public static UdpUser ConnectTo(string hostname, int port)
{
var connection = new UdpUser();
connection.Client.Connect(hostname, port);
return(connection);
}
private void btn_connect_Click(object sender, EventArgs e)
{
{
if (run == 1)
{
run = 0;
btn_connect.Text = "Connect to drone";
}
else
{
run = 1;
btn_connect.Text = "Disconnect";
}
//create a new server
var server = new UdpListener();
//start listening for messages and copy the messages back to the client
Task.Factory.StartNew(async() =>
{
while (run == 1)
{
var received = await server.Receive();
}
});
//create a new client
var client = UdpUser.ConnectTo(txt_ipaddr.Text, Int32.Parse(txt_ipport.Text));
//wait for reply messages from server and send them to console
Task.Factory.StartNew(async() =>
{
while (true)
{
var received = await client.Receive();
rtxt_log.AppendText(Convert.ToString(received.Message));
if (received.Message[1] == 0xFF)
{
break;
}
}
});
if (run == 1)
{
client.Send(new byte[2] {
0x00, 0x01
});
}
else
{
client.Send(new byte[2] {
0x01, 0xFF
});
}
XInputDotNetPure.ButtonState prstart = 0, prback = 0, prleftStick = 0, prrightStick = 0, prleftShoulder = 0, prrightShoulder = 0, prguide = 0, pra = 0, prb = 0, prx = 0, pry = 0;
float prrigthX = 0, prrigthY = 0, prleftX = 0, prleftY = 0;
while (true)
{
GamePadState state = GamePad.GetState(PlayerIndex.One);
if (state.Buttons.Start != prstart)
{
client.Send(new byte[2] {
0x01, (byte)state.Buttons.Start
});
}
if (state.Buttons.Back != prback)
{
client.Send(new byte[2] {
0x02, (byte)state.Buttons.Back
});
}
if (state.Buttons.LeftStick != prleftStick)
{
client.Send(new byte[2] {
0x03, (byte)state.Buttons.LeftStick
});
}
if (state.Buttons.RightStick != prrightStick)
{
client.Send(new byte[2] {
0x04, (byte)state.Buttons.RightStick
});
}
if (state.Buttons.LeftShoulder != prleftShoulder)
{
client.Send(new byte[2] {
0x05, (byte)state.Buttons.LeftShoulder
});
}
if (state.Buttons.RightShoulder != prrightShoulder)
{
client.Send(new byte[2] {
0x06, (byte)state.Buttons.RightShoulder
});
}
if (state.Buttons.Guide != prguide)
{
client.Send(new byte[2] {
0x01, 0xFF
}); //TODO: need async thread
client.Send(new byte[2] {
0x07, (byte)state.Buttons.Guide
});
break;
}
if (state.Buttons.X != prx)
{
client.Send(new byte[2] {
0x08, (byte)state.Buttons.X
});
}
if (state.Buttons.Y != pry)
{
client.Send(new byte[2] {
0x09, (byte)state.Buttons.Y
});
}
if (state.Buttons.A != pra)
{
client.Send(new byte[2] {
0x0A, (byte)state.Buttons.A
});
}
if (state.Buttons.B != prb)
{
client.Send(new byte[2] {
0x0B, (byte)state.Buttons.B
});
}
if (state.ThumbSticks.Left.X != prrigthX)
{
client.Send(new byte[2] {
0x0C, (byte)((((state.ThumbSticks.Left.X + 1.0f) / 2.0f) * 255.0f) - 128.0f)
});
}
if (state.ThumbSticks.Left.Y != prrigthY)
{
client.Send(new byte[2] {
0x0D, (byte)((((state.ThumbSticks.Left.Y + 1.0f) / 2.0f) * 255.0f) - 128.0f)
});
}
if (state.ThumbSticks.Right.X != prleftX)
{
client.Send(new byte[2] {
0x0E, (byte)((((state.ThumbSticks.Right.X + 1.0f) / 2.0f) * 255.0f) - 128.0f)
});
}
if (state.ThumbSticks.Right.Y != prleftY)
{
client.Send(new byte[2] {
0x0F, (byte)((((state.ThumbSticks.Right.Y + 1.0f) / 2.0f) * 255.0f) - 128.0f)
});
}
Thread.Sleep(16);
}
}
}
