public MainForm(DroneClient droneClient)
{
InitializeComponent();
InitApp();
//创建新的无人机连接
_droneClient = droneClient;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
//视频解码设置
if (_isVedio)
{
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
tmrVideoUpdate.Enabled = true;
}
if (_isNavadata)
{
//导航数据获取事件，添加事件响应
//定时器更新允许
tmrStateUpdate.Enabled = true;
}
_playerForms = new List <PlayerForm>();
//点到点部分
//数据初始化
if (_isViconRead)
{
_viconClient = new ViconClient();
_viconPositionGet = new MyViconPosition(_viconClient);
_viconPositionGet.OnViconPositionRecieve += OnViconPositionRecieve;
//写文件线程
//_pwrite = new PositionWrite(System.Environment.CurrentDirectory, string.Format(@"vicon_{0:yyyy_MM_dd_HH_mm}.txt", DateTime.Now));
}
else
{
_positionClient = new PositionClient();
_viconPositionGet = new MyViconPosition(_positionClient);
_viconPositionGet.OnViconPositionRecieve += OnViconPositionRecieve;
}
}
void Awake()
{
vc = gameObject.GetComponent <ViconClient>();
}
public MyViconPosition(ViconClient _viconClient)
{
this._viconClient = _viconClient;
_positionClient = null;
this._viconClient.init();
}
public MyViconPosition(PositionClient _positionClient)
{
this._positionClient = _positionClient;
_viconClient = null;
_positionClient.initSocket();
}
