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ardupilot/Tools/ArdupilotMegaPlanner/JoystickSetup.cs

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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using Microsoft.DirectX.DirectInput;
using ArdupilotMega.Controls;
using ArdupilotMega.Utilities;
namespace ArdupilotMega
{
public partial class JoystickSetup : Form
{
bool startup = true;
int noButtons = 0;
public JoystickSetup()
{
InitializeComponent();
}
private void Joystick_Load(object sender, EventArgs e)
{
try
{
DeviceList joysticklist = Joystick.getDevices();
foreach (DeviceInstance device in joysticklist)
{
CMB_joysticks.Items.Add(device.ProductName);
}
}
catch { CustomMessageBox.Show("Error geting joystick list: do you have the directx redist installed?"); this.Close(); return; }
if (CMB_joysticks.Items.Count > 0)
CMB_joysticks.SelectedIndex = 0;
CMB_CH1.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
CMB_CH2.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
CMB_CH3.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
CMB_CH4.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
CMB_CH5.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
CMB_CH6.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
CMB_CH7.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
CMB_CH8.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
try
{
//CMB_CH1
CMB_CH1.Text = MainV2.config["CMB_CH1"].ToString();
CMB_CH2.Text = MainV2.config["CMB_CH2"].ToString();
CMB_CH3.Text = MainV2.config["CMB_CH3"].ToString();
CMB_CH4.Text = MainV2.config["CMB_CH4"].ToString();
CMB_CH5.Text = MainV2.config["CMB_CH5"].ToString();
CMB_CH6.Text = MainV2.config["CMB_CH6"].ToString();
CMB_CH7.Text = MainV2.config["CMB_CH7"].ToString();
CMB_CH8.Text = MainV2.config["CMB_CH8"].ToString();
//revCH1
revCH1.Checked = bool.Parse(MainV2.config["revCH1"].ToString());
revCH2.Checked = bool.Parse(MainV2.config["revCH2"].ToString());
revCH3.Checked = bool.Parse(MainV2.config["revCH3"].ToString());
revCH4.Checked = bool.Parse(MainV2.config["revCH4"].ToString());
revCH5.Checked = bool.Parse(MainV2.config["revCH5"].ToString());
revCH6.Checked = bool.Parse(MainV2.config["revCH6"].ToString());
revCH7.Checked = bool.Parse(MainV2.config["revCH7"].ToString());
revCH8.Checked = bool.Parse(MainV2.config["revCH8"].ToString());
//expo_ch1
expo_ch1.Text = MainV2.config["expo_ch1"].ToString();
expo_ch2.Text = MainV2.config["expo_ch2"].ToString();
expo_ch3.Text = MainV2.config["expo_ch3"].ToString();
expo_ch4.Text = MainV2.config["expo_ch4"].ToString();
expo_ch5.Text = MainV2.config["expo_ch5"].ToString();
expo_ch6.Text = MainV2.config["expo_ch6"].ToString();
expo_ch7.Text = MainV2.config["expo_ch7"].ToString();
expo_ch8.Text = MainV2.config["expo_ch8"].ToString();
CHK_elevons.Checked = bool.Parse(MainV2.config["joy_elevons"].ToString());
}
catch { } // IF 1 DOESNT EXIST NONE WILL
if (MainV2.joystick != null && MainV2.joystick.enabled)
{
timer1.Start();
BUT_enable.Text = "Disable";
}
startup = false;
}
int[] getButtonNumbers()
{
int[] temp = new int[128];
temp[0] = -1;
for (int a = 0; a < temp.Length - 1; a++)
{
temp[a + 1] = a;
}
return temp;
}
private void BUT_enable_Click(object sender, EventArgs e)
{
if (MainV2.joystick == null || MainV2.joystick.enabled == false)
{
try
{
if (MainV2.joystick != null)
MainV2.joystick.UnAcquireJoyStick();
}
catch { }
Joystick joy = new Joystick();
joy.setChannel(1, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH1.Text), revCH1.Checked, int.Parse(expo_ch1.Text));
joy.setChannel(2, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH2.Text), revCH2.Checked, int.Parse(expo_ch2.Text));
joy.setChannel(3, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH3.Text), revCH3.Checked, int.Parse(expo_ch3.Text));
joy.setChannel(4, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH4.Text), revCH4.Checked, int.Parse(expo_ch4.Text));
joy.setChannel(5, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH5.Text), revCH5.Checked, int.Parse(expo_ch5.Text));
joy.setChannel(6, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH6.Text), revCH6.Checked, int.Parse(expo_ch6.Text));
joy.setChannel(7, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH7.Text), revCH7.Checked, int.Parse(expo_ch7.Text));
joy.setChannel(8, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH8.Text), revCH8.Checked, int.Parse(expo_ch8.Text));
joy.elevons = CHK_elevons.Checked;
for (int f = 0; f < noButtons; f++)
{
string name = (f + 1).ToString();
try
{
joy.setButton(f, int.Parse(this.Controls.Find("cmbbutton" + name, false)[0].Text), this.Controls.Find("cmbaction" + name, false)[0].Text);
}
catch { CustomMessageBox.Show("Set Button "+ name + " Failed"); }
}
joy.start(CMB_joysticks.Text);
MainV2.joystick = joy;
MainV2.joystick.enabled = true;
BUT_enable.Text = "Disable";
//timer1.Start();
}
else
{
MAVLink.mavlink_rc_channels_override_t rc = new MAVLink.mavlink_rc_channels_override_t();
rc.target_component = MainV2.comPort.compid;
rc.target_system = MainV2.comPort.sysid;
rc.chan1_raw = 0;
rc.chan2_raw = 0;
rc.chan3_raw = 0;
rc.chan4_raw = 0;
rc.chan5_raw = 0;
rc.chan6_raw = 0;
rc.chan7_raw = 0;
rc.chan8_raw = 0;
MainV2.comPort.sendPacket(rc);
System.Threading.Thread.Sleep(20);
MainV2.comPort.sendPacket(rc);
System.Threading.Thread.Sleep(20);
MainV2.comPort.sendPacket(rc);
//timer1.Stop();
MainV2.joystick.enabled = false;
MainV2.joystick = null;
BUT_enable.Text = "Enable";
}
}
private void BUT_save_Click(object sender, EventArgs e)
{
//CMB_CH1
MainV2.config["CMB_CH1"] = CMB_CH1.Text;
MainV2.config["CMB_CH2"] = CMB_CH2.Text;
MainV2.config["CMB_CH3"] = CMB_CH3.Text;
MainV2.config["CMB_CH4"] = CMB_CH4.Text;
MainV2.config["CMB_CH5"] = CMB_CH5.Text;
MainV2.config["CMB_CH6"] = CMB_CH6.Text;
MainV2.config["CMB_CH7"] = CMB_CH7.Text;
MainV2.config["CMB_CH8"] = CMB_CH8.Text;
//revCH1
MainV2.config["revCH1"] = revCH1.Checked;
MainV2.config["revCH2"] = revCH2.Checked;
MainV2.config["revCH3"] = revCH3.Checked;
MainV2.config["revCH4"] = revCH4.Checked;
MainV2.config["revCH5"] = revCH5.Checked;
MainV2.config["revCH6"] = revCH6.Checked;
MainV2.config["revCH7"] = revCH7.Checked;
MainV2.config["revCH8"] = revCH8.Checked;
//expo_ch1
MainV2.config["expo_ch1"] = expo_ch1.Text;
MainV2.config["expo_ch2"] = expo_ch2.Text;
MainV2.config["expo_ch3"] = expo_ch3.Text;
MainV2.config["expo_ch4"] = expo_ch4.Text;
MainV2.config["expo_ch5"] = expo_ch5.Text;
MainV2.config["expo_ch6"] = expo_ch6.Text;
MainV2.config["expo_ch7"] = expo_ch7.Text;
MainV2.config["expo_ch8"] = expo_ch8.Text;
MainV2.config["joy_elevons"] = CHK_elevons.Checked;
for (int f = 0; f < noButtons; f++)
{
string name = (f + 1).ToString();
MainV2.config["butno" + name] = this.Controls.Find("cmbbutton" + name, false)[0].Text;
MainV2.config["butaction" + name] = this.Controls.Find("cmbaction" + name, false)[0].Text;
}
}
private void timer1_Tick(object sender, EventArgs e)
{
try
{
if (MainV2.joystick == null || MainV2.joystick.enabled == false)
{
//Console.WriteLine(DateTime.Now.Millisecond + " start ");
Joystick joy = MainV2.joystick;
if (joy == null)
{
joy = new Joystick();
joy.setChannel(1, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH1.Text), revCH1.Checked, int.Parse(expo_ch1.Text));
joy.setChannel(2, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH2.Text), revCH2.Checked, int.Parse(expo_ch2.Text));
joy.setChannel(3, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH3.Text), revCH3.Checked, int.Parse(expo_ch3.Text));
joy.setChannel(4, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH4.Text), revCH4.Checked, int.Parse(expo_ch4.Text));
joy.setChannel(5, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH5.Text), revCH5.Checked, int.Parse(expo_ch5.Text));
joy.setChannel(6, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH6.Text), revCH6.Checked, int.Parse(expo_ch6.Text));
joy.setChannel(7, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH7.Text), revCH7.Checked, int.Parse(expo_ch7.Text));
joy.setChannel(8, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH8.Text), revCH8.Checked, int.Parse(expo_ch8.Text));
joy.elevons = CHK_elevons.Checked;
joy.AcquireJoystick(CMB_joysticks.Text);
joy.name = CMB_joysticks.Text;
noButtons = joy.getNumButtons();
for (int f = 0; f < noButtons; f++)
{
string name = (f + 1).ToString();
doButtontoUI(name, 10, 290 + f * 25);
joy.setButton(f, int.Parse(this.Controls.Find("cmbbutton" + name, false)[0].Text), this.Controls.Find("cmbaction" + name, false)[0].Text);
}
MainV2.joystick = joy;
ThemeManager.ApplyThemeTo(this);
CMB_joysticks.SelectedIndex = CMB_joysticks.Items.IndexOf(joy.name);
}
MainV2.joystick.elevons = CHK_elevons.Checked;
MainV2.cs.rcoverridech1 = joy.getValueForChannel(1, CMB_joysticks.Text);
MainV2.cs.rcoverridech2 = joy.getValueForChannel(2, CMB_joysticks.Text);
MainV2.cs.rcoverridech3 = joy.getValueForChannel(3, CMB_joysticks.Text);
MainV2.cs.rcoverridech4 = joy.getValueForChannel(4, CMB_joysticks.Text);
MainV2.cs.rcoverridech5 = joy.getValueForChannel(5, CMB_joysticks.Text);
MainV2.cs.rcoverridech6 = joy.getValueForChannel(6, CMB_joysticks.Text);
MainV2.cs.rcoverridech7 = joy.getValueForChannel(7, CMB_joysticks.Text);
MainV2.cs.rcoverridech8 = joy.getValueForChannel(8, CMB_joysticks.Text);
//Console.WriteLine(DateTime.Now.Millisecond + " end ");
}
}
catch { }
progressBar1.Value = MainV2.cs.rcoverridech1;
progressBar2.Value = MainV2.cs.rcoverridech2;
progressBar3.Value = MainV2.cs.rcoverridech3;
progressBar4.Value = MainV2.cs.rcoverridech4;
horizontalProgressBar1.Value = MainV2.cs.rcoverridech5;
horizontalProgressBar2.Value = MainV2.cs.rcoverridech6;
horizontalProgressBar3.Value = MainV2.cs.rcoverridech7;
horizontalProgressBar4.Value = MainV2.cs.rcoverridech8;
try
{
for (int f = 0; f < noButtons; f++)
{
string name = (f + 1).ToString();
((HorizontalProgressBar)this.Controls.Find("hbar" + name, false)[0]).Value = MainV2.joystick.isButtonPressed(f) ? 100 : 0;
}
}
catch { } // this is for buttons - silent fail
}
private void CMB_joysticks_Click(object sender, EventArgs e)
{
CMB_joysticks.Items.Clear();
DeviceList joysticklist = Joystick.getDevices();
foreach (DeviceInstance device in joysticklist)
{
CMB_joysticks.Items.Add(device.ProductName);
}
if (CMB_joysticks.Items.Count > 0)
CMB_joysticks.SelectedIndex = 0;
}
private void revCH1_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick != null)
MainV2.joystick.setReverse(1, ((CheckBox)sender).Checked);
}
private void revCH2_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick != null)
MainV2.joystick.setReverse(2, ((CheckBox)sender).Checked);
}
private void revCH3_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick != null)
MainV2.joystick.setReverse(3, ((CheckBox)sender).Checked);
}
private void revCH4_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick != null)
MainV2.joystick.setReverse(4, ((CheckBox)sender).Checked);
}
private void BUT_detch1_Click(object sender, EventArgs e)
{
CMB_CH1.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
}
private void BUT_detch2_Click(object sender, EventArgs e)
{
CMB_CH2.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
}
private void BUT_detch3_Click(object sender, EventArgs e)
{
CMB_CH3.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
}
private void BUT_detch4_Click(object sender, EventArgs e)
{
CMB_CH4.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
}
private void CMB_CH1_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup || MainV2.joystick == null)
return;
MainV2.joystick.setAxis(1, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
}
private void CMB_CH2_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup || MainV2.joystick == null)
return;
MainV2.joystick.setAxis(2, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
}
private void CMB_CH3_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup || MainV2.joystick == null)
return;
MainV2.joystick.setAxis(3, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
}
private void CMB_CH4_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup || MainV2.joystick == null)
return;
MainV2.joystick.setAxis(4, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
}
private void cmbbutton_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
string name = ((ComboBox)sender).Name.Replace("cmbbutton", "");
MainV2.joystick.changeButton((int.Parse(name) - 1), int.Parse(((ComboBox)sender).Text));
}
private void BUT_detbutton_Click(object sender, EventArgs e)
{
string name = ((MyButton)sender).Name.Replace("mybut", "");
ComboBox cmb = (ComboBox)(this.Controls.Find("cmbbutton" + name, false)[0]);
cmb.Text = Joystick.getPressedButton(CMB_joysticks.Text).ToString();
}
void doButtontoUI(string name, int x, int y)
{
MyLabel lbl = new MyLabel();
ComboBox cmbbutton = new ComboBox();
ArdupilotMega.Controls.MyButton mybut = new ArdupilotMega.Controls.MyButton();
HorizontalProgressBar hbar = new HorizontalProgressBar();
ComboBox cmbaction = new ComboBox();
// do this here so putting in text works
this.Controls.AddRange(new Control[] { lbl, cmbbutton, mybut, hbar, cmbaction });
lbl.Location = new Point(x, y);
lbl.Size = new Size(47, 13);
lbl.Text = "Button " + name;
cmbbutton.Location = new Point(72, y);
cmbbutton.Size = new Size(70, 21);
cmbbutton.DataSource = getButtonNumbers();
cmbbutton.DropDownStyle = ComboBoxStyle.DropDownList;
cmbbutton.Name = "cmbbutton" + name;
if (MainV2.config["butno" + name] != null)
cmbbutton.Text = (MainV2.config["butno" + name].ToString());
cmbbutton.SelectedIndexChanged += new EventHandler(cmbbutton_SelectedIndexChanged);
mybut.Location = new Point(BUT_detch1.Left, y);
mybut.Size = BUT_detch1.Size;
mybut.Text = BUT_detch1.Text;
mybut.Name = "mybut" + name;
mybut.Click += new EventHandler(BUT_detbutton_Click);
hbar.Location = new Point(progressBar1.Left, y);
hbar.Size = progressBar1.Size;
hbar.Name = "hbar" + name;
cmbaction.Location = new Point(hbar.Right + 5, y);
cmbaction.Size = new Size(100, 21);
cmbaction.DataSource = Common.getModesList();
cmbaction.ValueMember = "Key";
cmbaction.DisplayMember = "Value";
cmbaction.DropDownStyle = ComboBoxStyle.DropDownList;
cmbaction.Name = "cmbaction" + name;
if (MainV2.config["butaction" + name] != null)
cmbaction.Text = MainV2.config["butaction" + name].ToString();
this.Height += 25;
}
private void CMB_joysticks_SelectedIndexChanged(object sender, EventArgs e)
{
try
{
if (MainV2.joystick != null && MainV2.joystick.enabled == false)
MainV2.joystick.UnAcquireJoyStick();
}
catch { }
}
private void JoystickSetup_FormClosed(object sender, FormClosedEventArgs e)
{
if (MainV2.joystick != null && MainV2.joystick.enabled == false)
{
MainV2.joystick.UnAcquireJoyStick();
MainV2.joystick = null;
}
}
private void CHK_elevons_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick == null)
{
return;
}
MainV2.joystick.elevons = CHK_elevons.Checked;
}
private void CMB_CH5_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup || MainV2.joystick == null)
return;
MainV2.joystick.setAxis(5, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
}
private void CMB_CH6_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup || MainV2.joystick == null)
return;
MainV2.joystick.setAxis(6, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
}
private void CMB_CH7_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup || MainV2.joystick == null)
return;
MainV2.joystick.setAxis(7, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
}
private void CMB_CH8_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup || MainV2.joystick == null)
return;
MainV2.joystick.setAxis(8, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
}
private void BUT_detch5_Click(object sender, EventArgs e)
{
CMB_CH5.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
}
private void BUT_detch6_Click(object sender, EventArgs e)
{
CMB_CH6.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
}
private void BUT_detch7_Click(object sender, EventArgs e)
{
CMB_CH7.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
}
private void BUT_detch8_Click(object sender, EventArgs e)
{
CMB_CH8.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
}
private void revCH5_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick != null)
MainV2.joystick.setReverse(5, ((CheckBox)sender).Checked);
}
private void revCH6_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick != null)
MainV2.joystick.setReverse(6, ((CheckBox)sender).Checked);
}
private void revCH7_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick != null)
MainV2.joystick.setReverse(7, ((CheckBox)sender).Checked);
}
private void revCH8_CheckedChanged(object sender, EventArgs e)
{
if (MainV2.joystick != null)
MainV2.joystick.setReverse(8, ((CheckBox)sender).Checked);
}
}
}