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 0x00int 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
和torch.from_numpy(X_train).float()的区别)
