Adding 3DMouse Support for LINUX (not completed)

qgroundcontrol.pro

@@ -625,6 +625,26 @@ win32-msvc2008|win32-msvc2010|linux {
         -llibxbee
 }
 
+###################################################################
+#### --- 3DConnexion 3d Mice support (e.g. spacenavigator) --- ####
+###################################################################
+
+# xdrvlib only supported by linux (theoretical all X11) systems
+# You have to install the official 3DxWare driver for linux to use 3D mouse support on linux systems!
+linux-g++|linux-g++-64{
+    exists(/usr/local/lib/libxdrvlib.so){
+        message("Including support for Magellan 3DxWare for linux system.")
+        SOURCES  += src/input/Mouse6dofInput.cpp
+        HEADERS  += src/input/Mouse6dofInput.h
+        LIBS += -L/usr/local/lib/ -lxdrvlib
+        INCLUDEPATH *= /usr/local/include
+        DEFINES += MOUSE_ENABLED_LINUX \
+                    ParameterCheck                      # Hack: Has to be defined for magellan usage
+    }
+}
+
+# Support for Windows systems
+# You have to install the official 3DxWare driver for Windows to use the 3D mouse support on Windows systems!
 win32-msvc2008|win32-msvc2010 {
     message("Including support for 3DxWare for Windows system.")
     SOURCES  += libs/thirdParty/3DMouse/win/MouseParameters.cpp \

src/input/Mouse6dofInput.cpp

@@ -9,7 +9,18 @@
 #include "Mouse6dofInput.h"
 #include "UAS.h"
 #include "UASManager.h"
+#include "QMessageBox"
+#ifdef MOUSE_ENABLED_LINUX
+#include <QX11Info>
+#include <X11/Xlib.h>
+#undef Success              // Eigen library doesn't work if Success is defined
+extern "C"
+{
+#include "xdrvlib.h"
+}
+#endif // MOUSE_ENABLED_LINUX
 
+#ifdef MOUSE_ENABLED_WIN
 Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
     mouse3DMax(0.075),   // TODO: check maximum value fot plugged device
     uas(NULL),
@@ -30,6 +41,74 @@ Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
     //connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT);
 
 }
+#endif //MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_LINUX
+Mouse6dofInput::Mouse6dofInput(QWidget *parent) :
+    mouse3DMax(0.075),   // TODO: check maximum value fot plugged device
+    uas(NULL),
+    done(false),
+    mouseActive(false),
+    xValue(0.0),
+    yValue(0.0),
+    zValue(0.0),
+    aValue(0.0),
+    bValue(0.0),
+    cValue(0.0)
+{
+
+}
+#endif //MOUSE_ENABLED_LINUX
+
+#ifdef MOUSE_ENABLED_LINUX
+
+void Mouse6dofInput::init3dMouse(QWidget* parent)
+{
+    if (!mouseActive)
+    {
+//        // man visudo --> then you can omit giving password (success not guarantied..)
+//        qDebug() << "Starting 3DxWare Daemon for 3dConnexion 3dMouse";
+//        QString processProgramm = "gksudo";
+//        QStringList processArguments;
+//        processArguments << "/etc/3DxWare/daemon/3dxsrv -d usb";
+//        process3dxDaemon = new QProcess();
+//        process3dxDaemon->start(processProgramm, processArguments);
+//    //    process3dxDaemon->waitForFinished();
+//    //    {
+//    //        qDebug() << "... continuing without 3DxWare. May not be initialized properly!";
+//    //        qDebug() << "Try in terminal as user root:" << processArguments.last();
+//    //    }
+
+        Display *display = QX11Info::display();
+        if(!display)
+        {
+            qDebug() << "Cannot open display!" << endl;
+        }
+        if ( !MagellanInit( display, winId() ) )
+        {
+            QMessageBox msgBox;
+            msgBox.setIcon(QMessageBox::Information);
+            msgBox.setText(tr("No 3DxWare driver is running."));
+            msgBox.setInformativeText(tr("Enter in Terminal 'sudo /etc/3DxWare/daemon/3dxsrv -d usb'"));
+            msgBox.setStandardButtons(QMessageBox::Ok);
+            msgBox.setDefaultButton(QMessageBox::Ok);
+            msgBox.exec();
+
+            qDebug() << "No 3DxWare driver is running!";
+            return;
+        }
+        else
+        {
+            qDebug() << "Initialized 3dMouse";
+            mouseActive = true;
+        }
+    }
+    else
+    {
+        qDebug() << "3dMouse already initialized..";
+    }
+}
+#endif //MOUSE_ENABLED_LINUX
 
 Mouse6dofInput::~Mouse6dofInput()
 {

src/input/Mouse6dofInput.h

@@ -10,7 +10,9 @@
 #define MOUSE6DOFINPUT_H
 
 #include <QThread>
+#ifdef MOUSE_ENABLED_WIN
 #include "Mouse3DInput.h"
+#endif //MOUSE_ENABLED_WIN
 
 #include "UASInterface.h"
 
@@ -19,7 +21,14 @@ class Mouse6dofInput : public QThread
     Q_OBJECT
 
 public:
+#ifdef MOUSE_ENABLED_WIN
     Mouse6dofInput(Mouse3DInput* mouseInput);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    Mouse6dofInput(QWidget* parent);
+    void init3dMouse(QWidget* parent);
+#endif //MOUSE_ENABLED_LINUX
+
     ~Mouse6dofInput();
     void run();
 
@@ -28,7 +37,6 @@ public:
 protected:
     void init();
 
-    Mouse3DInput* mouse3D;
     UASInterface* uas;
     bool done;
     bool mouseActive;

src/ui/MainWindow.cc

@@ -189,6 +189,12 @@ MainWindow::MainWindow(QWidget *parent):
     mouse = new Mouse6dofInput(mouseInput);
 #endif //MOUSE_ENABLED_WIN
 
+#if MOUSE_ENABLED_LINUX
+    emit initStatusChanged("Initializing 3D mouse interface.");
+
+    mouse = new Mouse6dofInput(this);
+#endif //MOUSE_ENABLED_LINUX
+
     // Connect link
     if (autoReconnect)
     {
@@ -1726,3 +1732,11 @@ QList<QAction*> MainWindow::listLinkMenuActions(void)
 {
     return ui.menuNetwork->actions();
 }
+
+#ifdef MOUSE_ENABLED_LINUX
+bool MainWindow::x11Event(XEvent *event)
+{
+    emit x11EventOccured(event);
+    qDebug("XEvent occured...");
+}
+#endif // MOUSE_ENABLED_LINUX

src/ui/MainWindow.h

@@ -54,8 +54,8 @@ This file is part of the QGROUNDCONTROL project
 #include "HUD.h"
 #include "JoystickWidget.h"
 #include "input/JoystickInput.h"
-#ifdef MOUSE_ENABLED_WIN
-#include "input/Mouse6dofInput.h"
+#if (defined MOUSE_ENABLED_WIN) | (defined MOUSE_ENABLED_LINUX)
+#include "Mouse6dofInput.h"
 #endif // MOUSE_ENABLED_WIN
 #include "DebugConsole.h"
 #include "ParameterInterface.h"
@@ -235,6 +235,8 @@ public slots:
 
 signals:
     void initStatusChanged(const QString& message);
+    /** @brief Forward X11Event to catch 3DMouse inputs */
+    void x11EventOccured(XEvent *event);
 
 public:
     QGCMAVLinkLogPlayer* getLogPlayer()
@@ -375,11 +377,17 @@ protected:
     JoystickInput* joystick;
 
 #ifdef MOUSE_ENABLED_WIN
-    /** 3d Mouse support (WIN only) **/
+    /** @brief 3d Mouse support (WIN only) */
     Mouse3DInput* mouseInput;               ///< 3dConnexion 3dMouse SDK
     Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
 #endif // MOUSE_ENABLED_WIN
 
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Reimplementation of X11Event to handle 3dMouse Events (magellan) */
+    bool x11Event(XEvent *event);
+    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
+#endif // MOUSE_ENABLED_LINUX
+
     /** User interface actions **/
     QAction* connectUASAct;
     QAction* disconnectUASAct;