Visual Servoing Platform version 3.6.0
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vpKeyboard.cpp
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Keyboard management.
32 */
33
34#include <stdio.h>
35
36#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
37#include <sys/select.h>
38#elif defined(_WIN32)
39#include <conio.h>
40#endif
41#include <visp3/core/vpException.h>
42#include <visp3/io/vpKeyboard.h>
43
53#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
54 : initial_settings(), new_settings()
55{
56 init();
57}
58#else
59{}
60#endif
61
62
63
68{
69#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
70 end();
71#endif
72}
73
79{
80#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
81 int c;
82 c = ::getchar();
83 return c;
84#elif defined(_WIN32) && !defined(WINRT)
85 return _getch();
86#elif defined(_WIN32) && defined(WINRT)
87 throw(vpException(vpException::fatalError, "vpKeyboard::getchar() is not supported on UWP platform!"));
88#endif
89}
90
97{
98#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
99 struct timeval tv = { 0, 0 };
100 fd_set readfds;
101
102 FD_ZERO(&readfds);
103 FD_SET(STDIN_FILENO, &readfds);
104
105 return select(STDIN_FILENO + 1, &readfds, NULL, NULL, &tv) == 1;
106#elif defined(_WIN32) && !defined(WINRT)
107 return _kbhit();
108#elif defined(_WIN32) && defined(WINRT)
109 throw(vpException(vpException::fatalError, "vpKeyboard::kbhit() is not supported on UWP platform!"));
110#endif
111}
112
113#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
118void vpKeyboard::init()
119{
120 setRawMode(true);
121}
122
127void vpKeyboard::end()
128{
129 setRawMode(false);
130}
131
139void vpKeyboard::setRawMode(bool active)
140{
141 if (active) {
142
143 tcgetattr(STDIN_FILENO, &initial_settings);
144
145 // new_settings = initial_settings;
146 // cfmakeraw(&new_settings);
147 new_settings = initial_settings;
148 new_settings.c_lflag &= (unsigned int)~ICANON;
149 new_settings.c_lflag &= (unsigned int)~ECHO;
150 new_settings.c_lflag &= (unsigned int)~ISIG;
151 // new_settings.c_oflag &= (unsigned int)~NL0;
152 // new_settings.c_oflag &= (unsigned int)~CR0;
153 new_settings.c_oflag &= (unsigned int)~TAB0;
154 // new_settings.c_oflag &= (unsigned int)~BS0;
155 new_settings.c_cc[VMIN] = 1;
156 new_settings.c_cc[VTIME] = 0;
157 tcsetattr(STDIN_FILENO, TCSANOW, &new_settings);
158
159 }
160 else {
161 tcsetattr(STDIN_FILENO, TCSANOW, &initial_settings);
162 }
163}
164
165#endif // defined UNIX
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ fatalError
Fatal error.
Definition vpException.h:84
virtual ~vpKeyboard()
int getchar()