public void Bebop2_OnAltitudeChanged(Bebop2 bebop, double altitude)
{
this.droneAltitudeLabel.Invoke(new MethodInvoker(delegate()
{
this.droneAltitudeLabel.Text = string.Format("{0:F2}m", altitude);
}));
}
public void Bebop2_OnBatteryChanged(Bebop2 bebop2, int battery)
{
this.batteryLabel.Invoke(new MethodInvoker(delegate()
{
this.batteryLabel.Text = string.Format("{0}%%", battery);
}));
}
public void Bebop2_OnSpeedChanged(Bebop2 bebop2, Leap.Vector speed)
{
this.droneSpeedLabel.Invoke(new MethodInvoker(delegate()
{
this.droneSpeedLabel.Text = string.Format("{0:F2}m/s", speed.MagnitudeSquared);
}));
}
private void Bebop2_OnRotationChanged(Bebop2 bebop2, float pitch, float yaw, float roll)
{
if (this.AutoFlight.IsFlying)
{
this.AutoFlight.Update(bebop2.GPS, bebop2.Yaw, out this._pcmd.roll, out this._pcmd.pitch);
this._pcmd.flag = 1;
}
}
public Pcmd Bebop2_OnRequestPcmd(Bebop2 bebop)
{
this._mutex.WaitOne();
var pcmd = new Pcmd(this._pcmd);
this._mutex.ReleaseMutex();
return(pcmd);
}
private void Bebop_OnError(Bebop2 bebop, string message)
{
var mainform = this;
this.Invoke(new MethodInvoker(delegate()
{
var dialog = new MessageDialog(message, System.Drawing.Color.Gainsboro);
dialog.ShowDialog(mainform);
}));
}
public void Bebop2_OnPositionChanged(Bebop2 bebop2, double lat, double lon, double alt)
{
this.latLabel.Invoke(new MethodInvoker(delegate()
{
this.latLabel.Text = string.Format("위도 {0}", lat);
}));
this.lonLabel.Invoke(new MethodInvoker(delegate()
{
this.lonLabel.Text = string.Format("경도 {0}", lon);
}));
}
private void Bebop_OnPositionChanged(Bebop2 bebop2, double lat, double lon, double alt)
{
this.Overlayer.SetPosition(lat, lon);
this.Overlayer.RequestAddress("self", lat, lon);
this.GenerateDronePosition(lat, lon, alt);
if (this.AutoFlight.IsFlying)
{
this.AutoFlight.Update(bebop2.GPS, bebop2.Yaw, out this._pcmd.roll, out this._pcmd.pitch);
this._pcmd.flag = 1;
}
}
public void Bebop_OnConnectionChanged(Bebop2 bebop)
{
this.connectDroneProgressbar.Invoke(new MethodInvoker(delegate()
{
connectDroneProgressbar.animated = bebop.Connected;
connectDroneProgressbar.Value = bebop.Connected ? 15 : 0;
}));
this.connectionLabel.Invoke(new MethodInvoker(delegate()
{
this.connectionLabel.Text = bebop.Connected ? "드론과 연결되었습니다." : "드론과 연결되지 않았습니다.";
}));
this.takeoffSwitch.Invoke(new MethodInvoker(delegate()
{
this.takeoffSwitch.Enabled = bebop.Connected;
}));
}
public void Bebop_OnConnectionChanged(Bebop2 bebop)
{
try
{
this.SetProgressbarState(this.droneProgressbar, this.Root.Bebop2.Connected);
this.droneProgressbar.Invoke(new MethodInvoker(delegate()
{
this.droneProgressbar.Value = this.Root.Bebop2.Connected ? 15 : 0;
this.droneProgressbar.ProgressBackColor = this.Root.Bebop2.Connected ? Color.Gainsboro : Color.FromArgb(255, 200, 150);
}));
this.droneStatePanel.Invoke(new MethodInvoker(delegate()
{
this.droneConnectionLabel.Text = this.Root.Bebop2.Connected ? "연결됨" : "연결 안 됨";
this.droneStatePanel.Visible = this.Root.Bebop2.Connected;
}));
}
catch (Exception)
{ }
}
public void Bebop2_OnPositionChanged(Bebop2 bebop2, double lat, double lon, double alt)
{
this._gmap.SetPosition(new GCS(lat, lon), true);
}
public void Bebop2_OnWifiChanged(Bebop2 bebop2, ushort rssi)
{
}
public void Bebop2_OnStreaming(Bebop2 bebop, Mat frame)
{
}