public MainForm()
{
InitializeComponent();
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
_playerForms = new List<PlayerForm>();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
controls = new GamepadState(0);
DirectInput dinput = new DirectInput();
myList = dinput.GetDevices(DeviceClass.GameController, DeviceEnumerationFlags.AttachedOnly);
DeviceInstance myJoyInput = (DeviceInstance)myList[0];
Guid myGuid = myJoyInput.InstanceGuid;
myJoy = new Joystick(dinput, myGuid);
myJoy.Acquire();
yawMultiplier = (float)yawMultSetBox.Value;
}
public MainForm()
{
InitializeComponent();
face = new HaarCascade("haarcascade_frontalface_default.xml");
// grabber = new Capture();
// grabber.QueryFrame();
// Application.Idle += new EventHandler(FrameGrabber);
this.WindowState = FormWindowState.Maximized;
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
_playerForms = new List<PlayerForm>();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
_droneClient.Start();
}
public DroneClient(string hostname)
{
_networkConfiguration = new NetworkConfiguration(hostname);
_commandQueue = new ConcurrentQueue<ATCommand>();
_navigationData = new NavigationData();
_commandSender = new CommandSender(NetworkConfiguration, _commandQueue);
_navdataAcquisition = new NavdataAcquisition(NetworkConfiguration, OnNavdataPacketAcquired, OnNavdataAcquisitionStarted, OnNavdataAcquisitionStopped);
_videoAcquisition = new VideoAcquisition(NetworkConfiguration, OnVideoPacketAcquired);
}
public static bool TryParse(ref NavigationPacket packet, out NavigationData navigationData)
{
navigationData = new NavigationData();
NavdataBag navdataBag;
if (NavdataBagParser.TryParse(ref packet, out navdataBag))
{
navigationData = NavdataConverter.ToNavigationData(navdataBag);
return true;
}
return false;
}
public static bool TryParse(ref NavigationPacket packet, out NavigationData navigationData)
{
navigationData = new NavigationData();
NavdataBag navdataBag;
if (NavdataBagParser.TryParse(ref packet, out navdataBag))
{
navigationData = NavdataConverter.ToNavigationData(navdataBag);
return(true);
}
return(false);
}
public static NavigationData ToNavigationData(NavdataBag navdataBag)
{
var navigationData = new NavigationData();
var ardroneState = (def_ardrone_state_mask_t)navdataBag.ardrone_state;
UpdateStateUsing(ardroneState, ref navigationData.State);
var ctrlState = (CTRL_STATES)(navdataBag.demo.ctrl_state >> 0x10);
UpdateStateUsing(ctrlState, ref navigationData.State);
navigationData.Yaw = DegreeToRadian * (navdataBag.demo.psi / 1000.0f);
navigationData.Pitch = DegreeToRadian * (navdataBag.demo.theta / 1000.0f);
navigationData.Roll = DegreeToRadian * (navdataBag.demo.phi / 1000.0f);
navigationData.Altitude = navdataBag.demo.altitude / 1000.0f;
navigationData.Time = navdataBag.time.time;
navigationData.Velocity.X = navdataBag.demo.vx / 1000.0f;
navigationData.Velocity.Y = navdataBag.demo.vy / 1000.0f;
navigationData.Velocity.Z = navdataBag.demo.vz / 1000.0f;
navigationData.Battery.Low = ardroneState.HasFlag(def_ardrone_state_mask_t.ARDRONE_VBAT_LOW);
navigationData.Battery.Percentage = navdataBag.demo.vbat_flying_percentage;
navigationData.Battery.Voltage = navdataBag.raw_measures.vbat_raw / 1000.0f;
navigationData.Magneto.Rectified.X = navdataBag.magneto.magneto_rectified.x;
navigationData.Magneto.Rectified.Y = navdataBag.magneto.magneto_rectified.y;
navigationData.Magneto.Rectified.Z = navdataBag.magneto.magneto_rectified.z;
navigationData.Magneto.Offset.X = navdataBag.magneto.magneto_offset.x;
navigationData.Magneto.Offset.Y = navdataBag.magneto.magneto_offset.y;
navigationData.Magneto.Offset.Z = navdataBag.magneto.magneto_offset.z;
navigationData.Video.FrameNumber = navdataBag.video_stream.frame_number;
navigationData.Wifi.LinkQuality = 1.0f - ConversionHelper.ToSingle(navdataBag.wifi.link_quality);
navigationData.GPS.latitude = navdataBag.gps.latitude;
navigationData.GPS.longitude = navdataBag.gps.longitude;
navigationData.GPS.latFuse = navdataBag.gps.latFuse;
navigationData.GPS.lonFuse = navdataBag.gps.lonFuse;
return(navigationData);
}
public static void InitializeDrone()
{
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
_droneClient.Start();
_droneClient.ResetEmergency();
_droneClient.FlatTrim();
_droneUnity = new ReceiveUdpModel();
}
public static NavigationData ToNavigationData(NavdataBag navdataBag)
{
var navigationData = new NavigationData();
var ardroneState = (def_ardrone_state_mask_t) navdataBag.ardrone_state;
UpdateStateUsing(ardroneState, ref navigationData.State);
var ctrlState = (CTRL_STATES) (navdataBag.demo.ctrl_state >> 0x10);
UpdateStateUsing(ctrlState, ref navigationData.State);
navigationData.Yaw = DegreeToRadian*(navdataBag.demo.psi/1000.0f);
navigationData.Pitch = DegreeToRadian*(navdataBag.demo.theta/1000.0f);
navigationData.Roll = DegreeToRadian*(navdataBag.demo.phi/1000.0f);
navigationData.Altitude = navdataBag.demo.altitude/1000.0f;
navigationData.Time = navdataBag.time.time;
navigationData.Velocity.X = navdataBag.demo.vx/1000.0f;
navigationData.Velocity.Y = navdataBag.demo.vy/1000.0f;
navigationData.Velocity.Z = navdataBag.demo.vz/1000.0f;
navigationData.Battery.Low = ardroneState.HasFlag(def_ardrone_state_mask_t.ARDRONE_VBAT_LOW);
navigationData.Battery.Percentage = navdataBag.demo.vbat_flying_percentage;
navigationData.Battery.Voltage = navdataBag.raw_measures.vbat_raw/1000.0f;
navigationData.Magneto.Rectified.X = navdataBag.magneto.magneto_rectified.x;
navigationData.Magneto.Rectified.Y = navdataBag.magneto.magneto_rectified.y;
navigationData.Magneto.Rectified.Z = navdataBag.magneto.magneto_rectified.z;
navigationData.Magneto.Offset.X = navdataBag.magneto.magneto_offset.x;
navigationData.Magneto.Offset.Y = navdataBag.magneto.magneto_offset.y;
navigationData.Magneto.Offset.Z = navdataBag.magneto.magneto_offset.z;
navigationData.Magneto.heading_angle = navdataBag.magneto.heading_unwrapped;
navigationData.Video.FrameNumber = navdataBag.video_stream.frame_number;
navigationData.Wifi.LinkQuality = 1.0f - ConversionHelper.ToSingle(navdataBag.wifi.link_quality);
navigationData.raw = navdataBag;
return navigationData;
}
public MainForm()
{
InitializeComponent();
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
_playerForms = new List<PlayerForm>();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
}
public MainForm()
{
InitializeComponent();
uISettingsBindingSource.Add(UISettings.Default);
droneClient = new DroneClient();
droneClient.NavigationDataAcquired += data => navigationData = data;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.Start();
InitializeVideo();
LoadFontAwesome();
InitInput();
timerInput.Enabled = true;
timerStatusUpdate.Enabled = true;
}
// Event method for 'DroneClient.NavigationPacketAcquired' action
private void NavigationDataAcquired(NavigationData aPacket)
{
if (Active)
{
var data = new Apparatus.Output {Navigation = aPacket, LastInput = LastInput};
EnqueueOutput(data);
}
}
private void UpdateNavigationData(NavigationPacket packet)
{
NavigationData navigationData;
if (NavigationPacketParser.TryParse(ref packet, out navigationData))
{
OnNavigationDataAcquired(navigationData);
_navigationData = navigationData;
ProcessStateTransitions(navigationData.State);
}
}
private void OnNavigationDataAcquired(NavigationData navigationData)
{
if (NavigationDataAcquired != null)
NavigationDataAcquired(navigationData);
}
private void OnNavigationData(NavigationData data)
{
if (_initialized) return;
if (data.State.HasFlag(NavigationState.Command))
{
_client.Send(new ControlCommand(ControlMode.AckControlMode));
}
else
{
_client.Send(new ControlCommand(ControlMode.CfgGetControlMode));
_initialized = true;
}
}
private void UpdateNavigationData(NavigationPacket packet)
{
NavigationData navigationData;
if (NavigationPacketParser.TryParse(ref packet, out navigationData))
{
_navigationData = navigationData;
ProcessTransition();
if (NavigationDataUpdated != null)
NavigationDataUpdated(_navigationData);
}
}
private void OnButtonActivateClicked(object sender, EventArgs e)
{
if (IsIpAddress(textBoxHost.Text))
hostname = textBoxHost.Text;
droneClient = new DroneClient(hostname);
droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += data => navigationData = data;
droneClient.Start();
videoPacketDecoderWorker.Start();
buttonActivate.Enabled = false;
textBoxHost.Enabled = false;
buttonDeactivate.Enabled = true;
groupBoxControlPanel.Enabled = true;
pictureBoxVideo.Enabled = true;
buttonSwitchCamera.Enabled = true;
}
private void ProcessNavigationData(NavigationData data)
{
_navigationData = data;
}
