public MainWindow()
{
InitializeComponent();
IDuplexTypedMessagesFactory aTypedMessagesFactory = new DuplexTypedMessagesFactory();
mySender = aTypedMessagesFactory.CreateDuplexTypedMessageSender <MyResponse, MyRequest>();
mySender.ResponseReceived += OnResponseReceived;
// Create messaging based on TCP.
IMessagingSystemFactory aMessagingSystemFactory = new TcpMessagingSystemFactory();
IDuplexOutputChannel anOutputChannel = aMessagingSystemFactory.CreateDuplexOutputChannel("tcp://192.168.2.9:8060/");
// Attach output channel and be able to send messages and receive response messages.
mySender.AttachDuplexOutputChannel(anOutputChannel);
MyRequest test = new MyRequest {
side = "L", strength = 10
};
mySender.SendRequestMessage(test);
MyRequest reset = new MyRequest {
side = "L", strength = 0
};
mySender.SendRequestMessage(reset);
try
{
USBInterface usb = new USBInterface("vid_044f", "pid_b108");
usb.Connect();
usb.enableUsbBufferEvent(new System.EventHandler(myEventCacher));
usb.startRead();
Console.ReadLine();
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
}
private void myEventCacher(object sender, EventArgs e)
{
int y = 50;
int speedRight = 50;
int x = 0;
Console.Out.WriteLine("Event caught");
if (USBHIDDRIVER.USBInterface.usbBuffer.Count > 0)
{
byte[] currentRecord = null;
int counter = 0;
while ((byte[])USBHIDDRIVER.USBInterface.usbBuffer[counter] == null)
{
lock (USBHIDDRIVER.USBInterface.usbBuffer.SyncRoot)
{
USBHIDDRIVER.USBInterface.usbBuffer.RemoveAt(0);
}
}
currentRecord = (byte[])USBHIDDRIVER.USBInterface.usbBuffer[0];
lock (USBHIDDRIVER.USBInterface.usbBuffer.SyncRoot)
{
USBHIDDRIVER.USBInterface.usbBuffer.RemoveAt(0);
}
string hex = BitConverter.ToString(currentRecord);
Console.WriteLine(hex);
char[] splitby = { '-' };
string[] hexxes = hex.Split(splitby);
for (int i = 0; i < 23; i++)
{
switch (i)
{
case 4:
int decValue3 = Convert.ToInt32(hexxes[5], 16) * 255 + Convert.ToInt32(hexxes[4], 16);
int percentage4 = (int)((((100f * (decValue3)) / 1020)) - 50) * 2;
//Console.WriteLine(decValue3);
//Console.WriteLine("x: {0}", percentage4);
x = percentage4;
break;
case 6:
int decValue = Convert.ToInt32(hexxes[7], 16) * 255 + Convert.ToInt32(hexxes[6], 16);
int percentage = (int)(0.5f + ((100f * (1020 - decValue)) / 1020));
speedRight = percentage;
break;
case 8:
int decValue2 = Convert.ToInt32(hexxes[8], 16);
int percentage2 = (int)(((100f * (255 - decValue2)) / 255) - 50) * 2;
//Console.WriteLine(decValue2);
//Console.WriteLine("y: {0}", percentage2);
y = percentage2;
break;
}
}
x = 0 - x;
double V = (100f - Math.Abs(x)) * (y / 100f) + y;
double W = (100f - Math.Abs(y)) * (x / 100f) + x;
double R = (V + W) / 2;
double L = (V - W) / 2;
R = R / 100f * 15;
L = L / 100f * 15;
int strength1 = (int)L;
int strength = (int)R;
MyRequest request = new MyRequest {
side = "L", strength = strength
};
mySender.SendRequestMessage(request);
MyRequest request2 = new MyRequest {
side = "R", strength = strength1
};
mySender.SendRequestMessage(request2);
}
}
