vpKeyboard.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Keyboard management.
 */

 
#include <stdio.h>
 
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
#include <sys/select.h>
#elif defined(_WIN32)
#include <conio.h>
#endif
#include <visp3/core/vpException.h>
#include <visp3/io/vpKeyboard.h>
 
BEGIN_VISP_NAMESPACE

vpKeyboard::vpKeyboard()
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
  : initial_settings(), new_settings()
{
  init();
}
#else
{ }
#endif

vpKeyboard::~vpKeyboard()
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
  end();
#endif
}

int vpKeyboard::getchar()
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
  int c;
  c = ::getchar();
  return c;
#elif defined(_WIN32) && !defined(WINRT)
  return _getch();
#elif defined(_WIN32) && defined(WINRT)
  throw(vpException(vpException::fatalError, "vpKeyboard::getchar() is not supported on UWP platform!"));
#endif
}

int vpKeyboard::kbhit()
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
  struct timeval tv = { 0, 0 };
  fd_set readfds;
 
  FD_ZERO(&readfds);
  FD_SET(STDIN_FILENO, &readfds);
 
  return select(STDIN_FILENO + 1, &readfds, nullptr, nullptr, &tv) == 1;
#elif defined(_WIN32) && !defined(WINRT)
  return _kbhit();
#elif defined(_WIN32) && defined(WINRT)
  throw(vpException(vpException::fatalError, "vpKeyboard::kbhit() is not supported on UWP platform!"));
#endif
}
 
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
void vpKeyboard::init()
{
  setRawMode(true);
}

void vpKeyboard::end()
{
  setRawMode(false);
}

void vpKeyboard::setRawMode(bool active)
{
  if (active) {
 
    tcgetattr(STDIN_FILENO, &initial_settings);
 
    // new_settings = initial_settings;
    //    cfmakeraw(&new_settings);
    new_settings = initial_settings;
    new_settings.c_lflag &= static_cast<unsigned int>(~ICANON);
    new_settings.c_lflag &= static_cast<unsigned int>(~ECHO);
    new_settings.c_lflag &= static_cast<unsigned int>(~ISIG);
    // new_settings.c_oflag &= static_cast<unsigned int>(~NL0);
    // new_settings.c_oflag &= static_cast<unsigned int>(~CR0);
    new_settings.c_oflag &= static_cast<unsigned int>(~TAB0);
    // new_settings.c_oflag &= static_cast<unsigned int>(~BS0);
    new_settings.c_cc[VMIN] = 1;
    new_settings.c_cc[VTIME] = 0;
    tcsetattr(STDIN_FILENO, TCSANOW, &new_settings);
 
  }
  else {
    tcsetattr(STDIN_FILENO, TCSANOW, &initial_settings);
  }
}
#endif // defined UNIX
 
END_VISP_NAMESPACE