Ubuntu16.04下适配使用LogitechF710手柄，实际项目使用

依然话不多说，直接上代码，有需要直接拿去使用！！！！！

#pragma once#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include #include "Thread.h"enum class F710_EVENT_TYPE
{Button = 1,Axis = 2,ButtonHeartBeat = 129,AxisHeartBeat = 130,
};enum class F710KeyD : uint8_t
{LeftThumbX = 0,LeftThumbY = 1,RightThumbX = 2,RightThumbY = 3,PadX = 4,PadY = 5,ButtonX = 0,ButtonA = 1,ButtonB = 2,ButtonY = 3,LeftBumper = 4,RightBumper = 5,LeftTrigger = 6,RightTrigger = 7,ButtonBack = 8,ButtonStart = 9,LeftStick = 10,RighttStick = 11
};enum class F710KeyX : uint8_t
{LeftThumbX = 0,LeftThumbY = 1,LeftTrigger = 2,RightThumbX = 3,RightThumbY = 4,RightTrigger = 5,PadX = 6,PadY = 7,ButtonA = 0,ButtonB = 1,ButtonX = 2,ButtonY = 3,LeftBumper = 4,RightBumper = 5,ButtonBack = 6,ButtonStart = 7,ButtonHome = 8,LeftStick = 9,RighttStick = 10
};class F710MCD 
{
public:~F710MCD();bool init() override;void addMCDCallback(const ChasisCodeCallback& chasisCallback, const OperatorCodeCallback& opCallback) override;private:void f710Process();bool checkF710(const std::string& dirName);bool openF710();timespec timespecFromMs(uint32_t millis);bool waitReadable(uint32_t timeout);void callbackHandleDMode(js_event inputKey);void callbackHandleXMode(js_event inputKey);std::vector m_chasisCodeCallback;std::vector m_operatorCodeCallback;OperatorCodeMsg m_operatorCodeMsg;ChasisCodeMsg m_chasisCodeMsg;vcs::common::thread::Thread m_f710MCDThread;int32_t m_keysFd;bool m_findF710Flag = false;bool m_isXmode;bool m_isFrontButtonDown = false;bool m_isBackButtonDown = false;bool m_leftMoveAcc = false;bool m_rightMoveAcc = false;int32_t m_RightThumbXValue = 0;int32_t m_RightThumbYValue = 0;bool m_useMCD = true;
};

#include "F710MCD.h"#include 
#include 
#include 
#include 
#include const int32_t CHECK_F710_TIME = 5;
const double PI = 3.1415926;F710MCD::~F710MCD()
{m_f710MCDThread.stop();
}bool F710MCD::init()
{m_f710MCDThread.assignTask(std::bind(&F710MCD::f710Process, this));m_f710MCDThread.start();return true;
}void F710MCD::addMCDCallback(const ChasisCodeCallback& chasisCallback,const OperatorCodeCallback& opCallback)
{if (chasisCallback){m_chasisCodeCallback.emplace_back(chasisCallback);}if (opCallback){m_operatorCodeCallback.emplace_back(opCallback);}
}bool F710MCD::checkF710(const std::string& dirName)
{DIR* p_Dir;bool isCheckF710 = false;struct dirent* p_Dirent;const char* dirStr = dirName.c_str();p_Dir = opendir(dirStr);if (p_Dir == NULL){AERROR_EVERY(500) << " open dev " + dirName + " false";isCheckF710 = false;}while ((p_Dirent = readdir(p_Dir)) != NULL){if (strcmp(p_Dirent->d_name, "js0") == 0){isCheckF710 = true;}}if (!isCheckF710){AERROR_EVERY(500) << " find F710 faile ";}closedir(p_Dir);return

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