private void SwitchKeyEvent(bool KeyDown, KeyEventArgs e)
{
if (client == null)
{
return;
}
int defaultDistance = 35;
int defaultTurnDegree = 20;
bool flipFunctionKeyDown = Keyboard.IsKeyDown(Key.LeftCtrl);
bool speedFunctionKeyDown = Keyboard.IsKeyDown(Key.LeftShift);
if (joystickMode && !joystickDataSender.IsEnabled && e.Key == Key.Up && !flipFunctionKeyDown)
{
joystickDataSender.Start();
}
FlipShift(flipFunctionKeyDown);
SpeedShift(speedFunctionKeyDown);
if (KeyDown && e.Key != Key.Escape)
{
escapeTimes = 0;
emergency_notification.Visibility = Visibility.Collapsed;
}
try
{
switch (e.Key)
{
case Key.W: HandleKeyEvent(KeyDown, img_forward_gray); if (KeyDown && !joystickMode)
{
client.Forward(defaultDistance);
}
break;
case Key.S: HandleKeyEvent(KeyDown, img_backward_gray); if (KeyDown && !joystickMode)
{
client.Backward(defaultDistance);
}
break;
case Key.A: HandleKeyEvent(KeyDown, img_left_gray); if (KeyDown && !joystickMode)
{
client.Left(defaultDistance);
}
break;
case Key.D: HandleKeyEvent(KeyDown, img_right_gray); if (KeyDown && !joystickMode)
{
client.Right(defaultDistance);
}
break;
case Key.Up:
HandleKeyEvent(KeyDown, img_up_gray, flipFunctionKeyDown, img_flip_forward);
if (KeyDown && !joystickMode && !flipFunctionKeyDown)
{
client.Up(defaultDistance);
}
if (KeyDown && flipFunctionKeyDown)
{
client.Flip(FlipDirection.FORWARD);
}
break;
case Key.Down:
HandleKeyEvent(KeyDown, img_down_gray, flipFunctionKeyDown, img_flip_backward);
if (KeyDown && !joystickMode && !flipFunctionKeyDown)
{
client.Down(defaultDistance);
}
if (KeyDown && flipFunctionKeyDown)
{
client.Flip(FlipDirection.BACKWARD);
}
break;
case Key.Left:
HandleKeyEvent(KeyDown, img_ccw_gray, flipFunctionKeyDown, img_flip_left);
if (KeyDown && !joystickMode && !flipFunctionKeyDown)
{
client.TurnLeft(defaultTurnDegree);
}
if (KeyDown && flipFunctionKeyDown)
{
client.Flip(FlipDirection.LEFT);
}
break;
case Key.Right:
HandleKeyEvent(KeyDown, img_cw_gray, flipFunctionKeyDown, img_flip_right);
if (KeyDown && !joystickMode && !flipFunctionKeyDown)
{
client.TurnRight(defaultTurnDegree);
}
if (KeyDown && flipFunctionKeyDown)
{
client.Flip(FlipDirection.RIGHT);
}
break;
case Key.Space: HandleKeyEvent(KeyDown, img_land_gray); if (KeyDown)
{
client.Land();
}
joystickDataSender.Stop(); break;
case Key.Escape: HandleKeyEvent(KeyDown, img_emergency_gray); if (KeyDown)
{
HandleEmergency();
}
break;
case Key.Enter: HandleKeyEvent(KeyDown, img_takeoff_gray); if (KeyDown)
{
client.TakeOff();
}
break;
case Key.R: HandleKeyEvent(KeyDown, img_start_rotors_gray); if (KeyDown)
{
client.StartRotors();
}
break;
case Key.Q: HandleKeyEvent(KeyDown, img_dec_speed_gray); if (KeyDown)
{
client.DecreaseSpeed();
}
break;
case Key.E: HandleKeyEvent(KeyDown, img_inc_speed_gray); if (KeyDown)
{
client.IncreaseSpeed();
}
break;
case Key.P: SwitchStream(KeyDown); break;
}
}
catch (CommandIntegerParamException ie)
{
txt_response.Text = ie.Message;
txt_response.Background = red;
}
catch (CommandStringParamException se)
{
txt_response.Text = se.Message;
txt_response.Background = red;
}
catch (DroneCurveException ce)
{
txt_response.Text = ce.Message;
txt_response.Background = red;
}
txt_current_speed.Content = client.CurrentSpeed;
}
public async Task MainLoop()
{
await core.Init();
RenderConsoleLoop();
var shouldLoop = true;
while (shouldLoop)
{
try
{
var key = Console.ReadKey(true);
logger.LogInformation($"{key.Key} pressed");
switch (key.Key)
{
case ConsoleKey.W:
case ConsoleKey.S:
case ConsoleKey.A:
case ConsoleKey.D:
case ConsoleKey.R:
case ConsoleKey.F:
if (gamePadEnabled == true)
{
break;
}
logger.LogInformation($"FlyDirection({MoveMappings[key.Key]}, 30)");
await client.FlyDirection(MoveMappings[key.Key], 30);
break;
case ConsoleKey.Q:
case ConsoleKey.E:
if (gamePadEnabled == true)
{
break;
}
logger.LogInformation($"RotateDirection({(key.Key == ConsoleKey.E ? "cw" : "ccw")}, 20)");
await client.RotateDirection(key.Key == ConsoleKey.E, 20);
break;
case ConsoleKey.T:
logger.LogInformation("TakeOff()");
await client.TakeOff();
break;
case ConsoleKey.L:
logger.LogInformation("Land()");
await client.Land();
break;
case ConsoleKey.Spacebar:
logger.LogInformation("Emergency()");
await client.Emergency();
break;
case ConsoleKey.J:
if (gamePadEnabled)
{
gamePad.Close();
gamePadEnabled = false;
}
else
{
gamePadEnabled = gamePad.Listen();
}
logger.LogInformation($"Gamepad mode is {(gamePadEnabled ? "ON" : "OFF")}");
break;
case ConsoleKey.Escape:
logger.LogInformation("Closing all of the connections");
core.Close();
shouldLoop = false;
break;
}
}
catch (Exception ex)
{
logger.LogError(ex, "Exception while proccessing key press");
}
}
logger.LogInformation("Exiting loop");
}
