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Commit 725e65ed authored by Fabian Reister's avatar Fabian Reister
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reverting changes to gamepad

parent 1aa5f71f
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source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
+ 2
− 10
View file @ 725e65ed
......@@ -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()));
}
source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
+ 2
− 6
View file @ 725e65ed
......@@ -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;
};
}
source/RobotAPI/drivers/GamepadUnit/Joystick.h
+ 9
− 193
View file @ 725e65ed
......@@ -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
}
source/RobotAPI/interface/units/GamepadUnit.ice
+ 2
− 2
View file @ 725e65ed
......@@ -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
};
};
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