// Called if the gameobject is destroyed
void OnDestroy()
{
droneClient.Land();
droneClient.Stop();
droneClient.Dispose();
videoPacketDecoderWorker.Stop();
videoPacketDecoderWorker.Dispose();
}
/// <summary>
/// Stop video processing
/// </summary>
private void StopVideo()
{
timerVideoUpdate.Enabled = false;
videoPacketDecoderWorker.Stop();
videoPacketDecoderWorker.Join();
frame = null;
frameBitmap = null;
}
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);
}