public WatchdogWorker(DroneClient droneClient, WorkerBase[] workers)
{
foreach (WorkerBase wb in workers)
{
_Workers.Add(wb);
}
}
//private StorageFile commandHistoryFile;
public CommandWorker(DroneClient droneClient)
{
_DroneClient = droneClient;
_NormalPriorityCommandQueue = new Queue <string>();
_HighPriorityCommandQueue = new Queue <string>();
_ConfigCommandList = new Queue <string>();
}
// Use this for initialization
void Start()
{
Debug.Log("Start");
// initialize data array
data = new byte[width * height * 3];
// set textures
MainRenderer.material.mainTexture = cameraTexture;
SecondaryRenderer.material.mainTexture = blackTexture;
cameraTexture = new Texture2D(width, height);
blackTexture = new Texture2D(1, 1);
blackTexture.SetPixel(0, 0, Color.black);
blackTexture.Apply();
// Initialize drone
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient("192.168.1.1");
droneClient.UnhandledException += HandleUnhandledException;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += navData => navigationData = navData;
videoPacketDecoderWorker.UnhandledException += HandleUnhandledException;
droneClient.Start();
// activate main drone camera
switchDroneCamera(AR.Drone.Client.Configuration.VideoChannelType.Vertical);
// determine connection
client = new WlanClient();
}
public ConfigurationPage()
{
InitializeComponent();
_droneClient = DroneClient.Instance;
this.DataContext = _droneClient;
}
protected override void OnCreate(Bundle bundle)
{
base.OnCreate(bundle);
InitializeLocationManager();
SetContentView(Resource.Layout.Main);
FindViewById <Button>(Resource.Id.MyButtonLand).Click += LandButtonClick;
FindViewById <Button>(Resource.Id.ButtonEmergency).Click += EmergencyButtonClicked;
FindViewById <Button>(Resource.Id.buttonReset).Click += (sender, args) => _client.ResetEmergency();
_checkBox = FindViewById <CheckBox>(Resource.Id.executeCommandsCheckBox);
_checkBox.CheckedChange += CheckBoxOnCheckedChange;
_logTextView = FindViewById <TextView>(Resource.Id.logTextView);
_dronStateTextView = FindViewById <TextView>(Resource.Id.droneStateTextView);
_websocketTextView = FindViewById <TextView>(Resource.Id.serviceStateTextView);
_client = new DroneClient("192.168.1.248");
_client.Start();
//_client.NavigationDataAcquired += ClientOnNavigationDataAcquired;
_receiver = new CommandReceiver();
_receiver.CommandReceived += ReceiverOnCommandReceived;
_receiver.WebSocketStateChanged += ReceiverOnWebSocketStateChanged;
_receiver.Start();
var droneConnectionChecker = new Thread(ConnectionCheckRunner)
{
Name = "Drone Checker"
};
droneConnectionChecker.Start();
}
public XBox360JoystickProvider(DroneClient droneClient)
{
if (droneClient == null)
throw new ArgumentNullException("DroneClient");
_DroneClient = droneClient;
_Controller = new Controller(0);
}
void MainWindow_Loaded(object sender, RoutedEventArgs e)
{
tmrStatusUpdate = new DispatcherTimer();
tmrStatusUpdate.Interval = TimeSpan.FromMilliseconds(100);
tmrStatusUpdate.IsEnabled = true;
tmrStatusUpdate.Tick += tmrStatusUpdate_Tick;
tmrVideoUpdate = new DispatcherTimer();
tmrVideoUpdate.Interval = TimeSpan.FromMilliseconds(20);
tmrVideoUpdate.IsEnabled = true;
tmrVideoUpdate.Tick += tmrVideoUpdate_Tick;
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.PixelFormat.BGR24, true, OnVideoPacketDecoded);
//_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += _droneClient_VideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
//InitializeAviationControls();
w = AttitudeMeter.ActualWidth;
h = AttitudeMeter.ActualHeight;
SetAttitudeIndicatorParameters(pitch.Value, roll.Value);
}
public MovementCommand ComputeBehavior(DroneClient drone)
{
//Console.WriteLine("Velocity forward: {0} Velocity sideways: {1}",
// drone.NavigationData.Velocity.X,
// drone.NavigationData.Velocity.Y);
// Forward/Backward
//Console.Write("Pitch: ");
var pitch = ComputeCorrection(drone.NavigationData.Pitch, TargetVelocity.Forward, drone.NavigationData.Velocity.Y, 0.025f);
// Left/Right
//Console.Write("Roll: ");
var roll = 0;
//Console.WriteLine("0");
//var roll = ComputeCorrection(drone.NavigationData.Roll, TargetVelocity.Left, drone.NavigationData.Velocity.X, 0.1f);
// Turn left/turn right
//Console.Write("Yaw: ");
var yaw = 0;
//Console.WriteLine("0");
//var yaw = ComputeCorrection(drone.NavigationData.Yaw, TargetVelocity.TurnLeft, drone.NavigationData.Velocity.Z, 0.01f);
return(new MovementCommand()
{
Pitch = pitch,
Roll = roll,
Yaw = yaw
});
}
public FlyPage()
{
this.InitializeComponent();
//if (Application.Current.Resources.ContainsKey("DroneClient"))
//{
// _droneClient = (DroneClient)Application.Current.Resources["DroneClient"];
//}
//else
//{
// _droneClient = new DroneClient();
//}
_droneClient = DroneClient.Instance;
//Register joysticks
if (_droneClient.InputProviders.Count == 0)
{
_droneClient.InputProviders.Add(new XBox360JoystickProvider(_droneClient));
_droneClient.InputProviders.Add(new SoftJoystickProvider(_droneClient, RollPitchJoystick, YawGazJoystick));
}
this.DataContext = _droneClient;
this.DefaultViewModel["Messages"] = _droneClient.Messages;
_Timer = new DispatcherTimer();
_Timer.Tick += _Timer_Tick;
_Timer.Interval = new TimeSpan(0, 0, 0, 0, 500);
_Timer.Start();
this.ControlMap.PointerPressedOverride += MyMap_PointerPressedOverride;
}
static void Main(string[] args)
{
var droneClient = new DroneClient("192.168.1.1");
SleepAndPaint(droneClient);
droneClient.Start();
SleepAndPaint(droneClient);
droneClient.Takeoff();
SleepAndPaint(droneClient);
droneClient.Progress(FlightMode.Progressive, yaw: -0.05f);
System.Console.WriteLine("Yaw -0.05");
SleepAndPaint(droneClient);
droneClient.Hover();
SleepAndPaint(droneClient);
droneClient.Land();
SleepAndPaint(droneClient);
droneClient.Stop();
SleepAndPaint(droneClient);
System.Console.ReadLine();
droneClient.Dispose();
}
void Inititialize()
{
tmrStatusUpdate = new DispatcherTimer();
tmrStatusUpdate.Interval = TimeSpan.FromMilliseconds(100);
tmrStatusUpdate.IsEnabled = true;
tmrStatusUpdate.Tick += tmrStatusUpdate_Tick;
tmrVideoUpdate = new DispatcherTimer();
tmrVideoUpdate.Interval = TimeSpan.FromMilliseconds(20);
tmrVideoUpdate.IsEnabled = true;
tmrVideoUpdate.Tick += tmrVideoUpdate_Tick;
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
// commands
Command_Connect = new RelayCommand(CommandConnect);
Command_Disconnect = new RelayCommand(CommandDisconnect);
Command_ShowDrownLayer = new RelayCommand <bool>(CommandShowDrownLayer);
Command_UpdateDroneSettings = new RelayCommand(CommandUpdateDroneSettings);
}
private void btn_link_Click(object sender, RoutedEventArgs e)
{
string host = tb_ip.Text;
if (host.Equals(""))
{
DroneClient drone = new DroneClient();
MainForm form = new MainForm(drone);
drone.Start();
_drones.Add(drone);
WindowInteropHelper helper = new WindowInteropHelper(this);
form.Show(new WindowWrapper(helper.Handle));
}
else
{
DroneClient drone = new DroneClient(host);
MainForm form = new MainForm(drone);
drone.Start();
_drones.Add(drone);
WindowInteropHelper helper = new WindowInteropHelper(this);
form.Show(new WindowWrapper(helper.Handle));
}
}
public XBox360JoystickProvider(DroneClient droneClient)
{
if (droneClient == null)
throw new ArgumentNullException("DroneClient");
_DroneClient = droneClient;
_Controller = new Controller(0);
_Timer = ThreadPoolTimer.CreatePeriodicTimer(new TimerElapsedHandler(timerElapsedHandler), TimeSpan.FromMilliseconds(1000 / 12));
}
public FlightsController(DroneClient drones, LocationClient locations, OperatorClient operators, FlightClient flights, IMapper mapper)
{
_drones = drones;
_locations = locations;
_operators = operators;
_flights = flights;
_mapper = mapper;
}
// command
public Form1()
{
_controller = new Controller("192.168.1.1");
_droneClient = new DroneClient();
_cancellationToken = new CancellationTokenSource();
InitializeComponent();
}
public Master(string ip)
{
InitializeComponent();
_droneClient = new DroneClient("192.168.1." + ip);
ip_drone = "192.168.1." + ip;
Point p2 = arena.posicao_desej();
posicao_desejada = p2;
}
public void SendTo(DroneClient client)
{
ATCommand command;
while (_queue.TryDequeue(out command))
{
client.Send(command);
}
}
public IoTHubController(DroneClient client, AnalyzerOutput output, Bitmaps bitmaps)
{
this.bitmaps = bitmaps;
droneClient = client;
this.analyzerOutput = output;
droneClient.NavigationDataAcquired += DroneClient_NavigationDataAcquired;
cancelTokenSource = new CancellationTokenSource();
init(cancelTokenSource.Token);
}
public FlyPage()
{
InitializeComponent();
_droneClient = DroneClient.Instance;
_droneClient.Messages.CollectionChanged += Messages_CollectionChanged;
this.DataContext = _droneClient;
}
public Controller(DroneClient client, AnalyzerOutput output, Config configuration, IoTHubController hubController)
{
analyzer = output;
analyzer.PropertyChanged += Analyzer_PropertyChanged;
droneClient = client;
this.hubController = hubController;
autoPilot = new Autopilot(client);
config = configuration;
}
public XBox360JoystickProvider(DroneClient droneClient)
{
if (droneClient == null)
{
throw new ArgumentNullException("DroneClient");
}
_DroneClient = droneClient;
_Controller = new Controller(0);
}
/// <summary>
/// Initializes the Autopilot object and associates it with provided DroneClient and sets DeafultObjective
/// </summary>
/// <param name="aDroneClient">DroneClient object which Autopilot will be controlling</param>
/// <param name="aDefaultObjective">DefaultObjective to execute when ObjectiveQeueue is depleted</param>
/// <remarks>Using this constructor will force DeafultObjective to be 'Hover'</remarks>
public Autopilot(DroneClient aDroneClient, Objective aDefaultObjective)
{
DroneClient = aDroneClient;
DefaultObjective = aDefaultObjective;
ObjectiveQueue = new ConcurrentQueue <Objective>();
ApparatusOutputQueue = new ConcurrentQueue <Apparatus.Output>();
BoundToClient = false;
}
/// <summary>
/// Create a new Mission for the drone.
/// </summary>
/// <param name="droneClient">The DroneClient controlling the drone in question.</param>
/// <param name="missionAction">The action to carry out in the Mission.</param>
/// <param name="onMissionStatusChange">The DroneStatus change event handler.</param>
public Mission(DroneClient droneClient, Action <DroneClient> missionAction, Action <DroneClient, MissionEventArguments> onMissionStatusChange = null)
{
_droneClient = droneClient;
_missionAction = missionAction;
if (onMissionStatusChange != null)
{
_onMissionStatusChange = onMissionStatusChange;
}
_missionStatus = MissionStatus.WaitingEnque;
}
public SoftJoystickProvider(DroneClient droneClient, IJoystickControl rollPitchThumb, IJoystickControl yawGazThumb)
{
if (droneClient == null)
{
throw new ArgumentNullException("DroneClient");
}
_DroneClient = droneClient;
_RollPitchThumb = rollPitchThumb;
_YawGazThumb = yawGazThumb;
}
public DroneControls(DroneClient client, AnalyzerOutput output, Config configuration, Pilot.Controller autopilot)
{
InitializeComponent();
analyzerOutput = output;
config = configuration;
droneClient = client;
droneClient.NavigationDataAcquired += DroneClient_NavigationDataAcquired;
droneController = autopilot;
this.KeyDown += DroneControls_KeyDown;
}
public SettingsForm(DroneClient droneClient)
{
this.droneClient = droneClient;
InitializeComponent();
ReadDroneConfig();
keyboardSettingsBindingSource.Add(KeyboardSettings.Default);
myoSettingsBindingSource.Add(MyoSettings.Default);
}
static void StartVideo(DroneClient client)
{
Console.Write("Starting video...");
var sender = new VideoPacketSender();
sender.Start();
Console.WriteLine("done.");
Console.Write("Connecting VideoPacketAcquired event...");
client.VideoPacketAcquired += sender.EnqueuePacket;
Console.WriteLine("done.");
}
public MainForm(DroneClient droneClient)
{
InitializeComponent();
InitApp();
//创建新的无人机连接
_droneClient = droneClient;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
//视频解码设置
if (_isVedio)
{
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
tmrVideoUpdate.Enabled = true;
}
if (_isNavadata)
{
//导航数据获取事件，添加事件响应
//定时器更新允许
tmrStateUpdate.Enabled = true;
}
_playerForms = new List <PlayerForm>();
//点到点部分
//数据初始化
if (_isViconRead)
{
_viconClient = new ViconClient();
_viconPositionGet = new MyViconPosition(_viconClient);
_viconPositionGet.OnViconPositionRecieve += OnViconPositionRecieve;
//写文件线程
//_pwrite = new PositionWrite(System.Environment.CurrentDirectory, string.Format(@"vicon_{0:yyyy_MM_dd_HH_mm}.txt", DateTime.Now));
}
else
{
_positionClient = new PositionClient();
_viconPositionGet = new MyViconPosition(_positionClient);
_viconPositionGet.OnViconPositionRecieve += OnViconPositionRecieve;
}
}
static void Main(string[] args)
{
DroneClient drone = new DroneClient();
drone.NavigationDataAcquired += HandleNavigationDataAcquired;
JoystickFlightController controller = new JoystickFlightController();
controller.Client = drone;
drone.Start();
drone.FlatTrim();
controller.Start();
}
public MainForm()
{
InitializeComponent();
// innitialize video packet decoder.
videoDecoder = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnFrameDecoded);
videoDecoder.UnhandledException += VideoDecoder_UnhandledException;
videoDecoder.Start();
// Initalize drone.
drone = new DroneClient();
drone.VideoPacketAcquired += OnVideoPacketAqcuired;
drone.Start();
drone.ResetEmergency();
drone.FlatTrim();
JoystickFlightController controller = new JoystickFlightController();
controller.Client = drone;
controller.Start();
/*
* // Initialize joystick.
* joystick = new JoystickDevice();
* joystick.InputReceived += Joystick_InputReceived;
* joystick.Initialize("/dev/input/js0");
*
* // Initialize height maintainer.
* heightMaintainer = new HeightMaintainer();
* heightMaintainer.TargetHeight = 0.25f; //meter
*
* // Initialize velocity maintainer.
* velocityMaintainer = new VelocityMaintainer();
* velocityMaintainer.TargetVelocity.Forward = -1.0f;
* velocityMaintainer.TargetVelocity.Left = 0.0f;
* velocityMaintainer.TargetVelocity.TurnLeft = 0.0f;
*
* // Initialize flight controller.
* controller = new CompositeFlightController();
* controller.Drone = drone;
* controller.FlightBehaviors.Add(velocityMaintainer);
* controller.FlightBehaviors.Add(heightMaintainer);
* controller.FlightBehaviors.Add(new JoystickBehavior(joystick));
* controller.ControlCycleStarting += () => joystick.ProcessEvents();
*
* controller.Start();
*/
videoTimer.Enabled = true;
}
private Drone()
{
Logger.WriteLine("DroneClient()");
if (!enabled)
{
return;
}
droneClient = DroneClient.Instance;
droneClient.NavigationDataViewModel.PropertyChanged += NavigationDataViewModel_PropertyChanged;
droneClient.Messages.CollectionChanged += Messages_CollectionChanged;
// commandTimer.Interval = TimeSpan.FromMilliseconds(50);
// commandTimer.Tick += OnCommandTimerTick;
}
/// <summary>
/// Invoked when this page is about to be displayed in a Frame.
/// </summary>
/// <param name="e">Event data that describes how this page was reached. The Parameter
/// property is typically used to configure the page.</param>
protected override async void OnNavigatedTo(NavigationEventArgs e)
{
if (this._viewModel != null)
{
this._viewModel.OnNavigatedTo();
}
_droneClient = DroneClient.Instance;
_timer = new DispatcherTimer();
_timer.Tick += _Timer_Tick;
_timer.Interval = new TimeSpan(0, 0, 0, 0, 500);
_timer.Start();
}
public void SendTo(DroneClient client)
{
ATCommand command;
while (_queue.TryDequeue(out command)) client.Send(command);
}
public ConfigurationAcquisition(DroneClient client)
{
_client = client;
}
