/// <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);
}
public static Settings Parse(string input)
{
var configuration = new Settings();
MatchCollection matches = ReKeyValue.Matches(input);
foreach (Match match in matches)
{
string key = match.Groups["key"].Value;
string value = match.Groups["value"].Value;
configuration._items.Add(key, value);
}
return configuration;
}
/// <summary>
/// Requests the current configuration from the drone asynchronously.
/// Triggers OnSettingsReceived when completed
/// Settings/Results are loaded to the settings variale
/// </summary>
private void ReadDroneConfig()
{
// If the drone is not connected, droneClient will throw an exception
// although there is some exeption handling
if (droneClient.IsConnected)
{
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;
this.Invoke(new SettingsReceived(OnSettingsReceived));
});
configurationTask.Start();
}
}
public GeneralSection(Settings settings) : base(settings, "general")
{
}
public CustomSection(Settings settings) : base(settings, "custom")
{
}
public GpsSection(Settings settings) : base(settings, "gps")
{
}
private void btnSendConfig_Click(object sender, EventArgs e)
{
var sendConfigTask = new Task(() =>
{
if (_settings == null) _settings = new Settings();
Settings settings = _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);
// 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();
}
private void btnSwitchCam_Click(object sender, EventArgs e)
{
var configuration = new Settings();
configuration.Video.Channel = VideoChannelType.Next;
_droneClient.Send(configuration);
}
public LedsSection(Settings settings) : base(settings, "leds")
{
}
public VideoSection(Settings settings) : base(settings, "video")
{
}
public PicSection(Settings settings) : base(settings, "pic")
{
}
public NetworkSection(Settings settings) : base(settings, "network")
{
}
public ControlSection(Settings settings) : base(settings, "control")
{
}
/// <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 btnSendConfig_Click(object sender, EventArgs e)
{
var sendConfigTask = new Task(() =>
{
if (_settings == null) _settings = new Settings();
Settings settings = _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);
// 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
settings.Control.AltitudeMax = 10000; //it's over NEIN THOUSAND!!!
settings.Control.AltitudeMin = 0;
settings.Control.ControlVzMax = (float)maxVz.Value;
settings.Control.ControlYaw = (float)maxYaw.Value;
settings.Control.EulerAngleMax = 1.0f;
if(radioSelect22Hz.Checked)settings.Pic.UltrasoundFreq = 7; //set the ultrasound at 22,22Hz
else if (radioSelect25Hz.Checked) settings.Pic.UltrasoundFreq = 8; //set the ultrasound at 25Hz
_droneClient.Send(settings);
});
sendConfigTask.Start();
}
public void Send(Settings settings)
{
KeyValuePair<string, string> item;
while (settings.Changes.TryDequeue(out item))
{
if (string.IsNullOrEmpty(settings.Custom.SessionId) == false &&
string.IsNullOrEmpty(settings.Custom.ProfileId) == false &&
string.IsNullOrEmpty(settings.Custom.ApplicationId) == false)
Send(new ConfigIdsCommand(settings.Custom.SessionId, settings.Custom.ProfileId, settings.Custom.ApplicationId));
Send(new ConfigCommand(item.Key, item.Value));
}
}
private void ProcessStateTransitions(NavigationState state)
{
if (state.HasFlag(NavigationState.Bootstrap))
{
_commandQueue.Flush();
var settings = new Settings();
settings.General.NavdataDemo = false;
Send(settings);
}
if (state.HasFlag(NavigationState.Watchdog))
{
Trace.TraceWarning("Communication Watchdog!");
}
switch (_stateRequest)
{
case StateRequest.None:
return;
case StateRequest.Emergency:
if (state.HasFlag(NavigationState.Flying))
Send(RefCommand.Emergency);
else
_stateRequest = StateRequest.None;
break;
case StateRequest.ResetEmergency:
Send(RefCommand.Emergency);
_stateRequest = StateRequest.None;
break;
case StateRequest.Land:
if (state.HasFlag(NavigationState.Flying) &&
state.HasFlag(NavigationState.Landing) == false)
{
Send(RefCommand.Land);
}
else
_stateRequest = StateRequest.None;
break;
case StateRequest.Fly:
if (state.HasFlag(NavigationState.Landed) &&
state.HasFlag(NavigationState.Takeoff) == false &&
state.HasFlag(NavigationState.Emergency) == false)
{
Send(RefCommand.Takeoff);
}
else
_stateRequest = StateRequest.None;
break;
default:
throw new ArgumentOutOfRangeException();
}
}
public DetectSection(Settings settings) : base(settings, "detect")
{
}
private void btnReadConfig_Click(object sender, EventArgs e)
{
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();
}
public SyslogSection(Settings settings) : base(settings, "syslog")
{
}
public UserboxSection(Settings settings) : base(settings, "userbox")
{
}
// Activate/deactive autopilot
private void Main_Form_KeyDown(object sender, KeyEventArgs e)
{
switch (e.KeyCode)
{
case Keys.F:
_droneClient.FlatTrim();
break;
case Keys.Back:
if (!isSensitiveMode)
{
flightSensitivityConst = 0.25f;
isSensitiveMode = true;
}
else
{
flightSensitivityConst = 0.9f;
isSensitiveMode = false;
}
break;
case Keys.W:
_droneClient.Progress(FlightMode.Progressive, pitch: -flightSensitivityConst);
break;
case Keys.S:
_droneClient.Progress(FlightMode.Progressive, pitch: flightSensitivityConst);
break;
case Keys.A:
_droneClient.Progress(FlightMode.Progressive, roll: -flightSensitivityConst);
break;
case Keys.D:
_droneClient.Progress(FlightMode.Progressive, roll: +flightSensitivityConst);
break;
case Keys.Up:
_droneClient.Progress(FlightMode.Progressive, gaz: flightSensitivityConst);
break;
case Keys.Down:
_droneClient.Progress(FlightMode.Progressive, gaz: -flightSensitivityConst);
break;
case Keys.Left:
_droneClient.Progress(FlightMode.Progressive, yaw: -flightSensitivityConst);
break;
case Keys.Right:
_droneClient.Progress(FlightMode.Progressive, yaw: +flightSensitivityConst);
break;
case Keys.E:
_droneClient.Takeoff();
break;
case Keys.Space:
_droneClient.Land();
break;
case Keys.C:
var configuration = new Settings();
configuration.Video.Channel = VideoChannelType.Next;
_droneClient.Send(configuration);
break;
case Keys.R:
string path = string.Format("ttu_flight_{0:yyyy_MM_dd_HH_mm}" + ARDroneTrackFileExt, DateTime.Now);
using (var dialog = new SaveFileDialog { DefaultExt = ARDroneTrackFileExt, Filter = ARDroneTrackFilesFilter, FileName = path })
{
if (dialog.ShowDialog(this) == DialogResult.OK)
{
StopRecording();
_recorderStream = new FileStream(dialog.FileName, FileMode.OpenOrCreate);
_packetRecorderWorker = new PacketRecorder(_recorderStream);
_packetRecorderWorker.Start();
}
}
break;
}
}
