public void UpdateGamepadState()
{
if (Controller.IsConnected)
{
LastState = CurrentState;
CurrentState = Controller.GetState();
}
}
private int[] calculateOutput()
{
gamepad = controller.GetState().Gamepad;
PadState["leftThumbX"] = (Math.Abs((float)gamepad.LeftThumbX) < deadband) ? 0 : gamepad.LeftThumbX / short.MaxValue * 1000;
PadState["leftThumbY"] = (Math.Abs((float)gamepad.LeftThumbY) < deadband) ? 0 : gamepad.LeftThumbY / short.MaxValue * 1000;
PadState["rightThumbY"] = (Math.Abs((float)gamepad.RightThumbY) < deadband) ? 0 : gamepad.RightThumbY / short.MaxValue * 1000;
PadState["rightThumbX"] = (Math.Abs((float)gamepad.RightThumbX) < deadband) ? 0 : gamepad.RightThumbX / short.MaxValue * 1000;
//values are between -1000 and 1000
PadState["leftTrigger"] = gamepad.LeftTrigger / 255 * 1000;
PadState["rightTrigger"] = gamepad.RightTrigger / 255 * 1000;
controlState[0] = PadState[Assignment["roll"]]; //roll
controlState[1] = PadState[Assignment["pitch"]]; //pitch
controlState[2] = PadState[Assignment["yaw"]]; //yaw
controlState[3] = PadState[Assignment["throttle"]]; //throttle
controlState[4] = PadState[Assignment["emerge"]] - PadState[Assignment["submerge"]]; //emerge
int[] ret = new int[channels];
for (int i = 0; i < channels; i++)
{
ret[i] = (int)Math.Round(controlState[i]);
if (Math.Abs(ret[i]) > 1000)
{
ret[i] = Math.Abs(ret[i]) / ret[i] * 1000;
}
}
return(ret);
}
private void UpdateInputStates()
{
KeyboardState = _keyboardManager.GetState();
MouseState = _mouseManager.GetState();
var controller = new Controller(UserIndex.One);
if (controller.IsConnected)
GamepadState = controller.GetState().Gamepad;
}
/// <summary>
/// The main entry point for the application.
/// </summary>
public XInputController()
{
Console.WriteLine("Start XGamepadApp");
// Initialize XInput
var controllers = new[] { new SharpDX.XInput.Controller(UserIndex.One), new SharpDX.XInput.Controller(UserIndex.Two), new SharpDX.XInput.Controller(UserIndex.Three), new SharpDX.XInput.Controller(UserIndex.Four) };
// Get 1st controller available
SharpDX.XInput.Controller controller = null;
foreach (var selectControler in controllers)
{
if (selectControler.IsConnected)
{
controller = selectControler;
break;
}
}
if (controller == null)
{
Console.WriteLine("No XInput controller installed");
}
else
{
Console.WriteLine("Found a XInput controller available");
Console.WriteLine("Press buttons on the controller to display events");
// Poll events from joystick
var previousState = controller.GetState();
while (controller.IsConnected)
{
var state = controller.GetState();
if (previousState.PacketNumber != state.PacketNumber)
{
Console.WriteLine(state.Gamepad);
}
previousState = state;
Thread.Sleep(8);//8 miliseconds = 125Hz
}
}
Console.WriteLine("End XGamepadApp");
}
static void Main(string[] args)
{
// box setup
Form f = new Form();
f.Opacity = 0.3;
f.StartPosition = FormStartPosition.CenterScreen;
f.FormBorderStyle = FormBorderStyle.None;
f.TopMost = true;
bool boxVisible = false;
bool wasPressedGuide = false;
while (!System.Console.KeyAvailable)
{
SharpDX.XInput.Controller c = new SharpDX.XInput.Controller(SharpDX.XInput.UserIndex.One);
SharpDX.XInput.State s;
if (c.GetState(out s))
{
//System.Console.WriteLine(s.Gamepad.ToString());
//System.Console.WriteLine(s.Gamepad.Buttons);
s.Gamepad.Buttons.HasFlag(SharpDX.XInput.GamepadButtonFlags.A);
if (!wasPressedGuide)
{
if (is_guide_button_down(0) != 0)
{
wasPressedGuide = true;
boxVisible = !boxVisible;
//SendKeys.SendWait("{RIGHT}");
}
if (boxVisible)
{
if (!f.Visible)
{
f.Show();
}
}
else
{
f.Hide();
}
}
else
{
wasPressedGuide = (is_guide_button_down(0) != 0);
}
}
}
}
private void mainLoop()
{
State gameState;
var Controller = new Controller(UserIndex.One);
while (running)
{
Controller.GetState(out gameState);
string strState = gameState.Gamepad.Buttons.ToString().Replace(" ", "");
if (strState != "None")
{
ButtonPressed(getActions(strState), strState.Split(','));
}
System.Threading.Thread.Sleep(100);
}
}
public override byte PollKeysPressed()
{
int state = (int)controller.GetState().Gamepad.Buttons;
byte _A, _B, _Start, _Select, _Up, _Down, _Left, _Right;
_A = (byte)(((state & (int)GamepadButtonFlags.A) > 0) ? 0b1000_0000 : 0);
_B = (byte)(((state & ((int)GamepadButtonFlags.B | (int)GamepadButtonFlags.X)) > 0) ? 0b0100_0000 : 0);
_Start = (byte)(((state & (int)GamepadButtonFlags.Start) > 0) ? 0b0010_0000 : 0);
_Select = (byte)(((state & (int)GamepadButtonFlags.Back) > 0) ? 0b0001_0000 : 0);
_Up = (byte)(((state & (int)GamepadButtonFlags.DPadUp) > 0) ? 0b0000_1000 : 0);
_Down = (byte)(((state & (int)GamepadButtonFlags.DPadDown) > 0) ? 0b0000_0100 : 0);
_Left = (byte)(((state & (int)GamepadButtonFlags.DPadLeft) > 0) ? 0b0000_0010 : 0);
_Right = (byte)(((state & (int)GamepadButtonFlags.DPadRight) > 0) ? 0b0000_0001 : 0);
return((byte)(_A | _B | _Start | _Select | _Up | _Down | _Left | _Right));
}
static void Main(string[] args)
{
Controller xbox = new Controller(UserIndex.One);
Console.WriteLine("Controller connected: " + xbox.IsConnected);
BatteryInformation battery = xbox.GetBatteryInformation(BatteryDeviceType.Gamepad);
Console.WriteLine("Battery level: " + battery.BatteryLevel);
bool isRunning = true;
while (isRunning)
{
Console.Clear();
State state = xbox.GetState();
switch (state.Gamepad.Buttons)
{
case GamepadButtonFlags.Start:
isRunning = false;
break;
default:
break;
}
Console.Write("Key pressed: " + state.Gamepad.Buttons + "\n");
Console.Write("RightThumbX stick: " + state.Gamepad.RightThumbX + "\n");
Console.Write("RightThumbY stick: " + state.Gamepad.RightThumbY + "\n");
Console.Write("LeftThumbX stick: " + state.Gamepad.LeftThumbX + "\n");
Console.Write("LeftThumbY stick: " + state.Gamepad.LeftThumbY + "\n");
Console.Write("LeftTrigger: " + state.Gamepad.LeftTrigger + "\n");
Console.Write("RightTrigger: " + state.Gamepad.RightTrigger + "\n");
int vibrationLeftMotorSpeed = 0;
if (state.Gamepad.LeftThumbX > -1)
vibrationLeftMotorSpeed = state.Gamepad.LeftThumbX;
vibration.LeftMotorSpeed = (ushort)vibrationLeftMotorSpeed;
xbox.SetVibration(vibration);
System.Threading.Thread.Sleep(100);
}
}
public virtual bool UpdateState()
{
try
{
Gamepad gamepad = controller.GetState().Gamepad;
int ButtonState = (int)gamepad.Buttons;
int JoystickX = gamepad.LeftThumbX;
int JoystickY = gamepad.LeftThumbY;
ushort _A, _B, _Start, _Select, _Up, _Down, _Left, _Right, _R, _L;
_A = (ushort)(((ButtonState & (int)GamepadButtonFlags.A) > 0) ? 0b00_0000_0001 : 0);
_B = (ushort)(((ButtonState & ((int)GamepadButtonFlags.B |
(int)GamepadButtonFlags.X)) > 0) ? 0b00_0000_0010 : 0);
_Select = (ushort)(((ButtonState & (int)GamepadButtonFlags.Back) > 0) ? 0b00_0000_0100 : 0);
_Start = (ushort)(((ButtonState & (int)GamepadButtonFlags.Start) > 0) ? 0b00_0000_1000 : 0);
_Right = (ushort)(((ButtonState & (int)GamepadButtonFlags.DPadRight) > 0) ||
JoystickX > JoystickThreshold ? 0b00_0001_0000 : 0);
_Left = (ushort)(((ButtonState & (int)GamepadButtonFlags.DPadLeft) > 0) ||
JoystickX < -JoystickThreshold ? 0b00_0010_0000 : 0);
_Up = (ushort)(((ButtonState & (int)GamepadButtonFlags.DPadUp) > 0) ||
JoystickY > JoystickThreshold ? 0b00_0100_0000 : 0);
_Down = (ushort)(((ButtonState & (int)GamepadButtonFlags.DPadDown) > 0) ||
JoystickY < -JoystickThreshold ? 0b00_1000_0000 : 0);
_R = (ushort)(((ButtonState & ((int)GamepadButtonFlags.RightShoulder)) > 0) ? 0b01_0000_0000 : 0);
_L = (ushort)(((ButtonState & ((int)GamepadButtonFlags.LeftShoulder)) > 0) ? 0b10_0000_0000 : 0);
ControllerState = (ushort)(_A | _B | _Start | _Select | _Up | _Down | _Left | _Right | _R | _L);
return(true);
}
catch (SharpDX.SharpDXException)
{
// otherwise our keys will be stuck on disconnection...
ControllerState = 0;
return(false);
}
}
private void UpdateView()
{
if (sceneView == null)
{
return;
}
if (controller == null || !controller.IsConnected)
{
return;
}
//The Camera might change whil doing all the calculations...
var originalCamera = sceneView.Camera;
if (originalCamera == null)
{
return;
}
var newCamera = originalCamera;
var state = controller.GetState();
var time2 = DateTime.Now;
bool isRightShoulderPressed = state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.RightShoulder);
//Choose if staying at the same alitude or not
if (isRightShoulderPressed)
{
var elapsed = time2 - time;
if (elapsed != TimeSpan.Zero && elapsed > TimeSpan.FromSeconds(0.25))
{
timer.Stop();
timer.Start();
relativeToDirection = !relativeToDirection;
time = time2;
}
}
else
{
time = time2;
}
double LeftThumbStickX = 0;
double LeftThumbStickY = 0;
double RightThumbStickX = 0;
double RightThumbStickY = 0;
var gamePad = new NormalizedGamepad(state.Gamepad);
LeftThumbStickX = gamePad.LeftThumbXNormalized;
LeftThumbStickY = gamePad.LeftThumbYNormalized;
RightThumbStickX = gamePad.RightThumbXNormalized;
RightThumbStickY = gamePad.RightThumbYNormalized;
if ((LeftThumbStickX != 0) || (LeftThumbStickY != 0) || (RightThumbStickX != 0) || (RightThumbStickY != 0))
{
//Move sideways (crab move), so calling move forward after modifying heading and tilt, then resetting heading and tilt
if (LeftThumbStickX != 0)
{
//Distance depends on the altitude, but must have minimum values (one way and the other) to not be almost nothing when altitude gets to 0)
var distance = (double)LeftThumbStickX * newCamera.Location.Z / 40;
if (distance > 0 && distance < 0.75)
{
distance = 0.75;
}
if (distance < 0 && distance > -0.75)
{
distance = -0.75;
}
var pitch = newCamera.Pitch;
newCamera = newCamera.RotateTo(newCamera.Heading, 90, newCamera.Roll).RotateTo(90, 0, 0).MoveForward(distance).RotateTo(-90, 0, 0);
newCamera = newCamera.RotateTo(newCamera.Heading, pitch, newCamera.Roll);
}
var distance2 = (double)LeftThumbStickY * newCamera.Location.Z / 40;
if (distance2 > 0 && distance2 < 1)
{
distance2 = 1;
}
if (distance2 < 0 && distance2 > -1)
{
distance2 = -1;
}
//Move in the direction of the camera (modify the elevation)
newCamera = newCamera.MoveForward(distance2).RotateTo((double)RightThumbStickX, newCamera.Pitch > 2 ? -(double)RightThumbStickY : RightThumbStickY < 0 ? -(double)RightThumbStickY : 0, 0);
//If move in the direction of the camera but staying at the same elevation.
if (!relativeToDirection)
{
newCamera = newCamera.MoveTo(new MapPoint(newCamera.Location.X, newCamera.Location.Y, originalCamera.Location.Z, newCamera.Location.SpatialReference));
}
}
//Triggers are just elevating the camera
double elevationDistance = (double)(state.Gamepad.RightTrigger - state.Gamepad.LeftTrigger);
if ((elevationDistance != 0) && (newCamera.Location.Z != double.NaN))
{
var distance = elevationDistance * Math.Abs(newCamera.Location.Z) / 10000;
newCamera = newCamera.Elevate(distance > 1 ? distance : distance < 1 ? distance : distance < 0 ? -1 : 1);
}
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadUp))
{
newCamera = newCamera.RotateTo(0, newCamera.Pitch, newCamera.Roll);
}
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadDown))
{
newCamera = newCamera.RotateTo(180, newCamera.Pitch, newCamera.Roll);
}
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadLeft))
{
newCamera = newCamera.RotateTo(270, newCamera.Pitch, newCamera.Roll);
}
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadRight))
{
newCamera = newCamera.RotateTo(90, newCamera.Pitch, newCamera.Roll);
}
if (!newCamera.IsEqual(originalCamera))
{
sceneView.SetViewpointCamera(newCamera);
}
}
/// <summary>
/// Function to poll the joystick for data.
/// </summary>
protected override void PollJoystick()
{
if (!_controller.IsConnected)
{
Gorgon.Log.Print("XInput Controller {0} disconnected.", LoggingLevel.Verbose, _controllerID);
IsConnected = false;
return;
}
// If we weren't connected before, then get the caps for the device.
if (!IsConnected)
{
var previousDeadZone = DeadZone;
Initialize();
IsConnected = true;
// Restore the dead zone.
DeadZone.Rudder = new GorgonRange(previousDeadZone.Rudder);
DeadZone.Throttle = new GorgonRange(previousDeadZone.Throttle);
DeadZone.X = new GorgonRange(previousDeadZone.X);
DeadZone.Y = new GorgonRange(previousDeadZone.Y);
DeadZone.SecondaryX = new GorgonRange(previousDeadZone.SecondaryX);
DeadZone.SecondaryY = new GorgonRange(previousDeadZone.SecondaryY);
#if DEBUG
XI.Capabilities caps = _controller.GetCapabilities(XI.DeviceQueryType.Any);
Gorgon.Log.Print("XInput Controller {0} (ID:{1}) re-connected.", LoggingLevel.Verbose, caps.SubType.ToString(), _controllerID);
#endif
}
XI.State state = _controller.GetState();
// Do nothing if the data has not changed since the last poll.
if (LastPacket == state.PacketNumber)
{
return;
}
// Get axis data.
X = state.Gamepad.LeftThumbX;
Y = state.Gamepad.LeftThumbY;
SecondaryX = state.Gamepad.RightThumbX;
SecondaryY = state.Gamepad.RightThumbY;
Throttle = state.Gamepad.RightTrigger;
Rudder = state.Gamepad.LeftTrigger;
// Get button info.
if (state.Gamepad.Buttons != XI.GamepadButtonFlags.None)
{
// ReSharper disable once ForCanBeConvertedToForeach
for (int i = 0; i < _button.Length; i++)
{
_buttonList.SetButtonState(_button[i],
(_button[i] != XI.GamepadButtonFlags.None) &&
((state.Gamepad.Buttons & _button[i]) == _button[i]));
}
}
// Get POV values.
GetPOVData(state.Gamepad.Buttons);
}
uint XInputGetState_Hooked(int dwUserIndex, out State state)
{
state = new State();
try
{
var controller1 = new Controller(UserIndex.One);
var controller2 = new Controller(UserIndex.Two);
var controller3 = new Controller(UserIndex.Three);
var controller4 = new Controller(UserIndex.Four);
var controller = new Controller((UserIndex)dwUserIndex);
if (!controller1.IsConnected
&& !controller2.IsConnected
&& !controller3.IsConnected
&& !controller4.IsConnected
&& ((UserIndex)dwUserIndex == UserIndex.One
|| (UserIndex)dwUserIndex == UserIndex.Any))
{
ControllerConnected = false;
_fakeState.PacketNumber = _fakeState.PacketNumber++;
state = _fakeState;
}
else if (controller.IsConnected)
{
ControllerConnected = controller.IsConnected;
state = controller.GetState();
}
else
{
return ERROR_DEVICE_NOT_CONNECTED;
}
ControllerState = state;
if (Enabled)
{
state = ProcessState(state);
}
return ERROR_SUCCESS;
}
catch
{
return ERROR_DEVICE_NOT_CONNECTED;
}
}
// Main XBox processing
private void PollGamepad()
{
if ((m_xbox == null) || !m_xbox.IsConnected)
{
return;
}
m_xboxStateLast = m_xboxState;
m_xboxState = m_xbox.GetState();
if (ButtonPushed(GamepadButtonFlags.A))
{
OnXBoxGamepadButtonPressA.Invoke(this, null);
}
if (ButtonOneShot(GamepadButtonFlags.A))
{
OnXBoxGamepadButtonPressAOneShot.Invoke(this, null);
}
if (ButtonPushed(GamepadButtonFlags.B))
{
OnXBoxGamepadButtonPressB.Invoke(this, null);
}
if (ButtonOneShot(GamepadButtonFlags.B))
{
OnXBoxGamepadButtonPressBOneShot.Invoke(this, null);
}
var LX = m_xboxState.Gamepad.LeftThumbX;
var LY = m_xboxState.Gamepad.LeftThumbY;
//determine how far the controller is pushed
var magnitude = Math.Sqrt(LX * LX + LY * LY);
//determine the direction the controller is pushed
var normalizedLX = LX / magnitude;
var normalizedLY = LY / magnitude;
var normalizedMagnitude = 0.0;
//check if the controller is outside a circular dead zone
if (magnitude > Gamepad.LeftThumbDeadZone)
{
//clip the magnitude at its expected maximum value
if (magnitude > 32767)
{
magnitude = 32767;
}
//adjust magnitude relative to the end of the dead zone
magnitude -= Gamepad.LeftThumbDeadZone;
//optionally normalize the magnitude with respect to its expected range
//giving a magnitude value of 0.0 to 1.0
normalizedMagnitude = magnitude / (32767 - Gamepad.LeftThumbDeadZone);
}
else //if the controller is in the deadzone zero out the magnitude
{
magnitude = 0.0;
normalizedMagnitude = 0.0;
// m_deviceX.Stop(6000);
}
m_deviceX.MoveContinuous(MotorDirection.Forward);
}
public MainPage()
{
this.InitializeComponent();
this.navigationHelper = new NavigationHelper(this);
this.navigationHelper.LoadState += navigationHelper_LoadState;
this.navigationHelper.SaveState += navigationHelper_SaveState;
connect();
XBOX_MODE = false;
Window.Current.CoreWindow.KeyDown += keyDownHandler;
Window.Current.CoreWindow.KeyUp += keyUpHandler;
rcControl = new Controller(0);
TimeSpan period = TimeSpan.FromMilliseconds(100);
//Periodic polling of the controller state
ThreadPoolTimer PeriodicTimer = ThreadPoolTimer.CreatePeriodicTimer((source) =>
{
if (!XBOX_MODE) return;
State s = rcControl.GetState();
//
// Update the UI thread by using the UI core dispatcher.
//
Dispatcher.RunAsync(CoreDispatcherPriority.High,
() =>
{
/**
* Checks the status of the dpad and left thumbstick and uses that to send commands
*
**/
if((s.Gamepad.Buttons & GamepadButtonFlags.DPadUp) > 0 || s.Gamepad.LeftThumbY > 10000)
{
send_to_board(1); //forward
UP_IMAGE.Source = (BitmapSource)Resources["UP_ACTIVE"];
}
else
{
send_to_board(5); //stop forward
UP_IMAGE.Source = (BitmapSource)Resources["UP_INACTIVE"];
}
if((s.Gamepad.Buttons & GamepadButtonFlags.DPadDown) > 0 || s.Gamepad.LeftThumbY < -10000)
{
send_to_board(3); //back
DOWN_IMAGE.Source = (BitmapSource)Resources["DOWN_ACTIVE"];
}
else
{
send_to_board(7); //stop down
DOWN_IMAGE.Source = (BitmapSource)Resources["DOWN_INACTIVE"];
}
if((s.Gamepad.Buttons & GamepadButtonFlags.DPadRight) > 0 || s.Gamepad.LeftThumbX > 10000){
send_to_board(2); //right
RIGHT_IMAGE.Source = (BitmapSource)Resources["RIGHT_ACTIVE"];
}
else
{
send_to_board(6); //stop right
RIGHT_IMAGE.Source = (BitmapSource)Resources["RIGHT_INACTIVE"];
}
if ((s.Gamepad.Buttons & GamepadButtonFlags.DPadLeft) > 0 || s.Gamepad.LeftThumbX < -10000)
{
send_to_board(4); //left
LEFT_IMAGE.Source = (BitmapSource)Resources["LEFT_ACTIVE"];
}
else
{
send_to_board(8); //stop left
LEFT_IMAGE.Source = (BitmapSource)Resources["LEFT_INACTIVE"];
}
});
}, period);
}
private void PollAndSendCameraCommands(Controller controller, BlockingCollection<string> commands, Dictionary<int, CameraState> cameraStates)
{
var previousState = controller.GetState();
int selectedCamera = 0; //Default camera is broom
int angleIncrement = 5;
while (controller.IsConnected)
{
var state = controller.GetState();
//Selecting camera to pan/tilt
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.B))
{
selectedCamera = 3;
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.X))
{
selectedCamera = 4;
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.RightShoulder))
{
selectedCamera = 0;
}
//De-Activating camera to pan/tilt
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.LeftShoulder))
{
string command = null;
bool userSelected = false;
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.B))
{
selectedCamera = 3;
if (cameraStates[3].Active) //Dectivating
command = "<C" + 3 + "F>";
else
command = "<C" + 3 + "O>";
cameraStates[3].Active = !cameraStates[3].Active;
userSelected = true;
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.X))
{
selectedCamera = 4;
if (cameraStates[4].Active) //Dectivating
command = "<C" + 4 + "F>";
else
command = "<C" + 4 + "O>";
cameraStates[4].Active = !cameraStates[4].Active;
userSelected = true;
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.RightShoulder))
{
selectedCamera = 0;
if (cameraStates[0].Active) //Dectivating
command = "<C" + 0 + "F>";
else
command = "<C" + 0 + "O>";
cameraStates[0].Active = !cameraStates[0].Active;
userSelected = true;
}
//Send command
if (userSelected)
{
commands.Add(command.ToString());
}
}
bool panning = false;
bool tilting = false;
//Actually panning/tilting
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadLeft)) //Left Pan
{
panning = true;
cameraStates[selectedCamera].Pan = "000";
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadRight)) //Right Pan
{
panning = true;
cameraStates[selectedCamera].Pan = "200";
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadUp)) //Up Tilt
{
if (cameraStates[selectedCamera].Tilt >= 90 - angleIncrement)
cameraStates[selectedCamera].Tilt = 90;
else
cameraStates[selectedCamera].Tilt += angleIncrement;
tilting = true;
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadDown)) //Down Tilt
{
if (cameraStates[selectedCamera].Tilt <= angleIncrement)
cameraStates[selectedCamera].Tilt = 0;
else
cameraStates[selectedCamera].Tilt -= angleIncrement;
tilting = true;
}
//Sending commands
if (panning)
{
string command = "<P" + selectedCamera + cameraStates[selectedCamera].Pan + ">";
//commands.Add(command.ToString());
CommandSender.Instance.UpdateCommand(command.ToString());
}
else
{
string command = "<P" + selectedCamera + "100>";
//commands.Add(command.ToString());
CommandSender.Instance.UpdateCommand(command.ToString());
}
if (tilting)
{
string command = "<T" + selectedCamera + getPaddedInt(cameraStates[selectedCamera].Tilt) + ">";
// commands.Add(command.ToString());
CommandSender.Instance.UpdateCommand(command.ToString());
}
previousState = state;
Thread.Sleep(POLLING_RATE);
}
}
private void PollAndSendMovementCommands(Controller controller, BlockingCollection<string> commands)
{
var previousState = controller.GetState();
int selectedCamera = 1; //Front camera is default
int angleIncrement = 5;
while (controller.IsConnected)
{
////////////////////////////////////////////////////////////////////////////Movement Control
var state = controller.GetState();
double LX = state.Gamepad.LeftThumbX;
double LY = state.Gamepad.LeftThumbY;
double RX = state.Gamepad.RightThumbX;
double RY = state.Gamepad.RightThumbY;
//Building commands for left motors
string leftDirection = LY > 0 ? "F" : "B";
int leftSpeed = (int)Math.Abs((LY * 255 / 32768));
//Minor deadzone settings
if (leftSpeed < 30) leftSpeed = 0;
else if (leftSpeed > 230) leftSpeed = 255;
if (RoverOperator.Content.MotorsViewModel.MotorVMActive)
{
StringBuilder leftCommand = new StringBuilder();
leftCommand.Append("<L");
string frontLeftMotorCommand = leftDirection + getPaddedInt(leftSpeed * (int)RoverOperator.Content.MotorsViewModel.FrontLeftMotorVM.Power / 100);
leftCommand.Append(frontLeftMotorCommand);
string middleLeftMotorCommand = leftDirection + getPaddedInt(leftSpeed * (int)RoverOperator.Content.MotorsViewModel.MiddleLeftMotorVM.Power / 100);
leftCommand.Append(middleLeftMotorCommand);
string backLeftMotorCommand = leftDirection + getPaddedInt(leftSpeed * (int)RoverOperator.Content.MotorsViewModel.BackLeftMotorVM.Power / 100);
leftCommand.Append(backLeftMotorCommand);
leftCommand.Append(">");
CommandSender.Instance.UpdateCommand(leftCommand.ToString());
if (logging) logger.Trace(leftCommand.ToString());
}
//Building commands for left motors
string rightDirection = RY > 0 ? "F" : "B";
int rightSpeed = (int)Math.Abs((RY * 255 / 32768));
//Minor deadzone settings
if (rightSpeed < 30) rightSpeed = 0;
else if (rightSpeed > 230) rightSpeed = 255;
if (RoverOperator.Content.MotorsViewModel.MotorVMActive)
{
StringBuilder rightCommand = new StringBuilder();
rightCommand.Append("<R");
string frontRightMotorCommand = rightDirection + getPaddedInt(rightSpeed * (int)RoverOperator.Content.MotorsViewModel.FrontRightMotorVM.Power / 100);
rightCommand.Append(frontRightMotorCommand);
string middleRightMotorCommand = rightDirection + getPaddedInt(rightSpeed * (int)RoverOperator.Content.MotorsViewModel.MiddleRightMotorVM.Power / 100);
rightCommand.Append(middleRightMotorCommand);
string backRightMotorCommand = rightDirection + getPaddedInt(rightSpeed * (int)RoverOperator.Content.MotorsViewModel.BackRightMotorVM.Power / 100);
rightCommand.Append(backRightMotorCommand);
rightCommand.Append(">");
CommandSender.Instance.UpdateCommand(rightCommand.ToString());
if (logging) logger.Trace(rightCommand.ToString());
}
////////////////////////////////////////////////////////////////////////////Camera Control
//Selecting camera to pan/tilt
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.Y))
{
selectedCamera = 1;
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.A))
{
selectedCamera = 2;
}
//De-Activating camera to pan/tilt
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.LeftShoulder))
{
string command = null;
bool userSelected = false;
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.Y))
{
selectedCamera = 1;
if (cameraStates[1].Active)
command = "<C" + 1 + "F>";
else
command = "<C" + 1 + "O>";
cameraStates[1].Active = !cameraStates[1].Active;
userSelected = true;
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.A))
{
selectedCamera = 2;
if (cameraStates[2].Active)
command = "<C" + 2 + "F>";
else
command = "<C" + 2 + "O>";
cameraStates[2].Active = !cameraStates[2].Active;
userSelected = true;
}
//Send command
if (userSelected)
{
commands.Add(command.ToString());
}
}
bool panning = false;
bool tilting = false;
//Actually panning/tilting
if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadLeft)) //Left Pan
{
panning = true;
cameraStates[selectedCamera].Pan = "000";
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadRight)) //Right Pan
{
panning = true;
cameraStates[selectedCamera].Pan = "200";
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadUp)) //Up Tilt
{
if (cameraStates[selectedCamera].Tilt >= 90 - angleIncrement)
cameraStates[selectedCamera].Tilt = 90;
else
cameraStates[selectedCamera].Tilt += angleIncrement;
tilting = true;
}
else if (state.Gamepad.Buttons.HasFlag(GamepadButtonFlags.DPadDown)) //Down Tilt
{
if (cameraStates[selectedCamera].Tilt <= angleIncrement)
cameraStates[selectedCamera].Tilt = 0;
else
cameraStates[selectedCamera].Tilt -= angleIncrement;
tilting = true;
}
//Sending commands
if (panning)
{
string command = "<P" + selectedCamera + cameraStates[selectedCamera].Pan + ">";
if (logging) logger.Trace(command.ToString());
//commands.Add(command.ToString());
CommandSender.Instance.UpdateCommand(command.ToString());
}
else
{
string command = "<P" + selectedCamera + "100>";
if (logging) logger.Trace(command.ToString());
// commands.Add(command.ToString());
CommandSender.Instance.UpdateCommand(command.ToString());
}
if (tilting)
{
string command = "<T" + selectedCamera + getPaddedInt(cameraStates[selectedCamera].Tilt) + ">";
//commands.Add(command.ToString());
CommandSender.Instance.UpdateCommand(command.ToString());
}
previousState = state;
Thread.Sleep(POLLING_RATE);
}
}
private void CaptureXInput()
{
var controller = new SXI.Controller((SXI.UserIndex)_joyInfo.XInputDevice);
var inputState = controller.GetState();
bool[] axisMoved = { false, false, false, false, false, false, false, false };
//AXIS
axisMoved[0] = GetAxisMovement(JoystickState.Axis[0], -inputState.Gamepad.LeftThumbY);
axisMoved[1] = GetAxisMovement(JoystickState.Axis[1], inputState.Gamepad.LeftThumbX);
axisMoved[2] = GetAxisMovement(JoystickState.Axis[2], -inputState.Gamepad.RightThumbY);
axisMoved[3] = GetAxisMovement(JoystickState.Axis[3], inputState.Gamepad.RightThumbX);
axisMoved[4] = GetAxisMovement(JoystickState.Axis[4], inputState.Gamepad.LeftTrigger * 129 < Joystick.Max_Axis ? inputState.Gamepad.LeftTrigger * 129 : Joystick.Max_Axis);
axisMoved[5] = GetAxisMovement(JoystickState.Axis[5], inputState.Gamepad.RightTrigger * 129 < Joystick.Max_Axis ? inputState.Gamepad.RightTrigger * 129 : Joystick.Max_Axis);
//POV
Pov.Position previousPov = JoystickState.Povs[0].Direction;
Pov.Position pov = Pov.Position.Centered;
if ((inputState.Gamepad.Buttons & SXI.GamepadButtonFlags.DPadUp) != 0)
{
pov |= Pov.Position.North;
}
else if ((inputState.Gamepad.Buttons & SXI.GamepadButtonFlags.DPadDown) != 0)
{
pov |= Pov.Position.South;
}
if ((inputState.Gamepad.Buttons & SXI.GamepadButtonFlags.DPadLeft) != 0)
{
pov |= Pov.Position.West;
}
else if ((inputState.Gamepad.Buttons & SXI.GamepadButtonFlags.DPadRight) != 0)
{
pov |= Pov.Position.East;
}
JoystickState.Povs[0].Direction = pov;
//BUTTONS
// Skip the first 4 as they are the DPad.
var previousButtons = JoystickState.Buttons;
for (int i = 0; i < 12; i++)
{
if (((int)inputState.Gamepad.Buttons & (1 << (i + 4))) != 0)
{
JoystickState.Buttons |= 1 << (i + 4);
}
else
{
JoystickState.Buttons &= ~(1 << (i + 4));
}
}
//Send Events
if (IsBuffered && EventListener != null)
{
var joystickEvent = new JoystickEventArgs(this, JoystickState);
// Axes
for (int index = 0; index < axisMoved.Length; index++)
{
if (axisMoved[index] == true && EventListener.AxisMoved(joystickEvent, index))
{
return;
}
}
//POV
if (previousPov != pov && !EventListener.PovMoved(joystickEvent, 0))
{
return;
}
//Buttons
for (int i = 4; i < 16; i++)
{
if (((previousButtons & (1 << i)) == 0) && JoystickState.IsButtonDown(i))
{
if (!EventListener.ButtonPressed(joystickEvent, i))
{
return;
}
}
else if (((previousButtons & (1 << i)) != 0) && !JoystickState.IsButtonDown(i))
{
if (!EventListener.ButtonReleased(joystickEvent, i))
{
return;
}
}
}
}
}
private static void StatePoll()
{
// Poll forever (each controller in turn.)
while (true)
{
if (_dispatcher == null)
continue;
foreach (var activeController in _activeControllers)
{
// Get the controller.
var controller = new Controller(activeController);
// Bail if it isn't connected.
if (!controller.IsConnected)
continue;
// Get the current state.
var state = controller.GetState();
// Fire events for the diff between states.
FireEventsForStateChange(activeController, _lastState.ContainsKey(activeController) ? _lastState[activeController] : (State?)null, state);
// Store current state so we can diff it on the next loop.
_lastState[activeController] = state;
}
}
}
