private static void HandlePanTilt(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
Key key)
{
try
{
//Pan Up
if (key == System.Windows.Input.Key.Down && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonYVelocity <= PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonYVelocity += 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarUp = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
else if (key == System.Windows.Input.Key.Up && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonYVelocity >= -1 * PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonYVelocity -= 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
else if (key == System.Windows.Input.Key.Right && !s_PanTiltTooFarRight && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonXVelocity >= -1 * PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonXVelocity -= 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarLeft = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
else if (key == System.Windows.Input.Key.Left && !s_PanTiltTooFarLeft && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonXVelocity <= PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonXVelocity += 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarRight = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//anything goes wrong, stop pantilt and crash the app
catch (Exception ex)
{
panTilt.Disengage();
throw ex;
}
}
//Static for now... not sure if we actually need to make this class instatiable
public static async Task HandleInput(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
Key? key, XboxController handHeldController){
////////////////////////////////////////////////////////////////////////////
//Manual Control Logic
////////////////////////////////////////////////////////////////////////////
if (panTilt.IsReady)
{
if (key != null)
{
HandlePanTilt(mainWindow, panTilt, firingController, (Key)key);
}
else
{
HandleXboxInputPanTilt(mainWindow, panTilt, firingController, handHeldController);
}
}
if (key == Key.NumPad1 || key == Key.D1 || handHeldController.IsXPressed)
{
mainWindow.TrackingMode = TrackingMode.MANUAL;
mainWindow.AudioMeterVisibility = Visibility.Hidden;
}
else if (key == Key.NumPad2 || key == Key.D2 || handHeldController.IsAPressed)
{
mainWindow.TrackingMode = TrackingMode.SKELETAL;
mainWindow.AudioMeterVisibility = Visibility.Hidden;
}
else if (key == Key.NumPad3 || key == Key.D3 || handHeldController.IsBPressed)
{
mainWindow.TrackingMode = TrackingMode.AUDIBLE;
mainWindow.AudioMeterVisibility = Visibility.Visible;
}
//The ordering rational of the key assignments is based on
//the bottom row of the keyboard
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.Z)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.A;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.X)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.B;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.C)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.C;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.V)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.D;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.B)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.E;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.N)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.F;
}
else if (key == Key.NumPad4 || key == Key.D4 || handHeldController.IsYPressed)
{
//toggle 'night vision' mode
if (mainWindow.DisplayMode == DisplayMode.INFRARED)
{
mainWindow.DisplayMode = DisplayMode.COLOR;
}
else{
mainWindow.DisplayMode = DisplayMode.INFRARED;
}
//check to see if this is the UI thread, xbox controller uses different thread
if (!mainWindow.Dispatcher.CheckAccess())
{
await mainWindow.Dispatcher.BeginInvoke((Action)(()=>{
mainWindow.CameraFeedImageSource.Source = mainWindow.ImageSource;
}));
}
else
{
//we're on the UI thread directly change the UI element image source, keyboard stroke hits this path
mainWindow.CameraFeedImageSource.Source = mainWindow.ImageSource;
}
}
if (handHeldController.IsDPadRightPressed)
{
mainWindow.RequestedTrackedSkeleton++;
//Console.WriteLine(mainWindow.RequestedTrackedSkeleton);
}
if (handHeldController.IsDPadLeftPressed)
{
mainWindow.RequestedTrackedSkeleton--;
}
if (handHeldController.IsDPadDownPressed)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.A;
}
/////////////////////////////////////////////////////////
//Rage Safteys - Makey Makey Board Provides These Events
/////////////////////////////////////////////////////////
try
{
//mainWindow.Cannon is too high
if (key == Key.A && !s_PanTiltTooFarUp)
{
s_PanTiltTooFarUp = true;
mainWindow.CannonYVelocity = 0;
panTilt.PanY(mainWindow.CannonYVelocity);
}
//mainWindow.Cannon is too low
else if (key == Key.S && !s_PanTiltTooFarDown)
{
s_PanTiltTooFarDown = true;
mainWindow.CannonYVelocity = 0;
panTilt.PanY(mainWindow.CannonYVelocity);
}
//mainWindow.Cannon is too far right
else if (key == Key.D && !s_PanTiltTooFarRight)
{
s_PanTiltTooFarRight = true;
mainWindow.CannonXVelocity = 0;
panTilt.PanX(mainWindow.CannonXVelocity);
}
//mainWindow.Cannon is too far left
else if (key == Key.F && !s_PanTiltTooFarLeft)
{
s_PanTiltTooFarLeft = true;
mainWindow.CannonXVelocity = 0;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//if anything at all goes wrong we gotta stop the pantilt and crash the app
catch(Exception ex)
{
panTilt.Disengage();
throw ex;
}
if ((key == Key.P || (handHeldController.IsLeftShoulderPressed & handHeldController.IsRightShoulderPressed)) && firingController.VirtualSafetyOn)
{
//keep safety from being toggled too fast
if ((DateTime.Now - s_LastDisarmTime > s_DisarmWaitTime) || s_LastDisarmTime == null)
{
s_LastDisarmTime = DateTime.Now;
//toggle the safety
firingController.VirtualSafetyOn = !firingController.VirtualSafetyOn;
s_VoiceSynth.SelectVoice("Microsoft Hazel Desktop");
s_VoiceSynth.SpeakAsync("System Armed, Pull both triggers simultaneously to fire!");
}
//handHeldController.Vibrate(40.0, 40.0, 10.0);
}
else if ((key == Key.P || (handHeldController.IsLeftShoulderPressed & handHeldController.IsRightShoulderPressed)) && !firingController.VirtualSafetyOn)
{
//keep safety from being toggled too fast
if (DateTime.Now - s_LastDisarmTime > s_DisarmWaitTime)
{
s_LastDisarmTime = DateTime.Now;
//toggle the safety
firingController.VirtualSafetyOn = !firingController.VirtualSafetyOn;
s_VoiceSynth.SelectVoice("Microsoft Hazel Desktop");
s_VoiceSynth.SpeakAsync("System Disarmed!");
}
}
//MAYBE WE SHOULD PICK A HARDER TO PRESS KEY THAN THE SPACE BAR?
if (key == Key.Space || (handHeldController.RightTrigger > 250 && handHeldController.LeftTrigger > 250))
{
handHeldController.Vibrate(VIBRATION_INTENSITY, VIBRATION_INTENSITY, new TimeSpan(1));
await firingController.Fire(350);
}
}
private static void HandleXboxInputPanTilt(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
XboxController handHeldController)
{
try
{
var convertedXboxInputX = ConvertXInputCoordinateToVelocity(handHeldController.LeftThumbStick.X);
var convertedXboxInputY = ConvertXInputCoordinateToVelocity(handHeldController.LeftThumbStick.Y);
Console.WriteLine("X Value Converted - " + convertedXboxInputX);
//Pan Up & Pan Down for Manual Tracking
if (convertedXboxInputY <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
s_PanTiltTooFarUp = false;
mainWindow.CannonYVelocity = convertedXboxInputY;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonYVelocity = convertedXboxInputY;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.AUDIBLE)
{
s_PanTiltTooFarUp = false;
mainWindow.CannonYVelocity = convertedXboxInputY;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.AUDIBLE)
{
mainWindow.CannonYVelocity = convertedXboxInputY;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (mainWindow.CannonXVelocity >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarRight && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonXVelocity = convertedXboxInputX;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarLeft = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
if (mainWindow.CannonXVelocity <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarLeft && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonXVelocity = convertedXboxInputX;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarRight = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//anything goes wrong, stop pantilt and crash the app
catch (Exception ex)
{
panTilt.Disengage();
throw ex;
}
}
