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
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
|
#include "ftnoir_protocol_libevdev.h"
#include "facetracknoir/global-settings.h"
//#include "ftnoir_tracker_base/ftnoir_tracker_types.h"
#include <cstdio>
#include <algorithm>
#include <sys/types.h>
#include <sys/stat.h>
#define CHECK_LIBEVDEV(expr) if (error = (expr) != 0) goto error;
static const int max_input = 8192;
static const int mid_input = 4096;
static const int min_input = 0;
#define HT_PI 3.1415926535
FTNoIR_Protocol::FTNoIR_Protocol() : dev(NULL), uidev(NULL)
{
int error = 0;
dev = libevdev_new();
if (!dev)
goto error;
CHECK_LIBEVDEV(libevdev_enable_property(dev, INPUT_PROP_BUTTONPAD));
libevdev_set_name(dev, "opentrack headpose");
struct input_absinfo absinfo;
absinfo.minimum = min_input;
absinfo.maximum = max_input;
absinfo.resolution = 1;
absinfo.value = mid_input;
absinfo.flat = 8192 / 180;
absinfo.fuzz = 1;
CHECK_LIBEVDEV(libevdev_enable_event_type(dev, EV_ABS));
CHECK_LIBEVDEV(libevdev_enable_event_code(dev, EV_ABS, ABS_X, &absinfo));
CHECK_LIBEVDEV(libevdev_enable_event_code(dev, EV_ABS, ABS_Y, &absinfo));
CHECK_LIBEVDEV(libevdev_enable_event_code(dev, EV_ABS, ABS_Z, &absinfo));
CHECK_LIBEVDEV(libevdev_enable_event_code(dev, EV_ABS, ABS_RX, &absinfo));
CHECK_LIBEVDEV(libevdev_enable_event_code(dev, EV_ABS, ABS_RY, &absinfo));
CHECK_LIBEVDEV(libevdev_enable_event_code(dev, EV_ABS, ABS_RZ, &absinfo));
/* do not remove next 2 lines or udev scripts won't assign 0664 permissions -sh */
CHECK_LIBEVDEV(libevdev_enable_event_type(dev, EV_KEY));
CHECK_LIBEVDEV(libevdev_enable_event_code(dev, EV_KEY, BTN_JOYSTICK, NULL));
CHECK_LIBEVDEV(libevdev_uinput_create_from_device(dev, LIBEVDEV_UINPUT_OPEN_MANAGED, &uidev));
return;
error:
if (uidev)
libevdev_uinput_destroy(uidev);
if (dev)
libevdev_free(dev);
if (error)
fprintf(stderr, "libevdev error: %d\n", error);
uidev = NULL;
dev = NULL;
}
FTNoIR_Protocol::~FTNoIR_Protocol()
{
if (uidev)
libevdev_uinput_destroy(uidev);
if (dev)
libevdev_free(dev);
}
void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose ) {
static const int axes[] = {
/* translation goes first */
ABS_X, ABS_Y, ABS_Z, ABS_RX, ABS_RY, ABS_RZ
};
static const int ranges[] = {
2,
2,
2,
2,
1, /* |pitch| only goes to 90 */
2
};
const int max_euler = 90;
for (int i = 0; i < 6; i++)
{
int value = headpose[i] * mid_input / (max_euler * ranges[i]) + mid_input;
int normalized = std::max(std::min(max_input, value), min_input);
(void) libevdev_uinput_write_event(uidev, EV_ABS, axes[i], normalized);
}
}
extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor()
{
return new FTNoIR_Protocol;
}
|
