Microsoft Robotics Studio-便笺服务（译文）

原文地址：https://www.codeproject.com/Articles/20393/Microsoft-Robotics-Studio-A-pad-service

原文作者：Pedro77

译文由本站 robot-v1.0 翻译

前言

Implement a pad service using CCR and DSS

使用CCR和DSS实施便签服务

• 下载源文件-11.3 KB(Download source files - 11.3 KB)

介绍(Introduction)

在本文中,您将看到如何创建Microsoft Robotics(从现在开始为MR)服务以使用游戏手柄.这篇文章不是(In this article you will see how to create a Microsoft Robotics (from now MR) service to use a game pad. This article is not a) CCR(CCR) 或一个(or a) DSS(DSS) 教程,并且对这些技术有很好的了解将非常有用.在本文中,我假设您知道什么是消息,队列和服务.(tutorial, and a good knowledge in these technologies will be very useful. In this article I assume you know what messages, queues and services are.) 基本思想很简单:该服务将在每个月轮询游戏手柄设备(The base idea is quite simple: the service will poll the gamepad device every) x 毫秒.将使用托管直接输入(.NET版本)查询游戏手柄设备,并从(milliseconds. The gamepad device will be queried using managed direct input (.NET version) and will return values from) -1 至(to) 1 .因此,例如,左上角将是(. So, for example the left upper corner will be) (-1,1) 右下角将是(and the right lower corner will be) (1,-1) .(.) 没有计时器或线程将用于实现轮询.我将仅使用消息和队列以及CCR类.(No timers or threads will be used to implement polling. I will use only messages and queues and the CCR Classes.)

背景(Background)

关于硬件的几句话((Few words about hardware () 垫(the pad) ).我使用了Logitech Dual Action游戏手柄(USB).这是一种便宜又好玩的游戏设备,精确到足以控制业余机器人.我从未经历过直接输入法,因此由于我的知识不足,我不得不(). I’ve used a Logitech Dual Action Gamepad (USB). This is a cheap and good device for gaming, precise enough to control an hobbyist robot. I never experienced Direct Input so I was forced, because of my poor knowledge, to)“硬编码”(“hard code”)代码中的数字值.我认为这些值与我的硬件严格相关,因此,如果您使用其他游戏手柄,请相应地更改它们.(numeric values inside the code. I assume that these values are strictly related to my hardware, so, if you have a different gamepad change them accordingly.) 此服务的下一版本将使用XML文件提供配置支持.(The next version of this service will have configuration support using XML files.) 为了编译此解决方案,您必须具有(In order to compile this solution, you must have the)**Microsoft.DirectX.DirectInput.dll(Microsoft.DirectX.DirectInput.dll)**文件.你可以在找到它(file. You can find it in) Directx SDK(Directx SDK) .(.)

该项目(The project)

要创建空服务,您有两种方法:从空白解决方案开始或开始使用(To create an empty service, you have two ways: start from a blank solution or start using)DssNewService.exe(DssNewService.exe).我将向您展示一种简单的方法:打开MR命令行并cd到samples目录,然后启动(. I will show you the easy way: open MR command line and cd to samples directory, then launch)**DssNewService.exe/s:Pad(DssNewService.exe /s:Pad)**这将创建一个新项目,其中包含所有需要的文件,以便拥有带有DSS服务的VS2005解决方案.该项目还具有生成代理类的生成后操作.(This will create a new project which contains all the needed files in order to have a VS2005 solution with a DSS service. The project also has post build actions to generate Proxy classes.) 创建的其他文件是(The other files created are)**Manifest.xml(Manifest.xml)**和(and the)**PadTypes.cs(PadTypes.cs)**文件. PadTypes包含此服务将使用的所有消息.在此定义服务将响应的"操作".(files. PadTypes contains all the messages this service will use. There you define the “actions” your service will respond to.) 打开解决方案并添加对(Open the solution and add reference to)Microsoft.DirectX.DirectInput.dll(Microsoft.DirectX.DirectInput.dll).加:(. Add:)

using Microsoft.DirectX.DirectInput;

上(on)Pad.cs(Pad.cs).现在,您可以使用托管直接输入.(. You are now able to use Managed Direct Input.) 该服务分为三个逻辑部分:(The service is split into three logical sections:)

• 直接输入初始化(Direct Input Init)
• 直接输入轮询(Direct Input Polling)
• 讯息通知(Message Notifications)

直接输入初始化(Direct Input Init)

//private class variable
private Device _gamepad = null;

...

//Init direct input
DeviceList devlist = Manager.GetDevices(DeviceClass.GameControl, 
                    EnumDevicesFlags.AttachedOnly);
foreach (DeviceInstance inst in devlist)
{
    Guid g = inst.InstanceGuid;
    _gamepad = new Device(g);
    _gamepad.SetCooperativeLevel(_form.Handle,
        CooperativeLevelFlags.Background |
        CooperativeLevelFlags.NonExclusive);
}
if (_gamepad != null)
{
    _gamepad.SetDataFormat(DeviceDataFormat.Joystick);
    _gamepad.Acquire();
}

现在我们可以使用(Now we can use) _gamepad 查询打击垫状态以搜索" Sticks"值或按钮状态.的(to query the pad status to search for Sticks values or buttons status. The) _form 仅用于获取初始化的"句柄"(is used only to get a “Handle” to init) DirectInput .该表格可用于提供垫的图形反馈.(. This form could be use to provide graphical feedback of the pad.) 注意!(ATTENTION!)如果我在VS2005中开始调试(F5),则会收到"加载程序锁定"警告.这是通过(If I start debugging (F5) in VS2005, I get a “Loader Lock” warning. This is done by) 托管调试助手(MDA)(Managed debugging assistants (MDAs)) .因此,您可以按照本文所述禁用助手,也可以稍后运行并附加到进程进行调试(CTRL + ALT + P).(. So you can disable assistants as the article describes or you run and attach to process later for debugging (CTRL + ALT + P).)

直接输入轮询(Direct Input Polling)

填充轮询分为两个"块".第一个基于"计时器":每次滴答时,都会执行游戏手柄读取,并且数据会立即发送到队列.仲裁器在队列上被激活:匿名委托处理消息,并最终将新的"事件"通知主端口.(Pad polling is split in two “blocks”. The first one is based on a “timer”: on every tick a gamepad read is performed and data is immediately sent to a queue. An Arbiter is activated on the queue: an anonymous delegate process messages and eventually notifies new “events” to the main port.) 使用此代码段即可实现计时器(从(The timer is achieved using this snippet (freely taken from) 机器人实例(robotics examples) ).().)

//the timer port 
private Port<DateTime> _timerPort = null;

...

_timerPort = new Port<DateTime>();

...

_timerPort.Post(DateTime.Now);
Activate(Arbiter.Receive(true, _timerPort,
    delegate(DateTime sign)
    {
        Activate(//every 75 ms ...
            Arbiter.Receive(false, TimeoutPort(75),
               delegate(DateTime time)
               {
                   //poll the gamepad device and enqueue the data read
                   if (_gamepad != null)
                   {
                        // ... poll the pad
                       JoystickState jstate = default(JoystickState);
                       _gamepad.Poll();
                       jstate = _gamepad.CurrentJoystickState;
                       _joyReads.Post(jstate);
                   }
                   _timerPort.Post(time);
               }
            )
        );
    }
));

另一位仲裁员在(Another arbiter is active on) _joyReads :(:)

Activate(
    Arbiter.Receive<JoystickState>(true, _joyReads,
        delegate(JoystickState jsta)
        {
            //jsta analysis in order to send external notifications
        })
);

而已.填充轮询几乎完成.注释的代码读取当前的摇杆(L和R)值,并在范围内对其进行归一化(That’s it. Pad polling is almost complete. The commented code reads current sticks (L and R) values and normalize them in range) (-1,1) .在省略的代码内,执行的感兴趣的"服务"操作与此代码段相似.(. Inside the omitted code, the interested “service” actions performed are similar to this snippet.)

RightStickUpdate actR = new RightStickUpdate();

actR.Body.Stick.StickValueX = _state.RightStick.StickValueX;
actR.Body.Stick.StickValueY = _state.RightStick.StickValueY;

LogInfo("RightStickUpdate " + actR.Body.Stick.StickValueX, 
                        actR.Body.Stick.StickValueY);
_mainPort.Post(actR);

RightStickUpdate 是在中定义的类(is a class defined in)**PadType.cs(PadType.cs)**文件.(file.)

public class RightStickUpdate : 
    Update<StickUpdateResponseRight, PortSet<DefaultUpdateResponseType, Fault>>
{
    private StickStatus _stick;

    [DataMember]
    public StickStatus StickStatus
    {
        get { return _stick; }
        set { _stick = value; }
    }

    public RightStickUpdate()
        : base(new StickUpdateResponseRight())
    {
        _stick = base.Body.Stick;
    }
}

最后一步是在消息处理程序方法内部,例如:(The last step is inside the messages handler methods, for example:)

[ServiceHandler(ServiceHandlerBehavior.Exclusive)]
public IEnumerator<ITask> RightStickUpdateHandler(RightStickUpdate rsUpd)
{
    rsUpd.ResponsePort.Post(DefaultUpdateResponseType.Instance);

    //notify it
    SendNotification(_submgrPort, rsUpd);

    yield break;
}

在响应端口上发布并发送通知.服务流程现已完成.在解决方案内部,还定义了其他消息以完全处理操纵杆和按钮.(Post on response port and send notification. The service flow is now complete. Inside the solution other messages are defined to fully handle sticks and buttons.)

图形用户界面(GUI)

即将开发GUI,以提供有关焊盘状态的反馈.要在服务"内部"显示表单,请使用此代码段(实际上在源文件中已注释).的(A GUI will be developed soon to give feedback on pad state. To show a form “inside” a service, use this snippet (actually commented in the source files). The) PadInfoForm 完全是空的.(is totally empty.)

using Microsoft.Ccr.Adapters.WinForms;

...

//Create Form
PadInfoForm _form = new PadInfoForm();


WinFormsServicePort.Post(new RunForm(
    delegate()
    {
        return _form;
    }
));

下一个改进将是GUI.如果您有任何意见和建议,请发表!(The next improvement will be a GUI. If you have comments and suggestions, please post!)

历史(History)

• 2007年9月:第一版(September 2007: First release)

许可

本文以及所有相关的源代码和文件均已获得The Code Project Open License (CPOL)的许可。