public void CustomOnApplicationQuit()
{
Tello.onConnection -= Tello_onConnection;
Tello.onUpdate -= Tello_onUpdate;
Tello.onVideoData -= Tello_onVideoData;
Tello.stopConnecting();
}
public basic_gui()
{
this.KeyPreview = true;
InitializeComponent();
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
if (newState != Tello.ConnectionState.Connected)
{
Console.WriteLine("Tello Disconnected");
}
if (newState == Tello.ConnectionState.Connected)
{
Tello.queryAttAngle();
Tello.setMaxHeight(50);
}
};
//subscribe to Tello update events.
Tello.onUpdate += (cmdId) =>
{
if (cmdId == 86)//ac update
{
Console.WriteLine("Tello updated");
}
};
Tello.startConnecting(IP);//Start trying to connect.
while (Tello.connected)
{
// send back connecting message
Console.WriteLine("Tello connected");
}
}
public Form1()
{
InitializeComponent();
Tello.onConnection += (Tello.ConnectionState newState) =>
{
if (newState != Tello.ConnectionState.Connected)
{
}
if (newState == Tello.ConnectionState.Connected)
{
Tello.setMaxHeight(5);
}
label1.Text = ("Tello " + newState.ToString());
};
Tello.startConnecting();
var videoClient = UdpUser.ConnectTo("127.0.0.1", 7038);
Tello.onVideoData += (byte[] data) =>
{
try
{
videoClient.Send(data.Skip(2).ToArray());//Skip 2 byte header and send to ffplay.
//droneStream.StartPlay(new Uri("udp://127.0.0.1:7038"));
}
catch (Exception ex)
{
MessageBox.Show("Error in Video Feed: " + ex.ToString());
}
};
droneStream.StartPlay(new Uri("udp://127.0.0.1:7038"));
}
public override bool OnKeyUp(Keycode keyCode, KeyEvent e)
{
InputDevice device = e.Device;
if (device != null && device.Id == current_device_id)
{
int index = ButtonMapping.OrdinalValue(keyCode);
if (index >= 0)
{
buttons[index] = 0;
if (index == 7)
{
Tello.takeOff();
}
if (index == 6)
{
Tello.land();
}
axes[4] = buttons[5];
Tello.setAxis(axes);
//controller_view.Invalidate();
}
return(true);
}
return(base.OnKeyUp(keyCode, e));
}
//Handle joystick axis events.
public override bool OnGenericMotionEvent(MotionEvent e)
{
InputDevice device = e.Device;
if (device != null && device.Id == current_device_id)
{
if (IsGamepad(device))
{
for (int i = 0; i < AxesMapping.size; i++)
{
axes[i] = GetCenteredAxis(e, device, AxesMapping.OrdinalValueAxis(i));
}
axes[4] = buttons[5];//boost button.
Tello.setAxis(axes);
TextView joystat = FindViewById <TextView>(Resource.Id.joystick_state);
//var dataStr = string.Join(" ", buttons);
//joystat.Text = string.Format("JOY {0: 0.00;-0.00} {1: 0.00;-0.00} {2: 0.00;-0.00} {3: 0.00;-0.00} {4: 0.00;-0.00} BTN "+ dataStr , axes[0], axes[1], axes[2], axes[3], axes[4]);
//controller_view.Invalidate();
return(true);
}
}
return(base.OnGenericMotionEvent(e));
}
void Update()
{
if (Input.GetKeyDown(KeyCode.Return))
{
if (Tello.state.flying)
{
Debug.Log("Landing");
Tello.Land();
}
else
{
if (Tello.state.batteryLower)
{
Debug.LogError("Battery too low for take off");
return;
}
if (Tello.state.batteryLow)
{
Debug.LogWarning("Battery low");
}
Debug.Log("Taking off");
Tello.TakeOff();
}
}
if (Tello.ConnectionState == ConnectionState.Connected && Tello.state.flying)
{
Tello.controllerState.SetAxis(Input.GetAxis("Rotate") * droneSpeed / 100, Input.GetAxis("Levitate") * droneSpeed / 100, Input.GetAxis("LRTranslate") * droneSpeed / 100, Input.GetAxis("FBTranslate") * droneSpeed / 100);
Tello.SetMaxHeight(height);
}
}
public FlightPlan_gui()
{
InitializeComponent();
input.AutoCompleteCustomSource = suggestedInstructions;
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
if (newState != Tello.ConnectionState.Connected)
{
//Console.WriteLine("Tello Disconnected");
}
if (newState == Tello.ConnectionState.Connected)
{
Tello.queryAttAngle();
Tello.setMaxHeight(50);
}
};
//subscribe to Tello update events.
Tello.onUpdate += (cmdId) =>
{
if (cmdId == 86)//ac update
{
//Console.WriteLine("Tello updated");
}
};
Tello.startConnecting(IP);//Start trying to connect.
while (Tello.connected)
{
// send back connecting message
//Console.WriteLine("Tello connected");
}
}
public void ConnectToTello()
{
Tello.onConnection += Tello_onConnection;
Tello.onUpdate += Tello_onUpdate;
Tello.onVideoData += Tello_onVideoData;
Tello.startConnecting();
}
public MainPageViewModel(Action <Exception, string> errorLog, Action <string, IDictionary <string, string> > logger)
{
_logger = logger;
_tello = new Tello(false, false, errorLog);
IncreaseAltitudeCommand = new Xamarin.Forms.Command(_ => IncreateMaxAltitude(), _ => CanIncreaseMaxAltitude);
DecreaseAltitudeCommand = new Xamarin.Forms.Command(_ => DecreateMaxAltitude(), _ => CanDecreaseMaxAltitude);
}
public void OnLand()
{
Debug.Log("Land");
Tello.land();
sceneManager.flightStatus = SceneManager.FlightStatus.Landing;
transform.position = new Vector3(transform.position.x, 0, transform.position.z);
CreateFlightPoint();
}
public MainForm()
{
InitializeComponent();
_stickSamplier = new StickSamplier(25);
_teleSamplier = new TelemetrySamplier();
_vs = new VideoSamplier(25);
_tello = new Tello();
_tello.LogMessage += _tello_MessageReceived;
}
private void Start()
{
if (telloVideoTexture == null)
{
telloVideoTexture = FindObjectOfType <TelloVideoTexture>();
}
Tello.StartConnecting();
}
public override bool OnKeyDown(Keycode keyCode, KeyEvent e)
{
InputDevice device = e.Device;
if (device != null && device.Id == current_device_id)
{
if (IsGamepad(device))
{
if (keyCode == Preferences.takeoffButtonCode && e.RepeatCount == 7)
{
if (Tello.connected && !Tello.state.flying)
{
Tello.takeOff();
}
else if (Tello.connected && Tello.state.flying)
{
Tello.land();
}
return(true);
}
if (keyCode == Preferences.landButtonCode && e.RepeatCount == 7)
{
Tello.land();
return(true);
}
if (keyCode == Preferences.pictureButtonCode && e.RepeatCount == 0)
{
Tello.takePicture();
cameraShutterSound.Play();
return(true);
}
;
if (keyCode == Preferences.recButtonCode && e.RepeatCount == 0)
{
toggleRecording = true;
return(true);
}
;
//controller_view.Invalidate();
if (keyCode == Preferences.speedButtonCode)
{
Tello.controllerState.setSpeedMode(1);
Tello.sendControllerUpdate();
return(true);
}
//if joy button return handled.
if (keyCode >= Keycode.ButtonA && keyCode <= Keycode.ButtonMode)
{
return(true);
}
;
}
}
return(base.OnKeyDown(keyCode, e));
}
private void Tello_onConnection(Tello.ConnectionState newState)
{
if (newState == Tello.ConnectionState.Connected)
{
Debug.Log("Connected to Tello, please wait for camera feed");
Tello.setPicVidMode(1); // 0: picture, 1: video
Tello.setVideoBitRate((int)TelloController.VideoBitRate.VideoBitRateAuto);
Tello.requestIframe();
}
}
protected override void OnResume()
{
isPaused = false;
base.OnResume();
input_manager.RegisterInputDeviceListener(this, null);
updateOnScreenJoyVisibility();
//fix if joy was moved when paused.
onScreenJoyL.returnHandleToCenter();
onScreenJoyR.returnHandleToCenter();
Tello.connectionSetPause(false);//reanable connections if paused.
}
private void Tello_onConnection(Tello.ConnectionState newState)
{
//throw new System.NotImplementedException();
//Debug.Log("Tello_onConnection : " + newState);
if (newState == Tello.ConnectionState.Connected)
{
Tello.setPicVidMode(1); // 0: picture, 1: video
Tello.setVideoBitRate((int)Tello.VideoBitRate.VideoBitRateAuto);
//Tello.setEV(0);
Tello.requestIframe();
}
}
//This is called when you press 'T'
public void AutoTakeOff()
{
Debug.Log("TakeOff!");
var preFlightPanel = GameObject.Find("Pre Flight Panel");
if (preFlightPanel)
{
preFlightPanel.SetActive(false);
}
Tello.takeOff();
sceneManager.flightStatus = SceneManager.FlightStatus.Launching;
}
public CaduhdAppTests()
{
string ip = "127.0.0.1";
int port = 8889;
this.tello = new Tello(ip, port);
this.udpClient = new UdpClient(new IPEndPoint(IPAddress.Parse(ip), port));
this.udpClient.Client.ReceiveTimeout = 1000;
this.anyEndPoint = new IPEndPoint(IPAddress.Any, 0);
}
private void connect_Click(object sender, RoutedEventArgs e)
{
if (connect.Content.ToString() == "Connect")
{
Tello.startConnecting();
connect.Content = "Disconnect";
}
else
{
connect.Content = "Connect";
}
}
private void Start()
{
if (telloVideoTexture == null)
{
telloVideoTexture = FindObjectOfType <TelloVideoTexture>();
}
Tello.startConnecting();
//バーチャルドローンの初期位置指定
Drone_Yup_Virtual.transform.position = new Vector3(0, 1.1f, 0);
}
async public void TestTello()
{
WifiHelper = new WifiHelper("TELLO-C53FBC", "SFR_6A30");
Debug.WriteLine("Connecting to Tello network...");
await WifiHelper.ConnectToTelloWifi();
Tello = new Tello();
Tello.CommunicationManager.ConnectionStatusHandler += ConnectionStatusHandler;
Tello.FlightManager.Start();
}
public void OnTouchJoystickMoved(JoystickView joystickView)
{
if (isPaused)//Zero out any movement when paused.
{
Tello.controllerState.setAxis(0, 0, 0, 0);
}
else
{
Tello.controllerState.setAxis(onScreenJoyL.normalizedX, -onScreenJoyL.normalizedY, onScreenJoyR.normalizedX, -onScreenJoyR.normalizedY);
}
Tello.sendControllerUpdate();
}
protected override void OnPause()
{
//fix if joy was moved when paused.
onScreenJoyL.returnHandleToCenter();
onScreenJoyR.returnHandleToCenter();
//Zero out Joy input so we don't keep flying.
Tello.controllerState.setAxis(0, 0, 0, 0);
Tello.sendControllerUpdate();
isPaused = true;
base.OnPause();
input_manager.UnregisterInputDeviceListener(this);
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.T))
{
Tello.takeOff();
}
else if (Input.GetKeyDown(KeyCode.L))
{
Tello.land();
}
float lx = 0f;
float ly = 0f;
float rx = 0f;
float ry = 0f;
if (Input.GetKey(KeyCode.UpArrow))
{
ry = 1;
}
if (Input.GetKey(KeyCode.DownArrow))
{
ry = -1;
}
if (Input.GetKey(KeyCode.RightArrow))
{
rx = 1;
}
if (Input.GetKey(KeyCode.LeftArrow))
{
rx = -1;
}
if (Input.GetKey(KeyCode.W))
{
ly = 1;
}
if (Input.GetKey(KeyCode.S))
{
ly = -1;
}
if (Input.GetKey(KeyCode.D))
{
lx = 1;
}
if (Input.GetKey(KeyCode.A))
{
lx = -1;
}
Tello.controllerState.setAxis(lx, ly, rx, ry);
}
public override bool OnKeyUp(Keycode keyCode, KeyEvent e)
{
InputDevice device = e.Device;
if (device != null && device.Id == current_device_id)
{
if (keyCode == Preferences.speedButtonCode)
{
Tello.controllerState.setSpeedMode(0);
Tello.sendControllerUpdate();
return(true);
}
}
return(base.OnKeyUp(keyCode, e));
}
private void handleAutopilot()
{
if (bAutopilot && Tello.state.flying)
{
var eular = Tello.state.toEuler();
var yaw = eular[2];
var deltaPosX = autopilotTarget.X - Tello.state.posX;
var deltaPosY = autopilotTarget.Y - Tello.state.posY;
var dist = Math.Sqrt(deltaPosX * deltaPosX + deltaPosY * deltaPosY);
var normalizedX = deltaPosX / dist;
var normalizedY = deltaPosY / dist;
var targetYaw = Math.Atan2(normalizedY, normalizedX);
var deltaYaw = targetYaw - yaw;
double lx = 0, ly = 0, rx = 0, ry = 0;
var minYaw = 0.1; //Radians
var minDist = 0.125; //Meters (I think)
if (deltaYaw > minYaw)
{
//lx = Math.Max(0.7, deltaYaw / 10.0);
}
else if (deltaYaw < -minYaw)
{
//lx = -Math.Max(0.7, deltaYaw / 10.0);
}
//else
if (dist > minDist)
{
var speed = Math.Min(0.3, dist * 2);//0.2 limits max throttle for safety.
rx = speed * Math.Sin(deltaYaw);
ry = speed * Math.Cos(deltaYaw);
}
else
{
bAutopilot = false;//arrived
}
Tello.controllerState.setAxis((float)lx, (float)ly, (float)rx, (float)ry);
Tello.sendControllerUpdate();
}
}
public override bool OnKeyDown(Keycode keyCode, KeyEvent e)
{
InputDevice device = e.Device;
if (device != null && device.Id == current_device_id)
{
if (IsGamepad(device))
{
int index = ButtonMapping.OrdinalValue(keyCode);
if (index >= 0)
{
buttons[index] = 1;
//controller_view.Invalidate();
axes[4] = buttons[5];
Tello.setAxis(axes);
}
return(true);
}
}
return(base.OnKeyDown(keyCode, e));
}
static void Main(string[] args)
{
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
if (newState == Tello.ConnectionState.Connected)
{
//When connected update maxHeight to 5 meters
Tello.setMaxHeight(5);
}
//Show connection messages.
Console.WriteLine("Tello " + newState.ToString());
};
//subscribe to Tello update events. Called when update data arrives from drone.
Tello.onUpdate += (int cmdId) =>
{
if (cmdId == 86)//ac update
{
Console.WriteLine("FlyMode:" + Tello.state.flyMode + " Height:" + Tello.state.height);
}
};
Tello.startConnecting();//Start trying to connect.
var str = "";
while (str != "exit")
{
str = Console.ReadLine().ToLower();
if (str == "takeoff" && Tello.connected && !Tello.state.flying)
{
Tello.takeOff();
}
if (str == "land" && Tello.connected && Tello.state.flying)
{
Tello.land();
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="MainViewModel"/> class.
/// </summary>
public MainViewModel()
{
var handsAnalyzer = new HandsAnalyzer();
var skiColorHandDetector = new SkinColorHandsDetector();
var drone = new Tello();
var droneControllerKeyInputEvaluator = new TelloKeyInputEvaluator();
var droneControllerHandsInputEvaluator = new DroneControllerHandsInputEvaluator();
this.app = new CaduhdApp(handsAnalyzer,
skiColorHandDetector,
drone,
droneControllerKeyInputEvaluator,
droneControllerHandsInputEvaluator);
this.app.Bind(this.UserInterfaceConnector);
this.webCamera = new WebCamera(320, 180);
this.webCamera.NewFrame += this.ProcessWebCameraFrame;
this.webCamera.On();
this.keyEventProcessor = new KeyEventProcessor();
}
public void PrimeProps()
{
Debug.Log("Start Prop");
sceneManager.flightStatus = SceneManager.FlightStatus.PrimingProps;
Tello.SuspendControllerUpdate();
int i = 0;
do
{
i++;
Tello.StartMotors();
} while (i < 900);
// OnFlyBegin();
Tello.ResumeControllerUpdate();
var preFlightPanel = GameObject.Find("Pre Flight Panel");
if (preFlightPanel)
{
preFlightPanel.SetActive(false);
}
sceneManager.flightStatus = SceneManager.FlightStatus.Launching;
UnityEngine.Debug.Log("props started");
}
