private void joystick_button_Click(object sender, RoutedEventArgs e)
{
if (joystickView == null)
{
joystickView = new JoystickView(clientModel);
}
joystickView.Show();
joystick_button.Visibility = Visibility.Hidden;
close_joystick_button.Visibility = Visibility.Visible;
}
private void initializeControls()
{
// Load any saved settings
RobotParameters.ReadParametersFromDisk(this);
// Text
_potisionTextView = (TextView)FindViewById(Resource.Id.PositionTextView);
// Button Controls
Button initializeButton = (Button)FindViewById(Resource.Id.InitializationButton);
Button lightButton = (Button)FindViewById(Resource.Id.LightButton);
initializeButton.Click += InitializeButton_Click;
lightButton.Click += LightButton_Click;
// Joystick
JoystickView joystick = (JoystickView)FindViewById(Resource.Id.Joystick);
joystick.PositionChanged += Joystick_PositionChanged;
joystick.PositionStop += Joystick_PositionStop;
// Head and Arm buttons
_headLeftButton = (Button)FindViewById(Resource.Id.HeadLeftButton);
_headRightButton = (Button)FindViewById(Resource.Id.HeadRightButton);
_shoulderOpenButton = (Button)FindViewById(Resource.Id.ShoulderOpenButton);
_shoulderCloseButton = (Button)FindViewById(Resource.Id.ShoulderCloseButton);
_wristOpenButton = (Button)FindViewById(Resource.Id.WristOpenButton);
_wristCloseButton = (Button)FindViewById(Resource.Id.WristCloseButton);
_gripperOpenButton = (Button)FindViewById(Resource.Id.GripperOpenButton);
_gripperCloseButton = (Button)FindViewById(Resource.Id.GripperCloseButton);
_headLeftButton.Touch += Button_Touch;
_headRightButton.Touch += Button_Touch;
_shoulderOpenButton.Touch += Button_Touch;
_shoulderCloseButton.Touch += Button_Touch;
_wristOpenButton.Touch += Button_Touch;
_wristCloseButton.Touch += Button_Touch;
_gripperOpenButton.Touch += Button_Touch;
_gripperCloseButton.Touch += Button_Touch;
_timer = new Timer();
_timer.Interval = 1; // interval in milliseconds
_timer.Enabled = false;
_timer.Elapsed += TimerEvent;
_timer.AutoReset = true;
}
private static void SetupJoystickInfo(Window win)
{
LeftJoystickView = new JoystickView("Left Joystick")
{
X = 0,
Y = 0,
Width = Dim.Percent(50),
Height = 4
};
RightJoystickView = new JoystickView("Right Joystick")
{
X = Pos.Right(LeftJoystickView),
Y = Pos.Top(LeftJoystickView),
Width = Dim.Fill(),
Height = 4
};
win.Add(LeftJoystickView, RightJoystickView);
}
public SetupPage()
{
InitializeComponent();
Loaded += new RoutedEventHandler(async (object v, RoutedEventArgs e) =>
{
var vmm = DataContext as BaseViewModel;
await vmm.Loaded();
});
var vm = DataContext as SetupWindowViewModel;
if (vm.EditMachine == null)
{
vm.EditMachine = new Action<int>((mID) =>
{
var dlg = new MachineView();
var vmdlg = dlg.DataContext as MachineViewModel;
vmdlg.LoadMachine(mID);
dlg.ShowDialog();
});
}
if (vm.EditJoystick == null)
{
vm.EditJoystick = new Action(() =>
{
var dlg = new JoystickView();
var vmdlg = dlg.DataContext as JoystickView;
dlg.ShowDialog();
});
}
if (vm.MessageBox == null)
{
vm.MessageBox = new Func<string, string, MessageBoxButton, MessageBoxImage, MessageBoxResult>((messageBoxText, caption, button, icon) =>
{
return MessageBox.Show(messageBoxText, caption, button, icon);
});
}
}
public override View OnCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState)
{
var view = inflater.Inflate(Resource.Layout.FragmentJoystick, container, false);
// We have to capture every touch event otherwise the controls "under" this fragment receive it
view.Touch += (sender, args) => { args.Handled = true; };
// Initialize the controls
_imageViewCameraStream = view.FindViewById <ImageView>(Resource.Id.joystickCameraView);
_joystickViewLeft = view.FindViewById <JoystickView>(Resource.Id.joystickLeft);
_joystickViewRight = view.FindViewById <JoystickView>(Resource.Id.joystickRight);
_joystickViewLeft.ValuesChanged += delegate { JoystickViewOnValuesChanged(LeftJoystickIndex); };
_joystickViewRight.ValuesChanged += delegate { JoystickViewOnValuesChanged(RightJoystickIndex); };
_imageViewContextualMenuLeft =
view.FindViewById <ImageView>(Resource.Id.imageViewContextualMenuJoystickLeft);
_imageViewContextualMenuRight =
view.FindViewById <ImageView>(Resource.Id.imageViewContextualMenuJoystickRight);
_imageViewContextualMenuLeft.Click += delegate
{
ShowJoystickConfigurationOptionsMenu(_imageViewContextualMenuLeft, LeftJoystickIndex);
};
_imageViewContextualMenuRight.Click += delegate
{
ShowJoystickConfigurationOptionsMenu(_imageViewContextualMenuRight, RightJoystickIndex);
};
return(view);
}
private void JoystickViewOnValuesChanged(int joystickId)
{
// When a joystick has changed we calculate the motor values depending on the actual configuration
var configuration = GetRelatedJoystickConfiguration(joystickId);
JoystickView joystick = GetRelatedJoystickView(joystickId);
float motor1 = 0;
float motor2 = 0;
switch (configuration.JoystickMode)
{
case JoystickConfiguration.JoystickModes.Single:
motor1 = joystick.ThumbX;
motor2 = joystick.ThumbY;
break;
case JoystickConfiguration.JoystickModes.Syncron:
CalculateSyncronValues(joystick.ThumbAngle, joystick.ThumbDistance, out motor1, out motor2);
break;
}
SetMotor(configuration.MotorIndexes[0], motor1);
SetMotor(configuration.MotorIndexes[1], motor2);
}
// Use this for initialization
void Start()
{
joystick = GetComponent <JoystickView>();
fireButtonTransform = fireButton.transform;
}
