private void btnReset_Click(object sender, EventArgs e)
{
_droneClient.ResetEmergency();
}
private void buttonResetEmergency_Click(object sender, EventArgs e)
{
droneClient.ResetEmergency();
}
private void ResetEmergency_Click(object sender, RoutedEventArgs e)
{
_droneClient.ResetEmergency();
UpdateDisplay();
}
public async void Update()
{
float pitch = 0, roll = 0, yaw = 0, gaz = 0;
if (_DroneClient == null || _Controller == null)
{
return;
}
if (!_Controller.IsConnected || !_Controller.GetState(out _ControllerState))
{
_FailCounter++;
if (_FailCounter > _FailCounterMax)
{
DroneClient.InputState.Update(0, 0, 0, 0);
//Avoid overflow
_FailCounter = _FailCounterMax;
}
return;
}
if (_ControllerState.PacketNumber <= _ControllerPreviousState.PacketNumber)
{
return;
}
//Thumbs
var leftThumb = NormalizeInput(_ControllerState.Gamepad.LeftThumbX, _ControllerState.Gamepad.LeftThumbY, Convert.ToInt16(SharpDX.XInput.Gamepad.LeftThumbDeadZone * 1.1), _JoystickRange);
if (leftThumb.NormalizedMagnitude > 0)
{
roll = (float)_ControllerState.Gamepad.LeftThumbX * _RollThrottle / _JoystickRange;
pitch = (float)_ControllerState.Gamepad.LeftThumbY * _PitchThrottle / _JoystickRange;
}
var rightThumb = NormalizeInput(_ControllerState.Gamepad.RightThumbX, _ControllerState.Gamepad.RightThumbY, Convert.ToInt16(SharpDX.XInput.Gamepad.RightThumbDeadZone * 1.1), _JoystickRange);
if (rightThumb.NormalizedMagnitude > 0)
{
yaw = (float)_ControllerState.Gamepad.RightThumbX * _YawThrottle / _JoystickRange;
Debug.WriteLine(yaw);
gaz = (float)_ControllerState.Gamepad.RightThumbY * _GazThrottle / _JoystickRange;
}
_FailCounter = 0;
DroneClient.InputState.Update(roll, -pitch, yaw, gaz);
//Debug.WriteLine("InputState=" + DroneClient.InputState.ToString());
//Buttons
var buttons = _ControllerState.Gamepad.Buttons;
if (buttons.HasFlag(GamepadButtonFlags.Start))
{
if (await DroneClient.ConnectAsync())
{
if (DroneClient.NavigationData.State.HasFlag(NavigationState.Landed))
{
DroneClient.TakeOff();
}
else
{
DroneClient.Land();
}
}
}
if (buttons.HasFlag(GamepadButtonFlags.Back))
{
DroneClient.Emergency();
}
if (buttons.HasFlag(GamepadButtonFlags.Y))
{
DroneClient.ResetEmergency();
}
if (buttons.HasFlag(GamepadButtonFlags.X))
{
DroneClient.ExecuteFlatTrim();
}
if (buttons.HasFlag(GamepadButtonFlags.A))
{
DroneClient.TakePicture();
}
if (buttons.HasFlag(GamepadButtonFlags.B))
{
if (DroneClient.IsRecording())
{
DroneClient.StopRecordingVideo();
}
else
{
DroneClient.StartRecordingVideo();
}
}
if (buttons.HasFlag(GamepadButtonFlags.DPadLeft))
{
DroneClient.PlayAnimation(FlightAnimationType.FlipLeft);
}
if (buttons.HasFlag(GamepadButtonFlags.DPadUp))
{
DroneClient.PlayAnimation(FlightAnimationType.FlipAhead);
}
if (buttons.HasFlag(GamepadButtonFlags.DPadRight))
{
DroneClient.PlayAnimation(FlightAnimationType.FlipRight);
}
if (buttons.HasFlag(GamepadButtonFlags.DPadDown))
{
DroneClient.PlayAnimation(FlightAnimationType.FlipBehind);
}
_ControllerPreviousState = _ControllerState;
}
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 void ResetEmergency()
{
_droneClient.ResetEmergency();
}
void DroneControl(object sender)
{
int expiration = Properties.Settings.Default.AutoPilotExpiration;
bool useQ = Properties.Settings.Default.UseAutoPilot;
_autopilot.Active = useQ;
float _lrfb = Properties.Settings.Default.DefaultLRFBSpeed;
float _yaw = Properties.Settings.Default.DefaultYawSpeed;
float _gaz = Properties.Settings.Default.DefaultGazSpeed;
#region // engine
if (sender == "v")
{
_droneClient.FlatTrim();
_autopilot.ClearObjectives();
_droneClient.Takeoff();
}
;
if (sender == "n")
{
_autopilot.ClearObjectives();
_droneClient.Emergency();
}
;
if (sender == "m")
{
_droneClient.ResetEmergency();
}
;
if (sender == "b")
{
_autopilot.ClearObjectives();
_droneClient.Land();
}
;
#endregion
_autopilot.Active = true;
// navigation
#region left right up down and hover
//if (sender == btnLeft || sender == btnRight)
//{
// if (useQ)
// {
// _autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(
// (sender == btnLeft ? -_lrfb : _lrfb)
// )));
// }
// else
// {
// _droneClient.Progress(FlightMode.Progressive,
// roll: (sender == btnLeft ? -_lrfb : _lrfb)
// );
// }
//}
if (sender == "a")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(-_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, roll: -_lrfb);
}
}
;
if (sender == "d")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, roll: _lrfb);
}
}
;
if (sender == "w")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetPitch(-_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, pitch: -_lrfb);
}
}
;
if (sender == "s")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetPitch(_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, pitch: _lrfb);
}
}
;
if (sender == "x")
{
if (useQ)
{
_autopilot.EnqueueObjective(
Objective.Create(expiration,
new VelocityX(0.0f),
new VelocityY(0.0f),
new Altitude(1.0f)
));
}
else
{
_droneClient.Hover();
}
}
#endregion
#region yaw left and right
if (sender == "j")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetYaw(-_yaw)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, yaw: -_yaw);
}
}
;
if (sender == "l")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetYaw(_yaw)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, yaw: _yaw);
}
}
;
#endregion
#region gaz up and down
if (sender == "i")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetGaz(_gaz)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, gaz: _gaz);
}
//_droneClient.Hover();
}
;
if (sender == "k")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetGaz(-_gaz)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, gaz: -_gaz);
}
}
;
#endregion
}
public void ResetEmergency()
{
_client.ResetEmergency();
}
