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));
}
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));
}
//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;
}
// 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);
}
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();
}
}
}
void keyDown(object sender, KeyEventArgs e)
{
float[] axis = new float[] { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
switch (e.Key)
{
case Key.W:
{
axis[3] = sensitivity;
}
break;
case Key.A:
{
axis[2] = -sensitivity;
}
break;
case Key.S:
{
axis[3] = -sensitivity;
}
break;
case Key.D:
{
axis[2] = sensitivity;
}
break;
case Key.Q:
{
axis[0] = sensitivity;
}
break;
case Key.E:
{
axis[0] = -sensitivity;
}
break;
case Key.Z:
{
axis[1] = sensitivity;
}
break;
case Key.X:
{
axis[1] = -sensitivity;
}
break;
case Key.D1:
{
if (sensitivity + 0.25f <= 1f)
{
sensitivity += 0.25f;
}
}
break;
case Key.D2:
{
if (sensitivity - 0.25f >= 0.0f)
{
sensitivity -= 0.25f;
}
}
break;
case Key.Tab:
{
if (Tello.connected)
{
if (Tello.state.flying)
{
Tello.land();
}
else
{
Tello.takeOff();
}
}
}
break;
}
Tello.controllerState.setAxis(axis[0], axis[1], axis[2], axis[3]);
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.Main);
//force max brightness on screen.
Window.Attributes.ScreenBrightness = 1f;
//Full screen and hide nav bar.
View decorView = Window.DecorView;
var uiOptions = (int)decorView.SystemUiVisibility;
var newUiOptions = (int)uiOptions;
newUiOptions |= (int)SystemUiFlags.LowProfile;
newUiOptions |= (int)SystemUiFlags.Fullscreen;
newUiOptions |= (int)SystemUiFlags.HideNavigation;
newUiOptions |= (int)SystemUiFlags.Immersive;
// This option will make bars disappear by themselves
newUiOptions |= (int)SystemUiFlags.ImmersiveSticky;
decorView.SystemUiVisibility = (StatusBarVisibility)newUiOptions;
//Keep screen from dimming.
this.Window.SetFlags(WindowManagerFlags.KeepScreenOn, WindowManagerFlags.KeepScreenOn);
onScreenJoyL = FindViewById <JoystickView>(Resource.Id.joystickViewL);
onScreenJoyR = FindViewById <JoystickView>(Resource.Id.joystickViewR);
takeoffButton = FindViewById <ImageButton>(Resource.Id.takeoffButton);
throwTakeoffButton = FindViewById <ImageButton>(Resource.Id.throwTakeoffButton);
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
//Update state on screen
Button cbutton = FindViewById <Button>(Resource.Id.connectButton);
//If not connected check to see if connected to tello network.
if (newState != Tello.ConnectionState.Connected)
{
WifiManager wifiManager = (WifiManager)Application.Context.GetSystemService(Context.WifiService);
string ip = Formatter.FormatIpAddress(wifiManager.ConnectionInfo.IpAddress);
if (!ip.StartsWith("192.168.10."))
{
//CrossTextToSpeech.Current.Speak("No network found.");
//Not connected to network.
RunOnUiThread(() => {
cbutton.Text = "Not Connected. Touch Here.";
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#55ff3333"));
});
return;
}
}
if (newState == Tello.ConnectionState.Connected)
{
//Tello.queryMaxHeight();
//Override max hei on connect.
Tello.setMaxHeight(30);//meters
Tello.queryMaxHeight();
//Tello.queryAttAngle();
Tello.setAttAngle(25);
//Tello.queryAttAngle();
Tello.setJpgQuality(Preferences.jpgQuality);
CrossTextToSpeech.Current.Speak("Connected");
Tello.setPicVidMode(picMode);//0=picture(960x720)
Tello.setEV(Preferences.exposure);
}
if (newState == Tello.ConnectionState.Disconnected)
{
//if was connected then warn.
if (Tello.connectionState == Tello.ConnectionState.Connected)
{
CrossTextToSpeech.Current.Speak("Disconnected");
}
}
//update connection state button.
RunOnUiThread(() => {
cbutton.Text = newState.ToString();
if (newState == Tello.ConnectionState.Connected)
{
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#6090ee90"));//transparent light green.
}
else
{
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#ffff00"));//yellow
}
});
};
var modeTextView = FindViewById <TextView>(Resource.Id.modeTextView);
var hSpeedTextView = FindViewById <TextView>(Resource.Id.hSpeedTextView);
var vSpeedTextView = FindViewById <TextView>(Resource.Id.vSpeedTextView);
var heiTextView = FindViewById <TextView>(Resource.Id.heiTextView);
var batTextView = FindViewById <TextView>(Resource.Id.batTextView);
var wifiTextView = FindViewById <TextView>(Resource.Id.wifiTextView);
//Log file setup.
var logPath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, "aTello/logs/");;
var logStartTime = DateTime.Now;
var logFilePath = logPath + logStartTime.ToString("yyyy-dd-M--HH-mm-ss") + ".csv";
if (doStateLogging)
{
//write header for cols in log.
System.IO.Directory.CreateDirectory(logPath);
File.WriteAllText(logFilePath, "time," + Tello.state.getLogHeader());
}
//subscribe to Tello update events
Tello.onUpdate += (Tello.FlyData newState) =>
{
if (doStateLogging)
{
//write update to log.
var elapsed = DateTime.Now - logStartTime;
File.AppendAllText(logFilePath, elapsed.ToString(@"mm\:ss\:ff\,") + newState.getLogLine());
}
RunOnUiThread(() => {
//Update state on screen
modeTextView.Text = "FM:" + newState.flyMode;
hSpeedTextView.Text = string.Format("HS:{0: 0.0;-0.0}m/s", (float)newState.flySpeed / 10);
vSpeedTextView.Text = string.Format("VS:{0: 0.0;-0.0}m/s", (float)newState.verticalSpeed / 10);
heiTextView.Text = string.Format("Hei:{0: 0.0;-0.0}m", (float)newState.height / 10);
if (Tello.controllerState.speed > 0)
{
hSpeedTextView.SetBackgroundColor(Android.Graphics.Color.IndianRed);
}
else
{
hSpeedTextView.SetBackgroundColor(Android.Graphics.Color.Transparent);
}
batTextView.Text = "Bat:" + newState.batteryPercentage;
wifiTextView.Text = "Wifi:" + newState.wifiStrength;
//acstat.Text = str;
if (Tello.state.flying)
{
takeoffButton.SetImageResource(Resource.Drawable.land);
}
else if (!Tello.state.flying)
{
takeoffButton.SetImageResource(Resource.Drawable.takeoff_white);
}
});
};
var videoFrame = new byte[100 * 1024];
var videoOffset = 0;
Video.Decoder.surface = FindViewById <SurfaceView>(Resource.Id.surfaceView).Holder.Surface;
var path = "aTello/video/";
System.IO.Directory.CreateDirectory(Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/"));
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/" + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
FileStream videoStream = null;
startUIUpdateThread();
//updateUI();//hide record light etc.
//subscribe to Tello video data
Tello.onVideoData += (byte[] data) =>
{
totalVideoBytesReceived += data.Length;
//Handle recording.
if (true) //videoFilePath != null)
{
if (data[2] == 0 && data[3] == 0 && data[4] == 0 && data[5] == 1) //if nal
{
var nalType = data[6] & 0x1f;
// if (nalType == 7 || nalType == 8)
{
if (toggleRecording)
{
if (videoStream != null)
{
videoStream.Close();
}
videoStream = null;
isRecording = !isRecording;
toggleRecording = false;
if (isRecording)
{
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
startRecordingTime = DateTime.Now;
CrossTextToSpeech.Current.Speak("Recording");
updateUI();
}
else
{
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/" + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
CrossTextToSpeech.Current.Speak("Recording stopped");
updateUI();
}
}
}
}
if ((isRecording || Preferences.cacheVideo))
{
if (videoStream == null)
{
videoStream = new FileStream(videoFilePath, FileMode.Append);
}
if (videoStream != null)
{
//Save raw data minus sequence.
videoStream.Write(data, 2, data.Length - 2);//Note remove 2 byte seq when saving.
}
}
}
//Handle video display.
if (true)//video decoder tests.
{
//Console.WriteLine("1");
if (data[2] == 0 && data[3] == 0 && data[4] == 0 && data[5] == 1)//if nal
{
var nalType = data[6] & 0x1f;
if (nalType == 7 || nalType == 8)
{
}
if (videoOffset > 0)
{
aTello.Video.Decoder.decode(videoFrame.Take(videoOffset).ToArray());
videoOffset = 0;
}
//var nal = (received.bytes[6] & 0x1f);
//if (nal != 0x01 && nal != 0x07 && nal != 0x08 && nal != 0x05)
// Console.WriteLine("NAL type:" + nal);
}
//todo. resquence frames.
Array.Copy(data, 2, videoFrame, videoOffset, data.Length - 2);
videoOffset += (data.Length - 2);
}
};
onScreenJoyL.onUpdate += OnTouchJoystickMoved;
onScreenJoyR.onUpdate += OnTouchJoystickMoved;
Tello.startConnecting();//Start trying to connect.
//Clicking on network state button will show wifi connection page.
Button button = FindViewById <Button>(Resource.Id.connectButton);
button.Click += delegate {
WifiManager wifiManager = (WifiManager)Application.Context.GetSystemService(Context.WifiService);
string ip = Formatter.FormatIpAddress(wifiManager.ConnectionInfo.IpAddress);
if (!ip.StartsWith("192.168.10."))//Already connected to network?
{
StartActivity(new Intent(Android.Net.Wifi.WifiManager.ActionPickWifiNetwork));
}
};
takeoffButton.Click += delegate {
if (Tello.connected && !Tello.state.flying)
{
Tello.takeOff();
}
else if (Tello.connected && Tello.state.flying)
{
Tello.land();
}
};
throwTakeoffButton.Click += delegate {
if (Tello.connected && !Tello.state.flying)
{
Tello.throwTakeOff();
}
else if (Tello.connected && Tello.state.flying)
{
//Tello.land();
}
};
var pictureButton = FindViewById <ImageButton>(Resource.Id.pictureButton);
Tello.picPath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, "aTello/pics/");
System.IO.Directory.CreateDirectory(Tello.picPath);
cameraShutterSound.Load("cameraShutterClick.mp3");
pictureButton.Click += delegate
{
Tello.takePicture();
cameraShutterSound.Play();
};
pictureButton.LongClick += delegate
{
//Toggle
picMode = picMode == 1?0:1;
Tello.setPicVidMode(picMode);
aTello.Video.Decoder.reconfig();
};
var recordButton = FindViewById <ImageButton>(Resource.Id.recordButton);
recordButton.Click += delegate
{
toggleRecording = true;
};
var galleryButton = FindViewById <ImageButton>(Resource.Id.galleryButton);
galleryButton.Click += async delegate
{
//var uri = Android.Net.Uri.FromFile(new Java.IO.File(Tello.picPath));
//shareImage(uri);
//return;
Intent intent = new Intent();
intent.PutExtra(Intent.ActionView, Tello.picPath);
intent.SetType("image/*");
intent.SetAction(Intent.ActionGetContent);
StartActivityForResult(Intent.CreateChooser(intent, "Select Picture"), 1);
};
//Settings button
ImageButton settingsButton = FindViewById <ImageButton>(Resource.Id.settingsButton);
settingsButton.Click += delegate
{
StartActivity(typeof(SettingsActivity));
};
//Init joysticks.
input_manager = (InputManager)GetSystemService(Context.InputService);
CheckGameControllers();
}
string videoFilePath;//file to save raw h264 to.
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.Main);
//force max brightness on screen.
Window.Attributes.ScreenBrightness = 1f;
takeoffButton = FindViewById <ImageButton>(Resource.Id.takeoffButton);
throwTakeoffButton = FindViewById <ImageButton>(Resource.Id.throwTakeoffButton);
var path = "aTello/video/";
System.IO.Directory.CreateDirectory(Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path));
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + DateTime.Now.ToString("yyyy-dd-M--HH-mm-ss") + ".h264");
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
//Update state on screen
Button cbutton = FindViewById <Button>(Resource.Id.connectButton);
//If not connected check to see if connected to tello network.
if (newState != Tello.ConnectionState.Connected)
{
WifiManager wifiManager = (WifiManager)Application.Context.GetSystemService(Context.WifiService);
string ip = Formatter.FormatIpAddress(wifiManager.ConnectionInfo.IpAddress);
if (!ip.StartsWith("192.168.10."))
{
//CrossTextToSpeech.Current.Speak("No network found.");
//Not connected to network.
RunOnUiThread(() => {
cbutton.Text = "Not Connected. Touch Here.";
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#55ff3333"));
});
return;
}
}
if (newState == Tello.ConnectionState.Connected)
{
//Tello.queryMaxHeight();
//Override max hei on connect.
Tello.setMaxHeight(25);//meters
Tello.queryMaxHeight();
CrossTextToSpeech.Current.Speak("Connected");
//Tello.setPicVidMode(0);//0=picture(960x720)
//Set new video file name based on date.
//var path = "aTello/video/";
//System.IO.Directory.CreateDirectory(Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path));
//videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + DateTime.Now.ToString("yyyy-dd-M--HH-mm-ss") + ".h264");
}
if (newState == Tello.ConnectionState.Disconnected)
{
//if was connected then warn.
if (Tello.connectionState == Tello.ConnectionState.Connected)
{
CrossTextToSpeech.Current.Speak("Disconnected");
}
}
//update connection state button.
RunOnUiThread(() => {
cbutton.Text = newState.ToString();
if (newState == Tello.ConnectionState.Connected)
{
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#6090ee90"));//transparent light green.
}
else
{
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#ffff00"));//yellow
}
});
};
var modeTextView = FindViewById <TextView>(Resource.Id.modeTextView);
var hSpeedTextView = FindViewById <TextView>(Resource.Id.hSpeedTextView);
var vSpeedTextView = FindViewById <TextView>(Resource.Id.vSpeedTextView);
var heiTextView = FindViewById <TextView>(Resource.Id.heiTextView);
var batTextView = FindViewById <TextView>(Resource.Id.batTextView);
var wifiTextView = FindViewById <TextView>(Resource.Id.wifiTextView);
//Log file setup.
var logPath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, "aTello/logs/");;
System.IO.Directory.CreateDirectory(logPath);
var logStartTime = DateTime.Now;
var logFilePath = logPath + logStartTime.ToString("yyyy-dd-M--HH-mm-ss") + ".csv";
//write header for cols in log.
File.WriteAllText(logFilePath, "time," + Tello.state.getLogHeader());
//subscribe to Tello update events
Tello.onUpdate += (Tello.FlyData newState) =>
{
//write update to log.
var elapsed = DateTime.Now - logStartTime;
File.AppendAllText(logFilePath, elapsed.ToString(@"mm\:ss\:ff\,") + newState.getLogLine());
RunOnUiThread(() => {
//Update state on screen
//var acstat = FindViewById<TextView>(Resource.Id.ac_state);
modeTextView.Text = "FM:" + newState.flyMode;
hSpeedTextView.Text = "HS:" + newState.flySpeed;
vSpeedTextView.Text = "VS:" + newState.verticalSpeed;
heiTextView.Text = "Hei:" + newState.height;
batTextView.Text = "Bat:" + newState.batteryPercentage;
wifiTextView.Text = "Wifi:" + newState.wifiStrength;
//acstat.Text = str;
if (Tello.state.flying)
{
takeoffButton.SetImageResource(Resource.Drawable.land);
}
else if (!Tello.state.flying)
{
takeoffButton.SetImageResource(Resource.Drawable.takeoff_white);
}
});
};
var videoFrame = new byte[100 * 1024];
var videoOffset = 0;
Video.Decoder.surface = FindViewById <SurfaceView>(Resource.Id.surfaceView).Holder.Surface;
//subscribe to Tello video data
Tello.onVideoData += (byte[] data) =>
{
if (false)//videoFilePath != null)
{
//Save raw data minus sequence.
using (var stream = new FileStream(videoFilePath, FileMode.Append))
{
stream.Write(data, 2, data.Length - 2);//Note remove 2 byte seq when saving.
}
}
if (true) //video decoder tests.
{
if (data[2] == 0 && data[3] == 0 && data[4] == 0 && data[5] == 1) //if nal
{
var nalType = data[6] & 0x1f;
if (nalType == 7 || nalType == 8)
{
}
if (videoOffset > 0)
{
aTello.Video.Decoder.decode(videoFrame.Take(videoOffset).ToArray());
videoOffset = 0;
}
//var nal = (received.bytes[6] & 0x1f);
//if (nal != 0x01 && nal != 0x07 && nal != 0x08 && nal != 0x05)
// Console.WriteLine("NAL type:" + nal);
}
Array.Copy(data, 2, videoFrame, videoOffset, data.Length - 2);
videoOffset += (data.Length - 2);
}
};
var onScreenJoyL = FindViewById <JoystickView>(Resource.Id.joystickViewL);
var onScreenJoyR = FindViewById <JoystickView>(Resource.Id.joystickViewR);
Tello.getControllerCallback = () => {
if (current_device_id > -1)
{
RunOnUiThread(() =>
{
onScreenJoyL.Visibility = ViewStates.Invisible;
onScreenJoyR.Visibility = ViewStates.Invisible;
});
return(axes);//joystick
}
else
{
RunOnUiThread(() =>
{
onScreenJoyL.Visibility = ViewStates.Visible;
onScreenJoyR.Visibility = ViewStates.Visible;
});
var touchAxis = new float[] { onScreenJoyL.curX, onScreenJoyL.curY, onScreenJoyR.curX, onScreenJoyR.curY, 0 };
return(touchAxis);
}
};
Tello.startConnecting();//Start trying to connect.
//Clicking on network state button will show wifi connection page.
Button button = FindViewById <Button>(Resource.Id.connectButton);
button.Click += delegate {
WifiManager wifiManager = (WifiManager)Application.Context.GetSystemService(Context.WifiService);
string ip = Formatter.FormatIpAddress(wifiManager.ConnectionInfo.IpAddress);
if (!ip.StartsWith("192.168.10."))//Already connected to network?
{
StartActivity(new Intent(Android.Net.Wifi.WifiManager.ActionPickWifiNetwork));
}
};
takeoffButton.Click += delegate {
if (Tello.connected && !Tello.state.flying)
{
Tello.takeOff();
}
else if (Tello.connected && Tello.state.flying)
{
Tello.land();
}
};
throwTakeoffButton.Click += delegate {
if (Tello.connected && !Tello.state.flying)
{
Tello.throwTakeOff();
}
else if (Tello.connected && Tello.state.flying)
{
//Tello.land();
}
};
var pictureButton = FindViewById <ImageButton>(Resource.Id.pictureButton);
Tello.picPath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, "aTello/pics/");
System.IO.Directory.CreateDirectory(Tello.picPath);
var cameraShutterSound = Plugin.SimpleAudioPlayer.CrossSimpleAudioPlayer.Current;
cameraShutterSound.Load("cameraShutterClick.mp3");
pictureButton.Click += delegate
{
Tello.takePicture();
cameraShutterSound.Play();
};
var galleryButton = FindViewById <ImageButton>(Resource.Id.galleryButton);
galleryButton.Click += delegate
{
Intent intent = new Intent();
intent.PutExtra(Intent.ActionView, Tello.picPath);
intent.SetType("image/*");
intent.SetAction(Intent.ActionGetContent);
StartActivityForResult(Intent.CreateChooser(intent, "Select Picture"), 1);
};
//Settings button
ImageButton settingsButton = FindViewById <ImageButton>(Resource.Id.settingsButton);
settingsButton.Click += delegate
{
StartActivity(typeof(SettingsActivity));
};
//Init joysticks.
input_manager = (InputManager)GetSystemService(Context.InputService);
CheckGameControllers();
}
// Update is called once per frame 上記のファンクションを使ってドローンをコントロールしていきます。
void Update()
{
if (Input.GetKey(KeyCode.T) || (OSC_Receiver.GetComponent <OSC_Receiver>().Y_controller1_b1_pressed > 0))
{
Tello.takeOff();
isLanding = true;
Invoke("setFlyingTrue", 0.2f);
TelloInitialPos_X = Tello.state.posX;
TelloInitialPos_Y = Tello.state.posY;
TelloInitialPos_Z = Tello.state.posZ;
Invoke("setFinishLandingTrue", 4.5f);
}
else if ((Input.GetKeyDown(KeyCode.L)) || (OSC_Receiver.GetComponent <OSC_Receiver>().X_controller1_b3_pressed > 0))
{
Tello.land();
isFlying = false;
}
//Debug.Log(OSC_Receiver.GetComponent<OSC_Receiver>().Y_controller1_b1_pressed);
float lx = 0f;
float ly = 0f;
float rx = 0f;
float ry = 0f;
RelativeVectorZ();
//ドローンの高さを対象のゲームオブジェクトに揃えます。&& isFlying && !isLandingで離陸後安定後の飛行中にのみ値が0以外になるように制限します。
//if ((realDestinationZ > 0.15f) && isFlying && !isLanding)
//{
// ly = 0.3f;
// Debug.Log("上昇");
//}
//else if ((realDestinationZ < -0.15f) && isFlying && !isLanding)
//{
// ly = -0.3f;
// Debug.Log("降下");
//}
//else if ((realDestinationZ > 0.075f) && isFlying && !isLanding)
//{
// ly = 0.1f;
// Debug.Log("ちょっと上昇");
//}
//else if ((realDestinationZ < -0.075f) && isFlying && !isLanding)
//{
// ly = -0.1f;
// Debug.Log("ちょっと降下");
//}
//else
//{
// ly = 0f;
//}
//バーチャルドローンは高さYのみリアルに依存させます。XZはリアルドローンを逆に依存（追従）させます。
//Drone_Yup_Virtual.transform.position = new Vector3(Drone_Yup_Virtual.transform.position.x, Drone_Yup_Real.transform.position.y, Drone_Yup_Virtual.transform.position.z);
RelativeRotationY();
////ドローンの正面を対象のゲームオブジェクトに向けます。
//if (((realRotationDifferenceY.y > 0.15f) && (realRotationDifferenceY.w >= 0) && isFlying && !isLanding) || ((realRotationDifferenceY.y < -0.15f) && (realRotationDifferenceY.w < 0) && isFlying && !isLanding))
//{
// lx = 0.8f;
// //lx = 0.6f;
// isForwardDirectionMatched = false;
// Debug.Log("時計回りに回転");
//}
//else if (((realRotationDifferenceY.y < -0.15f) && (realRotationDifferenceY.w >= 0) && isFlying && !isLanding) || ((realRotationDifferenceY.y > 0.15f) && (realRotationDifferenceY.w < 0) && isFlying && !isLanding))
//{
// lx = -0.8f;
// //lx = -0.6f;
// isForwardDirectionMatched = false;
// Debug.Log("反対の時計回りに回転");
//}
//else if (((realRotationDifferenceY.y > 0.075f) && (realRotationDifferenceY.w >= 0) && isFlying && !isLanding) || ((realRotationDifferenceY.y < -0.075f) && (realRotationDifferenceY.w < 0) && isFlying && !isLanding))
//{
// lx = 0.1f;
// isForwardDirectionMatched = true;
// Debug.Log("ちょっと時計回りに回転");
//}
//else if (((realRotationDifferenceY.y < -0.075f) && (realRotationDifferenceY.w >= 0) && isFlying && !isLanding) || ((realRotationDifferenceY.y > 0.075f && (realRotationDifferenceY.w < 0) && isFlying && !isLanding)))
//{
// lx = -0.1f;
// isForwardDirectionMatched = true;
// Debug.Log("ちょっと反対の時計回りに回転");
//}
//else
//{
// lx = 0f;
//}
//デバッグ用
RelativeForwardDistanceZ();
//本番
//if (isFlying && !isLanding)
//{
// RelativeForwardDistanceZ();
//}
////ドローンと対象のゲームオブジェクト距離を一定以下に保ちます。
//if ((distanceOfRealAndVirtual > 0.5f) && ((realForwardDistanceZbyVirtuallDrone - realForwardDistanceZbyRealDrone) < 0.1f) && isFlying && !isLanding)
//{
// ry = 0.5f;
// //ry = 0.2f;
// Debug.Log("前に進む");
//}
//else if ((distanceOfRealAndVirtual > 0.5f) && ((realForwardDistanceZbyVirtuallDrone - realForwardDistanceZbyRealDrone) > -0.1f) && isFlying && !isLanding)
//{
// ry = -0.5f;
// //ry = -0.2f;
// Debug.Log("後ろに下がる");
//}
//else if ((distanceOfRealAndVirtual > 0.2f) && ((realForwardDistanceZbyVirtuallDrone - realForwardDistanceZbyRealDrone) < 0.1f) && isFlying && !isLanding)
//{
// ry = 0.1f;
// Debug.Log("ちょっと前に進む");
//}
//else if ((distanceOfRealAndVirtual > 0.2f) && ((realForwardDistanceZbyVirtuallDrone - realForwardDistanceZbyRealDrone) > -0.1f) && isFlying && !isLanding)
//{
// ry = -0.1f;
// Debug.Log("ちょっと後ろに下がる");
//}
//else
//{
// ry = 0f;
//}
//Go Up!
if (OSC_Receiver.GetComponent <OSC_Receiver>().B_controller2_b1_pressed > 0 || Input.GetKey(KeyCode.W))
{
ly = 1;
}
//Go Down!
if (OSC_Receiver.GetComponent <OSC_Receiver>().A_controller2_b3_pressed > 0 || Input.GetKey(KeyCode.S))
{
ly = -1;
}
//Turn Right!
if (OSC_Receiver.GetComponent <OSC_Receiver>().stick_controller2_a1x > 0.1f || Input.GetKey(KeyCode.D))
{
lx = 1;
}
//Turn Left!
if (OSC_Receiver.GetComponent <OSC_Receiver>().stick_controller2_a1x < -0.1f || Input.GetKey(KeyCode.A))
{
lx = -1;
}
//Go Right or Left!
if (Input.GetKey(KeyCode.RightArrow))
{
rx = 1;
}
else if (Input.GetKey(KeyCode.LeftArrow))
{
rx = -1;
}
else
{
rx += OSC_Receiver.GetComponent <OSC_Receiver>().stick_controller1_a1x;
}
//Go Forward or Back!
if (Input.GetKey(KeyCode.UpArrow))
{
ry = 1;
}
else if (Input.GetKey(KeyCode.DownArrow))
{
ry = -1;
}
else
{
ry += OSC_Receiver.GetComponent <OSC_Receiver>().stick_controller1_a1y;
}
//Debug.Log("ry = " + ry);
if (isFlying && !isLanding)
{
Debug.Log("lx = " + lx + ", ly = " + ly + ", rx = " + rx + ", ry = " + ry);
}
//Debug.Log("Tello.state.posX = " + Tello.state.posX + ", Tello.state.posY = " + Tello.state.posY + ", Tello.state.posZ = " + Tello.state.posZ);
Tello.controllerState.setAxis(lx, ly, rx, ry); //float values
//Tello.controllerState.setSpeedMode(int mode);
//センサーからのデータの外れ値をスキップします。
if ((Mathf.Abs(Tello.state.posX) < 0.05f) && (Mathf.Abs(Tello.state.posY) < 0.05f) && (Mathf.Abs(Tello.state.posZ) < 0.05f) && isFlying && !isLanding)
{
Debug.Log("〇〇〇TimeFrame = " + Time.frameCount + " Tello.state.posX = " + Tello.state.posX + ", Tello.state.posY = " + Tello.state.posY + ", Tello.state.posZ = " + Tello.state.posZ + ", Data Collection Error: x = " + TelloCurrentPos_X.ToString("f2") + ", y = " + TelloCurrentPos_Y.ToString("f2") + ", z = " + TelloCurrentPos_Z.ToString("f2") + ", use previous flame: TelloPreviousPos_X = " + TelloPreviousPos_X + ", TelloPreviousPos_Y = " + TelloPreviousPos_Y + ", TelloPreviousPos_Z = " + TelloPreviousPos_Z);
TelloCurrentPos_X = TelloPreviousPos_X;
TelloCurrentPos_Y = TelloPreviousPos_Y;
TelloCurrentPos_Z = TelloPreviousPos_Z;
TelloCurrentQuaternion_X = TelloPreviousQuaternion_X;
TelloCurrentQuaternion_Y = TelloPreviousQuaternion_Y;
TelloCurrentQuaternion_Z = TelloPreviousQuaternion_Z;
TelloCurrentQuaternion_W = TelloPreviousQuaternion_W;
//TelloCurrentPos_X = Tello.state.posX;
//TelloCurrentPos_Y = Tello.state.posY;
//TelloCurrentPos_Z = Tello.state.posZ;
//TelloCurrentQuaternion_X = Tello.state.quatX;
//TelloCurrentQuaternion_Y = Tello.state.quatY;
//TelloCurrentQuaternion_Z = Tello.state.quatZ;
//TelloCurrentQuaternion_W = Tello.state.quatW;
}
else
{
TelloCurrentPos_X = Tello.state.posX;
TelloCurrentPos_Y = Tello.state.posY;
TelloCurrentPos_Z = Tello.state.posZ;
TelloCurrentQuaternion_X = Tello.state.quatX;
TelloCurrentQuaternion_Y = Tello.state.quatY;
TelloCurrentQuaternion_Z = Tello.state.quatZ;
TelloCurrentQuaternion_W = Tello.state.quatW;
}
//Debug.Log("Tello_onUpdate : " + "x = " + TelloCurrentPos_X.ToString("f2") + ", y = " + TelloCurrentPos_Y.ToString("f2") + ", z = " + TelloCurrentPos_Z.ToString("f2"));
TelloPreviousPos_X = TelloCurrentPos_X;
TelloPreviousPos_Y = TelloCurrentPos_Y;
TelloPreviousPos_Z = TelloCurrentPos_Z;
TelloPreviousQuaternion_X = TelloCurrentQuaternion_X;
TelloPreviousQuaternion_Y = TelloCurrentQuaternion_Y;
TelloPreviousQuaternion_Z = TelloCurrentQuaternion_Z;
TelloPreviousQuaternion_W = TelloCurrentQuaternion_W;
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
float[] axis = new float[] { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
switch (keyData)
{
case Keys.W: // Forward
axis[3] = sensitivity;
break;
case Keys.A: // Left
axis[2] = -sensitivity;
break;
case Keys.S: // Bakcwards
axis[3] = -sensitivity;
break;
case Keys.D: // Right
axis[2] = sensitivity;
break;
case Keys.Right: // Look Right
axis[0] = sensitivity;
break;
case Keys.Left: // Look Left
axis[0] = -sensitivity;
break;
case Keys.Up: // Up
axis[1] = sensitivity;
break;
case Keys.Down: // Down
axis[1] = -sensitivity;
break;
case Keys.D1: // Faster
if (sensitivity + 0.25f <= 1f)
{
sensitivity += 0.25f;
}
break;
case Keys.Add: // Faster
if (sensitivity + 0.25f <= 1f)
{
sensitivity += 0.25f;
}
break;
case Keys.D2: // Slower
if (sensitivity - 0.25f >= 0.0f)
{
sensitivity -= 0.25f;
}
break;
case Keys.Subtract: // Slower
if (sensitivity - 0.25f >= 0.0f)
{
sensitivity -= 0.25f;
}
break;
case Keys.Enter:
takepic();
break;
case Keys.P:
sensitivity = 0.5f;
break;
case Keys.Tab:
{
if (Tello.connected)
{
if (Tello.state.flying)
{
Tello.land();
}
else
{
Tello.takeOff();
}
}
}
break;
}
Tello.controllerState.setAxis(axis[0], axis[1], axis[2], axis[3]);
return(base.ProcessCmdKey(ref msg, keyData));
}
static void Main(string[] args)
{
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
if (newState != Tello.ConnectionState.Connected)
{
}
if (newState == Tello.ConnectionState.Connected)
{
Tello.queryAttAngle();
Tello.setMaxHeight(50);
clearConsole();
}
printAt(0, 0, "Tello " + newState.ToString());
};
//Log file setup.
var logPath = "logs/";
System.IO.Directory.CreateDirectory(Path.Combine("../", logPath));
var logStartTime = DateTime.Now;
var logFilePath = Path.Combine("../", logPath + logStartTime.ToString("yyyy-dd-M--HH-mm-ss") + ".csv");
//write header for cols in log.
File.WriteAllText(logFilePath, "time," + Tello.state.getLogHeader());
//subscribe to Tello update events.
Tello.onUpdate += (Tello.FlyData newState) =>
{
//write update to log.
var elapsed = DateTime.Now - logStartTime;
File.AppendAllText(logFilePath, elapsed.ToString(@"mm\:ss\:ff\,") + newState.getLogLine());
//display state in console.
var outStr = newState.ToString();//ToString() = Formated state
printAt(0, 2, outStr);
};
//subscribe to Joystick update events. Called ~10x second.
PCJoystick.onUpdate += (SharpDX.DirectInput.JoystickState joyState) =>
{
var rx = ((float)joyState.RotationX / 0x8000) - 1;
var ry = (((float)joyState.RotationY / 0x8000) - 1);
var lx = ((float)joyState.X / 0x8000) - 1;
var ly = (((float)joyState.Y / 0x8000) - 1);
//var boost = joyState.Z
float[] axes = new float[] { lx, ly, rx, ry, 0 };
var outStr = 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}", axes[0], axes[1], axes[2], axes[3], axes[4]);
printAt(0, 22, outStr);
Tello.controllerState.setAxis(lx, ly, rx, ry);
Tello.sendControllerUpdate();
};
PCJoystick.init();
//Connection to send raw video data to local udp port.
//To play: ffplay -probesize 32 -sync ext udp://127.0.0.1:7038
//To play with minimum latency:ffmpeg -i udp://127.0.0.1:7038 -f sdl "Tello"
var videoClient = UdpUser.ConnectTo("127.0.0.1", 7038);
//subscribe to Tello video data
Tello.onVideoData += (byte[] data) =>
{
try
{
videoClient.Send(data.Skip(2).ToArray());//Skip 2 byte header and send to ffplay.
//Console.WriteLine("Video size:" + data.Length);
}catch (Exception ex)
{
}
};
Tello.startConnecting();//Start trying to connect.
clearConsole();
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();
}
if (str == "cls")
{
Tello.setMaxHeight(9);
Tello.queryMaxHeight();
clearConsole();
}
}
}
void glControl_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.T)
{
Takeoff.BackColor = Color.Green;
Takeoff.ForeColor = Color.White;
// Instrutions to the drone
Tello.takeOff();
}
if (e.KeyCode == Keys.Y)
{
Land.BackColor = Color.Green;
Land.ForeColor = Color.White;
// Instrutions to the drone
Tello.land();
}
if (e.KeyCode == Keys.R)
{
markOrigin.PerformClick();
markOrigin.BackColor = Color.Green;
markOrigin.ForeColor = Color.White;
}
if (e.KeyCode == Keys.Space)
{
Hover.BackColor = Color.Green;
Hover.ForeColor = Color.White;
// Instrutions to the drone
Tello.hover();
}
float lx = 0f;
float ly = 0f;
float rx = 0f;
float ry = 0f;
if (e.KeyCode == Keys.W)
{
Forward.BackColor = Color.Green;
Forward.ForeColor = Color.White;
// Instrutions to the drone
ry = 0.5f;
}
if (e.KeyCode == Keys.S)
{
Backward.BackColor = Color.Green;
Backward.ForeColor = Color.White;
// Instrutions to the drone
ry = -0.5f;
}
if (e.KeyCode == Keys.A)
{
Right.BackColor = Color.Green;
Right.ForeColor = Color.White;
// Instrutions to the drone
rx = -0.5f;
}
if (e.KeyCode == Keys.D)
{
Left.BackColor = Color.Green;
Left.ForeColor = Color.White;
// Instrutions to the drone
rx = 0.5f;
}
if (e.KeyCode == Keys.I)
{
Upward.BackColor = Color.Green;
Upward.ForeColor = Color.White;
// Instrutions to the drone
// Instrutions to the drone
ly = 0.5f;
}
if (e.KeyCode == Keys.K)
{
Downward.BackColor = Color.Green;
Downward.ForeColor = Color.White;
// Instrutions to the drone
ly = -0.5f;
}
if (e.KeyCode == Keys.J)
{
Counter.BackColor = Color.Green;
Counter.ForeColor = Color.White;
// Instrutions to the drone
lx = -0.5f;
}
if (e.KeyCode == Keys.L)
{
Clockwise.BackColor = Color.Green;
Clockwise.ForeColor = Color.White;
// Instrutions to the drone
lx = 0.5f;
}
Tello.controllerState.setAxis(lx, ly, rx, ry);
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.Main);
//force max brightness on screen.
Window.Attributes.ScreenBrightness = 1f;
//Full screen and hide nav bar.
View decorView = Window.DecorView;
var uiOptions = (int)decorView.SystemUiVisibility;
var newUiOptions = (int)uiOptions;
newUiOptions |= (int)SystemUiFlags.LowProfile;
newUiOptions |= (int)SystemUiFlags.Fullscreen;
newUiOptions |= (int)SystemUiFlags.HideNavigation;
newUiOptions |= (int)SystemUiFlags.Immersive;
// This option will make bars disappear by themselves
newUiOptions |= (int)SystemUiFlags.ImmersiveSticky;
decorView.SystemUiVisibility = (StatusBarVisibility)newUiOptions;
//Keep screen from dimming.
this.Window.SetFlags(WindowManagerFlags.KeepScreenOn, WindowManagerFlags.KeepScreenOn);
onScreenJoyL = FindViewById <JoystickView>(Resource.Id.joystickViewL);
onScreenJoyR = FindViewById <JoystickView>(Resource.Id.joystickViewR);
takeoffButton = FindViewById <ImageButton>(Resource.Id.takeoffButton);
throwTakeoffButton = FindViewById <ImageButton>(Resource.Id.throwTakeoffButton);
rthButton = FindViewById <ImageButton>(Resource.Id.rthButton);
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
//Update state on screen
Button cbutton = FindViewById <Button>(Resource.Id.connectButton);
//If not connected check to see if connected to tello network.
if (newState != Tello.ConnectionState.Connected &&
newState != Tello.ConnectionState.Paused)
{
WifiManager wifiManager = (WifiManager)Application.Context.GetSystemService(Context.WifiService);
string ip = Formatter.FormatIpAddress(wifiManager.ConnectionInfo.IpAddress);
if (!ip.StartsWith("192.168.10."))
{
//CrossTextToSpeech.Current.Speak("No network found.");
//Not connected to network.
RunOnUiThread(() => {
cbutton.Text = "Not Connected. Touch Here.";
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#55ff3333"));
});
return;
}
}
if (newState == Tello.ConnectionState.Paused)
{
}
if (newState == Tello.ConnectionState.UnPausing)
{
}
if (newState == Tello.ConnectionState.Connected)
{
//Tello.queryMaxHeight();
//Override max hei on connect.
Tello.setMaxHeight(30);//meters
Tello.queryMaxHeight();
//Tello.queryAttAngle();
Tello.setAttAngle(25);
//Tello.queryAttAngle();
Tello.setJpgQuality(Preferences.jpgQuality);
CrossTextToSpeech.Current.Speak("Connected");
Tello.setPicVidMode(picMode);//0=picture(960x720)
//updateVideoSize();
Tello.setEV(Preferences.exposure);
Tello.setVideoBitRate(Preferences.videoBitRate);
Tello.setVideoDynRate(1);
if (forceSpeedMode)
{
Tello.controllerState.setSpeedMode(1);
}
else
{
Tello.controllerState.setSpeedMode(0);
}
}
if (newState == Tello.ConnectionState.Disconnected)
{
//if was connected then warn.
if (Tello.connectionState == Tello.ConnectionState.Connected)
{
CrossTextToSpeech.Current.Speak("Disconnected");
}
}
//update connection state button.
RunOnUiThread(() => {
if (newState == Tello.ConnectionState.UnPausing)//Fix. Don't show "unpausing" string.
{
cbutton.Text = Tello.ConnectionState.Connected.ToString();
}
else
{
cbutton.Text = newState.ToString();
}
if (newState == Tello.ConnectionState.Connected || newState == Tello.ConnectionState.UnPausing)
{
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#6090ee90"));//transparent light green.
}
else
{
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#ffff00"));//yellow
}
});
};
var modeTextView = FindViewById <TextView>(Resource.Id.modeTextView);
var hSpeedTextView = FindViewById <TextView>(Resource.Id.hSpeedTextView);
var vSpeedTextView = FindViewById <TextView>(Resource.Id.vSpeedTextView);
var heiTextView = FindViewById <TextView>(Resource.Id.heiTextView);
var batTextView = FindViewById <TextView>(Resource.Id.batTextView);
var wifiTextView = FindViewById <TextView>(Resource.Id.wifiTextView);
//Log file setup.
var logPath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, "aTello/logs/");;
var logStartTime = DateTime.Now;
var logFilePath = logPath + logStartTime.ToString("yyyy-dd-M--HH-mm-ss") + ".csv";
if (doStateLogging)
{
//write header for cols in log.
System.IO.Directory.CreateDirectory(logPath);
File.WriteAllText(logFilePath, "time," + Tello.state.getLogHeader());
}
//Long click vert speed to force fast mode.
hSpeedTextView.LongClick += delegate {
forceSpeedMode = !forceSpeedMode;
if (forceSpeedMode)
{
Tello.controllerState.setSpeedMode(1);
}
else
{
Tello.controllerState.setSpeedMode(0);
}
};
cameraShutterSound.Load("cameraShutterClick.mp3");
//subscribe to Tello update events
Tello.onUpdate += (int cmdId) =>
{
if (doStateLogging)
{
//write update to log.
var elapsed = DateTime.Now - logStartTime;
File.AppendAllText(logFilePath, elapsed.ToString(@"mm\:ss\:ff\,") + Tello.state.getLogLine());
}
RunOnUiThread(() => {
if (cmdId == 86)//ac status update.
{
//Update state on screen
modeTextView.Text = "FM:" + Tello.state.flyMode;
hSpeedTextView.Text = string.Format("HS:{0: 0.0;-0.0}m/s", (float)Tello.state.flySpeed / 10);
vSpeedTextView.Text = string.Format("VS:{0: 0.0;-0.0}m/s", -(float)Tello.state.verticalSpeed / 10);//Note invert so negative means moving down.
heiTextView.Text = string.Format("Hei:{0: 0.0;-0.0}m", (float)Tello.state.height / 10);
if (Tello.controllerState.speed > 0)
{
hSpeedTextView.SetBackgroundColor(Android.Graphics.Color.IndianRed);
}
else
{
hSpeedTextView.SetBackgroundColor(Android.Graphics.Color.DarkGreen);
}
batTextView.Text = "Bat:" + Tello.state.batteryPercentage;
wifiTextView.Text = "Wifi:" + Tello.state.wifiStrength;
//Autopilot debugging.
if (/*!bAutopilot &&*/ Tello.state.flying)
{
RunOnUiThread(() =>
{
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;
var str = string.Format("x {0:0.00; -0.00} y {1:0.00; -0.00} yaw {2:0.00; -0.00} targetYaw {3:0.00; -0.00} targetDist {4:0.00; -0.00} On:{5}",
Tello.state.posX, Tello.state.posY,
(((yaw * (180.0 / Math.PI)) + 360.0) % 360.0),
(((targetYaw * (180.0 / Math.PI)) + 360.0) % 360.0), dist,
bAutopilot.ToString());
TextView joystat = FindViewById <TextView>(Resource.Id.joystick_state);
joystat.Text = str;
});
}
//acstat.Text = str;
if (Tello.state.flying)
{
takeoffButton.SetImageResource(Resource.Drawable.land);
}
else if (!Tello.state.flying)
{
takeoffButton.SetImageResource(Resource.Drawable.takeoff_white);
}
}
if (cmdId == 48)//ack picture start.
{
cameraShutterSound.Play();
}
if (cmdId == 98)//start picture download.
{
}
if (cmdId == 100) //picture piece downloaded.
{
if (Tello.picDownloading == false) //if done downloading.
{
if (remainingExposures >= 0)
{
var exposureSet = new int[] { 0, -2, 8 };
Tello.setEV(Preferences.exposure + exposureSet[remainingExposures]);
remainingExposures--;
Tello.takePicture();
}
if (remainingExposures == -1)//restore exposure.
{
Tello.setEV(Preferences.exposure);
}
}
}
});
//Do autopilot input.
handleAutopilot();
};
var videoFrame = new byte[100 * 1024];
var videoOffset = 0;
updateVideoSize();
Video.Decoder.surface = FindViewById <SurfaceView>(Resource.Id.surfaceView).Holder.Surface;
/*
* var textureView = FindViewById<TextureView>(Resource.Id.textureView);
* mSurfaceTextureListener = new SurfaceTextureListener(this);
* textureView.SurfaceTextureListener = mSurfaceTextureListener;
*
* //var st = new Surface(textureView.SurfaceTexture);
* //Video.Decoder.surface = st;
*
*/
var path = "aTello/video/";
System.IO.Directory.CreateDirectory(Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/"));
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/" + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
FileStream videoStream = null;
startUIUpdateThread();
//updateUI();//hide record light etc.
//subscribe to Tello video data
var vidCount = 0;
Tello.onVideoData += (byte[] data) =>
{
totalVideoBytesReceived += data.Length;
//Handle recording.
if (true) //videoFilePath != null)
{
if (data[2] == 0 && data[3] == 0 && data[4] == 0 && data[5] == 1) //if nal
{
var nalType = data[6] & 0x1f;
// if (nalType == 7 || nalType == 8)
{
if (toggleRecording)
{
if (videoStream != null)
{
videoStream.Close();
}
videoStream = null;
isRecording = !isRecording;
toggleRecording = false;
if (isRecording)
{
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
startRecordingTime = DateTime.Now;
// Tello.setVideoRecord(vidCount++);
CrossTextToSpeech.Current.Speak("Recording");
updateUI();
}
else
{
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/" + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
CrossTextToSpeech.Current.Speak("Recording stopped");
updateUI();
}
}
}
}
if ((isRecording || Preferences.cacheVideo))
{
if (videoStream == null)
{
videoStream = new FileStream(videoFilePath, FileMode.Append);
}
if (videoStream != null)
{
//Save raw data minus sequence.
videoStream.Write(data, 2, data.Length - 2);//Note remove 2 byte seq when saving.
}
}
}
//Handle video display.
if (true)//video decoder tests.
{
//Console.WriteLine("1");
if (data[2] == 0 && data[3] == 0 && data[4] == 0 && data[5] == 1)//if nal
{
var nalType = data[6] & 0x1f;
if (nalType == 7 || nalType == 8)
{
}
if (videoOffset > 0)
{
aTello.Video.Decoder.decode(videoFrame.Take(videoOffset).ToArray());
videoOffset = 0;
}
//var nal = (received.bytes[6] & 0x1f);
//if (nal != 0x01 && nal != 0x07 && nal != 0x08 && nal != 0x05)
// Console.WriteLine("NAL type:" + nal);
}
//todo. resquence frames.
Array.Copy(data, 2, videoFrame, videoOffset, data.Length - 2);
videoOffset += (data.Length - 2);
}
};
onScreenJoyL.onUpdate += OnTouchJoystickMoved;
onScreenJoyR.onUpdate += OnTouchJoystickMoved;
Tello.startConnecting();//Start trying to connect.
//Clicking on network state button will show wifi connection page.
Button button = FindViewById <Button>(Resource.Id.connectButton);
button.Click += delegate {
WifiManager wifiManager = (WifiManager)Application.Context.GetSystemService(Context.WifiService);
string ip = Formatter.FormatIpAddress(wifiManager.ConnectionInfo.IpAddress);
if (!ip.StartsWith("192.168.10."))//Already connected to network?
{
StartActivity(new Intent(Android.Net.Wifi.WifiManager.ActionPickWifiNetwork));
}
};
rthButton.LongClick += delegate {
bAutopilot = !bAutopilot;//Toggle autopilot
};
rthButton.Click += delegate {
bAutopilot = false;//Stop if going.
Tello.controllerState.setAxis(0, 0, 0, 0);
Tello.sendControllerUpdate();
//set new home point
setAutopilotTarget(new PointF(Tello.state.posX, Tello.state.posY));
};
takeoffButton.LongClick += delegate {
if (Tello.connected && !Tello.state.flying)
{
Tello.takeOff();
}
else if (Tello.connected && Tello.state.flying)
{
Tello.land();
}
};
throwTakeoffButton.LongClick += delegate {
if (Tello.connected && !Tello.state.flying)
{
Tello.throwTakeOff();
}
else if (Tello.connected && Tello.state.flying)
{
//Tello.land();
}
};
var pictureButton = FindViewById <ImageButton>(Resource.Id.pictureButton);
Tello.picPath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, "aTello/pics/");
System.IO.Directory.CreateDirectory(Tello.picPath);
pictureButton.Click += delegate
{
remainingExposures = -1;
Tello.takePicture();
};
/*
* Multiple exposure. Not working yet.
* pictureButton.LongClick += delegate
* {
* remainingExposures = 2;
* Tello.takePicture();
* };
*/
var recordButton = FindViewById <ImageButton>(Resource.Id.recordButton);
recordButton.Click += delegate
{
toggleRecording = true;
};
recordButton.LongClick += delegate
{
//Toggle
picMode = picMode == 1 ? 0 : 1;
Tello.setPicVidMode(picMode);
updateVideoSize();
aTello.Video.Decoder.reconfig();
};
var galleryButton = FindViewById <ImageButton>(Resource.Id.galleryButton);
galleryButton.Click += async delegate
{
//var uri = Android.Net.Uri.FromFile(new Java.IO.File(Tello.picPath));
//shareImage(uri);
//return;
Intent intent = new Intent();
intent.PutExtra(Intent.ActionView, Tello.picPath);
intent.SetType("image/*");
intent.SetAction(Intent.ActionGetContent);
StartActivityForResult(Intent.CreateChooser(intent, "Select Picture"), 1);
};
//Settings button
ImageButton settingsButton = FindViewById <ImageButton>(Resource.Id.settingsButton);
settingsButton.Click += delegate
{
StartActivity(typeof(SettingsActivity));
};
//Init joysticks.
input_manager = (InputManager)GetSystemService(Context.InputService);
CheckGameControllers();
}
private void ConnectDroneButton_Click(object sender, EventArgs e)
{
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
if (newState != Tello.ConnectionState.Connected)
{
}
if (newState == Tello.ConnectionState.Connected)
{
Tello.queryAttAngle();
Tello.setMaxHeight(50);
}
};
//Log file setup.
var logPath = "logs/";
System.IO.Directory.CreateDirectory(Path.Combine("../", logPath));
var logStartTime = DateTime.Now;
var logFilePath = Path.Combine("../", logPath + logStartTime.ToString("yyyy-dd-M--HH-mm-ss") + ".csv");
//write header for cols in log.
File.WriteAllText(logFilePath, "time," + Tello.state.getLogHeader());
//subscribe to Tello update events.
Tello.onUpdate += (cmdId) =>
{
if (cmdId == 86)//ac update
{
//write update to log.
var elapsed = DateTime.Now - logStartTime;
File.AppendAllText(logFilePath, elapsed.ToString(@"mm\:ss\:ff\,") + Tello.state.getLogLine());
//display state in console.
var outStr = Tello.state.ToString();//ToString() = Formated state
}
};
//Connection to send raw video data to local udp port.
//To play: ffplay -probesize 32 -sync ext udp://127.0.0.1:7038
//To play with minimum latency:ffmpeg -i udp://127.0.0.1:7038 -f sdl "Tello"
var videoClient = UdpUser.ConnectTo("127.0.0.1", 7038);
//subscribe to Tello video data
Tello.onVideoData += (byte[] data) =>
{
try
{
videoClient.Send(data.Skip(2).ToArray());//Skip 2 byte header and send to ffplay.
//Console.WriteLine("Video size:" + data.Length);
}
catch (Exception ex)
{
}
};
Tello.startConnecting();//Start trying to connect.
Tello.takeOff();
}