【C语言进阶】- 内存函数

Ubuntu joystick 测试手柄 xbox

测试使用Ubuntu20.04 测试环境在工控机

安装测试

实际测试使用的手柄是北通阿修罗2pro
兼容xbox

Ubuntu20.04主机

连接手柄或者无线接收器后查看是否已经检测到：

ls /dev/input

找到输入中的 js0 即为手柄输入

需要安装joystick安装包：

sudo apt install joystick

测试手柄的数据输入：

jstest /dev/input/js0

测试代码

->>>完整的项目代码：

https://gitee.com/tianxiaohuahua/joystick_code

driver_Xbox_Joystick.cpp

#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <linux/input.h>
#include <linux/joystick.h>

#include "driver_Xbox_Joystick.h"

 
 /* 获得手柄设备输入流 */
int xbox_open(char *file_name)
{
    int xbox_fd;
 
    xbox_fd = open(file_name, O_RDONLY);
    if (xbox_fd < 0)
    {
        perror("open");
        return -1;
    }
 
    return xbox_fd;
}
 
 /* 读取手柄数据 */
int xbox_map_read(int xbox_fd, xbox_map_t *map)
{
    int len, type, number, value;
    struct js_event js;
 
    len = read(xbox_fd, &js, sizeof(struct js_event));
    if (len < 0)
    {
        perror("read");
        return -1;
    }
 
    type = js.type;
    number = js.number;
    value = js.value;
 
    map->time = js.time;
 
    if (type == JS_EVENT_BUTTON)
    {
        switch (number)
        {
            case XBOX_BUTTON_A:
                map->a = value;
                break;
 
            case XBOX_BUTTON_B:
                map->b = value;
                break;
 
            case XBOX_BUTTON_X:
                map->x = value;
                break;
 
            case XBOX_BUTTON_Y:
                map->y = value;
                break;
 
            case XBOX_BUTTON_LB:
                map->lb = value;
                break;
 
            case XBOX_BUTTON_RB:
                map->rb = value;
                break;
 
            case XBOX_BUTTON_SELECT:
                map->select = value;
                break;
 
            case XBOX_BUTTON_START:
                map->start = value;
                break;
 
            case XBOX_BUTTON_HOME:
                map->home = value;
                break;
 
            case XBOX_BUTTON_LO:
                map->lo = value;
                break;
 
            case XBOX_BUTTON_RO:
                map->ro = value;
                break;
 
            default:
                break;
        }
    }
    else if (type == JS_EVENT_AXIS)
    {
        switch(number)
        {
            case XBOX_AXIS_LX:
                map->lx = value;
                break;
 
            case XBOX_AXIS_LY:
                map->ly = value;
                break;
 
            case XBOX_AXIS_RX:
                map->rx = value;
                break;
 
            case XBOX_AXIS_RY:
                map->ry = value;
                break;
 
            case XBOX_AXIS_LT:
                map->lt = value;
                break;
 
            case XBOX_AXIS_RT:
                map->rt = value;
                break;
 
            case XBOX_AXIS_XX:
                map->xx = value;
                break;
 
            case XBOX_AXIS_YY:
                map->yy = value;
                break;
 
            default:
                break;
        }
    }
    else
    {
        /* 若出错 */
    }
 
    return len;
}

/* 关闭手柄设备输入流 */ 
void xbox_close(int xbox_fd)
{
    close(xbox_fd);
    return;
}
 
 
 
int test(void)
{
    int xbox_fd ;
    xbox_map_t map;
    int len, type;
    int axis_value, button_value;
    int number_of_axis, number_of_buttons ;
 
    memset(&map, 0, sizeof(xbox_map_t));
 
    xbox_fd = xbox_open((char*)("/dev/input/js0"));
    if(xbox_fd < 0)
    {
        return -1;
    }
 
    while(1)
    {
        len = xbox_map_read(xbox_fd, &map);
        if (len < 0)
        {
            usleep(10*1000);
            continue;
        }
 
        printf("\rTime:%8d A:%d B:%d X:%d Y:%d LB:%d RB:%d select:%d start:%d lo:%d ro:%d XX:%-6d YY:%-6d LX:%-6d LY:%-6d RX:%-6d RY:%-6d LT:%-6d RT:%-6d",
                map.time, map.a, map.b, map.x, map.y, map.lb, map.rb, map.select, map.start, map.lo, map.ro,
                map.xx, map.yy, map.lx, map.ly, map.rx, map.ry, map.lt, map.rt);
        fflush(stdout);
    }
 
    xbox_close(xbox_fd);
    return 0;
}

JoyStickDriver::JoyStickDriver(){
    JoyStickInit();
}

JoyStickDriver::~JoyStickDriver(){
    JoyStickClose();
}

int JoyStickDriver::JoyStickInit(){
    JoystickFd = xbox_open((char*)("/dev/input/js0"));
    if(JoystickFd < 0) {
        return -1;
    }
    return 0;
}

int JoyStickDriver::JoyStickRead(xbox_map_t *pMap){
    return xbox_map_read(JoystickFd, pMap);
}

int JoyStickDriver::JoyStickRead(void){
    return xbox_map_read(JoystickFd, &joystickData);
}

int JoyStickDriver::JoyStickClose(){
    xbox_close(JoystickFd);
    return 0;
}

driver_Xbox_Joystick.h

#ifndef driver_Xbox_Joystick_H
#define driver_Xbox_Joystick_h

/* 手柄面板上所有可控制按键/轴（包括一个时间量） */ 
typedef struct xbox_map
{
    int     time;
    int     a;
    int     b;
    int     x;
    int     y;
    int     lb;
    int     rb;
    int     select;
    int     start;
    int     home;
    int     lo;
    int     ro;
 
    int     lx;
    int     ly;
    int     rx;
    int     ry;
    int     lt;
    int     rt;
    int     xx;
    int     yy;
}xbox_map_t;

#define XBOX_TYPE_BUTTON    0x01
#define XBOX_TYPE_AXIS      0x02
 
#define XBOX_BUTTON_A       0x00
#define XBOX_BUTTON_B       0x01
#define XBOX_BUTTON_X       0x02
#define XBOX_BUTTON_Y       0x03
#define XBOX_BUTTON_LB      0x04
#define XBOX_BUTTON_RB      0x05
#define XBOX_BUTTON_SELECT  0x06
#define XBOX_BUTTON_START   0x07
#define XBOX_BUTTON_HOME    0x08
#define XBOX_BUTTON_LO      0x09    /* 左摇杆按键 */
#define XBOX_BUTTON_RO      0x0a    /* 右摇杆按键 */
 
#define XBOX_BUTTON_ON      0x01
#define XBOX_BUTTON_OFF     0x00
 
#define XBOX_AXIS_LX        0x00    /* 左摇杆X轴 */
#define XBOX_AXIS_LY        0x01    /* 左摇杆Y轴 */
#define XBOX_AXIS_RX        0x03    /* 右摇杆X轴 */
#define XBOX_AXIS_RY        0x04    /* 右摇杆Y轴 */
#define XBOX_AXIS_LT        0x02
#define XBOX_AXIS_RT        0x05
#define XBOX_AXIS_XX        0x06    /* 方向键X轴 */
#define XBOX_AXIS_YY        0x07    /* 方向键Y轴 */
 
#define XBOX_AXIS_VAL_UP        -32767
#define XBOX_AXIS_VAL_DOWN      32767
#define XBOX_AXIS_VAL_LEFT      -32767
#define XBOX_AXIS_VAL_RIGHT     32767
 
#define XBOX_AXIS_VAL_MIN       -32767
#define XBOX_AXIS_VAL_MAX       32767
#define XBOX_AXIS_VAL_MID       0x00
 
 
int test(void);

class JoyStickDriver {
public:
    xbox_map_t joystickData;
    JoyStickDriver(void);
    ~JoyStickDriver(void);
    int JoyStickInit(void);
    int JoyStickRead(xbox_map_t *pMap);
    int JoyStickRead(void);
    int JoyStickClose();

private:
    int JoystickFd ;

};

#endif

main.cpp

#include <iostream>
#include "main.h"

int main(int argc, char *argv[])
{
    std::cout << "123" << std::endl;
    JoyStickDriver  joystick;
    

    while(1)
    {
        int len = joystick.JoyStickRead();
        if (len < 0)
        {
            usleep(10*1000);
            continue;
        }
 
        printf("\rTime:%8d A:%d B:%d X:%d Y:%d LB:%d RB:%d select:%d start:%d lo:%d ro:%d XX:%-6d YY:%-6d LX:%-6d LY:%-6d RX:%-6d RY:%-6d LT:%-6d RT:%-6d",
                joystick.joystickData.time, 
                joystick.joystickData.a, joystick.joystickData.b, 
                joystick.joystickData.x, joystick.joystickData.y, 
                joystick.joystickData.lb, joystick.joystickData.rb, 
                joystick.joystickData.select, joystick.joystickData.start, 
                joystick.joystickData.lo, joystick.joystickData.ro,
                joystick.joystickData.xx, joystick.joystickData.yy, 
                joystick.joystickData.lx, joystick.joystickData.ly, 
                joystick.joystickData.rx, joystick.joystickData.ry, 
                joystick.joystickData.lt, joystick.joystickData.rt);
        fflush(stdout);
    }
    return 0;
}

CMakeList.txt

# VERSION需要和本机安装的Cmake对应
cmake_minimum_required(VERSION 3.10.2) 

# 指定了当前的工程名称，最后输出的可执行文件名称，赋值给了{PROJECT_NAME}变量
project(app) 

# c++ 11
set(CMAKE_CXX_FLAGS "-std=c++11")

# 添加头文件
include_directories(${PROJECT_SOURCE_DIR}/include)
include_directories(${PROJECT_SOURCE_DIR}/include/driver)

# 查找指定目录下的所有.cpp与.h文件 并存放到指定变量名{SC_FILES}中
FILE(GLOB 
    SC_FILES 
    ${PROJECT_SOURCE_DIR}/src/driver/driver_Xbox_Joystick.cpp 
    )

#####生成可执行文件
# 使用指定的源文件创建出一个可执行文件，第一个变量必须是可执行文件的名字，后面默认是其他源文件
add_executable(${PROJECT_NAME} ${SC_FILES} ${PROJECT_SOURCE_DIR}/src/main.cpp) 
# 指定链接给定目标和/或其依赖项时要使用的库或标志，链接动态库静态库等