protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.Main);
//force max brightness on screen.
Window.Attributes.ScreenBrightness = 1f;
//Full screen and hide nav bar.
View decorView = Window.DecorView;
var uiOptions = (int)decorView.SystemUiVisibility;
var newUiOptions = (int)uiOptions;
newUiOptions |= (int)SystemUiFlags.LowProfile;
newUiOptions |= (int)SystemUiFlags.Fullscreen;
newUiOptions |= (int)SystemUiFlags.HideNavigation;
newUiOptions |= (int)SystemUiFlags.Immersive;
// This option will make bars disappear by themselves
newUiOptions |= (int)SystemUiFlags.ImmersiveSticky;
decorView.SystemUiVisibility = (StatusBarVisibility)newUiOptions;
//Keep screen from dimming.
this.Window.SetFlags(WindowManagerFlags.KeepScreenOn, WindowManagerFlags.KeepScreenOn);
onScreenJoyL = FindViewById <JoystickView>(Resource.Id.joystickViewL);
onScreenJoyR = FindViewById <JoystickView>(Resource.Id.joystickViewR);
takeoffButton = FindViewById <ImageButton>(Resource.Id.takeoffButton);
throwTakeoffButton = FindViewById <ImageButton>(Resource.Id.throwTakeoffButton);
rthButton = FindViewById <ImageButton>(Resource.Id.rthButton);
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
//Update state on screen
Button cbutton = FindViewById <Button>(Resource.Id.connectButton);
//If not connected check to see if connected to tello network.
if (newState != Tello.ConnectionState.Connected &&
newState != Tello.ConnectionState.Paused)
{
WifiManager wifiManager = (WifiManager)Application.Context.GetSystemService(Context.WifiService);
string ip = Formatter.FormatIpAddress(wifiManager.ConnectionInfo.IpAddress);
if (!ip.StartsWith("192.168.10."))
{
//CrossTextToSpeech.Current.Speak("No network found.");
//Not connected to network.
RunOnUiThread(() => {
cbutton.Text = "Not Connected. Touch Here.";
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#55ff3333"));
});
return;
}
}
if (newState == Tello.ConnectionState.Paused)
{
}
if (newState == Tello.ConnectionState.UnPausing)
{
}
if (newState == Tello.ConnectionState.Connected)
{
//Tello.queryMaxHeight();
//Override max hei on connect.
Tello.setMaxHeight(30);//meters
Tello.queryMaxHeight();
//Tello.queryAttAngle();
Tello.setAttAngle(25);
//Tello.queryAttAngle();
Tello.setJpgQuality(Preferences.jpgQuality);
CrossTextToSpeech.Current.Speak("Connected");
Tello.setPicVidMode(picMode);//0=picture(960x720)
//updateVideoSize();
Tello.setEV(Preferences.exposure);
Tello.setVideoBitRate(Preferences.videoBitRate);
Tello.setVideoDynRate(1);
if (forceSpeedMode)
{
Tello.controllerState.setSpeedMode(1);
}
else
{
Tello.controllerState.setSpeedMode(0);
}
}
if (newState == Tello.ConnectionState.Disconnected)
{
//if was connected then warn.
if (Tello.connectionState == Tello.ConnectionState.Connected)
{
CrossTextToSpeech.Current.Speak("Disconnected");
}
}
//update connection state button.
RunOnUiThread(() => {
if (newState == Tello.ConnectionState.UnPausing)//Fix. Don't show "unpausing" string.
{
cbutton.Text = Tello.ConnectionState.Connected.ToString();
}
else
{
cbutton.Text = newState.ToString();
}
if (newState == Tello.ConnectionState.Connected || newState == Tello.ConnectionState.UnPausing)
{
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#6090ee90"));//transparent light green.
}
else
{
cbutton.SetBackgroundColor(Android.Graphics.Color.ParseColor("#ffff00"));//yellow
}
});
};
var modeTextView = FindViewById <TextView>(Resource.Id.modeTextView);
var hSpeedTextView = FindViewById <TextView>(Resource.Id.hSpeedTextView);
var vSpeedTextView = FindViewById <TextView>(Resource.Id.vSpeedTextView);
var heiTextView = FindViewById <TextView>(Resource.Id.heiTextView);
var batTextView = FindViewById <TextView>(Resource.Id.batTextView);
var wifiTextView = FindViewById <TextView>(Resource.Id.wifiTextView);
//Log file setup.
var logPath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, "aTello/logs/");;
var logStartTime = DateTime.Now;
var logFilePath = logPath + logStartTime.ToString("yyyy-dd-M--HH-mm-ss") + ".csv";
if (doStateLogging)
{
//write header for cols in log.
System.IO.Directory.CreateDirectory(logPath);
File.WriteAllText(logFilePath, "time," + Tello.state.getLogHeader());
}
//Long click vert speed to force fast mode.
hSpeedTextView.LongClick += delegate {
forceSpeedMode = !forceSpeedMode;
if (forceSpeedMode)
{
Tello.controllerState.setSpeedMode(1);
}
else
{
Tello.controllerState.setSpeedMode(0);
}
};
cameraShutterSound.Load("cameraShutterClick.mp3");
//subscribe to Tello update events
Tello.onUpdate += (int cmdId) =>
{
if (doStateLogging)
{
//write update to log.
var elapsed = DateTime.Now - logStartTime;
File.AppendAllText(logFilePath, elapsed.ToString(@"mm\:ss\:ff\,") + Tello.state.getLogLine());
}
RunOnUiThread(() => {
if (cmdId == 86)//ac status update.
{
//Update state on screen
modeTextView.Text = "FM:" + Tello.state.flyMode;
hSpeedTextView.Text = string.Format("HS:{0: 0.0;-0.0}m/s", (float)Tello.state.flySpeed / 10);
vSpeedTextView.Text = string.Format("VS:{0: 0.0;-0.0}m/s", -(float)Tello.state.verticalSpeed / 10);//Note invert so negative means moving down.
heiTextView.Text = string.Format("Hei:{0: 0.0;-0.0}m", (float)Tello.state.height / 10);
if (Tello.controllerState.speed > 0)
{
hSpeedTextView.SetBackgroundColor(Android.Graphics.Color.IndianRed);
}
else
{
hSpeedTextView.SetBackgroundColor(Android.Graphics.Color.DarkGreen);
}
batTextView.Text = "Bat:" + Tello.state.batteryPercentage;
wifiTextView.Text = "Wifi:" + Tello.state.wifiStrength;
//Autopilot debugging.
if (/*!bAutopilot &&*/ Tello.state.flying)
{
RunOnUiThread(() =>
{
var eular = Tello.state.toEuler();
var yaw = eular[2];
var deltaPosX = autopilotTarget.X - Tello.state.posX;
var deltaPosY = autopilotTarget.Y - Tello.state.posY;
var dist = Math.Sqrt(deltaPosX * deltaPosX + deltaPosY * deltaPosY);
var normalizedX = deltaPosX / dist;
var normalizedY = deltaPosY / dist;
var targetYaw = Math.Atan2(normalizedY, normalizedX);
var deltaYaw = targetYaw - yaw;
var str = string.Format("x {0:0.00; -0.00} y {1:0.00; -0.00} yaw {2:0.00; -0.00} targetYaw {3:0.00; -0.00} targetDist {4:0.00; -0.00} On:{5}",
Tello.state.posX, Tello.state.posY,
(((yaw * (180.0 / Math.PI)) + 360.0) % 360.0),
(((targetYaw * (180.0 / Math.PI)) + 360.0) % 360.0), dist,
bAutopilot.ToString());
TextView joystat = FindViewById <TextView>(Resource.Id.joystick_state);
joystat.Text = str;
});
}
//acstat.Text = str;
if (Tello.state.flying)
{
takeoffButton.SetImageResource(Resource.Drawable.land);
}
else if (!Tello.state.flying)
{
takeoffButton.SetImageResource(Resource.Drawable.takeoff_white);
}
}
if (cmdId == 48)//ack picture start.
{
cameraShutterSound.Play();
}
if (cmdId == 98)//start picture download.
{
}
if (cmdId == 100) //picture piece downloaded.
{
if (Tello.picDownloading == false) //if done downloading.
{
if (remainingExposures >= 0)
{
var exposureSet = new int[] { 0, -2, 8 };
Tello.setEV(Preferences.exposure + exposureSet[remainingExposures]);
remainingExposures--;
Tello.takePicture();
}
if (remainingExposures == -1)//restore exposure.
{
Tello.setEV(Preferences.exposure);
}
}
}
});
//Do autopilot input.
handleAutopilot();
};
var videoFrame = new byte[100 * 1024];
var videoOffset = 0;
updateVideoSize();
Video.Decoder.surface = FindViewById <SurfaceView>(Resource.Id.surfaceView).Holder.Surface;
/*
* var textureView = FindViewById<TextureView>(Resource.Id.textureView);
* mSurfaceTextureListener = new SurfaceTextureListener(this);
* textureView.SurfaceTextureListener = mSurfaceTextureListener;
*
* //var st = new Surface(textureView.SurfaceTexture);
* //Video.Decoder.surface = st;
*
*/
var path = "aTello/video/";
System.IO.Directory.CreateDirectory(Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/"));
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/" + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
FileStream videoStream = null;
startUIUpdateThread();
//updateUI();//hide record light etc.
//subscribe to Tello video data
var vidCount = 0;
Tello.onVideoData += (byte[] data) =>
{
totalVideoBytesReceived += data.Length;
//Handle recording.
if (true) //videoFilePath != null)
{
if (data[2] == 0 && data[3] == 0 && data[4] == 0 && data[5] == 1) //if nal
{
var nalType = data[6] & 0x1f;
// if (nalType == 7 || nalType == 8)
{
if (toggleRecording)
{
if (videoStream != null)
{
videoStream.Close();
}
videoStream = null;
isRecording = !isRecording;
toggleRecording = false;
if (isRecording)
{
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
startRecordingTime = DateTime.Now;
// Tello.setVideoRecord(vidCount++);
CrossTextToSpeech.Current.Speak("Recording");
updateUI();
}
else
{
videoFilePath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, path + "cache/" + DateTime.Now.ToString("MMMM dd yyyy HH-mm-ss") + ".h264");
CrossTextToSpeech.Current.Speak("Recording stopped");
updateUI();
}
}
}
}
if ((isRecording || Preferences.cacheVideo))
{
if (videoStream == null)
{
videoStream = new FileStream(videoFilePath, FileMode.Append);
}
if (videoStream != null)
{
//Save raw data minus sequence.
videoStream.Write(data, 2, data.Length - 2);//Note remove 2 byte seq when saving.
}
}
}
//Handle video display.
if (true)//video decoder tests.
{
//Console.WriteLine("1");
if (data[2] == 0 && data[3] == 0 && data[4] == 0 && data[5] == 1)//if nal
{
var nalType = data[6] & 0x1f;
if (nalType == 7 || nalType == 8)
{
}
if (videoOffset > 0)
{
aTello.Video.Decoder.decode(videoFrame.Take(videoOffset).ToArray());
videoOffset = 0;
}
//var nal = (received.bytes[6] & 0x1f);
//if (nal != 0x01 && nal != 0x07 && nal != 0x08 && nal != 0x05)
// Console.WriteLine("NAL type:" + nal);
}
//todo. resquence frames.
Array.Copy(data, 2, videoFrame, videoOffset, data.Length - 2);
videoOffset += (data.Length - 2);
}
};
onScreenJoyL.onUpdate += OnTouchJoystickMoved;
onScreenJoyR.onUpdate += OnTouchJoystickMoved;
Tello.startConnecting();//Start trying to connect.
//Clicking on network state button will show wifi connection page.
Button button = FindViewById <Button>(Resource.Id.connectButton);
button.Click += delegate {
WifiManager wifiManager = (WifiManager)Application.Context.GetSystemService(Context.WifiService);
string ip = Formatter.FormatIpAddress(wifiManager.ConnectionInfo.IpAddress);
if (!ip.StartsWith("192.168.10."))//Already connected to network?
{
StartActivity(new Intent(Android.Net.Wifi.WifiManager.ActionPickWifiNetwork));
}
};
rthButton.LongClick += delegate {
bAutopilot = !bAutopilot;//Toggle autopilot
};
rthButton.Click += delegate {
bAutopilot = false;//Stop if going.
Tello.controllerState.setAxis(0, 0, 0, 0);
Tello.sendControllerUpdate();
//set new home point
setAutopilotTarget(new PointF(Tello.state.posX, Tello.state.posY));
};
takeoffButton.LongClick += delegate {
if (Tello.connected && !Tello.state.flying)
{
Tello.takeOff();
}
else if (Tello.connected && Tello.state.flying)
{
Tello.land();
}
};
throwTakeoffButton.LongClick += delegate {
if (Tello.connected && !Tello.state.flying)
{
Tello.throwTakeOff();
}
else if (Tello.connected && Tello.state.flying)
{
//Tello.land();
}
};
var pictureButton = FindViewById <ImageButton>(Resource.Id.pictureButton);
Tello.picPath = Path.Combine(Android.OS.Environment.ExternalStorageDirectory.Path, "aTello/pics/");
System.IO.Directory.CreateDirectory(Tello.picPath);
pictureButton.Click += delegate
{
remainingExposures = -1;
Tello.takePicture();
};
/*
* Multiple exposure. Not working yet.
* pictureButton.LongClick += delegate
* {
* remainingExposures = 2;
* Tello.takePicture();
* };
*/
var recordButton = FindViewById <ImageButton>(Resource.Id.recordButton);
recordButton.Click += delegate
{
toggleRecording = true;
};
recordButton.LongClick += delegate
{
//Toggle
picMode = picMode == 1 ? 0 : 1;
Tello.setPicVidMode(picMode);
updateVideoSize();
aTello.Video.Decoder.reconfig();
};
var galleryButton = FindViewById <ImageButton>(Resource.Id.galleryButton);
galleryButton.Click += async delegate
{
//var uri = Android.Net.Uri.FromFile(new Java.IO.File(Tello.picPath));
//shareImage(uri);
//return;
Intent intent = new Intent();
intent.PutExtra(Intent.ActionView, Tello.picPath);
intent.SetType("image/*");
intent.SetAction(Intent.ActionGetContent);
StartActivityForResult(Intent.CreateChooser(intent, "Select Picture"), 1);
};
//Settings button
ImageButton settingsButton = FindViewById <ImageButton>(Resource.Id.settingsButton);
settingsButton.Click += delegate
{
StartActivity(typeof(SettingsActivity));
};
//Init joysticks.
input_manager = (InputManager)GetSystemService(Context.InputService);
CheckGameControllers();
}