// ToDo: FlyTo overload "mid"
public static Task <bool> FlyTo(this ITelloClient tello, int x, int y, int z, int speed)
{
CommandConstraints.CheckDistance(x);
CommandConstraints.CheckDistance(y);
CommandConstraints.CheckDistance(z);
CommandConstraints.CheckSpeed(speed);
return(tello.SendAction($"go {x} {y} {z} {speed}"));
}
public static Task <bool> RC(this ITelloClient tello, int leftright, int forwardbackward, int updown, int yaw)
{
CommandConstraints.CheckRC(leftright);
CommandConstraints.CheckRC(forwardbackward);
CommandConstraints.CheckRC(updown);
CommandConstraints.CheckRC(yaw);
return(tello.SendAction($"rc {leftright} {forwardbackward} {updown} {yaw}"));
}
// ToDo: Curve overload "mid"
public static Task <bool> Curve(this ITelloClient tello, int x1, int y1, int z1, int x2, int y2, int z2, int speed)
{
CommandConstraints.CheckDistance(x1);
CommandConstraints.CheckDistance(y1);
CommandConstraints.CheckDistance(z1);
CommandConstraints.CheckDistance(x2);
CommandConstraints.CheckDistance(y2);
CommandConstraints.CheckDistance(z2);
CommandConstraints.CheckSpeed(speed);
// ToDo: x/y/z can’t be between -20 20 at the same time.
return(tello.SendAction($"curve {x1} {y1} {z1} {x2} {y2} {z2} {speed}"));
}
public ConnectionController(INetworkSetting setting,
ITelloClient telloClient,
IWiFiManager wifiManager,
ILoggerFactory loggerFactory,
TelloClientHandler handler)
{
this.setting = setting ?? throw new ArgumentNullException(nameof(setting));
Client = telloClient ?? throw new ArgumentNullException(nameof(telloClient));
WiFi = wifiManager ?? throw new ArgumentNullException(nameof(wifiManager));
this.handler = handler ?? throw new ArgumentNullException(nameof(handler));
logger = loggerFactory?.CreateLogger <ConnectionController>() ?? throw new ArgumentNullException(nameof(logger));
handler.Connected += Handler_Connected;
Connected = false;
tokenSource = new CancellationTokenSource();
}
public static Task <string> GetWifi(this ITelloClient tello)
{
return(tello.SendCommand("wifi?"));
}
public static Task <string> GetSpeed(this ITelloClient tello)
{
return(tello.SendCommand("speed?"));
}
public static Task <string> GetBattery(this ITelloClient tello)
{
return(tello.SendCommand("battery?"));
}
public static Task <string> GetTime(this ITelloClient tello)
{
return(tello.SendCommand("time?"));
}
public static Task <bool> Land(this ITelloClient tello)
{
return(tello.SendAction("land"));
}
public static Task <bool> Init(this ITelloClient tello)
{
return(tello.SendAction("command"));
}
public static Task <bool> Flip(this ITelloClient tello, FlipDirection direction)
{
return(tello.SendAction($"flip {direction.ToString().ToLower()[0]}"));
}
// ToDo: set mon
// ToDo: set moff
// ToDo: set mdirection x
public static Task <bool> Station(this ITelloClient tello, string ssid, string pass)
{
return(tello.SendAction($"ap {ssid} {pass}"));
}
public static Task <bool> RotateDirection(this ITelloClient tello, bool clockwise, int degree)
{
CommandConstraints.CheckDegree(degree);
return(tello.SendAction($"{(clockwise ? "cw" : "ccw")} {degree}"));
}
public static Task <bool> FlyDirection(this ITelloClient tello, MoveDirection direction, int cm)
{
CommandConstraints.CheckDistance(cm);
return(tello.SendAction($"{direction.ToString().ToLower()} {cm}"));
}
public static Task <bool> Stop(this ITelloClient tello)
{
return(tello.SendAction("stop"));
}
public static Task <bool> Emergency(this ITelloClient tello)
{
return(tello.SendAction("emergency"));
}
public static Task <bool> StreamOff(this ITelloClient tello)
{
return(tello.SendAction("streamoff"));
}
public static Task <bool> Speed(this ITelloClient tello, int speed)
{
CommandConstraints.CheckSpeed(speed);
return(tello.SendAction($"speed {speed}"));
}
public static Task <bool> TakeOff(this ITelloClient tello)
{
return(tello.SendAction("takeoff"));
}