private void btnReadConfig_Click(object sender, EventArgs e)
{
Task <Settings> configurationTask = _droneClient.GetConfigurationTask();
configurationTask.ContinueWith(delegate(Task <Settings> task)
{
if (task.Exception != null)
{
Trace.TraceWarning("Get configuration task is faulted with exception: {0}", task.Exception.InnerException.Message);
return;
}
_settings = task.Result;
});
configurationTask.Start();
}
void InitConfig()
{
Task <Settings> configurationTask = _droneClient.GetConfigurationTask();
configurationTask.ContinueWith(delegate(Task <Settings> task)
{
if (task.Exception != null)
{
Trace.TraceWarning("Get configuration task is faulted with exception: {0}", task.Exception.InnerException.Message);
return;
}
_configuration = task.Result;
GetConfig();
});
configurationTask.Start();
}
/// <summary>
/// Requests the current configuration from the drone asynchronously.
/// Triggers OnSettingsReceived when completed
/// Settings/Results are loaded to the settings variale
/// </summary>
private void ReadDroneConfig()
{
// If the drone is not connected, droneClient will throw an exception
// although there is some exeption handling
if (droneClient.IsConnected)
{
Task <Settings> configurationTask = droneClient.GetConfigurationTask();
configurationTask.ContinueWith(delegate(Task <Settings> task)
{
if (task.Exception != null)
{
Trace.TraceWarning("Get configuration task is faulted with exception: {0}", task.Exception.InnerException.Message);
return;
}
settings = task.Result;
this.Invoke(new SettingsReceived(OnSettingsReceived));
});
configurationTask.Start();
}
}
public void Configure(DroneConfiguration droneConfiguration)
{
Task <Settings> configurationTask = droneClient.GetConfigurationTask();
configurationTask.ContinueWith(
delegate(Task <Settings> task)
{
if (task.Exception != null)
{
Trace.TraceWarning("Get configuration task is faulted with exception: {0}",
task.Exception.InnerException.Message);
return;
}
settings = task.Result;
});
configurationTask.Start();
var sendConfigTask = new Task(() =>
{
if (settings == null)
{
settings = new Settings();
}
if (string.IsNullOrEmpty(settings.Custom.SessionId) ||
settings.Custom.SessionId == "00000000")
{
// set new session, application and profile
droneClient.AckControlAndWaitForConfirmation(); // wait for the control confirmation
settings.Custom.SessionId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
settings.Custom.ProfileId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
settings.Custom.ApplicationId = Settings.NewId();
droneClient.Send(settings);
droneClient.AckControlAndWaitForConfirmation();
}
settings.General.NavdataDemo = false;
settings.General.NavdataOptions = NavdataOptions.All;
//settings.Video.BitrateCtrlMode = VideoBitrateControlMode.Dynamic;
settings.Video.Bitrate = 1000;
settings.Video.MaxBitrate = 2000;
settings.Leds.LedAnimation = new LedAnimation(LedAnimationType.BlinkGreenRed, 2.0f, 2);
settings.Control.FlightAnimation = new FlightAnimation(FlightAnimationType.Wave);
//start
settings.Userbox.Command = new UserboxCommand(UserboxCommandType.Start);
//stop
settings.Userbox.Command = new UserboxCommand(UserboxCommandType.Stop);
//send all changes in one pice
droneClient.Send(settings);
droneClient.FlatTrim(); // calibrates the drone on flat surface
});
sendConfigTask.Start();
}
