/// <summary>
/// must return promptly
/// </summary>
/// <param name="sender"></param>
/// <param name="jss"></param>
private void Joystick_joystickEvent(object sender, IJoystickSubState jss)
{
jss.IsNew = false;
currentJoystickData = (IJoystickSubState)jss.Clone();
string command = jss.GetCommand();
if (!string.IsNullOrWhiteSpace(command))
{
//Debug.WriteLine("Joystick event: command: " + command);
this.ControlDeviceCommand(command);
}
}
/// <summary>
/// supports polling requests for latest Joystick SubState.
/// </summary>
/// <returns></returns>
public IJoystickSubState GetJoystickSubState()
{
lock (jssLock)
{
if (jssCurrent != null && !jssCurrent.Equals(jssLast)) // only do something if the joystick state changed
{
jssLast = (IJoystickSubState)jssCurrent.Clone();
jssLast.IsNew = true;
}
}
return(jssLast);
}
/// <summary>
/// Find a joystick, and if connected - poll it for latest Joystick SubState.
/// May return null if no joystick found.
/// </summary>
/// <returns></returns>
public async Task <IJoystickSubState> PollJoystick()
{
bool haveAJoystick = await FindOrCheck();
if (haveAJoystick)
{
IJoystickSubState jss = joystick.GetJoystickSubState();
return(jss);
}
else
{
return(null);
}
}
/// <summary>
/// services control devices (joystick).
/// </summary>
private async void DoControlDevices()
{
// Repeat this loop until cancelled.
while (!tokenSource.Token.IsCancellationRequested)
{
try
{
// call to open and maintain connection to joystick device:
IJoystickSubState jss = await joystick.PollJoystick(); // just check for joystick existence. Data arrives in events.
if (!joystick.IsEnabled)
{
Debug.WriteLine("ShortyTheRobot: Xbox Controller Not Found");
}
shorty.ProcessControlDevices(); // give robot implementation a chance to maintain other control devices.
}
catch (Exception exc)
{
Debug.WriteLine("Error: DoControlDevices(): " + exc);
}
await Task.Delay(1000);
}
}
/// <summary>
/// pass XBox360 Controller Joystick Event to subscribers of GenericJoystick class
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void XBox360Controller_JoystickEvent(object sender, IJoystickSubState e)
{
//Debug.WriteLine("--------- Generic: Joystick Event");
joystickEvent?.Invoke(this, e);
}
public void DisplayRobotJoystick(IJoystickSubState joystickData)
{
//Debug.WriteLine("RobotDashboard: DisplayRobotJoystick() joystick: " + joystickData.ToString());
rumblePad2Dashboard1.JoystickDataBlock.Post(joystickData);
}
/// <summary>
/// must return promptly
/// </summary>
/// <param name="sender"></param>
/// <param name="jss"></param>
private void Joystick_joystickEvent(object sender, IJoystickSubState jss)
{
jss.IsNew = false;
string command = jss.GetCommand();
if (!string.IsNullOrWhiteSpace(command))
{
//Debug.WriteLine("Joystick event: command: " + command);
this.ControlDeviceCommand(command);
}
}
/// <summary>
/// pass XBox360 Controller Joystick Event to subscribers of GenericJoystick class
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void XBox360Controller_JoystickEvent(object sender, IJoystickSubState e)
{
//Debug.WriteLine("--------- Generic: Joystick Event");
joystickEvent?.Invoke(this, e);
}
/// <summary>
/// supports polling requests for latest Joystick SubState.
/// </summary>
/// <returns></returns>
public IJoystickSubState GetJoystickSubState()
{
lock (jssLock)
{
if (jssCurrent != null && !jssCurrent.Equals(jssLast)) // only do something if the joystick state changed
{
jssLast = (IJoystickSubState)jssCurrent.Clone();
jssLast.IsNew = true;
}
}
return jssLast;
}
public void DisplayRobotJoystick(IJoystickSubState joystickData)
{
//Debug.WriteLine("RobotDashboard: DisplayRobotJoystick() joystick: " + joystickData.ToString());
rumblePad2Dashboard1.JoystickDataBlock.Post(joystickData);
}
