalProperty<int>("PublishTimeout", 2000, "In Milliseconds. Timeout after which the gamepad data is not published after, if no new data was read from the gamepad");
}
};
@@ -70,8 +69,7 @@ namespace armarx
* Detailed description of class GamepadUnit.
*/
class GamepadUnit :
- virtual public armarx::Component,
- virtual public GamepadUnitInterface
+ virtual public armarx::Component
{
public:
/**
@@ -110,8 +108,6 @@ namespace armarx
bool openGamepadConnection();
- void vibrate(const ::Ice::Current& = ::Ice::emptyCurrent) override;
-
private:
GamepadUnitListenerPrx topicPrx;
RunningTask<GamepadUnit>::pointer_type readTask;
@@ -120,9 +116,9 @@ namespace armarx
void run();
std::mutex mutex;
std::string deviceName;
- std::string deviceEventName;
Joystick js;
GamepadData data;
TimestampVariantPtr dataTimestamp;
};
}
+
diff --git a/source/RobotAPI/drivers/GamepadUnit/Joystick.h b/source/RobotAPI/drivers/GamepadUnit/Joystick.h
index 8befbe9d5c08bd6d13220cd7c709884c906afc7b..1f39074b7a1449f9d58b643d42be68f2c123c445 100644
--- a/source/RobotAPI/drivers/GamepadUnit/Joystick.h
+++ b/source/RobotAPI/drivers/GamepadUnit/Joystick.h
@@ -22,17 +22,12 @@
#pragma once
-#include <cstdint>
-
-#include <fcntl.h>
-#include <sys/poll.h>
-#include <sys/stat.h>
-#include <unistd.h>
+#include<linux/joystick.h>
+#include<sys/stat.h>
+#include<fcntl.h>
#include <ArmarXCore/core/Component.h>
-#include <linux/joystick.h>
-
namespace armarx
{
@@ -41,39 +36,21 @@ namespace armarx
private:
int fd = -1;
- int fdEvent = -1;
js_event event;
public:
+
std::vector<int16_t> axis;
std::vector<bool> buttonsPressed;
int numberOfAxis;
int numberOfButtons;
std::string name;
- bool
- open(std::string const& deviceName, std::string const& deviceEventName)
+ bool open(std::string const& deviceName)
{
-
fd = ::open(deviceName.c_str(), O_RDONLY);
-
- if (!deviceEventName.empty())
- {
- ARMARX_INFO << "Force feedback enabled";
- fdEvent = ::open(deviceEventName.c_str(), O_RDWR | O_CLOEXEC);
-
- ARMARX_CHECK(fdEvent != -1);
- } else {
- ARMARX_INFO << "Force feedback disabled";
- }
-
if (fd != -1)
{
- // ARMARX_INFO << "before";
- // executeEffect();
- // ARMARX_INFO << "after";
-
-
ioctl(fd, JSIOCGAXES, &numberOfAxis);
ioctl(fd, JSIOCGBUTTONS, &numberOfButtons);
name.resize(255);
@@ -82,21 +59,15 @@ namespace armarx
name = name.c_str();
buttonsPressed.resize(numberOfButtons, false);
}
-
- ARMARX_INFO << "execute effect";
- executeEffect();
-
return fd != -1;
}
- bool
- opened() const
+ bool opened() const
{
return fd != -1;
}
- bool
- pollEvent()
+ bool pollEvent()
{
int bytes = read(fd, &event, sizeof(event));
@@ -118,165 +89,10 @@ namespace armarx
return true;
}
- void
- executeEffect(int gain = 100, const int nTimes = 1)
- {
- // this feature is disabled
- if(fdEvent < 0) return;
-
- // see https://docs.kernel.org/input/ff.html
-
-
- // https://xnux.eu/devices/feature/vibrator.html
-
- int ret;
- // pollfd pfds[1];
- int effects;
-
- // fd = open_event_dev("vibrator", O_RDWR | O_CLOEXEC);
- // syscall_error(fd < 0, "Can't open vibrator event device");
-
- ret = ioctl(fdEvent, EVIOCGEFFECTS, &effects);
- ARMARX_CHECK(ret >= 0);
- // syscall_error(ret < 0, "EVIOCGEFFECTS failed");
-
- // ARMARX_CHECK(effects & FF_RUMBLE);
-
- // Set the gain of the device
- {
- // int gain; between 0 and 100
- struct input_event ie; // structure used to communicate with the driver
-
- ie.type = EV_FF;
- ie.code = FF_GAIN;
- ie.value = 0xFFFFUL * gain / 100;
-
- if (write(fdEvent, &ie, sizeof(ie)) == -1)
- {
- perror("set gain");
- }
- }
-
-
- ff_effect e;
- // e.type = FF_RUMBLE;
- // e.id = -1;
- // e.replay.length = 5000;
- // e.replay.delay = 500;
- // e.u.rumble.strong_magnitude = 1;
-
- e.type = FF_PERIODIC;
- e.id = -1;
- e.replay.length = 5000;
- e.replay.delay = 500;
- e.u.periodic.waveform = FF_SQUARE;
- e.u.periodic.period = 1000;
- e.u.periodic.magnitude = 0xFF;
- e.u.periodic.offset = 0xFF;
-
- ret = ioctl(fdEvent, EVIOCSFF, &e);
- ARMARX_CHECK(ret >= 0);
-
- // syscall_error(ret < 0, "EVIOCSFF failed");
-
- ARMARX_INFO << VAROUT(e.id);
-
- input_event play;
- play.type = EV_FF;
- play.code = static_cast<std::uint16_t>(e.id);
- play.value = 1;
-
- ret = write(fdEvent, &play, sizeof(play));
- ARMARX_CHECK(ret >= 0);
-
- ARMARX_INFO << "Executing effect";
-
-
- for (int i = 0; i < 5; i++)
- {
-
- input_event statusIe; // structure used to communicate with the driver
- statusIe.type = EV_FF_STATUS;
- statusIe.code = e.id;
- // statusIe.value = 0;
-
- ret = write(fdEvent, &statusIe, sizeof(statusIe));
-
- // ARMARX_CHECK()
- // ret should be FF_STATUS_PLAYING
- ARMARX_INFO << VAROUT(ret);
-
- sleep(1);
- }
-
-
- // syscall_error(ret < 0, "write failed");
-
- ARMARX_INFO << "Executing effect";
- // sleep(6);
-
-
- input_event stop;
- stop.type = EV_FF;
- stop.code = e.id;
- stop.value = 0;
- const int stopStatus = write(fdEvent, static_cast<const void*>(&stop), sizeof(stop));
-
-
- ret = ioctl(fdEvent, EVIOCRMFF, e.id);
- ARMARX_CHECK(ret >= 0);
-
- // syscall_error(ret < 0, "EVIOCRMFF failed");
-
- // close(fdEvent);
-
-
- /**/
- // Set the gain of the device
- // {
- // // int gain; between 0 and 100
- // struct input_event ie; // structure used to communicate with the driver
-
- // ie.type = EV_FF;
- // ie.code = FF_GAIN;
- // ie.value = 0xFFFFUL * gain / 100;
-
- // if (write(fd, &ie, sizeof(ie)) == -1)
- // {
- // perror("set gain");
- // }
- // }
-
-
- // struct input_event play;
- // struct input_event stop;
-
- // // upload request to device
- // ff_effect effect;
- // const auto uploadStatus = ioctl(fd, EVIOCSFF, &effect);
-
- // // Play n times
- // play.type = EV_FF;
- // play.code = effect.id;
- // play.value = nTimes;
-
- // const int playStatus = write(fd, static_cast<const void*>(&play), sizeof(play));
-
- // // Stop an effect
- // stop.type = EV_FF;
- // stop.code = effect.id;
- // stop.value = 0;
- // const int stopStatus = write(fd, static_cast<const void*>(&stop), sizeof(stop));
-
- // // remove effect
- // ioctl(fd, EVIOCRMFF, effect.id);
- }
-
- void
- close()
+ void close()
{
::close(fd);
fd = -1;
}
};
-} // namespace armarx
+}
diff --git a/source/RobotAPI/interface/units/GamepadUnit.ice b/source/RobotAPI/interface/units/GamepadUnit.ice
index c63ddcfdad36942cfcca6c65155c8e96c6847f79..671e1de9b99591f0d4e23ab923feac8a5e1d535d 100644
--- a/source/RobotAPI/interface/units/GamepadUnit.ice
+++ b/source/RobotAPI/interface/units/GamepadUnit.ice
@@ -62,9 +62,8 @@ module armarx
bool rightStickButton;
};
- interface GamepadUnitInterface // extends armarx::SensorActorUnitInterface
+ interface GamepadUnitInterface extends armarx::SensorActorUnitInterface
{
- void vibrate();
};
interface GamepadUnitListener
@@ -79,3 +78,4 @@ module armarx
};
};
+