public bool TakeOff()
{
if (!enabled)
{
return(false);
}
if (droneClient.IsActive && !droneClient.IsFlying)
{
Logger.WriteLine("TakeOff");
if (detectFlyStatusTimer != null)
{
detectFlyStatusTimer.Stop();
}
detectFlyStatusTimer = new DispatcherTimer();
detectFlyStatusTimer.Interval = TimeSpan.FromMilliseconds(200);
detectFlyStatusTimer.Tick += (object sender, EventArgs e) => {
if (droneClient.IsFlying)
{
if (OnFlyStopStart != null)
{
OnFlyStopStart(true);
}
detectFlyStatusTimer.Stop();
}
};
detectFlyStatusTimer.Start();
droneClient.TakeOff();
// commandTimer.Start();
return(true);
}
return(false);
}
private void TakeOffLandButton_Click(object sender, RoutedEventArgs e)
{
if (_droneClient.IsFlying)
{
_droneClient.Land();
}
else
{
_droneClient.TakeOff();
}
UpdateDisplay();
}
private void TakeOff_Click(object sender, RoutedEventArgs e)
{
if (_droneClient.IsFlying())
{
_droneClient.Land();
TakeOffButton.Content = "Take off";
}
else
{
_droneClient.TakeOff();
TakeOffButton.Content = "Land";
}
}
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 async override void OnNavigatedTo(NavigationEventArgs e)
{
base.OnNavigatedTo(e);
if (await _droneClient.ConnectAsync())
{
TakeOffButton.IsEnabled = true;
await Task.Run(async() =>
{
try
{
if (_speechRecognizer == null)
{
_speechRecognizer = new SpeechRecognizer();
_speechRecognizer.Grammars.AddGrammarFromList("DroneCommands", new List <string>
{
"Take off", "Take off the drone", "Take the drone off",
"Land", "Land the drone"
});
}
try
{
while (true)
{
Dispatcher.BeginInvoke(() =>
{
if (TextRecognizer.Text != "Voice: listening...")
{
TextRecognizer.Foreground = new SolidColorBrush(Colors.Green);
TextRecognizer.Text = "Voice: listening...";
}
});
var result = await _speechRecognizer.RecognizeAsync();
//if (result.TextConfidence == SpeechRecognitionConfidence.High)
if (result.Text.Length > 0)
{
Dispatcher.BeginInvoke(() =>
{
switch (result.Text)
{
case "Take off":
case "Take off the drone":
case "Take the drone off":
_droneClient.TakeOff();
break;
case "Land":
case "Land the drone":
_droneClient.Land();
break;
}
});
await Task.Delay(1000);
}
else
{
await Task.Delay(500);
}
}
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
Dispatcher.BeginInvoke(() =>
{
TextRecognizer.Foreground = new SolidColorBrush(Colors.Red);
TextRecognizer.Text = "Voice: unknown";
});
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
});
}
}
