//send takeoff with altitue 160
private void debug1(object sender, EventArgs e)
{
parentSerialTerminal.Send_takeoff_packet(160);
}
/**
* Submit flight plan to drone.
* @author Joe Higley
**/
private void SubmitFlightPlan(object sender, EventArgs e)
{
if (!Takeoff)
{
parentSerialTerminal.Send_takeoff_packet(4);
//Commented for snapshot demo, uncomment when this is encountered
//Takeoff = true;
}
//parentSerialTerminal.SendString_LCD("0,0,TestData");
if (instructionP.Controls.Count == 0)
{
return; //nothing to submit
}
//Animate the submition.
Control p = instructionP.Controls[0];
if (checkInstructCompletion(p))
{
p.BackColor = Color.LightCoral;
if (p.Controls[1] is Button) // only remove - button if this is a button
{
p.Controls.Remove(p.Controls[1]);
}
}
//Send data to drone
for (int i = 0; i < instructionP.Controls.Count; i++)
{
p = instructionP.Controls[i];
if (checkInstructCompletion(p)) //Only submit complete instructions
{
int j = 1; //Starting control of parsed data
if (p.Controls[1] is Button) //If control is not first control
{
j = 2;
}
//Parse data and send to drone
String field0, field1, field2, field3;
field0 = p.Controls[0].Text; // Packet Type
field1 = p.Controls[j].Text; // Move/Rotate: direction ... GPS Longitude
field2 = p.Controls[j + 1].Text; // Move/Rotate: value ... GPS Latitude
switch (field0)
{
case "Move":
/** Create Move Packet to send to drone **/
switch (field1)
{
case "Up":
//calculate new coords.
break;
case "Down":
//calculate new coords.
break;
case "Forward":
parentSerialTerminal.Send_move_specifc((int)DRONE_movement_dir.MOVE_FORWARD,
(int)DRONE_movement_metric.METRIC_METERS,
Int32.Parse(field2));
break;
case "Back":
parentSerialTerminal.Send_move_specifc((int)DRONE_movement_dir.MOVE_BACKWARD,
(int)DRONE_movement_metric.METRIC_METERS,
Int32.Parse(field2));
break;
case "Left":
parentSerialTerminal.Send_move_specifc((int)DRONE_movement_dir.MOVE_LEFT,
(int)DRONE_movement_metric.METRIC_METERS,
Int32.Parse(field2));
break;
case "Right":
parentSerialTerminal.Send_move_specifc((int)DRONE_movement_dir.MOVE_RIGHT,
(int)DRONE_movement_metric.METRIC_METERS,
Int32.Parse(field2));
break;
}
break;
case "Rotate":
/** Create Rotate Packet to send to drone **/
switch (field1)
{
case "Left":
parentSerialTerminal.Send_move_specifc((int)DRONE_movement_dir.MOVE_ROTATE_CLOCKWISE,
(int)DRONE_movement_metric.METRIC_DEGREES,
Int32.Parse("-" + field2));
break;
case "Right":
parentSerialTerminal.Send_move_specifc((int)DRONE_movement_dir.MOVE_ROTATE_CLOCKWISE,
(int)DRONE_movement_metric.METRIC_DEGREES,
Int32.Parse(field2));
break;
}
break;
case "GPS":
field3 = p.Controls[j + 2].Text; //only used for GPS packet.
/** Create GPS Packet to send to drone **/
break;
default:
break;
}
// FORM/SEND PACKET
}
}
}
