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evdev.cpp
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evdev.cpp
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#include <stdio.h>
#include <math.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <sys/inotify.h>
#include <fcntl.h>
#include <unistd.h>
#include <linux/joystick.h>
#include <linux/input.h>
const char* buttonNames[32] = {
"TRIGGER",
"THUMB",
"THUMB2",
"TOP",
"TOP2",
"PINKIE",
"BASE",
"BASE2",
"BASE3",
"BASE4",
"BASE5",
"BASE6",
"","","",
"DEAD",
"SOUTH",
"EAST",
"C",
"NORTH",
"WEST",
"Z",
"TL",
"TR",
"TL2",
"TR2",
"SELECT",
"START",
"MODE",
"THUMBL",
"THUMBR"
};
const char* axisNames[32] = {
"X",
"Y",
"Z",
"RX",
"RY",
"RZ",
"THROTTLE",
"RUDDER",
"WHEEL",
"GAS",
"BRAKE",
"","","","","",
"HAT0X",
"HAT0Y",
"HAT1X",
"HAT1Y",
"HAT2X",
"HAT2Y",
"HAT3X",
"HAT3Y",
"PRESSURE",
"DISTANCE",
"TILT_X",
"TILT_Y",
"TOOL_WIDTH"
};
struct Axis
{
int min;
int max;
float value;
};
struct Joystick
{
static const unsigned int maxButtons = 32;
static const unsigned int maxAxes = 32;
bool connected;
bool buttons[maxButtons];
Axis axes[maxAxes];
char name[128];
int file;
bool hasRumble;
short rumbleEffectID;
};
void openJoysticks(Joystick out_joysticks[], unsigned int maxJoysticks)
{
char fileName[32];
for (int i=0; i<32; ++i) {
sprintf(fileName, "/dev/input/event%d", i);
int file = open(fileName, O_RDWR | O_NONBLOCK);
if (file != -1)
{
Joystick j = {0};
j.connected = true;
j.file = file;
// Get name
ioctl(file, EVIOCGNAME(sizeof(j.name)), j.name);
// Setup axes
for (unsigned int i=0; i<Joystick::maxAxes; ++i)
{
input_absinfo axisInfo;
if (ioctl(file, EVIOCGABS(i), &axisInfo) != -1)
{
j.axes[i].min = axisInfo.minimum;
j.axes[i].max = axisInfo.maximum;
}
}
// Setup rumble
ff_effect effect = {0};
effect.type = FF_RUMBLE;
effect.id = -1;
if (ioctl(file, EVIOCSFF, &effect) != -1) {
j.rumbleEffectID = effect.id;
j.hasRumble = true;
}
out_joysticks[i] = j;
}
}
}
void closeJoysticks(Joystick joysticks[], unsigned int maxJoysticks)
{
for (int i=0; i<32; ++i) {
if (joysticks[i].connected) {
close(joysticks[i].file);
joysticks[i].connected = false;
}
}
}
void readJoystickInput(Joystick* joystick)
{
input_event event;
while (read(joystick->file, &event, sizeof(event)) > 0)
{
if (event.type == EV_KEY && event.code >= BTN_JOYSTICK && event.code <= BTN_THUMBR) {
joystick->buttons[event.code-0x120] = event.value;
}
if (event.type == EV_ABS && event.code < ABS_TOOL_WIDTH) {
Axis* axis = &joystick->axes[event.code];
float normalized = (event.value - axis->min) / (float)(axis->max - axis->min) * 2 - 1;
joystick->axes[event.code].value = normalized;
}
}
}
void setJoystickRumble(Joystick joystick, short weakRumble, short strongRumble)
{
if (joystick.hasRumble)
{
ff_effect effect = {0};
effect.type = FF_RUMBLE;
effect.id = joystick.rumbleEffectID;
effect.replay.length = 5000;
effect.replay.delay = 0;
effect.u.rumble.weak_magnitude = weakRumble;
effect.u.rumble.strong_magnitude = strongRumble;
ioctl(joystick.file, EVIOCSFF, &effect);
input_event play = {0};
play.type = EV_FF;
play.code = joystick.rumbleEffectID;
play.value = 1;
write(joystick.file, &play, sizeof(play));
}
}
int main()
{
const unsigned int maxJoysticks = 32;
Joystick joysticks[maxJoysticks] = {0};
openJoysticks(joysticks, maxJoysticks);
int deviceChangeNotify = inotify_init1(IN_NONBLOCK);
inotify_add_watch(deviceChangeNotify, "/dev/input", IN_ATTRIB);
while (1)
{
// Update which joysticks are connected
inotify_event event;
if (read(deviceChangeNotify, &event, sizeof(event)+16) != -1)
{
closeJoysticks(joysticks, maxJoysticks);
openJoysticks(joysticks, maxJoysticks);
}
// Update and print inputs for each connected joystick
for (unsigned int i=0; i<maxJoysticks; ++i)
{
if (joysticks[i].connected)
{
readJoystickInput(&joysticks[i]);
printf("%s - Axes: ", joysticks[i].name);
for (char axisIndex=0; axisIndex<Joystick::maxAxes; ++axisIndex) {
if (joysticks[i].axes[axisIndex].max-joysticks[i].axes[axisIndex].min) printf("%s:% f ", axisNames[axisIndex], joysticks[i].axes[axisIndex].value);
}
printf("Buttons: ");
for (char buttonIndex=0; buttonIndex<Joystick::maxButtons; ++buttonIndex) {
if (joysticks[i].buttons[buttonIndex]) printf("%s ", buttonNames[buttonIndex]);
}
printf("\n");
short weakRumble = fabsf(joysticks[i].axes[ABS_X].value) * 0xFFFF;
short strongRumble = fabsf(joysticks[i].axes[ABS_Y].value) * 0xFFFF;
setJoystickRumble(joysticks[i], weakRumble, strongRumble);
}
}
fflush(stdout);
usleep(16000);
}
}