/// <summary>
/// Function to update the values for the axes on the joystick.
/// </summary>
/// <param name="state">The current state of the controller.</param>
private void UpdateAxisValues(XI.Gamepad state)
{
if (Axis.TryGetValue(GamingDeviceAxis.LeftStickX, out GorgonGamingDeviceAxis xAxis))
{
xAxis.Value = state.LeftThumbX;
}
if (Axis.TryGetValue(GamingDeviceAxis.LeftStickY, out GorgonGamingDeviceAxis yAxis))
{
yAxis.Value = state.LeftThumbY;
}
if ((Info.Capabilities & GamingDeviceCapabilityFlags.SupportsSecondaryXAxis) == GamingDeviceCapabilityFlags.SupportsSecondaryXAxis)
{
Axis[GamingDeviceAxis.RightStickX].Value = state.RightThumbX;
}
if ((Info.Capabilities & GamingDeviceCapabilityFlags.SupportsSecondaryYAxis) == GamingDeviceCapabilityFlags.SupportsSecondaryYAxis)
{
Axis[GamingDeviceAxis.RightStickY].Value = state.RightThumbY;
}
if ((Info.Capabilities & GamingDeviceCapabilityFlags.SupportsThrottle) == GamingDeviceCapabilityFlags.SupportsThrottle)
{
Axis[GamingDeviceAxis.RightTrigger].Value = state.RightTrigger;
}
if ((Info.Capabilities & GamingDeviceCapabilityFlags.SupportsRudder) == GamingDeviceCapabilityFlags.SupportsRudder)
{
Axis[GamingDeviceAxis.LeftTrigger].Value = state.LeftTrigger;
}
}
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);
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="gamePadIndex"></param>
/// <param name="deadZone"></param>
public GamePad(GamePadIndex gamePadIndex, GamePadDeadZone deadZone)
{
this.Index = gamePadIndex;
this.deadZone = deadZone;
this.controller = new XInput.Controller(ConvertGamePadIndexToUserIndex(this.Index));
this.state = new XInput.Gamepad();
}
private void ShowButtonStatus(Gamepad pad)
{
pButtonA.BackColor = (pad.Buttons & GamepadButtonFlags.A) != 0 ? Color.Green : Color.White;
pButtonB.BackColor = (pad.Buttons & GamepadButtonFlags.B) != 0 ? Color.Red : Color.White;
pButtonX.BackColor = (pad.Buttons & GamepadButtonFlags.X) != 0 ? Color.Blue : Color.White;
pButtonY.BackColor = (pad.Buttons & GamepadButtonFlags.Y) != 0 ? Color.Yellow : Color.White;
pTriggerL.BackColor = Color.FromArgb(0, pad.LeftTrigger, 0);
pTriggerR.BackColor = Color.FromArgb(0, pad.RightTrigger, 0);
}
private void ShowButtonStatus(Gamepad pad)
{
pButtonA.BackColor = pad.Buttons.HasFlag(GamepadButtonFlags.A) ? Color.Green : Color.White;
pButtonB.BackColor = pad.Buttons.HasFlag(GamepadButtonFlags.B) ? Color.Red : Color.White;
pButtonX.BackColor = pad.Buttons.HasFlag(GamepadButtonFlags.X) ? Color.Blue : Color.White;
pButtonY.BackColor = pad.Buttons.HasFlag(GamepadButtonFlags.Y) ? Color.Yellow : Color.White;
pButtonBack.BackColor = pad.Buttons.HasFlag(GamepadButtonFlags.Back) ? Color.Black : Color.White;
pButtonStart.BackColor = pad.Buttons.HasFlag(GamepadButtonFlags.Start) ? Color.Black : Color.White;
pTriggerL.BackColor = Color.FromArgb(0, pad.LeftTrigger, 0);
pTriggerR.BackColor = Color.FromArgb(0, pad.RightTrigger, 0);
}
public bool GetCurrentState(out Gamepad gamepad)
{
if (controller.IsConnected)
{
gamepad = controller.GetState().Gamepad;
return true;
}
else
{
gamepad = new Gamepad();
return false;
}
}
public void Update()
{
if (!connected)
{
return;
}
gamepad = controller.GetState().Gamepad;
leftThumb.X = (int)((Math.Abs((float)gamepad.LeftThumbX) < deadband) ? 0 : (float)gamepad.LeftThumbX / short.MinValue * -100);
leftThumb.Y = (int)((Math.Abs((float)gamepad.LeftThumbY) < deadband) ? 0 : (float)gamepad.LeftThumbY / short.MaxValue * 100);
rightThumb.X = (int)((Math.Abs((float)gamepad.RightThumbX) < deadband) ? 0 : (float)gamepad.RightThumbX / short.MaxValue * 100);
rightThumb.Y = (int)((Math.Abs((float)gamepad.RightThumbY) < deadband) ? 0 : (float)gamepad.RightThumbY / short.MaxValue * 100);
leftTrigger = gamepad.LeftTrigger;
rightTrigger = gamepad.RightTrigger;
}
private void ShowDPad(Gamepad pad)
{
Graphics g = pDPad.CreateGraphics();
g.Clear(Color.White);
int angle = 0;
int offset = 0;
if ((pad.Buttons & GamepadButtonFlags.DPadUp) != 0)
{
angle = 270;
offset = 45;
}
if ((pad.Buttons & GamepadButtonFlags.DPadDown) != 0)
{
angle = 90;
offset = 45;
}
if ((pad.Buttons & GamepadButtonFlags.DPadLeft) != 0)
{
if (angle == 270)
angle = 225;
else if (angle == 90)
angle = 135;
else
angle = 180;
offset = 45;
}
if ((pad.Buttons & GamepadButtonFlags.DPadRight) != 0)
{
if (angle == 270)
angle = 315;
else if (angle == 90)
angle = 45;
else
angle = 0;
offset = 45;
}
g.FillPie(Brushes.Red, 0, 0, 100, 100, angle - 22.5F, offset);
}
private void ShowJoyAxis(Gamepad pad)
{
int leftL = (pad.LeftThumbX * 50) / 32768;
int topL = (pad.LeftThumbY * 50) / -32768;
if (leftL < 0)
{
btn_left.Visibility = Visibility.Collapsed;
}
else if (leftL == 0)
{
btn_left.Visibility = Visibility.Visible;
}
if (leftL > 0)
{
btn_right.Visibility = Visibility.Collapsed;
}
else if (leftL == 0)
{
btn_right.Visibility = Visibility.Visible;
}
if (topL < 0)
{
btn_up.Visibility = Visibility.Collapsed;
}
else if (leftL == 0)
{
btn_up.Visibility = Visibility.Visible;
}
if (topL > 0)
{
btn_down.Visibility = Visibility.Collapsed;
}
else if (topL == 0)
{
btn_down.Visibility = Visibility.Visible;
}
}
private bool IsGamepadLTriggerPressed(Gamepad pad, byte threshold = 30)
{
return pad.LeftTrigger >= threshold;
}
/// <summary>
/// Updates the state of the GamePad.
/// </summary>
public void Update()
{
if (this.controller.IsConnected)
{
this.oldState = this.state;
this.state = this.controller.GetState().Gamepad;
this.LeftThumbStick = ApplyThumbStickDeadZone(new Vector2(ConvertThumbStickAxisValue(this.state.LeftThumbX), -ConvertThumbStickAxisValue(this.state.LeftThumbY)), this.deadZone.LeftThumbStick);
this.RightThumbStick = ApplyThumbStickDeadZone(new Vector2(ConvertThumbStickAxisValue(this.state.RightThumbX), -ConvertThumbStickAxisValue(this.state.RightThumbY)), this.deadZone.RightThumbStick);
this.LeftTrigger = ConvertTriggerValue(this.state.LeftTrigger);
this.RightTrigger = ConvertTriggerValue(this.state.RightTrigger);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="NormalizedGamepad"/> class.
/// </summary>
/// <param name="gamepad">The gamepad to get normalized values for.</param>
public NormalizedGamepad(Gamepad gamepad)
{
pad = gamepad;
}
internal ControllerState(Gamepad state)
{
this.state = state;
}
/// <summary>
/// Querries all current input states.
/// </summary>
public IEnumerable <InputStateBase> GetInputStates()
{
// Update connected states first
for (int loop = 0; loop < m_controllers.Length; loop++)
{
bool isConnected = m_controllers[loop].IsConnected;
if (!isConnected)
{
m_states[loop].NotifyConnected(false);
continue;
}
m_states[loop].NotifyConnected(true);
// Query all state structures
XI.State xiState = m_controllers[loop].GetState();
XI.Gamepad xiGamepad = xiState.Gamepad;
// Convert float values
GamepadReportedState repState = new GamepadReportedState()
{
LeftThumbstickX = EngineMath.Clamp((float)xiGamepad.LeftThumbX / (float)short.MaxValue, -1f, 1f),
LeftThumbstickY = EngineMath.Clamp((float)xiGamepad.LeftThumbY / (float)short.MaxValue, -1f, 1f),
LeftTrigger = EngineMath.Clamp((float)xiGamepad.LeftTrigger / 255f, 0f, 1f),
RightThumbstickX = EngineMath.Clamp((float)xiGamepad.RightThumbX / (float)short.MaxValue, -1f, 1f),
RightThumbstickY = EngineMath.Clamp((float)xiGamepad.RightThumbY / (float)short.MaxValue, -1f, 1f),
RightTrigger = EngineMath.Clamp((float)xiGamepad.RightTrigger / 255f, 0, 1f)
};
// Convert button states
GamepadButton pressedButtons = GamepadButton.None;
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.A))
{
pressedButtons |= GamepadButton.A;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.B))
{
pressedButtons |= GamepadButton.B;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.Back))
{
pressedButtons |= GamepadButton.View;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.DPadDown))
{
pressedButtons |= GamepadButton.DPadDown;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.DPadLeft))
{
pressedButtons |= GamepadButton.DPadLeft;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.DPadRight))
{
pressedButtons |= GamepadButton.DPadRight;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.DPadUp))
{
pressedButtons |= GamepadButton.DPadUp;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.LeftShoulder))
{
pressedButtons |= GamepadButton.LeftShoulder;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.LeftThumb))
{
pressedButtons |= GamepadButton.LeftThumbstick;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.RightShoulder))
{
pressedButtons |= GamepadButton.RightShoulder;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.RightThumb))
{
pressedButtons |= GamepadButton.RightThumbstick;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.Start))
{
pressedButtons |= GamepadButton.Menu;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.X))
{
pressedButtons |= GamepadButton.X;
}
if (xiGamepad.Buttons.HasFlag(XI.GamepadButtonFlags.Y))
{
pressedButtons |= GamepadButton.Y;
}
repState.Buttons = pressedButtons;
// Report controller state to the system
m_states[loop].NotifyState(repState);
}
// Now return all input states
for (int loop = 0; loop < m_states.Length; loop++)
{
yield return(m_states[loop]);
}
}
private void ShowButtonStatus(Gamepad pad)
{
if ((pad.Buttons & GamepadButtonFlags.A) != 0)
{
btn_circle.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.Buttons & GamepadButtonFlags.A) == 0)
{
btn_circle.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.B) != 0)
{
btn_cross.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.Buttons & GamepadButtonFlags.B) == 0)
{
btn_cross.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.X) != 0)
{
btn_triangle.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.Buttons & GamepadButtonFlags.X) == 0)
{
btn_triangle.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.Y) != 0)
{
btn_square.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.Buttons & GamepadButtonFlags.Y) == 0)
{
btn_square.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.Back) != 0)
{
btn_select.Visibility = Visibility.Collapsed;// hide
BT_Controll.writeData_SerialPort(ControlConstant.DECREASE_GRIPPER_TORGUE);
//System.Threading.Thread.Sleep(200);
}
else if ((pad.Buttons & GamepadButtonFlags.Back) == 0)
{
btn_select.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.Start) != 0)
{
btn_start.Visibility = Visibility.Collapsed;// hide
BT_Controll.writeData_SerialPort(ControlConstant.CLOSE_MANDIBLES);
//System.Threading.Thread.Sleep(200);
}
else if ((pad.Buttons & GamepadButtonFlags.Start) == 0)
{
btn_start.Visibility = Visibility.Visible;// visible
}
if ((pad.LeftTrigger) != 0)
{
L1.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.LeftTrigger) == 0)
{
L1.Visibility = Visibility.Visible;// visible
}
if ((pad.RightTrigger) != 0)
{
R1.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.RightTrigger) == 0)
{
R1.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.LeftShoulder) != 0)
{
L2.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.Buttons & GamepadButtonFlags.LeftShoulder) == 0)
{
L2.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.RightShoulder) != 0)
{
R2.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.Buttons & GamepadButtonFlags.RightShoulder) == 0)
{
R2.Visibility = Visibility.Visible;// visible
}
}
private void ShowDPad(Gamepad pad)
{
if ((pad.Buttons & GamepadButtonFlags.DPadUp) != 0)
{
btn_up.Visibility = Visibility.Collapsed;// hide
if (Open)
{
//BT_Controll.writeData_SerialPort(ControlConstant.DECREASE_GRIPPER_TORGUE);
}
}
else if ((pad.Buttons & GamepadButtonFlags.DPadUp) == 0)
{
btn_up.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.DPadDown) != 0)
{
btn_down.Visibility = Visibility.Collapsed;// hide
//BT_Controll.writeData_SerialPort(ControlConstant.DECREASE_GRIPPER_TORGUE);
}
else if ((pad.Buttons & GamepadButtonFlags.DPadDown) == 0)
{
btn_down.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.DPadLeft) != 0)
{
btn_left.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.Buttons & GamepadButtonFlags.DPadLeft) == 0)
{
btn_left.Visibility = Visibility.Visible;// visible
}
if ((pad.Buttons & GamepadButtonFlags.DPadRight) != 0)
{
btn_right.Visibility = Visibility.Collapsed;// hide
}
else if ((pad.Buttons & GamepadButtonFlags.DPadRight) == 0)
{
btn_right.Visibility = Visibility.Visible;// visible
}
}
private void ShowLeftAxis(Gamepad pad)
{
Graphics g = pLeft.CreateGraphics();
g.Clear(System.Drawing.Color.White);
int leftL = (pad.LeftThumbX * 50) / 32768;
int topL = (pad.LeftThumbY * 50) / -32768;
g.FillEllipse(Brushes.Red, leftL + 45, topL + 45, 10, 10);
}
// Метод, который вызывается в потоке и служит для обработки джойстика и
// проверки его подключения
public void CheckConnectionAndPolling()
{
IsConnected = _controller.IsConnected;
if (_isConnected)
{
_gamepad = _controller.GetState().Gamepad;
PollJoystick();
PollButtons();
PollLeftAndRightTriggers(NewMaxRightTrigger, NewMaxLeftTrigger);
}
}
