void GestureDetection_LeftHandBackForwardsChanged(object sender, HandPositionChangedArgs args)
{
switch (args.Position)
{
case HandPosition.Center:
break;
case HandPosition.Backwards:
if (isLanded)
{
_client.FlatTrim();
}
DroneCommandChanged(_client, new DroneCommandChangedEventArgs {
CommandText = "Flat Trim "
});
break;
case HandPosition.Forwards:
_client.Hover();
DroneCommandChanged(_client, new DroneCommandChangedEventArgs {
CommandText = "Hover"
});
break;
}
}
private void DroneTakeOff()
{
droneClient.FlatTrim();//before take off send this command
headPositionStart = OculusClient.GetOrientation();
if (lastCommandSent != CommandType.TakeOff)
{
droneClient.Takeoff();
lastCommandSent = CommandType.TakeOff;
}
}
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;
}
static void ConnectDrone()
{
Console.WriteLine("Connecting to drone... ");
drone = new DroneClient();
drone.Start();
Thread.Sleep(2000);
Console.WriteLine("Done connecting to drone...");
drone.ResetEmergency();
drone.FlatTrim();
if (args.Contains("--enable-video"))
{
StartVideo(drone);
}
}
/// <summary>
/// Sends the command with its parameters to a provided DroneClient
/// </summary>
/// <param name="aDroneClient">Drone client to the the command to</param>
public void Send(DroneClient aDroneClient)
{
switch (Command)
{
case Type.Progress: aDroneClient.Progress(ProgressMode, roll: Roll, pitch: Pitch, yaw: Yaw, gaz: Gaz); break;
case Type.Takeoff: aDroneClient.Takeoff(); break;
case Type.Hover: aDroneClient.Hover(); break;
case Type.Land: aDroneClient.Land(); break;
case Type.Emergency: aDroneClient.Emergency(); break;
case Type.ResetEmergency: aDroneClient.ResetEmergency(); break;
case Type.FlatTrim: aDroneClient.FlatTrim(); break;
}
}
/// <summary>
/// Use this for initialization
/// </summary>
void Start()
{
Debug.Log("Start DroneObserver");
// initialize data array
data = new byte[width * height * 3];
cameraTexture = new Texture2D(width, height);
// Initialize drone
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.RGB24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient("192.168.1.1");
//droneClient = new DroneClient ("127.0.0.1");
droneClient.UnhandledException += HandleUnhandledException;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += navData => navigationData = navData;
droneClient.FlatTrim();
videoPacketDecoderWorker.UnhandledException += HandleUnhandledException;
droneClient.Start();
Settings settings = new Settings();
settings.Video.Codec = VideoCodecType.H264_720P;
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
switchDroneCamera(AR.Drone.Client.Configuration.VideoChannelType.Horizontal);
isDroneConnected = droneClient.IsConnected;
if (!isDroneConnected)
{
Debug.LogError("Drone not Connected. Retry!!!");
}
if (isDroneConnected)
{
Debug.LogWarning("Drone Connected!!!");
}
// determine connection
wlanClient = new WlanClient();
}
private void btnFlatTrim_Click(object sender, EventArgs e)
{
_droneClient.FlatTrim();
}
public void FlatTrim()
{
_droneClient.FlatTrim();
}
private void FlatTrim_Click(object sender, RoutedEventArgs e)
{
droneClient.FlatTrim();
}
public void Configure(DroneConfiguration droneConfiguration)
{
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();
var sendConfigTask = new Task(() =>
{
if (settings == null)
{
settings = new 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);
//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);
droneClient.FlatTrim(); // calibrates the drone on flat surface
});
sendConfigTask.Start();
}
public void KeyBoardKeyPressed(object sender, TextCompositionEventArgs e)
{
string chr = e.Text;
switch (chr)
{
case "a": // left
DroneControl("a");
break;
case "d": // right
DroneControl("d");
break;
case "w": // forward
DroneControl("w");
break;
case "s": // backward
DroneControl("s");
break;
case "j": // yaw left
DroneControl("j");
break;
case "l": // yaw right
DroneControl("l");
break;
case "i": // gaz up
DroneControl("i");
break;
case "k": // gaz down
DroneControl("k");
break;
case "x": // hover
DroneControl("x");
break;
case "v": // start engine
Debug("Starting engine");
DroneControl("v");
break;
case "b": // land
Debug("Landing");
DroneControl("b");
break;
case "n": // emegency landing
Debug("Emergency landing");
DroneControl("n");
break;
case "m": // reset
Debug("Resetting drone");
DroneControl("m");
break;
case "f": // flat trim
Debug("Calibrate ground");
_droneClient.FlatTrim();
break;
}
;
//Debug(chr);
}
public void Start()
{
_client.Start();
_client.FlatTrim();
}
