/// <summary>
/// Implement reccomended best practice dispose pattern
/// http://msdn.microsoft.com/en-us/library/b1yfkh5e%28v=vs.110%29.aspx
/// </summary>
/// <param name="disposing"></param>
virtual protected void Dispose(bool disposing)
{
try
{
//not sure if this is a problem from the finalizer?
if (disposing && joystick != null && joystick.Properties != null)
{
joystick.Unacquire();
}
}
catch
{
}
try
{
if (disposing && joystick != null)
{
joystick.Dispose();
}
}
catch
{
}
//tell gc not to call finalize, this object will be GC'd quicker now.
GC.SuppressFinalize(this);
}
public void Dispose()
{
if (stick != null)
{
stick.Unacquire();
stick.Dispose();
stick = null;
}
}
void Joystick_Poll(object Sender, EventArgs e)
{
if (joystickGuid != Guid.Empty)
{
if (!directInput.IsDeviceAttached(joystickGuid))
{
joystick.Dispose();
joystick = null;
joystickGuid = Guid.Empty;
joystickEnable.Dispatcher.Invoke(() =>
{
joystickEnable.IsChecked = false;
joystickEnable.IsEnabled = false;
});
}
}
JoystickState state = null;
if (joystick != null)
{
joystick.Poll();
state = joystick.GetCurrentState();
}
if (state != null)
{
if (joystic_enabled)
{
if (state.Buttons[6])
{
btnZoomIn_Click(null, null);
}
else if (state.Buttons[4])
{
btnZoomOut_Click(null, null);
}
if (state.Buttons[2] && !prevCamSwitchState)
{
prevCamSwitchState = true;
if (currentCamera == CameraSource.RGB_CAMERA_SOURCE)
{
setCameraVideoSource(CameraSource.IR_CAMERA_SOURCE);
}
else if (currentCamera == CameraSource.IR_CAMERA_SOURCE)
{
setCameraVideoSource(CameraSource.RGB_CAMERA_SOURCE);
}
}
else if (!state.Buttons[2])
{
prevCamSwitchState = false;
}
if (currentMode == GimbalMode.MODE_RATE)
{
double pitch_cmd = 0.0;
double yaw_cmd = 0.0;
if (Math.Abs(state.Y - 32768) > 30)
{
pitch_cmd = ((state.Y - 32768.0) / 65536.0 * -2.0) * 3.14 / 2;
}
else
{
pitch_cmd = 0.0;
}
if (Math.Abs(state.X - 32768) > 30)
{
yaw_cmd = ((state.X - 32768.0) / 65536.0 * -2.0) * 3.14 / 2;
}
else
{
yaw_cmd = 0.0;
}
sendGimbalCommand(pitch_cmd, 0.0, yaw_cmd);
}
}
}
}
public bool Close()
{
dxJoystick.Dispose();
dxJoystick = null;
return(true);
}
