public async Task <bool> ConnectAsync()
{
try
{
if (IsActive)
{
return(true);
}
SendMessageToUI("Starting Connection process");
await Log.Instance.WriteLineAsync("DroneClient:Connecting");
_RequestedState = RequestedState.Initialize;
_ConfigurationWorker.Start();
_NavDataWorker.Start();
//TODO revoir InitState
_CommandWorker.Start();
_WatchdogWorker.Start();
// We Check if the differents workers have been well initialized
int attempt = 0;
while (!IsActive && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt == 10)
{
return(false);
}
SendMessageToUI("All workers have been activated");
attempt = 0;
while (_RequestedState != RequestedState.None && attempt < 10)
{
await Task.Delay(100); attempt++;
}
if (attempt == 10)
{
Close();
DisposeOverride();
return(false);
}
SendMessageToUI("Connected with the Drone successfully");
InitConfiguration();
//SetIndoorConfiguration();
RequestConfiguration();
SendMessageToUI("Configuration sent to the Drone successfully");
return(true);
}
catch (Exception ex)
{
SendMessageToUI(ex.Message);
return(false);
}
}
public async Task <bool> ConnectAsync()
{
bool isConnected = false;
try
{
if (IsActive)
{
return(true);
}
else
{
//We close the workers previously started.
Close();
}
SendMessageToUI("Starting Connection process");
await Log.Instance.WriteLineAsync("DroneClient:Connecting");
_RequestedState = RequestedState.Initialize;
_ConfigurationWorker.Start();
_NavDataWorker.Start();
_CommandWorker.Start();
_WatchdogWorker.Start();
// We Check if the differents workers have been well initialized
int attempt = 0;
while (!IsActive && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt < 10)
{
SendMessageToUI("All workers have been activated");
attempt = 0;
// We Check if the AR.Drone is well initialized
while (_RequestedState != RequestedState.None && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt < 10)
{
SendMessageToUI("Connected with the Drone successfully");
await InitMultiConfiguration();
SetDefaultConfiguration();
RequestConfiguration();
SendMessageToUI("Configuration sent to the Drone successfully");
isConnected = true;
}
}
}
catch (Exception ex)
{
SendMessageToUI(ex.Message);
return(false);
}
if (!isConnected)
{
Close();
DisposeOverride();
}
return(isConnected);
}