public void ProcesarEventoJoy(Singleton.EventosJoy evento)
{
Joystick_WMM.JOYINFOEX joyinfo;
switch (evento)
{
case Singleton.EventosJoy.None: //
break;
case Singleton.EventosJoy.AutoPltON: //
modem_autopilot = WflyUplink.Autopilot.Autopilot;
break;
case Singleton.EventosJoy.AutoPilotOFF: //
modem_autopilot = WflyUplink.Autopilot.Manual;
break;
case Singleton.EventosJoy.AutoPltCo:
modem_autopilot = WflyUplink.Autopilot.Copilot;
break;
case Singleton.EventosJoy.AutoPilotSWnext: //
modem_autopilot = (WflyUplink.Autopilot)(((int)modem_autopilot + 1) % 3);
break;
case Singleton.EventosJoy.AutoPilotSWprev:
if ((int)modem_autopilot == 0)
{
modem_autopilot = (WflyUplink.Autopilot) 2;
}
else
{
modem_autopilot = (WflyUplink.Autopilot)((int)modem_autopilot - 1);
}
break;
case Singleton.EventosJoy.CamA: //
modem_cam = false;
break;
case Singleton.EventosJoy.CamB: //
modem_cam = true;
break;
case Singleton.EventosJoy.CamSW: //
modem_cam = !modem_cam;
break;
case Singleton.EventosJoy.HudCL: //
modem_hud = 0;
break;
case Singleton.EventosJoy.Hud1: //
modem_hud = 1;
break;
case Singleton.EventosJoy.Hud2: //
modem_hud = 2;
break;
case Singleton.EventosJoy.Hud3: //
modem_hud = 3;
break;
case Singleton.EventosJoy.HudSWnext: //
modem_hud = (modem_hud + 1) % 4;
break;
case Singleton.EventosJoy.HudSWprev:
if (modem_hud == 0)
{
modem_hud = 3;
}
else
{
modem_hud = modem_hud - 1;
}
break;
case Singleton.EventosJoy.GoHome: //
modem_ruta = WflyUplink.Ruta.Casa;
break;
case Singleton.EventosJoy.GoWptRuta: //
modem_ruta = WflyUplink.Ruta.Ruta;
break;
case Singleton.EventosJoy.GoUplink: //
modem_ruta = WflyUplink.Ruta.Modem;
break;
case Singleton.EventosJoy.GoHold:
modem_ruta = WflyUplink.Ruta.Hold;
break;
case Singleton.EventosJoy.GoSWnext: //
modem_ruta = (WflyUplink.Ruta)(((int)modem_ruta + 1) % 4);
break;
case Singleton.EventosJoy.GoSWprev: //
if ((int)modem_ruta == 0)
{
modem_ruta = (WflyUplink.Ruta) 3;
}
else
{
modem_ruta = (WflyUplink.Ruta)((int)modem_ruta - 1);
}
break;
case Singleton.EventosJoy.PanTiltCenter:
pan = 0;
tilt = 0;
break;
case Singleton.EventosJoy.FlapsOff:
flaps = 0;
break;
case Singleton.EventosJoy.FlapsFull:
flaps = singleton.full_flap;
break;
case Singleton.EventosJoy.FlapsInc:
flaps += singleton.step_flap * singleton.full_flap;
if (flaps > singleton.full_flap)
{
flaps = singleton.full_flap;
}
break;
case Singleton.EventosJoy.FlapsDec:
flaps -= singleton.step_flap * singleton.full_flap;
if (flaps < 0)
{
flaps = 0;
}
break;
case Singleton.EventosJoy.TrimAil:
joyinfo = Joystick_WMM.getJoyPosEx((uint)0);
TrimAil = -AdjustaValor((2 * (joyinfo.dwXpos / 65535.0f) - 1), TrimAil);
break;
case Singleton.EventosJoy.TrimEle:
joyinfo = Joystick_WMM.getJoyPosEx((uint)0);
TrimEle = -AdjustaValor((2 * (joyinfo.dwYpos / 65535.0f) - 1), TrimEle);
break;
case Singleton.EventosJoy.TrimTail:
joyinfo = Joystick_WMM.getJoyPosEx((uint)0);
TrimTail = -AdjustaValor((2 * (joyinfo.dwRpos / 65535.0f) - 1), TrimTail);
break;
case Singleton.EventosJoy.TrimAll:
joyinfo = Joystick_WMM.getJoyPosEx((uint)0);
TrimEle = -AdjustaValor((2 * (joyinfo.dwYpos / 65535.0f) - 1), TrimEle);
TrimAil = -AdjustaValor((2 * (joyinfo.dwXpos / 65535.0f) - 1), TrimAil);
TrimTail = -AdjustaValor((2 * (joyinfo.dwRpos / 65535.0f) - 1), TrimTail);
break;
case Singleton.EventosJoy.Picture:
formIkarusMain.Capturar_Foto();
break;
default:
break;
}
}
void tareaJOY()
{
if (changed_mask)
{
changed_mask = false;
wfly.SetMask(_mask);
}
Joystick_WMM.JOYINFOEX joyinfo = Joystick_WMM.getJoyPosEx((uint)0);
// Analiza si se ha pulsado algun boton nuevo
int bmask = 1;
for (int i = 0; i < 16; i++)
{
if ((joyinfo.dwButtons & bmask) == 0)
{
old_buttons &= ~bmask;
}
else if ((old_buttons & bmask) == 0)
{
old_buttons |= bmask;
Singleton.EventosJoy evento = (Singleton.EventosJoy)((int)singleton.joy_buttons[i]);
ProcesarEventoJoy(evento);
}
bmask <<= 1;
}
// Analiza el modem uplink
if (changed_switches)
{
changed_switches = false;
SetSwitches(modem_ruta, modem_autopilot, (byte)modem_hud, modem_cam);
}
if (changed_alt)
{
changed_alt = false;
SetAltitude((int)modem_alt);
}
if (changed_lonlat)
{
changed_lonlat = false;
SetLonLat(modem_lon, modem_lat);
}
// Comandos varios
if (changed_debugvar)
{
changed_debugvar = false;
SetDebugVar(debugvar_id, debugvar_value);
}
else if (changed_wptid)
{
changed_wptid = false;
SetWptID(_wpt_id);
}
else if (trig_cmdCenterIR)
{
trig_cmdCenterIR = false;
SetCenterIR();
}
else if (trig_cmdGainIR)
{
trig_cmdGainIR = false;
SetGainIR();
}
else if (trig_cmdSetHome)
{
trig_cmdSetHome = false;
SetHome();
}
else if (trig_cmdSaveFlash)
{
trig_cmdSaveFlash = false;
SaveFlash();
}
// Analiza movimiento PAN & TILT
int v = ((short)joyinfo.dwPOV);
if (v >= 0)
{
float alfa = (float)(v / 100 * Math.PI / 180.0);
float mi_pan = pan + (float)(Math.Sin(alfa) * singleton.pantilt_speed / 10.0); // dt=10hz
if (mi_pan > 1)
{
pan = 1;
}
else if (mi_pan < -1)
{
pan = -1;
}
else
{
pan = mi_pan;
}
float mi_tilt = tilt + (float)(Math.Cos(alfa) * singleton.pantilt_speed / 10.0);
if (mi_tilt > 1)
{
tilt = 1;
}
else if (mi_tilt < -1)
{
tilt = -1;
}
else
{
tilt = mi_tilt;
}
}
// Analiza Ejes del joystick
float _pitch = AdjustaValor(2 * (joyinfo.dwYpos / 65535.0f) - 1, TrimEle);
float _roll = AdjustaValor(2 * (joyinfo.dwXpos / 65535.0f) - 1, TrimAil);
float _yaw = AdjustaValor(2 * (joyinfo.dwRpos / 65535.0f) - 1, TrimTail);
float _thr = 1 - 2 * (joyinfo.dwZpos / 65535.0f);
SetControles(_roll, _pitch, _thr, _yaw, pan, tilt, flaps);
//wfly.SetServos(pan, _pitch, _thr, tilt);
// System.Console.WriteLine("PITCH " + _pitch + " ROLL " + _roll + " THR " + _thr + " TAIL " + _yaw);
// System.Console.WriteLine("Auto " + modem_autopilot + " HUD " + modem_hud +
// " RUTA " + modem_rutacasa + " CAM " + modem_cam + " PAN " + pan + " TILT " + tilt);
}
