private void OnJoystickMove(JoystickData data)
{
float angle360 = data.angle360;
if (m_Player.isDead)
{
return;
}
if (angle360 >= 45 && angle360 < 135)
{
m_Player.SetChangeDirection(Direction.Up);
}
else if (angle360 >= 135 && angle360 < 225)
{
m_Player.SetChangeDirection(Direction.Left);
}
else if (angle360 >= 225 && angle360 < 315)
{
m_Player.SetChangeDirection(Direction.Down);
}
else
{
m_Player.SetChangeDirection(Direction.Right);
}
// print(angle360);
}
private void OnJoystickMove(JoystickData data)
{
float mx = Mathf.Cos(data.radians) * speed * Time.deltaTime * data.power;
float my = Mathf.Sin(data.radians) * speed * Time.deltaTime * data.power;
target.Translate(mx, my, 0);
/*
* if (angle360 >= 45 && angle360 < 135)
* {
* print("UP");
* }
* else if (angle360 >= 135 && angle360 < 225)
* {
* print("Left");
* }
* else if (angle360 >= 225 && angle360 < 315)
* {
* print("Down");
* }
* else
* {
* print("Right");
* }
*/
// print(angle360);
}
private void OnJoystickMove(JoystickData data)
{
float mx = Mathf.Cos(data.radians) * speed * Time.deltaTime * data.power;
float mz = Mathf.Sin(data.radians) * speed * Time.deltaTime * data.power;
target.transform.Translate(mx, 0, mz);
}
public SendData()
{
Joysticks = new JoystickData[6];
for (int i = 0; i < 6; i++)
{
Joysticks[i] = new JoystickData();
}
DigitalHdrs = new long[10];
for (int i = 0; i < 10; i++)
{
DigitalHdrs[i] = 0;
}
DigitalMxp = new OutputDigitalMxp[16];
for (int i = 0; i < 16; i++)
{
DigitalMxp[i] = new OutputDigitalMxp();
}
Encoders = new EncoderData[8];
for (int i = 0; i < 8; i++)
{
Encoders[i] = new EncoderData();
}
MatchInfo = new MatchInfo();
RobotMode = new RobotMode();
}
public JoystickData Parse(byte[] data)
{
var joystickData = new JoystickData
{
ForwardBack = data[1],
LeftRight = data[2],
UpDown = data[4],
RotateLeftRight = data[3]
};
byte b5 = (byte)(data[5] - 0xF);
byte b6 = data[6];
// b[5](0:2) , b[6](0:3)
int ub = b6 & 0xF;
int ob = GetButtonNumber(b5) << 4;
joystickData.Buttons = (byte)(ob + ub);
// b[6](4:5) , b[5](4:7)
ub = (b5 & 0xF0) >> 4;
ob = b6 & 0x30;
joystickData.AdditionalButtons = (byte)(ob + ub);
return joystickData;
}
private void OnjoystickMove(JoystickData joysticData)
{
float moveX = Mathf.Cos(joysticData.radians) * moveSpeed *
Time.deltaTime * joysticData.power;
float moveZ = Mathf.Sin(joysticData.radians) * moveSpeed *
Time.deltaTime * joysticData.power;
moveTarget.Translate(new Vector3(moveX, 0, moveZ));
}
public void SendJoystickInput(JoystickData input)
{
int contentSize = 0;
BasicTypeSerializer.Put(SendContext, (UInt16)RGBLedDisplayCommand.UpdateJoystick);
BasicTypeSerializer.Put(SendContext, (ushort)input.X);
BasicTypeSerializer.Put(SendContext, (ushort)input.Y);
var buffer = SendContext.GetBuffer(out contentSize);
ComPort.Send(buffer, 0, (byte)contentSize);
}
private void OnMovementDataReceived(JoystickData data)
{
IsMoving = _canMoveCheck.Invoke() && (data.Direction.magnitude > _minimumJoystickMagnitude);
if (!IsMoving)
{
return;
}
if (!_hasMoved)
{
_controller.OnStartMoving();
}
_hasMoved = true;
_moveData = data;
}
public static void Main()
{
System.IO.Ports.SerialPort NUC_serialPort = new System.IO.Ports.SerialPort(CTRE.HERO.IO.Port1.UART, 115200);
NUC_serialPort.Open();
int s = 0;
NUC_serialPort.DiscardInBuffer();
/* loop forever */
while (true)
{
byte[] _rx = new byte[128];
CTRE.Phoenix.Watchdog.Feed();
if (NUC_serialPort.BytesToRead >= 128)
{
int size = NUC_serialPort.Read(_rx, 0, 128);
byte type = _rx[0];
if (type == DASHBOARD_TYPE)
{
DecodeDashboardState.DecodeDashboardStateData(_rx);
}
else if (type == JOYSTICK_TYPE)
{
JoystickData.DecodeJoystickData(_rx);
}
else
{
Debug.Print("INVALID TYPE: " + type);
}
}
/* wait a bit */
System.Threading.Thread.Sleep(1);
}
}
public virtual int RunFilter(ref int[] channelData, int channelCount)
{
var jsData = new JoystickData(channelCount, channelData) as IJoystickData;
var result = 0;
var jsFilterOut = Process(jsData, 1023, 0);
if (jsFilterOut != null && jsFilterOut.Count > 0 &&
jsFilterOut.Count <= Constants.MAX_JS_CH)
{
for (var i = 0; i < jsFilterOut.Count; i++)
{
channelData[i] = jsFilterOut.Data[i];
jsFilterOut.Data[i] = 0;
}
result = jsFilterOut.Count;
jsFilterOut.Count = 0;
}
return(result);
}
public override void ReportReceived(JoystickData report)
{
// Event appears 130 times per sec. Reduce it to 13 times (about 72ms solving package).
_reportArray[_count++] = report;
// Send one package with averaged data.
if (_count == _reportsInPackage)
{
_count = 0;
var averageReport = new JoystickData
{
UpDown = Convert.ToByte(_reportArray.Average(x => x.UpDown)),
RotateLeftRight = Convert.ToByte(_reportArray.Average(x => x.RotateLeftRight)),
ForwardBack = Convert.ToByte(_reportArray.Average(x => x.ForwardBack)),
LeftRight = Convert.ToByte(_reportArray.Average(x => x.LeftRight)),
Buttons = _reportArray.Last().Buttons,
Button4PressingDegree = Convert.ToByte(_reportArray.Average(x => x.Button4PressingDegree)),
Button5PressingDegree = Convert.ToByte(_reportArray.Average(x => x.Button5PressingDegree)),
Button6PressingDegree = Convert.ToByte(_reportArray.Average(x => x.Button6PressingDegree)),
Button7PressingDegree = Convert.ToByte(_reportArray.Average(x => x.Button7PressingDegree)),
AdditionalButtons = _reportArray.Last().AdditionalButtons,
AdditionalButton0PressingDegree = Convert.ToByte(_reportArray.Average(x => x.AdditionalButton0PressingDegree)),
AdditionalButton1PressingDegree = Convert.ToByte(_reportArray.Average(x => x.AdditionalButton1PressingDegree)),
AdditionalButton2PressingDegree = Convert.ToByte(_reportArray.Average(x => x.AdditionalButton2PressingDegree)),
AdditionalButton3PressingDegree = Convert.ToByte(_reportArray.Average(x => x.AdditionalButton3PressingDegree)),
AdditionalButton4PressingDegree = Convert.ToByte(_reportArray.Average(x => x.AdditionalButton4PressingDegree)),
AdditionalButton5PressingDegree = Convert.ToByte(_reportArray.Average(x => x.AdditionalButton5PressingDegree)),
AdditionalButton6PressingDegree = Convert.ToByte(_reportArray.Average(x => x.AdditionalButton6PressingDegree)),
AdditionalButton7PressingDegree = Convert.ToByte(_reportArray.Average(x => x.AdditionalButton7PressingDegree))
};
if (OnPackageAvailableEvent != null)
{
OnPackageAvailableEvent(averageReport.ToQuadCopterByteArray());
}
}
}
private void OnJoystickMove(JoystickData joystickData)
{
//Debug.Log(1);
moveTarget.GetComponent <move>().moveh = Mathf.Cos(joystickData.radians) * joystickData.power;
moveTarget.GetComponent <move>().movev = Mathf.Sin(joystickData.radians) * joystickData.power;
}
static JoystickHat TranslateJoystickHat(JoystickData joy, IOHIDElementRef elem)
{
JoystickHat hat;
if (joy.ElementToHat.TryGetValue(elem, out hat))
{
return hat;
}
return JoystickHat.Last + 1;
}
static JoystickButton TranslateJoystickButton(JoystickData joy, int usage)
{
JoystickButton button;
if (joy.ElementUsageToButton.TryGetValue(usage, out button))
{
return button;
}
return JoystickButton.Last + 1;
}
static void UpdateJoystick(JoystickData joy, IOHIDValueRef val)
{
IOHIDElementRef elem = NativeMethods.IOHIDValueGetElement(val);
HIDPage page = NativeMethods.IOHIDElementGetUsagePage(elem);
int usage = NativeMethods.IOHIDElementGetUsage(elem);
switch (page)
{
case HIDPage.GenericDesktop:
switch ((HIDUsageGD)usage)
{
case HIDUsageGD.X:
case HIDUsageGD.Y:
case HIDUsageGD.Z:
case HIDUsageGD.Rx:
case HIDUsageGD.Ry:
case HIDUsageGD.Rz:
case HIDUsageGD.Slider:
case HIDUsageGD.Dial:
case HIDUsageGD.Wheel:
short offset = GetJoystickAxis(val, elem);
JoystickAxis axis = TranslateJoystickAxis(usage);
if (axis >= JoystickAxis.Axis0 && axis <= JoystickAxis.Last)
{
joy.State.SetAxis(axis, offset);
}
break;
case HIDUsageGD.Hatswitch:
HatPosition position = GetJoystickHat(val, elem);
JoystickHat hat = TranslateJoystickHat(joy, elem);
if (hat >= JoystickHat.Hat0 && hat <= JoystickHat.Last)
{
joy.State.SetHat(hat, new JoystickHatState(position));
}
break;
}
break;
case HIDPage.Simulation:
switch ((HIDUsageSim)usage)
{
case HIDUsageSim.Rudder:
case HIDUsageSim.Throttle:
short offset = GetJoystickAxis(val, elem);
JoystickAxis axis = TranslateJoystickAxis(usage);
if (axis >= JoystickAxis.Axis0 && axis <= JoystickAxis.Last)
{
joy.State.SetAxis(axis, offset);
}
break;
}
break;
case HIDPage.Button:
{
bool pressed = GetJoystickButton(val, elem);
JoystickButton button = TranslateJoystickButton(joy, usage);
if (button >= JoystickButton.Button0 && button <= JoystickButton.Last)
{
joy.State.SetButton(button, pressed);
}
}
break;
}
}
JoystickData CreateJoystick(IntPtr sender, IntPtr device)
{
JoystickData joy = null;
// Retrieve all elements of this device
CFArrayRef element_array_ref = NativeMethods.IOHIDDeviceCopyMatchingElements(device, IntPtr.Zero, IntPtr.Zero);
if (element_array_ref != IntPtr.Zero)
{
joy = new JoystickData();
int axes = 0;
int buttons = 0;
int hats = 0;
CFStringRef name_ref = NativeMethods.IOHIDDeviceGetProperty(device, NativeMethods.IOHIDProductKey);
string name = CF.CFStringGetCString(name_ref);
Guid guid = CreateJoystickGuid(device, name);
List<int> button_elements = new List<int>();
List<IOHIDElementRef> hat_elements = new List<CFAllocatorRef>();
CFArray element_array = new CFArray(element_array_ref);
for (int i = 0; i < element_array.Count; i++)
{
IOHIDElementRef element_ref = element_array[i];
IOHIDElementType type = NativeMethods.IOHIDElementGetType(element_ref);
HIDPage page = NativeMethods.IOHIDElementGetUsagePage(element_ref);
int usage = NativeMethods.IOHIDElementGetUsage(element_ref);
switch (page)
{
case HIDPage.GenericDesktop:
switch ((HIDUsageGD)usage)
{
case HIDUsageGD.X:
case HIDUsageGD.Y:
case HIDUsageGD.Z:
case HIDUsageGD.Rx:
case HIDUsageGD.Ry:
case HIDUsageGD.Rz:
case HIDUsageGD.Slider:
case HIDUsageGD.Dial:
case HIDUsageGD.Wheel:
axes++;
break;
case HIDUsageGD.Hatswitch:
hats++;
hat_elements.Add(element_ref);
break;
}
break;
case HIDPage.Simulation:
switch ((HIDUsageSim)usage)
{
case HIDUsageSim.Rudder:
case HIDUsageSim.Throttle:
axes++;
break;
}
break;
case HIDPage.Button:
button_elements.Add(usage);
break;
}
}
if (axes > JoystickState.MaxAxes)
{
Debug.Print("[Mac] JoystickAxis limit reached ({0} > {1}), please report a bug at http://www.opentk.com",
axes, JoystickState.MaxAxes);
axes = JoystickState.MaxAxes;
}
if (buttons > JoystickState.MaxButtons)
{
Debug.Print("[Mac] JoystickButton limit reached ({0} > {1}), please report a bug at http://www.opentk.com",
buttons, JoystickState.MaxButtons);
buttons = JoystickState.MaxButtons;
}
if (hats > JoystickState.MaxHats)
{
Debug.Print("[Mac] JoystickHat limit reached ({0} > {1}), please report a bug at http://www.opentk.com",
hats, JoystickState.MaxHats);
hats = JoystickState.MaxHats;
}
joy.Name = name;
joy.Guid = guid;
joy.State.SetIsConnected(true);
joy.Capabilities = new JoystickCapabilities(axes, buttons, hats, true);
// Map button elements to JoystickButtons
for (int button = 0; button < button_elements.Count; button++)
{
joy.ElementUsageToButton.Add(button_elements[button], JoystickButton.Button0 + button);
}
for (int hat = 0; hat < hat_elements.Count; hat++)
{
joy.ElementToHat.Add(hat_elements[hat], JoystickHat.Hat0 + hat);
}
}
CF.CFRelease(element_array_ref);
return joy;
}
JoystickData CreateJoystick(IntPtr sender, IntPtr device)
{
JoystickData joy = null;
// Retrieve all elements of this device
CFArrayRef element_array_ref = NativeMethods.IOHIDDeviceCopyMatchingElements(device, IntPtr.Zero, IntPtr.Zero);
if (element_array_ref != IntPtr.Zero)
{
joy = new JoystickData();
int axes = 0;
int buttons = 0;
int dpads = 0;
CFStringRef name_ref = NativeMethods.IOHIDDeviceGetProperty(device, NativeMethods.IOHIDProductKey);
string name = CF.CFStringGetCString(name_ref);
Guid guid = CreateJoystickGuid(device, name);
List<int> button_elements = new List<int>();
CFArray element_array = new CFArray(element_array_ref);
for (int i = 0; i < element_array.Count; i++)
{
IOHIDElementRef element_ref = element_array[i];
IOHIDElementType type = NativeMethods.IOHIDElementGetType(element_ref);
HIDPage page = NativeMethods.IOHIDElementGetUsagePage(element_ref);
int usage = NativeMethods.IOHIDElementGetUsage(element_ref);
switch (page)
{
case HIDPage.GenericDesktop:
switch ((HIDUsageGD)usage)
{
case HIDUsageGD.X:
case HIDUsageGD.Y:
case HIDUsageGD.Z:
case HIDUsageGD.Rx:
case HIDUsageGD.Ry:
case HIDUsageGD.Rz:
case HIDUsageGD.Slider:
case HIDUsageGD.Dial:
case HIDUsageGD.Wheel:
axes++;
break;
case HIDUsageGD.Hatswitch:
dpads++;
break;
}
break;
case HIDPage.Simulation:
switch ((HIDUsageSim)usage)
{
case HIDUsageSim.Rudder:
case HIDUsageSim.Throttle:
axes++;
break;
}
break;
case HIDPage.Button:
button_elements.Add(usage);
break;
}
}
joy.Name = name;
joy.Guid = guid;
joy.State.SetIsConnected(true);
joy.Capabilities = new JoystickCapabilities(axes, buttons, true);
// Map button elements to JoystickButtons
for (int button = 0; button < button_elements.Count; button++)
{
joy.ElementUsageToButton.Add(button_elements[button], JoystickButton.Button0 + button);
}
}
CF.CFRelease(element_array_ref);
return joy;
}
private void OnMoveStart(JoystickData data)
{
//OnMovementDataReceived(data);
_hasMoved = false;
}
private void OnMoveEvent(JoystickData data)
{
OnMovementDataReceived(data);
}
public virtual void ReportReceived(JoystickData report)
{
Console.WriteLine("Data received.");
}
private void OnMoveEnd(JoystickData data)
{
StopMoving();
}
