static void Main(string[] args)
{
var droneClient = new DroneClient("192.168.1.1");
SleepAndPaint(droneClient);
droneClient.Start();
SleepAndPaint(droneClient);
droneClient.Takeoff();
SleepAndPaint(droneClient);
droneClient.Progress(FlightMode.Progressive, yaw: -0.05f);
System.Console.WriteLine("Yaw -0.05");
SleepAndPaint(droneClient);
droneClient.Hover();
SleepAndPaint(droneClient);
droneClient.Land();
SleepAndPaint(droneClient);
droneClient.Stop();
SleepAndPaint(droneClient);
System.Console.ReadLine();
droneClient.Dispose();
}
/// <summary>
/// 重写关闭代码
/// 将开启的资源关闭
/// </summary>
/// <param name="e"></param>
/// <returns></returns>
protected override void OnClosed(EventArgs e)
{
if (_autopilot != null)
{
_autopilot.UnbindFromClient();
_autopilot.Stop();
}
StopRecording();
_droneClient.Dispose();
if (_videoPacketDecoderWorker != null)
{
_videoPacketDecoderWorker.Dispose();
}
_viconPositionGet.Dispose();
if (_pwrite != null)
{
_pwrite.Stop();
_pwrite.Join();
_pwrite.Dispose();
}
if (_viconPositionGet != null)
{
_viconPositionGet.Dispose();
}
base.OnClosed(e);
}
// Called if the gameobject is destroyed
void OnDestroy()
{
droneClient.Land();
droneClient.Stop();
droneClient.Dispose();
videoPacketDecoderWorker.Stop();
videoPacketDecoderWorker.Dispose();
}
protected override void OnClosed(EventArgs e)
{
droneClient.Stop();
droneClient.Dispose();
videoPacketDecoderWorker.Dispose();
base.OnClosed(e);
}
protected override void OnClosed(EventArgs e)
{
_droneClient.Dispose();
_videoPacketDecoderWorker.Dispose();
_packetRecorderWorker.Dispose();
base.OnClosed(e);
}
protected override void UnloadContent()
{
droneClient.Dispose();
videoPacketDecoderWorker.Dispose();
if (kinect != null)
{
kinect.Dispose();
}
}
public override void Cleanup()
{
base.Cleanup();
_droneClient.Stop();
_droneClient.Dispose();
_videoPacketDecoderWorker.Dispose();
_autopilot.Stop();
}
protected override void OnClosed(EventArgs e)
{
if (_autopilot != null)
{
_autopilot.UnbindFromClient();
_autopilot.Stop();
}
StopRecording();
_droneClient.Dispose();
_videoPacketDecoderWorker.Dispose();
base.OnClosed(e);
}
private async void MainWindow_Closed(object sender, EventArgs e)
{
if (frameTimer != null)
{
frameTimer.Stop();
}
if (droneClient != null)
{
droneClient.Stop();
droneClient.Dispose();
}
if (videoPacketDecoderWorker != null)
{
videoPacketDecoderWorker.Stop();
videoPacketDecoderWorker.Dispose();
}
await closeSource();
}
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);
}
void MainWindow_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
_droneClient.Dispose();
_videoPacketDecoderWorker.Dispose();
}