public void OnRequestControl(object arg)
{
JausAddress targetAddress = GenerateCurrentAddress();
if (targetAddress == null)
{
return;
}
RequestControl requestControl = new RequestControl();
requestControl.SetAuthorityCode(BadgerControlSubsystem.AUTHORITY_LEVEL);
requestControl.SetSource(badgerControlSubsystem.LocalAddress);
requestControl.SetDestination(targetAddress);
Transport.SendMessage(requestControl);
}
protected override void Execute(Component component)
{
LocateJoystick();
if (!isEnabled || destinationAddress == null)
return;
// request control and update the GUI to denote this
if (!hasControl)
{
RequestControl requestControl = new RequestControl();
requestControl.SetDestination(destinationAddress);
requestControl.SetSource(component.JausAddress);
Transport.SendMessage(requestControl);
// update the connection icon for the correct component to orange
if (destinationAddress.getComponent() == 1)
connectionDetails.direct = ConnectionOption.REQUESTING_CONTROL;
if (destinationAddress.getComponent() == 2)
connectionDetails.remote = ConnectionOption.REQUESTING_CONTROL;
if (destinationAddress.getComponent() == 3)
connectionDetails.ai = ConnectionOption.REQUESTING_CONTROL;
_eventAggregator.GetEvent<ConnectionDetailsEvent>().Publish(connectionDetails);
return;
}
// shut down all components, then resume the one that should be active (i.e. jank hax)
if (!isReady)
{
// shut down all active components
Shutdown shutdown = new Shutdown();
int subsys = CurrentDestinationAddress.SubsystemID;
int node = CurrentDestinationAddress.getNode();
JausAddress newAddress = new JausAddress(subsys, node, 1);
QueryStatus queryStatus = new QueryStatus();
if (componentOneActive)
{
shutdown.SetDestination(newAddress);
Transport.SendMessage(shutdown);
queryStatus.SetDestination(newAddress);
queryStatus.SetSource(component.JausAddress);
Transport.SendMessage(queryStatus);
}
if (componentTwoActive)
{
newAddress.setComponent(2);
shutdown.SetDestination(newAddress);
Transport.SendMessage(shutdown);
queryStatus.SetDestination(newAddress);
queryStatus.SetSource(component.JausAddress);
Transport.SendMessage(queryStatus);
}
if (componentThreeActive)
{
newAddress.setComponent(3);
shutdown.SetDestination(newAddress);
Transport.SendMessage(shutdown);
queryStatus = new QueryStatus();
queryStatus.SetDestination(newAddress);
queryStatus.SetSource(component.JausAddress);
Transport.SendMessage(queryStatus);
}
// force component to boot
Resume resume = new Resume();
resume.SetDestination(destinationAddress);
resume.SetSource(component.JausAddress);
Transport.SendMessage(resume);
// see if the component is ready
queryStatus = new QueryStatus();
queryStatus.SetDestination(destinationAddress);
queryStatus.SetSource(component.JausAddress);
Transport.SendMessage(queryStatus);
return;
}
// send a drive message
SetLocalVector msg = new SetLocalVector();
msg.SetDestination(destinationAddress);
msg.SetSource(component.JausAddress);
// convert joystick degrees into radians
// TODO: THIS IS INCORRECT
msg.SetHeading(joystickQueryThread.XVelocity * (Math.PI / 180));
//adding 100 to fit into defined setLocalVector MAX_SPEED & MIN_SPEED
msg.SetSpeed(joystickQueryThread.YVelocity + 100);
Transport.SendMessage(msg);
}
public void OnRequestControl(object arg)
{
JausAddress targetAddress = GenerateCurrentAddress();
if (targetAddress == null)
return;
RequestControl requestControl = new RequestControl();
requestControl.SetAuthorityCode(BadgerControlSubsystem.AUTHORITY_LEVEL);
requestControl.SetSource(badgerControlSubsystem.LocalAddress);
requestControl.SetDestination(targetAddress);
Transport.SendMessage(requestControl);
}
protected override void Execute(Component component)
{
LocateJoystick();
if (!isEnabled || destinationAddress == null)
{
return;
}
// request control and update the GUI to denote this
if (!hasControl)
{
RequestControl requestControl = new RequestControl();
requestControl.SetDestination(destinationAddress);
requestControl.SetSource(component.JausAddress);
Transport.SendMessage(requestControl);
// update the connection icon for the correct component to orange
if (destinationAddress.getComponent() == 1)
{
connectionDetails.direct = ConnectionOption.REQUESTING_CONTROL;
}
if (destinationAddress.getComponent() == 2)
{
connectionDetails.remote = ConnectionOption.REQUESTING_CONTROL;
}
if (destinationAddress.getComponent() == 3)
{
connectionDetails.ai = ConnectionOption.REQUESTING_CONTROL;
}
_eventAggregator.GetEvent <ConnectionDetailsEvent>().Publish(connectionDetails);
return;
}
// shut down all components, then resume the one that should be active (i.e. jank hax)
if (!isReady)
{
// shut down all active components
Shutdown shutdown = new Shutdown();
int subsys = CurrentDestinationAddress.SubsystemID;
int node = CurrentDestinationAddress.getNode();
JausAddress newAddress = new JausAddress(subsys, node, 1);
QueryStatus queryStatus = new QueryStatus();
if (componentOneActive)
{
shutdown.SetDestination(newAddress);
Transport.SendMessage(shutdown);
queryStatus.SetDestination(newAddress);
queryStatus.SetSource(component.JausAddress);
Transport.SendMessage(queryStatus);
}
if (componentTwoActive)
{
newAddress.setComponent(2);
shutdown.SetDestination(newAddress);
Transport.SendMessage(shutdown);
queryStatus.SetDestination(newAddress);
queryStatus.SetSource(component.JausAddress);
Transport.SendMessage(queryStatus);
}
if (componentThreeActive)
{
newAddress.setComponent(3);
shutdown.SetDestination(newAddress);
Transport.SendMessage(shutdown);
queryStatus = new QueryStatus();
queryStatus.SetDestination(newAddress);
queryStatus.SetSource(component.JausAddress);
Transport.SendMessage(queryStatus);
}
// force component to boot
Resume resume = new Resume();
resume.SetDestination(destinationAddress);
resume.SetSource(component.JausAddress);
Transport.SendMessage(resume);
// see if the component is ready
queryStatus = new QueryStatus();
queryStatus.SetDestination(destinationAddress);
queryStatus.SetSource(component.JausAddress);
Transport.SendMessage(queryStatus);
return;
}
// send a drive message
SetLocalVector msg = new SetLocalVector();
msg.SetDestination(destinationAddress);
msg.SetSource(component.JausAddress);
// convert joystick degrees into radians
// TODO: THIS IS INCORRECT
msg.SetHeading(joystickQueryThread.XVelocity * (Math.PI / 180));
//adding 100 to fit into defined setLocalVector MAX_SPEED & MIN_SPEED
msg.SetSpeed(joystickQueryThread.YVelocity + 100);
Transport.SendMessage(msg);
}