private DroneResponse SendCommandWaitResponse(string DroneCommand)
{
lock (commandQueue)
{
if (commandQueue.Count > 0)
{
return(null);
}
commandQueue.Enqueue(DroneCommand);
commanderSender.Send(DroneCommand);
eventHandler.CommandSent(DroneCommand, false);
}
lock (responseQueue)
{
Monitor.Wait(responseQueue, RESPONSE_TIMEOUT_MS);
}
DroneResponse response = null;
lock (responseQueue)
{
if (responseQueue.Count != 0)
{
response = responseQueue.Dequeue();
if (eventHandler != null)
{
eventHandler.ReceiveTelloResponse(response.Host, response.Port, DroneCommand, response.Response);
}
return(response);
}
}
return(null);
}
private string GetString(string QueryCommand, string DefaultValue = "")
{
DroneResponse response = SendCommandWaitResponse(QueryCommand);
if (response != null)
{
return(response.Response);
}
return(DefaultValue);
}
private int GetInt(string QueryCommand, int DefaultValue)
{
DroneResponse response = SendCommandWaitResponse(QueryCommand);
int value = DefaultValue;
if (response != null)
{
int.TryParse(response.Response, out value);
}
return(value);
}
public bool StreamOff()
{
DroneResponse resp = SendCommandWaitResponse(TelloCommand.StreamOff.GetCommand());
if (resp.Response == DroneResponseValue.OK)
{
stream_on = false;
return(true);
}
return(false);
}
public bool IncreaseSpeed(int By = 5)
{
int newSpeed = CurrentSpeed + By;
try
{
string command = TelloCommand.SetSpeed.GetCommand(newSpeed);
DroneResponse resp = SendCommandWaitResponse(command);
if (resp.Response == DroneResponseValue.OK)
{
speed = newSpeed;
return(true);
}
}
catch (CommandIntegerParamException e)
{}
return(false);
}