private void btnUsePort_Click(object sender, EventArgs e)
{
try
{
String port = cmbAvailablePorts.SelectedItem.ToString();
numberOfJoysticksAttached = Joystick.getNumberOfJoysticks();
if (numberOfJoysticksAttached == 3)
{
joystickManipulatorLeft = JoystickFactory.getManipulatorLeft(this.Handle);
joystickManipulatorRight = JoystickFactory.getManipulatorRight(this.Handle);
joystickManipulatorLeft.Acquire();
joystickManipulatorRight.Acquire();
}
if (!String.IsNullOrEmpty(port))
{
List<PacketBuilder> pb = new List<PacketBuilder>();
mainpacketbuilder = new MainPacketBuilder(joystick);
pb.Add(mainpacketbuilder);
if (numberOfJoysticksAttached == 3)
{
pb.Add(new ManipulatorLeftPacketBuilder(joystickManipulatorLeft));
pb.Add(new ManipulatorRightPacketBuilder(joystickManipulatorRight));
}
stateSender = new StateSender(pb);
btnUsePort.Enabled = false;
stateReceiver = new StateReceiver();
stateReceiver.DataReceived += ComPort_DataReceived;
}
}
catch (Exception)
{
MessageBox.Show("No compatible device found!");
}
}
private void initializePilotJoystickListener(JoystickStateStore stateStore)
{
MainPacketBuilder mainPacketBuilder = new MainPacketBuilder(pilotJoystick);
pilotStickListener = new JoystickStateListener(pilotJoystick,
mainPacketBuilder, stateStore);
RunInBackgroundThread(pilotStickListener.Listen);
}
private void JoystickTracker_Load(object sender, EventArgs e)
{
joystick = new Joystick(this.Handle, 0, 250, JoystickType.MainController);
System.Threading.WaitHandle waitHandle = new System.Threading.AutoResetEvent(false);
joystick.Acquire(waitHandle);
stateStore = new JoystickStateStore();
if(Joystick.GetNumberOfJoysticks() > 1)
{
joystick2 = new Joystick(this.Handle, 0, 250, JoystickType.ManipulatorRight);
System.Threading.WaitHandle waitHandle2 = new System.Threading.AutoResetEvent(false);
joystick2.Acquire(waitHandle2);
manipPacketBuilder = new ManipulatorRightPacketBuilder(joystick2);
JoystickStateListener interruptListener2 = new JoystickStateListener(joystick2, manipPacketBuilder, stateStore);
listener2 = new Thread(interruptListener2.Listen);
listener2.IsBackground = true;
listener2.Start();
}
mainpacketbuilder = new MainPacketBuilder(joystick);
JoystickStateListener interruptListener = new JoystickStateListener(joystick, mainpacketbuilder, stateStore);
interruptListener.JoystickStateChanged += JoystickState_Changed;
listener = new Thread(interruptListener.Listen);
listener.IsBackground = true;
listener.Start();
CommunicationServer comServer = new CommunicationServer(stateStore);
comServer.RovStateReceived += RovState_Received;
comThread = new Thread(comServer.Serve);
comThread.IsBackground = true;
comThread.Start();
SerialPortSingleton.Instance.Write(Constants.InitializationPacket,
0, Constants.InitializationPacket.Length);
}