//Callback of SDKRegistrationEvent
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
//Must in UI thread
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, async() =>
{
//Raw data and decoded data listener
if (videoParser == null)
{
videoParser = new DJIVideoParser.Parser();
videoParser.Initialize(delegate(byte[] data)
{
//Note: This function must be called because we need DJI Windows SDK to help us to parse frame data.
return(DJISDKManager.Instance.VideoFeeder.ParseAssitantDecodingInfo(0, data));
});
//Set the swapChainPanel to display and set the decoded data callback.
videoParser.SetSurfaceAndVideoCallback(0, 0, swapChainPanel, ReceiveDecodedData);
DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0).VideoDataUpdated += OnVideoPush;
}
//get the camera type and observe the CameraTypeChanged event.
DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0).CameraTypeChanged += OnCameraTypeChanged;
var type = await DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0).GetCameraTypeAsync();
OnCameraTypeChanged(this, type.value);
});
}
else
{
System.Diagnostics.Debug.WriteLine("SDK register failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
/// <summary>
/// Developer should change the work mode to transcode or playback in order to enhance download speed
/// </summary>
private async void Mode()
{
var current = await cameraHandler.GetCameraWorkModeAsync();
var currMode = current.value?.value;
if (currMode != CameraWorkMode.PLAYBACK && currMode != CameraWorkMode.TRANSCODE)
{
var msg = new CameraWorkModeMsg
{
value = CameraWorkMode.TRANSCODE
};
SDKError err = await cameraHandler.SetCameraWorkModeAsync(msg);
System.Diagnostics.Debug.WriteLine("Mode {0})", err.ToString());
}
else
{
var msg = new CameraWorkModeMsg
{
value = CameraWorkMode.SHOOT_PHOTO
};
SDKError err = await cameraHandler.SetCameraWorkModeAsync(msg);
System.Diagnostics.Debug.WriteLine("Mode {0})", err.ToString());
}
}
public async Task <SDKError> TakeOff()
{
SDKError result = SDKError.UNKNOWN;
if (null != DJISDKManager.Instance)
{
// start take off
result = await fcHandler.StartTakeoffAsync();
// check
if (result == SDKError.NO_ERROR)
{
var TakeoffAlt = 1.18; // [m]
// take off command send
bool achieveTakeOffHeight = Drone.Instance.CurrentState.Altitude > TakeoffAlt;
while (!achieveTakeOffHeight)
{
Thread.Sleep(10);
achieveTakeOffHeight = Drone.Instance.CurrentState.Altitude > TakeoffAlt;
result = await fcHandler.StartTakeoffAsync();
}
Debug.Print("Take off finish")
; Drone.Instance.IsTakeOffFinish = true;
}
else
{
// start take off fail
}
}
return(result);
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
//register the application to the DJI Windows SDK
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
//The product connection state will be updated when it changes here.
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += async delegate(object sender, ProductTypeMsg? value)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, async() =>
{
if (value != null && value?.value != ProductType.UNRECOGNIZED)
{
System.Diagnostics.Debug.WriteLine("The Aircraft is connected now.");
IsConnected.Text = "The Aircraft is connected now.";
this.AirCraftConnected = true;
}
else
{
System.Diagnostics.Debug.WriteLine("The Aircraft is disconnected now.");
IsConnected.Text = "The Aircraft is disconnected now.";
this.AirCraftConnected = false;
}
});
};
}
else
{
System.Diagnostics.Debug.WriteLine("Register SDK failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
activateStateTextBlock.Text = state == SDKRegistrationState.Succeeded ? "Activated." : "Not Activated.";
activationInformation.Text = resultCode == SDKError.NO_ERROR ? "Register success" : resultCode.ToString();
});
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
Debug.WriteLine(state == SDKRegistrationState.Succeeded ? "Activated." : "Not Activated.");
Debug.WriteLine(resultCode == SDKError.NO_ERROR ? "Register success" : resultCode.ToString());
});
}
private async void Upload_Mission(object sender, RoutedEventArgs value)
{
//DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).GetLoadedMission();
SDKError err = await DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).UploadMission();
Debug.WriteLine("Upload mission to aircraft : " + err.ToString());
UploadMissionError.Text = "Upload mission to aircraft : " + err.ToString();
}
protected override void OnStartup(StartupEventArgs e)
{
SDKError err = SdkWrap.Instacne.Initialize();
if (err != SDKError.SDKERR_SUCCESS)
{
MessageBox.Show("初始化服务失败！");
}
}
protected override void OnExit(ExitEventArgs e)
{
SDKError err = SdkWrap.Instacne.CleanUp();
if (err != SDKError.SDKERR_SUCCESS)
{
MessageBox.Show("清理服务失败！");
}
}
public async Task <SDKError> UploadMission()
{
//UploadMission
SDKError uploadError = await DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).UploadMission();
System.Diagnostics.Debug.WriteLine("UPLOAD MISSION: " + uploadError.ToString());
return(uploadError);
}
public async Task <SDKError> StartMission()
{
//6. StartMission
SDKError errStartMission = await DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).StartMission();
System.Diagnostics.Debug.WriteLine("START MISSION: " + errStartMission.ToString());
return(errStartMission);
}
public async Task <SDKError> RotateGimbalByAngle(double pitch, double roll, double yaw, double duration)
{
SDKError errRotateGimbalByAngle = await DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).RotateByAngleAsync(new GimbalAngleRotation()
{
pitch = pitch, roll = roll, yaw = yaw, duration = duration
});
System.Diagnostics.Debug.WriteLine(String.Format("Rotate by angle: {0}", errRotateGimbalByAngle.ToString()));
return(errRotateGimbalByAngle);
}
public async Task <SDKError> SetGroundStationModeEnabled(bool value)
{
SDKError errSetGroundStationModeEnabled = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).SetGroundStationModeEnabledAsync(new BoolMsg()
{
value = true
});
System.Diagnostics.Debug.WriteLine(String.Format("Set Ground Station Mode Enabled to {0}: {1}", value, errSetGroundStationModeEnabled.ToString()));
return(errSetGroundStationModeEnabled);
}
public async Task <SDKError> SetPrecisionLanding(bool value)
{
SDKError errSetPrecisionLanding = await DJISDKManager.Instance.ComponentManager.GetFlightAssistantHandler(0, 0).SetPrecisionLandingEnabledAsync(new BoolMsg()
{
value = value
});
System.Diagnostics.Debug.WriteLine(String.Format("Set precision landing to {0}: {1}", value, errSetPrecisionLanding.ToString()));
return(errSetPrecisionLanding);
}
private async Task <SDKError> SetCameraWorkMode(CameraWorkMode mode)
{
CameraWorkModeMsg workMode = new CameraWorkModeMsg
{
value = mode,
};
SDKError retCode = await DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0).SetCameraWorkModeAsync(workMode);
return(retCode);
}
private void Load_Mission(object sender, RoutedEventArgs e)
{
var state = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).GetCurrentState();
Debug.WriteLine(state.ToString());
//WaypointMissionState.Text = state.ToString();
SDKError err = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).LoadMission(WaypointMission);
Debug.WriteLine("SDK load mission : " + err.ToString());
//LoadMissionError.Text = "SDK load mission : " + err.ToString();
}
private void SubscribeEvents()
{
_selectedToken = EventAggregatorManager.Instance.EventAggregator.GetEvent <CardSelectedEvent>().Subscribe((argument) =>
{
switch (argument.Argument.Category)
{
case Category.DesktopCard:
IsDesktopSelected = true;
IsDocSelected = false;
break;
case Category.DocCard:
IsDocSelected = true;
IsDesktopSelected = false;
OpenFileDialog openFileDialog = new OpenFileDialog();
openFileDialog.InitialDirectory = Environment.GetFolderPath(Environment.SpecialFolder.MyDocuments);
openFileDialog.Multiselect = false;
openFileDialog.Filter = "文档|*.doc;*.docx;*.ppt;*.pptx;*.xls;*.xlsx;*.pdf";
openFileDialog.ShowDialog();
string fileName = openFileDialog.FileName;
if (!string.IsNullOrEmpty(fileName))
{
}
break;
}
}, ThreadOption.PublisherThread, true, filter => { return(filter.Target == Target.SharingOptionsViewModel); });
_sharingToken = EventAggregatorManager.Instance.EventAggregator.GetEvent <StartSharingEvent>().Subscribe((argument) =>
{
if (IsDesktopSelected)
{
CMeetingConfigurationDotNetWrap.Instance.SetSharingToolbarVisibility(false);
CMeetingUIControllerDotNetWrap.Instance.ShowSharingToolbar(false);
IntPtr desktopHandle = Win32APIs.GetDesktopWindow();
SDKError error = CMeetingShareControllerDotNetWrap.Instance.StartAppShare(new HWNDDotNet()
{
value = (uint)desktopHandle.ToInt32()
});
}
else if (IsDocSelected)
{
}
else
{
MessageBox.Show("请选择共享源！");
}
}, ThreadOption.PublisherThread, true, filter => { return(filter.Target == Target.SharingOptionsViewModel); });
}
public SDKError Initialize()
{
InitParam param = new InitParam();
param.brand_name = "云教室";
param.web_domain = "https://zoom.us";
param.language_id = SDK_LANGUAGE_ID.LANGUAGE_Chinese_Simplified;
SDKError err = CZoomSDKeDotNetWrap.Instance.Initialize(param);
return(err);
}
private void SubscribeEvents()
{
_joinToken = EventAggregatorManager.Instance.EventAggregator.GetEvent <JoinMeetingEvent>().Subscribe((argument) =>
{
if (string.IsNullOrEmpty(MeetingNumber))
{
JoinError = "请输入课堂号！";
return;
}
ulong uint_meeting_number;
if (ulong.TryParse(MeetingNumber, out uint_meeting_number))
{
SDKError joinError = CZoomSDKeDotNetWrap.Instance.GetMeetingServiceWrap().Join(new JoinParam()
{
userType = SDKUserType.SDK_UT_APIUSER,
apiuserJoin = new JoinParam4APIUser()
{
userName = "******",
meetingNumber = uint_meeting_number,
psw = string.Empty,
hDirectShareAppWnd = new HWNDDotNet()
{
value = 0
},
isAudioOff = false,
isDirectShareDesktop = false,
isVideoOff = false,
participantId = string.Empty,
toke4enfrocelogin = string.Empty,
webinarToken = string.Empty,
}
});
if (joinError == SDKError.SDKERR_SUCCESS)
{
MeetingView meetingView = new MeetingView();
meetingView.Show();
}
else
{
MessageBox.Show(joinError.ToString());
}
}
else
{
JoinError = "请输入有效的课堂号！";
}
}, Prism.Events.ThreadOption.PublisherThread, true, filter => { return(filter.Target == Target.JoinMeetingViewModel); });
}
private async void Load_Mission(object sender, RoutedEventArgs value)
{
var state = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).GetCurrentState();
WaypointMissionState.Text = state.ToString();
SDKError err = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).LoadMission(WaypointMission);
//var WaypointMission2 = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).GetLoadedMission();
//else err = SDKError.MISSION_WAYPOINT_NULL_MISSION;
Debug.WriteLine("SDK load mission : " + err.ToString());
LoadMissionError.Text = "SDK load mission : " + err.ToString();
}
public SDKError LoadMission(String json_mision)
{
JArray points = JArray.Parse(json_mision);
int waypointCount = points.Count;
double maxFlightSpeed = 15; // meters per second TODO
double autoFlightSpeed = 10; // meters per second TODO
int missionID = 0; //TODO
List <Waypoint> waypoints = new List <Waypoint>(waypointCount);
foreach (JObject point in points)
{
JObject coord = (JObject)point.SelectToken("coord");
JArray coordinates = (JArray)coord.SelectToken("coordinates");
double latitude = (double)coordinates.First[0];
double longitude = (double)coordinates.First[1];
double gimbalPitch = (double)point.SelectToken("angulo");
double speed = (double)point.SelectToken("velocidad"); // meters per second
double altitude = (double)point.SelectToken("altura");
int stayTime = (int)point.SelectToken("tiempo");
int rotation = (int)point.SelectToken("rotacion");
waypoints.Add(InitWaypoint(latitude, longitude, altitude, gimbalPitch, speed, stayTime, rotation));
System.Diagnostics.Debug.WriteLine("lat {0}, lng {1})", latitude, longitude);
}
WaypointMission mission = new WaypointMission()
{
waypointCount = points.Count,
maxFlightSpeed = maxFlightSpeed,
autoFlightSpeed = autoFlightSpeed,
finishedAction = WaypointMissionFinishedAction.GO_HOME,
headingMode = WaypointMissionHeadingMode.AUTO,
flightPathMode = WaypointMissionFlightPathMode.NORMAL,
gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY,
exitMissionOnRCSignalLostEnabled = false,
gimbalPitchRotationEnabled = true,
repeatTimes = 1,
missionID = missionID,
waypoints = waypoints
};
//LoadMission
SDKError loadError = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).LoadMission(mission);
System.Diagnostics.Debug.WriteLine("LOAD MISSION: " + loadError.ToString());
return(loadError);
}
//Callback of SDKRegistrationEvent
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
setup();
}
else
{
System.Diagnostics.Debug.WriteLine("SDK register failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
public static string DecodeSdkError(SDKError status)
{
switch (status)
{
case SDKError.SDKERR_SUCCESS: return("Success");
case SDKError.SDKERR_NO_IMPL: return("This feature is currently not available");
case SDKError.SDKERR_WRONG_USEAGE: return("Incorrect usage of the feature");
case SDKError.SDKERR_INVALID_PARAMETER: return("Wrong parameter");
case SDKError.SDKERR_MODULE_LOAD_FAILED: return("Loading module failed");
case SDKError.SDKERR_MEMORY_FAILED: return("No memory allocated");
case SDKError.SDKERR_SERVICE_FAILED: return("Internal service error");
case SDKError.SDKERR_UNINITIALIZE: return("SDK is not initialized before the use");
case SDKError.SDKERR_UNAUTHENTICATION: return("SDK is not authorized before the use");
case SDKError.SDKERR_NORECORDINGINPROCESS: return("No recording is in process");
case SDKError.SDKERR_TRANSCODER_NOFOUND: return("Transcoder module is not found");
case SDKError.SDKERR_VIDEO_NOTREADY: return("The video service is not ready");
case SDKError.SDKERR_NO_PERMISSION: return("No permission");
case SDKError.SDKERR_UNKNOWN: return("Unknown error");
case SDKError.SDKERR_OTHER_SDK_INSTANCE_RUNNING: return("Another SDK instance is in process");
case (SDKError)15: return("SDK internal error");
case (SDKError)16: return("No audio device is found");
case (SDKError)17: return("No video device is found");
case (SDKError)18: return("API calls too frequent");
case (SDKError)19: return("User cannot be assigned with the new privilege");
case (SDKError)20: return("The current meeting does not support the request feature");
}
return("Unknown");
}
public FlightState(double altitude, double yaw, double pitch, double roll,
double vx, double vy, double vz, bool isFlyging, SDKError error)
{
Altitude = altitude;
Yaw = yaw;
Pitch = pitch;
Roll = roll;
Vx = vx;
Vy = vy;
Vz = vz;
IsFlying = isFlyging;
Error = error;
}
private void Connection_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
//System.Diagnostics.Debug.WriteLine("Register app successfully.");
//The product connection state will be updated when it changes here.
//DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += async delegate (object sender, ProductTypeMsg? value)
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += Connection_isProductTypeChangedEvent;
}
else
{
isRegisterErrorOccurredEvent("Register SDK failed, the error is: " + resultCode.ToString());
}
}
private void OnSdkRegistrationStateChanged(SDKRegistrationState state, SDKError error)
{
_isSdkRegistered = SDKError.NO_ERROR == error && state == SDKRegistrationState.Succeeded;
if (_isSdkRegistered)
{
_isWorkerEnabled = true;
ConfigDroneAsync();
fcHandler = DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0);
var videoFeeder = DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0);
var cameraHandler = DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0);
if (null != videoFeeder)
{
VideoParser = new Parser();
VideoParser.Initialize((byte[] data) =>
{
return(DJISDKManager.Instance.VideoFeeder.ParseAssitantDecodingInfo(0, data));
});
VideoParser.SetSurfaceAndVideoCallback(0, 0, null, OnFrameParsed);
videoFeeder.VideoDataUpdated += Drone_VideoDataUpdated;;
}
if (null != cameraHandler)
{
var res = cameraHandler.GetCameraTypeAsync();
res.Wait();
if (res.Result.error == SDKError.NO_ERROR)
{
Drone_CameraTypeChanged(null, res.Result.value);
}
cameraHandler.CameraTypeChanged += Drone_CameraTypeChanged;;
}
}
else
{
_isWorkerEnabled = false;
fcHandler = null;
}
Thread.Sleep(300);
}
private void Application_Startup(object sender, StartupEventArgs e)
{
//init sdk
InitParam param = new InitParam {
web_domain = "https://zoom.us",
enable_log = true
};
SDKError err = CZoomSDKeDotNetWrap.Instance.Initialize(param);
if (SDKError.SDKERR_SUCCESS == err)
{
}
else//error handle.todo
{
Console.WriteLine(err);
}
}
private async void StartReturnToHome()
{
SDKError err = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).StartGoHomeAsync();
Debug.WriteLine("RTH err : " + err.ToString());
UI_output(rth_status, "RTH err : " + err.ToString());
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GoHomeStateChanged += Check_RTHsequence;
var RTHstate = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GetGoHomeStateAsync();
Debug.WriteLine("RTH sequence : " + RTHstate.value?.value.ToString());
if (RTHstate.value?.value == FCGoHomeState.COMPLETED)
{
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AltitudeChanged += RTH_Landing;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GoHomeStateChanged -= Check_RTHsequence;
}
}
private async void StartTakeOff()
{
SDKError err = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).StartTakeoffAsync();
Debug.WriteLine("Takeoff err : " + err.ToString());
UI_output(call_status, "Takeoff err : " + err.ToString());
/*
* if (err == SDKError.NO_ERROR || err == SDKError.REQUEST_TIMEOUT)
* {
* DJISDKManager.Instance.VirtualRemoteController.UpdateJoystickValue(1, 0, 0, 0);
* Thread.Sleep(5000);
* DJISDKManager.Instance.VirtualRemoteController.UpdateJoystickValue(0, 0, 1, 0);
* Thread.Sleep(2500);
* DJISDKManager.Instance.VirtualRemoteController.UpdateJoystickValue(0, 0, 0, 0);
* }*/
}
private async void StartStopMissionVideoRecord(object sender, WaypointMissionExecutionState?value)
{
if (value.Value.state == WaypointMissionExecuteState.INITIALIZING)
{
await SetCameraModeToRecord();
await StartRecordVideo();
}
else if (value.Value.isExecutionFinish)
{
SDKError err = await StopRecordVideo();
if (err == SDKError.NO_ERROR)
{
OnVideoMissionRecorded();
}
}
}
