//Handle joystick axis events.
public override bool OnGenericMotionEvent(MotionEvent e)
{
InputDevice device = e.Device;
if (device != null && device.Id == current_device_id)
{
if (IsGamepad(device))
{
for (int i = 0; i < AxesMapping.size; i++)
{
axes[i] = GetCenteredAxis(e, device, AxesMapping.OrdinalValueAxis(i));
}
axes[4] = buttons[5];//boost button.
Tello.setAxis(axes);
TextView joystat = FindViewById <TextView>(Resource.Id.joystick_state);
//var dataStr = string.Join(" ", buttons);
//joystat.Text = string.Format("JOY {0: 0.00;-0.00} {1: 0.00;-0.00} {2: 0.00;-0.00} {3: 0.00;-0.00} {4: 0.00;-0.00} BTN "+ dataStr , axes[0], axes[1], axes[2], axes[3], axes[4]);
//controller_view.Invalidate();
return(true);
}
}
return(base.OnGenericMotionEvent(e));
}
public override bool OnKeyUp(Keycode keyCode, KeyEvent e)
{
InputDevice device = e.Device;
if (device != null && device.Id == current_device_id)
{
int index = ButtonMapping.OrdinalValue(keyCode);
if (index >= 0)
{
buttons[index] = 0;
if (index == 7)
{
Tello.takeOff();
}
if (index == 6)
{
Tello.land();
}
axes[4] = buttons[5];
Tello.setAxis(axes);
//controller_view.Invalidate();
}
return(true);
}
return(base.OnKeyUp(keyCode, e));
}
public override bool OnKeyDown(Keycode keyCode, KeyEvent e)
{
InputDevice device = e.Device;
if (device != null && device.Id == current_device_id)
{
if (IsGamepad(device))
{
int index = ButtonMapping.OrdinalValue(keyCode);
if (index >= 0)
{
buttons[index] = 1;
//controller_view.Invalidate();
axes[4] = buttons[5];
Tello.setAxis(axes);
}
return(true);
}
}
return(base.OnKeyDown(keyCode, e));
}
static void Main(string[] args)
{
//subscribe to Tello connection events
Tello.onConnection += (Tello.ConnectionState newState) =>
{
if (newState != Tello.ConnectionState.Connected)
{
}
if (newState == Tello.ConnectionState.Connected)
{
Tello.queryAttAngle();
Tello.setMaxHeight(50);
clearConsole();
}
printAt(0, 0, "Tello " + newState.ToString());
};
//Log file setup.
var logPath = "logs/";
System.IO.Directory.CreateDirectory(Path.Combine("../", logPath));
var logStartTime = DateTime.Now;
var logFilePath = Path.Combine("../", logPath + logStartTime.ToString("yyyy-dd-M--HH-mm-ss") + ".csv");
//write header for cols in log.
File.WriteAllText(logFilePath, "time," + Tello.state.getLogHeader());
//subscribe to Tello update events.
Tello.onUpdate += (Tello.FlyData newState) =>
{
//write update to log.
var elapsed = DateTime.Now - logStartTime;
File.AppendAllText(logFilePath, elapsed.ToString(@"mm\:ss\:ff\,") + newState.getLogLine());
//display state in console.
var outStr = newState.ToString();//ToString() = Formated state
printAt(0, 2, outStr);
};
//subscribe to Joystick update events. Called ~10x second.
PCJoystick.onUpdate += (SharpDX.DirectInput.JoystickState joyState) =>
{
var rx = ((float)joyState.RotationX / 0x8000) - 1;
var ry = (((float)joyState.RotationY / 0x8000) - 1);
var lx = ((float)joyState.X / 0x8000) - 1;
var ly = (((float)joyState.Y / 0x8000) - 1);
//var boost = joyState.Z
float[] axes = new float[] { lx, ly, rx, ry, 0 };
var outStr = string.Format("JOY {0: 0.00;-0.00} {1: 0.00;-0.00} {2: 0.00;-0.00} {3: 0.00;-0.00} {4: 0.00;-0.00}", axes[0], axes[1], axes[2], axes[3], axes[4]);
printAt(0, 22, outStr);
Tello.setAxis(axes);
};
PCJoystick.init();
//Connection to send raw video data to local udp port.
//To play: ffplay -probesize 32 -sync ext udp://127.0.0.1:7038
//To play with minimum latency:ffmpeg -i udp://127.0.0.1:7038 -f sdl "Tello"
var videoClient = UdpUser.ConnectTo("127.0.0.1", 7038);
//subscribe to Tello video data
Tello.onVideoData += (byte[] data) =>
{
try
{
videoClient.Send(data.Skip(2).ToArray());//Skip 2 byte header and send to ffplay.
//Console.WriteLine("Video size:" + data.Length);
}catch (Exception ex)
{
}
};
Tello.startConnecting();//Start trying to connect.
clearConsole();
var str = "";
while (str != "exit")
{
str = Console.ReadLine().ToLower();
if (str == "takeoff" && Tello.connected && !Tello.state.flying)
{
Tello.takeOff();
}
if (str == "land" && Tello.connected && Tello.state.flying)
{
Tello.land();
}
if (str == "cls")
{
Tello.setMaxHeight(9);
Tello.queryMaxHeight();
clearConsole();
}
}
}