private void Poll()
{
int attempts = 0;
while (!stop_polling & state > state_.NO_JOYCONS)
{
SendRumble(rumble_obj.GetData());
int a = ReceiveRaw();
a = ReceiveRaw();
if (a > 0)
{
state = state_.IMU_DATA_OK;
attempts = 0;
}
else if (attempts > 1000)
{
state = state_.DROPPED;
DebugPrint("Connection lost. Is the Joy-Con connected?", DebugType.ALL);
break;
}
else
{
DebugPrint("Pause 5ms", DebugType.THREADING);
Thread.Sleep((Int32)5);
}
++attempts;
}
DebugPrint("End poll loop.", DebugType.THREADING);
}
private Thread PollThreadObj; // pro times out over time randomly if it was USB and then bluetooth??
private void Poll()
{
int attempts = 0;
while (!stop_polling & state > state_.NO_JOYCONS)
{
SendRumble(rumble_obj.GetData()); // Needed for EVERYTHING to not time out. Never remove pls
int a = ReceiveRaw();
if (a > 0)
{
state = state_.IMU_DATA_OK;
attempts = 0;
}
else if (attempts > 240)
{
state = state_.DROPPED;
form.AppendTextBox("Dropped.\r\n");
DebugPrint("Connection lost. Is the Joy-Con connected?", DebugType.ALL);
break;
}
else
{
//form.AppendTextBox("Pause 5ms");
Thread.Sleep((Int32)5);
}
++attempts;
}
}
public void Detach()
{
stop_polling = true;
if (xin != null)
{
xin.Disconnect(); xin.Dispose();
}
if (state > state_.NO_JOYCONS)
{
HIDapi.hid_set_nonblocking(handle, 0);
Subcommand(0x40, new byte[] { 0x0 }, 1);
//Subcommand(0x48, new byte[] { 0x0 }, 1); // Would turn off rumble?
if (isUSB)
{
byte[] a = Enumerable.Repeat((byte)0, 64).ToArray();
a[0] = 0x80; a[1] = 0x05; // Allow device to talk to BT again
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x06; // Allow device to talk to BT again
HIDapi.hid_write(handle, a, new UIntPtr(2));
}
}
if (state > state_.DROPPED)
{
HIDapi.hid_close(handle);
}
state = state_.NOT_ATTACHED;
}
private void Poll()
{
int attempts = 0;
while (!stop_polling & state > state_.NO_JOYCONS)
{
SendRumble(rumble_obj.GetData());
int a = ReceiveRaw();
a = ReceiveRaw();
if (a > 0)
{
state = state_.IMU_DATA_OK;
attempts = 0;
}
else if (attempts > 1000)
{
state = state_.DROPPED;
break;
}
else
{
Thread.Sleep((Int32)5);
}
++attempts;
}
}
private Thread PollThreadObj; // pro times out over time randomly if it was USB and then bluetooth??
private void Poll()
{
int attempts = 0;
Stopwatch watch = new Stopwatch();
watch.Start();
while (!stop_polling & state > state_.NO_JOYCONS)
{
if (isUSB || rumble_obj.t > 0)
{
SendRumble(rumble_obj.GetData());
}
else if (watch.ElapsedMilliseconds >= 1000)
{
// Send a no-op operation as heartbeat to keep connection alive.
// Do not send this too frequently, otherwise I/O would be too heavy and cause lag.
// Needed for both BLUETOOTH and USB to not time out. Never remove pls
SendRumble(rumble_obj.GetData());
watch.Restart();
}
int a = ReceiveRaw();
if (a > 0)
{
state = state_.IMU_DATA_OK;
attempts = 0;
}
else if (attempts > 240)
{
state = state_.DROPPED;
form.AppendTextBox("Dropped.\r\n");
DebugPrint("Connection lost. Is the Joy-Con connected?", DebugType.ALL);
break;
}
else if (a < 0)
{
// An error on read.
//form.AppendTextBox("Pause 5ms");
Thread.Sleep((Int32)5);
++attempts;
}
else if (a == 0)
{
// The non-blocking read timed out. No need to sleep.
// No need to increase attempts because it's not an error.
}
}
}
public void Detach()
{
stop_polling = true;
PrintArray(max, format: "Max {0:S}", d: DebugType.IMU);
PrintArray(sum, format: "Sum {0:S}", d: DebugType.IMU);
if (state > state_.NO_JOYCONS)
{
Subcommand(0x30, new byte[] { 0x0 }, 1);
Subcommand(0x40, new byte[] { 0x0 }, 1);
Subcommand(0x48, new byte[] { 0x0 }, 1);
Subcommand(0x3, new byte[] { 0x3f }, 1);
}
if (state > state_.DROPPED)
{
HIDapi.hid_close(handle);
}
state = state_.NOT_ATTACHED;
}
public void Detach()
{
stop_polling = true;
if (state > state_.NO_JOYCONS)
{
Subcommand(0x40, new byte[] { 0x0 }, 1);
Subcommand(0x48, new byte[] { 0x0 }, 1);
if (isUSB)
{
byte[] a = Enumerable.Repeat((byte)0, 64).ToArray();
a[0] = 0x80; a[1] = 0x05; // Allow device to talk to BT again
HIDapi.hid_write(handle, a, new UIntPtr(2));
}
}
if (state > state_.DROPPED)
{
HIDapi.hid_close(handle);
}
state = state_.NOT_ATTACHED;
}
public int Attach(byte leds_ = 0x0)
{
state = state_.ATTACHED;
byte[] a = { 0x0 };
// Input report mode
Subcommand(0x3, new byte[] { 0x3f }, 1, false);
a[0] = 0x1;
dump_calibration_data();
// Connect
a[0] = 0x01;
Subcommand(0x1, a, 1);
a[0] = 0x02;
Subcommand(0x1, a, 1);
a[0] = 0x03;
Subcommand(0x1, a, 1);
a[0] = leds_;
Subcommand(0x30, a, 1);
Subcommand(0x40, new byte[] { (imu_enabled ? (byte)0x1 : (byte)0x0) }, 1, true);
Subcommand(0x3, new byte[] { 0x30 }, 1, true);
Subcommand(0x48, new byte[] { 0x1 }, 1, true);
return(0);
}
public int Attach(byte leds_ = 0x0)
{
state = state_.ATTACHED;
// Make sure command is received
HIDapi.hid_set_nonblocking(handle, 0);
byte[] a = { 0x0 };
// Connect
if (!isUSB)
{
// Input report mode
Subcommand(0x03, new byte[] { 0x30 }, 1, false);
a[0] = 0x1;
dump_calibration_data();
}
else
{
Subcommand(0x03, new byte[] { 0x3f }, 1, false);
a = Enumerable.Repeat((byte)0, 64).ToArray();
Console.WriteLine("Using USB.");
a[0] = 0x80;
a[1] = 0x01;
HIDapi.hid_write(handle, a, new UIntPtr(2));
HIDapi.hid_read(handle, a, new UIntPtr(64));
if (a[2] != 0x3)
{
PadMacAddress = new PhysicalAddress(new byte[] { a[9], a[8], a[7], a[6], a[5], a[4] });
}
// USB Pairing
a = Enumerable.Repeat((byte)0, 64).ToArray();
a[0] = 0x80; a[1] = 0x02; // Handshake
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x03; // 3Mbit baud rate
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x02; // Handshake at new baud rate
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x04; // Prevent HID timeout
HIDapi.hid_write(handle, a, new UIntPtr(2));
dump_calibration_data();
}
a[0] = leds_;
Subcommand(0x30, a, 1);
Subcommand(0x40, new byte[] { (imu_enabled ? (byte)0x1 : (byte)0x0) }, 1, true);
Subcommand(0x3, new byte[] { 0x30 }, 1, true);
Subcommand(0x48, new byte[] { 0x1 }, 1, true);
Subcommand(0x41, new byte[] { 0x03, 0x00, 0x00, 0x01 }, 4, false); // higher gyro performance rate
DebugPrint("Done with init.", DebugType.COMMS);
HIDapi.hid_set_nonblocking(handle, 1);
return(0);
}
public int Attach(byte leds_ = 0x0, bool imu = true, float alpha = 0.01f, bool localize = false)
{
imu_enabled = imu;
do_localize = localize & imu;
filterweight = alpha;
state = state_.NOT_ATTACHED;
HIDapi.hid_init();
IntPtr ptr = HIDapi.hid_enumerate(vendor_id, 0x0);
if (ptr == IntPtr.Zero)
{
ptr = HIDapi.hid_enumerate(vendor_id_, 0x0);
if (ptr == IntPtr.Zero)
{
HIDapi.hid_free_enumeration(ptr);
DebugPrint("No Joy-Cons found.", DebugType.ALL);
state = state_.NO_JOYCONS;
return(-1);
}
}
hid_device_info enumerate = (hid_device_info)Marshal.PtrToStructure(ptr, typeof(hid_device_info));
if (enumerate.product_id == product_l)
{
isLeft = true;
DebugPrint("Left Joy-Con connected.", DebugType.ALL);
}
else if (enumerate.product_id == product_r)
{
DebugPrint("Right Joy-Con connected.", DebugType.ALL);
}
else
{
HIDapi.hid_free_enumeration(ptr);
DebugPrint("No Joy-Cons found.", DebugType.ALL);
state = state_.NO_JOYCONS;
return(-1);
}
handle = HIDapi.hid_open_path(enumerate.path);
HIDapi.hid_set_nonblocking(handle, 1);
HIDapi.hid_free_enumeration(ptr);
state = state_.ATTACHED;
byte[] a = { 0x0 };
// Input report mode
Subcommand(0x3, new byte[] { 0x3f }, 1, false);
a[0] = 0x1;
dump_calibration_data();
// Connect
a[0] = 0x01;
Subcommand(0x1, a, 1);
a[0] = 0x02;
Subcommand(0x1, a, 1);
a[0] = 0x03;
Subcommand(0x1, a, 1);
a[0] = leds_;
Subcommand(0x30, a, 1);
Subcommand(0x40, new byte[] { (imu_enabled ? (byte)0x1 : (byte)0x0) }, 1, true);
Subcommand(0x3, new byte[] { 0x30 }, 1, true);
Subcommand(0x48, new byte[] { 0x1 }, 1, true);
DebugPrint("Done with init.", DebugType.COMMS);
return(0);
}
