Visual Servoing Platform version 3.5.0
vpKeyboard.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 <sys/select.h>
42#include <visp3/io/vpKeyboard.h>
43
52vpKeyboard::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
90void vpKeyboard::init() { setRawMode(true); }
91
96void vpKeyboard::end() { setRawMode(false); }
97
105void 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
virtual ~vpKeyboard()
Definition: vpKeyboard.cpp:57
int getchar()
Definition: vpKeyboard.cpp:63
int kbhit()
Definition: vpKeyboard.cpp:75