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();
}
static void Main(string[] args)
{
var droneClient = new DroneClient("192.168.1.1");
SleepAndPaint(droneClient);
droneClient.Start();
SleepAndPaint(droneClient);
droneClient.Takeoff();
SleepAndPaint(droneClient);
droneClient.Progress(FlightMode.Progressive, yaw: -0.05f);
System.Console.WriteLine("Yaw -0.05");
SleepAndPaint(droneClient);
droneClient.Hover();
SleepAndPaint(droneClient);
droneClient.Land();
SleepAndPaint(droneClient);
droneClient.Stop();
SleepAndPaint(droneClient);
System.Console.ReadLine();
droneClient.Dispose();
}
private void btn_link_Click(object sender, RoutedEventArgs e)
{
string host = tb_ip.Text;
if (host.Equals(""))
{
DroneClient drone = new DroneClient();
MainForm form = new MainForm(drone);
drone.Start();
_drones.Add(drone);
WindowInteropHelper helper = new WindowInteropHelper(this);
form.Show(new WindowWrapper(helper.Handle));
}
else
{
DroneClient drone = new DroneClient(host);
MainForm form = new MainForm(drone);
drone.Start();
_drones.Add(drone);
WindowInteropHelper helper = new WindowInteropHelper(this);
form.Show(new WindowWrapper(helper.Handle));
}
}
// 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();
}
private void StreamButton_Click(object sender, RoutedEventArgs e)
{
if (droneClient == null)
{
configDrone();
}
droneClient.Start();
}
void CommandConnect()
{
Debug("Connecting ...");
_droneClient.Start();
tmrVideoUpdate.Start();
tmrStatusUpdate.Start();
InitConfig();
}
/// <summary>
/// Activates the drone
/// </summary>
/// <returns>Boolean Value whether the command works properly</returns>
public bool Start()
{
try
{
_client.Start();
return(true);
}
catch (Exception)
{
return(false);
}
}
static void Main(string[] args)
{
DroneClient drone = new DroneClient();
drone.NavigationDataAcquired += HandleNavigationDataAcquired;
JoystickFlightController controller = new JoystickFlightController();
controller.Client = drone;
drone.Start();
drone.FlatTrim();
controller.Start();
}
public MainForm()
{
InitializeComponent();
// innitialize video packet decoder.
videoDecoder = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnFrameDecoded);
videoDecoder.UnhandledException += VideoDecoder_UnhandledException;
videoDecoder.Start();
// Initalize drone.
drone = new DroneClient();
drone.VideoPacketAcquired += OnVideoPacketAqcuired;
drone.Start();
drone.ResetEmergency();
drone.FlatTrim();
JoystickFlightController controller = new JoystickFlightController();
controller.Client = drone;
controller.Start();
/*
* // Initialize joystick.
* joystick = new JoystickDevice();
* joystick.InputReceived += Joystick_InputReceived;
* joystick.Initialize("/dev/input/js0");
*
* // Initialize height maintainer.
* heightMaintainer = new HeightMaintainer();
* heightMaintainer.TargetHeight = 0.25f; //meter
*
* // Initialize velocity maintainer.
* velocityMaintainer = new VelocityMaintainer();
* velocityMaintainer.TargetVelocity.Forward = -1.0f;
* velocityMaintainer.TargetVelocity.Left = 0.0f;
* velocityMaintainer.TargetVelocity.TurnLeft = 0.0f;
*
* // Initialize flight controller.
* controller = new CompositeFlightController();
* controller.Drone = drone;
* controller.FlightBehaviors.Add(velocityMaintainer);
* controller.FlightBehaviors.Add(heightMaintainer);
* controller.FlightBehaviors.Add(new JoystickBehavior(joystick));
* controller.ControlCycleStarting += () => joystick.ProcessEvents();
*
* controller.Start();
*/
videoTimer.Enabled = true;
}
private string execute(string command)
{
string actions = "";
switch (command)
{
case "Start":
_droneClient.Start();
actions += command + " ";
break;
}
return("Failed");
}
static void ConnectDrone()
{
Console.WriteLine("Connecting to drone... ");
drone = new DroneClient();
drone.Start();
Thread.Sleep(2000);
Console.WriteLine("Done connecting to drone...");
drone.ResetEmergency();
drone.FlatTrim();
if (args.Contains("--enable-video"))
{
StartVideo(drone);
}
}
public void Start()
{
_client.Start();
// _client.FlatTrim();
if (_client.IsActive == true)
{
Console.WriteLine("actived");
}
if (_client.IsAlive == true)
{
Console.WriteLine("alived");
}
if (_client.IsConnected == true)
{
Console.WriteLine("connected");
}
}
/// <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 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;
}
/// <summary>
/// This method will start the drone
/// </summary>
/// <param name="time"></param>
public void Start(int time = 1000)
{
Console.WriteLine("Start");
_droneClient.Start();
System.Threading.Thread.Sleep(time);
}
void btnActivate_Click(object sender, RoutedEventArgs e)
{
_droneClient.Start();
}
public void Start()
{
_client.Start();
_client.FlatTrim();
}
private void btnStart_Click(object sender, EventArgs e)
{
_droneClient.Start();
}
public void Start()
{
_client.Start();
_commandReceiver.Start();
}
public void Start()
{
droneClient.Start();
droneClient.Takeoff();
}
private void Activate_Click(object sender, RoutedEventArgs e)
{
droneClient.Start();
}
