public void Send(byte[] data)
{
if (CommTypeSerial_radioButton.Checked)
{
if (serialPort.IsOpen)
{
try
{
serialPort.Write(data, 0, data.Length);
byte[] checksum = new byte[1];
checksum[0] = JoystickHandler.CreateChecksum(data);
serialPort.Write(checksum, 0, 1);
}
catch
{
//ClientDisconnect_button_Click(null, null);
}
}
}
else if (IpModeServer_radioButton.Checked)
{
if (CommTypeTCP_radioButton.Checked)
{
serverTCP.Send(data);
}
else if (CommTypeUDP_radioButton.Checked)
{
serverUDP.Send(data);
}
}
else if (IpModeClient_radioButton.Checked)
{
if (CommTypeTCP_radioButton.Checked)
{
clientTCP.Send(data);
}
else if (CommTypeUDP_radioButton.Checked)
{
clientUDP.Send(data);
}
}
}
private void Joystick_timer_Tick(object sender, EventArgs e)
{
if (joystickComboBox.SelectedIndex < 0)
{
// No joystick available, nothing to do.
return;
}
jyst.Poll();
if (doCalibartion)
{
doCalibartion = false;
jystHandler.CenterX = jyst.state.X;
jystHandler.CenterY = jyst.state.Y;
}
PlaneAttributes planeAttrib = ReassignJystValues(jyst.state);
JoystickHandler.FbW_Data PwmData = new JoystickHandler.FbW_Data();
// write joystick to the UI
if (OverrideAileron_checkBox.Checked)
{
PwmData.aileron = Aileron_trackBar.Value;
}
else
{
PwmData.aileron = jystHandler.ConvertForUI(planeAttrib.aileron,
AileronScalar_numericUpDown.Value,
AileronTrim_numericUpDown.Value,
InvertAileron_checkBox.Checked);
Aileron_trackBar.Value = MainForm.Clip(PwmData.aileron, PWMminValue, PWMmaxValue);
}
Aileron_label.Text = "Aileron\r" + PwmData.aileron.ToString();
if (OverrideElevator_checkBox.Checked)
{
PwmData.elevator = Elevator_trackBar.Value;
}
else
{
PwmData.elevator = jystHandler.ConvertForUI(planeAttrib.elevator,
ElevatorScalar_numericUpDown.Value,
ElevatorTrim_numericUpDown.Value,
InvertElevator_checkBox.Checked);
Elevator_trackBar.Value = MainForm.Clip(PwmData.elevator, PWMminValue, PWMmaxValue);
}
Elevator_label.Text = "Elevator\r" + PwmData.elevator.ToString();
if (OverrideRudder_checkBox.Checked)
{
PwmData.rudder = Rudder_trackBar.Value;
}
else
{
PwmData.rudder = jystHandler.ConvertForUI(planeAttrib.rudder,
RudderScalar_numericUpDown.Value,
RudderTrim_numericUpDown.Value,
InvertRudder_checkBox.Checked);
Rudder_trackBar.Value = MainForm.Clip(PwmData.rudder, PWMminValue, PWMmaxValue);
}
Rudder_label.Text = "Rudder\r" + PwmData.rudder.ToString();
if (OverrideThrottle_checkBox.Checked)
{
PwmData.throttle = Throttle_trackBar.Value;
}
else
{
PwmData.throttle = jystHandler.ConvertForUI(planeAttrib.throttle,
ThrottleScalar_numericUpDown.Value,
ThrottleTrim_numericUpDown.Value,
InvertThrottle_checkBox.Checked);
Throttle_trackBar.Value = MainForm.Clip(PwmData.throttle, PWMminValue, PWMmaxValue);
}
Throttle_label.Text = "Throttle\r" + PwmData.throttle.ToString();
switch (Mode_comboBox.SelectedIndex)
{
default:
case 0: PwmData.mode = PWMminValue; break; // Manual
case 1: PwmData.mode = PWMmidValue; break; // Stabilized
case 2: PwmData.mode = PWMmaxValue; break; // WayPoint
}
byte[] packet = JoystickHandler.CreateTxPacket(PwmData);
Send(packet);
}