public CommandInterpreter(DroneState droneState, VideoServer videoServer, StateServer stateServer, ILog log)
{
_droneState = droneState ?? throw new ArgumentNullException(nameof(droneState));
_videoServer = videoServer ?? throw new ArgumentNullException(nameof(videoServer));
_stateServer = stateServer ?? throw new ArgumentNullException(nameof(stateServer));
_log = log;
}
public Drone(ILog log, byte[] videoData, Sample[] sampleDefs)
{
_log = log;
_udpReceiver = new Udp.UdpListener(8889);
_udpReceiver.DatagramReceived += _udpReceiver_DatagramReceived;
_droneState = new DroneState();
_stateServer = new StateServer(8890, _droneState);
_videoServer = new VideoServer(11111, videoData, sampleDefs);
_commandInterpreter = new CommandInterpreter(_droneState, _videoServer, _stateServer, log);
_batteryTimer = new Timer(UpdateBattery, null, 10000, 10000);
}
