private static void StartJoystickCapture(CancellationToken token)
{
var joystickGuid = Guid.Empty;
var di = new DirectInput();
foreach (var device in di.GetDevices(DeviceType.Joystick, DeviceEnumerationFlags.AttachedOnly))
{
joystickGuid = device.InstanceGuid;
break;
}
_joystick = new SharpDX.DirectInput.Joystick(di, joystickGuid);
_joystick.Acquire();
_currentThrottle = 0;
_currentYawTrim = 0;
while (!token.IsCancellationRequested)
{
var state = _joystick.GetCurrentState();
_currentThrottle = (1000 - GetAnalogStickValue(state.Sliders[0])) / 2;
Helicopter.Command.MainThrottle = _currentThrottle;
Helicopter.Command.Pitch = GetAnalogStickValue(state.Y);
//Helicopter.Command.Yaw = -1 * (GetAnalogStickValue(state.X) + _currentYawTrim); //For n64 controller
Helicopter.Command.Yaw = -1 * (GetAnalogStickValue(state.RotationZ) + _currentYawTrim);
var yawtrimChange = GetYawTrimChange(state.Buttons);
_currentYawTrim += yawtrimChange;
Helicopter.Command.YawTrim = _currentYawTrim;
SetConsoleDisplay(state);
Thread.Sleep(Speed);
}
}
public void Update(GameTime gameTime)
{
previousMouseState = currentMouseState;
previousKeyboardState = currentKeyboardState;
previousGamePadState = (GamePadState[])currentGamePadState.Clone();
//previousJoyState = currentJoyState;
currentMouseState = Mouse.GetState();
currentKeyboardState = Keyboard.GetState();
foreach (PlayerIndex index in Enum.GetValues(typeof(PlayerIndex)))
{
currentGamePadState[(int)index] = GamePad.GetState(index);
}
if (RumbleDuration > 0)
{
GamePadVibration(PlayerIndex.One, leftMotor, rightMotor);
rumbleDuration -= (float)gameTime.ElapsedGameTime.TotalSeconds;
}
if (!currentGamePadState[0].IsConnected && enableControllers && joystick == null)
{
JoystickPing -= (float)gameTime.ElapsedGameTime.TotalSeconds;
if (JoystickPing < 0)
{
JoystickPing = JoystickPingDuration;
var th = new Thread(GenericControllerConnection);
th.Start();
#if DEBUG
Console.WriteLine("A new thread has been created!");
#endif
}
}
else if (joystick != null && enableControllers)
{
joystick.Poll();
#if DEBUG
Console.WriteLine("Polling Joystick...");
#endif
try
{
JoystickState state = joystick.GetCurrentState();
currentJoyState = joystick.GetCurrentState();
bool[] button = state.Buttons;
int[] hats = state.PointOfViewControllers;
Console.WriteLine("[{0}]", string.Join(", ", hats));
}
catch (Exception)
{
#if DEBUG
Console.WriteLine("Oops, the controller disconnected!");
#endif
joystick = null;
}
}
}
public void RefreshState()
{
if (padConnected)
{
PadState = Pad.GetCurrentState();
}
else
{
PadState = new DI.JoystickState();
}
}
/// <summary>
/// Collect the current data from the device
/// </summary>
public void GetAxisData(out int x, out int y, out int rz)
{
x = 0; y = 0; rz = 0;
// Make sure there is a valid device.
if (null == m_device)
{
return;
}
// Poll the device for info.
try {
m_device.Poll( );
}
catch (SharpDXException e) {
if ((e.ResultCode == ResultCode.NotAcquired) || (e.ResultCode == ResultCode.InputLost))
{
// Check to see if either the app needs to acquire the device, or
// if the app lost the device to another process.
try {
// Acquire the device.
m_device.Acquire( );
}
catch (SharpDXException) {
// Failed to acquire the device. This could be because the app doesn't have focus.
return; // EXIT unaquired
}
}
else
{
log.Error("Unexpected Poll Exception", e);
return; // EXIT see ex code
}
}
// Get the state of the device - retaining the previous state to find the lates change
m_prevState = m_state;
try { m_state = m_device.GetCurrentState( ); }
// Catch any exceptions. None will be handled here,
// any device re-aquisition will be handled above.
catch (SharpDXException) {
return;
}
x = m_state.X; y = m_state.Y; rz = m_state.RotationZ;
}
public static bool GetButton(SharpDX.DirectInput.Joystick joystick, int buttonNumber)
{
JoystickState state = new JoystickState();
state = joystick.GetCurrentState();
bool[] buttons = state.Buttons;
return(buttons[buttonNumber] == true);
}
public override bool Loop()
{
if (joystick != null)
{
joystick.Poll();
current_state = joystick.GetCurrentState();
yaw = (current_state.X / 1000) - 32;
pitch = (current_state.Y / 1000) - 32;
zoom = (current_state.RotationZ / 1000) - 32;
if (Math.Abs(yaw) <= 2)
{
yaw = 0;
}
if (Math.Abs(pitch) <= 2)
{
pitch = 0;
}
if (Math.Abs(zoom) <= 2)
{
zoom = 0;
}
ahd_switch = (current_state.Buttons[0] ? 1 : 0) + (current_state.Buttons[1] ? 2 : 0) + (current_state.Buttons[2] ? 3 : 0) + (current_state.Buttons[3] ? 4 : 0) + (current_state.Buttons[5] ? 5 : 0);
mode_click = (current_state.Buttons[4] ? 1 : 0);
focus_dir = (current_state.Buttons[6] ? 1 : 0) + (current_state.Buttons[7] ? 2 : 0);
if ((yaw != old_yaw) || (pitch != old_pitch) || (zoom != old_zoom) || (ahd_switch != 0) || (mode_click != 0) || (focus_dir != 0))
{
if (Host.cs.connected)
{
bool x = Host.comPort.doCommand(1, 0, MAVLink.MAV_CMD.DO_CONTROL_VIDEO, -1, focus_dir, mode_click, zoom, pitch, yaw, ahd_switch, false);
}
old_zoom = zoom;
old_pitch = pitch;
old_yaw = pitch;
}
}
//Must use BeginIvoke to avoid deadlock with OnClose in main form.
MainV2.instance.BeginInvoke((Action)(() =>
{
lab.Text = "y:" + yaw.ToString() + " p:" + pitch.ToString() + " z:" + zoom.ToString();
}));
return(true);
}
private void Poll()
{
if (_joystick == null)
{
return;
}
try
{
_joystick.Poll();
_state = _joystick.GetCurrentState();
}
catch (Exception ex)
{
MainForm.LogExceptionToFile(ex);
}
}
private void Poll()
{
if (_joystick == null)
{
return;
}
try
{
_joystick.Poll();
_state = _joystick.GetCurrentState();
}
catch (Exception ex)
{
Logger.LogException(ex);
}
}
public State Read()
{
_joystick.Poll();
var state = _joystick.GetCurrentState();
return(new State()
{
Axis = new Dictionary <Axis, double>()
{
{ Axis.X, TranformAxis(state.X) },
{ Axis.Y, TranformAxis(state.Y) },
{ Axis.Z, TranformAxis(state.Z) },
{ Axis.XRot, TranformAxis(state.RotationX) },
{ Axis.YRot, TranformAxis(state.RotationY) },
{ Axis.ZRot, TranformAxis(state.RotationZ) }
}
});
}
public static Axe GetAxis(SharpDX.DirectInput.Joystick joystick)
{
if (joystick != null)
{
JoystickState state = new JoystickState();
state = joystick.GetCurrentState();
Axe axis = new Axe();
axis.Xaxis = state.X;
axis.Yaxis = state.Y;
axis.Zaxis = state.Z;
return(axis);
}
else
{
return(null);
}
}
public List <InputDeviceEvent> GetEvents()
{
List <InputDeviceEvent> events = new List <InputDeviceEvent>();
JoystickState js;
try
{
js = stick.GetCurrentState();
}
catch
{
System.Diagnostics.Debug.WriteLine("Joystick removed!");
return(null);
}
bool[] buttons = js.Buttons;
for (int i = 0; i < butstate.Length; i++)
{
bool s = buttons[i];
if (s != butstate[i])
{
butstate[i] = s;
//System.Diagnostics.Debug.WriteLine("But " + (i + 1) + "=" + s);
events.Add(new InputDeviceEvent(this, ButtonBase + i, butstate[i]));
}
}
int[] pov = js.PointOfViewControllers;
for (int i = 0; i < povvalue.Length; i++)
{
if (pov[i] != povvalue[i])
{
if (povvalue[i] != -1 && pov[i] != -1 && pov[i] != povvalue[i]) // if both previous and current is not released, and changed.. generate a fake release event
{
events.Add(new InputDeviceEvent(this, POVBase + i + 1, false, -1)); // this gives the caller indication that the current state has ended..
}
povvalue[i] = pov[i];
events.Add(new InputDeviceEvent(this, POVBase + i + 1, povvalue[i] != -1, povvalue[i]));
}
}
int[] sliders = js.Sliders;
for (int i = 0; i < axispresent.Length; i++)
{
if (axispresent[i])
{
int value;
if (i == (int)Axis.X)
{
value = js.X;
}
else if (i == (int)Axis.Y)
{
value = js.Y;
}
else if (i == (int)Axis.Z)
{
value = js.Z;
}
else if (i == (int)Axis.RX)
{
value = js.RotationX;
}
else if (i == (int)Axis.RY)
{
value = js.RotationY;
}
else if (i == (int)Axis.RZ)
{
value = js.RotationZ;
}
else
{
value = sliders[i - (int)Axis.U];
}
if (axisvalue[i] == AxisNullValue)
{
axisvalue[i] = value;
}
else
{
int diff = Math.Abs(value - axisvalue[i]);
if (diff >= 5) // don't report min changes
{
axisvalue[i] = value;
if (axisevents)
{
events.Add(new InputDeviceEvent(this, AxisBase + i, true, value)); // axis is always pressed
}
}
}
}
}
return((events.Count > 0) ? events : null);
}
private void Awake()
{
controllers = new List <SharpDX.DirectInput.Joystick>();
var joystickGuid = Guid.Empty;
var di = new DirectInput();
IList <DeviceInstance> keyboards = di.GetDevices(SharpDX.DirectInput.DeviceType.Keyboard, DeviceEnumerationFlags.AttachedOnly);
for (int device = 0; device < keyboards.Count; device++)
{
joystickGuid = keyboards[device].InstanceGuid;
controllers.Add(new Joystick(di, joystickGuid));
}
IList <DeviceInstance> gamepads = di.GetDevices(SharpDX.DirectInput.DeviceType.Gamepad, DeviceEnumerationFlags.AttachedOnly);
for (int device = 0; device < gamepads.Count; device++)
{
joystickGuid = gamepads[device].InstanceGuid;
controllers.Add(new Joystick(di, joystickGuid));
}
IList <DeviceInstance> joysticks = di.GetDevices(SharpDX.DirectInput.DeviceType.Joystick, DeviceEnumerationFlags.AttachedOnly);
for (int device = 0; device < joysticks.Count; device++)
{
joystickGuid = joysticks[device].InstanceGuid;
controllers.Add(new Joystick(di, joystickGuid));
}
if (playerNumber <= 2)
{
joystick = controllers[0];
joystick.Acquire();
if (playerNumber == 1)
{
button1 = PlayerPrefs.GetInt("Keyboard #1" + "1", 33);
button2 = PlayerPrefs.GetInt("Keyboard #1" + "2", 34);
dreapta = 31;
stanga = 29;
jos = 30;
sus = 16;
}
else
{
button1 = PlayerPrefs.GetInt("Keyboard #2" + "1", 50);
button2 = PlayerPrefs.GetInt("Keyboard #2" + "2", 51);
dreapta = 107;
stanga = 106;
jos = 109;
sus = 104;
}
}
else if (playerNumber <= controllers.Count + 1)
{
joystick = controllers[playerNumber - 2];
joystick.Acquire();
button1 = PlayerPrefs.GetInt(joystick.Information.ProductName + "1", 0);
button2 = PlayerPrefs.GetInt(joystick.Information.ProductName + "2", 2);
Debug.Log(joystick.Properties.InterfacePath);
}
FindObjectOfType <PlayerData>().button1[playerNumber] = button1;
FindObjectOfType <PlayerData>().button2[playerNumber] = button2;
if (joystick != null)
{
defaultAxis = joystick.GetCurrentState().X;
}
teamNumber.text = "Team " + (team + 1);
if (playerNumber >= 10)
{
opposite = true;
}
teamNumber.gameObject.SetActive(false);
selected2.gameObject.SetActive(false);
selected3.gameObject.SetActive(false);
char1Bg.gameObject.SetActive(false);
char2Bg.gameObject.SetActive(false);
char3Bg.gameObject.SetActive(false);
char1 = characters[0];
char2 = characters[0];
char3 = characters[0];
char1Text.text = char1.ToString();
char2Text.text = char2.ToString();
char3Text.text = char3.ToString();
FindObjectOfType <PlayerData>().playerNames[playerNumber] = char1.ToString() + char2.ToString() + char3.ToString();
}
/// <summary>Initialises the joystick.</summary>
private void InitialiseJoystick()
{
List<DI.Joystick> joysticks = GetAttachedJoysticks();
if(ControllerIndex < joysticks.Count)
{
_joystick = joysticks[ControllerIndex];
_joystickState = _joystick.GetCurrentState();
System.Diagnostics.Debug.WriteLine("Using joystick: " + _joystick.Information.InstanceName);
}
_joystickConnected = (_joystickState != null);
}
void Joystick_Poll(object Sender, EventArgs e)
{
if (joystickGuid != Guid.Empty)
{
if (!directInput.IsDeviceAttached(joystickGuid))
{
joystick.Dispose();
joystick = null;
joystickGuid = Guid.Empty;
joystickEnable.Dispatcher.Invoke(() =>
{
joystickEnable.IsChecked = false;
joystickEnable.IsEnabled = false;
});
}
}
JoystickState state = null;
if (joystick != null)
{
joystick.Poll();
state = joystick.GetCurrentState();
}
if (state != null)
{
if (joystic_enabled)
{
if (state.Buttons[6])
{
btnZoomIn_Click(null, null);
}
else if (state.Buttons[4])
{
btnZoomOut_Click(null, null);
}
if (state.Buttons[2] && !prevCamSwitchState)
{
prevCamSwitchState = true;
if (currentCamera == CameraSource.RGB_CAMERA_SOURCE)
{
setCameraVideoSource(CameraSource.IR_CAMERA_SOURCE);
}
else if (currentCamera == CameraSource.IR_CAMERA_SOURCE)
{
setCameraVideoSource(CameraSource.RGB_CAMERA_SOURCE);
}
}
else if (!state.Buttons[2])
{
prevCamSwitchState = false;
}
if (currentMode == GimbalMode.MODE_RATE)
{
double pitch_cmd = 0.0;
double yaw_cmd = 0.0;
if (Math.Abs(state.Y - 32768) > 30)
{
pitch_cmd = ((state.Y - 32768.0) / 65536.0 * -2.0) * 3.14 / 2;
}
else
{
pitch_cmd = 0.0;
}
if (Math.Abs(state.X - 32768) > 30)
{
yaw_cmd = ((state.X - 32768.0) / 65536.0 * -2.0) * 3.14 / 2;
}
else
{
yaw_cmd = 0.0;
}
sendGimbalCommand(pitch_cmd, 0.0, yaw_cmd);
}
}
}
}
public override IMyJoystickState GetCurrentState()
{
joystick.Poll();
return(new WindowsJoystickState(joystick.GetCurrentState()));
}
