public VideoReceiver(ARDrone Drone)
{
this.drone = Drone;
this.drone.StatusChanged += new EventHandler<DroneStatusChangedEventArgs>(DroneStatusChanged);
videoImage = new VideoImage();
videoImage.ImageComplete += new EventHandler<ImageCompleteEventArgs>(videoImage_ImageComplete);
connected = false;
this.DataReceived += new EventHandler<DataReceivedEventArgs>(VideoReceiver_DataReceived);
}
public Positioner(ARDrone Drone)
{
this.drone = Drone;
queueCount = 10;
posQueue = new Queue<Vector3>(queueCount);
meanPos = Vector3.Zero;
levelPos = new Vector3();
levelRot = new Matrix();
this.drone.NavData.NavDataReceived += new EventHandler(Positioner_NavDataReceived);
}
public Target(ARDrone Drone)
{
this.drone = Drone;
work = false;
follow = false;
dstRotQ = Quaternion.Identity;
dstPos = Vector3.Zero;
speed = 0.5f;
worker = new Thread(FollowTarget);
work = true;
worker.Start();
}
public Configurator(ARDrone Drone)
{
this.drone = Drone;
this.drone.StatusChanged += new EventHandler<DroneStatusChangedEventArgs>(DroneStatusChanged);
connected = false;
doRead = false;
telnetCmds = new Queue<string>();
telnetText = "";
hasConfig = false;
configs = new Dictionary<string, string>();
TelnetReceiveCompleted += new EventHandler(TelnetReceived);
}
public NavData(ARDrone Drone)
{
this.drone = Drone;
this.drone.StatusChanged += new EventHandler<DroneStatusChangedEventArgs>(DroneStatusChanged);
statusData = new bool[32];
dataHeader = new NavDataHeader();
dataDemo = new NavDataDemo();
timeStamp = 0;
dTime = 66;
initTimer = new System.Timers.Timer(200);
initTimer.AutoReset = true;
initTimer.Elapsed += delegate { SendInit(); };
}
public Commander(ARDrone Drone)
{
this.drone = Drone;
this.drone.StatusChanged += new EventHandler<DroneStatusChangedEventArgs>(DroneStatusChanged);
_roll = _pitch = _gaz = _yaw = 0;
}
public Pinger(ARDrone Host)
{
this.host = Host;
this.host.StatusChanged += new EventHandler<DroneStatusChangedEventArgs>(Host_StatusChanged);
work = true;
}
public void InsertAt(int i, ARDrone drone)
{
if (i<0)
drones.Add(drone);
else
drones.Insert(i, drone);
navDataServer.AddRemotes(drone.IPAddress);
navDataServer.DataReceived += new EventHandler<DataReceivedEventArgs>(drone.NavData.DataReceived);
commandServer.AddRemotes(drone.IPAddress);
drone.NavData.IssueInit += new EventHandler<IssueSendEventArgs>(navDataServer.IssueMessage);
drone.Commander.IssueCommand += new EventHandler<IssueSendEventArgs>(commandServer.IssueMessage);
}
public FlyCommand(ARDrone Drone)
{
drone = Drone;
}
