public const int ROBOT_OUT_PORT = 1150; // Data from robot to driver station
#endregion
#region public constructors
public DriverStationNetworkConnection(string addr, DriverStationState st)
{
m_address = addr;
m_dsstate = st;
m_dsstate.StateChanged += DriverStationStateChanged;
m_listener = new UdpClient(ROBOT_OUT_PORT);
m_sender = new UdpClient(ROBOT_IN_PORT);
m_sender.Connect(addr, ROBOT_IN_PORT);
m_last_comms_lock = new object();
}
public JoystickManager(DriverStationState st)
{
m_state = st;
m_di = new DirectInput();
m_joysticks = new Dictionary <int, Joystick>();
SearchForJoysticks();
m_monitor = true;
m_thread = new Thread(new ThreadStart(MonitorJoysticks));
m_thread.Start();
}
private void StateChanged(DriverStationState st)
{
m_comms.Red = !st.Communications;
m_robot.Red = !st.HasRobotCode;
if (st.Communications && st.HasRobotCode)
{
m_mode.Enabled = true;
m_control.Enabled = true;
}
else
{
m_mode.Enabled = false;
m_control.Enabled = false;
}
}
public Form1()
{
m_state = new DriverStationState();
m_joystick_mgr = new JoystickManager(m_state);
InitializeComponent();
m_disabled.Checked = true;
m_auto.Checked = true;
m_state.StateChanged += StateChanged;
m_state.Connected += RobotConnected;
if (m_joystick_mgr.Count > 0)
{
m_joysticks.Red = false;
}
m_mode.Enabled = false;
m_control.Enabled = false;
m_automode.ValueChanged += AutoModeValueChanged;
m_servo.ValueChanged += AutoModeValueChanged;
}
public DriverStationStateChangedArgs(DriverStationState st, bool torobot)
{
state = st;
robot = torobot;
}