private void Emergency()
{
LockJoystick();
client.MakeDroneStill();
client.Emergency();
}
public async Task MainLoop()
{
await core.Init();
RenderConsoleLoop();
var shouldLoop = true;
while (shouldLoop)
{
try
{
var key = Console.ReadKey(true);
logger.LogInformation($"{key.Key} pressed");
switch (key.Key)
{
case ConsoleKey.W:
case ConsoleKey.S:
case ConsoleKey.A:
case ConsoleKey.D:
case ConsoleKey.R:
case ConsoleKey.F:
if (gamePadEnabled == true)
{
break;
}
logger.LogInformation($"FlyDirection({MoveMappings[key.Key]}, 30)");
await client.FlyDirection(MoveMappings[key.Key], 30);
break;
case ConsoleKey.Q:
case ConsoleKey.E:
if (gamePadEnabled == true)
{
break;
}
logger.LogInformation($"RotateDirection({(key.Key == ConsoleKey.E ? "cw" : "ccw")}, 20)");
await client.RotateDirection(key.Key == ConsoleKey.E, 20);
break;
case ConsoleKey.T:
logger.LogInformation("TakeOff()");
await client.TakeOff();
break;
case ConsoleKey.L:
logger.LogInformation("Land()");
await client.Land();
break;
case ConsoleKey.Spacebar:
logger.LogInformation("Emergency()");
await client.Emergency();
break;
case ConsoleKey.J:
if (gamePadEnabled)
{
gamePad.Close();
gamePadEnabled = false;
}
else
{
gamePadEnabled = gamePad.Listen();
}
logger.LogInformation($"Gamepad mode is {(gamePadEnabled ? "ON" : "OFF")}");
break;
case ConsoleKey.Escape:
logger.LogInformation("Closing all of the connections");
core.Close();
shouldLoop = false;
break;
}
}
catch (Exception ex)
{
logger.LogError(ex, "Exception while proccessing key press");
}
}
logger.LogInformation("Exiting loop");
}