Ubuntu16.04下适配使用LogitechF710手柄，实际项目使用

最新推荐文章于 2022-07-16 08:58:05 发布

小菜要扣篮

最新推荐文章于 2022-07-16 08:58:05 发布

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分类专栏： Linux学习文章标签： ubuntu c++ 经验分享

本文链接：https://blog.csdn.net/u014375643/article/details/122265158

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依然话不多说，直接上代码，有需要直接拿去使用！！！！！

#pragma once

#include <cstdint>
#include <cstring>
#include <string>
#include <sstream>
#include <fcntl.h>
#include <functional>
#include <vector>
#include <unistd.h>
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/joystick.h>
#include <stdlib.h>

#include "Thread.h"

enum class F710_EVENT_TYPE
{
    Button = 1,
    Axis = 2,
    ButtonHeartBeat = 129,
    AxisHeartBeat = 130,
};

enum class F710KeyD : uint8_t
{
    LeftThumbX = 0,
    LeftThumbY = 1,
    RightThumbX = 2,
    RightThumbY = 3,
    PadX = 4,
    PadY = 5,

    ButtonX = 0,
    ButtonA = 1,
    ButtonB = 2,
    ButtonY = 3,
    LeftBumper = 4,
    RightBumper = 5,
    LeftTrigger = 6,
    RightTrigger = 7,
    ButtonBack = 8,
    ButtonStart = 9,
    LeftStick = 10,
    RighttStick = 11
};

enum class F710KeyX : uint8_t
{
    LeftThumbX = 0,
    LeftThumbY = 1,
    LeftTrigger = 2,
    RightThumbX = 3,
    RightThumbY = 4,
    RightTrigger = 5,
    PadX = 6,
    PadY = 7,

    ButtonA = 0,
    ButtonB = 1,
    ButtonX = 2,
    ButtonY = 3,
    LeftBumper = 4,
    RightBumper = 5,
    ButtonBack = 6,
    ButtonStart = 7,
    ButtonHome = 8,
    LeftStick = 9,
    RighttStick = 10
};

class F710MCD 
{
public:
    ~F710MCD();

    bool init() override;
    void addMCDCallback(const ChasisCodeCallback& chasisCallback, const OperatorCodeCallback& opCallback) override;

private:
    void f710Process();
    bool checkF710(const std::string& dirName);
    bool openF710();
    timespec timespecFromMs(uint32_t millis);
    bool waitReadable(uint32_t timeout);
    void callbackHandleDMode(js_event inputKey);
    void callbackHandleXMode(js_event inputKey);

    std::vector<ChasisCodeCallback> m_chasisCodeCallback;
    std::vector<OperatorCodeCallback> m_operatorCodeCallback;

    OperatorCodeMsg m_operatorCodeMsg;
    ChasisCodeMsg m_chasisCodeMsg;

    vcs::common::thread::Thread m_f710MCDThread;
    int32_t m_keysFd;
    bool m_findF710Flag = false;
    bool m_isXmode;
    bool m_isFrontButtonDown = false;
    bool m_isBackButtonDown = false;
    bool m_leftMoveAcc = false;
    bool m_rightMoveAcc = false;
    int32_t m_RightThumbXValue = 0;
    int32_t m_RightThumbYValue = 0;

    bool m_useMCD = true;
};

#include "F710MCD.h"

#include <string>
#include <sys/types.h>
#include <dirent.h>
#include <stdio.h>
#include <errno.h>

const int32_t CHECK_F710_TIME = 5;
const double PI = 3.1415926;

F710MCD::~F710MCD()
{
    m_f710MCDThread.stop();
}

bool F710MCD::init()
{
    m_f710MCDThread.assignTask(std::bind(&F710MCD::f710Process, this));
    m_f710MCDThread.start();

    return true;
}

void F710MCD::addMCDCallback(const ChasisCodeCallback& chasisCallback,
                             const OperatorCodeCallback& opCallback)
{
    if (chasisCallback)
    {
        m_chasisCodeCallback.emplace_back(chasisCallback);
    }
    if (opCallback)
    {
        m_operatorCodeCallback.emplace_back(opCallback);
    }
}

bool F710MCD::checkF710(const std::string& dirName)
{
    DIR* p_Dir;
    bool isCheckF710 = false;
    struct dirent* p_Dirent;
    const char* dirStr = dirName.c_str();
    p_Dir = opendir(dirStr);

    if (p_Dir == NULL)
    {
        AERROR_EVERY(500) << " open dev " + dirName + " false";
        isCheckF710 = false;
    }

    while ((p_Dirent = readdir(p_Dir)) != NULL)
    {
        if (strcmp(p_Dirent->d_name, "js0") == 0)
        {
            isCheckF710 = true;
        }
    }

    if (!isCheckF710)
    {
        AERROR_EVERY(500) << " find F710 faile ";
    }

    closedir(p_Dir);

    return