bool KeyboardDevice::finalize()
{
SURGSIM_ASSERT(isInitialized());
SURGSIM_LOG_INFO(m_scaffold->getLogger()) << "Device " << getName() << ": " << "Finalizing.";
m_scaffold.reset();
return true;
}
std::vector<std::string> InputDeviceHandle::enumeratePaths(SurgSim::Framework::Logger* logger)
{
std::vector<std::string> results;
for (int i = 0; i < 100; ++i)
{
char devicePath[128];
snprintf(devicePath, sizeof(devicePath), "/dev/input/event%d", i);
FileDescriptor handle;
if (! handle.openForReadingAndMaybeWriting(devicePath))
{
int error = errno;
if (error != ENOENT)
{
SURGSIM_LOG_INFO(logger) << "InputDeviceHandle::enumeratePaths: Could not open device " << devicePath <<
": error " << error << ", " << getSystemErrorText(error);
}
continue;
}
results.push_back(devicePath);
}
return results;
}
bool KeyboardDevice::initialize()
{
SURGSIM_ASSERT(!isInitialized());
m_scaffold = KeyboardScaffold::getOrCreateSharedInstance();
SURGSIM_ASSERT(m_scaffold);
m_scaffold->registerDevice(this);
SURGSIM_LOG_INFO(m_scaffold->getLogger()) << "Device " << getName() << ": " << "Initialized.";
return true;
}
bool OsgManager::addRepresentation(std::shared_ptr<SurgSim::Graphics::Representation> representation)
{
std::shared_ptr<OsgRepresentation> osgRepresentation = std::dynamic_pointer_cast<OsgRepresentation>(representation);
bool result;
if (osgRepresentation)
{
result = Manager::addRepresentation(osgRepresentation);
}
else
{
SURGSIM_LOG_INFO(getLogger())
<< __FUNCTION__ << " Representation is not a subclass of OsgRepresentation "
<< representation->getName();
result = false;
}
return result;
}
bool InputDeviceHandle::hasAbsoluteTranslationAndRotationAxes() const
{
BitSetBuffer<ABS_CNT> buffer;
if (ioctl(m_state->handle.get(), EVIOCGBIT(EV_ABS, buffer.sizeBytes()), buffer.getPointer()) == -1)
{
int error = errno;
SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: ioctl(EVIOCGBIT(EV_ABS)): error " <<
error << ", " << getSystemErrorText(error);
return false;
}
if (! buffer.test(ABS_X) || ! buffer.test(ABS_Y) || ! buffer.test(ABS_Z) ||
! buffer.test(ABS_RX) || ! buffer.test(ABS_RY) || ! buffer.test(ABS_RZ))
{
SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: does not have the 6 absolute axes.";
return false;
}
int numIgnoredAxes = 0;
for (size_t i = 0; i < ABS_CNT; ++i)
{
if (buffer.test(i))
{
if ((i != ABS_X) && (i != ABS_Y) && (i != ABS_Z) && (i != ABS_RX) && (i != ABS_RY) && (i != ABS_RZ))
{
++numIgnoredAxes;
}
}
}
if (numIgnoredAxes)
{
SURGSIM_LOG_INFO(m_state->logger) << "InputDeviceHandle: has absolute translation and rotation axes;" <<
" ignoring " << numIgnoredAxes << " additional axes.";
}
return true;
}
