From 6ae8785b9cc34f9600c56e8dba6f240c5ff08f6e Mon Sep 17 00:00:00 2001 From: John Tsiombikas Date: Mon, 2 Jul 2007 22:03:28 +0000 Subject: [PATCH] initial import of the daemon git-svn-id: svn+ssh://svn.code.sf.net/p/spacenav/code/spacenavd@1 ef983eb1-d774-4af8-acfd-baaf7b16a646 --- COPYING | 674 +++++++++++++++++++++++++++++++++++++++++++++++ Makefile | 13 + README | 7 + spnavd.c | 754 +++++++++++++++++++++++++++++++++++++++++++++++++++++ spnavd_x11 | 34 +++ 5 files changed, 1482 insertions(+) create mode 100644 COPYING create mode 100644 Makefile create mode 100644 README create mode 100644 spnavd.c create mode 100755 spnavd_x11 diff --git a/COPYING b/COPYING new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..c51c4bd --- /dev/null +++ b/Makefile @@ -0,0 +1,13 @@ +obj = spnavd.o +bin = spacenavd + +CC = gcc +CFLAGS = -pedantic -Wall -g -DUSE_X11 +LDFLAGS = -lX11 + +$(bin): $(obj) + $(CC) $(CFLAGS) -o $@ $(obj) $(LDFLAGS) + +.PHONY: clean +clean: + rm -f $(obj) $(bin) diff --git a/README b/README new file mode 100644 index 0000000..43a84c9 --- /dev/null +++ b/README @@ -0,0 +1,7 @@ +freespaced - 0.1 +---------------- + +Freespaced, is a free software replacement user-space driver (daemon), for +3Dconnexion's space-something input devices. It's made compatible to the +original 3dxsrv proprietary daemon provided by 3Dconnexion, in order to work +flawlessly with any program that is based on the accompanying Magellan SDK. diff --git a/spnavd.c b/spnavd.c new file mode 100644 index 0000000..149bd77 --- /dev/null +++ b/spnavd.c @@ -0,0 +1,754 @@ +/* +spacenavd - a free software replacement driver for 6dof space-mice. +Copyright (C) 2007 John Tsiombikas + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see . +*/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +/* sometimes the rotation events are missing from linux/input.h */ +#ifndef REL_RX +#define REL_RX 3 +#endif + +#ifndef REL_RY +#define REL_RY 4 +#endif + +#ifndef REL_RZ +#define REL_RZ 5 +#endif + + +#ifdef USE_X11 +#include +#include + +enum cmd_msg { + CMD_NONE, + CMD_APP_WINDOW = 27695, /* set client window */ + CMD_APP_SENS /* set app sensitivity */ +}; +#endif + +/* client types */ +enum {CLIENT_X11, CLIENT_UNIX}; + +struct client { + int type; + union { + int sock; /* UNIX domain socket */ +#ifdef USE_X11 + Window win; /* X11 client window */ +#endif + } c; + + float sens; /* sensitivity */ + + struct client *next; +}; + + +void daemonize(void); +int init_dev(void); + +#ifdef USE_X11 +int init_x11(void); +void close_x11(void); +void send_xevent(struct input_event *inp); +int catch_badwin(Display *dpy, XErrorEvent *err); +void set_client_window(Window win); +void remove_client_window(Window win); +#endif + +char *get_dev_path(void); +int open_dev(const char *path); +void sig_handler(int s); + +unsigned int msec_dif(struct timeval tv1, struct timeval tv2); + +int read_cfg(const char *fname); + + +int dev_fd; +char dev_name[128]; +unsigned char evtype_mask[(EV_MAX + 7) / 8]; +#define TEST_BIT(b, ar) (ar[b / 8] & (1 << (b % 8))) + +int evrel[6]; +int evbut[24]; + +#ifdef USE_X11 +Display *dpy; +Window win; +Atom event_motion, event_bpress, event_brelease, event_cmd; +#endif + +struct client *client_list; + +/* global configuration options */ +float sensitivity = 1.0; +int dead_threshold = 2; + + +int main(int argc, char **argv) +{ + int i, become_daemon = 1; + + for(i=1; inext = 0; + + signal(SIGINT, sig_handler); + signal(SIGTERM, sig_handler); + signal(SIGHUP, sig_handler); + signal(SIGUSR1, sig_handler); + signal(SIGUSR2, sig_handler); + + /* initialize the input device and the X11 connection (if available) */ + if(init_dev() == -1) { + return 1; + } +#ifdef USE_X11 + init_x11(); +#endif + + /* event handling loop */ + while(1) { + int rdbytes = 0; + int max_fd, xcon; + fd_set rd_set, except_set; + struct input_event inp; + static struct input_event prev_inp; + static int inp_events_pending; + + if(dev_fd == -1) { + if(init_dev() == -1) { + sleep(30); + continue; + } + } + + + FD_ZERO(&rd_set); + FD_SET(dev_fd, &rd_set); + + FD_ZERO(&except_set); + FD_SET(dev_fd, &except_set); + + max_fd = dev_fd; + +#ifdef USE_X11 + if(dpy) { + xcon = ConnectionNumber(dpy); + FD_SET(xcon, &rd_set); + FD_SET(xcon, &except_set); + + max_fd = xcon > dev_fd ? xcon : dev_fd; + } +#endif + + /* wait indefinitely for input from the device or X11 events */ + if(select(max_fd + 1, &rd_set, 0, &except_set, 0) == -1) { + if(errno == EINTR) { + continue; + } + } + +#ifdef USE_X11 + /* process any pending X events */ + if(dpy && FD_ISSET(xcon, &rd_set)) { + while(XPending(dpy)) { + XEvent xev; + XNextEvent(dpy, &xev); + + if(xev.type == ClientMessage && xev.xclient.message_type == event_cmd) { + unsigned int win_id; + float sens; + + switch(xev.xclient.data.s[2]) { + case CMD_APP_WINDOW: + win_id = xev.xclient.data.s[1]; + win_id |= (unsigned int)xev.xclient.data.s[0] << 16; + + set_client_window((Window)win_id); + break; + + case CMD_APP_SENS: + sens = *(float*)xev.xclient.data.s; + printf("sens: %.3f\n", sens); + break; + + default: + break; + } + } + } + } + + /* detect errors in the X11 connection */ + if(dpy && FD_ISSET(xcon, &except_set)) { + fprintf(stderr, "X11 socket exception?\n"); + close_x11(); + dpy = 0; + } +#endif + + /* read any pending data from the device */ + if(FD_ISSET(dev_fd, &rd_set)) { + do { + rdbytes = read(dev_fd, &inp, sizeof inp); + } while(rdbytes == -1 && errno == EINTR); + } + + /* and detect exceptions on the device (disconnect?) */ + if(FD_ISSET(dev_fd, &except_set) || rdbytes == -1) { + perror("read error"); + close(dev_fd); + dev_fd = -1; + } + + /* if we actually got an event, update our state, and send the appropriate X events */ + if(rdbytes > 0) { + int val; + int idx, sign = -1; + + switch(inp.type) { + case EV_REL: + if(abs(inp.value) < dead_threshold) { + break; + } + + idx = inp.code - REL_X; + val = inp.value; + if(sensitivity != 1.0) { + val = (int)((float)inp.value * sensitivity); + } + + switch(idx) { + case REL_RY: + idx = REL_RZ; break; + case REL_RZ: + idx = REL_RY; break; + case REL_Y: + idx = REL_Z; break; + case REL_Z: + idx = REL_Y; break; + default: + sign = 1; + break; + } + + evrel[idx] = sign * val; + prev_inp = inp; + inp_events_pending = 1; + break; + + case EV_KEY: + idx = inp.code - BTN_0; + evbut[idx] = inp.value; + prev_inp = inp; + inp_events_pending = 1; + break; + + case EV_SYN: + if(inp_events_pending) { + inp_events_pending = 0; +#ifdef USE_X11 + /* if we are connected to an X server, send the appropriate X event */ + send_xevent(&prev_inp); +#endif /* USE_X11 */ + } + break; + + default: + continue; + } + + } + } + +#ifdef USE_X11 + close_x11(); +#endif + return 0; +} + +void daemonize(void) +{ + int i, pid; + + if((pid = fork()) == -1) { + perror("failed to fork"); + exit(1); + } else if(pid) { + exit(0); + } + + setsid(); + chdir("/"); + + /* redirect standard input/output/error */ + for(i=0; i<3; i++) { + close(i); + } + + open("/dev/zero", O_RDONLY); + if(open("/tmp/spnav.log", O_WRONLY | O_CREAT | O_TRUNC, 0644) == -1) { + open("/dev/null", O_WRONLY); + } + dup(1); + + setvbuf(stdout, 0, _IOLBF, 0); + setvbuf(stderr, 0, _IONBF, 0); +} + +int init_dev(void) +{ + char *dev_path; + + printf("-- spacenav daemon initialization --\n"); + + if(!(dev_path = get_dev_path())) { + fprintf(stderr, "failed to find the spaceball device file\n"); + return -1; + } + printf("using device: %s\n", dev_path); + + if(open_dev(dev_path) == -1) { + return -1; + } + printf("device name: %s\n", dev_name); + + return 0; +} + +#ifdef USE_X11 +int init_x11(void) +{ + int i, screen, scr_count; + Window root; + XSetWindowAttributes xattr; + Atom wm_delete, cmd_type; + XTextProperty tp_wname; + XClassHint class_hint; + char *win_title = "Magellan Window"; + + if(dpy) return 0; + + if(!(dpy = XOpenDisplay(":0"))) { + fprintf(stderr, "failed to open X11 display: \":0\"\n"); + return -1; + } + scr_count = ScreenCount(dpy); + screen = DefaultScreen(dpy); + root = RootWindow(dpy, screen); + + /* intern the various atoms used for communicating with the magellan clients */ + event_motion = XInternAtom(dpy, "MotionEvent", False); + event_bpress = XInternAtom(dpy, "ButtonPressEvent", False); + event_brelease = XInternAtom(dpy, "ButtonReleaseEvent", False); + event_cmd = XInternAtom(dpy, "CommandEvent", False); + + /* Create a dummy window, so that clients are able to send us events + * through the magellan API. No need to map the window. + */ + xattr.background_pixel = xattr.border_pixel = BlackPixel(dpy, screen); + xattr.colormap = DefaultColormap(dpy, screen); + + win = XCreateWindow(dpy, root, 0, 0, 10, 10, 0, CopyFromParent, InputOutput, + DefaultVisual(dpy, screen), CWColormap | CWBackPixel | CWBorderPixel, &xattr); + + wm_delete = XInternAtom(dpy, "WM_DELETE_WINDOW", False); + XSetWMProtocols(dpy, win, &wm_delete, 1); + + XStringListToTextProperty(&win_title, 1, &tp_wname); + XSetWMName(dpy, win, &tp_wname); + XFree(tp_wname.value); + + class_hint.res_name = "magellan"; + class_hint.res_class = "magellan_win"; + XSetClassHint(dpy, win, &class_hint); + + /* I believe this is a bit hackish, but the magellan API expects to find the CommandEvent + * property on the root window, containing our window id. + * The API doesn't look for a specific property type, so I made one up here (MagellanCmdType). + */ + cmd_type = XInternAtom(dpy, "MagellanCmdType", False); + for(i=0; itype == EV_REL) { + period = msec_dif(inp->time, prev_motion_time); + prev_motion_time = inp->time; + } + + /* We can get a BadWindow exception, if any of the registered clients exit + * without notice. Thus we must install a custom handler to avoid crashing + * the daemon when that happens. Also catch_badwin (see below) removes that + * client from the list, to avoid perpetually trying to send events to an + * invalid window. + */ + prev_xerr_handler = XSetErrorHandler(catch_badwin); + + xevent.type = ClientMessage; + xevent.xclient.send_event = False; + xevent.xclient.display = dpy; + + citer = client_list->next; + while(citer) { + if(citer->type != CLIENT_X11) { + citer = citer->next; + continue; + } + + xevent.xclient.window = citer->c.win; + + switch(inp->type) { + case EV_REL: + xevent.xclient.message_type = event_motion; + xevent.xclient.format = 16; + + for(i=0; i<6; i++) { + float val = (float)evrel[i]/* * citer->sens*/; + xevent.xclient.data.s[i + 2] = (short)val; + } + xevent.xclient.data.s[0] = xevent.xclient.data.s[1] = 0; + xevent.xclient.data.s[8] = period; + break; + + case EV_KEY: + xevent.xclient.message_type = inp->value ? event_bpress : event_brelease; + xevent.xclient.format = 16; + xevent.xclient.data.s[2] = inp->code - BTN_0; + break; + + default: + fprintf(stderr, "BUG! this shouldn't happen\n"); + exit(1); + } + + XSendEvent(dpy, citer->c.win, False, 0, &xevent); + citer = citer->next; + } + + XSync(dpy, False); + XSetErrorHandler(prev_xerr_handler); +} + +/* X11 error handler for bad-windows */ +int catch_badwin(Display *dpy, XErrorEvent *err) +{ + char buf[256]; + + if(err->error_code == BadWindow) { + remove_client_window((Window)err->resourceid); + } else { + XGetErrorText(dpy, err->error_code, buf, sizeof buf); + fprintf(stderr, "Caught unexpected X error: %s\n", buf); + } + return 0; +} + + +/* adds a new X11 client to the list, IF it does not already exist */ +void set_client_window(Window win) +{ + int i, scr_count; + struct client *cnode; + + /* When a magellan application exits, the SDK sets another window to avoid + * crashing the original proprietary daemon. The new free SDK will set + * consistently the root window for that purpose, which we can ignore here + * easily. + */ + scr_count = ScreenCount(dpy); + for(i=0; inext; + while(cnode) { + if(cnode->c.win == win) { + return; + } + cnode = cnode->next; + } + + if(!(cnode = malloc(sizeof *cnode))) { + perror("set_client_window failed to allocate memory"); + return; + } + cnode->type = CLIENT_X11; + cnode->c.win = win; + cnode->sens = 1.0; + cnode->next = client_list->next; + client_list->next = cnode; +} + +void remove_client_window(Window win) +{ + struct client *cnode, *tmp; + + cnode = client_list; + while(cnode->next) { + if(cnode->next->c.win == win) { + tmp = cnode->next; + cnode->next = tmp->next; + free(tmp); + return; + } + cnode = cnode->next; + } +} +#endif + +int open_dev(const char *path) +{ + if((dev_fd = open(path, O_RDWR)) == -1) { + if((dev_fd = open(path, O_RDONLY)) == -1) { + perror("failed to open device"); + return -1; + } + fprintf(stderr, "opened device read-only, LEDs won't work\n"); + } + + if(ioctl(dev_fd, EVIOCGNAME(sizeof(dev_name)), dev_name) == -1) { + perror("EVIOCGNAME ioctl failed\n"); + return -1; + } + + if(ioctl(dev_fd, EVIOCGBIT(0, sizeof(evtype_mask)), evtype_mask) == -1) { + perror("EVIOCGBIT ioctl failed\n"); + return -1; + } + + if(!TEST_BIT(EV_REL, evtype_mask)) { + fprintf(stderr, "Wrong device, no relative events reported!\n"); + return -1; + } + return 0; +} + + +#define PROC_DEV "/proc/bus/input/devices" +char *get_dev_path(void) +{ + static char path[128]; + int valid_vendor = 0, valid_str = 0; + char buf[1024]; + FILE *fp; + + if(!(fp = fopen(PROC_DEV, "r"))) { + perror("failed to open " PROC_DEV ":"); + return 0; + } + + while(fgets(buf, sizeof buf, fp)) { + if(buf[0] == 'I') { + valid_vendor = strstr(buf, "Vendor=046d") != 0; + } else if(buf[0] == 'N') { + valid_str = strstr(buf, "3Dconnexion") != 0; + } else if(buf[0] == 'H' && valid_str && valid_vendor) { + char *ptr, *start; + + if(!(start = strchr(buf, '='))) { + continue; + } + start++; + + if((ptr = strchr(start, ' '))) { + *ptr = 0; + } + if((ptr = strchr(start, '\n'))) { + *ptr = 0; + } + + snprintf(path, sizeof(path), "/dev/input/%s", start); + fclose(fp); + return path; + } + } + + fclose(fp); + return 0; +} + + +/* signals usr1 & usr2 are sent by the spnav_x11 script to start/stop the + * daemon's connection to the X server. + */ +void sig_handler(int s) +{ + switch(s) { + case SIGHUP: + init_dev(); + break; + + case SIGINT: + case SIGTERM: + close_x11(); /* call to avoid leaving garbage in the X server's root windows */ + exit(0); + +#ifdef USE_X11 + case SIGUSR1: + init_x11(); + break; + + case SIGUSR2: + close_x11(); + break; +#endif + + default: + break; + } +} + +unsigned int msec_dif(struct timeval tv1, struct timeval tv2) +{ + unsigned int ds, du; + + ds = tv2.tv_sec - tv1.tv_sec; + du = tv2.tv_usec - tv1.tv_usec; + return ds * 1000 + du / 1000; +} + +int read_cfg(const char *fname) +{ + FILE *fp; + char buf[512]; + + if(!(fp = fopen(fname, "r"))) { + fprintf(stderr, "failed to open config file %s: %s. using defaults.\n", fname, strerror(errno)); + return -1; + } + + while(fgets(buf, sizeof buf, fp)) { + char *key_str, *val_str, *line = buf; + while(*line == ' ' || *line == '\t') line++; + + if(!*line || *line == '\n' || *line == '\r' || *line == '#') { + continue; + } + + if(!(key_str = strtok(line, " :=\n\t\r"))) { + fprintf(stderr, "invalid config line: %s, skipping.\n", line); + continue; + } + if(!(val_str = strtok(0, " :=\n\t\r"))) { + fprintf(stderr, "missing value for config key: %s\n", key_str); + continue; + } + + if(!isdigit(val_str[0])) { + fprintf(stderr, "invalid value (%s), for key: %s. expected a number.\n", val_str, key_str); + continue; + } + + if(strcmp(key_str, "dead-zone") == 0) { + dead_threshold = atoi(val_str); + printf("config: dead-zone = %d\n", dead_threshold); + } else if(strcmp(key_str, "sensitivity") == 0) { + sensitivity = atof(val_str); + printf("config: sensitivity = %.3f\n", sensitivity); + } else { + fprintf(stderr, "unrecognized config option: %s\n", key_str); + } + } + + fclose(fp); + return 0; +} diff --git a/spnavd_x11 b/spnavd_x11 new file mode 100755 index 0000000..83226c6 --- /dev/null +++ b/spnavd_x11 @@ -0,0 +1,34 @@ +#!/bin/sh + +# this script, starts and stops the communication between spacenavd and the +# local X server. (:0). + +if [ -z $1 ]; then + echo "you must run $0 with either \"start\" or \"stop\"." + exit 1 +fi + +if [ $1 = "start" ]; then + # check to see there is a local X server running. + DISPLAY=":0" + xdpyinfo >/dev/null 2>/dev/null + if [ $? != '0' ]; then + echo "You must have an X server running before starting up spacenavd-X11 events." + exit 1 + fi + + sig=-usr1 +elif [ $1 = "stop" ]; then + sig=-usr2 +else + echo "you must run $0 with either \"start\" or \"stop\"." + exit 1 +fi + +pid="`pidof spacenavd`" +if [ -n "$pid" ]; then + kill $sig $pid + echo "signalled spacenavd, it should now start sending X events." +else + echo "spacenavd daemon is not running, nothing to do." +fi