void Inititialize()
{
tmrStatusUpdate = new DispatcherTimer();
tmrStatusUpdate.Interval = TimeSpan.FromMilliseconds(100);
tmrStatusUpdate.IsEnabled = true;
tmrStatusUpdate.Tick += tmrStatusUpdate_Tick;
tmrVideoUpdate = new DispatcherTimer();
tmrVideoUpdate.Interval = TimeSpan.FromMilliseconds(20);
tmrVideoUpdate.IsEnabled = true;
tmrVideoUpdate.Tick += tmrVideoUpdate_Tick;
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
// commands
Command_Connect = new RelayCommand(CommandConnect);
Command_Disconnect = new RelayCommand(CommandDisconnect);
Command_ShowDrownLayer = new RelayCommand <bool>(CommandShowDrownLayer);
Command_UpdateDroneSettings = new RelayCommand(CommandUpdateDroneSettings);
}
// Use this for initialization
void Start()
{
Debug.Log("Start");
// initialize data array
data = new byte[width * height * 3];
// set textures
MainRenderer.material.mainTexture = cameraTexture;
SecondaryRenderer.material.mainTexture = blackTexture;
cameraTexture = new Texture2D(width, height);
blackTexture = new Texture2D(1, 1);
blackTexture.SetPixel(0, 0, Color.black);
blackTexture.Apply();
// Initialize drone
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient("192.168.1.1");
droneClient.UnhandledException += HandleUnhandledException;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += navData => navigationData = navData;
videoPacketDecoderWorker.UnhandledException += HandleUnhandledException;
droneClient.Start();
// activate main drone camera
switchDroneCamera(AR.Drone.Client.Configuration.VideoChannelType.Vertical);
// determine connection
client = new WlanClient();
}
void MainWindow_Loaded(object sender, RoutedEventArgs e)
{
tmrStatusUpdate = new DispatcherTimer();
tmrStatusUpdate.Interval = TimeSpan.FromMilliseconds(100);
tmrStatusUpdate.IsEnabled = true;
tmrStatusUpdate.Tick += tmrStatusUpdate_Tick;
tmrVideoUpdate = new DispatcherTimer();
tmrVideoUpdate.Interval = TimeSpan.FromMilliseconds(20);
tmrVideoUpdate.IsEnabled = true;
tmrVideoUpdate.Tick += tmrVideoUpdate_Tick;
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.PixelFormat.BGR24, true, OnVideoPacketDecoded);
//_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += _droneClient_VideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
//InitializeAviationControls();
w = AttitudeMeter.ActualWidth;
h = AttitudeMeter.ActualHeight;
SetAttitudeIndicatorParameters(pitch.Value, roll.Value);
}
/// <summary>
/// Initialize video processing
/// </summary>
private void InitializeVideo()
{
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
videoPacketDecoderWorker.UnhandledException += UnhandledException;
timerVideoUpdate.Enabled = true;
}
public static void VideoWorkerBinder()
{
//Let's do video Inputs
VideoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.PixelFormat.BGR24, true, OnVideoPacketDecoded);
VideoPacketDecoderWorker.Start();
HorizontalCamera();
}
public PlayerForm()
{
InitializeComponent();
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
tmrVideoUpdate.Enabled = true;
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
}
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;
}
}
public MainForm()
{
InitializeComponent();
// innitialize video packet decoder.
videoDecoder = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnFrameDecoded);
videoDecoder.UnhandledException += VideoDecoder_UnhandledException;
videoDecoder.Start();
// Initalize drone.
drone = new DroneClient();
drone.VideoPacketAcquired += OnVideoPacketAqcuired;
drone.Start();
drone.ResetEmergency();
drone.FlatTrim();
JoystickFlightController controller = new JoystickFlightController();
controller.Client = drone;
controller.Start();
/*
* // Initialize joystick.
* joystick = new JoystickDevice();
* joystick.InputReceived += Joystick_InputReceived;
* joystick.Initialize("/dev/input/js0");
*
* // Initialize height maintainer.
* heightMaintainer = new HeightMaintainer();
* heightMaintainer.TargetHeight = 0.25f; //meter
*
* // Initialize velocity maintainer.
* velocityMaintainer = new VelocityMaintainer();
* velocityMaintainer.TargetVelocity.Forward = -1.0f;
* velocityMaintainer.TargetVelocity.Left = 0.0f;
* velocityMaintainer.TargetVelocity.TurnLeft = 0.0f;
*
* // Initialize flight controller.
* controller = new CompositeFlightController();
* controller.Drone = drone;
* controller.FlightBehaviors.Add(velocityMaintainer);
* controller.FlightBehaviors.Add(heightMaintainer);
* controller.FlightBehaviors.Add(new JoystickBehavior(joystick));
* controller.ControlCycleStarting += () => joystick.ProcessEvents();
*
* controller.Start();
*/
videoTimer.Enabled = true;
}
public MainForm()
{
InitializeComponent();
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
_playerForms = new List <PlayerForm>();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
}
/// <summary>
/// Use this for initialization
/// </summary>
void Start()
{
Debug.Log("Start DroneObserver");
// initialize data array
data = new byte[width * height * 3];
cameraTexture = new Texture2D(width, height);
// Initialize drone
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.RGB24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient("192.168.1.1");
//droneClient = new DroneClient ("127.0.0.1");
droneClient.UnhandledException += HandleUnhandledException;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += navData => navigationData = navData;
droneClient.FlatTrim();
videoPacketDecoderWorker.UnhandledException += HandleUnhandledException;
droneClient.Start();
Settings settings = new Settings();
settings.Video.Codec = VideoCodecType.H264_720P;
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
switchDroneCamera(AR.Drone.Client.Configuration.VideoChannelType.Horizontal);
isDroneConnected = droneClient.IsConnected;
if (!isDroneConnected)
{
Debug.LogError("Drone not Connected. Retry!!!");
}
if (isDroneConnected)
{
Debug.LogWarning("Drone Connected!!!");
}
// determine connection
wlanClient = new WlanClient();
}
public ARDrone2()
{
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
string path = string.Format("flight_{0:yyyy-MM-dd-HH-mm}.ardrone", DateTime.Now);
var stream = new FileStream(path, FileMode.OpenOrCreate);
_packetRecorderWorker = new PacketRecorder(stream);
_packetRecorderWorker.Start();
_droneClient = new DroneClient();
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.ConfigurationUpdated += OnConfigurationUpdated;
_droneClient.Active = true;
//tmrStateUpdate.Enabled = true;
//tmrVideoUpdate.Enabled = true;
}
public MainForm()
{
InitializeComponent();
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
string path = string.Format("flight_{0:yyyy-MM-dd-HH-mm}.ardrone", DateTime.Now);
_packetRecorderWorker = new PacketRecorderWorker(path);
_packetRecorderWorker.Start();
_droneClient = new DroneClient();
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.Active = true;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
}
public DroneController()
{
//this.image = new ImageBrush();
_client = new DroneClient("192.168.1.1");
settings = new Settings();
outDoor(false);
flightWithoutShell(false);
_battery = new Battery();
_battery.Percentage = 100;
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_client.VideoPacketAcquired += OnVideoPacketAcquired;
tmrVideoUpdate = new System.Windows.Forms.Timer();
tmrVideoUpdate.Interval = 20;
tmrVideoUpdate.Tick += new System.EventHandler(this.tmrVideoUpdate_Tick);
tmrVideoUpdate.Enabled = true;
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
}
public MainForm()
{
InitializeComponent();
last = DateTime.UtcNow;
bytes = 0;
running = true;
// initialize video packet decoder.
videoDecoder = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnFrameDecoded);
videoDecoder.UnhandledException += (delegate(object sender, Exception ex)
{
Console.WriteLine(ex);
Process.GetCurrentProcess().Kill();
});
videoDecoder.Start();
videoClient = new TcpClient(Environment.GetCommandLineArgs()[1], 1994);
new Thread(VideoRecvLoop).Start();
videoTimer.Enabled = true;
}
protected override void LoadContent()
{
renderTarget = new RenderTarget2D(GraphicsDevice, graphics.PreferredBackBufferWidth, graphics.PreferredBackBufferHeight);
spriteBatch = new SpriteBatch(GraphicsDevice);
hudFontSmall = Content.Load <SpriteFont>(@"Fonts\FontSmall");
if (drawTestImage)
{
videoTexture = Content.Load <Texture2D>(@"test");
}
else
{
videoTexture = new Texture2D(GraphicsDevice, 640, 360, false, SurfaceFormat.Color);
}
colorData = new Microsoft.Xna.Framework.Color[640 * 360];
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient();
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.ConfigurationUpdated += OnConfigurationUpdated;
droneClient.Active = true;
try
{
kinect = new KinectClient("it-IT");
kinect.VoiceCommandRecognized += OnVoiceCommandRecognized;
kinect.VoiceCommandRejected += OnVoiceCommandRejected;
kinect.GestureCommandRecognized += OnGestureRecognized;
kinectMessage = "Kinect trovato. Riconoscimento vocale e comandi attivi...";
}
catch (Exception e)
{
kinectMessage = e.Message;
}
oculusRiftDistortionShader = Content.Load <Effect>("Shaders/OculusRift");
oculusClient = new OculusClient();
UpdateResolutionAndRenderTargets();
screenType = ScreenType.Splash; //The splash show commands
}
void configDrone()
{
if (droneClient != null)
{
droneClient.VideoPacketAcquired -= OnVideoPacketAcquired;
}
droneClient?.Stop();
droneClient?.Dispose();
iotController = null;
autoPilot?.Stop();
autoPilot = null;
videoPacketDecoderWorker?.Stop();
videoPacketDecoderWorker?.Dispose();
Logger.LogInfo($"Configuring Drone at {config.DroneIP}");
droneClient = new DroneClient(config.DroneIP);
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
videoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.PixelFormat.BGR24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
iotController = new IoTHubController(droneClient, analyzerOutput, bitmaps);
autoPilot = new Pilot.Controller(droneClient, analyzerOutput, config, iotController);
}
/// <summary>
/// Connects with the drone
/// </summary>
private DroneController()
{
// Sets paths
DataPath = "Data/";
LivePath = DataPath + "Live/";
// Starts the video stream
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
// Connects with the drone
_droneClient = new DroneClient("192.168.1.1");
_frameNumber = 0;
DateTime dt = DateTime.Now;
_frameTag = dt.Year.ToString() + dt.Month.ToString("00") + dt.Day.ToString("00") + dt.Hour.ToString("00") + dt.Minute.ToString("00") + "_";
// Enable navigation data
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
}
public MainForm()
{
InitializeComponent();
Text += Environment.Is64BitProcess ? " [64-bit]" : " [32-bit]";
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
string path = string.Format("flight_{0:yyyy-MM-dd-HH-mm}.ardrone", DateTime.Now);
var stream = new FileStream(path, FileMode.OpenOrCreate);
_packetRecorderWorker = new PacketRecorder(stream);
_packetRecorderWorker.Start();
_droneClient = new DroneClient();
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.ConfigurationUpdated += OnConfigurationUpdated;
_droneClient.Active = true;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
}
