- Fixed a bug where the daemon would quit if the X server is stopped.

- Alleviated the need for XSync in xsend_event. Now XFlush suffices.
- Added separate sensitivity options for rotation and translation.
- Added option to swap Y and Z translation axes.



git-svn-id: svn+ssh://svn.code.sf.net/p/spacenav/code/trunk/spacenavd@96 ef983eb1-d774-4af8-acfd-baaf7b16a646

src/cfgfile.c

@@ -16,7 +16,6 @@ You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#include "config.h"
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -27,19 +26,20 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 enum {TX, TY, TZ, RX, RY, RZ};
 
+static const int def_axmap[] = {0, 2, 1, 3, 5, 4};
+static const int def_axinv[] = {0, 1, 1, 0, 1, 1};
+
 void default_cfg(struct cfg *cfg)
 {
 	int i;
-	static const int axmap[] = {0, 2, 1, 3, 5, 4};
-	static const int axinv[] = {0, 1, 1, 0, 1, 1};
 
-	cfg->sensitivity = 1.0;
+	cfg->sensitivity = cfg->sens_trans = cfg->sens_rot = 1.0;
 	cfg->dead_threshold = 2;
 	cfg->led = 1;
 
 	for(i=0; i<6; i++) {
-		cfg->invert[i] = axinv[i];
+		cfg->invert[i] = def_axinv[i];
-		cfg->map_axis[i] = axmap[i];
+		cfg->map_axis[i] = def_axmap[i];
 	}
 
 	for(i=0; i<MAX_BUTTONS; i++) {
@@ -100,6 +100,20 @@ int read_cfg(const char *fname, struct cfg *cfg)
 			}
 			cfg->sensitivity = atof(val_str);
 
+		} else if(strcmp(key_str, "sensitivity-translation") == 0) {
+			if(!isnum) {
+				fprintf(stderr, "invalid configuration value for %s, expected a number.\n", key_str);
+				continue;
+			}
+			cfg->sens_trans = atof(val_str);
+
+		} else if(strcmp(key_str, "sensitivity-rotation") == 0) {
+			if(!isnum) {
+				fprintf(stderr, "invalid configuration value for %s, expected a number.\n", key_str);
+				continue;
+			}
+			cfg->sens_rot = atof(val_str);
+
 		} else if(strcmp(key_str, "invert-rot") == 0) {
 			if(strchr(val_str, 'x')) {
 				cfg->invert[RX] = !cfg->invert[RX];
@@ -122,6 +136,30 @@ int read_cfg(const char *fname, struct cfg *cfg)
 				cfg->invert[TZ] = !cfg->invert[TZ];
 			}
 
+		} else if(strcmp(key_str, "swap-yz") == 0) {
+			int i, swap_yz = 0;
+
+			if(isnum) {
+				swap_yz = atoi(val_str);
+			} else {
+				if(strcmp(val_str, "true") == 0 || strcmp(val_str, "on") == 0 || strcmp(val_str, "yes") == 0) {
+					swap_yz = 1;
+				} else if(strcmp(val_str, "false") == 0 || strcmp(val_str, "off") == 0 || strcmp(val_str, "no") == 0) {
+					swap_yz = 0;
+				} else {
+					fprintf(stderr, "invalid configuration value for %s, expected a boolean value.\n", key_str);
+					continue;
+				}
+			}
+
+			for(i=0; i<6; i++) {
+				if(swap_yz) {
+					cfg->map_axis[i] = i;
+				} else {
+					cfg->map_axis[i] = def_axmap[i];
+				}
+			}
+
 		} else if(strcmp(key_str, "led") == 0) {
 			if(isnum) {
 				cfg->led = atoi(val_str);
@@ -170,27 +208,34 @@ int write_cfg(const char *fname, struct cfg *cfg)
 	fprintf(fp, "# sensitivity is multiplied with every motion (1.0 normal).\n");
 	fprintf(fp, "sensitivity = %.3f\n\n", cfg->sensitivity);
 
+	fprintf(fp, "# separate sensitivity for rotation and translation.\n");
+	fprintf(fp, "sensitivity-translation = %.3f\n", cfg->sens_trans);
+	fprintf(fp, "sensitivity-rotation = %.3f\n\n", cfg->sens_rot);
+
 	fprintf(fp, "# dead zone; any motion less than this number, is discarded as noise.\n");
 	fprintf(fp, "dead-zone = %d\n\n", cfg->dead_threshold);
 
 	if(cfg->invert[0] || cfg->invert[1] || cfg->invert[2]) {
 		fprintf(fp, "# invert translations on some axes.\n");
 		fprintf(fp, "invert-trans = ");
-		if(cfg->invert[0]) fputc('x', fp);
+		if(cfg->invert[0] != def_axinv[0]) fputc('x', fp);
-		if(cfg->invert[1]) fputc('y', fp);
+		if(cfg->invert[1] != def_axinv[1]) fputc('y', fp);
-		if(cfg->invert[2]) fputc('z', fp);
+		if(cfg->invert[2] != def_axinv[2]) fputc('z', fp);
 		fputs("\n\n", fp);
 	}
 
 	if(cfg->invert[3] || cfg->invert[4] || cfg->invert[5]) {
 		fprintf(fp, "# invert rotations around some axes.\n");
 		fprintf(fp, "invert-rot = ");
-		if(cfg->invert[3]) fputc('x', fp);
+		if(cfg->invert[3] != def_axinv[3]) fputc('x', fp);
-		if(cfg->invert[4]) fputc('y', fp);
+		if(cfg->invert[4] != def_axinv[4]) fputc('y', fp);
-		if(cfg->invert[5]) fputc('z', fp);
+		if(cfg->invert[5] != def_axinv[5]) fputc('z', fp);
 		fputs("\n\n", fp);
 	}
 
+	fprintf(fp, "# swap translation along Y and Z axes\n");
+	fprintf(fp, "swap-yz = %s\n\n", cfg->map_axis[1] == def_axmap[1] ? "false" : "true");
+
 	if(!cfg->led) {
 		fprintf(fp, "# disable led\n");
 		fprintf(fp, "led = 0\n\n");

src/cfgfile.h

@@ -19,12 +19,10 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #ifndef CFGFILE_H_
 #define CFGFILE_H_
 
-#include "config.h"
-
 #define MAX_BUTTONS		64
 
 struct cfg {
-	float sensitivity;
+	float sensitivity, sens_trans, sens_rot;
 	int dead_threshold;
 	int invert[6];
 	int map_axis[6];

src/event.c

@@ -55,9 +55,7 @@ void process_input(struct dev_input *inp)
 		inp->idx = cfg.map_axis[inp->idx];
 		sign = cfg.invert[inp->idx] ? -1 : 1;
 
-		if(cfg.sensitivity != 1.0) {
+		inp->val = (int)((float)inp->val * cfg.sensitivity * (inp->idx < 3 ? cfg.sens_trans : cfg.sens_rot));
-			inp->val = (int)((float)inp->val * cfg.sensitivity);
-		}
 
 		ev.type = EVENT_MOTION;
 		ev.motion.data = (int*)&ev.motion.x;
@@ -71,7 +69,7 @@ void process_input(struct dev_input *inp)
 			ev_pending = 0;
 		}
 		inp->idx = cfg.map_button[inp->idx];
-		
+
 		ev.type = EVENT_BUTTON;
 		ev.button.press = inp->val;
 		ev.button.bnum = inp->idx;

src/proto_x11.c

@@ -21,6 +21,7 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #ifdef USE_X11
 #include <stdio.h>
 #include <stdlib.h>
+#include <setjmp.h>
 #include "proto_x11.h"
 #include "client.h"
 #include "spnavd.h"
@@ -34,7 +35,8 @@ enum cmd_msg {
 };
 
 
-static int catch_badwin(Display *dpy, XErrorEvent *err);
+static int xerr(Display *dpy, XErrorEvent *err);
+static int xioerr(Display *dpy);
 
 static Display *dpy;
 static Window win;
@@ -47,6 +49,8 @@ static Atom xa_event_motion, xa_event_bpress, xa_event_brelease, xa_event_cmd;
  */
 static float x11_sens = 1.0;
 
+static jmp_buf jbuf;
+
 
 int init_x11(void)
 {
@@ -77,6 +81,14 @@ int init_x11(void)
 		xdet_start();
 		return -1;
 	}
+
+	XSetErrorHandler(xerr);
+	XSetIOErrorHandler(xioerr);
+
+	if(setjmp(jbuf)) {
+		return -1;
+	}
+
 	scr_count = ScreenCount(dpy);
 	screen = DefaultScreen(dpy);
 	root = RootWindow(dpy, screen);
@@ -127,23 +139,23 @@ void close_x11(void)
 	int i, scr_count;
 	struct client *cnode;
 
-	if(!dpy) return;
+	if(dpy && setjmp(jbuf) == 0) {
+		if(verbose) {
+			printf("closing X11 connection to display \"%s\"\n", getenv("DISPLAY"));
+		}
 
-	if(verbose) {
+		/* first delete all the CommandEvent properties from all root windows */
-		printf("closing X11 connection to display \"%s\"\n", getenv("DISPLAY"));
+		scr_count = ScreenCount(dpy);
+		for(i=0; i<scr_count; i++) {
+			Window root = RootWindow(dpy, i);
+			XDeleteProperty(dpy, root, xa_event_cmd);
+		}
+
+		XDestroyWindow(dpy, win);
+		XCloseDisplay(dpy);
+		dpy = 0;
 	}
 
-	/* first delete all the CommandEvent properties from all root windows */
-	scr_count = ScreenCount(dpy);
-	for(i=0; i<scr_count; i++) {
-		Window root = RootWindow(dpy, i);
-		XDeleteProperty(dpy, root, xa_event_cmd);
-	}
-
-	XDestroyWindow(dpy, win);
-	XCloseDisplay(dpy);
-	dpy = 0;
-
 	/* also remove all x11 clients from the client list */
 	cnode = first_client();
 	while(cnode) {
@@ -164,18 +176,13 @@ int get_x11_socket(void)
 void send_xevent(spnav_event *ev, struct client *c)
 {
 	int i;
-	int (*prev_xerr_handler)(Display*, XErrorEvent*);
 	XEvent xevent;
 
 	if(!dpy) return;
 
-	/* If any of the registered clients exit without notice, we can get a
+	if(setjmp(jbuf)) {
-	 * BadWindow exception. Thus we must install a custom handler to avoid
+		return;
-	 * 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;
@@ -206,12 +213,7 @@ void send_xevent(spnav_event *ev, struct client *c)
 	}
 
 	XSendEvent(dpy, get_client_window(c), False, 0, &xevent);
-
+	XFlush(dpy);
-	/* we *must* sync at this point, otherwise, a potential error may arrive
-	 * after we remove the error handler and crash the daemon.
-	 */
-	XSync(dpy, False);
-	XSetErrorHandler(prev_xerr_handler);
 }
 
 int handle_xevents(fd_set *rset)
@@ -225,6 +227,10 @@ int handle_xevents(fd_set *rset)
 
 	/* process any pending X events */
 	if(FD_ISSET(ConnectionNumber(dpy), rset)) {
+		if(setjmp(jbuf)) {
+			return 0;
+		}
+
 		while(XPending(dpy)) {
 			XEvent xev;
 			XNextEvent(dpy, &xev);
@@ -301,12 +307,19 @@ void remove_client_window(Window win)
 }
 
 
-/* X11 error handler for bad-windows */
+/* X11 error handler */
-static int catch_badwin(Display *dpy, XErrorEvent *err)
+static int xerr(Display *dpy, XErrorEvent *err)
 {
-	char buf[256];
+	char buf[512];
+
+	if(verbose) {
+		fprintf(stderr, "xerr(%p, %p)\n", (void*)dpy, (void*)err);
+	}
 
 	if(err->error_code == BadWindow) {
+		/* we may get a BadWindow error when trying to send events to
+		 * clients that have disconnected in the meanwhile.
+		 */
 		remove_client_window((Window)err->resourceid);
 	} else {
 		XGetErrorText(dpy, err->error_code, buf, sizeof buf);
@@ -315,6 +328,21 @@ static int catch_badwin(Display *dpy, XErrorEvent *err)
 	return 0;
 }
 
+/* X11 I/O error handler
+ * This function must not return or xlib will abort.
+ */
+static int xioerr(Display *display)
+{
+	fprintf(stderr, "Lost the X server!\n");
+	dpy = 0;
+	close_x11();
+	xdet_start();
+
+	longjmp(jbuf, 1);
+
+	return 0;
+}
+
 #else
 int spacenavd_proto_x11_shut_up_empty_source_warning;
 #endif	/* USE_X11 */