void OnDestroy()
{
if (_session != null && _session.IsConnected)
{
_session.Close();
_session = null;
}
}
public override void OnXboxInputUpdate(XboxControllerEventData eventData){
if (string.IsNullOrEmpty(GamePadName)){
Debug.LogFormat("Joystick {0} with id: \"{1}\" Connected", eventData.GamePadName, eventData.SourceId);
}
base.OnXboxInputUpdate(eventData);
/*get information from xbox controller*/
if(_session.IsConnected){
if (eventData.XboxLeftStickHorizontalAxis != 0 || eventData.XboxLeftStickVerticalAxis != 0){
var motion = _session.GetService("ALMotion");
motion["moveTo"].Call(eventData.XboxLeftStickHorizontalAxis * move_scalefactor, eventData.XboxLeftStickVerticalAxis * (-1) * move_scalefactor, 0f);
}
if (eventData.XboxLeftBumper_Pressed){
var motion = _session.GetService("ALMotion");
motion["moveTo"].Call(0f, 0f, rotation_scalefactor);
}
else if (eventData.XboxRightBumper_Pressed){
var motion = _session.GetService("ALMotion");
motion["moveTo"].Call(0f, 0f, (-1) * rotation_scalefactor);
}
if (eventData.XboxB_Pressed){
if (Time.time - first_buttonpressed > timeBetweenbuttonpressed){
var motion = _session.GetService("ALMotion");
motion["setAngles"].Call("HeadYaw", angle, 0f);
}
first_buttonpressed = Time.time;
}
if (eventData.XboxX_Pressed){
if (Time.time - first_buttonpressed > timeBetweenbuttonpressed){
if (pepperIP == "192.168.10.51"){
_session.Close();
_session.Destroy();
pepperIP = "192.168.10.48"
_session = QiSession.Create(tcpPrefix + pepperIP + portSuffix);
}else{
_session.Close();
_session.Destroy();
pepperIP = "192.168.10.51"
_session = QiSession.Create(tcpPrefix + pepperIP + portSuffix);
}
}
first_buttonpressed = Time.time;
}
//another robot (estimated)
}else if(session_robot.isConnected){
if (eventData.XboxLeftStickHorizontalAxis != 0 || eventData.XboxLeftStickVerticalAxis != 0){
CallRobotsAPI_move(eventData.XboxLeftStickHorizontalAxis * move_scalefactor_robot, eventData.XboxLeftStickVerticalAxis * (-1) * move_scalefactor_robot, 0f);
}
if (eventData.XboxLeftBumper_Pressed){
CallRobotsAPI_rotate(0f, 0f, rotation_scalefactor);
}
else if (eventData.XboxRightBumper_Pressed){
CallRobotsAPI_rotate(0f, 0f, (-1) * rotation_scalefactor);
}
if (eventData.XboxB_Pressed){
if (Time.time - first_buttonpressed > timeBetweenbuttonpressed){
CallRobotsAPI_rotate(0f, 0f, 0f);
}
first_buttonpressed = Time.time;
}
if (eventData.XboxX_Pressed){
if (Time.time - first_buttonpressed > timeBetweenbuttonpressed){
if (robotIP == "192.168.10.53"){
session_robot.Close();
session_robot.Destroy();
robotIP = "192.168.10.54"
session_robot = RobotSession.Create(tcpPrefix + robotIP + portSuffix);
}else{
session_robot.Close();
session_robot.Destroy();
robotIP = "192.168.10.53"
session_robot = RobotSession.Create(tcpPrefix + robotIP + portSuffix);
}
}
first_buttonpressed = Time.time;
}
}
}
void IDisposable.Dispose()
{
_session.Close();
_session.Destroy();
}
