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;
}
}
/// <summary>
/// 程序使用到的一些变量的初始化
/// </summary>
/// <returns></returns>
private void InitVariable()
{
//初始化默认两个按钮都没有选择
_isAuto = false;
_isHand = false;
//自制Vicon位置获取
_positionClient = new PositionClient();
_viconPositionGet = new MyViconPosition(_positionClient);
_viconPositionGet.OnViconPositionRecieve += OnViconPositionRecieve;
//测试文件初始化
string file = string.Format(@"log_{0:yyyy_MM_dd_HH_mm}.txt", DateTime.Now);
_logFileStream = new FileStream(System.Environment.CurrentDirectory + @"/" + file, FileMode.OpenOrCreate);
_logWriteStream = new StreamWriter(_logFileStream);
}