/// <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 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 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);
}
public void Pull()
{
if (value != 1000000)
{
// Poll events from joystick
joystick.Poll();
var datas = joystick.GetBufferedData();
foreach (var state in datas)
{
key = Convert.ToString(state.Offset);
value = state.Value;
}
}
}
public SharpDX.DirectInput.Joystick AcquireJoystick(string name)
{
joystick = getJoyStickByName(name);
if (joystick == null)
{
return(null);
}
joystick.Acquire();
joystick.Poll();
return(joystick);
}
public override bool AcquireJoystick(string name)
{
joystick = getJoyStickByNameInternal(name);
if (joystick == null)
{
return(false);
}
joystick.Acquire();
joystick.Poll();
return(true);
}
private void Poll()
{
if (_joystick == null)
{
return;
}
try
{
_joystick.Poll();
_state = _joystick.GetCurrentState();
}
catch (Exception ex)
{
Logger.LogException(ex);
}
}
private void Poll()
{
if (_joystick == null)
{
return;
}
try
{
_joystick.Poll();
_state = _joystick.GetCurrentState();
}
catch (Exception ex)
{
MainForm.LogExceptionToFile(ex);
}
}
public void readInput()
{
if (gamepadDevice == null)
{
return;
}
SharpDX.DirectInput.Joystick joystick = new SharpDX.DirectInput.Joystick(directInput, gamepadDevice.InstanceGuid);
joystick.Properties.BufferSize = 128;
joystick.Acquire();
while (true)
{
if (joystick.IsDisposed)
{
return;
}
joystick.Poll();
var datas = joystick.GetBufferedData();
foreach (var state in datas)
{
if (state.Offset.ToString().Equals("X"))
{
valueX = state.Value;
Console.WriteLine(valueX);
}
else if (state.Offset.ToString().Equals("Y"))
{
valueY = state.Value;
}
else if (state.Offset.ToString().Equals("Buttons0"))
{
switch (state.Value)
{
case 0: isButtonClicked = false; break;
case 128: isButtonClicked = true; break;
}
}
else if (state.Offset.ToString().Equals("Z"))
{
valueTriggers = state.Value;
}
}
}
}
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 void Start()
{
foreach (var port in MainV2.Comports)
{
foreach (var MAV in port.MAVlist)
{
DG.Drones.Add(new Drone()
{
MavState = MAV
});
}
}
foreach (var device in directInput.GetDevices(DeviceClass.GameControl, DeviceEnumerationFlags.AttachedOnly))
{
var joystick = new SharpDX.DirectInput.Joystick(directInput, device.InstanceGuid);
joystick.Acquire();
joystick.Poll();
Console.WriteLine(joystick.Information.ProductName);
Joysticks.Add(joystick);
}
if (threadrun == true)
{
threadrun = false;
return;
}
new System.Threading.Thread(mainloop)
{
IsBackground = true
}.Start();
DG.CurrentMode = DroneGroup.Mode.idle;
}
public override IMyJoystickState GetCurrentState()
{
joystick.Poll();
return(new WindowsJoystickState(joystick.GetCurrentState()));
}
void Update()
{
if (FindObjectOfType <PlayerData>() != null)
{
if (joystick != null)
{
bool ret = false;
if (bot == false)
{
try
{
joystick.Poll();
}
catch
{
joystick = FindObjectOfType <PlayerData>().controllers[playerNumber];
try
{
joystick.Poll();
}
catch
{
FindObjectOfType <PlayerData>().pendingControllers[playerNumber] = true;
}
button1 = FindObjectOfType <PlayerData>().button1[playerNumber];
button2 = FindObjectOfType <PlayerData>().button2[playerNumber];
ret = true;
color1Index = 0;
color2Index = 0;
color1.color = colors[0];
color2.color = colors[0];
FindObjectOfType <PlayerData>().color1[playerNumber] = color1.color;
FindObjectOfType <PlayerData>().color2[playerNumber] = color2.color;
UI.SetActive(false);
joined = false;
botObj.SetActive(true);
FindObjectOfType <PlayerData>().players.Remove(playerNumber);
return;
}
}
if (ret)
{
return;
}
}
else
{
if (FindObjectOfType <PlayerData>().controllers[playerNumber] != null)
{
joystick = FindObjectOfType <PlayerData>().controllers[playerNumber];
try
{
joystick.Poll();
}
catch
{
FindObjectOfType <PlayerData>().pendingControllers[playerNumber] = true;
}
button1 = FindObjectOfType <PlayerData>().button1[playerNumber];
button2 = FindObjectOfType <PlayerData>().button2[playerNumber];
}
}
}
timeTillScene += Time.deltaTime;
if (joystick != null)
{
if (CustomControls.GetButton(joystick, button1))
{
Action1();
}
else
{
CancelAction1();
}
if (CustomControls.GetButton(joystick, button2))
{
Action2();
}
else
{
CancelAction2();
}
if (keyboard)
{
if (CustomControls.GetButton(joystick, dreapta))
{
if (axis == false)
{
axis = true;
if (opposite == false)
{
SelectDreapta();
}
else
{
SelectStanga();
}
}
}
else if (CustomControls.GetButton(joystick, stanga))
{
if (axis == false)
{
axis = true;
if (opposite == false)
{
SelectStanga();
}
else
{
SelectDreapta();
}
}
}
else
{
axis = false;
}
}
else
{
if (CustomControls.GetAxis(joystick).Xaxis > 40000)
{
if (axis == false)
{
axis = true;
if (opposite == false)
{
SelectDreapta();
}
else
{
SelectStanga();
}
}
}
else if (CustomControls.GetAxis(joystick).Xaxis < 20000)
{
if (axis == false)
{
axis = true;
if (opposite == false)
{
SelectStanga();
}
else
{
SelectDreapta();
}
}
}
else
{
axis = false;
}
}
}
}
public SharpDX.DirectInput.Joystick AcquireJoystick(string name)
{
joystick = getJoyStickByName(name);
if (joystick == null)
return null;
//joystick.SetDataFormat(DeviceDataFormat.Joystick);
joystick.Acquire();
System.Threading.Thread.Sleep(500);
joystick.Poll();
return joystick;
}
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 void Update()
{
if (dxJoystick == null)
{
return;
}
// Poll events from joystick
dxJoystick.Poll();
var data = dxJoystick.GetBufferedData();
foreach (var state in data)
{
switch (state.Offset)
{
// left stick: [0, 65535] = [left max, right max]
case JoystickOffset.X:
axis[0] = Math.Min(Math.Max(-1.0, ((double)(state.Value - 32768) / (double)32768)), 1.0);
break;
// left stick: [0, 65535] = [up max, down max]
case JoystickOffset.Y:
axis[1] = Math.Min(Math.Max(-1.0, ((double)(state.Value - 32768) / (double)32768)), 1.0);
break;
// left stick rotation : [0, 65535] = [up max, down max]
case JoystickOffset.RotationZ:
axis[2] = Math.Min(Math.Max(-1.0, ((double)(state.Value - 32768) / (double)32768)), 1.0);
break;
// left throttle: [32768, 65535] = [neutral, full]
case JoystickOffset.Sliders0:
axis[3] = -Math.Min(Math.Max(-1.0, ((double)(state.Value - 32768) / (double)32768)), 1.0);
break;
// A button: [zero, nonzero] = [release, push]
case JoystickOffset.Buttons0:
button[0] = (state.Value != 0);
break;
// B
case JoystickOffset.Buttons1:
button[1] = (state.Value != 0);
break;
// X
case JoystickOffset.Buttons2:
button[2] = (state.Value != 0);
break;
// Y
case JoystickOffset.Buttons3:
button[3] = (state.Value != 0);
break;
// L
case JoystickOffset.Buttons4:
button[4] = (state.Value != 0);
break;
// R
case JoystickOffset.Buttons5:
button[5] = (state.Value != 0);
break;
//case JoystickOffset.Sliders0:
// param.MotorGainX = 1.0f - (float)state.Value / (2 << 16);
// param.MotorGainX *= param.SliderGain;
// param.MotorGainY = param.MotorGainX;
// break;
//case JoystickOffset.PointOfViewControllers0:
// switch (state.Value)
// {
// case -1:
// poVCtrl0 = Direction.Stop;
// break;
// case 0:
// poVCtrl0 = Direction.Up;
// break;
// case 9000:
// poVCtrl0 = Direction.Right;
// break;
// case 18000:
// poVCtrl0 = Direction.Down;
// break;
// case 27000:
// poVCtrl0 = Direction.Left;
// break;
// }
//
// if (poVCtrl0 == Direction.Stop)
// {
// outZ = 0;
// }
// break;
//case JoystickOffset.Buttons0:
// stop = true;
// break;
//case JoystickOffset.Buttons6:
// MotorClient.Send("SHUTDOWN\n");
// break;
}
//switch (poVCtrl0)
//{
// case Direction.Up:
// outZ += 0.25;
// break;
// case Direction.Down:
// outZ -= 0.25;
// break;
//}
}
}
/// <summary>
/// Updates the rcoverride values and controls the mode changes
/// </summary>
void mainloop()
{
while (enabled && joystick != null && !joystick.IsDisposed)
{
try
{
System.Threading.Thread.Sleep(50);
if (joystick.IsDisposed)
{
return;
}
//joystick stuff
joystick.Poll();
state = joystick.CurrentJoystickState();
//Console.WriteLine(state);
if (getNumberPOV() > 0)
{
int pov = getHatSwitchDirection();
if (pov != -1)
{
int angle = pov / 100;
//0 = down = 18000
//0 = up = 0
// 0
if (angle > 270 || angle < 90)
{
hat1 += 500;
}
// 180
if (angle > 90 && angle < 270)
{
hat1 -= 500;
}
// 90
if (angle > 0 && angle < 180)
{
hat2 += 500;
}
// 270
if (angle > 180 && angle < 360)
{
hat2 -= 500;
}
}
}
if (elevons)
{
//g.channel_roll.set_pwm(BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500);
//g.channel_pitch.set_pwm( (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500);
short roll = pickchannel(1, JoyChannels[1].axis, false, JoyChannels[1].expo);
short pitch = pickchannel(2, JoyChannels[2].axis, false, JoyChannels[2].expo);
if (getJoystickAxis(1) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech1 =
(short)
(BOOL_TO_SIGN(JoyChannels[1].reverse) * ((int)(pitch - 1500) - (int)(roll - 1500)) / 2 +
1500);
}
if (getJoystickAxis(2) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech2 =
(short)
(BOOL_TO_SIGN(JoyChannels[2].reverse) * ((int)(pitch - 1500) + (int)(roll - 1500)) / 2 +
1500);
}
}
else
{
if (getJoystickAxis(1) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech1 = pickchannel(1, JoyChannels[1].axis,
JoyChannels[1].reverse, JoyChannels[1].expo);
}
//(ushort)(((int)state.Rz / 65.535) + 1000);
if (getJoystickAxis(2) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech2 = pickchannel(2, JoyChannels[2].axis,
JoyChannels[2].reverse, JoyChannels[2].expo);
}
//(ushort)(((int)state.Y / 65.535) + 1000);
}
if (getJoystickAxis(3) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech3 = pickchannel(3, JoyChannels[3].axis, JoyChannels[3].reverse,
JoyChannels[3].expo); //(ushort)(1000 - ((int)slider[0] / 65.535) + 1000);
}
if (getJoystickAxis(4) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech4 = pickchannel(4, JoyChannels[4].axis, JoyChannels[4].reverse,
JoyChannels[4].expo); //(ushort)(((int)state.X / 65.535) + 1000);
}
if (getJoystickAxis(5) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech5 = pickchannel(5, JoyChannels[5].axis, JoyChannels[5].reverse,
JoyChannels[5].expo);
}
if (getJoystickAxis(6) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech6 = pickchannel(6, JoyChannels[6].axis, JoyChannels[6].reverse,
JoyChannels[6].expo);
}
if (getJoystickAxis(7) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech7 = pickchannel(7, JoyChannels[7].axis, JoyChannels[7].reverse,
JoyChannels[7].expo);
}
if (getJoystickAxis(8) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech8 = pickchannel(8, JoyChannels[8].axis, JoyChannels[8].reverse,
JoyChannels[8].expo);
}
// disable button actions when not connected.
if (MainV2.comPort.BaseStream.IsOpen)
{
DoJoystickButtonFunction();
}
//Console.WriteLine("{0} {1} {2} {3}", MainV2.comPort.MAV.cs.rcoverridech1, MainV2.comPort.MAV.cs.rcoverridech2, MainV2.comPort.MAV.cs.rcoverridech3, MainV2.comPort.MAV.cs.rcoverridech4);
}
catch (SharpDX.SharpDXException ex)
{
log.Error(ex);
clearRCOverride();
MainV2.instance.Invoke((System.Action)
delegate { CustomMessageBox.Show("Lost Joystick", "Lost Joystick"); });
return;
}
catch (Exception ex)
{
log.Info("Joystick thread error " + ex.ToString());
} // so we cant fall out
}
}
