private async void TranslateGestureForUAV1(GestureRecongizedArgs args)
{
FlightOperationMode _mode = _uav.mode;
if (_mode == FlightOperationMode.landingOrTakingOff)
{
return;
}
// Switch Mode
if (args.rightHandGesture.leftRightGestureArgs == LeftRightGesture.Right)
{
if (_mode == FlightOperationMode.idle)
{
await SwitchMode(FlightOperationMode.navigate, _uav);
}
else
{
await SwitchMode(FlightOperationMode.idle, _uav);
}
}
// Control landing and takeoff
if (_mode == FlightOperationMode.idle)
{
if (args.rightHandGesture.upwardDownwardGestureArgs == UpwardDownwardGesture.Down && !_uav.isLanded)
{
await SwitchMode(FlightOperationMode.landingOrTakingOff, _uav);
await _uav.landing();
await SwitchMode(FlightOperationMode.idle, _uav);
}
else if (args.rightHandGesture.upwardDownwardGestureArgs == UpwardDownwardGesture.Up && _uav.isLanded)
{
await SwitchMode(FlightOperationMode.landingOrTakingOff, _uav);
await _uav.takeOff();
await SwitchMode(FlightOperationMode.idle, _uav);
}
}
}
protected async Task SwitchMode(FlightOperationMode newMode, Flight u, int delay = 0)
{
if (u.isSwitchingMode)
{
return;
}
if (u != null && u.isConnected)
{
u.isSwitchingMode = true;
FlightModeChangedArgs args = new FlightModeChangedArgs();
args.from = _uav.mode;
args.to = newMode;
_uav.mode = newMode;
if (delay > 0)
{
await Task.Delay(delay);
}
u.isSwitchingMode = false;
FlightModeChanged.Invoke(this, args);
}
}
private async void TranslateGestureForUAV2(GestureRecongizedArgs args)
{
FlightOperationMode _mode = _uav2.mode;
if (_uav2.mode == FlightOperationMode.landingOrTakingOff)
{
return;
}
if (args.leftHandGesture.leftRightGestureArgs == LeftRightGesture.Left)
{
if (_mode == FlightOperationMode.idle)
{
await SwitchMode(FlightOperationMode.navigate, _uav, 3000);
}
else
{
await SwitchMode(FlightOperationMode.idle, _uav, 3000);
}
}
if (_mode == FlightOperationMode.idle)
{
if (args.leftHandGesture.upwardDownwardGestureArgs == UpwardDownwardGesture.Down && !_uav2.isLanded)
{
await SwitchMode(FlightOperationMode.landingOrTakingOff, _uav2);
await _uav2.landing();
await SwitchMode(FlightOperationMode.idle, _uav2);
}
else if (args.leftHandGesture.upwardDownwardGestureArgs == UpwardDownwardGesture.Up && _uav2.isLanded)
{
await SwitchMode(FlightOperationMode.landingOrTakingOff, _uav2);
await _uav2.takeOff();
await SwitchMode(FlightOperationMode.idle, _uav2);
}
}
}
