First version

2006-10-28 12:40:42 +00:00
parent 62a932ecdd
commit 13e0ba9ae5
35 changed files with 23014 additions and 0 deletions
--- a/commandline/xservopointer.c
+++ b/commandline/xservopointer.c
@@ -0,0 +1,107 @@
+/**
+ * \file xservopointer.c
+ * \brief Tool that uses a servo to point to the mouse cursor under X.
+ * \author Ronald Schaten
+ * \version $Id: xservopointer.c,v 1.1 2006/10/28 12:40:42 rschaten Exp $
+ *
+ * License: See documentation.
+ */
+
+#include <math.h>
+#include <time.h>
+
+#include <X11/Xlib.h>
+
+#include <usb.h>                /* this is libusb, see http://libusb.sourceforge.net/ */
+
+#include "usbdrv.h"
+
+Display *dpy; /** The display to use */
+Window root;  /** The root-window of the display */
+
+int rootwidth, rootheight; /** Measurements of the desktop */
+int servoposx, servoposy;  /** Position of the mouse cursor */
+
+usb_dev_handle *handle = NULL; /** Handle to the device */
+
+/**
+ * Determines the current cursor position and sets the servo angle.
+ */
+void update() {
+    Window wroot, wchild;
+    int absx, absy, relx, rely, angle;
+    static int oldabsx = -1000;
+    static int oldabsy = -1000;
+    unsigned int modmask;
+    unsigned char buffer[8];
+
+    // get cursor position
+    XQueryPointer(dpy, root, &wroot, &wchild, &absx, &absy, &relx, &rely, &modmask);
+
+    if (oldabsx == absx && oldabsy == absy) {
+        // position unchanged
+    } else {
+        // calculate new angle
+        angle = (int)(atan((float)(absx - servoposx) / (absy - servoposy)) * (255 / M_PI));
+        angle = 128 - angle;
+        printf("absx/absy %d/%d -> angle %d\n", absx, absy, angle);
+        int nBytes = usb_control_msg(handle,
+                                     USB_TYPE_VENDOR | USB_RECIP_DEVICE | USB_ENDPOINT_OUT, CMD_SET, angle, 0,
+                                     (char *)buffer, sizeof(buffer), 5000);
+
+        if (nBytes < 0) {
+            fprintf(stderr, "USB error: %s\n", usb_strerror());
+            exit(1);
+        }
+    }
+    oldabsx = absx;
+    oldabsy = absy;
+}
+
+/**
+ * Main function. Initializes the X-settings and the USB-device, starts the
+ * timer and calls the update-function.
+ * \param argc Number of arguments.
+ * \param argv Arguments.
+ * \return Error code.
+ */
+int main(int argc, char *argv[]) {
+    // values for timer
+    struct timespec ts;
+    ts.tv_sec = 0;
+    ts.tv_nsec = 100 * 1000 * 1000; // every 100ms
+
+    // open display
+    dpy = XOpenDisplay(NULL);
+    if (dpy == NULL) {
+        fprintf(stderr, "xservopointer: Unable to open display\n");
+        exit(1);
+    }
+
+    root = DefaultRootWindow(dpy);
+
+    // determine screen width and height
+    XWindowAttributes Attributes;
+    XGetWindowAttributes(dpy, root, &Attributes);
+    rootwidth = Attributes.width;
+    rootheight = Attributes.height;
+
+    // set servo position
+    servoposx = rootwidth / 2;  // middle of the screen
+    servoposy = -150;           // above the screen
+
+    // initialize USB-device
+    usb_init();
+    if (usbOpenDevice(&handle, USBDEV_SHARED_VENDOR, "www.schatenseite.de", USBDEV_SHARED_PRODUCT, "USB-Servo") != 0) {
+        fprintf(stderr, "Could not find USB device \"USB-Servo\" with vid=0x%x pid=0x%x\n", USBDEV_SHARED_VENDOR, USBDEV_SHARED_PRODUCT);
+        exit(1);
+    }
+
+    // main loop
+    while (1) {
+        update();
+        nanosleep(&ts, NULL);
+    }
+    usb_close(handle);
+    return 0;
+}