public SumoReceiver(string host, int port, SumoSender sender, ref SumoInformations sumoInformations)
{
this.Host = host;
this.Port = port;
this._sender = sender;
SumoRemote = new IPEndPoint(IPAddress.Any, port);
this.BatteryLevel = 0;
// Video frames
this.VideoFrames = new List <byte[]>();
this.mutex_frames_Lock = new object(); // Lock();
// Audio Frames
this.AudioFrames = new List <byte[]>();
_sumoInformations = sumoInformations;
}
/// <summary>
/// If you want to have your proper piloting system
/// </summary>
/// <param name="DeviceIP"></param>
public SumoController(List <string> DevicesList = null, bool _AlwaysPing = false)
{
// Process List of devices
AlwaysPing = _AlwaysPing;
if (DevicesList != null)
{ // Start Discover thread for each device
foreach (string device in DevicesList)
{
StartPingThread(device);
}
}
else
{
// No device list so try to detect default device
StartPingThread(deviceIp);
}
LOGGER.GetInstance.Info(String.Format("Starting Controller"));
EnableOpenCV = false;
sumoInformations = new SumoInformations();
}
public static Mat Decorate(Mat RawImage, SumoInformations sumoInformations)
{
if (sumoInformations == null)
{
return(RawImage);
}
Assembly _assembly = Assembly.GetExecutingAssembly();
var dst = new Mat();
var logo = new Mat();
// Double resolution to avoid bad logo
dst = RawImage.Resize(new OpenCvSharp.Size(RawImage.Width * 2, RawImage.Height * 2), 0, 0, InterpolationFlags.Cubic);
Scalar color;
if (sumoInformations.IsBatteryUnderLevelAlert)
{
color = Scalar.Red;
}
else
{
color = Scalar.Black;
}
// Write Battery Level
Cv2.PutText(dst, sumoInformations.BatteryLevel.ToString() + "%", new OpenCvSharp.Point((dst.Width / 2) - 140, 60), HersheyFonts.HersheyComplexSmall, 2.0, color, 2, LineTypes.AntiAlias, false);
// Write wifi logo
if (sumoInformations.Rssi < 0)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.wifi-signal-5.png")));
if (sumoInformations.Rssi < -50)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.wifi-signal-4.png")));
}
if (sumoInformations.Rssi < -60)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.wifi-signal-3.png")));
}
if (sumoInformations.Rssi < -70)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.wifi-signal-2.png")));
}
if (sumoInformations.Rssi < -80)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.wifi-signal-1.png")));
}
if (sumoInformations.Rssi < -90)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.wifi-signal-0.png")));
}
CopyTransparentImage(dst, logo, dst.Width - logo.Width - 10, 10);
}
// Link Quality
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-signal-filled-4.png")));
if (sumoInformations.LinkQuality < 5)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-signal-filled-3.png")));
}
if (sumoInformations.LinkQuality < 4)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-signal-filled-2.png")));
}
if (sumoInformations.LinkQuality < 3)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-signal-filled-1.png")));
}
if (sumoInformations.LinkQuality < 1)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-signal-filled-0.png")));
}
CopyTransparentImage(dst, logo, 10, 10);
// battery
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-low-battery-4.png")));
if (sumoInformations.BatteryLevel < 70)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-low-battery-3.png")));
}
if (sumoInformations.BatteryLevel < 50)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-low-battery-2.png")));
}
if (sumoInformations.BatteryLevel < 20)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-low-battery-1.png")));
}
if (sumoInformations.BatteryLevel < 10)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.icons8-low-battery-0.png")));
}
CopyTransparentImage(dst, logo, (dst.Width / 2) - (logo.Width / 2), 0);
// Posture
if (sumoInformations.Posture == LibSumo.Net.Protocol.SumoEnumGenerated.PostureChanged_state.jumper)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.product_0902_posture_icn_jumper.png")));
}
else if (sumoInformations.Posture == LibSumo.Net.Protocol.SumoEnumGenerated.PostureChanged_state.kicker)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.product_0902_posture_icn_kicker.png")));
}
else if (sumoInformations.Posture == LibSumo.Net.Protocol.SumoEnumGenerated.PostureChanged_state.standing)
{
logo = BitmapConverter.ToMat(new Bitmap(_assembly.GetManifestResourceStream("SumoApplication.Images.product_0902_posture_icn_standing.png")));
}
CopyTransparentImage(dst, logo, 0, dst.Height - logo.Height);
if (sumoInformations.Alert != SumoEnumGenerated.AlertStateChanged_state.none)
{
Cv2.PutText(dst, sumoInformations.Alert.ToString(), new OpenCvSharp.Point(100, dst.Height / 2), HersheyFonts.HersheyComplexSmall, 6.0, Scalar.Red, 4, LineTypes.AntiAlias, false);
}
if (sumoInformations.Speed != 0)
{
Cv2.PutText(dst, sumoInformations.Speed.ToString() + "cm/s", new OpenCvSharp.Point((dst.Width / 2) - 470, 60), HersheyFonts.HersheyComplexSmall, 2.0, color, 2, LineTypes.AntiAlias, false);
}
// TODO : Box icon (open/close)
return(dst);
}
private void Controller_SumoEvents(object sender, SumoEventArgs e)
{
if (e.SumoInformations == null)
{
return;
}
sumoInformations = e.SumoInformations;
switch (e.TypeOfEvent)
{
case (SumoEnumCustom.TypeOfEvents.AlertEvent):
break;
case (SumoEnumCustom.TypeOfEvents.BatteryLevelEvent):
lblBatteryLevel.Dispatcher.BeginInvoke((Action)(() =>
{
lblBatteryLevel.Content = sumoInformations.BatteryLevel + "%";
}));
break;
case (SumoEnumCustom.TypeOfEvents.Connected):
// Enable Btn
InitUI();
break;
case (SumoEnumCustom.TypeOfEvents.Disconnected):
break;
case (SumoEnumCustom.TypeOfEvents.Discovered):
txtBox.Dispatcher.BeginInvoke((Action)(() =>
{
txtBox.AppendText(String.Format("Sumo {1} is available {0} ", Environment.NewLine, sumoInformations.DeviceName));
txtBox.ScrollToEnd();
}));
#if MULTIPLEDRONES
// Get btn reference for multidrone And display it
try
{
MiniDevice d = ListOfDevices.Find(x => x.Name == sumoInformations.DeviceName);
Button btn = d.Button;
int suffixe = d.Id;
btn.Dispatcher.BeginInvoke((Action)(() =>
{
btn.Content = prefixName + suffixe.ToString();
btn.Visibility = Visibility.Visible;
}));
}
catch { }
#endif
break;
case (SumoEnumCustom.TypeOfEvents.PilotingEvent):
break;
case (SumoEnumCustom.TypeOfEvents.PostureEvent):
lblPostureState.Dispatcher.BeginInvoke((Action)(() =>
{
lblPostureState.Content = "Sumo in: " + sumoInformations.Posture.ToString() + " position";
}));
break;
case (SumoEnumCustom.TypeOfEvents.RSSI):
lblRssi.Dispatcher.BeginInvoke((Action)(() =>
{
lblRssi.Content = "Wifi Signal : " + sumoInformations.Rssi.ToString() + " dbm";
}));
break;
case (SumoEnumCustom.TypeOfEvents.LinkQuality):
lblQuality.Dispatcher.BeginInvoke((Action)(() =>
{
lblQuality.Content = "Link Quality: " + sumoInformations.LinkQuality.ToString() + "/6";
}));
break;
case (SumoEnumCustom.TypeOfEvents.VolumeChange):
slVolume.Dispatcher.BeginInvoke((Action)(() =>
{
slVolume.Value = sumoInformations.Volume;
}));
break;
case (SumoEnumCustom.TypeOfEvents.CapabilitiesChange):
chkBox.Dispatcher.BeginInvoke((Action)(() =>
{
chkBox.IsChecked = sumoInformations.IsCapapableOf(SumoInformations.Capability.Box);
chkBoost.IsChecked = sumoInformations.IsCapapableOf(SumoInformations.Capability.Boost);
pnlAudio.IsEnabled = sumoInformations.IsCapapableOf(SumoInformations.Capability.Audio);
slLight.IsEnabled = sumoInformations.IsCapapableOf(SumoInformations.Capability.Light);
if (pnlAudio.IsEnabled)
{
InitSoundUI();
controller.InitAudio();
}
}));
break;
case (SumoEnumCustom.TypeOfEvents.WifiChanged):
cbxWifiBand.Dispatcher.BeginInvoke((Action)(() =>
{
cbxWifiBand.SelectedIndex = (int)sumoInformations.WifiBand;
}));
break;
case (SumoEnumCustom.TypeOfEvents.AudioThemeChanged):
cbxAudioTheme.Dispatcher.BeginInvoke((Action)(() =>
{
cbxAudioTheme.SelectedIndex = (int)sumoInformations.AudioTheme;
}));
break;
}
}
