public MainController()
{
var directInput = new DirectInput();
LogicState = new LogicState();
foreach (var deviceInstance in directInput.GetDevices(DeviceClass.GameController, DeviceEnumerationFlags.AttachedOnly))
{
try
{
gamepad = new Joystick(directInput, deviceInstance.InstanceGuid);
gamepad.SetCooperativeLevel(Parent, CooperativeLevel.Exclusive | CooperativeLevel.Foreground);
break;
}
catch (DirectInputException) { }
}
if (gamepad == null)
return;
foreach (var deviceObject in gamepad.GetObjects())
{
if ((deviceObject.ObjectType & ObjectDeviceType.Axis) != 0)
gamepad.GetObjectPropertiesById((int) deviceObject.ObjectType).SetRange(-1000, 1000);
}
gamepad.Acquire();
}
public MainLogicProcessor()
{
VisionData = new VisionData();
SensorData = new SensorData();
LogicState = new LogicState();
stateMachine = new StateMachine<State, Trigger>(State.Idle);
stateMachine.OnUnhandledTrigger((state, trigger) => { });
stateMachine.Configure(State.Idle)
.Permit(Trigger.PoweredUp, State.Starting)
.OnEntry(() => Commander.SetColors(Colors.Yellow));
stateMachine.Configure(State.Starting)
.Permit(Trigger.Finished, State.LookingForBall)
.Permit(Trigger.BallCaught, State.FindingGoal)
.OnEntry(() =>
{
stopwatchTime = stopwatch.ElapsedMilliseconds;
SoundClipPlayer.PlayIntro();
Commander.SetColors(Colors.Cyan);
});
stateMachine.Configure(State.LookingForBall)
.Permit(Trigger.CameraLockedOnBall, State.ClosingInOnBall)
.Permit(Trigger.BallCaught, State.FindingGoal)
.OnEntry(
() =>
{
Commander.SetColors(Colors.Blue);
stopwatchTime = stopwatch.ElapsedMilliseconds;
});
stateMachine.Configure(State.ClosingInOnBall)
.Permit(Trigger.CameraLostBall, State.LookingForBall)
.Permit(Trigger.BallCaught, State.FindingGoal)
.Permit(Trigger.Timeout, State.LookingForBall)
.OnEntry(() =>
{
StartTimer(10000, Trigger.Timeout);
Commander.SetColors(Colors.Red);
})
.OnExit(StopTimer);
stateMachine.Configure(State.FindingGoal)
.Permit(Trigger.CoilgunLaunched, State.LookingForBall)
.Permit(Trigger.BallLost, State.LookingForBall)
.Permit(Trigger.Timeout, State.LookingForBall)
.OnEntry(() =>
{
LogicState.FindingGoal = true;
StartTimer(5000, LaunchBall);
Commander.SetColors(Colors.Magenta);
})
.OnExit(
() =>
{
LogicState.FindingGoal = false;
StopTimer();
});
stopwatch.Start();
}
