12 #include <mrpt/config.h>
21 #if !defined(__GNUC__)
22 #pragma comment(lib, "WINMM.LIB")
26 #if defined(MRPT_OS_LINUX) || defined(__APPLE__)
29 #include <sys/ioctl.h>
31 #include <sys/types.h>
39 #if defined(MRPT_OS_LINUX) && defined(HAVE_LINUX_INPUT_H)
40 #include <linux/input.h>
41 #include <linux/joystick.h>
58 #if defined(MRPT_OS_LINUX) && defined(HAVE_LINUX_INPUT_H)
76 return joyGetNumDevs();
77 #elif defined(MRPT_OS_LINUX) && defined(HAVE_LINUX_INPUT_H)
85 (joy_fd = open(
format(
"/dev/input/js%i", nJoys).c_str(), O_RDONLY)))
90 }
while (joy_fd != -1);
107 int nJoy,
float& x,
float& y,
float& z, std::vector<bool>& buttons,
108 int* raw_x_pos,
int* raw_y_pos,
int* raw_z_pos)
114 int ID = JOYSTICKID1 + nJoy;
117 if (JOYERR_NOERROR != joyGetPos(ID, &jinfo))
return false;
130 buttons[0] = 0 != (jinfo.wButtons & JOY_BUTTON1);
131 buttons[1] = 0 != (jinfo.wButtons & JOY_BUTTON2);
132 buttons[2] = 0 != (jinfo.wButtons & JOY_BUTTON3);
133 buttons[3] = 0 != (jinfo.wButtons & JOY_BUTTON4);
135 if (raw_x_pos) *raw_x_pos = jinfo.wXpos;
136 if (raw_y_pos) *raw_y_pos = jinfo.wYpos;
137 if (raw_z_pos) *raw_z_pos = jinfo.wZpos;
140 #elif defined(MRPT_OS_LINUX) && defined(HAVE_LINUX_INPUT_H)
142 if (m_joy_index == nJoy && m_joy_fd != -1)
149 if (m_joy_fd != -1) close(m_joy_fd);
153 open(
format(
"/dev/input/js%i", nJoy).c_str(), O_RDONLY)) < 0)
160 fcntl(m_joy_fd, F_SETFL, O_NONBLOCK);
165 while (read(m_joy_fd, &js,
sizeof(
struct js_event)) ==
166 sizeof(
struct js_event))
169 if (js.type & JS_EVENT_BUTTON)
172 if (m_joystate_btns.size() < (
size_t)js.number + 1)
173 m_joystate_btns.resize(js.number + 1);
174 m_joystate_btns[js.number] = js.value != 0;
178 if (js.type & JS_EVENT_AXIS)
181 if (m_joystate_axes.size() < (
size_t)js.number + 1)
182 m_joystate_axes.resize(js.number + 1);
183 m_joystate_axes[js.number] = js.value;
196 const size_t nAxis = m_joystate_axes.size();
201 if (raw_x_pos) *raw_x_pos = m_joystate_axes[0];
208 if (raw_y_pos) *raw_y_pos = m_joystate_axes[1];
215 if (raw_z_pos) *raw_z_pos = m_joystate_axes[2];
222 buttons = m_joystate_btns;
238 int x_min,
int x_max,
int y_min,
int y_max,
int z_min,
int z_max)