private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
//register the application to the DJI Windows SDK
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
//The product connection state will be updated when it changes here.
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += async delegate(object sender, ProductTypeMsg? value)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, async() =>
{
if (value != null && value?.value != ProductType.UNRECOGNIZED)
{
System.Diagnostics.Debug.WriteLine("The Aircraft is connected now.");
IsConnected.Text = "The Aircraft is connected now.";
this.AirCraftConnected = true;
}
else
{
System.Diagnostics.Debug.WriteLine("The Aircraft is disconnected now.");
IsConnected.Text = "The Aircraft is disconnected now.";
this.AirCraftConnected = false;
}
});
};
}
else
{
System.Diagnostics.Debug.WriteLine("Register SDK failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
private async void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
if (SDKError.NO_ERROR == errorCode && SDKRegistrationState.Succeeded == state)
{
var videoFeeder = DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0);
var cameraHandler = DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0);
if (null != videoFeeder)
{
videoParser = new Parser();
videoParser.Initialize((byte[] data) =>
{
return(DJISDKManager.Instance.VideoFeeder.ParseAssitantDecodingInfo(0, data));
});
videoParser.SetSurfaceAndVideoCallback(0, 0, LiveFeedPanel, OnFrameParsed);
videoFeeder.VideoDataUpdated += VideoFeeder_VideoDataUpdated;
}
if (null != cameraHandler)
{
var res = await cameraHandler.GetCameraTypeAsync();
cameraHandler.CameraTypeChanged += CalibrationPage_CameraTypeChanged;
if (res.error == SDKError.NO_ERROR)
{
CalibrationPage_CameraTypeChanged(null, res.value);
}
}
// wait until action done
Thread.Sleep(300);
}
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
if (errorCode == SDKError.NO_ERROR)
{
if (_componentMgr == null)
{
this._componentMgr = DJISDKManager.Instance.ComponentManager;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).VelocityChanged += DJIDrone_VelocityChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AttitudeChanged += DJIDrone_AttitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AltitudeChanged += DJIDrone_AltitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AircraftLocationChanged += DJIDrone_AircraftLocationChanged;
DJISDKManager.Instance.ComponentManager.GetBatteryHandler(0, 0).VoltageChanged += DJIDrone_VoltageChanged;
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += DJIDrone_ProductTypeChanged;
}
if (_mgr.Active == null)
{
_mgr.SetActive(new Core.Models.ConnectedUas(this, new DJITransport(this)));
}
Debug.WriteLine("Product Registered");
}
else
{
Debug.WriteLine(errorCode.ToString());
}
}
//Callback of SDKRegistrationEvent
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
//Must in UI thread
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, async() =>
{
//Raw data and decoded data listener
if (videoParser == null)
{
videoParser = new DJIVideoParser.Parser();
videoParser.Initialize(delegate(byte[] data)
{
//Note: This function must be called because we need DJI Windows SDK to help us to parse frame data.
return(DJISDKManager.Instance.VideoFeeder.ParseAssitantDecodingInfo(0, data));
});
//Set the swapChainPanel to display and set the decoded data callback.
videoParser.SetSurfaceAndVideoCallback(0, 0, swapChainPanel, ReceiveDecodedData);
DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0).VideoDataUpdated += OnVideoPush;
}
//get the camera type and observe the CameraTypeChanged event.
DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0).CameraTypeChanged += OnCameraTypeChanged;
var type = await DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0).GetCameraTypeAsync();
OnCameraTypeChanged(this, type.value);
});
}
else
{
System.Diagnostics.Debug.WriteLine("SDK register failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
private void DjiSdkManager_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
lock (sdkLock)
{
_isSdkRegistered = state == SDKRegistrationState.Succeeded && errorCode == SDKError.NO_ERROR;
if (_isSdkRegistered)
{
var productHandler = DJISDKManager.Instance.ComponentManager.GetProductHandler(0);
if (null != productHandler)
{
var isConnectedTask = productHandler.GetConnectionAsync();
isConnectedTask.Wait();
_isDroneConnected = (isConnectedTask.Result.value ?? default(BoolMsg)).value;
productHandler.ConnectionChanged += ProductHandler_ConnectionChanged;
}
// TODO: handle the case that product handler is not available,
// we need to check the connectivity between the drone and app at some point.
}
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
activateStateTextBlock.Text = state == SDKRegistrationState.Succeeded ? "Activated." : "Not Activated.";
activationInformation.Text = resultCode == SDKError.NO_ERROR ? "Register success" : resultCode.ToString();
});
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
Debug.WriteLine(state == SDKRegistrationState.Succeeded ? "Activated." : "Not Activated.");
Debug.WriteLine(resultCode == SDKError.NO_ERROR ? "Register success" : resultCode.ToString());
});
}
private async void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
if (SDKError.NO_ERROR == errorCode && SDKRegistrationState.Succeeded == state)
{
PosController.Instance.PoseUpdated += PosController_PoseUpdated;
// wait until action done
Thread.Sleep(300);
}
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
var isRegistered = state == SDKRegistrationState.Succeeded && errorCode == SDKError.NO_ERROR;
if (isRegistered)
{
PosController.Instance.PoseUpdated += Instance_PoseUpdated;
QrcodeDetector.Instance.QrcodeDetected += Instance_QrcodeDetected;
Commander.MissionUpdated += Commander_MissionUpdated;
}
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
if (state == SDKRegistrationState.Succeeded)
{
//InitializeWindowsSDK();
InitializeParser();
}
else
{
viewModel.OutputLog("SDKRegistrationState = " + state.ToString());
}
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
var isReg = errorCode == SDKError.NO_ERROR;
if (_isRunning)
{
return;
}
_thread.Start();
_isRunning = true;
}
//Callback of SDKRegistrationEvent
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
setup();
}
else
{
System.Diagnostics.Debug.WriteLine("SDK register failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
private void Connection_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
//System.Diagnostics.Debug.WriteLine("Register app successfully.");
//The product connection state will be updated when it changes here.
//DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += async delegate (object sender, ProductTypeMsg? value)
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += Connection_isProductTypeChangedEvent;
}
else
{
isRegisterErrorOccurredEvent("Register SDK failed, the error is: " + resultCode.ToString());
}
}
private void OnSdkRegistrationStateChanged(SDKRegistrationState state, SDKError error)
{
_isSdkRegistered = SDKError.NO_ERROR == error && state == SDKRegistrationState.Succeeded;
if (_isSdkRegistered)
{
_isWorkerEnabled = true;
ConfigDroneAsync();
fcHandler = DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0);
var videoFeeder = DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0);
var cameraHandler = DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0);
if (null != videoFeeder)
{
VideoParser = new Parser();
VideoParser.Initialize((byte[] data) =>
{
return(DJISDKManager.Instance.VideoFeeder.ParseAssitantDecodingInfo(0, data));
});
VideoParser.SetSurfaceAndVideoCallback(0, 0, null, OnFrameParsed);
videoFeeder.VideoDataUpdated += Drone_VideoDataUpdated;;
}
if (null != cameraHandler)
{
var res = cameraHandler.GetCameraTypeAsync();
res.Wait();
if (res.Result.error == SDKError.NO_ERROR)
{
Drone_CameraTypeChanged(null, res.Result.value);
}
cameraHandler.CameraTypeChanged += Drone_CameraTypeChanged;;
}
}
else
{
_isWorkerEnabled = false;
fcHandler = null;
}
Thread.Sleep(300);
}
private async void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
TB_active.Text = state == SDKRegistrationState.Succeeded
? "Api Key Activated"
: "Api Key Not Activated";
if (errorCode == SDKError.NO_ERROR)
{
return;
}
else
{
Debug.WriteLine(errorCode);
}
});
}
private async void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
var isReg = state == SDKRegistrationState.Succeeded && errorCode == SDKError.NO_ERROR;
if (_isRunning)
{
return;
}
if (isReg)
{
List <String> labels = new List <String> {
"Box", "Nobox"
};
objectDetection = new ObjectDetection(labels, 10, 0.45F, 0.45F);
await init_onnx();
var gimbal = await DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).GetGimbalAttitudeAsync();
if (gimbal.value == null || gimbal.value.Value.pitch == 0)
{
//for (; ; )
//{
var err0r1 = DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).RotateByAngleAsync(new GimbalAngleRotation
{
mode = GimbalAngleRotationMode.ABSOLUTE_ANGLE,
pitch = -16.9,
roll = 0,
yaw = 0,
pitchIgnored = false,
rollIgnored = true,
yawIgnored = true,
duration = 1.0
});
// if (err0r1.Result == SDKError.NO_ERROR)
// {
// break;
// }
//}
}
_isRunning = true;
Thread.Sleep(2000);
workerThread.Start();
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
Debug.WriteLine("Register app successfully.");
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += Get_Aircraft;
DJISDKManager.Instance.ComponentManager.GetBatteryHandler(0, 0).ChargeRemainingInPercentChanged += Get_Battery;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AltitudeChanged += Get_Altitude;
//The product connection state will be updated when it changes here.
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += async delegate(object sender, ProductTypeMsg? value)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
if (value != null && value?.value != ProductType.UNRECOGNIZED)
{
Debug.WriteLine("The Aircraft is connected now.");
//You can load/display your pages according to the aircraft connection state here.
}
else
{
Debug.WriteLine("The Aircraft is disconnected now.");
//You can hide your pages according to the aircraft connection state here, or show the connection tips to the users.
}
});
};
//If you want to get the latest product connection state manually, you can use the following code
var productType = (await DJISDKManager.Instance.ComponentManager.GetProductHandler(0).GetProductTypeAsync()).value;
if (productType != null && productType?.value != ProductType.UNRECOGNIZED)
{
Debug.WriteLine("The Aircraft is connected now.");
//You can load/display your pages according to the aircraft connection state here.
}
}
else
{
Debug.WriteLine("Register SDK failed, the error is: ");
Debug.WriteLine(resultCode.ToString());
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
for (int i = 1; i < navigationModules.Count; ++i)
{
var module = navigationModules[i];
NavView.MenuItems.Add(new NavigationViewItemHeader()
{
Content = module.header
});
foreach (var item in module.items)
{
NavView.MenuItems.Add(item.Key);
}
}
});
}
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
if (errorCode == SDKError.NO_ERROR)
{
if (_componentMgr == null)
{
this._componentMgr = DJISDKManager.Instance.ComponentManager;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).VelocityChanged += DJIDrone_VelocityChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AreMotorsOnChanged += DJIDrone_AreMotorsOnChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).CompassHasErrorChanged += DJIDrone_CompassHasErrorChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).FlightTimeInSecondsChanged += DJIDrone_FlightTimeInSecondsChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).IsLowBatteryWarningChanged += DJIDrone_IsLowBatteryWarningChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AttitudeChanged += DJIDrone_AttitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).IsSeriousLowBatteryWarningChanged += DJIDrone_IsSeriousLowBatteryWarningChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AttitudeChanged += DJIDrone_AttitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).IsFlyingChanged += DJIDrone_IsFlyingChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AltitudeChanged += DJIDrone_AltitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AircraftLocationChanged += DJIDrone_AircraftLocationChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).SatelliteCountChanged += DJIDrone_SatelliteCountChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GPSSignalLevelChanged += DJIDrone_GPSSignalLevelChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).RemainingFlightTimeChanged += DJIDrone_RemainingFlightTimeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).IsLandingConfirmationNeededChanged += DJIDrone_IsLandingConfirmationNeededChanged;
DJISDKManager.Instance.ComponentManager.GetFlightAssistantHandler(0, 0).IsAscentLimitedByObstacleChanged += DJIDrone_IsAscentLimitedByObstacleChanged;
DJISDKManager.Instance.ComponentManager.GetFlightAssistantHandler(0, 0).VissionDetectionStateChanged += DJIDrone_VissionDetectionStateChanged;
DJISDKManager.Instance.ComponentManager.GetBatteryHandler(0, 0).VoltageChanged += DJIDrone_VoltageChanged;
DJISDKManager.Instance.ComponentManager.GetBatteryHandler(0, 0).ChargeRemainingInPercentChanged += DJIDrone_ChargeRemainingInPercentChanged;
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += DJIDrone_ProductTypeChanged;
}
}
else
{
Debug.WriteLine("REG: " + errorCode.ToString());
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
if (state == SDKRegistrationState.Succeeded)
{
Debug.WriteLine("Activated.");
}
else
{
Debug.WriteLine("Not Activated.");
}
if (resultCode == SDKError.NO_ERROR)
{
Debug.WriteLine("Register success.");
activateStateTextBlock.Text = "Register Success";
}
else
{
Debug.WriteLine(resultCode.ToString());
activateStateTextBlock.Text = resultCode.ToString();
}
});
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
isSdkRegistered = SDKRegistrationState.Succeeded == state && SDKError.NO_ERROR == errorCode;
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
var isReg = errorCode == SDKError.NO_ERROR;
_thread.Start();
}
