spnav-csharp-wrapper/main.c

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#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#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 <signal.h>
#include <stdbool.h>
#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();
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spnav_sensitivity(0.1);
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for (;;) {
spnav_wait_event_timeout(&ev, 400);
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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:
printf("bnum=%d, pressed=%d\n", ev.button.bnum, ev.button.press);
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break;
}
if (INTERRUPTED) {
break;
}
}
spnav_close();
}