public MainForm()
{
this.FormBorderStyle = FormBorderStyle.None;
InitializeComponent();
ControllerData = new ControllerData();
state = new SteamController.SteamControllerState();
// 5s lookback for smoothing
sensorData = new SensorCollector(5, true);
LoadThemes();
LoadSettings();
if (File.Exists("ctrl.last"))
{
settings.Theme = File.ReadAllText("ctrl.last");
File.Delete("ctrl.last");
}
if (!string.IsNullOrWhiteSpace(settings.Theme) && File.Exists(settings.Theme))
{
LoadTheme(settings.Theme, false); // we'll just let this task spool off on its own and pray
}
if (!string.IsNullOrWhiteSpace(settings.Background))
{
try
{
this.BackColor = ColorTranslator.FromHtml(settings.Background);
}
catch { }
}
LoadControllers(true);
}
public Int32 GetAnalogControl(string inputName)
{
if (ActiveController == null)
{
return(0);
}
inputName = inputName.ToLowerInvariant();
SteamController.SteamControllerState state = ActiveController.GetState();
switch (inputName)
{
case "leftpadx": return(state.LeftPadX);
case "leftpady": return(state.LeftPadY);
case "rightpadx": return(state.RightPadX);
case "rightpady": return(state.RightPadY);
case "leftstickx": return(state.LeftStickX);
case "leftsticky": return(state.LeftStickY);
case "lefttrigger": return(state.LeftTrigger);
case "righttrigger": return(state.RightTrigger);
default: return(0);
}
}
private void MainForm_StateUpdated(object sender, SteamController.SteamControllerState e, int index)
{
txtTemp1.Invoke((MethodInvoker) delegate
{
// Running on the UI thread
txtTemp[index].Text =
$"Buttons.A = {e.Buttons.A}\r\n" +
$"Buttons.B = {e.Buttons.B}\r\n" +
$"Buttons.X = {e.Buttons.X}\r\n" +
$"Buttons.Y = {e.Buttons.Y}\r\n" +
"\r\n" +
$"Buttons.LeftBumper = {e.Buttons.LeftBumper}\r\n" +
$"Buttons.LeftTrigger = {e.Buttons.LeftTrigger}\r\n" +
$"Buttons.LeftGrip = {e.Buttons.LeftGrip}\r\n" +
"\r\n" +
$"Buttons.RightBumper = {e.Buttons.RightBumper}\r\n" +
$"Buttons.RightTrigger = {e.Buttons.RightTrigger}\r\n" +
$"Buttons.RightGrip = {e.Buttons.RightGrip}\r\n" +
"\r\n" +
$"Buttons.CenterRight = {e.Buttons.Start}\r\n" +
$"Buttons.Center = {e.Buttons.Steam}\r\n" +
$"Buttons.CenterLeft = {e.Buttons.Select}\r\n" +
"\r\n" +
$"Buttons.Up = {e.Buttons.Up}\r\n" +
$"Buttons.Down = {e.Buttons.Down}\r\n" +
$"Buttons.Left = {e.Buttons.Left}\r\n" +
$"Buttons.Right = {e.Buttons.Right}\r\n" +
"\r\n" +
$"Buttons.ThumbStick = {e.Buttons.StickClick}\r\n" +
$"Buttons.LeftPadTouch = {e.Buttons.LeftPadTouch}\r\n" +
$"Buttons.LeftPadPress = {e.Buttons.LeftPadClick}\r\n" +
$"Buttons.RightPadTouch = {e.Buttons.RightPadTouch}\r\n" +
$"Buttons.RightPadPress = {e.Buttons.RightPadClick}\r\n" +
"\r\n" +
$"LeftTrigger = {e.LeftTrigger}\r\n" +
$"RightTrigger = {e.RightTrigger}\r\n" +
"\r\n" +
$"LeftStickX = {e.LeftStickX}\r\n" +
$"LeftStickY = {e.LeftStickY}\r\n" +
$"LeftPadX = {e.LeftPadX}\r\n" +
$"LeftPadY = {e.LeftPadY}\r\n" +
$"RightPadX = {e.RightPadX}\r\n" +
$"RightPadY = {e.RightPadY}\r\n" +
"\r\n" +
$"AngularVelocityX = {e.AngularVelocityX}\r\n" +
$"AngularVelocityY = {e.AngularVelocityY}\r\n" +
$"AngularVelocityZ = {e.AngularVelocityZ}\r\n" +
$"OrientationW = {e.OrientationW}\r\n" +
$"OrientationX = {e.OrientationX}\r\n" +
$"OrientationY = {e.OrientationY}\r\n" +
$"OrientationZ = {e.OrientationZ}\r\n";
});
}
private void Render(object stateInfo)
{
var state = new SteamController.SteamControllerState();
if (ActiveController != null)
{
state = ActiveController.GetState();
sensorData.Update(state);
}
if (!this.IsDisposed && this.InvokeRequired && sensorData != null)
{
try
{
this.Invoke(new Action(() =>
{// force a full repaint
this.Invalidate();
}));
}
catch (ObjectDisposedException e) { /* eat the Disposed exception when exiting */ }
}
}
public SensorData Update(SteamController.SteamControllerState stateData)
{// atomic updates
if (0 == Interlocked.Exchange(ref usingResource, 1))
{
Data = new SensorData();
if (Smoothing)
{
Data.qW = qwEMA.NextValue(stateData.OrientationW * 1.0f / 32768);
Data.qX = qxEMA.NextValue(stateData.OrientationX * 1.0f / 32768);
Data.qY = qyEMA.NextValue(stateData.OrientationY * 1.0f / 32768);
Data.qZ = qzEMA.NextValue(stateData.OrientationZ * 1.0f / 32768);
Data.gX = (int)gxEMA.NextValue(stateData.AngularVelocityX);
Data.gY = (int)gyEMA.NextValue(stateData.AngularVelocityY);
Data.gZ = (int)gzEMA.NextValue(stateData.AngularVelocityZ);
/*
* Data.aX = (int)axEMA.NextValue(stateData.AccelerometerX);
* Data.aY = (int)ayEMA.NextValue(stateData.AccelerometerY);
* Data.aZ = (int)azEMA.NextValue(stateData.AccelerometerZ);
*/
}
else if (stateData != null)
{
Data.qW = stateData.OrientationW * 1.0f / 32768;
Data.qX = stateData.OrientationX * 1.0f / 32768;
Data.qY = stateData.OrientationY * 1.0f / 32768;
Data.qZ = stateData.OrientationZ * 1.0f / 32768;
Data.gX = stateData.AngularVelocityX;
Data.gY = stateData.AngularVelocityY;
Data.gZ = stateData.AngularVelocityZ;
/*
* Data.aX = stateData.AccelerometerX;
* Data.aY = stateData.AccelerometerY;
* Data.aZ = stateData.AccelerometerZ;
*/
}
Data.GyroTiltFactorX = (float)Data.gX * 0.0001f;
Data.GyroTiltFactorY = (float)Data.gY * 0.0001f;
Data.GyroTiltFactorZ = (float)Data.gZ * 0.0001f * -90;
// sensitivity scale factor 4 -> radian/sec
Data.calGyroX = Data.gX / 16.4f * deg2rad;
Data.calGyroY = Data.gY / 16.4f * deg2rad;
Data.calGyroZ = Data.gZ / 16.4f * deg2rad;
// sensitivity scale factor 0 -> units/g
/*
* Data.calAccelX = Data.aX * 1.0f / 16384;
* Data.calAccelY = Data.aY * 1.0f / 16384;
* Data.calAccelZ = Data.aZ * 1.0f / 16384;
*/
// accumulate smoothed statistical data on normalized gyro sensor magnitude
Data.NormGyroMag = (float)Math.Sqrt(
Math.Abs(Data.calGyroX * Data.calGyroX) +
Math.Abs(Data.calGyroY * Data.calGyroY) +
Math.Abs(Data.calGyroZ * Data.calGyroZ)
);
normData.NextValue(Data.NormGyroMag);
double[] eulAnglesYPR = ToEulerAngles(Data.qW, Data.qY, Data.qZ, Data.qX);
Data.Yaw = eulAnglesYPR[0] * 2.0f / Math.PI;
Data.Pitch = eulAnglesYPR[1] * 2.0f / Math.PI;
Data.Roll = -(eulAnglesYPR[2] * 2.0f / Math.PI);
if (double.IsNaN(Data.Yaw))
{
Data.Yaw = 0f;
}
if (double.IsNaN(Data.Pitch))
{
Data.Pitch = 0f;
}
if (double.IsNaN(Data.Roll))
{
Data.Roll = 0f;
}
// auto-calibrate on the fly over several seconds when near idle
calib.Calibrate(Data.Yaw, Data.Pitch, Data.Roll, Data.NormGyroMag);
Data.Yaw += calib.OffsetY;
Data.Pitch += calib.OffsetP;
Data.Roll += calib.OffsetR;
Data.QuatTiltFactorX = (float)((2 * Math.Abs(Mod((Data.Pitch - 1) * 0.5f, 2) - 1)) - 1);
Data.QuatTiltFactorY = (float)((2 * Math.Abs(Mod((Data.Roll - 1) * 0.5f, 2) - 1)) - 1);
Data.QuatTiltFactorZ = (float)(Data.Yaw * -90.0f);
Interlocked.Exchange(ref usingResource, 0);
}
return(Data);
}
public bool GetBasicControl(string inputName)
{
if (ActiveController == null)
{
return(false);
}
inputName = inputName.ToLowerInvariant();
SteamController.SteamControllerState state = ActiveController.GetState();
if (state.Buttons == null)
{
return(false);
}
switch (inputName)
{
case "a":
return(state.Buttons.A);
case "b":
return(state.Buttons.B);
case "x":
return(state.Buttons.X);
case "y":
return(state.Buttons.Y);
case "leftbumper":
case "lb":
return(state.Buttons.LeftBumper);
case "lefttrigger":
case "lt":
return(state.Buttons.LeftTrigger);
case "rightbumper":
case "rb":
return(state.Buttons.RightBumper);
case "righttrigger":
case "rt":
return(state.Buttons.RightTrigger);
case "leftgrip":
case "lg":
return(state.Buttons.LeftGrip);
case "rightgrip":
case "rg":
return(state.Buttons.RightGrip);
case "start":
return(state.Buttons.Start);
case "steam":
return(state.Buttons.Steam);
case "select":
return(state.Buttons.Select);
case "down":
return(state.Buttons.Down);
case "left":
return(state.Buttons.Left);
case "right":
return(state.Buttons.Right);
case "up":
return(state.Buttons.Up);
case "stickclick":
case "sc":
return(state.Buttons.StickClick);
case "leftpadtouch":
case "lpt":
return(state.Buttons.LeftPadTouch);
case "leftpadclick":
case "lpc":
return(state.Buttons.LeftPadClick);
case "rightpadtouch":
case "rpt":
return(state.Buttons.RightPadTouch);
case "rightpadclick":
case "rpc":
return(state.Buttons.RightPadClick);
default:
return(false);
}
}
