/// <summary>
/// Establish a connection to the drone and start receiving and sending data
/// </summary>
/// <returns></returns>
public bool Connect()
{
if (IsConnected)
{
Disconnect();
}
Ping_Should_run = false;
Task <bool> disc = Task <bool> .Factory.StartNew(() => _discovery());
disc.Wait();
IsConnected = disc.Result;
if (IsConnected)
{
this.sender = new SumoSender(this.deviceIp, this.c2d_port);
this.receiver = new SumoReceiver(this.deviceIp, this.d2c_port, this.sender, ref sumoInformations);
this.receiver.SumoEvents += Receiver_SumoEvents;
// Set Video
this.video = new SumoVideo(this.receiver);
video.ImageInSeparateOpenCVWindow = EnableOpenCV;
this.video.ImageAvailable += Display_ImageAvailable;
// Run Threads
this.receiver.RunThread();
this.sender.RunThread();
this.sender.Init();
this.video.RunThread();
if (this.piloting != null)
{
this.piloting.InstallHook();
this.piloting.RunPilotingThread();
this.piloting.RunKeyboardThread();
}
EnableVideo();
// Inform UI that is connected
OnSumoEvents(new SumoEventArgs(SumoEnumCustom.TypeOfEvents.Connected, sumoInformations));
}
return(IsConnected);
}
public SumoVideo(SumoReceiver _receiver)
{
this.receiver = _receiver;
this.Window_name = "Sumo Display";
}