public virtual short getRawValueForChannel(int channel)
{
if (!IsJoystickValid())
{
return(0);
}
state = GetCurrentState();
short ans = pickchannel(channel, JoyChannels[channel].axis, false, 0);
log.DebugFormat("{0} = {1} = {2}", channel, ans, state.X);
return(ans);
}
/// <summary>
/// Updates the rcoverride values and controls the mode changes
/// </summary>
protected virtual void mainloop()
{
while (enabled && IsJoystickValid())
{
try
{
System.Threading.Thread.Sleep(50);
//joystick stuff
state = GetCurrentState();
//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) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech1 =
(short)
(BOOL_TO_SIGN(JoyChannels[1].reverse) * ((int)(pitch - 1500) - (int)(roll - 1500)) / 2 +
1500);
}
if (getJoystickAxis(2) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech2 =
(short)
(BOOL_TO_SIGN(JoyChannels[2].reverse) * ((int)(pitch - 1500) + (int)(roll - 1500)) / 2 +
1500);
}
}
else
{
if (getJoystickAxis(1) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech1 = pickchannel(1, JoyChannels[1].axis,
JoyChannels[1].reverse, JoyChannels[1].expo);
}
//(ushort)(((int)state.Rz / 65.535) + 1000);
if (getJoystickAxis(2) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech2 = pickchannel(2, JoyChannels[2].axis,
JoyChannels[2].reverse, JoyChannels[2].expo);
}
//(ushort)(((int)state.Y / 65.535) + 1000);
}
if (getJoystickAxis(3) != joystickaxis.None)
{
Interface.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) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech4 = pickchannel(4, JoyChannels[4].axis, JoyChannels[4].reverse,
JoyChannels[4].expo); //(ushort)(((int)state.X / 65.535) + 1000);
}
if (getJoystickAxis(5) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech5 = pickchannel(5, JoyChannels[5].axis, JoyChannels[5].reverse,
JoyChannels[5].expo);
}
if (getJoystickAxis(6) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech6 = pickchannel(6, JoyChannels[6].axis, JoyChannels[6].reverse,
JoyChannels[6].expo);
}
if (getJoystickAxis(7) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech7 = pickchannel(7, JoyChannels[7].axis, JoyChannels[7].reverse,
JoyChannels[7].expo);
}
if (getJoystickAxis(8) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech8 = pickchannel(8, JoyChannels[8].axis, JoyChannels[8].reverse,
JoyChannels[8].expo);
}
if (getJoystickAxis(9) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech9 = pickchannel(9, JoyChannels[9].axis, JoyChannels[9].reverse, JoyChannels[9].expo);
}
if (getJoystickAxis(10) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech10 = pickchannel(10, JoyChannels[10].axis, JoyChannels[10].reverse, JoyChannels[10].expo);
}
if (getJoystickAxis(11) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech11 = pickchannel(11, JoyChannels[11].axis, JoyChannels[11].reverse, JoyChannels[11].expo);
}
if (getJoystickAxis(12) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech12 = pickchannel(12, JoyChannels[12].axis, JoyChannels[12].reverse, JoyChannels[12].expo);
}
if (getJoystickAxis(13) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech13 = pickchannel(13, JoyChannels[13].axis, JoyChannels[13].reverse, JoyChannels[13].expo);
}
if (getJoystickAxis(14) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech14 = pickchannel(14, JoyChannels[14].axis, JoyChannels[14].reverse, JoyChannels[14].expo);
}
if (getJoystickAxis(15) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech15 = pickchannel(15, JoyChannels[15].axis, JoyChannels[15].reverse, JoyChannels[15].expo);
}
if (getJoystickAxis(16) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech16 = pickchannel(16, JoyChannels[16].axis, JoyChannels[16].reverse, JoyChannels[16].expo);
}
if (getJoystickAxis(17) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech17 = pickchannel(17, JoyChannels[17].axis, JoyChannels[17].reverse, JoyChannels[17].expo);
}
if (getJoystickAxis(18) != joystickaxis.None)
{
Interface.MAV.cs.rcoverridech18 = pickchannel(18, JoyChannels[18].axis, JoyChannels[18].reverse, JoyChannels[18].expo);
}
// disable button actions when not connected.
if (Interface.BaseStream.IsOpen)
{
DoJoystickButtonFunction();
}
//Console.WriteLine("{0} {1} {2} {3}", Interface.MAV.cs.rcoverridech1, Interface.MAV.cs.rcoverridech2, Interface.MAV.cs.rcoverridech3, Interface.MAV.cs.rcoverridech4);
}
catch (SharpDX.SharpDXException ex)
{
log.Error(ex);
clearRCOverride();
_context.Send(
delegate { CustomMessageBox.Show("Lost Joystick", "Lost Joystick"); }, null);
return;
}
catch (Exception ex)
{
log.Info("Joystick thread error " + ex.ToString());
} // so we cant fall out
}
}