public void ControllByButtons(Button buttons, Button accelerometer)
{
Settings.FlightSettings.droneControlMode = false;
buttons.BackgroundColor = Color.YellowGreen;
accelerometer.BackgroundColor = Color.LightGray;
Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.BUTTONS));
}
public void ControllByAccelerometer(Button buttons, Button accelerometer)
{
Settings.FlightSettings.droneControlMode = true;
buttons.BackgroundColor = Color.LightGray;
accelerometer.BackgroundColor = Color.YellowGreen;
Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.ACCELEROMETER));
}
public void EnableCamera(Button cameraEnabled, Button startRecording, Button startStreaming)
{
if (Settings.CameraSettings.isCameraEnabled)
{
Settings.CameraSettings.isCameraEnabled = false;
Settings.CameraSettings.hasRecordingStarted = false;
Settings.CameraSettings.hasStreamingStarted = false;
cameraEnabled.BackgroundColor = Color.LightGray;
startRecording.BackgroundColor = Color.LightGray;
startStreaming.BackgroundColor = Color.LightGray;
Task.Run(() => GlobalSocket.SendCommand(Commands.Camera.DISABLE_CAMERA));
pageService.DisplayAlert("Camera disabled.", null, "Ok");
}
else
{
Settings.CameraSettings.isCameraEnabled = true;
cameraEnabled.BackgroundColor = Color.YellowGreen;
Task.Run(() => GlobalSocket.SendCommand(Commands.Camera.ENABLE_CAMERA));
pageService.DisplayAlert("Camera enabled.", null, "Ok");
}
}
private void StartStreaming(Button button)
{
if (Settings.CameraSettings.isCameraEnabled && Settings.CameraSettings.hasRecordingStarted)
{
if (Settings.CameraSettings.hasStreamingStarted)
{
Settings.CameraSettings.hasStreamingStarted = false;
button.BackgroundColor = Color.LightGray;
Task.Run(() => GlobalSocket.SendCommand(Commands.Camera.STOP_STREAMING));
pageService.DisplayAlert("Recording has been stopped!", null, "Ok");
}
else
{
Settings.CameraSettings.hasStreamingStarted = true;
button.BackgroundColor = Color.YellowGreen;
Task.Run(() => GlobalSocket.SendCommand(Commands.Camera.START_STREAMING));
pageService.DisplayAlert("Streaming has started!", null, "Ok");
}
}
else
{
pageService.DisplayAlert("Camera or recording is disabled.", null, "Cancel");
}
}
private async void Disconnect()
{
await Task.Run(() => GlobalSocket.SendCommand(Commands.Disconnect.DISCONNECT));
GlobalSocket.client.Shutdown(SocketShutdown.Both);
GlobalSocket.client.Disconnect(true);
if (!GlobalSocket.client.Connected)
{
DisableAccelerometer();
await pageService.DisplayAlert("Disconnected", null, "ok");
await pageService.PopAsync();
}
}
private void Accelerometer_ReadingChanged(object sender, AccelerometerChangedEventArgs e)
{
AccX = (float)Math.Round(e.Reading.Acceleration.X, 2);
AccY = (float)Math.Round(e.Reading.Acceleration.Y, 2);
AccZ = (float)Math.Round(e.Reading.Acceleration.Z, 2);
if (AccY > 0.40)
{
currentCommand = Commands.Flight.FLY_RIGHT;
}
else if (AccY < -0.40)
{
currentCommand = Commands.Flight.FLY_LEFT;
}
else if ((AccY <= 0.40) && (AccY >= -0.40))
{
currentCommand = Commands.Flight.NONE;
}
if (AccX > 0.90)
{
currentCommand = Commands.Flight.BACKWARD;
}
else if (AccX < 0.10)
{
currentCommand = Commands.Flight.FORWARD;
}
else if ((AccX <= 0.20) && (AccX >= 0.70))
{
currentCommand = Commands.Flight.NONE;
}
if (previousCommand != currentCommand)
{
GlobalSocket.SendCommand(currentCommand);
Debug.WriteLine(currentCommand);
}
previousCommand = currentCommand;
for (int i = 0; i < 200000; i++)
{
;
}
}
private async void RoundRight() => await Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.TURN_RIGHT));
private async void TakeAPicture() => await Task.Run(() => GlobalSocket.SendCommand(Commands.Camera.TAKE_A_PHOTO));
private async void FlyRight() => await Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.FLY_RIGHT));
private async void Land() => await Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.LAND));
private async void Backward() => await Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.BACKWARD));
private async void Forward() => await Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.FORWARD));
private async void GetUp() => await Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.GET_UP));
private async void FlyLeft() => await Task.Run(() => GlobalSocket.SendCommand(Commands.Flight.FLY_LEFT));
private async void SendLastPicture() => await Task.Run(() =>
{
GlobalSocket.SendCommand(Commands.Camera.SEND_LAST_PICTURE);
JPGPicture.ImagesString.Add(GlobalSocket.ReceivePicture());
});
