public DroneIo(string hostName)
{
cmdClient = new UdpClient(hostName, CommandPort);
videoClient = new UdpClient(hostName, VideoPort);
CommandThreadState cmdState = new CommandThreadState()
{
Client = cmdClient, Queue = commandQueue
};
EventThreadState eventState = new EventThreadState()
{
Client = cmdClient, Queue = commandQueue, Handler = HandleCommandEvent
};
VideoThreadState videoState = new VideoThreadState()
{
Client = cmdClient
};
cmdThread.Start(cmdState);
videoThread.Start(videoState);
eventThread.Start(eventState);
RequestConnection();
}
private static void EventThreadMain(object state)
{
EventThreadState eventState = (EventThreadState)state;
BlockingCollection <TelloCommand> queue = eventState.Queue;
isActive = true;
while (isActive)
{
TelloCommand command = null;
try { command = queue.Take(); }
catch (InvalidOperationException) { Thread.Sleep(100); }
if (command == null)
{
continue;
}
ICommandReader reader = commandReaders.SingleOrDefault(t => t.Id == command.Id);
IEventCommand evt = reader?.Read(command);
if (evt == null)
{
continue;
}
}
}
