X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?p=sball;a=blobdiff_plain;f=src%2Fsball.c;h=9dce2ae1c58636c0adf7388b1f52931eb4174657;hp=7e5101ac46dfc9a97e331bcc8e0d45198bf79dc8;hb=9f32047b6512fb261f5b57f62571b658ba6e3330;hpb=aeeaea66849f23d8dec42bb64c9a739846a835d9

diff --git a/src/sball.c b/src/sball.c
index 7e5101a..9dce2ae 100644
--- a/src/sball.c
+++ b/src/sball.c
@@ -1,24 +1,65 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <ctype.h>
+#include <time.h>
 #include <errno.h>
 #include <unistd.h>
 #include <fcntl.h>
 #include <termios.h>
+#include <sys/select.h>
+#include <sys/time.h>
+#include <sys/ioctl.h>
+
+#define INP_BUF_SZ	256
+
+enum {
+	SB4000	= 1,
+	FLIPXY	= 2
+};
 
 struct sball {
 	int fd;
+	unsigned int flags;
+	int nbuttons;
+
+	char buf[INP_BUF_SZ];
+	int len;
+
+	short mot[6];
+	unsigned int keystate;
+
+	struct termios saved_term;
+	int saved_mstat;
+
+	int (*parse)(struct sball*, int, char*, int);
 };
 
-static int stty_sball(int fd);
-static int stty_mag(int fd);
+static int stty_sball(struct sball *sb);
+static int stty_mag(struct sball *sb);
+static void stty_save(struct sball *sb);
+static void stty_restore(struct sball *sb);
+
+static int proc_input(struct sball *sb);
+
+static int mag_parsepkt(struct sball *sb, int id, char *data, int len);
+static int sball_parsepkt(struct sball *sb, int id, char *data, int len);
+
+static int guess_num_buttons(const char *verstr);
+
+static void make_printable(char *buf, int len);
+static int read_timeout(int fd, char *buf, int bufsz, long tm_usec);
+
+static void print_state(struct sball *sb);
+
 
 struct sball *sball_open(const char *dev)
 {
-	int fd;
+	int fd, sz;
+	char buf[128];
 	struct sball *sb = 0;
 
-	if((fd = open(dev, O_RDWR | | O_NOCTTY | O_NONBLOCK)) == -1) {
+	if((fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK)) == -1) {
 		fprintf(stderr, "sball_open: failed to open device: %s: %s\n", dev, strerror(errno));
 		return 0;
 	}
@@ -28,16 +69,53 @@ struct sball *sball_open(const char *dev)
 		goto err;
 	}
 	sb->fd = fd;
+	sb->flags = 0;
+	sb->len = 0;
+
+	stty_save(sb);
+
+	if(stty_sball(sb) == -1) {
+		goto err;
+	}
+	write(fd, "\r@RESET\r", 8);
+
+	if((sz = read_timeout(fd, buf, sizeof buf - 1, 2000000)) > 0 && strstr(buf, "\r@1")) {
+		/* we got a response, so it's a spaceball */
+		make_printable(buf, sz);
+		printf("Spaceball detected: %s\n", buf);
+
+		sb->nbuttons = guess_num_buttons(buf);
+		printf("%d buttons\n", sb->nbuttons);
 
-	if(stty_sball(fd) == -1) {
+		/* set binary mode and enable automatic data packet sending */
+		write(fd, "\rCB\rMSSV\r", 9);
+
+		sb->parse = sball_parsepkt;
+		return sb;
+	}
+
+	/* try as a magellan spacemouse */
+	if(stty_mag(sb) == -1) {
 		goto err;
 	}
+	write(fd, "vQ\r", 3);
+
+	if((sz = read_timeout(fd, buf, sizeof buf - 1, 250000)) > 0 && buf[0] == 'v') {
+		make_printable(buf, sz);
+		printf("Magellan SpaceMouse detected:\n%s\n", buf);
 
-	/* set detect receiver function pointer */
+		sb->nbuttons = guess_num_buttons(buf);
+		printf("%d buttons\n", sb->nbuttons);
 
-	return sb;
+		/* set 3D mode, not-dominant-axis, pass through motion and button packets */
+		write(fd, "m3\r", 3);
+
+		sb->parse = mag_parsepkt;
+		return sb;
+	}
 
 err:
+	stty_restore(sb);
 	close(fd);
 	free(sb);
 	return 0;
@@ -46,64 +124,459 @@ err:
 void sball_close(struct sball *sb)
 {
 	if(!sb) return;
+
+	stty_restore(sb);
 	close(sb->fd);
 }
 
+int sball_fd(struct sball *sb)
+{
+	return sb->fd;
+}
 
-/* Labtec spaceball: 9600 8n1 XON/XOFF */
-static int stty_sball(int fd)
+int sball_read(struct sball *sb)
 {
-	struct termios term;
+	int sz;
 
-	if(tcgetattr(fd, &term) == -1) {
-		perror("sball_open: tcgetattr");
-		return -1;
+	while((sz = read(sb->fd, sb->buf + sb->len,  INP_BUF_SZ - sb->len - 1)) > 0) {
+		sb->len += sz;
+		proc_input(sb);
+	}
+
+	/* if we fill the input buffer, make a last attempt to parse it, and discard
+	 * it so we can receive more
+	 */
+	if(sb->len >= INP_BUF_SZ) {
+		proc_input(sb);
+		sb->len = 0;
 	}
 
+	return 0;
+}
+
+int sball_axis(struct sball *sb, int axis)
+{
+	return sb->mot[axis];
+}
+
+unsigned int sball_buttons(struct sball *sb)
+{
+	return sb->keystate;
+}
+
+int sball_num_buttons(struct sball *sb)
+{
+	return sb->nbuttons;
+}
+
+/* Labtec spaceball: 9600 8n1 XON/XOFF */
+static int stty_sball(struct sball *sb)
+{
+	int mstat;
+	struct termios term;
+
+	term = sb->saved_term;
 	term.c_oflag = 0;
-	term.c_lflag = 0;
+	term.c_lflag = ICANON;
 	term.c_cc[VMIN] = 0;
 	term.c_cc[VTIME] = 0;
+	term.c_cc[VEOF] = 0;
+	term.c_cc[VEOL] = '\r';
+	term.c_cc[VEOL2] = 0;
+	term.c_cc[VERASE] = 0;
+	term.c_cc[VKILL] = 0;
 
 	term.c_cflag = CLOCAL | CREAD | CS8 | HUPCL;
-	term.c_iflag = IGNBRK | IGNPAR | IXON | IXOFF;
+	term.c_iflag = IGNBRK | IGNPAR;
 
-	csetispeed(&term, B9600);
-	csetospeed(&term, B9600);
+	cfsetispeed(&term, B9600);
+	cfsetospeed(&term, B9600);
 
-	if(tcsetattr(fd, TCSANOW, &term) == -1) {
+	if(tcsetattr(sb->fd, TCSAFLUSH, &term) == -1) {
 		perror("sball_open: tcsetattr");
 		return -1;
 	}
+	tcflush(sb->fd, TCIOFLUSH);
 
+	mstat = sb->saved_mstat | TIOCM_DTR | TIOCM_RTS;
+	ioctl(sb->fd, TIOCMGET, &mstat);
 	return 0;
 }
 
 /* Logicad magellan spacemouse: 9600 8n2 CTS/RTS */
-static int stty_mag(int fd)
+static int stty_mag(struct sball *sb)
 {
+	int mstat;
 	struct termios term;
 
-	if(tcgetattr(fd, &term) == -1) {
-		perror("sball_open: tcgetattr");
-		return -1;
-	}
-
+	term = sb->saved_term;
 	term.c_oflag = 0;
-	term.c_lflag = 0;
+	term.c_lflag = ICANON;
 	term.c_cc[VMIN] = 0;
 	term.c_cc[VTIME] = 0;
+	term.c_cc[VEOF] = 0;
+	term.c_cc[VEOL] = '\r';
+	term.c_cc[VEOL2] = 0;
+	term.c_cc[VERASE] = 0;
+	term.c_cc[VKILL] = 0;
 
 	term.c_cflag = CLOCAL | CREAD | CS8 | CSTOPB | HUPCL | CRTSCTS;
-	term.c_iflag = IGNBRK | IGNPAR |;
+	term.c_iflag = IGNBRK | IGNPAR;
 
-	csetispeed(&term, B9600);
-	csetospeed(&term, B9600);
+	cfsetispeed(&term, B9600);
+	cfsetospeed(&term, B9600);
 
-	if(tcsetattr(fd, TCSANOW, &term) == -1) {
+	if(tcsetattr(sb->fd, TCSAFLUSH, &term) == -1) {
 		perror("sball_open: tcsetattr");
 		return -1;
 	}
+	tcflush(sb->fd, TCIOFLUSH);
 
+	mstat = sb->saved_mstat | TIOCM_DTR | TIOCM_RTS;
+	ioctl(sb->fd, TIOCMGET, &mstat);
 	return 0;
 }
+
+static void stty_save(struct sball *sb)
+{
+	tcgetattr(sb->fd, &sb->saved_term);
+	ioctl(sb->fd, TIOCMGET, &sb->saved_mstat);
+}
+
+static void stty_restore(struct sball *sb)
+{
+	tcsetattr(sb->fd, TCSAFLUSH, &sb->saved_term);
+	tcflush(sb->fd, TCIOFLUSH);
+	ioctl(sb->fd, TIOCMSET, &sb->saved_mstat);
+}
+
+
+static int proc_input(struct sball *sb)
+{
+	int sz;
+	char *bptr = sb->buf;
+	char *start = sb->buf;
+	char *end = sb->buf + sb->len;
+
+	/* see if we have a CR in the buffer */
+	while(bptr < end) {
+		if(*bptr == '\r') {
+			*bptr = 0;
+			sb->parse(sb, *start, start + 1, bptr - start - 1);
+			start = ++bptr;
+		} else {
+			bptr++;
+		}
+	}
+
+	sz = start - sb->buf;
+	if(sz > 0) {
+		memmove(sb->buf, start, sz);
+		sb->len -= sz;
+	}
+	return 0;
+}
+
+static int mag_parsepkt(struct sball *sb, int id, char *data, int len)
+{
+	int i;
+
+	/*printf("magellan packet: %c - %s (%d bytes)\n", (char)id, data, len);*/
+
+	switch(id) {
+	case 'd':
+		if(len != 24) {
+			fprintf(stderr, "magellan: invalid data packet, expected 24 bytes, got: %d\n", len);
+			return -1;
+		}
+		for(i=0; i<6; i++) {
+#ifdef SBALL_BIG_ENDIAN
+			sb->mot[i] = ((((int)data[3] & 0xf) << 12) | (((int)data[2] & 0xf) << 8) |
+					(((int)data[1] & 0xf) << 4) | (data[0] & 0xf)) - 0x8000;
+#else
+			sb->mot[i] = ((((int)data[0] & 0xf) << 12) | (((int)data[1] & 0xf) << 8) |
+					(((int)data[2] & 0xf) << 4) | (data[3] & 0xf)) - 0x8000;
+#endif
+			data += 4;
+		}
+		print_state(sb);
+		break;
+
+	case 'k':
+		if(len != 3) {
+			fprintf(stderr, "magellan: invalid keyboard pakcet, expected 3 bytes, got: %d\n", len);
+			return -1;
+		}
+		sb->keystate = (data[0] & 0xf) | ((data[1] & 0xf) << 4) | (((unsigned int)data[2] & 0xf) << 8);
+		print_state(sb);
+		break;
+
+	case 'e':
+		if(data[0] == 1) {
+			fprintf(stderr, "magellan error: illegal command: %c%c\n", data[1], data[2]);
+		} else if(data[0] == 2) {
+			fprintf(stderr, "magellan error: framing error\n");
+		} else {
+			fprintf(stderr, "magellan error: unknown device error\n");
+		}
+		return -1;
+
+	default:
+		break;
+	}
+	return 0;
+}
+
+static int sball_parsepkt(struct sball *sb, int id, char *data, int len)
+{
+	int i;
+	char c, *rd, *wr;
+
+	/* decode data packet, replacing escaped values with the correct ones */
+	rd = wr = data;
+	while(rd < data + len) {
+		if((c = *rd++) == '^') {
+			switch(*rd++) {
+			case 'Q':
+				*wr++ = 0x11;	/* XON */
+				break;
+			case 'S':
+				*wr++ = 0x13;	/* XOFF */
+				break;
+			case 'M':
+				*wr++ = 13;		/* CR */
+				break;
+			case '^':
+				*wr++ = '^';
+				break;
+			default:
+				fprintf(stderr, "sball decode: ignoring invalid escape code: %xh\n", (unsigned int)c);
+			}
+		} else {
+			*wr++ = c;
+		}
+	}
+	len = wr - data;	/* update the decoded length */
+
+	switch(id) {
+	case 'D':
+		if(len != 14) {
+			fprintf(stderr, "sball: invalid data packet, expected 14 bytes, got: %d\n", len);
+			return -1;
+		}
+
+#ifndef SBALL_BIG_ENDIAN
+		for(i=0; i<6; i++) {
+			data += 2;
+			c = data[0];
+			data[0] = data[1];
+			data[1] = c;
+			sb->mot[i] = *(short*)data;
+		}
+#else
+		memcpy(sb->mot, data + 2, 12);
+#endif
+		print_state(sb);
+		break;
+
+	case 'K':
+		if(len != 2) {
+			fprintf(stderr, "sball: invalid key packet, expected 2 bytes, got: %d\n", len);
+			return -1;
+		}
+		if(sb->flags & SB4000) break;	/* ignore K packets from spaceball 4000 devices */
+
+		/* data[1] bits 0-3 -> buttons 0,1,2,3
+		 * data[1] bits 4,5 (3003 L/R) -> buttons 0, 1
+		 * data[0] bits 0-2 -> buttons 4,5,6
+		 * data[0] bit 4 is (2003 pick) -> button 7
+		 */
+		sb->keystate = (data[1] & 0xf) | ((data[1] >> 4) & 3) | ((data[0] & 7) << 4) |
+			((data[0] & 0x10) >> 1);
+		print_state(sb);
+		break;
+
+	case '.':
+		if(len != 2) {
+			fprintf(stderr, "sball: invalid sb4k key packet, expected 2 bytes, got: %d\n", len);
+			return -1;
+		}
+		/* spaceball 4000 key packet */
+		sb->flags |= SB4000;
+		/* update orientation flag (actually don't bother) */
+		/*
+		if(data[0] & 0x20) {
+			sb->flags |= FLIPXY;
+		} else {
+			sb->flags &= ~FLIPXY;
+		}
+		*/
+
+		/* data[1] bits 0-5 -> buttons 0,1,2,3,4,5
+		 * data[1] bit 7 -> button 6
+		 * data[0] bits 0-4 -> buttons 7,8,9,10,11
+		 */
+		sb->keystate = (data[1] & 0x3f) | ((data[1] & 0x80) >> 1) | ((data[0] & 0x1f) << 7);
+		print_state(sb);
+		break;
+
+	case 'E':
+		fprintf(stderr, "sball: error:");
+		for(i=0; i<len; i++) {
+			if(isprint(data[i])) {
+				fprintf(stderr, " %c", data[i]);
+			} else {
+				fprintf(stderr, " %02xh", (unsigned int)data[i]);
+			}
+		}
+		break;
+
+	case 'M':	/* ignore MSS responses */
+		break;
+
+	default:
+		/* DEBUG */
+		fprintf(stderr, "sball: got '%c' packet:", (char)id);
+		for(i=0; i<len; i++) {
+			fprintf(stderr, " %02x", (unsigned int)data[i]);
+		}
+		fputc('\n', stderr);
+	}
+	return 0;
+}
+
+static int guess_num_buttons(const char *verstr)
+{
+	int major, minor;
+	const char *s, *model;
+
+	if((s = strstr(verstr, "Firmware version"))) {	/* spaceball */
+
+		/* if we got a model number, guess based on that */
+		if((model = strchr(s, '('))) {
+			if(memcmp(model, "(Model ", 7) == 0) {
+				model += 7;
+			} else {
+				model++;
+			}
+			switch(atoi(model)) {
+			case 2003:
+				return 8;
+			case 3003:
+				return 2;
+			case 5000:
+				return 12;
+			default:
+				break;
+			}
+		}
+		/* try to guess based on firmware number */
+		if(sscanf(s + 17, "%d.%d", &major, &minor) == 2 && major == 2) {
+			if(minor == 35 || minor == 62 || minor == 63) {
+				return 2;	/* spaceball 3003/3003C */
+			}
+			if(minor == 42 || minor == 43 || minor == 45) {
+				/* 2.42 is also used by spaceball 2003C, but this should be
+				 * caught before we get here by the model number guess
+				 */
+				return 12;	/* spaceball 4000flx/5000flx-a */
+			}
+			if(minor == 2 || minor == 13 || minor == 15) {
+				return 8;	/* spaceball 1003/2003/2003c */
+			}
+		}
+	}
+
+	if(strstr(verstr, "MAGELLAN")) {
+		return 9; /* magellan spacemouse */
+	}
+
+	if(strstr(verstr, "SPACEBALL")) {
+		return 12; /* spaceball 5000 */
+	}
+
+	if(strstr(verstr, "CadMan")) {
+		return 2;
+	}
+
+	fprintf(stderr, "Can't guess number of buttons, default to 8, report this as a bug!\n");
+	return 8;
+}
+
+static void make_printable(char *buf, int len)
+{
+	int i, c;
+	char *wr = buf;
+
+	for(i=0; i<len; i++) {
+		c = *buf++;
+		if(c == '\r') {
+			*wr++ = '\n';
+			while(*buf == '\n' || *buf == '\r') buf++;
+		} else {
+			*wr++ = c;
+		}
+	}
+	*wr = 0;
+}
+
+static int read_timeout(int fd, char *buf, int bufsz, long tm_usec)
+{
+	int res;
+	long usec, sz = 0;
+	struct timeval tv0, tv;
+	fd_set rdset;
+
+	if(!buf || bufsz <= 0) return -1;
+
+	usec = tm_usec;
+	gettimeofday(&tv0, 0);
+
+	while(sz < bufsz && usec > 0) {
+		tv.tv_sec = usec / 1000000;
+		tv.tv_usec = usec % 1000000;
+
+		FD_ZERO(&rdset);
+		FD_SET(fd, &rdset);
+		if((res = select(fd + 1, &rdset, 0, 0, &tv)) > 0 && FD_ISSET(fd, &rdset)) {
+			sz += read(fd, buf + sz, bufsz - sz);
+			buf[sz] = 0;
+			tm_usec = usec = 128000;	/* wait 128ms for the rest of the message to appear */
+			gettimeofday(&tv0, 0);
+			continue;
+		}
+		if(res == -1 && (errno == EWOULDBLOCK || errno == EAGAIN)) {
+			break;
+		}
+		gettimeofday(&tv, 0);
+		usec = tm_usec - ((tv.tv_sec - tv0.tv_sec) * 1000000 + (tv.tv_usec - tv0.tv_usec));
+	}
+
+	return sz > 0 ? sz : -1;
+}
+
+static void print_motion(short *mot)
+{
+	printf(" T[%+6d %+6d %+6d]  R[%+6d %+6d %+6d]", mot[0], mot[1],
+			mot[2], mot[3], mot[4], mot[5]);
+}
+
+static void print_keystate(unsigned int keystate)
+{
+	int i;
+
+	for(i=0; i<12; i++) {
+		int b = 11 - i;
+		int hex = b < 10 ? b + '0' : b - 10 + 'a';
+		putchar(keystate & (1 << b) ? hex : '-');
+	}
+}
+
+static void print_state(struct sball *sb)
+{
+	print_motion(sb->mot);
+	printf("  B[");
+	print_keystate(sb->keystate);
+	printf("]\r");
+	fflush(stdout);
+}