/// <summary>
/// In case the drone is right or left or the line, the drone will fly in the opposite direction.
/// Otherwise if theres a successor the successor will handle the positioning.
/// </summary>
/// <param name="newState"></param>
/// <param name="oldState"></param>
/// <param name="isForward"></param>
/// <returns></returns>
public override bool HandlePositioningChange(PositioningState newState, PositioningState oldState, bool isForward)
{
bool result = true;
if (newState == PositioningState.Left || newState == PositioningState.Right)
{
float oldSpeed = controller.Speed;
controller.Speed = 0.1F / 6; // Make the drone fly slower when it corrects itself
//so that it will not go too far
if (newState == PositioningState.Left)
{
controller.Right();
}
else
{
controller.Left();
}
controller.Speed = oldSpeed;
}
else if (successor != null)
{
result = successor.HandlePositioningChange(newState, oldState, isForward);
}
return(result);
}
/// <summary>
/// Converts a positioningstate to a corresponding direction
/// </summary>
/// <param name="state"></param>
/// <param name="isForward"></param>
/// <returns></returns>
private FlyDirection getDirection(PositioningState state)
{
if (state == PositioningState.Left)
{
return(FlyDirection.Right);
}
else if (state == PositioningState.Right)
{
return(FlyDirection.Left);
}
else
{
return(FlyDirection.None);
}
}
/// <summary>
/// In case the positioningstate is lost, the drone will try to fly back in the opposite direction from
/// where it came. If it's not lost and theres a successor, the successor will handle the positioning.
/// </summary>
/// <param name="newState"></param>
/// <param name="oldState"></param>
/// <param name="isForward"></param>
/// <returns></returns>
public override bool HandlePositioningChange(PositioningState newState, PositioningState oldState, bool isForward)
{
bool result = true;
if (newState == PositioningState.Lost)
{
FlyDirection direction = getDirection(oldState);
result = LineNavigator.Instance.FindLine(controller, 2, direction); //Try to find back the line
}
else if (successor != null)
{
result = successor.HandlePositioningChange(newState, oldState, isForward);
}
return(result);
}
/// <summary>
/// Goes forward over the line until an endpoint. It will try to correct the position if it loses position.
/// </summary>
/// <param name="isForward"></param>
private void followLine(bool isForward)
{
PositioningState prevState = PositioningState.Init;
bool isFlying = true;
Bitmap bmp = _controller.GetBitmapFromBottomCam();
while (!CircleProcessor.Instance.IsCircleInCenter(bmp) && isFlying)//Go forward and correct until endpoint is found
{
PositioningState state = LineProcessor.Instance.ProcessLine(bmp);
if (state != prevState)
{
prevState = state;
isFlying = _positioningHandler.HandlePositioningChange(state, prevState, isForward);
}
System.Threading.Thread.Sleep(10);
bmp = _controller.GetBitmapFromBottomCam();
}
_controller.Hover();
}
/// <summary>
/// In case the position is correct the drone will fly forwards or backwards
/// If it's not correct the successor will handle the positioning.
/// </summary>
/// <param name="newState"></param>
/// <param name="oldState"></param>
/// <param name="isForward"></param>
/// <returns></returns>
public override bool HandlePositioningChange(PositioningState newState, PositioningState oldState, bool isForward)
{
bool result = true;
if (newState == PositioningState.Correct)
{
if (isForward)
{
controller.Forward();
}
else
{
controller.Backward();
}
}
else if (successor != null)
{
result = successor.HandlePositioningChange(newState, oldState, isForward);
}
return(result);
}
/// <summary> /// Implementations should control the drone based on the change and should return false if they land. /// If the drone is still flying it should return true. /// </summary> /// <param name="newState"></param> /// <param name="oldState"></param> /// <param name="isForward"></param> /// <returns></returns> public abstract bool HandlePositioningChange(PositioningState newState, PositioningState oldState, bool isForward);
