private void CheckConnection()
{
client = new TCP();
Debug.WriteLine("Thread is running");
while (!DroneStatus.IsConnected)
{
Debug.WriteLine("Checking connection");
try
{
byte[] response = client.Send(new GetServerVersion().GetCommand(), 32);
Debug.WriteLine(MessagePackSerializer.ConvertToJson(response));
if (response.Length > 0)
{
Debug.WriteLine("We're connected!");
DroneStatus.IsConnected = true;
mainPage.UpdateButton("Connected!");
client.Close();
}
} catch (Exception e)
{
Debug.WriteLine("Error: " + e.Message);
}
// Check connection every 3 seconds
Thread.Sleep(3000);
}
}
public static void GetState()
{
client = new TCP();
byte[] response = client.Send(new MultirotorState().GetCommand(), 1024);
dynamic json = JsonConvert.DeserializeObject(MessagePackSerializer.ConvertToJson(response));
JToken parsed = JToken.Parse(MessagePackSerializer.ConvertToJson(response));
JToken val = parsed[3]["landed_state"];
IsFlying = (bool)val;
// 0 is landed
// 1 is flying
Debug.WriteLine(IsFlying);
client.Close();
}
public void StartMissionLoop(ArrayList commands)
{
TCP client = new TCP();
foreach (MessagePackCommand command in commands)
{
if (command.Method == "hover")
{
int delay = Convert.ToInt32(command.args[0]);
Debug.WriteLine("Delaying for {0}", delay);
Thread.Sleep(delay);
}
else
{
client.Send(command, 128);
}
// This may be unnecessary between commands
Thread.Sleep(500);
}
client.Close();
}