public void SwitchCam()
{
DroneConfiguration configuration = _droneClient.Configuration;
ATCommand command = configuration.Video.Channel.Set(VideoChannelType.Next).ToCommand();
_droneClient.Send(command);
}
public void SendChanges(DroneConfiguration configuration)
{
KeyValuePair <string, string> item;
while (configuration.Changes.Count > 0)
{
lock (_SyncRoot)
{
if (configuration.Changes.Count > 0)
{
item = configuration.Changes.Dequeue();
}
}
if (!string.IsNullOrEmpty(item.Key))
{
if (string.IsNullOrEmpty(configuration.Custom.SessionId) == false &&
string.IsNullOrEmpty(configuration.Custom.ProfileId) == false &&
string.IsNullOrEmpty(configuration.Custom.ApplicationId) == false)
{
SendConfigCommand(Command.ConfigIds(configuration.Custom.SessionId, configuration.Custom.ProfileId, configuration.Custom.ApplicationId));
}
SendConfigCommand(Command.Config(item.Key, item.Value));
}
}
}
private void btnSwitchCam_Click(object sender, EventArgs e)
{
DroneConfiguration configuration = _droneClient.Configuration;
ATCommand command = configuration.Video.Channel.Set(VideoChannelType.Next).ToCommand();
_droneClient.Send(command);
}
public DroneEnvironmentKnowledge(Transform botTransform, List <EnemyControllerBase> enemiesInRange, EnemyControllerBase huntingEnemy, DroneConfiguration droneConfiguration)
{
BotTransform = botTransform;
EnemiesInRange = enemiesInRange;
HuntingEnemy = huntingEnemy;
DroneConfiguration = droneConfiguration;
}
private void OnConfigurationUpdated(DroneConfiguration configuration)
{
if (configuration.Video.Codec != VideoCodecType.H264_360P_SLRS || configuration.Video.MaxBitrate != 100 || configuration.Video.BitrateCtrlMode != VideoBitrateControlMode.Dynamic)
{
droneClient.Send(configuration.Video.Codec.Set(VideoCodecType.H264_360P_SLRS).ToCommand());
droneClient.Send(configuration.Video.MaxBitrate.Set(100).ToCommand());
droneClient.Send(configuration.Video.BitrateCtrlMode.Set(VideoBitrateControlMode.Dynamic).ToCommand());
}
}
private void OnConfigurationUpdated(DroneConfiguration configuration)
{
if (configuration.Video.Codec != VideoCodecType.H264_360P ||
configuration.Video.BitrateCtrlMode != VideoBitrateControlMode.Dynamic)
{
_droneClient.Send(configuration.Video.Codec.Set(VideoCodecType.H264_360P).ToCommand());
_droneClient.Send(configuration.Video.BitrateCtrlMode.Set(VideoBitrateControlMode.Dynamic).ToCommand());
}
}
public DroneClient()
{
_configuration = new DroneConfiguration();
_commandQueue = new ConcurrentQueue <ATCommand>();
_commandSender = new CommandSender(_configuration, _commandQueue);
_navdataAcquisition = new NavdataAcquisition(_configuration, OnNavdataPacketAcquired, OnNavdataAcquisitionStopped);
_videoAcquisition = new VideoAcquisition(_configuration, OnVideoPacketAcquired);
_configurationAcquisition = new ConfigurationAcquisition(_configuration, OnConfigurationPacketAcquired);
_watchdog = new Watchdog(_navdataAcquisition, _commandSender, _videoAcquisition);
}
public DroneClient()
{
_configuration = new DroneConfiguration();
_commandQueue = new ConcurrentQueue <ATCommand>();
_networkWorker = new NetworkWorker(_configuration, OnConnectionChanged);
_commandQueueWorker = new CommandQueueWorker(_configuration, _commandQueue);
_navdataAcquisitionWorker = new NavdataAcquisitionWorker(_configuration, OnNavigationPacketAcquired);
_videoAcquisitionWorker = new VideoAcquisitionWorker(_configuration, OnVideoPacketAcquired);
_configurationAcquisitionWorker = new ConfigurationAcquisitionWorker(_configuration, OnConfigurationPacketAcquired);
_watchdogWorker = new WatchdogWorker(_networkWorker, _navdataAcquisitionWorker, _commandQueueWorker, _videoAcquisitionWorker);
}
public DroneClient()
{
_NavigationDataViewModel = new ViewModel.NavigationDataViewModel();
_configuration = new DroneConfiguration();
_CommandWorker = new CommandWorker(this);
_NavDataWorker = new NavDataWorker(this);
_ConfigurationWorker = new ConfigurationWorker(this);
//TODO ajouter le _configurationAcquisitionWorker
_WatchdogWorker = new WatchdogWorker(this, new WorkerBase[] { _NavDataWorker, _CommandWorker });
_InputTimer = ThreadPoolTimer.CreatePeriodicTimer(new TimerElapsedHandler(InputTimerElapsedHandler), TimeSpan.FromMilliseconds(1000 / 12));
}
public async Task SendConfiguration()
{
DroneConfiguration configuration = _configuration;
if (string.IsNullOrEmpty(configuration.Custom.SessionId) ||
configuration.Custom.SessionId == "00000000")
{
await InitMultiConfiguration();
}
//send all changes in one pice
SendChanges(configuration);
}
private static List <IConfigurationItem> GetItems(DroneConfiguration configuration, object section, Type type)
{
List <IConfigurationItem> configurationItems = new List <IConfigurationItem>();
var configItems = type.GetRuntimeFields()
.Where(field => field.GetValue(section) is IConfigurationItem);
foreach (var configItem in configItems)
{
configurationItems.Add((IConfigurationItem)configItem.GetValue(section));
}
return(configurationItems);
}
public IContainer Bootstrap(DroneConfiguration droneConfiguration)
{
var droneClient = new DroneClient(droneConfiguration.HostName);
var logger = ConfigureLogger();
var container = new Container(x =>
{
x.For <ILog>().Use(logger);
x.For <DroneClient>().Use(droneClient);
x.For <IDrone>().UseSpecial(y => y.ConstructedBy(_ => new ParrotDrone.ParrotDrone(droneClient)));
x.For <ICommandFactory>().Use <CommandFactory>();
x.For <ICommunicator>().Use <CommandInvoker>();
x.For <IInputProviderAdapter>().Singleton().Use <Drone>();
});
return(container);
}
private async Task InitMultiConfiguration()
{
// set new session, application and profile
await AckControlAndWaitForConfirmation(); // wait for the control confirmation
_configuration.Custom.SessionId = DroneConfiguration.NewId();
SendChanges(_configuration);
await AckControlAndWaitForConfirmation();
_configuration.Custom.ProfileId = DroneConfiguration.NewId();
SendChanges(_configuration);
await AckControlAndWaitForConfirmation();
_configuration.Custom.ApplicationId = DroneConfiguration.NewId();
SendChanges(_configuration);
await AckControlAndWaitForConfirmation();
}
public GeneralSection(DroneConfiguration configuration)
: base(configuration, "general")
{
}
public UserboxSection(DroneConfiguration configuration)
: base(configuration, "userbox")
{
}
public DetectSection(DroneConfiguration configuration)
: base(configuration, "detect")
{
}
public VideoSection(DroneConfiguration configuration)
: base(configuration, "video")
{
}
public ControlSection(DroneConfiguration configuration)
: base(configuration, "control")
{
}
public NetworkSection(DroneConfiguration configuration)
: base(configuration, "network")
{
}
public CustomSection(DroneConfiguration configuration)
: base(configuration, "custom")
{
}
public GeneralSection(DroneConfiguration configuration)
: base(configuration, "general")
{
}
public LedsSection(DroneConfiguration configuration)
: base(configuration, "leds")
{
}
public SectionBase(DroneConfiguration configuration, string name)
{
_configuration = configuration;
_name = name;
}
public UserboxSection(DroneConfiguration configuration)
: base(configuration, "userbox")
{
}
public PicSection(DroneConfiguration configuration)
: base(configuration, "pic")
{
}
public void Configure(DroneConfiguration droneConfiguration)
{
Task <Settings> configurationTask = droneClient.GetConfigurationTask();
configurationTask.ContinueWith(
delegate(Task <Settings> task)
{
if (task.Exception != null)
{
Trace.TraceWarning("Get configuration task is faulted with exception: {0}",
task.Exception.InnerException.Message);
return;
}
settings = task.Result;
});
configurationTask.Start();
var sendConfigTask = new Task(() =>
{
if (settings == null)
{
settings = new Settings();
}
if (string.IsNullOrEmpty(settings.Custom.SessionId) ||
settings.Custom.SessionId == "00000000")
{
// set new session, application and profile
droneClient.AckControlAndWaitForConfirmation(); // wait for the control confirmation
settings.Custom.SessionId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
settings.Custom.ProfileId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
settings.Custom.ApplicationId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
}
settings.General.NavdataDemo = false;
settings.General.NavdataOptions = NavdataOptions.All;
//settings.Video.BitrateCtrlMode = VideoBitrateControlMode.Dynamic;
settings.Video.Bitrate = 1000;
settings.Video.MaxBitrate = 2000;
settings.Leds.LedAnimation = new LedAnimation(LedAnimationType.BlinkGreenRed, 2.0f, 2);
settings.Control.FlightAnimation = new FlightAnimation(FlightAnimationType.Wave);
//start
settings.Userbox.Command = new UserboxCommand(UserboxCommandType.Start);
//stop
settings.Userbox.Command = new UserboxCommand(UserboxCommandType.Stop);
//send all changes in one pice
droneClient.Send(settings);
droneClient.FlatTrim(); // calibrates the drone on flat surface
});
sendConfigTask.Start();
}
public ControlSection(DroneConfiguration configuration)
: base(configuration, "control")
{
}
public static List <ConfigurationSectionViewModel> InitializeConfigurationSections(DroneConfiguration configuration)
{
List <ConfigurationSectionViewModel> configurationSections = new List <ConfigurationSectionViewModel>();
configurationSections.Add(new ConfigurationSectionViewModel("control", GetItems(configuration, configuration.Control, typeof(ControlSection))));
configurationSections.Add(new ConfigurationSectionViewModel("custom", GetItems(configuration, configuration.Custom, typeof(CustomSection))));
configurationSections.Add(new ConfigurationSectionViewModel("detect", GetItems(configuration, configuration.Detect, typeof(DetectSection))));
configurationSections.Add(new ConfigurationSectionViewModel("general", GetItems(configuration, configuration.General, typeof(GeneralSection))));
configurationSections.Add(new ConfigurationSectionViewModel("gps", GetItems(configuration, configuration.Gps, typeof(GpsSection))));
configurationSections.Add(new ConfigurationSectionViewModel("leds", GetItems(configuration, configuration.Leds, typeof(LedsSection))));
configurationSections.Add(new ConfigurationSectionViewModel("network", GetItems(configuration, configuration.Network, typeof(NetworkSection))));
configurationSections.Add(new ConfigurationSectionViewModel("pic", GetItems(configuration, configuration.Pic, typeof(PicSection))));
configurationSections.Add(new ConfigurationSectionViewModel("syslog", GetItems(configuration, configuration.Syslog, typeof(SyslogSection))));
configurationSections.Add(new ConfigurationSectionViewModel("userbox", GetItems(configuration, configuration.Userbox, typeof(UserboxSection))));
configurationSections.Add(new ConfigurationSectionViewModel("video", GetItems(configuration, configuration.Video, typeof(VideoSection))));
return(configurationSections);
}
public LedsSection(DroneConfiguration configuration)
: base(configuration, "leds")
{
}
public static void UpdateConfigurationSections(List <ConfigurationSectionViewModel> sections, DroneConfiguration configuration)
{
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("control"))
.UpdateItems(GetItems(configuration, configuration.Control, typeof(ControlSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("custom"))
.UpdateItems(GetItems(configuration, configuration.Custom, typeof(CustomSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("detect"))
.UpdateItems(GetItems(configuration, configuration.Detect, typeof(DetectSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("general"))
.UpdateItems(GetItems(configuration, configuration.General, typeof(GeneralSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("gps"))
.UpdateItems(GetItems(configuration, configuration.Gps, typeof(GpsSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("leds"))
.UpdateItems(GetItems(configuration, configuration.Leds, typeof(LedsSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("network"))
.UpdateItems(GetItems(configuration, configuration.Network, typeof(NetworkSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("pic"))
.UpdateItems(GetItems(configuration, configuration.Pic, typeof(PicSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("syslog"))
.UpdateItems(GetItems(configuration, configuration.Syslog, typeof(SyslogSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("userbox"))
.UpdateItems(GetItems(configuration, configuration.Userbox, typeof(UserboxSection)));
sections.First <ConfigurationSectionViewModel>(section => section.SectionName.Equals("video"))
.UpdateItems(GetItems(configuration, configuration.Video, typeof(VideoSection)));
}
public CustomSection(DroneConfiguration configuration)
: base(configuration, "custom")
{
}
public VideoSection(DroneConfiguration configuration)
: base(configuration, "video")
{
}
public PicSection(DroneConfiguration configuration)
: base(configuration, "pic")
{
}
public DetectSection(DroneConfiguration configuration)
: base(configuration, "detect")
{
}
public SectionBase(DroneConfiguration configuration, string name)
{
_configuration = configuration;
_name = name;
}
public GpsSection(DroneConfiguration configuration)
: base(configuration, "gps")
{
}
private void ProcessStateTransitions(NavigationState state)
{
if (state.HasFlag(NavigationState.Bootstrap))
{
_commandQueue.Flush();
var configuration = new DroneConfiguration();
configuration.General.NavdataDemo.ChangeTo(false);
configuration.SendTo(this);
Send(new ControlCommand(ControlMode.NoControlMode));
}
if (state.HasFlag(NavigationState.Watchdog))
{
Trace.TraceWarning("Communication Watchdog!");
}
switch (_stateRequest)
{
case StateRequest.None:
return;
case StateRequest.Emergency:
if (state.HasFlag(NavigationState.Flying))
{
Send(new RefCommand(RefMode.Emergency));
}
else
{
_stateRequest = StateRequest.None;
}
break;
case StateRequest.ResetEmergency:
Send(new RefCommand(RefMode.Emergency));
_stateRequest = StateRequest.None;
break;
case StateRequest.Land:
if (state.HasFlag(NavigationState.Flying) &&
state.HasFlag(NavigationState.Landing) == false)
{
Send(new RefCommand(RefMode.Land));
}
else
{
_stateRequest = StateRequest.None;
}
break;
case StateRequest.Fly:
if (state.HasFlag(NavigationState.Landed) &&
state.HasFlag(NavigationState.Takeoff) == false &&
state.HasFlag(NavigationState.Emergency) == false)
{
Send(new RefCommand(RefMode.Takeoff));
}
else
{
_stateRequest = StateRequest.None;
}
break;
default:
throw new ArgumentOutOfRangeException();
}
}
public NetworkSection(DroneConfiguration configuration)
: base(configuration, "network")
{
}
public SyslogSection(DroneConfiguration configuration)
: base(configuration, "syslog")
{
}
public SyslogSection(DroneConfiguration configuration)
: base(configuration, "syslog")
{
}
public GpsSection(DroneConfiguration configuration)
: base(configuration, "gps")
{
}
