private void backgroundWorker_joystick_DoWork(object sender, DoWorkEventArgs e)
{
while (true)
{
Thread.Sleep(10);
try
{
Gamepad_State_SlimDX joy = new Gamepad_State_SlimDX(SlimDX.XInput.UserIndex.One);
joy.Update();
joystick js = new joystick();
js.pitch = (Int16)(joy.LeftStick.Position.Y * 250);
js.roll = (Int16)(joy.LeftStick.Position.X * 250);
js.throttle = (Int16)(joy.RightStick.Position.Y * 10);
js.yaw = (Int16)(joy.RightStick.Position.X * 250);
if (joy.B)
{
js.emergency = 1;
}
else
{
js.emergency = 0;
}
if (joy.A)
{
js.takeoff = 1;
}
else
{
js.takeoff = 0;
}
string json = JsonConvert.SerializeObject(js);
udp_send_recv(3000, json, 5);
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
}
public void OnRenderFrame(object s, FrameEventArgs e)
{
Gamepad_State_SlimDX joy = new Gamepad_State_SlimDX(SlimDX.XInput.UserIndex.One);
joy.Update();
node.Pitch(joy.LeftStick.Position.Y);
node.Roll(joy.LeftStick.Position.X);
node.Yaw(joy.RightStick.Position.X);
node.Position += new Vector3(0, joy.RightStick.Position.Y, 0);
if (node.Position.y < 25)
{
node.Position = new Vector3(node.Position.x, 25, node.Position.z);
}
HandleKeyboardInput(e);
}
static void Main(string[] args)
{
try
{
Gamepad_State_SlimDX joy = new Gamepad_State_SlimDX(SlimDX.XInput.UserIndex.One);
SerialPort port = new SerialPort();
port.PortName = "COM4";
port.BaudRate = 115200;
port.Open();
while (true)
{
joy.Update();
string cmd = "pilot(";
cmd += range_get(joy.LeftStick.Position.X, 0, 254);
cmd += ",";
cmd += range_get(joy.LeftStick.Position.Y, 0, 254);
cmd += ",";
cmd += range_get(joy.RightStick.Position.X, 0, 254);
cmd += ",";
cmd += range_get(joy.RightStick.Position.Y, 0, 254);
cmd += ",";
if (joy.A)
{
cmd += "1";
}
else
{
cmd += "0";
}
cmd += ",";
if (joy.B)
{
cmd += "1";
}
else
{
cmd += "0";
}
cmd += ")";
//Console.Write(cmd);
DateTime t_start = DateTime.Now;
port.DiscardOutBuffer();
port.DiscardInBuffer();
port.ReadTimeout = 30;
port.WriteLine(cmd + "\r");
try
{
string txt = port.ReadTo("ok");
Console.Write(txt.Replace("\r", "").Replace("\n", ""));
TimeSpan diff = DateTime.Now - t_start;
Console.WriteLine(" dt=" + diff.TotalMilliseconds);
}
catch (Exception) {
TimeSpan diff = DateTime.Now - t_start;
Console.WriteLine(" dt=" + diff.TotalMilliseconds);
}
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
Console.ReadKey();
}
}
static void Main(string[] args)
{
while (true)
{
try
{
Gamepad_State_SlimDX joy = new Gamepad_State_SlimDX(SlimDX.XInput.UserIndex.One);
UdpClient udpClient = new UdpClient();
udpClient.Connect("192.168.1.1", 3000);
Int16 pitch_now = 0;
Int16 roll_now = 0;
Int16 yaw_now = 0;
Int16 throttle_now = 0;
Int16 emergency = 0;
Int16 takeoff = 0;
int tx_count = 0;
int tx_timeout_count = 0;
double timeouts_perct = 0;
while (true)
{
joy.Update();
pitch_now = (Int16)(joy.LeftStick.Position.Y * 128);
roll_now = (Int16)(joy.LeftStick.Position.X * 128);
yaw_now = (Int16)(joy.RightStick.Position.X * 128);
throttle_now = (Int16)(joy.RightStick.Position.Y * 128);
emergency = 0;
if (joy.B || joy.RightTrigger > 0.5)
{
emergency = 1;
}
takeoff = 0;
if (joy.A)
{
takeoff = 1;
}
//
string cmd = pitch_now + "|" + roll_now + "|" + throttle_now + "|" + yaw_now + "|" + takeoff + "|" + emergency + "|";
//
//Console.WriteLine(cmd);
//
Byte[] sendBytes = Encoding.ASCII.GetBytes(cmd);
udpClient.Send(sendBytes, sendBytes.Length);
tx_count++;
DateTime start = DateTime.Now;
while (true)
{
TimeSpan timeItTook = DateTime.Now - start;
if (timeItTook.Milliseconds > 17) //1s/60Hz=16.66ms
{
tx_timeout_count++;
timeouts_perct = ((double)tx_timeout_count / (double)tx_count) * 100;
Console.WriteLine("pkt=" + tx_count + " rtt timeouts=" + tx_timeout_count + " (" + timeouts_perct + "%)");
break;
}
if (udpClient.Available > 0)
{
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
Byte[] receiveBytes = udpClient.Receive(ref RemoteIpEndPoint);
Console.WriteLine("pkt=" + tx_count + " rtt=" + timeItTook.TotalMilliseconds + " timeouts=" + tx_timeout_count + " (" + timeouts_perct + "%)");
break;
}
}
}
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
}
