public ArmAutoControl(MyIni ini, float angle, WheelsController wc, List <IMyFunctionalBlock> tools)
{
this.tools = tools;
this.wc = wc;
if (ini.ContainsSection(SECTION))
{
this.Target = new ArmPos(ini.Get(SECTION, "pos").ToString());
}
else
{
this.SetTarget(new ArmPos(angle));
}
}
/// <summary>
/// gets ArmPosition from file
/// </summary>
/// <returns>bool that indicates, if operation was successful</returns>
private void GetArmPositionFromFile()
{
try
{
//get data from file, using StreamReader
using (var sr = new StreamReader("arm_position.dat"))
{
_armPosition = (ArmPos)Enum.Parse(typeof(ArmPos), sr.ReadToEnd());
}
}
catch
{
ArmPosition = ArmPos.Between;
}
}
private void MoveArm(ArmPos pos)
{
WaitForArmReady();
waitArm.Reset();
int currTacho = motorArm.GetTachoCount();
int move = armPositions[pos] - currTacho;
sbyte speed = move < 0 ? (sbyte)-50 : (sbyte)50;
int rampDownVal = Math.Abs(move) > 15 ? 15 : 0;
WaitHandle waitHandle = motorArm.SpeedProfile(speed, 0, (uint)Math.Abs(move) - (uint)rampDownVal, (uint)rampDownVal, true);
Task.Factory.StartNew(() =>
{
waitHandle.WaitOne();
waitArm.Set();
});
}
private ArmPos WasArmMoved(Skeleton skeleton)
{
//0' is directly up
var angle = CalculateJointAngle(skeleton.Joints[JointType.ElbowLeft], skeleton.Joints[JointType.WristLeft]);
if (angle > 305)
{
prevArmPos = ArmPos.Raised;
return(ArmPos.Normal);
}
//slightly angled down
if (angle < 235)
{
prevArmPos = ArmPos.Lowered;
return(ArmPos.Normal);
}
return(prevArmPos);
}
public void SetTarget(ArmPos pos)
{
this.SwitchTools(false);
this.Target = pos;
}
private void MoveArm(ArmPos pos)
{
WaitForArmReady();
waitArm.Reset();
int currTacho = motorArm.GetTachoCount();
int move = armPositions[pos] - currTacho;
sbyte speed = move < 0 ? (sbyte) -50 : (sbyte) 50;
int rampDownVal = Math.Abs(move) > 15 ? 15 : 0;
WaitHandle waitHandle = motorArm.SpeedProfile(speed, 0, (uint) Math.Abs(move) - (uint) rampDownVal, (uint) rampDownVal, true);
Task.Factory.StartNew(() =>
{
waitHandle.WaitOne();
waitArm.Set();
});
}
/// <summary>
/// The main update loop, happens every frame
/// </summary>
/// <param name="skeleton">the skeleton data of the player</param>
private void Update(Skeleton skeleton)
{
CalculateDist(skeleton);
UpdateGraphs();
ChangeInstrument(skeleton);
armLength = CalculateArmLength(skeleton);
foreach (Peak p in leftArmPeaks)
{
p.TimeStep();
}
//check if right leg stomped
if (LegStomp(false, skeleton))
{
if (isCalculatingBPM)
{
bpmCalculatingLabel.Text = "BPM";
var greyBrush = new SolidColorBrush((Color)ColorConverter.ConvertFromString("#6e6e6e"));
bpmCalculatingLabel.Foreground = greyBrush;
bpmCounterLabel.Foreground = greyBrush;
}
else
{
bpmCalculatingLabel.Text = "BPM (Calculating...)";
bpmCalculatingLabel.Foreground = new SolidColorBrush(Colors.Red);
bpmCounterLabel.Foreground = new SolidColorBrush(Colors.Red);
}
isCalculatingBPM = !isCalculatingBPM;
//Console.WriteLine("Right leg stomp");
}
//check if left leg stomped
else if (LegStomp(true, skeleton))
{
//Console.WriteLine("Left leg stomp");
//if currently recording and new record message comes in then wipe and start again
if (isRecording)
{
recordedNotes.RemoveAt(recordedNotes.Count - 1);
}
if (shouldRecord)
{
shouldRecord = false;
recordingLabel.Text = "Not Recording";
var greyBrush = new SolidColorBrush((Color)ColorConverter.ConvertFromString("#6e6e6e"));
recordingLabel.Foreground = greyBrush;
recordingCounter.Foreground = greyBrush;
}
else
{
recordedNotes.Add(new Note[numberOfBeats]);
shouldRecord = true;
isRecording = false;
recordingLabel.Text = "Will Record";
recordingLabel.Foreground = new SolidColorBrush(Colors.Orange);
recordingCounter.Foreground = new SolidColorBrush(Colors.Orange);
}
}
if (isCalculatingBPM)
{
UpdatePeaks();
CalculateBPM();
}
else
{
int noteValue = currentNoteValue;
if (typeSlider.Value == 0)
{
var wasArmMoved = WasArmMoved(skeleton);
if (wasArmMoved != ArmPos.Normal)
{
//Console.WriteLine("Arm moved!");
prevArmPos = ArmPos.Normal;
if (wasArmMoved == ArmPos.Raised)
{
currentNoteValue++;
}
else
{
currentNoteValue--;
}
currentNoteValue = Math.Max(24, Math.Min(currentNoteValue, 127));
noteValue = currentNoteValue;
if (useScale)
{
var newNoteVal = Math.Floor(Convert.ToDouble(currentNoteValue) / currentScale.Length) * currentScale.Length;
//Console.WriteLine("New Note Val: " + newNoteVal);
var octave = newNoteVal / currentScale.Length;
//Console.WriteLine("Octave: " + octave);
var leftOver = currentNoteValue - newNoteVal;
//Console.WriteLine("Leftover: " + leftOver);
var tempNote = (int)(12 * octave + currentScale[(int)leftOver]);
//Console.WriteLine("Old note val: " + noteValue);
noteValue = Math.Max(24, tempNote);
}
//Console.WriteLine(currentNoteValue);
//Console.WriteLine("Note value: " + noteValue);
}
}
var shouldTick = bpm.ShouldTick();
if (shouldTick > 0)
{
//remove playing notes
while (playingNotes.Count > 0 && playingNotes.Min().GetTimeEnd() < currentTime)
{
Note endingNote = playingNotes.ExtractDominating().getNote();
endingNote = endingNote.EndNote();
EndNote(handle, endingNote);
}
int duration = 3;
var dist = skeleton.Joints[JointType.ShoulderLeft].Position.X - skeleton.Joints[JointType.WristLeft].Position.X;
//play a note
if (typeSlider.Value == 1)
{
double armHeight = CalculateJointHeight(skeleton.Joints[JointType.WristLeft], skeleton.Joints[JointType.ShoulderLeft], armLength);
duration = (int)((dist / Convert.ToDouble(armLength)) * 12);
if (useScale)
{
var newNoteVal = Math.Floor(armHeight / currentScale.Length) * currentScale.Length;
//Console.WriteLine("New Note Val: " + newNoteVal);
var octave = newNoteVal / currentScale.Length;
//Console.WriteLine("Octave: " + octave);
var leftOver = armHeight - newNoteVal;
//Console.WriteLine("Leftover: " + leftOver);
noteValue = (int)(12 * octave + currentScale[(int)leftOver]);
noteLabel.Text = noteList[currentScale[(int)leftOver]];
//Console.WriteLine("Old note val: " + noteValue);
noteValue = Math.Max(0, noteValue);
}
else
{
noteValue = (int)armHeight;
}
noteValue += 24;
//Console.WriteLine("New Note: " + noteValue);
}
if (duration > 0)
{
Note thisNote = new Note(noteValue, currentInstrument, duration);
//Console.WriteLine("Playing note! " + currentTime + " Duration: "+duration);
PlayNote(handle, thisNote);
if (isRecording)
{
recordedNotes[recordedNotes.Count - 1][beatCounter] = thisNote;
//Console.WriteLine("Recording note at " + beatCounter + " " + recordedNotes[recordedNotes.Count - 1][beatCounter]);
}
}
var maxRecordings = recordedNotes.Count;
if (maxRecordings > 0)
{
if (isRecording)
{
maxRecordings--;
}
for (int i = 0; i < maxRecordings; i++)
{
if (recordedNotes[i][beatCounter] != null)
{
PlayNote(handle, recordedNotes[i][beatCounter]);
//Console.WriteLine("Playing recorded note at: " + beatCounter + " out of " + recordedNotes[i].Count());
}
}
}
currentTime++;
if (shouldTick == 1)
{
//play drum beat, needs to take what type
if (currentDrum.GetType() != typeof(Rest))
{
currentDrum.UpdateProbabilites(energy);
if (currentDrum.GetType() == typeof(HiHat))
{
PlayNote(handle, new Note(currentDrum.GetNote(), 99, 90));
}
else
{
PlayNote(handle, new Note(currentDrum.GetNote(), 99, 117));
}
}
currentDrum = currentDrum.GetNextNode();
}
// update recording.
// shouldTick == 2
else
{
if (currentTick > 1)
{
currentTick--;
}
else
{
currentTick = loopLength;
if (shouldRecord)
{
shouldRecord = false;
isRecording = true;
recordingLabel.Text = "Recording";
recordingLabel.Foreground = new SolidColorBrush(Colors.Red);
recordingCounter.Foreground = new SolidColorBrush(Colors.Red);
}
else if (isRecording)
{
isRecording = false;
recordingLabel.Text = "Not Recording";
var greyBrush = new SolidColorBrush((Color)ColorConverter.ConvertFromString("#6e6e6e"));
recordingLabel.Foreground = greyBrush;
recordingCounter.Foreground = greyBrush;
}
}
recordingCounter.Text = currentTick.ToString();
}
beatCounter++;
if (beatCounter >= numberOfBeats)
{
beatCounter = 0;
}
if (beatCounter % 2 == 0)
{
currentDrum = new Kick();
if (playKick)
{
PlayNote(handle, new Note(currentDrum.GetNote(), 99, 127));
}
else
{
PlayNote(handle, new Note(38, 99, 127));
}
playKick = !playKick;
energy = GetEnergy();
currentDrum.UpdateProbabilites(energy);
currentDrum = currentDrum.GetNextNode();
}
}
}
}