private void btnSwitchCam_Click(object sender, EventArgs e)
{
var configuration = new Settings();
configuration.Video.Channel = VideoChannelType.Next;
_droneClient.Send(configuration);
}
void SetConfig()
{
var sendConfigTask = new Task(() =>
{
Debug("Updating drone settings ...");
if (_configuration == null)
{
_configuration = new Settings();
}
Settings configuration = _configuration;
if (string.IsNullOrEmpty(configuration.Custom.SessionId) ||
configuration.Custom.SessionId == "00000000")
{
// set new session, application and profile
_droneClient.AckControlAndWaitForConfirmation(); // wait for the control confirmation
configuration.Custom.SessionId = Settings.NewId();
_droneClient.Send(configuration);
_droneClient.AckControlAndWaitForConfirmation();
configuration.Custom.ProfileId = Settings.NewId();
_droneClient.Send(configuration);
_droneClient.AckControlAndWaitForConfirmation();
configuration.Custom.ApplicationId = Settings.NewId();
_droneClient.Send(configuration);
_droneClient.AckControlAndWaitForConfirmation();
}
configuration.Control.Outdoor = this.Details.OutdoorFlight;
configuration.Control.FlightWithoutShell = this.Details.OutdoorHull;
configuration.Control.AltitudeMax = (int)this.Details.AltitudeLimit;
//if (this.Details.OutdoorFlight == false)
{
//configuration.Control.ControlVzMax = 1f; // (float)this.Details.VerticalSpeedMax;
configuration.Control.ControlYaw = 0.10f; // (float)this.Details.RotationSpeedMax;
//configuration.Control.EulerAngleMax = 0.1f; // (float)this.Details.TiltAngleMax;
}
//else
//{
// _configuration.Control.OutdoorControlVzMax = (float)this.Details.VerticalSpeedMax;
// _configuration.Control.OutdoorControlYaw = (float)this.Details.RotationSpeedMax;
// _configuration.Control.OutdoorEulerAngleMax = (float)this.Details.TiltAngleMax;
//}
this._droneClient.Send(configuration);
Debug("New drone settings sent!");
});
sendConfigTask.Start();
}
private void OnConfigurationUpdated(DroneConfiguration configuration)
{
if (configuration.Video.Codec != VideoCodecType.H264_360P ||
configuration.Video.BitrateCtrlMode != VideoBitrateControlMode.Dynamic)
{
_droneClient.Send(configuration.Video.Codec.Set(VideoCodecType.H264_360P).ToCommand());
_droneClient.Send(configuration.Video.BitrateCtrlMode.Set(VideoBitrateControlMode.Dynamic).ToCommand());
}
}
private void OnConfigurationUpdated(DroneConfiguration configuration)
{
if (configuration.Video.Codec != VideoCodecType.H264_360P_SLRS || configuration.Video.MaxBitrate != 100 || configuration.Video.BitrateCtrlMode != VideoBitrateControlMode.Dynamic)
{
droneClient.Send(configuration.Video.Codec.Set(VideoCodecType.H264_360P_SLRS).ToCommand());
droneClient.Send(configuration.Video.MaxBitrate.Set(100).ToCommand());
droneClient.Send(configuration.Video.BitrateCtrlMode.Set(VideoBitrateControlMode.Dynamic).ToCommand());
}
}
/// <summary>
/// Switchs the drone camera.
/// </summary>
/// <param name="Type">Video channel type.</param>
private void switchDroneCamera(AR.Drone.Client.Configuration.VideoChannelType Type)
{
var configuration = new AR.Drone.Client.Configuration.Settings();
configuration.Video.Channel = Type;
droneClient.Send(configuration);
}
private void OnNavigationData(NavigationData data)
{
if (_initialized)
{
return;
}
if (data.State.HasFlag(NavigationState.Command))
{
_client.Send(new ControlCommand(ControlMode.AckControlMode));
}
else
{
_client.Send(new ControlCommand(ControlMode.CfgGetControlMode));
_initialized = true;
}
}
public void SendTo(DroneClient client)
{
ATCommand command;
while (_queue.TryDequeue(out command))
{
client.Send(command);
}
}
/// <summary>
/// Use this for initialization
/// </summary>
void Start()
{
Debug.Log("Start DroneObserver");
// initialize data array
data = new byte[width * height * 3];
cameraTexture = new Texture2D(width, height);
// Initialize drone
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.RGB24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient("192.168.1.1");
//droneClient = new DroneClient ("127.0.0.1");
droneClient.UnhandledException += HandleUnhandledException;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += navData => navigationData = navData;
droneClient.FlatTrim();
videoPacketDecoderWorker.UnhandledException += HandleUnhandledException;
droneClient.Start();
Settings settings = new Settings();
settings.Video.Codec = VideoCodecType.H264_720P;
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
switchDroneCamera(AR.Drone.Client.Configuration.VideoChannelType.Horizontal);
isDroneConnected = droneClient.IsConnected;
if (!isDroneConnected)
{
Debug.LogError("Drone not Connected. Retry!!!");
}
if (isDroneConnected)
{
Debug.LogWarning("Drone Connected!!!");
}
// determine connection
wlanClient = new WlanClient();
}
public Settings GetConfiguration(CancellationToken token)
{
using (var tcpClient = new TcpClient(_client.NetworkConfiguration.DroneHostname, ControlPort))
using (NetworkStream stream = tcpClient.GetStream())
{
_client.AckControlAndWaitForConfirmation();
_client.Send(ControlCommand.CfgGetControlMode);
var buffer = new byte[NetworkBufferSize];
Stopwatch swConfigTimeout = Stopwatch.StartNew();
while (swConfigTimeout.ElapsedMilliseconds < ConfigTimeout)
{
token.ThrowIfCancellationRequested();
int offset = 0;
if (tcpClient.Available == 0)
{
Thread.Sleep(20);
}
else
{
offset += stream.Read(buffer, offset, buffer.Length);
swConfigTimeout.Reset();
swConfigTimeout.Start();
// config eof check
if (offset > 0 && buffer[offset - 1] == 0x00)
{
string s = System.Text.Encoding.UTF8.GetString(buffer, 0, offset);
return(Settings.Parse(s));
}
}
}
throw new TimeoutException();
}
}
/// <summary>
/// This method let the drone calibrate.
/// Must be happen every flight for an accurate flight.
/// </summary>
public void Calibrate()
{
_droneClient.Send(CalibrateCommand.Magnetometer);
}
/// <summary>
/// Sends the changed settings from the UI to the drone
/// </summary>
private void SendDroneConfig()
{
if (droneClient.IsConnected)
{
OnChangeDroneSettingsBegin();
var sendConfigTask = new Task(() =>
{
if (settings == null)
{
settings = new Settings();
}
if (string.IsNullOrEmpty(settings.Custom.SessionId) ||
settings.Custom.SessionId == "00000000")
{
// set new session, application and profile
droneClient.AckControlAndWaitForConfirmation(); // wait for the control confirmation
settings.Custom.SessionId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
settings.Custom.ProfileId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
settings.Custom.ApplicationId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
}
settings.General.NavdataDemo = false;
settings.General.NavdataOptions = NavdataOptions.All;
settings.Video.BitrateCtrlMode = VideoBitrateControlMode.Dynamic;
settings.Video.Bitrate = 2000;
settings.Video.MaxBitrate = 4000;
//settings.Leds.LedAnimation = new LedAnimation(LedAnimationType.BlinkGreenRed, 2.0f, 2);
//settings.Control.FlightAnimation = new FlightAnimation(FlightAnimationType.Wave);
// record video to usb
//settings.Video.OnUsb = true;
// usage of MP4_360P_H264_720P codec is a requirement for video recording to usb
//settings.Video.Codec = VideoCodecType.MP4_360P_H264_720P;
// start
//settings.Userbox.Command = new UserboxCommand(UserboxCommandType.Start);
// stop
//settings.Userbox.Command = new UserboxCommand(UserboxCommandType.Stop);
//send all changes in one pice
droneClient.Send(settings);
});
sendConfigTask.Start();
sendConfigTask.Wait();
OnChangeDroneSettingsEnd();
}
}
public void Configure(DroneConfiguration droneConfiguration)
{
Task <Settings> configurationTask = droneClient.GetConfigurationTask();
configurationTask.ContinueWith(
delegate(Task <Settings> task)
{
if (task.Exception != null)
{
Trace.TraceWarning("Get configuration task is faulted with exception: {0}",
task.Exception.InnerException.Message);
return;
}
settings = task.Result;
});
configurationTask.Start();
var sendConfigTask = new Task(() =>
{
if (settings == null)
{
settings = new Settings();
}
if (string.IsNullOrEmpty(settings.Custom.SessionId) ||
settings.Custom.SessionId == "00000000")
{
// set new session, application and profile
droneClient.AckControlAndWaitForConfirmation(); // wait for the control confirmation
settings.Custom.SessionId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
settings.Custom.ProfileId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
settings.Custom.ApplicationId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
}
settings.General.NavdataDemo = false;
settings.General.NavdataOptions = NavdataOptions.All;
//settings.Video.BitrateCtrlMode = VideoBitrateControlMode.Dynamic;
settings.Video.Bitrate = 1000;
settings.Video.MaxBitrate = 2000;
settings.Leds.LedAnimation = new LedAnimation(LedAnimationType.BlinkGreenRed, 2.0f, 2);
settings.Control.FlightAnimation = new FlightAnimation(FlightAnimationType.Wave);
//start
settings.Userbox.Command = new UserboxCommand(UserboxCommandType.Start);
//stop
settings.Userbox.Command = new UserboxCommand(UserboxCommandType.Stop);
//send all changes in one pice
droneClient.Send(settings);
droneClient.FlatTrim(); // calibrates the drone on flat surface
});
sendConfigTask.Start();
}
private void btnSwitchCam_Click(object sender, EventArgs e)
{
ATCommand command = _droneClient.Configuration.Video.Channel.Set(VideoChannelType.Next).ToCommand();
_droneClient.Send(command);
}
public void flightWithoutShell(bool flag)
{
settings.Control.FlightWithoutShell = flag;
_client.Send(settings);
}
public void SendTo(DroneClient client)
{
ATCommand command;
while (_queue.TryDequeue(out command)) client.Send(command);
}
