public override void Initialize()
{
#if !XBOX
string[] joystickNames = Joystick.FindJoysticks();
if (joystickNames == null || joystickNames.Length == 0)
{
// MessageBox.Show("No joysticks found.");
}
else
{
IList <JoystickSetup> joystickSetups = SimulatorResources.GetJoystickSetups();
if (joystickSetups == null || joystickSetups.Count == 0)
{
throw new Exception("No configured joysticks.");
}
_joystickSystem = new JoystickSystem(_game.Window.Handle, joystickSetups);
_useJoystick = true;
}
#endif
// Initialize stencil shadow transformation matrix
Vector3 shadowLightDir = Vector3.Down;
var shadowPlane = new Plane(Vector3.Zero, Vector3.Forward, Vector3.Right);
_shadowTransform = Matrix.CreateShadow(shadowLightDir, shadowPlane) * Matrix.CreateTranslation(Vector3.Up / 100);
base.Initialize();
}
public static TestConfiguration GetConfiguration(string xmlFilepath)
{
var result = new TestConfiguration();
string xmlText = ParseHelper.GetResourceText(xmlFilepath);
var reader = new StringReader(xmlText);
var doc = new XmlDocument();
doc.Load(reader);
XmlNode nav = doc.SelectSingleNode("/root/TestConfiguration");
// Parse configuration
result.FlyBySensors = bool.Parse(nav.SelectSingleNode("FlyBySensors").InnerText);
result.UsePerfectSensors = bool.Parse(nav.SelectSingleNode("UsePerfectSensors").InnerText);
result.UseRangeFinder = bool.Parse(nav.SelectSingleNode("UseRangeFinder").InnerText);
result.UseGPS = bool.Parse(nav.SelectSingleNode("UseGPS").InnerText);
result.UseINS = bool.Parse(nav.SelectSingleNode("UseINS").InnerText);
result.Sensors = ParseSensorSpecifications(nav.SelectSingleNode("SensorSpecifications"));
result.MaxHVelocities = ParseMaxHVelocities(nav.SelectNodes("MaxHVelocity"));
List <string> scenarioNames = ParseScenarioNames(nav.SelectNodes("ScenarioName"));
foreach (string scenarioName in scenarioNames)
{
result.TestScenarios.Add(SimulatorResources.GetScenario(scenarioName));
}
return(result);
}
public SettingsController(Form gameForm)
{
if (gameForm == null)
{
throw new ArgumentNullException("gameForm");
}
_gameForm = gameForm;
// Create a settings form to enable the user to change settings in-game
_settingsForm = new SettingsForm();
_pidSetups = SimulatorResources.GetPIDSetups();
_scenarios = SimulatorResources.GetScenarios();
if (_pidSetups == null || _pidSetups.Count == 0)
{
throw new Exception("No PID setups were found!");
}
CurrentPIDSetup = _pidSetups[0];
_pidSettings = _settingsForm.PIDSettings;
_pidListUI = _pidSettings.PIDSetup;
_scenarioListUI = _settingsForm.SimSettings.Scenarios;
_scenarioListUI.SelectedValueChanged += Scenarios_SelectedValueChanged;
_pidListUI.SelectedValueChanged += SelectedPIDChanged;
_pidSettings.PIDChanged += PIDValuesChanged;
Populate();
}
internal static void Run(string[] runtimeArgs)
{
if (runtimeArgs == null || runtimeArgs.Length != 3)
{
MessageBox.Show(@"Expected arguments to be '-test <config file path> <output directory path>'.");
return;
}
string testConfigurationFilePath = runtimeArgs[1];
if (!File.Exists(testConfigurationFilePath))
{
MessageBox.Show(@"No test configuration file found at: " + testConfigurationFilePath);
return;
}
string relativeOutputPath = runtimeArgs[2];
try
{
TestConfiguration testConf = SimulatorResources.GetTestConfiguration(testConfigurationFilePath);
var simSettings = new SimulationSettings();
simSettings.RenderMode = RenderModes.Normal;
// Start the simulator game entry point
using (var game = new SimulatorGame(simSettings, IntPtr.Zero, testConf, relativeOutputPath))
{
// Enables cameras (poor design, I know..)
game.IsCapturingMouse = true;
// Make sure the XNA game window (left eye) displays as a full screen window
// just as the one we just created for the right eye
var gameForm = (Form)System.Windows.Forms.Control.FromHandle(game.Window.Handle);
gameForm.FormBorderStyle = FormBorderStyle.None;
gameForm.Text = @"A²DS Test Mode";
gameForm.LostFocus += (sender, e) => game.IsCapturingMouse = false;
gameForm.GotFocus += (sender, e) => game.IsCapturingMouse = true;
// Run the game code
game.Run();
}
string configfileCopy = Path.Combine(relativeOutputPath, @"TestConfiguration.xml");
File.Copy(testConfigurationFilePath, configfileCopy);
}
catch (Exception e)
{
MessageBox.Show(@"Error occured." + e);
}
}
public HelicopterBase(Game game, TestConfiguration testConfiguration, TerrainCollision collision,
ICameraProvider cameraProvider, BasicEffect effect, SunlightParameters skyParams, HelicopterScenario scenario,
bool playEngineSound, bool isPlayerControlled, bool drawText)
: base(game)
{
if (game == null || cameraProvider == null || effect == null || skyParams == null)
{
throw new ArgumentNullException("", @"One or several of the necessary arguments were null!");
}
_game = game;
_testConfiguration = testConfiguration;
_sensorSpecifications = testConfiguration.Sensors;
_collision = collision;
_flyBySensors = testConfiguration.FlyBySensors;
if (_collision != null)
{
_collision.CollidedWithTerrain += gameTime => Crashed(gameTime);
}
_basicEffect = effect;
_skyParams = skyParams;
_scenario = scenario;
_drawText = drawText;
_cameraProvider = cameraProvider;
IsPlayerControlled = isPlayerControlled;
_playEngineSound = playEngineSound;
_estimatedState = new HeliState();
PIDSetup pidSetup = SimulatorResources.GetPIDSetups()[0];
Autopilot = new Autopilot(_scenario.Task, pidSetup);
Log = new List <HelicopterLogSnapshot>();
}
public static void Run()
{
try
{
int numScreens = Screen.AllScreens.Length;
if (numScreens != 1 && numScreens != 2)
{
throw new NotImplementedException("Only supports single and dual monitor setup!");
}
SimulationSettings simSettings = SimulatorResources.GetSimulationSettings();
if (simSettings.RenderMode == RenderModes.Stereo && numScreens < 2)
{
Console.WriteLine(@"Could not run stereo mode. Can't find two monitors connected?");
simSettings.RenderMode = RenderModes.Normal;
}
IntPtr rightEyeWindow = IntPtr.Zero;
if (simSettings.RenderMode == RenderModes.Stereo)
{
rightEyeWindow = SpawnRightEyeWindow();
}
// Start the simulator game entry point
using (var game = new SimulatorGame(simSettings, rightEyeWindow))
{
// Make sure the XNA game window (left eye) displays as a full screen window
// just as the one we just created for the right eye
var gameForm = (Form)System.Windows.Forms.Control.FromHandle(game.Window.Handle);
gameForm.FormBorderStyle = FormBorderStyle.None;
gameForm.LostFocus += (sender, e) => game.IsCapturingMouse = false;
gameForm.GotFocus += (sender, e) => Game_GotFocus(game);
gameForm.MouseClick += (sender, e) =>
{
if (e.Button == MouseButtons.Right)
{
Game_MouseRightClick(game);
}
};
// Name the window according to mode
gameForm.Text = (simSettings.RenderMode == RenderModes.Stereo)
? "A²DS Stereoscopy (left eye)"
: "A²DS";
_settingsController = new SettingsController(gameForm);
// Hook the settings controller to the simulator by events, so changes in PID settings causes
// autopilot to use new PID settings.
_settingsController.PIDSettingsChanged +=
() => game.SetPIDSetup(_settingsController.CurrentPIDSetup);
// Run the game code
game.Run();
}
}
catch (Exception e)
{
string msg = "Error occured!\n\n" + e;
Console.WriteLine(e);
MessageBox.Show(msg);
}
}