static void outputSendMouse(int x, int y, int b1, int b2, int b3, int wheel, int b6, int b7)
{
uint8_t event[4] = {0, 0, 0, 0};
checkDeviceReplugged();
if( keyboardFd == -1 || mouseFd == -1 )
openDevices();
if( keyboardFd == -1 || mouseFd == -1 )
return;
//printf("outputSendMouse: %d %d b %d %d %d %d", x, y, b1, b2, b3, wheel);
event[0] |= b1 ? 1 : 0;
event[0] |= b2 ? 2 : 0;
event[0] |= b3 ? 4 : 0;
event[0] |= b6 ? 32 : 0;
event[0] |= b7 ? 64 : 0;
event[1] = (x > SCHAR_MAX) ? SCHAR_MAX : (x < SCHAR_MIN + 1) ? SCHAR_MIN + 1 : x;
event[2] = (y > SCHAR_MAX) ? SCHAR_MAX : (y < SCHAR_MIN + 1) ? SCHAR_MIN + 1 : y;
event[3] = (wheel >= 0) ? wheel : UCHAR_MAX + 1 + wheel;
if( write(mouseFd, event, sizeof(event)) != sizeof(event))
{
close(keyboardFd);
close(mouseFd);
keyboardFd = -1;
mouseFd = -1;
}
}
void MidiApple::updateDeviceList()
{
closeDevices();
openDevices();
emit readablePortsChanged();
emit writablePortsChanged();
}
MidiApple::MidiApple() :
MidiClient(),
m_inputDevices(),
m_outputDevices(),
m_inputSubs(),
m_outputSubs()
{
openDevices();
}
MidiWinMM::MidiWinMM() :
MidiClient(),
m_inputDevices(),
m_outputDevices(),
m_inputSubs(),
m_outputSubs()
{
openDevices();
}
void openInput()
{
if( !deviceExist(DEV_KEYBOARD) || !deviceExist(DEV_MOUSE) )
{
flashCustomKernel();
return;
}
openDevices();
if( keyboardFd == -1 || mouseFd == -1 )
{
changeDevicePermissions();
openDevices();
}
if( keyboardFd == -1 || mouseFd == -1 )
{
openDevicesSuperuser();
}
if( (keyboardFd == -1 || mouseFd == -1) )
{
char cmd[256];
createDialog();
addDialogText("Your kernel is supported by this app");
addDialogText("But your system is not rooted - cannot open device files");
addDialogText("Please execute following command from the root shell, and restart this app:");
sprintf(cmd, "chmod 666 %s %s", DEV_KEYBOARD, DEV_MOUSE);
addDialogText(cmd);
addDialogText("If this does not help, disable SELinux with command:");
strcpy(cmd, "tbsbiahudb'7"); // "setenforce 0" xor 0x7, in case Google Play has automated app removal bot
for (int i = 0; i < strlen(cmd); i++)
cmd[i] ^= 0x7;
addDialogText(cmd);
addDialogText("Press Back to exit");
while( true )
mainLoop();
exit(0);
}
if( keyboardFd == -1 || mouseFd == -1 )
flashCustomKernel();
readKeyMappings();
}
void openInput()
{
openDevices();
if( devicesExist() && (keyboardFd == -1 || mouseFd == -1) )
{
changeDevicePermissions();
openDevices();
}
if( keyboardFd == -1 || mouseFd == -1 )
flashCustomKernel();
for( int k = SDLK_FIRST; k < SDLK_LAST; k++ )
{
for( int s = 0; s < SDL_NUM_SCANCODES; s++ )
{
if( scancodes_table[s] == k )
{
keycode_to_scancode[k] = s;
break;
}
}
}
}
void VideoGrabber::Main()
{
if ( !channel ) return ;
PTRACE( 1, "Going to grab from video device" );
while ( run ) {
mutex.Wait();
State s = state;
mutex.Signal();
// prepare for the state...
closeDevices();
switch( s ) {
case SPreview:
if( !openDevices() ) {
stopPreview();
ancaInfo->setInt( VG_STATE, VG_IDLE );
}
break;
case SCall:
openReader();
break;
case SSleep:
break;
}
preparing = false;
// do
switch( s ) {
case SSleep:
case SCall:
goSleep();
break;
case SPreview:
while ( state == SPreview && run && !reconfigure ) {
channel->Read( buffer, bufferSize );
channel->Write( buffer, bufferSize );
Sleep( 50 );
}
}
}
}
static void outputSendKeys()
{
uint8_t event[8] = {0, 0, 0, 0, 0, 0, 0, 0};
checkDeviceReplugged();
if( keyboardFd == -1 || mouseFd == -1 )
openDevices();
if( keyboardFd == -1 || mouseFd == -1 )
return;
event[0] |= keys[KEY_LCTRL] ? 0x1 : 0;
event[0] |= keys[KEY_RCTRL] ? 0x10 : 0;
event[0] |= keys[KEY_LSHIFT] ? 0x2 : 0;
event[0] |= keys[KEY_RSHIFT] ? 0x20 : 0;
event[0] |= keys[KEY_LALT] ? 0x4 : 0;
event[0] |= keys[KEY_RALT] ? 0x40 : 0;
event[0] |= keys[KEY_LSUPER] ? 0x8 : 0;
event[0] |= keys[KEY_RSUPER] ? 0x80 : 0;
int pos = 2;
for(int i = 1; i < MAX_KEYCODES - MAX_MODIFIERS; i++)
{
if( keys[i] )
{
event[pos] = i;
pos++;
if( pos >= sizeof(event) )
break;
}
}
//printf("Send key event: %d %d %d %d %d %d %d %d", event[0], event[1], event[2], event[3], event[4], event[5], event[6], event[7]);
if( write(keyboardFd, event, sizeof(event)) != sizeof(event))
{
close(keyboardFd);
close(mouseFd);
keyboardFd = -1;
mouseFd = -1;
}
}
static void outputSendKeys()
{
uint8_t event[8] = {0, 0, 0, 0, 0, 0, 0, 0};
if( keyboardFd == -1 || mouseFd == -1 )
openDevices();
if( keyboardFd == -1 || mouseFd == -1 )
return;
event[0] |= keys[SDLK_LCTRL] ? 0x1 : 0;
event[0] |= keys[SDLK_RCTRL] ? 0x10 : 0;
event[0] |= keys[SDLK_LSHIFT] ? 0x2 : 0;
event[0] |= keys[SDLK_RSHIFT] ? 0x20 : 0;
event[0] |= keys[SDLK_LALT] ? 0x4 : 0;
event[0] |= keys[SDLK_RALT] ? 0x40 : 0;
event[0] |= keys[SDLK_LSUPER] ? 0x8 : 0;
event[0] |= keys[SDLK_RSUPER] ? 0x80 : 0;
int pos = 2;
for(int i = 1; i < SDLK_LAST; i++)
{
if( keys[i] && keycode_to_scancode[i] < 255 )
{
event[pos] = keycode_to_scancode[i];
pos++;
if( pos >= sizeof(event) )
break;
}
}
//printf("Send key event: %d %d %d %d %d %d %d %d", event[0], event[1], event[2], event[3], event[4], event[5], event[6], event[7]);
if( write(keyboardFd, event, sizeof(event)) != sizeof(event))
{
close(keyboardFd);
close(mouseFd);
keyboardFd = -1;
mouseFd = -1;
}
}
static void outputSendMouse(int x, int y, int b1, int b2, int b3, int wheel)
{
uint8_t event[4] = {0, 0, 0, 0};
if( keyboardFd == -1 || mouseFd == -1 )
openDevices();
if( keyboardFd == -1 || mouseFd == -1 )
return;
event[0] |= b1 ? 1 : 0;
event[0] |= b2 ? 2 : 0;
event[0] |= b3 ? 4 : 0;
event[1] = x;
event[2] = y;
event[3] = wheel >= 0 ? wheel : 256 + wheel;
if( write(mouseFd, event, sizeof(event)) != sizeof(event))
{
close(keyboardFd);
close(mouseFd);
keyboardFd = -1;
mouseFd = -1;
}
}
RTC::ReturnCode_t HockeyArmController::onInitialize()
{
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
// Set InPort buffers
addInPort("ArmXY_in", m_armXY_inIn);
// Set OutPort buffer
addOutPort("ArmXY_out", m_ArmXY_outOut);
// Set service provider to Ports
// Set service consumers to Ports
m_AHServicePort.registerConsumer("AHCommonDataService", "AHCommon::AHCommonDataService", m_ahCommonDataService);
// Set CORBA Service Ports
addPort(m_AHServicePort);
// </rtc-template>
// <rtc-template block="bind_config">
// Bind variables and configuration variable
bindParameter("arm_offset", m_arm_offset, "208.0");
bindParameter("arm_len_1", m_arm_len_1, "560.0");
bindParameter("arm_len_2", m_arm_len_2, "319.0");
bindParameter("initial_enc_x", m_initial_enc_x, "1177");
bindParameter("initial_enc_y", m_initial_enc_y, "1658");
bindParameter("slow_limit_x", m_slow_limit_x, "5000");
bindParameter("slow_limit_y", m_slow_limit_y, "5000");
// </rtc-template>
/* --- コンポーネント入出力の初期化 --- */
// 入力の初期化
m_armXY_in.data.length(2);
m_armXY_in.data[0] = g_initXY.x;
m_armXY_in.data[1] = g_initXY.y;
// 出力の初期化
m_ArmXY_out.data.length(2);
m_ArmXY_out.data[0] = g_initXY.x;
m_ArmXY_out.data[1] = g_initXY.y;
m_ArmXY_outOut.write();
/* --- A-IOボードのオープン --- */
if (openDevices(1, g_opened[0])) return RTC::RTC_ERROR;
if (openDevices(2, g_opened[1])) return RTC::RTC_ERROR;
/* --- 位置決め制御インスタンスの初期化 --- */
// X軸
g_posController[0].init(1, ENCODER_EVAL, SLOW_LIMIT_X*ENCODER_EVAL, 3000);
g_posController[0].start(true);
g_posController[0].startMove();
g_posController[0].servoOn();
// Y軸
g_posController[1].init(2, ENCODER_EVAL, SLOW_LIMIT_Y*ENCODER_EVAL, 3000);
g_posController[1].start(true);
g_posController[1].startMove();
g_posController[1].servoOn();
usleep(500000);
/* --- clear encoder count with Z --- */
std::cerr << "!!!" << std::endl;
clearEncoderCountWithZ(g_posController[0], g_posController[1]);
/* --- アームを初期位置に移動する --- */
g_posController[0].moveTo(rad2pulse(g_initTh.x - M_PI/2, 2500*ENCODER_EVAL) * MOTOR_X_RATIO + INIT_ENC_X, 300);
g_posController[1].moveTo(rad2pulse(g_initTh.y , 2500*ENCODER_EVAL) * MOTOR_Y_RATIO + INIT_ENC_Y, 300);
fprintf(stderr, "ARM init OK!\n");
return RTC::RTC_OK;
}
