private void _gamepad_ValueComposed(object sender, Footbot e)
{
//Range_1
//0...20
//Range_2
//0...50
//Range_3
//0...100
if (Range1)
{
e.SpeedX = (e.SpeedX * 20) / 100;
e.SpeedY = (e.SpeedY * 20) / 100;
e.SpeedR = (e.SpeedR * 20) / 100;
}
if (Range2)
{
e.SpeedX = (e.SpeedX * 50) / 100;
e.SpeedY = (e.SpeedY * 50) / 100;
e.SpeedR = (e.SpeedR * 50) / 100;
}
SpeedXVal = e.SpeedX;
SpeedYVal = e.SpeedY;
SpeedRVal = e.SpeedR;
SpeedDribblerVal = e.SpeedDribbler;
DribblerEnableVal = e.DribblerEnable;
KickerVoltageLevelVal = e.KickerVoltageLevel;
KickerChargeEnableVal = e.KickerChargeEnable;
KickUpVal = e.KickUp;
KickForwardVal = e.KickForward;
var message = e.getBytes();
Send(message);
}
public static Footbot getStruct(byte[] data)
{
var calcCrc = Crc32(data, Crc32Index);
var messageCrc = GetIUint32(data, Crc32Index);
if (calcCrc != messageCrc)
{
return(null);
}
var result = new Footbot
{
BarrierState = data[BarrierStateIndex],
Q0 = GetIUint32(data, Q0Index),
Q1 = GetIUint32(data, Q1Index),
Q2 = GetIUint32(data, Q2Index),
Q3 = GetIUint32(data, Q3Index),
KickerChargeStatus = data[KickerChargeStatusIndex],
Voltage = GetIUint32(data, VoltageIndex),
Ip = GetIUint32(data, IpIndex),
LeftX = GetIUint32(data, LeftXIndex),
LeftY = GetIUint32(data, LeftYIndex),
RightX = GetIUint32(data, RightXIndex),
RightY = GetIUint32(data, RightYIndex),
};
return(result);
}
private void RefreshState()
{
while (true)
{
_state = _joystick.GetCurrentState();
if (_isimeToExit == true)
{
_joystick.Unacquire();
_joystick.Dispose();
return;
}
var btns = _state.GetButtons();
if (_isXBoxGamePad == false)
{
_speedX = Convert(_state.RotationZ, true);
_speedY = Convert(_state.Z, false);
}
else
{
_speedX = Convert(_state.RotationX);
_speedY = Convert(_state.RotationY, true);
}
_kickUp.SetState(btns[_kickUpIndex]);
_kickForward.SetState(btns[_kickForwardIndex]);
_kickerEnable.SetFixationState(btns[_kickerEnableIndex]);
_dribbler.SetFixationState(btns[_dribblerIndex]);
setPovButtons();
_speedR = Convert(_state.X);
var footBot = new Footbot()
{
SpeedX = _speedX,
SpeedY = _speedY,
SpeedR = -_speedR,
SpeedDribbler = _speedDribbler,
DribblerEnable = _dribbler.GetState(),
KickerVoltageLevel = _voltageLevel,
KickerChargeEnable = _kickerEnable.GetState(),
KickUp = _kickUp.GetState(),
KickForward = _kickForward.GetState()
};
ValueComposed?.Invoke(this, footBot);
Thread.Sleep(100);
}
}
private void Receiver()
{
try
{
var localPort = int.Parse(LocalPort);
_receivingUdpClient = new UdpClient(localPort);
IPEndPoint remoteIpEndPoint = null;
while (true)
{
if (_isTimeToExit)
{
return;
}
byte[] receiveBytes = _receivingUdpClient?.Receive(ref remoteIpEndPoint);
if (receiveBytes != null && ContainHead(receiveBytes, out int index))
{
if (receiveBytes.Length >= Footbot.MaxIncomePacketLenght)
{
_receiveTimeout.Restart();
byte[] incomeData = new byte[Footbot.MaxIncomePacketLenght];
Array.Copy(receiveBytes, index, incomeData, 0, incomeData.Length);
var incomeValues = Footbot.getStruct(incomeData);
BarrierState = incomeValues.BarrierState;
Q0 = incomeValues.Q0;
Q1 = incomeValues.Q1;
Q2 = incomeValues.Q2;
Q3 = incomeValues.Q3;
Ip = incomeValues.Ip;
Voltage = incomeValues.Voltage;
LeftX = incomeValues.LeftX;
LeftY = incomeValues.LeftY;
RightX = incomeValues.RightX;
RightY = incomeValues.RightY;
KickerChargeStatus = incomeValues.KickerChargeStatus;
}
}
Thread.Sleep(10);
}
}
catch (Exception ex)
{
Console.WriteLine("Возникло исключение: " + ex.ToString() + "\n " + ex.Message);
}
}
