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; 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 { MessageBox.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))); 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(); //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()); //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(); 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.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 { MessageBox.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.generatePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc); System.Threading.Thread.Sleep(20); MainV2.comPort.generatePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc); System.Threading.Thread.Sleep(20); MainV2.comPort.generatePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc); //timer1.Stop(); MainV2.joystick.enabled = false; MainV2.joystick = null; BUT_enable.Text = "Enable"; } /* MainV2.cs.rcoverridech1 = pickchannel(1, CMB_CH1.Text, revCH1.Checked, int.Parse(expo_ch1.Text));//(ushort)(((int)state.Rz / 65.535) + 1000); MainV2.cs.rcoverridech2 = pickchannel(2, CMB_CH2.Text, revCH2.Checked, int.Parse(expo_ch2.Text));//(ushort)(((int)state.Y / 65.535) + 1000); MainV2.cs.rcoverridech3 = pickchannel(3, CMB_CH3.Text, revCH3.Checked, int.Parse(expo_ch3.Text));//(ushort)(1000 - ((int)slider[0] / 65.535) + 1000); MainV2.cs.rcoverridech4 = pickchannel(4, CMB_CH4.Text, revCH4.Checked, int.Parse(expo_ch4.Text));//(ushort)(((int)state.X / 65.535) + 1000); */ } 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; //revCH1 MainV2.config["revCH1"] = revCH1.Checked; MainV2.config["revCH2"] = revCH2.Checked; MainV2.config["revCH3"] = revCH3.Checked; MainV2.config["revCH4"] = revCH4.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["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.elevons = CHK_elevons.Checked; joy.AcquireJoystick(CMB_joysticks.Text); noButtons = joy.getNumButtons(); for (int f = 0; f < noButtons; f++) { string name = (f + 1).ToString(); doButtontoUI(name, 10, 195 + 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; MainV2.fixtheme(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); //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; 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 { } } 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(); MyButton mybut = new 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 = (Enum.GetValues(Common.getModes())); 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) { MainV2.joystick.elevons = CHK_elevons.Checked; } } }