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;
}
private void btnStartRecording_Click(object sender, EventArgs e)
{
string path = string.Format("flight_{0:yyyy_MM_dd_HH_mm}" + ARDroneTrackFileExt, DateTime.Now);
using (var dialog = new SaveFileDialog {DefaultExt = ARDroneTrackFileExt, Filter = ARDroneTrackFilesFilter, FileName = path})
{
if (dialog.ShowDialog(this) == DialogResult.OK)
{
StopRecording();
_recorderStream = new FileStream(dialog.FileName, FileMode.OpenOrCreate);
_packetRecorderWorker = new PacketRecorder(_recorderStream);
_packetRecorderWorker.Start();
}
}
}
/// <summary>
/// Initializes a new instance of the MainWindow class.
/// </summary>
public MainWindow()
{
InitializeComponent();
// Speech synth Initialization
//TODO: Check synth initialize result
InitializeSynth();
// AR Drone Initialization
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.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;
}
private void StopRecording()
{
if (_packetRecorderWorker != null)
{
_packetRecorderWorker.Stop();
_packetRecorderWorker.Join();
_packetRecorderWorker = null;
}
if (_recorderStream != null)
{
_recorderStream.Dispose();
_recorderStream = null;
}
}
// Activate/deactive autopilot
private void Main_Form_KeyDown(object sender, KeyEventArgs e)
{
switch (e.KeyCode)
{
case Keys.F:
_droneClient.FlatTrim();
break;
case Keys.Back:
if (!isSensitiveMode)
{
flightSensitivityConst = 0.25f;
isSensitiveMode = true;
}
else
{
flightSensitivityConst = 0.9f;
isSensitiveMode = false;
}
break;
case Keys.W:
_droneClient.Progress(FlightMode.Progressive, pitch: -flightSensitivityConst);
break;
case Keys.S:
_droneClient.Progress(FlightMode.Progressive, pitch: flightSensitivityConst);
break;
case Keys.A:
_droneClient.Progress(FlightMode.Progressive, roll: -flightSensitivityConst);
break;
case Keys.D:
_droneClient.Progress(FlightMode.Progressive, roll: +flightSensitivityConst);
break;
case Keys.Up:
_droneClient.Progress(FlightMode.Progressive, gaz: flightSensitivityConst);
break;
case Keys.Down:
_droneClient.Progress(FlightMode.Progressive, gaz: -flightSensitivityConst);
break;
case Keys.Left:
_droneClient.Progress(FlightMode.Progressive, yaw: -flightSensitivityConst);
break;
case Keys.Right:
_droneClient.Progress(FlightMode.Progressive, yaw: +flightSensitivityConst);
break;
case Keys.E:
_droneClient.Takeoff();
break;
case Keys.Space:
_droneClient.Land();
break;
case Keys.C:
var configuration = new Settings();
configuration.Video.Channel = VideoChannelType.Next;
_droneClient.Send(configuration);
break;
case Keys.R:
string path = string.Format("ttu_flight_{0:yyyy_MM_dd_HH_mm}" + ARDroneTrackFileExt, DateTime.Now);
using (var dialog = new SaveFileDialog { DefaultExt = ARDroneTrackFileExt, Filter = ARDroneTrackFilesFilter, FileName = path })
{
if (dialog.ShowDialog(this) == DialogResult.OK)
{
StopRecording();
_recorderStream = new FileStream(dialog.FileName, FileMode.OpenOrCreate);
_packetRecorderWorker = new PacketRecorder(_recorderStream);
_packetRecorderWorker.Start();
}
}
break;
}
}
