// vrpn_3DConnexion.C: VRPN driver for 3DConnexion

// Space Navigator, Space Traveler, Space Explorer, Space Mouse, Spaceball 5000

// There is a non-HID Linux-based driver for this device that has a capability

// not implemented in the HID interface. It uses the input.h interface.

#if defined(linux) && !defined(VRPN_USE_HID)

#include <linux/input.h>

#endif

#include "vrpn_BufferUtils.h"

#include "vrpn_3DConnexion.h"

#include <fcntl.h>

#include <stdio.h>

#include <stdlib.h>

#if !defined(_WIN32)

#include <sys/ioctl.h>

#include <unistd.h>

#endif

#include <string.h>

typedef struct input_devinfo {

} XXX_should_have_been_in_system_includes;

// USB vendor and product IDs for the models we support

static const vrpn_uint16 vrpn_3DCONNEXION_VENDOR = 0x046d; //1133;

static const vrpn_uint16 vrpn_3DCONNEXION_TRAVELER = 50723;

static const vrpn_uint16 vrpn_3DCONNEXION_NAVIGATOR = 50726;

static const vrpn_uint16 vrpn_3DCONNEXION_NAVIGATOR_FOR_NOTEBOOKS = 0xc628; // 50728;

static const vrpn_uint16 vrpn_3DCONNEXION_SPACEEXPLORER = 0xc627; // 50727

static const vrpn_uint16 vrpn_3DCONNEXION_SPACEMOUSE = 50691;

static const vrpn_uint16 vrpn_3DCONNEXION_SPACEBALL5000 = 0xc621; // 50721;

vrpn_3DConnexion::vrpn_3DConnexion(vrpn_HidAcceptor *filter, unsigned num_buttons,

const char *name, vrpn_Connection *c)

: vrpn_Button_Filter(name, c)

, vrpn_Analog(name, c)

#if defined(VRPN_USE_HID)

, vrpn_HidInterface(_filter)

#endif

, _filter(filter)

{

vrpn_Analog::num_channel = 6;

vrpn_Button::num_buttons = num_buttons;

// Initialize the state of all the analogs and buttons

memset(buttons, 0, sizeof(buttons));

memset(lastbuttons, 0, sizeof(lastbuttons));

memset(channel, 0, sizeof(channel));

memset(last, 0, sizeof(last));

// There is a non-HID Linux-based driver for this device that has a capability

// not implemented in the HID interface. It is implemented using the Event

// interface.

#if defined(linux) && !defined(VRPN_USE_HID)

// Use the Event interface to open devices looking for the one

// we want. Call the acceptor with all the devices we find

// until we get one that we want.

fd = -1;

FILE *f;

int i = 0;

// try to autodetect the device

char *fname = (char *)malloc(1000*sizeof(char));

while(i < 256) {

sprintf(fname, "/dev/input/event%d", i++);

f = fopen(fname, "r+b");

if(f) {

// We got an active device. Fill in its values and see if it

// is acceptable to the filter.

struct input_devinfo ID;

ioctl(fileno(f), EVIOCGID, &ID);

vrpn_HIDDEVINFO info;

info.product = ID.product;

info.vendor = ID.vendor;

if (_filter->accept(info)) {

fd = fileno(f);

set_led(1);

break;

} else {

fclose(f);

}

}

}

if(!f) {

perror("Could not open the device");

exit(1);

}

free(fname);

// turn the LED on

set_led(1);

#endif

}

vrpn_3DConnexion::~vrpn_3DConnexion()

{

#if defined(linux) && !defined(VRPN_USE_HID)

set_led(0);

#endif

delete _filter;

}

#if defined(VRPN_USE_HID)

void vrpn_3DConnexion::on_data_received(size_t bytes, vrpn_uint8 *buffer)

{

decodePacket(bytes, buffer);

}

#endif

void vrpn_3DConnexion::mainloop()

{

#if defined(VRPN_USE_HID)

// Full reports are 7 bytes long.

// XXX If we get a 2-byte report mixed in, then something is going to get

// truncated.

update();

#elif defined(linux) && !defined(VRPN_USE_HID)

struct timeval zerotime;

fd_set fdset;

struct input_event ev;

int i;

zerotime.tv_sec = 0;

zerotime.tv_usec = 0;

FD_ZERO(&fdset); /* clear fdset */

FD_SET(fd, &fdset); /* include fd in fdset */

int moreData = 0;

do {

vrpn_noint_select(fd + 1, &fdset, NULL, NULL, &zerotime);

moreData = 0;

if (FD_ISSET(fd, &fdset)) {

moreData = 1;

if (vrpn_noint_block_read(fd, reinterpret_cast<char*>(&ev), sizeof(struct input_event)) != sizeof(struct input_event)) {

send_text_message("Error reading from vrpn_3DConnexion", vrpn_Analog::timestamp, vrpn_TEXT_ERROR);

if (d_connection) { d_connection->send_pending_reports(); }

return;

}

switch (ev.type) {

case EV_KEY: // button movement

vrpn_gettimeofday((timeval *)&this->vrpn_Button::timestamp, NULL);

buttons[ev.code & 0x0ff] = ev.value;

break;

case EV_REL: // axis movement

case EV_ABS: // new kernels send more logical _ABS instead of _REL

vrpn_gettimeofday((timeval *)&this->vrpn_Analog::timestamp, NULL);

// Convert from short to int to avoid a short/double conversion

// bug in GCC 3.2.

i = ev.value;

channel[ev.code] = static_cast<double>(i)/400.0;

break;

default:

break;

}

}

report_changes();

} while (moreData == 1);

#endif

server_mainloop();

vrpn_gettimeofday(&_timestamp, NULL);

}

void vrpn_3DConnexion::report_changes(vrpn_uint32 class_of_service)

{

vrpn_Analog::timestamp = _timestamp;

vrpn_Button::timestamp = _timestamp;

vrpn_Analog::report_changes(class_of_service);

vrpn_Button::report_changes();

}

void vrpn_3DConnexion::report(vrpn_uint32 class_of_service)

{

vrpn_Analog::timestamp = _timestamp;

vrpn_Button::timestamp = _timestamp;

vrpn_Analog::report(class_of_service);

vrpn_Button::report_changes();

}

#if defined(linux) && !defined(VRPN_USE_HID)

int vrpn_3DConnexion::set_led(int led_state)

{

struct input_event event;

int ret;

event.type = EV_LED;

event.code = LED_MISC;

event.value = led_state;

ret = write(fd, &event, sizeof(struct input_event));

if (ret < 0) {

perror ("setting led state failed");

}

return ret < static_cast<int>(sizeof(struct input_event));

}

#endif

#if defined(VRPN_USE_HID)

void vrpn_3DConnexion::decodePacket(size_t bytes, vrpn_uint8 *buffer)

{

// Force 'small' buffers (ie button under linux - 3 bytes - and apple - 2 bytes - into 7 bytes

// so we get through the report loop once. XXX Problem: this is skipping 7 bytes per report

// regardless of how many bytes were in the report. This is going to get us into trouble for

// multi-report packets. Instead, we should go until we've parsed all characters and add the

// number characters parsed each time rather than a constant 7 reports.

if(bytes<7) bytes=7;

// Decode all full reports.

// Full reports for all of the pro devices are 7 bytes long (the first

// byte is the report type, because this device has multiple ones the

// HIDAPI library leaves it in the report).

for (size_t i = 0; i < bytes / 7; i++) {

vrpn_uint8 *report = buffer + (i * 7);

// There are three types of reports. Parse whichever type

// this is.

char report_type = report[0];

vrpn_uint8 *bufptr = &report[1];

const float scale = 1.0f/400.0f;

switch (report_type) {

// Report types 1 and 2 come one after the other. Each seems

// to change when the puck is moved. It looks like each pair

// of values records a signed value for one channel; report

// type 1 is translation and report type 2 is rotation.

// The minimum and maximum values seem to vary somewhat.

// They all seem to be able to get over 400, so we scale

// by 400 and then clamp to (-1..1).

// The first byte is the low-order byte and the second is the

// high-order byte.

case 1:

channel[0] = vrpn_unbuffer_from_little_endian<vrpn_int16>(bufptr) * scale;

if (channel[0] < -1.0) { channel[0] = -1.0; }

if (channel[0] > 1.0) { channel[0] = 1.0; }

channel[1] = vrpn_unbuffer_from_little_endian<vrpn_int16>(bufptr) * scale;

if (channel[1] < -1.0) { channel[1] = -1.0; }

if (channel[1] > 1.0) { channel[1] = 1.0; }

channel[2] = vrpn_unbuffer_from_little_endian<vrpn_int16>(bufptr) * scale;

if (channel[2] < -1.0) { channel[2] = -1.0; }

if (channel[2] > 1.0) { channel[2] = 1.0; }

break;

case 2:

channel[3] = vrpn_unbuffer_from_little_endian<vrpn_int16>(bufptr) * scale;

if (channel[3] < -1.0) { channel[3] = -1.0; }

if (channel[3] > 1.0) { channel[3] = 1.0; }

channel[4] = vrpn_unbuffer_from_little_endian<vrpn_int16>(bufptr) * scale;

if (channel[4] < -1.0) { channel[4] = -1.0; }

if (channel[4] > 1.0) { channel[4] = 1.0; }

channel[5] = vrpn_unbuffer_from_little_endian<vrpn_int16>(bufptr) * scale;

if (channel[5] < -1.0) { channel[5] = -1.0; }

if (channel[5] > 1.0) { channel[5] = 1.0; }

break;

case 3: { // Button report

int btn;

// Button reports are encoded as bits in the first 2 bytes

// after the type. There can be more than one byte if there

// are more than 8 buttons such as on SpaceExplorer or SpaceBall5000.

// If 8 or less, we don't look at 2nd byte. No known devices with >15 buttons.

// SpaceExplorer buttons are (for example):

// Name Number

// 1 0

// 2 1

// T 2

// L 3

// R 4

// F 5

// ESC 6

// ALT 7

// SHIFT 8

// CTRL 9

// FIT 10

// PANEL 11

// + 12

// - 13

// 2D 14

for (btn = 0; btn < vrpn_Button::num_buttons; btn++) {

vrpn_uint8 *location, mask;

location = report + 1 + (btn / 8);

mask = 1 << (btn % 8);

buttons[btn] = ( (*location) & mask) != 0;

}

break;

}

default:

vrpn_gettimeofday(&_timestamp, NULL);

send_text_message("Unknown report type", _timestamp, vrpn_TEXT_WARNING);

}

// Report this event before parsing the next.

report_changes();

}

}

#endif

vrpn_3DConnexion_Navigator::vrpn_3DConnexion_Navigator(const char *name, vrpn_Connection *c)

: vrpn_3DConnexion(_filter = new vrpn_HidProductAcceptor(vrpn_3DCONNEXION_VENDOR, vrpn_3DCONNEXION_NAVIGATOR), 2, name, c)

{

}

vrpn_3DConnexion_Navigator_for_Notebooks::vrpn_3DConnexion_Navigator_for_Notebooks(const char *name, vrpn_Connection *c)

: vrpn_3DConnexion(_filter = new vrpn_HidProductAcceptor(vrpn_3DCONNEXION_VENDOR, vrpn_3DCONNEXION_NAVIGATOR_FOR_NOTEBOOKS), 2, name, c)

{

}

vrpn_3DConnexion_Traveler::vrpn_3DConnexion_Traveler(const char *name, vrpn_Connection *c)

: vrpn_3DConnexion(_filter = new vrpn_HidProductAcceptor(vrpn_3DCONNEXION_VENDOR, vrpn_3DCONNEXION_TRAVELER), 8, name, c)

{

}

vrpn_3DConnexion_SpaceMouse::vrpn_3DConnexion_SpaceMouse(const char *name, vrpn_Connection *c)

: vrpn_3DConnexion(_filter = new vrpn_HidProductAcceptor(vrpn_3DCONNEXION_VENDOR, vrpn_3DCONNEXION_SPACEMOUSE), 11, name, c)

{

}

vrpn_3DConnexion_SpaceExplorer::vrpn_3DConnexion_SpaceExplorer(const char *name, vrpn_Connection *c)

: vrpn_3DConnexion(_filter = new vrpn_HidProductAcceptor(vrpn_3DCONNEXION_VENDOR, vrpn_3DCONNEXION_SPACEEXPLORER), 15, name, c)

{

}

vrpn_3DConnexion_SpaceBall5000::vrpn_3DConnexion_SpaceBall5000(const char *name, vrpn_Connection *c)

: vrpn_3DConnexion(_filter = new vrpn_HidProductAcceptor(vrpn_3DCONNEXION_VENDOR, vrpn_3DCONNEXION_SPACEBALL5000), 12, name, c)

{

}