Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Natives/EvdevNative.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Natives/EvdevNative.cs
@@ -0,0 +1,112 @@
+using System.Runtime.InteropServices;
+
+namespace RobotNet10.RobotApp.Natives;
+
+/// <summary>
+/// Native declarations for Linux evdev (event device) input subsystem.
+/// Used for low-latency keyboard input reading from /dev/input/event* devices.
+/// </summary>
+internal static partial class EvdevNative
+{
+    // Event types
+    public const ushort EV_SYN = 0x00;
+    public const ushort EV_KEY = 0x01;
+    public const ushort EV_REL = 0x02;
+    public const ushort EV_ABS = 0x03;
+
+    // Key event values
+    public const int KEY_RELEASE = 0;
+    public const int KEY_PRESS = 1;
+    public const int KEY_REPEAT = 2;
+
+    // Linux key codes (from input-event-codes.h)
+    public const ushort KEY_ESC = 1;
+    public const ushort KEY_MINUS = 12;
+    public const ushort KEY_EQUAL = 13;
+    public const ushort KEY_Q = 16;
+    public const ushort KEY_W = 17;
+    public const ushort KEY_E = 18;
+    public const ushort KEY_A = 30;
+    public const ushort KEY_S = 31;
+    public const ushort KEY_D = 32;
+    public const ushort KEY_Z = 44;
+    public const ushort KEY_C = 46;
+    public const ushort KEY_SPACE = 57;
+    public const ushort KEY_KPMINUS = 74;
+    public const ushort KEY_KPPLUS = 78;
+
+    // ioctl constants for evdev
+    // EVIOCGNAME(len): Get device name
+    // Calculated as: _IOC(_IOC_READ, 'E', 0x06, len)
+    // where _IOC_READ=2, 'E'=0x45
+    // Formula: (2<<30) | (0x45<<8) | (0x06) | (256<<16) = 0x80FF4506
+    public const uint EVIOCGNAME_256 = 0x80FF4506;
+
+    // File open flags
+    public const int O_RDONLY = 0x0000;
+    public const int O_NONBLOCK = 0x0800;
+
+    // Error codes
+    public const int EAGAIN = 11;
+    public const int EACCES = 13;
+
+    /// <summary>
+    /// Linux input event structure (24 bytes on 64-bit systems)
+    /// Represents a single input event from evdev
+    /// </summary>
+    [StructLayout(LayoutKind.Sequential)]
+    public struct input_event
+    {
+        public long tv_sec;      // timestamp seconds
+        public long tv_usec;     // timestamp microseconds
+        public ushort type;      // event type (EV_KEY, EV_REL, etc.)
+        public ushort code;      // event code (KEY_W, KEY_A, etc.)
+        public int value;        // event value (0=release, 1=press, 2=repeat)
+    }
+
+    // File operations for evdev
+    /// <summary>
+    /// Open a file and return a file descriptor
+    /// </summary>
+    [LibraryImport("libc", SetLastError = true, StringMarshalling = StringMarshalling.Utf8)]
+    public static partial int open(string pathname, int flags);
+
+    /// <summary>
+    /// Close a file descriptor
+    /// </summary>
+    [LibraryImport("libc", SetLastError = true)]
+    public static partial int close(int fd);
+
+    /// <summary>
+    /// Read from a file descriptor into input_event buffer
+    /// </summary>
+    [LibraryImport("libc", SetLastError = true)]
+    public static partial int read(int fd, ref input_event buf, int count);
+
+    /// <summary>
+    /// ioctl system call for device control
+    /// Used to query device name via EVIOCGNAME
+    /// </summary>
+    [LibraryImport("libc", SetLastError = true)]
+    public static partial int ioctl(int fd, uint request, byte[] argp);
+
+    // Error handling
+    /// <summary>
+    /// Get pointer to errno location
+    /// </summary>
+    [LibraryImport("libc")]
+    public static partial IntPtr __errno_location();
+
+    /// <summary>
+    /// Get last error number (errno)
+    /// </summary>
+    public static int GetLastError()
+    {
+        IntPtr errnoPtr = __errno_location();
+        if (errnoPtr == IntPtr.Zero)
+        {
+            return 0;
+        }
+        return Marshal.ReadInt32(errnoPtr);
+    }
+}