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vrpn_Xkeys.C
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vrpn_Xkeys.C
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// vrpn_Xkeys.C: VRPN driver for P.I. Engineering's X-Keys devices
#include <stdio.h> // for fprintf, stderr, NULL
#include <string.h> // for memset
#include "vrpn_Xkeys.h"
VRPN_SUPPRESS_EMPTY_OBJECT_WARNING()
#if defined(VRPN_USE_HID)
// USB vendor and product IDs for the models we support
static const vrpn_uint16 XKEYS_VENDOR = 0x05F3;
static const vrpn_uint16 XKEYS_DESKTOP = 0x0281;
static const vrpn_uint16 XKEYS_JOG_AND_SHUTTLE = 0x0241;
static const vrpn_uint16 XKEYS_PRO = 0x0291;
static const vrpn_uint16 XKEYS_JOYSTICK = 0x0251;
static const vrpn_uint16 XKEYS_XK3 = 0x042C;
static const vrpn_uint16 XKEYS_JOG_AND_SHUTTLE12 = 0x0426;
static const vrpn_uint16 XKEYS_JOG_AND_SHUTTLE68 = 0x045a;
static const vrpn_uint16 XKEYS_JOYSTICK12 = 0x0429;
vrpn_Xkeys::vrpn_Xkeys(vrpn_HidAcceptor *filter, const char *name,
vrpn_Connection *c, vrpn_uint16 vendor, vrpn_uint16 product,
bool toggle_light)
: vrpn_BaseClass(name, c)
, vrpn_HidInterface(filter, vendor, product)
, _filter(filter)
, _toggle_light(toggle_light)
{
init_hid();
}
vrpn_Xkeys::~vrpn_Xkeys()
{
try {
delete _filter;
} catch (...) {
fprintf(stderr, "vrpn_Xkeys::~vrpn_Xkeys(): delete failed\n");
return;
}
}
void vrpn_Xkeys::init_hid() {
// Get notifications when clients connect and disconnect
register_autodeleted_handler(d_connection->register_message_type(vrpn_dropped_last_connection), on_last_disconnect, this);
register_autodeleted_handler(d_connection->register_message_type(vrpn_got_connection), on_connect, this);
}
void vrpn_Xkeys::on_data_received(size_t bytes, vrpn_uint8 *buffer)
{
decodePacket(bytes, buffer);
}
int vrpn_Xkeys::on_last_disconnect(void *thisPtr, vrpn_HANDLERPARAM /*p*/)
{
vrpn_Xkeys *me = static_cast<vrpn_Xkeys *>(thisPtr);
if (me->_toggle_light) {
// Set light to red to indicate we have no active connections
me->setLEDs(On, Off);
}
return 0;
}
int vrpn_Xkeys::on_connect(void *thisPtr, vrpn_HANDLERPARAM /*p*/)
{
vrpn_Xkeys *me = static_cast<vrpn_Xkeys *>(thisPtr);
if (me->_toggle_light) {
// Set light to green to indicate we have an active connection
me->setLEDs(Off, On);
}
return 0;
}
void vrpn_Xkeys_v1::setLEDs(LED_STATE red, LED_STATE green)
{
vrpn_uint8 outputs[9] = {0};
switch (red) {
case Off: // do not set anything to 1 for off.
break;
case On:
case Flash:
outputs[8] |= 128;
break;
default: // For both on and flash, turn on (we don't know how to flash)
fprintf(stderr,"vrpn_Xkeys_v2::setLED(): Unrecognized state\n");
}
switch (green) {
case Off: // do not set anything to 1 for off.
break;
case On:
case Flash:
outputs[8] |= 64;
break;
default: // For both on and flash, turn on (we don't know how to flash)
fprintf(stderr,"vrpn_Xkeys_v2::setLED(): Unrecognized state\n");
}
// Send the combined command to turn on and off both red and green.
send_data(9, outputs);
}
void vrpn_Xkeys_v2::setLEDs(LED_STATE red, LED_STATE green)
{
vrpn_uint8 outputs[36] = {0};
outputs[1] = 0xb3;
// Send the red command.
outputs[2] = 7; // 6 = green LED, 7 = red LED
switch (red) {
case On: // do not set anything to 1 for off.
outputs[3] = 1; // 0 = off, 1 = on, 2 = flash
break;
case Flash: // do not set anything to 1 for off.
outputs[3] = 2; // 0 = off, 1 = on, 2 = flash
break;
case Off: // do not set anything to 1 for off.
outputs[3] = 0; // 0 = off, 1 = on, 2 = flash
break;
default: // Never heard of this state.
fprintf(stderr,"vrpn_Xkeys_v2::setLED(): Unrecognized state\n");
}
send_data(36, outputs);
// Send the green command.
outputs[2] = 6; // 6 = green LED, 7 = red LED
switch (green) {
case On: // do not set anything to 1 for off.
outputs[3] = 1; // 0 = off, 1 = on, 2 = flash
break;
case Flash: // do not set anything to 1 for off.
outputs[3] = 2; // 0 = off, 1 = on, 2 = flash
break;
case Off: // do not set anything to 1 for off.
outputs[3] = 0; // 0 = off, 1 = on, 2 = flash
break;
default: // Never heard of this state.
fprintf(stderr,"vrpn_Xkeys_v2::setLED(): Unrecognized state\n");
}
send_data(36, outputs);
}
vrpn_Xkeys_Desktop::vrpn_Xkeys_Desktop(const char *name, vrpn_Connection *c)
: vrpn_Xkeys_v1(_filter = new vrpn_HidProductAcceptor(XKEYS_VENDOR, XKEYS_DESKTOP), name, c, XKEYS_VENDOR, XKEYS_DESKTOP)
, vrpn_Button_Filter(name, c)
{
// 21 buttons (don't forget about button 0)
vrpn_Button::num_buttons = 21;
// Initialize the state of all the buttons
memset(buttons, 0, sizeof(buttons));
memset(lastbuttons, 0, sizeof(lastbuttons));
}
void vrpn_Xkeys_Desktop::mainloop()
{
update();
server_mainloop();
vrpn_gettimeofday(&_timestamp, NULL);
report_changes();
// Call the server_mainloop on our unique base class.
server_mainloop();
}
void vrpn_Xkeys_Desktop::report(void)
{
vrpn_Button::timestamp = _timestamp;
vrpn_Button::report_changes();
}
void vrpn_Xkeys_Desktop::report_changes(void)
{
vrpn_Button::timestamp = _timestamp;
vrpn_Button::report_changes();
}
void vrpn_Xkeys_Desktop::decodePacket(size_t bytes, vrpn_uint8 *buffer)
{
// Decode all full reports, each of which is 11 bytes long.
// Because there is only one type of report, the initial "0" report-type
// byte is removed by the HIDAPI driver.
for (size_t i = 0; i < bytes / 11; i++) {
vrpn_uint8 *report = buffer + (i * 11);
if (!(report[10] & 0x08)) {
// Apparently we got a corrupted report; skip this one.
fprintf(stderr, "vrpn_Xkeys_Desktop: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
// Decode the "programming switch"
buttons[0] = (report[10] & 0x10) != 0;
// Decode the other buttons into column-major order
for (int btn = 0; btn < 20; btn++) {
vrpn_uint8 *offset, mask;
offset = report + btn / 5;
mask = static_cast<vrpn_uint8>(1 << (btn % 5));
buttons[btn + 1] = (*offset & mask) != 0;
}
}
}
vrpn_Xkeys_Jog_And_Shuttle::vrpn_Xkeys_Jog_And_Shuttle(const char *name, vrpn_Connection *c)
: vrpn_Xkeys_v1(_filter = new vrpn_HidProductAcceptor(XKEYS_VENDOR, XKEYS_JOG_AND_SHUTTLE), name, c, XKEYS_VENDOR, XKEYS_JOG_AND_SHUTTLE)
, vrpn_Analog(name, c)
, vrpn_Button_Filter(name, c)
, vrpn_Dial(name, c)
{
vrpn_Analog::num_channel = 2;
vrpn_Dial::num_dials = 1;
vrpn_Button::num_buttons = 59; // Don't forget button 0
// Initialize the state of all the analogs, buttons, and dials
_lastDial = 0;
memset(buttons, 0, sizeof(buttons));
memset(lastbuttons, 0, sizeof(lastbuttons));
memset(channel, 0, sizeof(channel));
memset(last, 0, sizeof(last));
}
void vrpn_Xkeys_Jog_And_Shuttle::mainloop()
{
update();
server_mainloop();
vrpn_gettimeofday(&_timestamp, NULL);
report_changes();
// Call the server_mainloop on our unique base class.
server_mainloop();
}
void vrpn_Xkeys_Jog_And_Shuttle::report(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Analog::report(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report();
}
void vrpn_Xkeys_Jog_And_Shuttle::report_changes(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Analog::report_changes(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report_changes();
}
void vrpn_Xkeys_Jog_And_Shuttle::decodePacket(size_t bytes, vrpn_uint8 *buffer)
{
// Decode all full reports.
// Full reports for all of the pro devices are 15 bytes long.
// Because there is only one type of report, the initial "0" report-type
// byte is removed by the HIDAPI driver, leaving 14 bytes.
// Also, it appears as though the
// remaining 14-byte command is split into two, one 8-byte that is sent
// first and then a 6-byte that is sent later. So we need to check the
// length of the packet to see which it is and then parse it appropriately.
if (bytes == 8) { // The first 8 bytes of a report (happens on Linux)
// Report jog dial as analog and dial
// Report shuttle knob as analog
// Double cast on channel 0 ensures negative values stay negative
channel[0] = static_cast<float>(static_cast<signed char>(buffer[0])) / 7.0;
channel[1] = static_cast<float>(buffer[1]);
// Do the unsigned/signed conversion at the last minute so the
// signed values work properly.
dials[0] = static_cast<vrpn_int8>(buffer[1] - _lastDial) / 256.0;
// Store the current dial position for the next delta
_lastDial = buffer[1];
// Decode the other buttons in column-major order. We skip the
// first three bytes, which record the joystick value or the
// shuttle/jog value (depending on device).
// This results in some gaps when using a shuttle or joystick model,
// but there really aren't any internally consistent numbering schemes.
// The first 35 buttons are in this report, the remaining 23 in the next.
for (int btn = 0; btn < 35; btn++) {
vrpn_uint8 *offset, mask;
offset = buffer + btn / 7 + 3;
mask = static_cast<vrpn_uint8>(1 << (btn % 7));
buttons[btn + 1] = (*offset & mask) != 0;
}
} else if (bytes == 6) { // The last 6 bytes of a report (happens on Linux)
if (!(buffer[5] & 0x08)) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
return;
}
// Decode the "programming switch"
buttons[0] = (buffer[5] & 0x10) != 0;
// Decode the other buttons in column-major order.
// This results in some gaps when using a shuttle or joystick model,
// but there really aren't any internally consistent numbering schemes.
// The last 23 buttons are in this report, the remaining 23 in the next.
for (int btn = 35; btn < 58; btn++) {
vrpn_uint8 *offset, mask;
int local_btn = btn - 35;
offset = buffer + local_btn / 7;
mask = static_cast<vrpn_uint8>(1 << (local_btn % 7));
buttons[btn + 1] = (*offset & mask) != 0;
}
} else if (bytes == 14) { // A full report in one swoop (happens on Windows)
// Full reports for all of the pro devices are 15 bytes long.
// Because there is only one type of report, the initial "0" report-type
// byte is removed by the HIDAPI driver, leaving 14 bytes.
size_t i;
for (i = 0; i < bytes / 14; i++) {
vrpn_uint8 *report = buffer + (i * 14);
if (!(report[13] & 0x08)) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
// Decode the "programming switch"
buttons[0] = (report[13] & 0x10) != 0;
// Decode the other buttons in column-major order
// This results in some gaps when using a shuttle or joystick model,
// but there really aren't any internally consistent numbering schemes.
for (int btn = 0; btn < 58; btn++) {
vrpn_uint8 *offset, mask;
offset = report + btn / 7 + 3;
mask = static_cast<vrpn_uint8>(1 << (btn % 7));
buttons[btn + 1] = (*offset & mask) != 0;
}
// Report jog dial as analog and dial
// Report shuttle knob as analog
// Double cast on channel 0 ensures negative values stay negative
channel[0] = static_cast<float>(static_cast<signed char>(report[0])) / 7.0;
channel[1] = static_cast<float>(report[1]);
// Do the unsigned/signed conversion at the last minute so the
// signed values work properly.
dials[0] = static_cast<vrpn_int8>(report[1] - _lastDial) / 256.0;
// Store the current dial position for the next delta
_lastDial = report[1];
}
} else {
fprintf(stderr,"vrpn_Xkeys_Jog_And_Shuttle::decodePacket(): Unrecognized packet length (%u)\n", static_cast<unsigned>(bytes));
return;
}
}
vrpn_Xkeys_Jog_And_Shuttle12::vrpn_Xkeys_Jog_And_Shuttle12(const char *name, vrpn_Connection *c)
: vrpn_Xkeys_v2(_filter = new vrpn_HidProductAcceptor(XKEYS_VENDOR, XKEYS_JOG_AND_SHUTTLE12), name, c, XKEYS_VENDOR, XKEYS_JOG_AND_SHUTTLE12)
, vrpn_Analog(name, c)
, vrpn_Button_Filter(name, c)
, vrpn_Dial(name, c)
{
vrpn_Analog::num_channel = 2;
vrpn_Dial::num_dials = 1;
vrpn_Button::num_buttons = 13; // Don't forget button 0
// Initialize the state of all the analogs, buttons, and dials
_lastDial = 0;
memset(buttons, 0, sizeof(buttons));
memset(lastbuttons, 0, sizeof(lastbuttons));
memset(channel, 0, sizeof(channel));
memset(last, 0, sizeof(last));
}
void vrpn_Xkeys_Jog_And_Shuttle12::mainloop()
{
update();
server_mainloop();
vrpn_gettimeofday(&_timestamp, NULL);
report_changes();
// Call the server_mainloop on our unique base class.
server_mainloop();
}
void vrpn_Xkeys_Jog_And_Shuttle12::report(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Analog::report(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report();
}
void vrpn_Xkeys_Jog_And_Shuttle12::report_changes(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Analog::report_changes(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report_changes();
}
void vrpn_Xkeys_Jog_And_Shuttle12::decodePacket(size_t bytes, vrpn_uint8 *buffer)
{
/*
// Print the report so we can figure out what is going on.
for (size_t i = 0; i < bytes; i++) {
printf("%02x ", buffer[i]);
}
printf("\n");
return;
*/
// The full report is 32 bytes long. Byte 0 is always 0, as are
// bytes 12-31. Bytes 8-11 seem to be some sort of time code.
// Buttons: The reset button is the low-order bit in byte 1.
// The first column are the 3 low-order bits in byte 2
// The next three columns are the low-order bits in bytes 3-5.
// Jog: Shows up as various high-order bits in the button bytes
// but also as a signed number in byte 7 that ranges from
// 0 through 7 for positive rotation and down to F9 for
// negative.
// Shuttle: Shows up as high-order bits in the button bytes,
// but also as a signed number in byte 6, which goes to
// 1 briefly as you jog right and to FF briefly as you
// jog left; then back to 0.
if (bytes % 32 == 0) {
// Loop through the reports in case we got multiple.
size_t i;
for (i = 0; i < bytes / 32; i++) {
vrpn_uint8 *report = buffer + (i * 32);
// Check for zero in the bytes that should be.
if (report[0] != 0) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
for (size_t j = 12; j < 32; j++) {
if (report[j] != 0) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
}
// Decode the "programming switch"
buttons[0] = (report[1] & 0x01) != 0;
// Decode the other buttons in column-major order
for (int btn = 0; btn < 12; btn++) {
vrpn_uint8 *offset, mask;
offset = report + btn / 3 + 2;
mask = static_cast<vrpn_uint8>(1 << (btn % 3));
buttons[btn + 1] = (*offset & mask) != 0;
}
// Report jog dial as analog and dial
// Report shuttle knob as analog
// Do the unsigned/signed conversion at the last minute so the
// signed values work properly. The dial turns 1/10th of the
// way around for each tick.
dials[0] = static_cast<vrpn_int8>(report[6]) / 10.0;
// Double cast on channel 0 ensures negative values stay negative.
// Channel 1 sums the revolutions of the dial.
channel[0] = static_cast<float>(static_cast<signed char>(report[7])) / 7.0;
channel[1] += dials[0];
// Store the current dial position for the next delta
_lastDial = report[1];
}
}
else {
fprintf(stderr, "vrpn_Xkeys_Jog_And_Shuttle12::decodePacket(): Unrecognized packet length (%u)\n", static_cast<unsigned>(bytes));
return;
}
}
vrpn_Xkeys_Jog_And_Shuttle68::vrpn_Xkeys_Jog_And_Shuttle68(const char *name, vrpn_Connection *c)
: vrpn_Xkeys_v2(_filter = new vrpn_HidProductAcceptor(XKEYS_VENDOR, XKEYS_JOG_AND_SHUTTLE68), name, c, XKEYS_VENDOR, XKEYS_JOG_AND_SHUTTLE68)
, vrpn_Analog(name, c)
, vrpn_Button_Filter(name, c)
, vrpn_Dial(name, c)
{
vrpn_Analog::num_channel = 2;
vrpn_Dial::num_dials = 1;
vrpn_Button::num_buttons = 69; // Don't forget button 0
// Initialize the state of all the analogs, buttons, and dials
_lastDial = 0;
memset(buttons, 0, sizeof(buttons));
memset(lastbuttons, 0, sizeof(lastbuttons));
memset(channel, 0, sizeof(channel));
memset(last, 0, sizeof(last));
}
void vrpn_Xkeys_Jog_And_Shuttle68::mainloop()
{
update();
server_mainloop();
vrpn_gettimeofday(&_timestamp, NULL);
report_changes();
// Call the server_mainloop on our unique base class.
server_mainloop();
}
void vrpn_Xkeys_Jog_And_Shuttle68::report(vrpn_uint32 class_of_service)
{
vrpn_Analog::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Analog::report(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report();
}
void vrpn_Xkeys_Jog_And_Shuttle68::report_changes(vrpn_uint32 class_of_service)
{
vrpn_Analog::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Analog::report_changes(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report_changes();
}
void vrpn_Xkeys_Jog_And_Shuttle68::decodePacket(size_t bytes, vrpn_uint8 *buffer)
{
/*
// Print the report so we can figure out what is going on.
for (size_t i = 0; i < bytes; i++) {
printf("%02x ", buffer[i]);
}
printf("\n");
return;
*/
// The full report is 32 bytes long. Byte 0 is always 0, as are
// bytes 22-31. Bytes 19-21 seem to be some sort of time code.
// Buttons: The reset button is the low-order bit in byte 1.
// The first column of 8 buttons are the bits in byte 2.
// The next 9 columns are the bits in bytes 3-11.
// The last 3 bits are unused in the middle four columns,
// where the shuttle-jog lives (columns 3-6).
// Jog: Shows up as various high-order bits in the button bytes
// but also as a signed number in byte 17 that ranges from
// 0 through 7 for positive rotation and down to F9 for
// negative.
// Shuttle: Shows up as high-order bits in the button bytes,
// but also as a signed number in byte 16, which goes to
// 1 briefly as you jog right and to FF briefly as you
// jog left; then back to 0.
if (bytes % 32 == 0) {
// Loop through the reports in case we got multiple.
size_t i;
for (i = 0; i < bytes / 32; i++) {
vrpn_uint8 *report = buffer + (i * 32);
// Check for zero in the bytes that should be.
if (report[0] != 0) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
for (size_t j = 22; j < 32; j++) {
if (report[j] != 0) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
}
// Decode the "programming switch"
buttons[0] = (report[1] & 0x01) != 0;
// Decode the other buttons in column-major order
for (int btn = 0; btn < 68; btn++) {
// Convert the button number into slot
// number, which means skipping the last
// 3 elements in the middle four columns.
int slot = btn;
if (btn > 28) { slot += 3; }
if (btn > 33) { slot += 3; }
if (btn > 38) { slot += 3; }
if (btn > 43) { slot += 3; }
vrpn_uint8 *offset, mask;
offset = report + slot / 8 + 2;
mask = static_cast<vrpn_uint8>(1 << (slot % 8));
buttons[btn + 1] = (*offset & mask) != 0;
}
// Report jog dial as analog and dial
// Report shuttle knob as analog
// Do the unsigned/signed conversion at the last minute so the
// signed values work properly. The dial turns 1/10th of the
// way around for each tick.
dials[0] = static_cast<vrpn_int8>(report[16]) / 10.0;
// Double cast on channel 0 ensures negative values stay negative.
// Channel 1 sums the revolutions of the dial.
channel[0] = static_cast<float>(static_cast<signed char>(report[17])) / 7.0;
channel[1] += dials[0];
// Store the current dial position for the next delta
_lastDial = report[1];
}
}
else {
fprintf(stderr, "vrpn_Xkeys_Jog_And_Shuttle68::decodePacket(): Unrecognized packet length (%u)\n", static_cast<unsigned>(bytes));
return;
}
}
vrpn_Xkeys_Joystick::vrpn_Xkeys_Joystick(const char *name, vrpn_Connection *c)
: vrpn_Xkeys_v1(_filter = new vrpn_HidProductAcceptor(XKEYS_VENDOR, XKEYS_JOYSTICK), name, c, XKEYS_VENDOR, XKEYS_JOYSTICK)
, vrpn_Analog(name, c)
, vrpn_Button_Filter(name, c)
, vrpn_Dial(name, c)
{
vrpn_Analog::num_channel = 2;
vrpn_Dial::num_dials = 1;
vrpn_Button::num_buttons = 59; // Don't forget button 0
// Initialize the state of all the analogs, buttons, and dials
_gotDial = false;
_lastDial = 0;
memset(buttons, 0, sizeof(buttons));
memset(lastbuttons, 0, sizeof(lastbuttons));
memset(channel, 0, sizeof(channel));
memset(last, 0, sizeof(last));
}
void vrpn_Xkeys_Joystick::mainloop()
{
update();
server_mainloop();
vrpn_gettimeofday(&_timestamp, NULL);
report_changes();
// Call the server_mainloop on our unique base class.
server_mainloop();
}
void vrpn_Xkeys_Joystick::report(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Analog::report(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report();
}
void vrpn_Xkeys_Joystick::report_changes(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Analog::report_changes(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report_changes();
}
void vrpn_Xkeys_Joystick::decodePacket(size_t bytes, vrpn_uint8 *buffer)
{
// Decode all full reports.
// Full reports for all of the pro devices are 15 bytes long.
// Because there is only one type of report, the initial "0" report-type
// byte is removed by the HIDAPI driver, leaving 14 bytes.
// Also, it appears as though the
// remaining 14-byte command is split into two, one 8-byte that is sent
// first and then a 6-byte that is sent later. So we need to check the
// length of the packet to see which it is and then parse it appropriately.
if (bytes == 8) { // The first 8 bytes of a report
// Report joystick axes as analogs
channel[0] = (static_cast<float>(buffer[0]) - 128) / 128.0;
channel[1] = (static_cast<float>(buffer[1]) - 128) / 128.0;
channel[2] = (static_cast<float>(buffer[2]) - 128) / 128.0;
// Decode the other buttons in column-major order. We skip the
// first three bytes, which record the joystick value or the
// shuttle/jog value (depending on device).
// This results in some gaps when using a shuttle or joystick model,
// but there really aren't any internally consistent numbering schemes.
// The first 35 buttons are in this report, the remaining 23 in the next.
for (int btn = 0; btn < 35; btn++) {
vrpn_uint8 *offset, mask;
offset = buffer + btn / 7 + 3;
mask = static_cast<vrpn_uint8>(1 << (btn % 7));
buttons[btn + 1] = (*offset & mask) != 0;
}
} else if (bytes == 6) { // The last 6 bytes of a report
if (!(buffer[5] & 0x08)) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
return;
}
// Decode the "programming switch"
buttons[0] = (buffer[5] & 0x10) != 0;
// Decode the other buttons in column-major order.
// This results in some gaps when using a shuttle or joystick model,
// but there really aren't any internally consistent numbering schemes.
// The last 23 buttons are in this report, the remaining 23 in the next.
for (int btn = 35; btn < 58; btn++) {
vrpn_uint8 *offset, mask;
int local_btn = btn - 35;
offset = buffer + local_btn / 7;
mask = static_cast<vrpn_uint8>(1 << (local_btn % 7));
buttons[btn + 1] = (*offset & mask) != 0;
}
} else if (bytes == 14) { // A full report in one swoop (happens on Windows)
// Full reports for all of the pro devices are 15 bytes long.
// Because there is only one type of report, the initial "0" report-type
// byte is removed by the HIDAPI driver, leaving 14 bytes.
size_t i;
for (i = 0; i < bytes / 14; i++) {
vrpn_uint8 *report = buffer + (i * 14);
if (!(report[13] & 0x08)) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
// Decode the "programming switch"
buttons[0] = (report[13] & 0x10) != 0;
// Decode the other buttons in column-major order
// This results in some gaps when using a shuttle or joystick model,
// but there really aren't any internally consistent numbering schemes.
for (int btn = 0; btn < 58; btn++) {
vrpn_uint8 *offset, mask;
offset = report + btn / 7 + 3;
mask = static_cast<vrpn_uint8>(1 << (btn % 7));
buttons[btn + 1] = (*offset & mask) != 0;
}
// Report joystick twist as analog and dial
if (!_gotDial) {
_gotDial = true;
}
else {
dials[0] = static_cast<vrpn_int8>(report[2] - _lastDial) / 256.0;
}
_lastDial = report[2];
// Double cast on channels 0 and 1 ensures negative values stay negative.
// Channel 2 sums the revolutions of the dial.
channel[0] = static_cast<float>(static_cast<signed char>(report[6])) / 127.0;
channel[1] = static_cast<float>(static_cast<signed char>(report[7])) / 127.0;
channel[2] += dials[0];
// Report joystick axes as analogs
channel[0] = (static_cast<float>(report[0]) - 128) / 128.0;
channel[1] = -(static_cast<float>(report[1]) - 128) / 128.0;
channel[2] += dials[0];
}
} else {
fprintf(stderr,"vrpn_Xkeys_Joystick::decodePacket(): Unrecognized packet length (%u)\n", static_cast<unsigned>(bytes));
return;
}
}
vrpn_Xkeys_Joystick12::vrpn_Xkeys_Joystick12(const char *name, vrpn_Connection *c)
: vrpn_Xkeys_v2(_filter = new vrpn_HidProductAcceptor(XKEYS_VENDOR, XKEYS_JOYSTICK12), name, c, XKEYS_VENDOR, XKEYS_JOYSTICK12)
, vrpn_Analog(name, c)
, vrpn_Button_Filter(name, c)
, vrpn_Dial(name, c)
{
vrpn_Analog::num_channel = 3;
vrpn_Dial::num_dials = 1;
vrpn_Button::num_buttons = 13; // Don't forget button 0
// Initialize the state of all the analogs, buttons, and dials
_gotDial = false;
_lastDial = 0;
memset(buttons, 0, sizeof(buttons));
memset(lastbuttons, 0, sizeof(lastbuttons));
memset(channel, 0, sizeof(channel));
memset(last, 0, sizeof(last));
}
void vrpn_Xkeys_Joystick12::mainloop()
{
update();
server_mainloop();
vrpn_gettimeofday(&_timestamp, NULL);
report_changes();
// Call the server_mainloop on our unique base class.
server_mainloop();
}
void vrpn_Xkeys_Joystick12::report(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Analog::report(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report();
}
void vrpn_Xkeys_Joystick12::report_changes(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Dial::timestamp = _timestamp;
vrpn_Button::timestamp = _timestamp;
vrpn_Analog::report_changes(class_of_service);
vrpn_Button::report_changes();
vrpn_Dial::report_changes();
}
void vrpn_Xkeys_Joystick12::decodePacket(size_t bytes, vrpn_uint8 *buffer)
{
/*
// Print the report so we can figure out what is going on.
for (size_t i = 0; i < bytes; i++) {
printf("%02x ", buffer[i]);
}
printf("\n");
return;
*/
// The full report is 32 bytes long. Byte 0 is always 0, as are
// bytes 16-31. Bytes 12-15 seem to be some sort of time code.
// Buttons: The reset button is the low-order bit in byte 1.
// The first column are the 3 low-order bits in byte 2
// The next three columns are the low-order bits in bytes 3-5.
// Joystick X axis: Byte 6 goes up to 7F to right, down to 81 to left.
// Joystick Y axis: Byte 7 goes to 7F when down, 81 when up.
// Joystick Z axis: Byte 8 goes up when spun right, down left, and
// wraps around from 255 to 0.
if (bytes % 32 == 0) {
// Loop through the reports in case we got multiple.
size_t i;
for (i = 0; i < bytes / 32; i++) {
vrpn_uint8 *report = buffer + (i * 32);
// Check for zero in the bytes that should be.
if (report[0] != 0) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
for (size_t j = 16; j < 32; j++) {
if (report[j] != 0) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
continue;
}
}
// Decode the "programming switch"
buttons[0] = (report[1] & 0x01) != 0;
// Decode the other buttons in column-major order
for (int btn = 0; btn < 12; btn++) {
vrpn_uint8 *offset, mask;
offset = report + btn / 3 + 2;
mask = static_cast<vrpn_uint8>(1 << (btn % 3));
buttons[btn + 1] = (*offset & mask) != 0;
}
// Report joystick twist as analog and dial
if (!_gotDial) {
_gotDial = true;
} else {
dials[0] = static_cast<vrpn_int8>(report[8] - _lastDial) / 256.0;
}
_lastDial = report[8];
// Double cast on channels 0 and 1 ensures negative values stay negative.
// Channel 2 sums the revolutions of the dial.
channel[0] = static_cast<float>(static_cast<signed char>(report[6])) / 127.0;
channel[1] = -static_cast<float>(static_cast<signed char>(report[7])) / 127.0;
channel[2] += dials[0];
}
}
else {
fprintf(stderr, "vrpn_Xkeys_Joystick12::decodePacket(): Unrecognized packet length (%u)\n", static_cast<unsigned>(bytes));
return;
}
}
vrpn_Xkeys_Pro::vrpn_Xkeys_Pro(const char *name, vrpn_Connection *c)
: vrpn_Xkeys_v1(_filter = new vrpn_HidProductAcceptor(XKEYS_VENDOR, XKEYS_PRO), name, c, XKEYS_VENDOR, XKEYS_PRO)
, vrpn_Button_Filter(name, c)
{
vrpn_Button::num_buttons = 59; // Don't forget button 0
// Initialize the state of all the buttons
memset(buttons, 0, sizeof(buttons));
memset(lastbuttons, 0, sizeof(lastbuttons));
}
void vrpn_Xkeys_Pro::mainloop()
{
update();
server_mainloop();
vrpn_gettimeofday(&_timestamp, NULL);
report_changes();
// Call the server_mainloop on our unique base class.
server_mainloop();
}
void vrpn_Xkeys_Pro::report(void) {
vrpn_Button::timestamp = _timestamp;
vrpn_Button::report_changes();
}
void vrpn_Xkeys_Pro::report_changes(void) {
vrpn_Button::timestamp = _timestamp;
vrpn_Button::report_changes();
}
void vrpn_Xkeys_Pro::decodePacket(size_t bytes, vrpn_uint8 *buffer)
{
// Decode all full reports.
// Full reports for all of the pro devices are 15 bytes long.
// Because there is only one type of report, the initial "0" report-type
// byte is removed by the HIDAPI driver, leaving 14 bytes.
// Also, it appears as though the
// remaining 14-byte command is split into two, one 8-byte that is sent
// first and then a 6-byte that is sent later. So we need to check the
// length of the packet to see which it is and then parse it appropriately.
if (bytes == 8) { // The first 8 bytes of a report
// Decode the other buttons in column-major order. We skip the
// first three bytes, which record the joystick value or the
// shuttle/jog value (depending on device).
// This results in some gaps when using a shuttle or joystick model,
// but there really aren't any internally consistent numbering schemes.
// The first 35 buttons are in this report, the remaining 23 in the next.
for (int btn = 0; btn < 35; btn++) {
vrpn_uint8 *offset, mask;
offset = buffer + btn / 7 + 3;
mask = static_cast<vrpn_uint8>(1 << (btn % 7));
buttons[btn + 1] = (*offset & mask) != 0;
}
} else if (bytes == 6) { // The last 6 bytes of a report
if (!(buffer[5] & 0x08)) {
// Garbled report; skip it
fprintf(stderr, "vrpn_Xkeys: Found a corrupted report; # total bytes = %u\n", static_cast<unsigned>(bytes));
return;
}