mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 13:24:03 +08:00
fun with a force feedback joystick
This commit is contained in:
Martin Mueller
@@ -118,3 +118,6 @@ ivy_example: ivy_example.c
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tmclient: tmclient.c
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gcc -g -O1 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy
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ffjoystick: ffjoystick.c
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gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy -lm
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@@ -0,0 +1,167 @@
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/*
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* based on ffmvforce.c
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*
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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* You can contact the author by email at this address:
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* Johann Deneux <deneux@ifrance.com>
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/stat.h>
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#include <sys/ioctl.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <math.h>
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#include <linux/input.h>
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#include <glib.h>
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#include <Ivy/ivy.h>
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#include <Ivy/ivyglibloop.h>
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#define BIT(x) (1<<(x))
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#define STR_LEN 64
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#define PPRZ_MAX 9600
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#define PPRZ_MIN (-PPRZ_MAX)
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#define max(a,b) ((a)>(b)?(a):(b))
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/* File descriptor of the force feedback /dev entry */
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static int ff_fd;
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static struct ff_effect effect;
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static void welcome()
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{
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const char* txt[] = {
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"ffjoystick: generate force feedback reaction from Paparazzi autopilot",
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"Set COMMANDS message repeat rate low in telemetry and"
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"use aircraft with rudder on channel 1 and elevator on 2",
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"USE WITH CARE !!! HOLD STRONGLY YOUR WHEEL OR JOYSTICK TO PREVENT DAMAGES",
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"To run this program, run it with at least one argument.",
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"",
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NULL };
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const char** p = txt;
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while (*p) {
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printf("%s\n", *p);
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p++;
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}
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}
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static void generate_force(double nx, double ny)
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{
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static int first = 1;
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double angle;
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angle = atan2(nx, -ny);
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//printf("n: %4.2f %4.2f angle: %4.2f\n", nx, ny, angle);
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effect.type = FF_CONSTANT;
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effect.u.constant.level = 0x7fff * max(fabs(nx), fabs(ny));
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effect.direction = 0x8000 * (angle + M_PI)/M_PI;
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//printf("level: %04x direction: %04x\n", (unsigned int)effect.u.constant.level, (unsigned int)effect.direction);
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effect.u.constant.envelope.attack_length = 0;
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effect.u.constant.envelope.attack_level = 0;
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effect.u.constant.envelope.fade_length = 0;
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effect.u.constant.envelope.fade_level = 0;
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effect.trigger.button = 0;
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effect.trigger.interval = 0;
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effect.replay.length = 0xffff;
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effect.replay.delay = 0;
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if (first) {
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effect.id = -1;
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}
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if (ioctl(ff_fd, EVIOCSFF, &effect) < 0) {
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/* If updates are sent to frequently, they can be refused */
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}
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/* If first time, start to play the effect */
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if (first) {
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struct input_event play;
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play.type = EV_FF;
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play.code = effect.id;
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play.value = 1;
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if (write(ff_fd, (const void*) &play, sizeof(play)) == -1) {
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perror("Play effect");
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exit(1);
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}
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}
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first = 0;
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}
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void on_commands(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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char* start = argv[0];
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char* stop;
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int x, y;
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strtol(start, &stop, 10);
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start=stop+1;
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x = -strtol(start, &stop, 10);
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start=stop+1;
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y = strtol(start, &stop, 10);
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if (x>PPRZ_MAX) x=PPRZ_MAX;
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if (x<PPRZ_MIN) x=PPRZ_MIN;
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if (y>PPRZ_MAX) y=PPRZ_MAX;
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if (y<PPRZ_MIN) y=PPRZ_MIN;
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generate_force((double)x/PPRZ_MAX, (double)y/PPRZ_MAX);
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}
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int main(int argc, char** argv)
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{
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char dev_name[STR_LEN];
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int i;
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GMainLoop *ml = g_main_loop_new(NULL, FALSE);
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welcome();
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if (argc <= 1) return 0;
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/* Parse parameters */
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strcpy(dev_name, "/dev/input/event0");
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for (i=1; i<argc; ++i) {
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if (strcmp(argv[i], "--help") == 0) {
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printf("Usage: %s /dev/input/eventXX\n", argv[0]);
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exit(1);
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}
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else {
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strncpy(dev_name, argv[i], STR_LEN);
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}
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}
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/* Open force feedback device */
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ff_fd = open(dev_name, O_RDWR);
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if (ff_fd == -1) {
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perror("Open device file");
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exit(1);
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}
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IvyInit ("IvyExample", "IvyExample READY", NULL, NULL, NULL, NULL);
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IvyBindMsg(on_commands, NULL, "^\\S* COMMANDS (\\S*)");
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IvyStart("127.255.255.255");
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g_main_loop_run(ml);
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return 0;
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}
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