private void initializeCoPilotRightJoystickListener(JoystickStateStore stateStore)
{
ManipulatorRightPacketBuilder rightPacketBuilder =
new ManipulatorRightPacketBuilder(coPilotRightJoystick);
coPilotRightStickListener = new JoystickStateListener(coPilotRightJoystick,
rightPacketBuilder, stateStore);
RunInBackgroundThread(coPilotRightStickListener.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);
}