public XInputController(int deviceIndex)
{
_deviceIndex = deviceIndex;
_controller = XboxController.RetrieveController(deviceIndex);
_running = true;
_monitorThread = new Thread(MonitorThread);
_monitorThread.Start();
}
public MainWindow()
{
InitializeComponent();
DataContext = this;
_selectedController = XboxController.RetrieveController(0);
_selectedController.StateChanged += _selectedController_StateChanged;
XboxController.StartPolling();
}
public XboxControllerWithInterruptHandler(XboxController x)
{
X = x;
X.StateChanged += X_StateChanged;
PreviousState = new State(false, false, false, false, false, false, false, false);
NewState = new State(false, false, false, false, false, false, false, false);
}
static XboxController()
{
Controllers = new XboxController[MAX_CONTROLLER_COUNT];
SyncLock = new object();
for (int i = FIRST_CONTROLLER_INDEX; i <= LAST_CONTROLLER_INDEX; ++i)
{
Controllers[i] = new XboxController(i);
}
UpdateFrequency = 25;
}
static XboxController()
{
Controllers = new XboxController[MAX_CONTROLLER_COUNT];
SyncLock = new object();
for (int i = FIRST_CONTROLLER_INDEX; i <= LAST_CONTROLLER_INDEX; ++i)
{
Controllers[i] = new XboxController(i);
}
UpdateFrequency = 25;
}
public MainWindow()
{
InitializeComponent();
DataContext = this;
mqttBroker = "127.0.0.1";
var p = new OptionSet
{
{ "mqtt=", (v) => { mqttBroker = v; } },
};
p.Parse(Environment.GetCommandLineArgs());
joyStick1.JoystickMovedListeners += joystickMoved;
_selectedController = XboxController.RetrieveController(0);
XboxController.UpdateFrequency = 10;
_selectedController.StateChanged += _selectedController_StateChanged;
XboxController.StartPolling();
}
public MainWindow()
{
InitializeComponent();
DataContext = this;
_selectedController = XboxController.RetrieveController(0);
_selectedController.StateChanged += _selectedController_StateChanged;
_droneClient = new DroneClient("192.168.1.1");
_droneClient.Start();
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.NavigationDataAcquired += ProcessNavigationData;
_droneClient.FlatTrim();
_timer = new System.Timers.Timer(50);
_timer.Elapsed += _timer_Elapsed;
_timer.Start();
XboxController.StartPolling();
}
/// <summary>
/// 开始装逼
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void button1_Click(object sender, EventArgs e)
{
if (!WinIOLab.IsInitialize)
{
this.button1.Text = "让我歇会儿再装逼";
WinIOLab.Initialize();
xBoxControl = XboxController.RetrieveController(0);
xBoxControl.StateChanged += xBoxControl_StateChanged;
XboxController.StartPolling();
stickThread = new Thread(StickStatic);
stickThread.Start();
dpsThread = new Thread(dps);
dpsThread.Start();
}
else
{
this.button1.Text = "开始强行装逼";
WinIOLab.Shutdown();
XboxController.StopPolling();
stickThread.Abort();
dpsThread.Abort();
}
}
private void SetupKeyHandlers()
{
//register for keyboard events
KeyDown += MainWindow_KeyDown;
//register for xbox controller events
handHeldController = XboxController.RetrieveController(0);
handHeldController.StateChanged += handHeldController_StateChanged;
XboxController.StartPolling();
}
private void HandleInput(ref PlayerInput playerInput, XboxController controller)
{
//Vector3 cameraPos = BaseGame.CameraPos;
if (Input.KeyboardUpPressed || controller.RightTrigger > 0)
{
//_playerForwardDelta = ForwardScalar * _elapsedGameTime;
playerInput.Forward = 0.5f;
}
else if (Input.KeyboardDownPressed || controller.LeftTrigger > 0)
{
//_playerForwardDelta = -ForwardScalar * _elapsedGameTime;
playerInput.Forward = -0.5f;
}
if (Input.KeyboardLeftPressed || controller.IsDPadLeftPressed)
{
//_playerRotationDelta = -RotationScalar * _elapsedGameTime;
playerInput.Rotation = 0.5f;
}
else if (Input.KeyboardRightPressed || controller.IsDPadRightPressed)
{
//_playerRotationDelta = RotationScalar * _elapsedGameTime;
playerInput.Rotation = -0.5f;
}
}
private void SelectedControllerChanged(object sender, SelectionChangedEventArgs e)
{
_selectedController = XboxController.RetrieveController(((ComboBox)sender).SelectedIndex);
OnPropertyChanged("SelectedController");
}
//Static for now... not sure if we actually need to make this class instatiable
public static async Task HandleInput(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
Key? key, XboxController handHeldController){
////////////////////////////////////////////////////////////////////////////
//Manual Control Logic
////////////////////////////////////////////////////////////////////////////
if (panTilt.IsReady)
{
if (key != null)
{
HandlePanTilt(mainWindow, panTilt, firingController, (Key)key);
}
else
{
HandleXboxInputPanTilt(mainWindow, panTilt, firingController, handHeldController);
}
}
if (key == Key.NumPad1 || key == Key.D1 || handHeldController.IsXPressed)
{
mainWindow.TrackingMode = TrackingMode.MANUAL;
mainWindow.AudioMeterVisibility = Visibility.Hidden;
}
else if (key == Key.NumPad2 || key == Key.D2 || handHeldController.IsAPressed)
{
mainWindow.TrackingMode = TrackingMode.SKELETAL;
mainWindow.AudioMeterVisibility = Visibility.Hidden;
}
else if (key == Key.NumPad3 || key == Key.D3 || handHeldController.IsBPressed)
{
mainWindow.TrackingMode = TrackingMode.AUDIBLE;
mainWindow.AudioMeterVisibility = Visibility.Visible;
}
//The ordering rational of the key assignments is based on
//the bottom row of the keyboard
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.Z)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.A;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.X)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.B;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.C)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.C;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.V)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.D;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.B)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.E;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.N)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.F;
}
else if (key == Key.NumPad4 || key == Key.D4 || handHeldController.IsYPressed)
{
//toggle 'night vision' mode
if (mainWindow.DisplayMode == DisplayMode.INFRARED)
{
mainWindow.DisplayMode = DisplayMode.COLOR;
}
else{
mainWindow.DisplayMode = DisplayMode.INFRARED;
}
//check to see if this is the UI thread, xbox controller uses different thread
if (!mainWindow.Dispatcher.CheckAccess())
{
await mainWindow.Dispatcher.BeginInvoke((Action)(()=>{
mainWindow.CameraFeedImageSource.Source = mainWindow.ImageSource;
}));
}
else
{
//we're on the UI thread directly change the UI element image source, keyboard stroke hits this path
mainWindow.CameraFeedImageSource.Source = mainWindow.ImageSource;
}
}
if (handHeldController.IsDPadRightPressed)
{
mainWindow.RequestedTrackedSkeleton++;
//Console.WriteLine(mainWindow.RequestedTrackedSkeleton);
}
if (handHeldController.IsDPadLeftPressed)
{
mainWindow.RequestedTrackedSkeleton--;
}
if (handHeldController.IsDPadDownPressed)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.A;
}
/////////////////////////////////////////////////////////
//Rage Safteys - Makey Makey Board Provides These Events
/////////////////////////////////////////////////////////
try
{
//mainWindow.Cannon is too high
if (key == Key.A && !s_PanTiltTooFarUp)
{
s_PanTiltTooFarUp = true;
mainWindow.CannonYVelocity = 0;
panTilt.PanY(mainWindow.CannonYVelocity);
}
//mainWindow.Cannon is too low
else if (key == Key.S && !s_PanTiltTooFarDown)
{
s_PanTiltTooFarDown = true;
mainWindow.CannonYVelocity = 0;
panTilt.PanY(mainWindow.CannonYVelocity);
}
//mainWindow.Cannon is too far right
else if (key == Key.D && !s_PanTiltTooFarRight)
{
s_PanTiltTooFarRight = true;
mainWindow.CannonXVelocity = 0;
panTilt.PanX(mainWindow.CannonXVelocity);
}
//mainWindow.Cannon is too far left
else if (key == Key.F && !s_PanTiltTooFarLeft)
{
s_PanTiltTooFarLeft = true;
mainWindow.CannonXVelocity = 0;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//if anything at all goes wrong we gotta stop the pantilt and crash the app
catch(Exception ex)
{
panTilt.Disengage();
throw ex;
}
if ((key == Key.P || (handHeldController.IsLeftShoulderPressed & handHeldController.IsRightShoulderPressed)) && firingController.VirtualSafetyOn)
{
//keep safety from being toggled too fast
if ((DateTime.Now - s_LastDisarmTime > s_DisarmWaitTime) || s_LastDisarmTime == null)
{
s_LastDisarmTime = DateTime.Now;
//toggle the safety
firingController.VirtualSafetyOn = !firingController.VirtualSafetyOn;
s_VoiceSynth.SelectVoice("Microsoft Hazel Desktop");
s_VoiceSynth.SpeakAsync("System Armed, Pull both triggers simultaneously to fire!");
}
//handHeldController.Vibrate(40.0, 40.0, 10.0);
}
else if ((key == Key.P || (handHeldController.IsLeftShoulderPressed & handHeldController.IsRightShoulderPressed)) && !firingController.VirtualSafetyOn)
{
//keep safety from being toggled too fast
if (DateTime.Now - s_LastDisarmTime > s_DisarmWaitTime)
{
s_LastDisarmTime = DateTime.Now;
//toggle the safety
firingController.VirtualSafetyOn = !firingController.VirtualSafetyOn;
s_VoiceSynth.SelectVoice("Microsoft Hazel Desktop");
s_VoiceSynth.SpeakAsync("System Disarmed!");
}
}
//MAYBE WE SHOULD PICK A HARDER TO PRESS KEY THAN THE SPACE BAR?
if (key == Key.Space || (handHeldController.RightTrigger > 250 && handHeldController.LeftTrigger > 250))
{
handHeldController.Vibrate(VIBRATION_INTENSITY, VIBRATION_INTENSITY, new TimeSpan(1));
await firingController.Fire(350);
}
}
private static void HandleXboxInputPanTilt(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
XboxController handHeldController)
{
try
{
var convertedXboxInputX = ConvertXInputCoordinateToVelocity(handHeldController.LeftThumbStick.X);
var convertedXboxInputY = ConvertXInputCoordinateToVelocity(handHeldController.LeftThumbStick.Y);
Console.WriteLine("X Value Converted - " + convertedXboxInputX);
//Pan Up & Pan Down for Manual Tracking
if (convertedXboxInputY <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
s_PanTiltTooFarUp = false;
mainWindow.CannonYVelocity = convertedXboxInputY;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonYVelocity = convertedXboxInputY;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.AUDIBLE)
{
s_PanTiltTooFarUp = false;
mainWindow.CannonYVelocity = convertedXboxInputY;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.AUDIBLE)
{
mainWindow.CannonYVelocity = convertedXboxInputY;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (mainWindow.CannonXVelocity >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarRight && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonXVelocity = convertedXboxInputX;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarLeft = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
if (mainWindow.CannonXVelocity <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarLeft && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonXVelocity = convertedXboxInputX;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarRight = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//anything goes wrong, stop pantilt and crash the app
catch (Exception ex)
{
panTilt.Disengage();
throw ex;
}
}