public MainForm()
{
InitializeComponent();
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
_playerForms = new List<PlayerForm>();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
controls = new GamepadState(0);
DirectInput dinput = new DirectInput();
myList = dinput.GetDevices(DeviceClass.GameController, DeviceEnumerationFlags.AttachedOnly);
DeviceInstance myJoyInput = (DeviceInstance)myList[0];
Guid myGuid = myJoyInput.InstanceGuid;
myJoy = new Joystick(dinput, myGuid);
myJoy.Acquire();
yawMultiplier = (float)yawMultSetBox.Value;
}
// Use this for initialization
void Start () {
Debug.Log("Start");
// initialize data array
data = new byte[width*height*3];
// set textures
MainRenderer.material.mainTexture = cameraTexture;
SecondaryRenderer.material.mainTexture = blackTexture;
cameraTexture = new Texture2D (width, height);
blackTexture = new Texture2D (1, 1);
blackTexture.SetPixel (0, 0, Color.black);
blackTexture.Apply ();
// Initialize drone
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient("192.168.1.1");
droneClient.UnhandledException += HandleUnhandledException;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += navData => navigationData = navData;
videoPacketDecoderWorker.UnhandledException += HandleUnhandledException;
droneClient.Start ();
// activate main drone camera
switchDroneCamera (AR.Drone.Client.Configuration.VideoChannelType.Vertical);
// determine connection
client = new WlanClient();
}
public MainForm()
{
InitializeComponent();
face = new HaarCascade("haarcascade_frontalface_default.xml");
// grabber = new Capture();
// grabber.QueryFrame();
// Application.Idle += new EventHandler(FrameGrabber);
this.WindowState = FormWindowState.Maximized;
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
_playerForms = new List<PlayerForm>();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
_droneClient.Start();
}
public SettingsForm(DroneClient droneClient)
{
this.droneClient = droneClient;
InitializeComponent();
ReadDroneConfig();
keyboardSettingsBindingSource.Add(KeyboardSettings.Default);
myoSettingsBindingSource.Add(MyoSettings.Default);
}
/// <summary>
/// Sends the command with its parameters to a provided DroneClient
/// </summary>
/// <param name="aDroneClient">Drone client to the the command to</param>
public void Send(DroneClient aDroneClient)
{
switch (Command)
{
case Type.Progress: aDroneClient.Progress(ProgressMode, roll: Roll, pitch: Pitch, yaw: Yaw, gaz: Gaz); break;
case Type.Takeoff: aDroneClient.Takeoff(); break;
case Type.Hover: aDroneClient.Hover(); break;
case Type.Land: aDroneClient.Land(); break;
case Type.Emergency: aDroneClient.Emergency(); break;
case Type.ResetEmergency: aDroneClient.ResetEmergency(); break;
case Type.FlatTrim: aDroneClient.FlatTrim(); break;
}
}
public Model()
{
PointPer = -1;
ControlFlag = false;
Polygons = new MyDefPoint[4];
PolygonCenter = new MyDefPoint();
Quadcopter = null;
QuadcopterCenter = new MyDefPoint();
QuadcopterTailCenter = new MyDefPoint();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.Start();
ThreadStart start3 = new ThreadStart(PlaneMotion);
_planeMotionThread = new Thread(start3);
_planeMotionThread.Start();
}
public static void InitializeDrone()
{
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
_droneClient.Start();
_droneClient.ResetEmergency();
_droneClient.FlatTrim();
_droneUnity = new ReceiveUdpModel();
}
public MainForm()
{
InitializeComponent();
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.NavigationDataAcquired += data => _navigationData = data;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
_playerForms = new List<PlayerForm>();
_videoPacketDecoderWorker.UnhandledException += UnhandledException;
}
public MainForm()
{
InitializeComponent();
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
string path = string.Format("flight_{0:yyyy-MM-dd-HH-mm}.ardrone", DateTime.Now);
_packetRecorderWorker = new PacketRecorderWorker(path);
_packetRecorderWorker.Start();
_droneClient = new DroneClient();
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.Active = true;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
}
public MainForm()
{
InitializeComponent();
uISettingsBindingSource.Add(UISettings.Default);
droneClient = new DroneClient();
droneClient.NavigationDataAcquired += data => navigationData = data;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.Start();
InitializeVideo();
LoadFontAwesome();
InitInput();
timerInput.Enabled = true;
timerStatusUpdate.Enabled = true;
}
public MainWindow()
{
InitializeComponent();
DataContext = this;
_selectedController = XboxController.RetrieveController(0);
_selectedController.StateChanged += _selectedController_StateChanged;
_droneClient = new DroneClient("192.168.1.1");
_droneClient.Start();
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.NavigationDataAcquired += ProcessNavigationData;
_droneClient.FlatTrim();
_timer = new System.Timers.Timer(50);
_timer.Elapsed += _timer_Elapsed;
_timer.Start();
XboxController.StartPolling();
}
public MainForm()
{
InitializeComponent();
Text += Environment.Is64BitProcess ? " [64-bit]" : " [32-bit]";
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
string path = string.Format("flight_{0:yyyy-MM-dd-HH-mm}.ardrone", DateTime.Now);
var stream = new FileStream(path, FileMode.OpenOrCreate);
_packetRecorderWorker = new PacketRecorder(stream);
_packetRecorderWorker.Start();
_droneClient = new DroneClient();
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.ConfigurationUpdated += OnConfigurationUpdated;
_droneClient.Active = true;
tmrStateUpdate.Enabled = true;
tmrVideoUpdate.Enabled = true;
}
private void OnButtonActivateClicked(object sender, EventArgs e)
{
if (IsIpAddress(textBoxHost.Text))
hostname = textBoxHost.Text;
droneClient = new DroneClient(hostname);
droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += data => navigationData = data;
droneClient.Start();
videoPacketDecoderWorker.Start();
buttonActivate.Enabled = false;
textBoxHost.Enabled = false;
buttonDeactivate.Enabled = true;
groupBoxControlPanel.Enabled = true;
pictureBoxVideo.Enabled = true;
buttonSwitchCamera.Enabled = true;
}
/// <summary>
/// Initializes a new instance of the MainWindow class.
/// </summary>
public MainWindow()
{
InitializeComponent();
// Speech synth Initialization
//TODO: Check synth initialize result
InitializeSynth();
// AR Drone Initialization
_videoPacketDecoderWorker = new VideoPacketDecoderWorker(AR.Drone.Video.PixelFormat.BGR24, true, OnVideoPacketDecoded);
_videoPacketDecoderWorker.Start();
string path = string.Format("flight_{0:yyyy-MM-dd-HH-mm}.ardrone", DateTime.Now);
var stream = new FileStream(path, FileMode.OpenOrCreate);
_packetRecorderWorker = new PacketRecorder(stream);
_packetRecorderWorker.Start();
_droneClient = new DroneClient();
_droneClient.NavigationPacketAcquired += OnNavigationPacketAcquired;
_droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
_droneClient.ConfigurationUpdated += OnConfigurationUpdated;
_droneClient.Active = true;
//tmrStateUpdate.Enabled = true;
//tmrVideoUpdate.Enabled = true;
}
/// <summary>
/// Use this for initialization
/// </summary>
void Start()
{
Debug.Log("Start DroneObserver");
// initialize data array
data = new byte[width*height*3];
cameraTexture = new Texture2D (width, height);
// Initialize drone
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.RGB24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient ("192.168.1.1");
//droneClient = new DroneClient ("127.0.0.1");
droneClient.UnhandledException += HandleUnhandledException;
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.NavigationDataAcquired += navData => navigationData = navData;
droneClient.FlatTrim ();
videoPacketDecoderWorker.UnhandledException += HandleUnhandledException;
droneClient.Start ();
Settings settings = new Settings ();
settings.Video.Codec = VideoCodecType.H264_720P;
droneClient.Send (settings);
droneClient.AckControlAndWaitForConfirmation ();
switchDroneCamera (AR.Drone.Client.Configuration.VideoChannelType.Horizontal);
isDroneConnected = droneClient.IsConnected;
if(!isDroneConnected){
Debug.LogError("Drone not Connected. Retry!!!");
}
if(isDroneConnected){
Debug.LogWarning("Drone Connected!!!");
}
// determine connection
wlanClient = new WlanClient();
}
public DroneCommunicator()
{
_client = new DroneClient("192.168.1.248");
_commandReceiver = new CommandReceiver();
_commandReceiver.CommandReceived += CommandReceiverOnCommandReceived;
}
protected override void OnCreate(Bundle bundle)
{
base.OnCreate(bundle);
InitializeLocationManager();
SetContentView(Resource.Layout.Main);
FindViewById<Button>(Resource.Id.MyButtonLand).Click += LandButtonClick;
FindViewById<Button>(Resource.Id.ButtonEmergency).Click += EmergencyButtonClicked;
FindViewById<Button>(Resource.Id.buttonReset).Click += (sender, args) => _client.ResetEmergency();
_checkBox = FindViewById<CheckBox>(Resource.Id.executeCommandsCheckBox);
_checkBox.CheckedChange += CheckBoxOnCheckedChange;
_logTextView = FindViewById<TextView>(Resource.Id.logTextView);
_dronStateTextView = FindViewById<TextView>(Resource.Id.droneStateTextView);
_websocketTextView = FindViewById<TextView>(Resource.Id.serviceStateTextView);
_client = new DroneClient("192.168.1.248");
_client.Start();
//_client.NavigationDataAcquired += ClientOnNavigationDataAcquired;
_receiver = new CommandReceiver();
_receiver.CommandReceived += ReceiverOnCommandReceived;
_receiver.WebSocketStateChanged += ReceiverOnWebSocketStateChanged;
_receiver.Start();
var droneConnectionChecker = new Thread(ConnectionCheckRunner) {Name = "Drone Checker"};
droneConnectionChecker.Start();
}
/// <summary>
/// Initializes the Autopilot object and associates it with provided DroneClient
/// </summary>
/// <param name="aDroneClient">DroneClient object which Autopilot will be controlling</param>
/// <remarks>Using this constructor will force DeafultObjective to be 'Hover'</remarks>
public Autopilot(DroneClient aDroneClient)
: this(aDroneClient, new AR.Drone.Avionics.Objectives.Hover(Expiration.Never))
{
/* Do Nothing */
}
public DroneController(DroneClient client)
{
_client = client;
}
public DroneController()
{
_client = new DroneClient("192.168.1.1");
}
/// <summary>
/// Initializes the Autopilot object and associates it with provided DroneClient
/// </summary>
/// <param name="aDroneClient">DroneClient object which Autopilot will be controlling</param>
/// <remarks>Using this constructor will force DeafultObjective to be 'Hover'</remarks>
public Autopilot(DroneClient aDroneClient) : this(aDroneClient, new Hover(Expiration.Never))
{
/* Do Nothing */
}
/// <summary>
/// Initializes the Autopilot object and associates it with provided DroneClient and sets DeafultObjective
/// </summary>
/// <param name="aDroneClient">DroneClient object which Autopilot will be controlling</param>
/// <param name="aDefaultObjective">DefaultObjective to execute when ObjectiveQeueue is depleted</param>
/// <remarks>Using this constructor will force DeafultObjective to be 'Hover'</remarks>
public Autopilot(DroneClient aDroneClient, Objective aDefaultObjective)
{
DroneClient = aDroneClient;
DefaultObjective = aDefaultObjective;
ObjectiveQueue = new ConcurrentQueue<Objective>();
ApparatusOutputQueue = new ConcurrentQueue<Apparatus.Output>();
BoundToClient = false;
}
