private void Form1_Load(object sender, EventArgs e)
{
this.FormClosing += form1_closing;
drone = new ARDrone.Control.DroneControl();
ARDrone.Control.DroneConfig conf = new ARDrone.Control.DroneConfig();
conf.FirmwareVersion = Control.Data.SupportedFirmwareVersion.Firmware_151;
drone.Init(conf);
drone.ConnectToDrone();
timer1.Interval = 300;
timer1.Enabled = true;
th = new Thread(new ParameterizedThreadStart(this.sender));
th.Start();
_running = true;
this.FormClosing += delegate { _running = false; };
this.KeyDown += keydown;
this.KeyUp += keyup;
drone.NewFrame += delegate(object sender2, EventArgs e2) {
if (drone.BitmapImage != null)
{
currentframe = CopyBitmap(drone.BitmapImage);
centroDeImagen = new Point(currentframe.Width / 2, currentframe.Height / 2);
//_currentRectangle = Analyzer.FindColor(currentframe, _selectedColor);
_selectedRectangle = ARDrone.Control.Utils.Mio.VideoAnalyzerUtils.CurrentRectangle;
follow();
pictureBox1.Image = currentframe;
}
};
Pen pen = new Pen(Color.Yellow, 3);
pictureBox1.Paint += delegate(object sender2, PaintEventArgs args)
{
Graphics g = args.Graphics;
g.DrawRectangle(pen, _selectedRectangle);
};
foreach (System.Windows.Forms.Control c in this.Controls)
{
c.KeyDown += keydown;
c.KeyUp += keyup;
}
Thread.Sleep(100);
sending = true;
}
private void OpenDroneSettingsExecute( object param )
{
if ( _droneSettingsWindow != null )
{
_droneSettingsWindow.Activate();
}
else
{
bool isPaired = this._droneInit.DroneCommand.IsDronePaired;
EventHandler<DroneSettingsEventArgs> newDroneConfigDelegate = ( sender, e ) =>
{
isPaired = this._droneInit.DroneCommand.IsDronePaired;
this._currentDroneConfig = e.DroneConfig;
if ( isPaired != e.IsPaired )
{
if ( e.IsPaired )
{
RideOnMotion.Logger.Instance.NewEntry( CK.Core.LogLevel.Info, CKTraitTags.ARDrone, "Pairing drone." );
this._droneInit.DroneCommand.Pair();
}
else
{
RideOnMotion.Logger.Instance.NewEntry( CK.Core.LogLevel.Info, CKTraitTags.ARDrone, "Unpairing drone." );
this._droneInit.DroneCommand.Unpair();
}
}
ReconnectDrone();
};
DroneSettingsWindow window = new DroneSettingsWindow( this._currentDroneConfig, isPaired );
window.DroneConfigAvailable += newDroneConfigDelegate;
_droneSettingsWindow = window;
_droneSettingsWindow.Closed += ( object sender, EventArgs args ) =>
{
_droneSettingsWindow = null;
window.DroneConfigAvailable -= newDroneConfigDelegate;
};
_droneSettingsWindow.Show();
}
}
private void Form1_Load(object sender, EventArgs e)
{
this.FormClosing += form1_closing;
drone = new ARDrone.Control.DroneControl();
ARDrone.Control.DroneConfig conf = new ARDrone.Control.DroneConfig();
conf.FirmwareVersion = Control.Data.SupportedFirmwareVersion.Firmware_151;
drone.Init(conf);
drone.ConnectToDrone();
timer1.Interval = 300;
timer1.Enabled = true;
th = new Thread(new ParameterizedThreadStart(this.sender));
th.Start();
_running = true;
this.FormClosing += delegate { _running = false; };
this.KeyDown += keydown;
this.KeyUp += keyup;
drone.NewFrame += delegate(object sender2, EventArgs e2) {
if (drone.BitmapImage != null)
{
currentframe = CopyBitmap(drone.BitmapImage);
centroDeImagen = new Point(currentframe.Width / 2, currentframe.Height / 2);
//_currentRectangle = Analyzer.FindColor(currentframe, _selectedColor);
_selectedRectangle= ARDrone.Control.Utils.Mio.VideoAnalyzerUtils.CurrentRectangle;
follow();
pictureBox1.Image = currentframe;
}
};
Pen pen = new Pen(Color.Yellow, 3);
pictureBox1.Paint += delegate(object sender2, PaintEventArgs args)
{
Graphics g = args.Graphics;
g.DrawRectangle(pen, _selectedRectangle);
};
foreach (System.Windows.Forms.Control c in this.Controls)
{
c.KeyDown += keydown;
c.KeyUp += keyup;
}
Thread.Sleep(100);
sending = true;
}
