/// <summary>
/// Handles OnClick event for Start button.
/// Creates socket connection and opens ControllerView.
/// Initializes, modifies and handles events for all widgets.
/// Starts socket reader thread.
/// </summary>
private void OnStartController(object sender, EventArgs e)
{
// Create socket connection
while (mSocketConnection.IsConnectingFinished == false)
{
Java.Lang.Thread.Sleep(100);
}
if (mSocketConnection.IsConnected == false)
{
StartActivity(typeof(MainActivity));
return;
}
byte[] logInit = new byte[19];
logInit[0] = INIT_COMMUNICATION;
logInit[1] = (byte)(mLoggingActive == true ? 1 : 0);
logInit[2] = (byte)(mLogBatteryActive == true ? 1 : 0);
logInit[3] = (byte)(mLogRadarActive == true ? 1 : 0);
logInit[4] = (byte)(mLogCollisionStatusActive == true ? 1 : 0);
// For testing
logInit[5] = (byte)(mLogControlsDroneActive == true ? 1 : 0);
//
logInit[6] = (byte)(mLogDebug1Active == true ? 1 : 0);
logInit[7] = (byte)(mLogDebug2Active == true ? 1 : 0);
logInit[8] = (byte)(mLogDebug3Active == true ? 1 : 0);
logInit[9] = (byte)(mLogDebug4Active == true ? 1 : 0);
mSocketConnection.WriteLog(logInit);
// Start reading from Raspberry
mSocketConnection.StartListening();
// Read min and max values
mMinYaw = Convert.ToInt32(mEtMinYaw.Text);
mMaxYaw = Convert.ToInt32(mEtMaxYaw.Text);
mMinPitch = Convert.ToInt32(mEtMinPitch.Text);
mMaxPitch = Convert.ToInt32(mEtMaxPitch.Text);
mMinRoll = Convert.ToInt32(mEtMinRoll.Text);
mMaxRoll = Convert.ToInt32(mEtMaxRoll.Text);
// Read log data
mLogBatteryActive = mCbxBattery.Checked;
if (mLogBatteryActive == true)
{
mSocketConnection.DroneLogs.Add("Battery", new LogData("Battery", 1));
}
mLogRadarActive = mCbxRadarData.Checked;
if (mLogRadarActive == true)
{
mSocketConnection.DroneLogs.Add("Radar", new LogData("Radar", 1));
}
mLogCollisionStatusActive = mCbxCollisionStatus.Checked;
if (mLogCollisionStatusActive == true)
{
mSocketConnection.DroneLogs.Add("CollisionStatus", new LogData("CollisionStatus", 1));
}
mLogControlsMobileActive = mCbxControlsMobile.Checked;
// For testing
mLogControlsDroneActive = mCbxControlsDrone.Checked;
if (mLogControlsDroneActive == true)
{
mSocketConnection.DroneLogs.Add("ControlsDrone", new LogData("ControlsDrone", 1));
}
//
mLogDebug1Active = mCbxDebug1.Checked;
if (mLogDebug1Active == true)
{
mSocketConnection.DroneLogs.Add("Debug1", new LogData("Debug1", 1));
}
mLogDebug2Active = mCbxDebug2.Checked;
if (mLogDebug2Active == true)
{
mSocketConnection.DroneLogs.Add("Debug2", new LogData("Debug2", 1));
}
mLogDebug3Active = mCbxDebug3.Checked;
if (mLogDebug3Active == true)
{
mSocketConnection.DroneLogs.Add("Debug3", new LogData("Debug3", 1));
}
mLogDebug4Active = mCbxDebug4.Checked;
if (mLogDebug4Active == true)
{
mSocketConnection.DroneLogs.Add("Debug4", new LogData("Debug4", 1));
}
// Change to Controller with joysticks
SetContentView(Resource.Layout.ControllerLayout);
// Set values for controller settings
if (mPeerSettings.Any(kvp => kvp.Key == mSelectedBssid) == true)
{
ControllerView.Settings.TrimYaw = mPeerSettings[mSelectedBssid].TrimYaw;
ControllerView.Settings.TrimPitch = mPeerSettings[mSelectedBssid].TrimPitch;
ControllerView.Settings.TrimRoll = mPeerSettings[mSelectedBssid].TrimRoll;
ControllerView.Settings.LoggingActivated = mLoggingActive;
ControllerView.Settings.MinYaw = mMinYaw;
ControllerView.Settings.MaxYaw = mMaxYaw;
ControllerView.Settings.MinPitch = mMinPitch;
ControllerView.Settings.MaxPitch = mMaxPitch;
ControllerView.Settings.MinRoll = mMinRoll;
ControllerView.Settings.MaxRoll = mMaxRoll;
}
// Create font
var font = Typeface.CreateFromAsset(Assets, "SourceSansPro-Light.ttf");
// Initialize widgets of ControllerLayout
mControllerView = FindViewById <ControllerView>(Resource.Id.JoystickView);
mSbTrimBar = FindViewById <SeekBar>(Resource.Id.sbTrimbar);
mTvTrimValue = FindViewById <TextView>(Resource.Id.tvTrimValue);
mBtnAltitudeControl = FindViewById <Button>(Resource.Id.btnAltitudeControl);
mRbYawTrim = FindViewById <RadioButton>(Resource.Id.rbYawTrim);
mRbPitchTrim = FindViewById <RadioButton>(Resource.Id.rbPitchTrim);
mRbRollTrim = FindViewById <RadioButton>(Resource.Id.rbRollTrim);
mControllerView.SetSocketConnection(mSocketConnection);
// Set font to widgets
mTvTrimValue.Typeface = font;
mBtnAltitudeControl.Typeface = font;
mRbYawTrim.Typeface = font;
mRbPitchTrim.Typeface = font;
mRbRollTrim.Typeface = font;
mBtnAltitudeControl.Click += OnAltitudeControlClick;
mSbTrimBar.Progress = ControllerView.Settings.TrimYaw - mMinTrim;
mTvTrimValue.Text = ControllerView.Settings.TrimYaw.ToString();
// Change value of trim
mSbTrimBar.ProgressChanged += delegate
{
if (mRbYawTrim.Checked == true)
{
ControllerView.Settings.TrimYaw = mSbTrimBar.Progress + mMinTrim;
}
else if (mRbPitchTrim.Checked == true)
{
ControllerView.Settings.TrimPitch = mSbTrimBar.Progress + mMinTrim;
}
else
{
ControllerView.Settings.TrimRoll = mSbTrimBar.Progress + mMinTrim;
}
mTvTrimValue.Text = (mSbTrimBar.Progress + mMinTrim).ToString();
};
// Change seekbar to yaw trim
mRbYawTrim.Click += delegate
{
mTvTrimValue.Text = ControllerView.Settings.TrimYaw.ToString();
mSbTrimBar.Progress = ControllerView.Settings.TrimYaw - mMinTrim;
};
// Change seekbar to pitch trim
mRbPitchTrim.Click += delegate
{
mTvTrimValue.Text = ControllerView.Settings.TrimPitch.ToString();
mSbTrimBar.Progress = ControllerView.Settings.TrimPitch - mMinTrim;
};
// Change seekbar to roll trim
mRbRollTrim.Click += delegate
{
mTvTrimValue.Text = ControllerView.Settings.TrimRoll.ToString();
mSbTrimBar.Progress = ControllerView.Settings.TrimRoll - mMinTrim;
};
}
partial void OnStartMode1(UIButton sender)
{
ControllerView cv = new ControllerView();
this.View = cv;
}
