lib/kinematics/AnalyticalGuess/test/keyboard.cpp

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#include "keyboard.h"
#include <termios.h>
#include <unistd.h>   // for read()

static struct termios initial_settings, new_settings;
static int peek_character = -1;

void init_keyboard()
{
    tcgetattr(0,&initial_settings);
    new_settings = initial_settings;
    new_settings.c_lflag &= ~ICANON;
    new_settings.c_lflag &= ~ECHO;
    new_settings.c_lflag &= ~ISIG;
    new_settings.c_cc[VMIN] = 1;
    new_settings.c_cc[VTIME] = 0;
    tcsetattr(0, TCSANOW, &new_settings);
}

void close_keyboard()
{
    tcsetattr(0, TCSANOW, &initial_settings);
}

int kbhit()
{
unsigned char ch;
int nread;

    if (peek_character != -1) return 1;
    new_settings.c_cc[VMIN]=0;
    tcsetattr(0, TCSANOW, &new_settings);
    nread = read(0,&ch,1);
    new_settings.c_cc[VMIN]=1;
    tcsetattr(0, TCSANOW, &new_settings);
    if(nread == 1)
    {
        peek_character = ch;
        return 1;
    }
    return 0;
}

int readch()
{
char ch;

    if(peek_character != -1)
    {
        ch = peek_character;
        peek_character = -1;
        return ch;
    }
    read(0,&ch,1);
    return ch;
}

int _getch() {
        init_keyboard();
        kbhit();
        char c = readch();
        close_keyboard();
        return c;
}