modularization/src/tool/RemoteCtrl_Thread_plugin/joyreadthread.cpp

#include "joyreadthread.h"

#include <assert.h>
#include <math.h>
#include <algorithm>
#include <iostream>
#include <stdexcept>
#include <stdint.h>
#include <string.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <string.h>
#include <sstream>
#include <unistd.h>
#include <linux/joystick.h>

#include <QFile>

extern std::string gstrjoy_path;

JoyReadThread::JoyReadThread()
{

    if ((fd = open(gstrjoy_path.data(), O_RDONLY)) < 0)
    {
        mbJoyOK = false;
      std::ostringstream str;
//      str << filename << ": " << strerror(errno);
//      throw std::runtime_error(str.str());

    }
    else
    {
      // ok
      uint8_t num_axis   = 0;
      uint8_t num_button = 0;
      ioctl(fd, JSIOCGAXES,    &num_axis);
      ioctl(fd, JSIOCGBUTTONS, &num_button);
      axis_count   = num_axis;
      button_count = num_button;

      // Get Name
      char name_c_str[1024];
      if (ioctl(fd, JSIOCGNAME(sizeof(name_c_str)), name_c_str) < 0)
      {
          mbJoyOK = false;
          std::ostringstream str;
    //      str << filename << ": " << strerror(errno);
          str << "joy:" << ": " << strerror(errno);
  //        throw std::runtime_error(str.str());
      }
      else
      {
          orig_name = name_c_str;
//          try {
//              name = Glib::convert_with_fallback(name_c_str, "UTF-8", "ISO-8859-1");
//          } catch(Glib::ConvertError& err) {
//              std::cout << err.what() << std::endl;
//          }
      }

//      axis_state.resize(axis_count);
    }
}

void JoyReadThread::run()
{
    if(mbJoyOK == false)return;
    while(!QThread::isInterruptionRequested())
    {
        struct js_event event;

        ssize_t len = read(fd, &event, sizeof(event));

        if(len < 0)
        {
//            qDebug("fail.");
            mbJoyOK = false;
            break;
        }

 //       if(len >0)qDebug("len = %d",len);

        if(len == sizeof(js_event))
        {
            switch (event.number) {
            case 0:
                mfWheel = event.value;
                break;
            case 2:
                mfAcc = event.value;
                break;
            case 3:
                mfBrake = event.value;
                break;
            case 12:
                if(event.value ==1 ) mnShift = 1;
                else mnShift = 0;
                break;
            case 13:
                if(event.value ==1 ) mnShift = 2;
                else mnShift = 0;
                break;
            case 14:
                if(event.value ==1 ) mnShift = 3;
                else mnShift = 0;
                break;
            case 15:
                if(event.value ==1 ) mnShift = 4;
                else mnShift = 0;
                break;
            case 16:
                if(event.value ==1 ) mnShift = 5;
                else mnShift = 0;
                break;
            case 17:
                if(event.value ==1 ) mnShift = 6;
                else mnShift = 0;
                break;
            case 18:
                if(event.value ==1 ) mnShift = -1;
                else mnShift = 0;
                break;
            default:
                break;
            }
            qDebug("shift = %d",mnShift);
//            qDebug("type = %d number = %d value = %d ",event.type,event.number,event.value);
//            qDebug("wheel:%g acc:%g brake:%g",mfWheel,mfAcc,mfBrake);
        }
    }
    close(fd);
    mbJoyOK = false;
}

bool JoyReadThread::isOK()
{
    return mbJoyOK;
}

double JoyReadThread::GetAcc()
{
    return mfAcc;
}

double JoyReadThread::GetBrake()
{
    return mfBrake;
}

double JoyReadThread::GetWheel()
{
    return mfWheel;
}

int JoyReadThread::GetShift()
{
    return mnShift;
}