public void runTLD()
{
Process TLDApp = new Process();
TLDApp.StartInfo.UseShellExecute = false;
TLDApp.StartInfo.RedirectStandardOutput = true;
TLDApp.StartInfo.FileName = Path.GetDirectoryName(Process.GetCurrentProcess().MainModule.FileName) + @"\OpenTLD\opentld.exe";
TLDApp.StartInfo.Arguments = "-s -n " + device;
TLDApp.Start();
string output;
string[] splitOutput;
while (!TLDApp.HasExited)
{
output = TLDApp.StandardOutput.ReadLine();
if (output == null)
{
continue;
}
splitOutput = output.Split(' ');
int tx1 = 0;
int ty1 = 0;
int tx2 = 0;
int ty2 = 0;
try
{
tx1 = Convert.ToInt32(splitOutput[1]);
ty1 = Convert.ToInt32(splitOutput[2]);
tx2 = tx1 + Convert.ToInt32(splitOutput[3]);
ty2 = ty1 + Convert.ToInt32(splitOutput[4]);
}
catch (Exception e)
{
continue;
}
MAVLink.mavlink_set_vision_target_box_t vision_position = new MAVLink.mavlink_set_vision_target_box_t();
vision_position.topLeftX = tx1;
vision_position.topLeftY = ty1;
vision_position.bottomRightX = tx2;
vision_position.bottomRightY = ty2;
MainV2.comPort.sendPacket(vision_position);
//80, 160, 480, 560
//80, 160, 340, 420
int xStep = 0;
int yStep = 0;
if (tx1 < 80)
{
xStep = 3;
}
else if (tx1 < 160)
{
xStep = 1;
}
else if (tx2 > 560)
{
xStep = -3;
}
else if (tx2 > 480)
{
xStep = -1;
}
if (ty1 < 60)
{
yStep = -3;
}
else if (ty1 < 120)
{
yStep = -1;
}
else if (ty2 > 420)
{
yStep = 3;
}
else if (ty2 > 360)
{
yStep = 1;
}
controller.setStep(xStep, yStep);
}
}