public DroneControls(DroneClient client, AnalyzerOutput output, Config configuration, Pilot.Controller autopilot)
{
InitializeComponent();
analyzerOutput = output;
config = configuration;
droneClient = client;
droneClient.NavigationDataAcquired += DroneClient_NavigationDataAcquired;
droneController = autopilot;
this.KeyDown += DroneControls_KeyDown;
}
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);
}
