Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpKeyboard.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6  * This software is free software; you can redistribute it and/or modify
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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.
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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.
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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26  * Inria at visp@inria.fr
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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 <sys/select.h>
42 #include <visp3/io/vpKeyboard.h>
43 
52 vpKeyboard::vpKeyboard() : initial_settings(), new_settings() { init(); }
53 
58 
64 {
65  int c;
66  c = ::getchar();
67  return c;
68 }
69 
76 {
77  struct timeval tv = {0, 0};
78  fd_set readfds;
79 
80  FD_ZERO(&readfds);
81  FD_SET(STDIN_FILENO, &readfds);
82 
83  return select(STDIN_FILENO + 1, &readfds, NULL, NULL, &tv) == 1;
84 }
85 
90 void vpKeyboard::init() { setRawMode(true); }
91 
96 void vpKeyboard::end() { setRawMode(false); }
97 
105 void vpKeyboard::setRawMode(bool active)
106 {
107  if (active) {
108 
109  tcgetattr(STDIN_FILENO, &initial_settings);
110 
111  // new_settings = initial_settings;
112  // cfmakeraw(&new_settings);
113  new_settings = initial_settings;
114  new_settings.c_lflag &= (unsigned int)~ICANON;
115  new_settings.c_lflag &= (unsigned int)~ECHO;
116  new_settings.c_lflag &= (unsigned int)~ISIG;
117  // new_settings.c_oflag &= (unsigned int)~NL0;
118  // new_settings.c_oflag &= (unsigned int)~CR0;
119  new_settings.c_oflag &= (unsigned int)~TAB0;
120  // new_settings.c_oflag &= (unsigned int)~BS0;
121  new_settings.c_cc[VMIN] = 1;
122  new_settings.c_cc[VTIME] = 0;
123  tcsetattr(STDIN_FILENO, TCSANOW, &new_settings);
124 
125  } else {
126  tcsetattr(STDIN_FILENO, TCSANOW, &initial_settings);
127  }
128 }
129 
130 #endif // defined UNIX
int getchar()
Definition: vpKeyboard.cpp:63
virtual ~vpKeyboard()
Definition: vpKeyboard.cpp:57
int kbhit()
Definition: vpKeyboard.cpp:75