Visual Servoing Platform  version 3.1.0
vpKeyboard.cpp
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Keybord management.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
40 #include <stdio.h>
41 #include <visp3/io/vpKeyboard.h>
42 
51 vpKeyboard::vpKeyboard() : initial_settings(), new_settings() { init(); }
52 
57 
63 {
64  int c;
65  c = ::getchar();
66  return c;
67 }
68 
75 {
76  struct timeval tv = {0, 0};
77  fd_set readfds;
78 
79  FD_ZERO(&readfds);
80  FD_SET(STDIN_FILENO, &readfds);
81 
82  return select(STDIN_FILENO + 1, &readfds, NULL, NULL, &tv) == 1;
83 }
84 
89 void vpKeyboard::init() { setRawMode(true); }
90 
95 void vpKeyboard::end() { setRawMode(false); }
96 
104 void vpKeyboard::setRawMode(bool active)
105 {
106  if (active) {
107 
108  tcgetattr(STDIN_FILENO, &initial_settings);
109 
110  // new_settings = initial_settings;
111  // cfmakeraw(&new_settings);
112  new_settings = initial_settings;
113  new_settings.c_lflag &= (unsigned int)~ICANON;
114  new_settings.c_lflag &= (unsigned int)~ECHO;
115  new_settings.c_lflag &= (unsigned int)~ISIG;
116  // new_settings.c_oflag &= (unsigned int)~NL0;
117  // new_settings.c_oflag &= (unsigned int)~CR0;
118  new_settings.c_oflag &= (unsigned int)~TAB0;
119  // new_settings.c_oflag &= (unsigned int)~BS0;
120  new_settings.c_cc[VMIN] = 1;
121  new_settings.c_cc[VTIME] = 0;
122  tcsetattr(STDIN_FILENO, TCSANOW, &new_settings);
123 
124  } else {
125  tcsetattr(STDIN_FILENO, TCSANOW, &initial_settings);
126  }
127 }
128 
129 #endif // defined UNIX
int getchar()
Definition: vpKeyboard.cpp:62
int kbhit()
Definition: vpKeyboard.cpp:74