public static InputState MixInput( InputState Keyboard, InputState Gamepad, InputState Kinect )
{
if ( Keyboard == null && Gamepad == null && Kinect == null)
{
return null;
}
else
{
if ( Keyboard == null )
{
Keyboard = new InputState();
}
if ( Gamepad == null )
{
Gamepad = new InputState();
}
if ( Kinect == null )
{
Kinect = new InputState();
}
InputState MixedInput = new InputState();
if ( Keyboard.CameraSwap || Gamepad.CameraSwap || Kinect.CameraSwap )
MixedInput.CameraSwap = true;
if ( Keyboard.Emergency || Gamepad.Emergency || Kinect.Emergency )
MixedInput.Emergency = true;
if ( Keyboard.FlatTrim || Gamepad.FlatTrim || Kinect.FlatTrim )
MixedInput.FlatTrim = true;
if ( Keyboard.Hover || Gamepad.Hover || Kinect.Hover )
MixedInput.Hover = true;
if ( Keyboard.Land || Gamepad.Land || Kinect.Land )
MixedInput.Land = true;
if ( Keyboard.SpecialAction || Gamepad.SpecialAction || Kinect.SpecialAction )
MixedInput.SpecialAction = true;
if ( Keyboard.TakeOff || Gamepad.TakeOff || Kinect.TakeOff )
MixedInput.TakeOff = true;
if ( Gamepad.Gaz != 0 && (Keyboard.Gaz != 0 || Kinect.Gaz != 0) )
{
MixedInput.Gaz = Gamepad.Gaz;
}
else if ( Keyboard.Gaz != 0 && Kinect.Gaz != 0 )
{
MixedInput.Gaz = Keyboard.Gaz;
}
else
{
MixedInput.Gaz += Kinect.Gaz;
MixedInput.Gaz += Keyboard.Gaz;
MixedInput.Gaz += Gamepad.Gaz;
}
if ( Gamepad.Pitch != 0 && (Keyboard.Pitch != 0 || Kinect.Pitch != 0) )
{
MixedInput.Pitch = Gamepad.Pitch;
}
else if ( Keyboard.Pitch != 0 && Kinect.Pitch != 0 )
{
MixedInput.Pitch = Keyboard.Pitch;
}
else
{
MixedInput.Pitch += Kinect.Pitch;
MixedInput.Pitch += Keyboard.Pitch;
MixedInput.Pitch += Gamepad.Pitch;
}
if ( Gamepad.Roll != 0 && (Keyboard.Roll != 0 || Kinect.Roll != 0) )
{
MixedInput.Roll = Gamepad.Roll;
}
else if ( Keyboard.Roll != 0 && Kinect.Roll != 0 )
{
MixedInput.Roll = Keyboard.Roll;
}
else
{
MixedInput.Roll += Kinect.Roll;
MixedInput.Roll += Keyboard.Roll;
MixedInput.Roll += Gamepad.Roll;
}
if ( Gamepad.Yaw != 0 && (Keyboard.Yaw != 0 || Kinect.Yaw != 0) )
{
MixedInput.Yaw = Gamepad.Yaw;
}
else if (Keyboard.Yaw != 0 && Kinect.Yaw != 0)
{
MixedInput.Yaw = Keyboard.Yaw;
}
else
{
MixedInput.Yaw += Kinect.Yaw;
MixedInput.Yaw += Keyboard.Yaw;
MixedInput.Yaw += Gamepad.Yaw;
}
return MixedInput;
}
}
public void MixInputAndProcess(InputState Keyboard,InputState Gamepad, InputState Kinect)
{
if ( Keyboard.Equals( Gamepad ) )
{
Process( Gamepad );
}
else
{
InputState MixedInput = MixInput( Keyboard, Gamepad, Kinect );
if ( MixedInput != null )
{
Process( MixedInput );
}
}
}
public RideOnMotion.Inputs.InputState GetCurrentControlInput(RideOnMotion.Inputs.InputState _lastInputState)
{
// TODO test
if (roll != _lastInputState.Roll || pitch != _lastInputState.Pitch || yaw != _lastInputState.Yaw || gaz != _lastInputState.Gaz || cameraSwap != _lastInputState.CameraSwap || takeOff != _lastInputState.TakeOff ||
land != _lastInputState.Land || hover != _lastInputState.Hover || emergency != _lastInputState.Emergency || flatTrim != _lastInputState.FlatTrim || specialActionButton != _lastInputState.SpecialAction)
{
RideOnMotion.Inputs.InputState newInputState = new RideOnMotion.Inputs.InputState(roll, pitch, yaw, gaz, cameraSwap, takeOff, land, hover, emergency, flatTrim, specialActionButton);
return newInputState;
}
else
{
return null;
}
}
/// <summary>
/// Kinect sensor input controller.
/// Handles drone control through a Kinect sensor.
/// </summary>
public KinectSensorController()
{
this.DepthImageEnabled = true;
SetSkeletonSmoothingEnabled( false );
int deviceCount = KinectSensor.KinectSensors.Count; // Blocking call (USB devices polling).
TriggerButtons = new ObservableCollectionEx<ICaptionArea>();
initTriggerZones( TRIGGER_BUTTON_WIDTH, TRIGGER_BUTTON_HEIGHT );
this.InputMenu = PrepareInputMenuItem();
this.InputStatusChanged += OnInputStatusChanged;
_interactionClient = new InteractionClient();
if ( deviceCount > 0 )
{
KinectSensor kinectSensor = KinectSensor.KinectSensors.Where( item => item.Status == KinectStatus.Connected ).FirstOrDefault();
initializeKinectSensor( kinectSensor );
}
KinectSensor.KinectSensors.StatusChanged += sensors_StatusChanged;
this._inputState = new InputState();
this.InputUIControl = new KinectSensorControllerUI( this );
ReleaseLeftHand.Interval = new TimeSpan( 0, 0, 2 );
ReleaseLeftHand.Tick += new EventHandler( OnReleaseLeftHand );
ReleaseRightHand.Interval = new TimeSpan( 0, 0, 2 );
ReleaseRightHand.Tick += new EventHandler( OnReleaseRightHand );
}
/// <summary>
/// Initializes the ViewModel with the given IDroneInputController.
/// </summary>
public MainWindowViewModel()
{
CreateDroneCommands();
InputTypes = new List<Type>();
InputTypes.Add( typeof( RideOnMotion.Inputs.Kinect.KinectSensorController ) );
_logStrings = new ObservableCollection<string>();
loadInputType( InputTypes[0] );
mp1.Open( new Uri( "..\\..\\Resources\\Quack.wav", UriKind.Relative ) );
mp2.Open( new Uri( "..\\..\\Resources\\Quack2.wav", UriKind.Relative ) );
mp3.Open( new Uri( "..\\..\\Resources\\Quack3.wav", UriKind.Relative ) );
mp4.Open( new Uri( "..\\..\\Resources\\Quack4.mp3", UriKind.Relative ) );
initializeBindings();
_lastKeyboardInput = new InputState();
_lastGamepadInput = new InputState();
_lastKinectInput = new InputState();
_keyboardController = new KeyboardController();
_Xbox360Gamepad = new Xbox360GamepadController();
_Xbox360Gamepad.Start();
_Xbox360Gamepad.StartMappingForDrone();
ConnectDrone(this._currentDroneConfig); // At this point, should be default config.
DroneOrderTimer.Interval = new TimeSpan( 0, 0, 0,0,30 );
DroneOrderTimer.Tick += new EventHandler( OrderTheMotherfuckingDrone );
DroneOrderTimer.Start();
}
private void OrderTheMotherfuckingDrone( object sender, EventArgs e )
{
InputState newKeyboardInput = _keyboardController.GetCurrentControlInput(_lastKeyboardInput);
InputState newKinectInput = ((RideOnMotion.Inputs.Kinect.KinectSensorController)_inputController).GetCurrentControlInput(_lastKinectInput);
InputState newGamepadInput = _Xbox360Gamepad.GetCurrentControlInput( _lastGamepadInput );
if ( newGamepadInput != null || newKeyboardInput != null || newKinectInput != null)
{
if ( newKeyboardInput != null )
{
_lastKeyboardInput = newKeyboardInput;
}
if ( newGamepadInput != null )
{
_lastGamepadInput = newGamepadInput;
}
if ( newKinectInput != null )
{
_lastKinectInput = newKinectInput;
}
InputState MixedInput = SendDroneCommand.MixInput( _lastKeyboardInput, _lastGamepadInput, _lastKinectInput );
if ( MixedInput != null )
{
_sendDroneCommand.Process( MixedInput );
}
}
}
