public DroneRpcFuntions()
{
var componentManager = DJISDKManager.Instance.ComponentManager;
virtualRemoteController = DJISDKManager.Instance.VirtualRemoteController;
flightAssistantHandler = componentManager.GetFlightAssistantHandler(0, 0);
flightControllerHandler = componentManager.GetFlightControllerHandler(0, 0);
flightControllerHandler.ConnectionChanged += (object sender, BoolMsg? value) => { OnflightControllerHandler_ConnectionChanged(sender, value); };
flightControllerHandler.IsFlyingChanged += (object sender, BoolMsg? value) => { OnflightControllerHandler_IsFlyingChanged(sender, value); };
componentManager.GetBatteryHandler(0, 0).CurrentChanged += (object sender, IntMsg? value) => { OnbatteryHandler_CurrentChanged(sender, value); };
}
private void OnSdkRegistrationStateChanged(SDKRegistrationState state, SDKError error)
{
_isSdkRegistered = SDKError.NO_ERROR == error && state == SDKRegistrationState.Succeeded;
if (_isSdkRegistered)
{
_isWorkerEnabled = true;
ConfigDroneAsync();
fcHandler = DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0);
var videoFeeder = DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0);
var cameraHandler = DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0);
if (null != videoFeeder)
{
VideoParser = new Parser();
VideoParser.Initialize((byte[] data) =>
{
return(DJISDKManager.Instance.VideoFeeder.ParseAssitantDecodingInfo(0, data));
});
VideoParser.SetSurfaceAndVideoCallback(0, 0, null, OnFrameParsed);
videoFeeder.VideoDataUpdated += Drone_VideoDataUpdated;;
}
if (null != cameraHandler)
{
var res = cameraHandler.GetCameraTypeAsync();
res.Wait();
if (res.Result.error == SDKError.NO_ERROR)
{
Drone_CameraTypeChanged(null, res.Result.value);
}
cameraHandler.CameraTypeChanged += Drone_CameraTypeChanged;;
}
}
else
{
_isWorkerEnabled = false;
fcHandler = null;
}
Thread.Sleep(300);
}
