diff --git a/hidapi.h b/hidapi.h new file mode 100644 index 0000000..e5bc2dc --- /dev/null +++ b/hidapi.h @@ -0,0 +1,391 @@ +/******************************************************* + HIDAPI - Multi-Platform library for + communication with HID devices. + + Alan Ott + Signal 11 Software + + 8/22/2009 + + Copyright 2009, All Rights Reserved. + + At the discretion of the user of this library, + this software may be licensed under the terms of the + GNU General Public License v3, a BSD-Style license, or the + original HIDAPI license as outlined in the LICENSE.txt, + LICENSE-gpl3.txt, LICENSE-bsd.txt, and LICENSE-orig.txt + files located at the root of the source distribution. + These files may also be found in the public source + code repository located at: + http://github.com/signal11/hidapi . +********************************************************/ + +/** @file + * @defgroup API hidapi API + */ + +#ifndef HIDAPI_H__ +#define HIDAPI_H__ + +#include + +#ifdef _WIN32 + #define HID_API_EXPORT __declspec(dllexport) + #define HID_API_CALL +#else + #define HID_API_EXPORT /**< API export macro */ + #define HID_API_CALL /**< API call macro */ +#endif + +#define HID_API_EXPORT_CALL HID_API_EXPORT HID_API_CALL /**< API export and call macro*/ + +#ifdef __cplusplus +extern "C" { +#endif + struct hid_device_; + typedef struct hid_device_ hid_device; /**< opaque hidapi structure */ + + /** hidapi info structure */ + struct hid_device_info { + /** Platform-specific device path */ + char *path; + /** Device Vendor ID */ + unsigned short vendor_id; + /** Device Product ID */ + unsigned short product_id; + /** Serial Number */ + wchar_t *serial_number; + /** Device Release Number in binary-coded decimal, + also known as Device Version Number */ + unsigned short release_number; + /** Manufacturer String */ + wchar_t *manufacturer_string; + /** Product string */ + wchar_t *product_string; + /** Usage Page for this Device/Interface + (Windows/Mac only). */ + unsigned short usage_page; + /** Usage for this Device/Interface + (Windows/Mac only).*/ + unsigned short usage; + /** The USB interface which this logical device + represents. Valid on both Linux implementations + in all cases, and valid on the Windows implementation + only if the device contains more than one interface. */ + int interface_number; + + /** Pointer to the next device */ + struct hid_device_info *next; + }; + + + /** @brief Initialize the HIDAPI library. + + This function initializes the HIDAPI library. Calling it is not + strictly necessary, as it will be called automatically by + hid_enumerate() and any of the hid_open_*() functions if it is + needed. This function should be called at the beginning of + execution however, if there is a chance of HIDAPI handles + being opened by different threads simultaneously. + + @ingroup API + + @returns + This function returns 0 on success and -1 on error. + */ + int HID_API_EXPORT HID_API_CALL hid_init(void); + + /** @brief Finalize the HIDAPI library. + + This function frees all of the static data associated with + HIDAPI. It should be called at the end of execution to avoid + memory leaks. + + @ingroup API + + @returns + This function returns 0 on success and -1 on error. + */ + int HID_API_EXPORT HID_API_CALL hid_exit(void); + + /** @brief Enumerate the HID Devices. + + This function returns a linked list of all the HID devices + attached to the system which match vendor_id and product_id. + If @p vendor_id is set to 0 then any vendor matches. + If @p product_id is set to 0 then any product matches. + If @p vendor_id and @p product_id are both set to 0, then + all HID devices will be returned. + + @ingroup API + @param vendor_id The Vendor ID (VID) of the types of device + to open. + @param product_id The Product ID (PID) of the types of + device to open. + + @returns + This function returns a pointer to a linked list of type + struct #hid_device, containing information about the HID devices + attached to the system, or NULL in the case of failure. Free + this linked list by calling hid_free_enumeration(). + */ + struct hid_device_info HID_API_EXPORT * HID_API_CALL hid_enumerate(unsigned short vendor_id, unsigned short product_id); + + /** @brief Free an enumeration Linked List + + This function frees a linked list created by hid_enumerate(). + + @ingroup API + @param devs Pointer to a list of struct_device returned from + hid_enumerate(). + */ + void HID_API_EXPORT HID_API_CALL hid_free_enumeration(struct hid_device_info *devs); + + /** @brief Open a HID device using a Vendor ID (VID), Product ID + (PID) and optionally a serial number. + + If @p serial_number is NULL, the first device with the + specified VID and PID is opened. + + @ingroup API + @param vendor_id The Vendor ID (VID) of the device to open. + @param product_id The Product ID (PID) of the device to open. + @param serial_number The Serial Number of the device to open + (Optionally NULL). + + @returns + This function returns a pointer to a #hid_device object on + success or NULL on failure. + */ + HID_API_EXPORT hid_device * HID_API_CALL hid_open(unsigned short vendor_id, unsigned short product_id, const wchar_t *serial_number); + + /** @brief Open a HID device by its path name. + + The path name be determined by calling hid_enumerate(), or a + platform-specific path name can be used (eg: /dev/hidraw0 on + Linux). + + @ingroup API + @param path The path name of the device to open + + @returns + This function returns a pointer to a #hid_device object on + success or NULL on failure. + */ + HID_API_EXPORT hid_device * HID_API_CALL hid_open_path(const char *path); + + /** @brief Write an Output report to a HID device. + + The first byte of @p data[] must contain the Report ID. For + devices which only support a single report, this must be set + to 0x0. The remaining bytes contain the report data. Since + the Report ID is mandatory, calls to hid_write() will always + contain one more byte than the report contains. For example, + if a hid report is 16 bytes long, 17 bytes must be passed to + hid_write(), the Report ID (or 0x0, for devices with a + single report), followed by the report data (16 bytes). In + this example, the length passed in would be 17. + + hid_write() will send the data on the first OUT endpoint, if + one exists. If it does not, it will send the data through + the Control Endpoint (Endpoint 0). + + @ingroup API + @param device A device handle returned from hid_open(). + @param data The data to send, including the report number as + the first byte. + @param length The length in bytes of the data to send. + + @returns + This function returns the actual number of bytes written and + -1 on error. + */ + int HID_API_EXPORT HID_API_CALL hid_write(hid_device *device, const unsigned char *data, size_t length); + + /** @brief Read an Input report from a HID device with timeout. + + Input reports are returned + to the host through the INTERRUPT IN endpoint. The first byte will + contain the Report number if the device uses numbered reports. + + @ingroup API + @param device A device handle returned from hid_open(). + @param data A buffer to put the read data into. + @param length The number of bytes to read. For devices with + multiple reports, make sure to read an extra byte for + the report number. + @param milliseconds timeout in milliseconds or -1 for blocking wait. + + @returns + This function returns the actual number of bytes read and + -1 on error. If no packet was available to be read within + the timeout period, this function returns 0. + */ + int HID_API_EXPORT HID_API_CALL hid_read_timeout(hid_device *dev, unsigned char *data, size_t length, int milliseconds); + + /** @brief Read an Input report from a HID device. + + Input reports are returned + to the host through the INTERRUPT IN endpoint. The first byte will + contain the Report number if the device uses numbered reports. + + @ingroup API + @param device A device handle returned from hid_open(). + @param data A buffer to put the read data into. + @param length The number of bytes to read. For devices with + multiple reports, make sure to read an extra byte for + the report number. + + @returns + This function returns the actual number of bytes read and + -1 on error. If no packet was available to be read and + the handle is in non-blocking mode, this function returns 0. + */ + int HID_API_EXPORT HID_API_CALL hid_read(hid_device *device, unsigned char *data, size_t length); + + /** @brief Set the device handle to be non-blocking. + + In non-blocking mode calls to hid_read() will return + immediately with a value of 0 if there is no data to be + read. In blocking mode, hid_read() will wait (block) until + there is data to read before returning. + + Nonblocking can be turned on and off at any time. + + @ingroup API + @param device A device handle returned from hid_open(). + @param nonblock enable or not the nonblocking reads + - 1 to enable nonblocking + - 0 to disable nonblocking. + + @returns + This function returns 0 on success and -1 on error. + */ + int HID_API_EXPORT HID_API_CALL hid_set_nonblocking(hid_device *device, int nonblock); + + /** @brief Send a Feature report to the device. + + Feature reports are sent over the Control endpoint as a + Set_Report transfer. The first byte of @p data[] must + contain the Report ID. For devices which only support a + single report, this must be set to 0x0. The remaining bytes + contain the report data. Since the Report ID is mandatory, + calls to hid_send_feature_report() will always contain one + more byte than the report contains. For example, if a hid + report is 16 bytes long, 17 bytes must be passed to + hid_send_feature_report(): the Report ID (or 0x0, for + devices which do not use numbered reports), followed by the + report data (16 bytes). In this example, the length passed + in would be 17. + + @ingroup API + @param device A device handle returned from hid_open(). + @param data The data to send, including the report number as + the first byte. + @param length The length in bytes of the data to send, including + the report number. + + @returns + This function returns the actual number of bytes written and + -1 on error. + */ + int HID_API_EXPORT HID_API_CALL hid_send_feature_report(hid_device *device, const unsigned char *data, size_t length); + + /** @brief Get a feature report from a HID device. + + Set the first byte of @p data[] to the Report ID of the + report to be read. Make sure to allow space for this + extra byte in @p data[]. Upon return, the first byte will + still contain the Report ID, and the report data will + start in data[1]. + + @ingroup API + @param device A device handle returned from hid_open(). + @param data A buffer to put the read data into, including + the Report ID. Set the first byte of @p data[] to the + Report ID of the report to be read, or set it to zero + if your device does not use numbered reports. + @param length The number of bytes to read, including an + extra byte for the report ID. The buffer can be longer + than the actual report. + + @returns + This function returns the number of bytes read plus + one for the report ID (which is still in the first + byte), or -1 on error. + */ + int HID_API_EXPORT HID_API_CALL hid_get_feature_report(hid_device *device, unsigned char *data, size_t length); + + /** @brief Close a HID device. + + @ingroup API + @param device A device handle returned from hid_open(). + */ + void HID_API_EXPORT HID_API_CALL hid_close(hid_device *device); + + /** @brief Get The Manufacturer String from a HID device. + + @ingroup API + @param device A device handle returned from hid_open(). + @param string A wide string buffer to put the data into. + @param maxlen The length of the buffer in multiples of wchar_t. + + @returns + This function returns 0 on success and -1 on error. + */ + int HID_API_EXPORT_CALL hid_get_manufacturer_string(hid_device *device, wchar_t *string, size_t maxlen); + + /** @brief Get The Product String from a HID device. + + @ingroup API + @param device A device handle returned from hid_open(). + @param string A wide string buffer to put the data into. + @param maxlen The length of the buffer in multiples of wchar_t. + + @returns + This function returns 0 on success and -1 on error. + */ + int HID_API_EXPORT_CALL hid_get_product_string(hid_device *device, wchar_t *string, size_t maxlen); + + /** @brief Get The Serial Number String from a HID device. + + @ingroup API + @param device A device handle returned from hid_open(). + @param string A wide string buffer to put the data into. + @param maxlen The length of the buffer in multiples of wchar_t. + + @returns + This function returns 0 on success and -1 on error. + */ + int HID_API_EXPORT_CALL hid_get_serial_number_string(hid_device *device, wchar_t *string, size_t maxlen); + + /** @brief Get a string from a HID device, based on its string index. + + @ingroup API + @param device A device handle returned from hid_open(). + @param string_index The index of the string to get. + @param string A wide string buffer to put the data into. + @param maxlen The length of the buffer in multiples of wchar_t. + + @returns + This function returns 0 on success and -1 on error. + */ + int HID_API_EXPORT_CALL hid_get_indexed_string(hid_device *device, int string_index, wchar_t *string, size_t maxlen); + + /** @brief Get a string describing the last error which occurred. + + @ingroup API + @param device A device handle returned from hid_open(). + + @returns + This function returns a string containing the last error + which occurred or NULL if none has occurred. + */ + HID_API_EXPORT const wchar_t* HID_API_CALL hid_error(hid_device *device); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/lib/libhidapi-libusb.so b/lib/libhidapi-libusb.so new file mode 120000 index 0000000..92e7ba1 --- /dev/null +++ b/lib/libhidapi-libusb.so @@ -0,0 +1 @@ +libhidapi-libusb.so.0.0.0 \ No newline at end of file diff --git a/lib/libhidapi-libusb.so.0.0.0 b/lib/libhidapi-libusb.so.0.0.0 new file mode 100755 index 0000000..ac134c3 Binary files /dev/null and b/lib/libhidapi-libusb.so.0.0.0 differ diff --git a/main.c b/main.c new file mode 100644 index 0000000..6bfda88 --- /dev/null +++ b/main.c @@ -0,0 +1,167 @@ +#include +#include +#include + +#define MAX_STR 255 +#define SPNAV_VENDOR_ID 0x046d +#define SPNAV_PRODUCT_ID 0xc626 + +// enum { +// TRANSLATION = 1, +// ROTATION = 2, +// BUTTON = 3 +// }; + +// struct event_motion { +// int type; +// int x, y, z; +// int rx, ry, rz; +// unsigned int period; +// int *data; +// }; + +// struct event_button { +// int type; +// int press; +// int bnum; +// }; + +// typedef union spnav_event { +// int type; +// struct event_motion motion; +// struct event_button button; +// } spnav_event; + +// static bool INTERRUPTED = false; + +// int spnav_convert_input(int first, unsigned char val) { +// switch (val) { +// case 0: +// return first; +// case 1: +// return first + 255; +// case 254: +// return -512 + first; +// case 255: +// return -255 + first; +// default: +// return 0; +// } +// } + +// spnav_event read_event(hid_device *device, int ms) { +// spnav_event ev; +// unsigned char buf[64]; +// int nbytes = hid_read_timeout(device, buf, sizeof(buf), ms); +// if (nbytes < 0) { +// // TODO : error handling +// wprintf(L"error hid_read"); +// } else if (nbytes == 0) { +// ev.type = 0; +// } +// ev.type = buf[0]; + +// switch (ev.type) { +// case TRANSLATION: +// ev.type = 0; + +// ev.motion.x = spnav_convert_input((buf[1] & 0x0000ff), buf[2]); +// ev.motion.y = spnav_convert_input((buf[3] & 0x0000ff), buf[4]); +// ev.motion.z = spnav_convert_input((buf[5] & 0x0000ff), buf[6]); +// //wprintf(L"Translation x=%d, y=%d, z=%d\n", ev.motion.x, ev.motion.y, ev.motion.z); +// break; +// case ROTATION: +// ev.type = 1; +// ev.motion.rx = spnav_convert_input((buf[1] & 0x0000ff), buf[2]); +// ev.motion.ry = spnav_convert_input((buf[3] & 0x0000ff), buf[4]); +// ev.motion.rz = spnav_convert_input((buf[5] & 0x0000ff), buf[6]); +// //wprintf(L"Rotation rx=%d, ry=%d, rz=%d\n", ev.motion.rx, ev.motion.ry, ev.motion.rz); +// break; +// case BUTTON: +// wprintf(L"Buttons: %d %d\n", /* btn 1 */buf[1] & 0x01, /* btn 2 */ buf[1] & 0x02); +// break; +// } +// return ev; +// } + +// void set_led(hid_device *dev, char state) { +// const unsigned char led_data[2] = {0x04, state}; +// // led_data[0] = 0x04; +// // led_data[1] = state; +// int nbytes = hid_write(dev, led_data, sizeof(led_data)); +// wprintf(L"Bytes written : %d\n", nbytes); +// } + +// void spnav_stop(hid_device *dev) { +// set_led(dev, 0); +// hid_close(dev); +// hid_exit(); +// } + +// void sighandler(int signo) { +// if (signo == SIGINT) { +// wprintf(L"Stopping...\n"); +// INTERRUPTED = true; +// } +// } + +#include +#include +#include "spnav.h" + +static bool INTERRUPTED = false; + +void sighandler(int signo) { + if (signo == SIGINT) { + INTERRUPTED = true; + } +} + +int main(int argc, char const *argv[]) +{ + signal(SIGINT, sighandler); + /* + // Initialize the hidapi library + hid_init(); + // Open the device using the VID, PID, + // and optionally the Serial number. + hid_device *handle = hid_open(SPNAV_VENDOR_ID, SPNAV_PRODUCT_ID, NULL); + + set_led(handle, 1); + + while (1) { + spnav_event ev = read_event(handle, 400); + if (ev.type == 0) { + wprintf(L"x=%d y=%d z=%d rx=%d ry=%d rz=%d\n", + ev.motion.x, ev.motion.y, ev.motion.z, ev.motion.rx, ev.motion.ry, ev.motion.rz); + } else { + wprintf(L"ev.type : %d\n", ev.type); + } + + if (INTERRUPTED) { + break; + } + } + spnav_stop(handle); + return 0; + */ + spnav_event ev; + spnav_open(); + for (;;) { + spnav_wait_event(&ev); + + switch (ev.type) { + case MOTION: + printf("x=%d, y=%d, z=%d ", ev.motion.x, ev.motion.y, ev.motion.z); + printf("rx=%d, ry=%d, rz=%d\n", ev.motion.rx, ev.motion.ry, ev.motion.rz); + break; + case BUTTON: + break; + } + + if (INTERRUPTED) { + break; + } + } + spnav_close(); +} diff --git a/spnav.c b/spnav.c new file mode 100644 index 0000000..6fe798f --- /dev/null +++ b/spnav.c @@ -0,0 +1,132 @@ +#include +#include +#include +#include "spnav.h" +#include "hidapi.h" + +#define DEBUG + +#ifdef DEBUG +#define DEBUG_PRINT(...) do{ fprintf( stderr, __VA_ARGS__ ); } while( false ) +#else +#define DEBUG_PRINT(...) do{ } while ( false ) +#endif + +enum { + TRANSLATION = 1, + ROTATION = 2, + BTN = 3 +}; + +static bool IS_OPEN = false; +/* HID device for SpaceNavigator mouse */ +hid_device *device = NULL; + +int convert_input(int first, unsigned char val) { + switch (val) { + case 0: + return first; + case 1: + return first + 255; + case 254: + return -512 + first; + case 255: + return -255 + first; + default: + return 0; + } +} + +int read_event(hid_device *device, spnav_event* ev, int ms) { + unsigned char buf[64]; + int nbytes = hid_read_timeout(device, buf, sizeof(buf), ms); + if (nbytes < 0) { + DEBUG_PRINT("hid_read_timeout() error"); + return -1; + } else if (nbytes == 0) { + ev->type = 0; + return 0; + } + ev->type = buf[0]; + + switch (ev->type) { + case TRANSLATION: + ev->type = 1; + ev->motion.x = convert_input((buf[1] & 0x0000ff), buf[2]); + ev->motion.y = convert_input((buf[3] & 0x0000ff), buf[4]); + ev->motion.z = convert_input((buf[5] & 0x0000ff), buf[6]); + // DEBUG_PRINT("Translation x=%d, y=%d, z=%d\n", ev->motion.x, ev->motion.y, ev->motion.z); + break; + case ROTATION: + ev->type = 1; + ev->motion.rx = convert_input((buf[1] & 0x0000ff), buf[2]); + ev->motion.ry = convert_input((buf[3] & 0x0000ff), buf[4]); + ev->motion.rz = convert_input((buf[5] & 0x0000ff), buf[6]); + // DEBUG_PRINT("Rotation rx=%d, ry=%d, rz=%d\n", ev->motion.rx, ev->motion.ry, ev->motion.rz); + break; + case BTN: + ev->type = 2; + DEBUG_PRINT("Buttons: %d %d\n", /* btn 1 */buf[1] & 0x01, /* btn 2 */ buf[1] & 0x02); + break; + } + + return 0; +} + +int set_led(hid_device *dev, char state) { + const unsigned char led_data[2] = {0x04, state}; + int nbytes = hid_write(dev, led_data, sizeof(led_data)); + if (nbytes != sizeof(led_data)) { + DEBUG_PRINT("set_led(): hid_write() has written %d bytes (should be %ld)\n", + nbytes, sizeof(led_data)); + return -1; + } + return 0; +} + +int spnav_open() { + DEBUG_PRINT("spnav_open()\n"); + /* Connexion already opened */ + if (IS_OPEN) { + DEBUG_PRINT("Connexion already opened!\n"); + return -1; + } + // Initialize the hidapi library + hid_init(); + // Open the device using the VID, PID, + // and optionally the Serial number. + device = hid_open(SPNAV_VENDOR_ID, SPNAV_PRODUCT_ID, NULL); + if (device == NULL) { + DEBUG_PRINT("hid_open() failed!"); + return -1; + } + IS_OPEN = true; + set_led(device, 1); + return 0; +} + +int spnav_close() { + DEBUG_PRINT("spnav_close()\n"); + if (!IS_OPEN) { + return -1; + } + + set_led(device, 0); + hid_close(device); + hid_exit(); + IS_OPEN = false; + return 0; +} + +int spnav_wait_event(spnav_event *event) { + if (device == NULL) { + DEBUG_PRINT("spnav_wait_event(): device not connected.\n"); + return -1; + } + read_event(device, event, -1); + return 0; +} + +/* +int spnav_wait_event(spnav_event *event); +int spnav_poll_event(spnav_event *event, int timeout); */ \ No newline at end of file diff --git a/spnav.h b/spnav.h new file mode 100644 index 0000000..f9c4d66 --- /dev/null +++ b/spnav.h @@ -0,0 +1,56 @@ +#ifndef SPNAV_H__ +#define SPNAV_H__ + +#define SPNAV_VENDOR_ID 0x046d +#define SPNAV_PRODUCT_ID 0xc626 + +#ifdef _WIN32 + #define SPNAV_API_EXPORT __declspec(dllexport) + #define SPNAV_API_CALL +#else + #define SPNAV_API_EXPORT /**< API export macro */ + #define SPNAV_API_CALL /**< API call macro */ +#endif + +#define SPNAV_API_EXPORT_CALL SPNAV_API_EXPORT SPNAV_API_CALL /**< API export and call macro*/ + +enum event_type { + ANY, + MOTION, + BUTTON +}; + +struct event_motion { + int type; + int x, y, z; + int rx, ry, rz; + unsigned int period; + int *data; +}; + +struct event_button { + int type; + int press; + int bnum; +}; + +typedef union spnav_event { + int type; + struct event_motion motion; + struct event_button button; +} spnav_event; + +#ifdef __cplusplus +extern "C" { +#endif + +int SPNAV_API_EXPORT_CALL spnav_open(void); +int SPNAV_API_EXPORT_CALL spnav_close(void); +int SPNAV_API_EXPORT_CALL spnav_wait_event(spnav_event *event); +int SPNAV_API_EXPORT_CALL spnav_poll_event(spnav_event *event, int timeout); +//spnav_event SPNAV_API_EXPORT_CALL read_event(int timeout); + +#ifdef __cplusplus +} +#endif +#endif /* SPNAV_H__ */ \ No newline at end of file