static void Main(string[] args)
{
string startupPath = Environment.CurrentDirectory; // this projects bin directory (here: ..\bin\x86\Debug)
Console.ForegroundColor = ConsoleColor.White;
Console.WriteLine("TELLO DRONE - NDI");
Console.WriteLine("1) Please turn on Tello Drone so it blinks yellow");
Console.WriteLine("2) Connect to Tello Wifi (TELLO-C77E11) and wait until connected");
Console.WriteLine("3) If already connected, please turn drone off and on, and take step 1) + 2) again.");
Console.WriteLine("4) Then press enter.");
Console.WriteLine();
Console.ReadLine();
UDPSender udpSenderService = new UDPSender(TelloIP, CommandPort);
UDPReceiver udpReceiverService = new UDPReceiver(TelloStatePort, VideoPort);
if (udpSenderService.SendCommandToTello("command"))
{
Console.WriteLine("Tello ready for your input.");
}
string userMenuInput = "1"; // default
while (userMenuInput.ToUpper() != "Q")
{
Console.WriteLine();
Console.WriteLine("----------------------------------------------------------------------------------------");
Console.WriteLine("Please enter menu choice ('Q' to quit):");
Console.WriteLine(" 1: Control Command");
Console.WriteLine(" 2: Set Command");
Console.WriteLine(" 3: Read Command (get all info)");
Console.WriteLine(" 4: Show video stream data and save in file");
Console.WriteLine(" 5: Send video stream data to NDI");
Console.WriteLine();
userMenuInput = Console.ReadLine();
if (userMenuInput == "1")
{
Console.WriteLine("Find list of commands here: https://dl-cdn.ryzerobotics.com/downloads/tello/20180910/Tello%20SDK%20Documentation%20EN_1.3.pdf");
Console.WriteLine();
Console.WriteLine("Please write command to drone: ");
string userCommand = "";
Console.ForegroundColor = ConsoleColor.Yellow;
userCommand = Console.ReadLine();
Console.ForegroundColor = ConsoleColor.White;
if (udpSenderService.SendCommandToTello(userCommand))
{
Console.WriteLine("Command " + userCommand + " executed succesfully.");
}
}
if (userMenuInput == "2")
{
Console.WriteLine("Set Commands is UNDER CONSTRUCTION in this App!");
}
if (userMenuInput == "3")
{
var list = udpReceiverService.GetTelloInfoList();
Console.ForegroundColor = ConsoleColor.Cyan;
foreach (var kvp in list)
{
Console.WriteLine(kvp.Key + ": " + kvp.Value);
}
Console.ForegroundColor = ConsoleColor.White;
Console.WriteLine();
}
if (userMenuInput == "4")
{
string rawVideoFileFullPath = startupPath + TempImagePath + RawVideoFile;
if (udpSenderService.SendCommandToTello("streamon"))
{
Console.WriteLine("Stream turned on.");
}
Console.ForegroundColor = ConsoleColor.Cyan;
while (!Console.KeyAvailable) // until key is pressed
{
var videoData = udpReceiverService.GetVideoData();
Console.Clear();
Console.WriteLine("Video data: ");
Console.WriteLine(Encoding.ASCII.GetString(videoData));
Console.WriteLine();
Console.WriteLine("Writing to file...");
ByteArrayToFile(rawVideoFileFullPath, videoData);
Console.WriteLine("File writing finished.");
Console.WriteLine();
}
Console.ForegroundColor = ConsoleColor.White;
}
if (userMenuInput == "5")
{
if (udpSenderService.SendCommandToTello("streamon"))
{
Console.WriteLine("Stream turned on.");
}
Console.WriteLine("Please open NDI Studio Monitor.");
measureTimeList.Add(startingTimeKey, DateTime.Now);
//FFMPEG PATHS:
//ffmpeg -i udp://127.0.0.1:11111 -f image2 C:/SOURCE/$tello%03d.bmp
//string cPath = @"C:\SOURCE\TelloDrone+NDI_Send_ConsoleApp\TelloDrone+NDI_Send_ConsoleApp\bin\x86\Debug\ffmpeg\";
//string cParams = "-y -i udp://127.0.0.1:11111 -f image2 "+TempImagePath+"$tello%03d.bmp //-y overwriting files
string fullTempImagePath = startupPath + TempImagePath;
string cPath = startupPath + @"\ffmpeg\";
string cParams = "-y -i udp://127.0.0.1:11111 -f image2 " + fullTempImagePath + "$tello%03d.bmp"; //-y overwriting files
string filename = Path.Combine(cPath, "ffmpeg.exe");
var proc = System.Diagnostics.Process.Start(filename, cParams);
string firstFilePath = fullTempImagePath + "$tello001.bmp";
bool firstFileCreated = false;
measureTimeList.Add("FFmpeg started (no bitmapfile yet)", DateTime.Now);
while (!firstFileCreated) // wait until ffmpeg creates first file
{
if (File.Exists(firstFilePath)) // if file exists
{
if (File.GetLastWriteTime(firstFilePath) > measureTimeList[startingTimeKey]) // check if file is new (the file should be created after I started the timer)
{
firstFileCreated = true;
}
}
Console.WriteLine("Waiting for FFmpeg to create first bitmap file...");
}
DateTime lastWriteTimeFileOne = File.GetLastWriteTime(firstFilePath);
measureTimeList.Add("Creation timestamp of first file", lastWriteTimeFileOne);
measureTimeList.Add("First FFmpeg file created (before NDI connection)", DateTime.Now);
NDISend NDISendInstans = new NDISend(TelloStatePort, VideoPort, fullTempImagePath);
NDISendInstans.NDISendFrame();
}
}
Console.ReadLine();
}
public void NDISendFrame()
{
UDPReceiver udpService = new UDPReceiver(ReceiveStatePort, ReceiveVideoPort);
String failoverName = String.Format("{0} (Tello NDI)", System.Net.Dns.GetHostName());
using (Sender sendInstance = new Sender("Tello NDI", true, false, null, failoverName))
{
using (VideoFrame videoFrame = new VideoFrame(960, 720, (4.0f / 3.0f), 30000, 1200))
{
using (Bitmap bmp = new Bitmap(videoFrame.Width, videoFrame.Height, videoFrame.Stride, System.Drawing.Imaging.PixelFormat.Format32bppPArgb, videoFrame.BufferPtr))
using (Graphics graphics = Graphics.FromImage(bmp))
{
graphics.SmoothingMode = SmoothingMode.AntiAlias;
StringFormat textFormat = new StringFormat();
textFormat.Alignment = StringAlignment.Center;
textFormat.LineAlignment = StringAlignment.Center;
FontFamily fontFamily = new FontFamily("Verdana");
int fileNumberInt = 1;
string fileNumberString;
for (int frameNumber = 1; frameNumber < 10000; frameNumber++)
{
if (sendInstance.GetConnections(10000) < 1) // any connections ?
{
Console.WriteLine("No current connections, so no rendering needed."); // if not: No rendering
System.Threading.Thread.Sleep(50); // Wait a bit, otherwise it will end before you can connect to it
}
else
{
if (fileNumberInt == 1)
{
Program.measureTimeList.Add("Before writing first NDI videoframe", DateTime.Now);
}
if (frameNumber == 25 || frameNumber == 50 || frameNumber == 75)
{
Program.measureTimeList.Add("Before writing NDI videoframe " + frameNumber + " Filenumber: " + fileNumberInt, DateTime.Now);
}
graphics.Clear(Color.DarkBlue); // clear with background color
if (frameNumber <= 9)
{
fileNumberString = "00" + fileNumberInt;
}
else if (fileNumberInt >= 10 && fileNumberInt <= 99)
{
fileNumberString = "0" + fileNumberInt;
}
else
{
fileNumberString = fileNumberInt.ToString();
}
string imagefilename = "$tello" + fileNumberString + ".bmp";
string imagePath = FullTempImagePath + imagefilename;
Image image = Image.FromFile(imagePath);
graphics.DrawImage(image, 0, 0);
string infoString = "Tello Drone Info:" +
"\r\n Height: " + udpService.GetTelloInfoValueString("h") + " cm" +
"\r\n Barometer: " + udpService.GetTelloInfoValueString("baro") + " cm" +
"\r\n Battery: " + udpService.GetTelloInfoValueString("bat") + " %" +
"\r\n Temperature: " + udpService.GetTelloInfoValueString("temph") + " °C";
DrawText(graphics, infoString, 30.0f, fontFamily, new Point(480, 100), textFormat, Brushes.Lime);
string frameAndFile = String.Format("Frame {0} File: {1}", frameNumber.ToString(), imagefilename);
DrawText(graphics, frameAndFile, 30.0f, fontFamily, new Point(480, 350), textFormat, Brushes.White);
int yPos = 400;
foreach (var mt in Program.measureTimeList)
{
TimeSpan counterFromStart = mt.Value.Subtract(Program.measureTimeList[Program.startingTimeKey]);
string displayKvp = mt.Key + " - " + counterFromStart.ToString(@"mm\:ss\:fff");
DrawText(graphics, displayKvp, 20.0f, fontFamily, new Point(480, yPos), textFormat, Brushes.Yellow);
yPos += 20;
}
sendInstance.Send(videoFrame); // Submitting frame to NDI. Clocked at 25 fps
Console.WriteLine("Frame number {0} sent to NDI. File used: {1}", frameNumber, imagefilename);
fileNumberInt++;
}
}
}
}
}
}