internal UdpEndpoint GetEndpoint(UdpTransceiver transceiver)
{
int port = transceiver.EffectivePort();
if (port == Port)
{
return(this);
}
else
{
return(new UdpEndpoint(Instance, Host, port, SourceAddress, McastInterface, McastTtl, _connect,
ConnectionId, HasCompressionFlag));
}
}
static Program()
{
var transceiver = new UdpTransceiver(IPAddress.Parse("192.168.10.1"), 8889);
var stateReceiver = new UdpReceiver(8890);
var videoReceiver = new UdpReceiver(11111);
var repository = new SqliteRepository((null, "tello.udp.sqlite"));
_flightTest = new FlightTest(
repository,
transceiver,
stateReceiver,
videoReceiver);
}
public async void Init()
{
var transceiver = new UdpTransceiver(IPAddress.Parse("192.168.10.1"), 8889);
var stateReceiver = new UdpReceiver(8890);
var videoReceiver = new UdpReceiver(11111);
Tello = new DroneMessenger(transceiver, stateReceiver, videoReceiver);
Tello.Controller.ConnectionStateChanged += Controller_ConnectionStateChanged;
Tello.Controller.PositionChanged += Controller_PositionChanged;
Tello.StateObserver.StateChanged += StateObserver_StateChanged;
Tello.VideoObserver.VideoSampleReady += VideoObserver_VideoSampleReady;
await Tello.Controller.Connect();
}
private MainViewModel CreateMainViewModel(IUIDispatcher dispatcher, IUINotifier notifier)
{
#if EMULATOR_ON
_simulator = new DroneSimulator();
var transceiver = new SimTransceiver(_simulator.MessageHandler);
var stateReceiver = new SimReceiver(_simulator.StateTransmitter);
var videoReceiver = new SimReceiver(_simulator.VideoTransmitter);
#else
var transceiver = new UdpTransceiver(IPAddress.Parse("192.168.10.1"), 8889);
var stateReceiver = new UdpReceiver(8890);
var videoReceiver = new UdpReceiver(11111);
#endif
return(new MainViewModel(
this.dispatcher,
this.notifier,
new SqliteRepository((null, "tello.sqlite")),
transceiver,
stateReceiver,
videoReceiver));
}
private static async Task Main(string[] args)
{
using (var transceiver = new UdpTransceiver(IPAddress.Parse("192.168.10.1"), 8889))
using (var stateReceiver = new UdpReceiver(8890))
using (var videoReceiver = new UdpReceiver(11111))
using (var repository = new SqliteRepository((null, "tello.udp.sqlite")))
{
var testType = args.Length == 1 && args[0] == "joy"
? TestType.JoyStick
: TestType.WayPoint;
switch (testType)
{
case TestType.JoyStick:
flightTest = new JoyStickFlightTest(
repository,
transceiver,
stateReceiver,
videoReceiver);
break;
case TestType.WayPoint:
flightTest = new CommandFlightTest(
repository,
transceiver,
stateReceiver,
videoReceiver);
break;
default:
break;
}
await flightTest.Invoke();
}
}
public FlightController()
{
_client = new UdpTransceiver(IP, PORT, TimeSpan.FromSeconds(10));
}
