public async void TakeOff(bool automated = true)
{
_RequestedState = RequestedState.TakeOff;
await Log.Instance.WriteLineAsync("DroneClient:TakeOff");
SendMessageToUI("The Drone is taking off");
}
public async void Land()
{
_RequestedState = RequestedState.Land;
await Log.Instance.WriteLineAsync("DroneClient:Land");
SendMessageToUI("The Drone is landing");
}
public void Takeoff()
{
if (_navigationData.State.HasFlag(NavigationState.Landed))
{
_requestedState = RequestedState.Fly;
}
}
internal static void RequestStateChange(ManagementObject virtualMachine, RequestedState requestedState)
{
using (ManagementBaseObject inputParameters = virtualMachine.GetMethodParameters("RequestStateChange"))
{
inputParameters["RequestedState"] = requestedState;
using (ManagementBaseObject outputParameters = virtualMachine.InvokeMethod("RequestStateChange", inputParameters, null))
ValidateOutput(outputParameters);
}
}
public void ChangeState(RequestedState requestedState)
{
ManagementBaseObject inParams = _managementObject.GetMethodParameters("RequestStateChange");
inParams["RequestedState"] = requestedState;
_managementObject.InvokeMethod("RequestStateChange",
inParams,
null);
}
public async Task <bool> ConnectAsync()
{
try
{
if (IsActive)
{
return(true);
}
SendMessageToUI("Starting Connection process");
await Log.Instance.WriteLineAsync("DroneClient:Connecting");
_RequestedState = RequestedState.Initialize;
_ConfigurationWorker.Start();
_NavDataWorker.Start();
//TODO revoir InitState
_CommandWorker.Start();
_WatchdogWorker.Start();
// We Check if the differents workers have been well initialized
int attempt = 0;
while (!IsActive && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt == 10)
{
return(false);
}
SendMessageToUI("All workers have been activated");
attempt = 0;
while (_RequestedState != RequestedState.None && attempt < 10)
{
await Task.Delay(100); attempt++;
}
if (attempt == 10)
{
Close();
DisposeOverride();
return(false);
}
SendMessageToUI("Connected with the Drone successfully");
InitConfiguration();
//SetIndoorConfiguration();
RequestConfiguration();
SendMessageToUI("Configuration sent to the Drone successfully");
return(true);
}
catch (Exception ex)
{
SendMessageToUI(ex.Message);
return(false);
}
}
private void OnNavigationPacketAcquired(NavigationPacket packet)
{
if (_navigationData.State == NavigationState.Unknown)
{
_requestedState = RequestedState.Initialize;
}
if (NavigationPacketAcquired != null)
{
NavigationPacketAcquired(packet);
}
UpdateNavigationData(packet);
}
public override async Task <int> Run()
{
try {
await YAPI.RegisterHub(HubURL);
YRelay relay;
if (Target.ToLower() == "any")
{
relay = YRelay.FirstRelay();
if (relay == null)
{
WriteLine("No module connected (check USB cable) ");
return(-1);
}
Target = await(await relay.get_module()).get_serialNumber();
}
WriteLine("using " + Target + ".relay" + Channel);
relay = YRelay.FindRelay(Target + ".relay" + Channel);
if (await relay.isOnline())
{
if (RequestedState.ToUpper() == "ON")
{
await relay.set_output(YRelay.OUTPUT_ON);
}
else
{
await relay.set_output(YRelay.OUTPUT_OFF);
}
}
else
{
WriteLine("Module not connected (check identification and USB cable)");
}
} catch (YAPI_Exception ex) {
WriteLine("error: " + ex.Message);
}
YAPI.FreeAPI();
return(0);
}
public async void ResetEmergency()
{
_RequestedState = RequestedState.ResetEmergency;
await Log.Instance.WriteLineAsync("DroneClient:ResetEmergency");
}
public void Hover()
{
//No command means hovering
_RequestedState = RequestedState.None;
}
public void Land()
{
_requestedState = RequestedState.Land;
}
public void ResetEmergency()
{
_requestedState = RequestedState.ResetEmergency;
}
private void ProcessRequestedState()
{
switch (_requestedState)
{
case RequestedState.None:
return;
case RequestedState.Initialize:
ATCommand cmdNavdataDemo = _configuration.General.NavdataDemo.Set(false).ToCommand();
_commandQueue.Enqueue(cmdNavdataDemo);
_commandQueue.Enqueue(new ControlCommand(ControlMode.NoControlMode));
_requestedState = RequestedState.GetConfiguration;
return;
case RequestedState.GetConfiguration:
_configurationAcquisitionWorker.Start();
if (_navigationData.State.HasFlag(NavigationState.Command))
{
_commandQueue.Enqueue(new ControlCommand(ControlMode.AckControlMode));
}
else
{
_commandQueue.Enqueue(new ControlCommand(ControlMode.CfgGetControlMode));
_requestedState = RequestedState.None;
}
break;
case RequestedState.Emergency:
if (_navigationData.State.HasFlag(NavigationState.Flying))
{
_commandQueue.Enqueue(new RefCommand(RefMode.Emergency));
}
else
{
_requestedState = RequestedState.None;
}
break;
case RequestedState.ResetEmergency:
_commandQueue.Enqueue(new RefCommand(RefMode.Emergency));
_requestedState = RequestedState.None;
break;
case RequestedState.Land:
if (_navigationData.State.HasFlag(NavigationState.Flying) &&
_navigationData.State.HasFlag(NavigationState.Landing) == false)
{
_commandQueue.Enqueue(new RefCommand(RefMode.Land));
}
else
{
_requestedState = RequestedState.None;
}
break;
case RequestedState.Fly:
if (_navigationData.State.HasFlag(NavigationState.Landed) &&
_navigationData.State.HasFlag(NavigationState.Takeoff) == false &&
_navigationData.State.HasFlag(NavigationState.Emergency) == false &&
_navigationData.Battery.Low == false)
{
_commandQueue.Enqueue(new RefCommand(RefMode.Takeoff));
}
else
{
_requestedState = RequestedState.None;
}
break;
default:
throw new ArgumentOutOfRangeException();
}
}
public async void TakeOff(bool automated = true)
{
_RequestedState = RequestedState.TakeOff;
await Log.Instance.WriteLineAsync("DroneClient:TakeOff");
SendMessageToUI("The Drone is taking off");
}
public void Emergency()
{
_requestedState = RequestedState.Emergency;
}
private void ProcessRequestedState()
{
switch (_requestedState)
{
case RequestedState.None:
return;
case RequestedState.Initialize:
ATCommand cmdNavdataDemo = _configuration.General.NavdataDemo.Set(false).ToCommand();
_commandQueue.Enqueue(cmdNavdataDemo);
_commandQueue.Enqueue(new ControlCommand(ControlMode.NoControlMode));
_requestedState = RequestedState.GetConfiguration;
return;
case RequestedState.GetConfiguration:
_configurationAcquisitionWorker.Start();
if (_navigationData.State.HasFlag(NavigationState.Command))
{
_commandQueue.Enqueue(new ControlCommand(ControlMode.AckControlMode));
}
else
{
_commandQueue.Enqueue(new ControlCommand(ControlMode.CfgGetControlMode));
_requestedState = RequestedState.None;
}
break;
case RequestedState.Emergency:
if (_navigationData.State.HasFlag(NavigationState.Flying))
_commandQueue.Enqueue(new RefCommand(RefMode.Emergency));
else
_requestedState = RequestedState.None;
break;
case RequestedState.ResetEmergency:
_commandQueue.Enqueue(new RefCommand(RefMode.Emergency));
_requestedState = RequestedState.None;
break;
case RequestedState.Land:
if (_navigationData.State.HasFlag(NavigationState.Flying) &&
_navigationData.State.HasFlag(NavigationState.Landing) == false)
{
_commandQueue.Enqueue(new RefCommand(RefMode.Land));
}
else
_requestedState = RequestedState.None;
break;
case RequestedState.Fly:
if (_navigationData.State.HasFlag(NavigationState.Landed) &&
_navigationData.State.HasFlag(NavigationState.Takeoff) == false &&
_navigationData.State.HasFlag(NavigationState.Emergency) == false &&
_navigationData.Battery.Low == false)
{
_commandQueue.Enqueue(new RefCommand(RefMode.Takeoff));
}
else
_requestedState = RequestedState.None;
break;
default:
throw new ArgumentOutOfRangeException();
}
}
public async Task<bool> ConnectAsync()
{
try
{
if (IsActive)
return true;
SendMessageToUI("Starting Connection process");
_RequestedState = RequestedState.Initialize;
_ConfigurationWorker.Start();
_NavDataWorker.Start();
//TODO revoir InitState
_CommandWorker.Start();
_WatchdogWorker.Start();
// We Check if the differents workers have been well initialized
int attempt = 0;
while (!IsActive && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt == 10)
return false;
SendMessageToUI("All workers have been activated");
attempt = 0;
while (_RequestedState != RequestedState.None && attempt < 10) { await Task.Delay(100); attempt++; }
if (attempt == 10)
{
Close();
DisposeOverride();
return false;
}
SendMessageToUI("Connected with the Drone successfully");
InitConfiguration();
SetIndoorConfiguration();
RequestConfiguration();
SendMessageToUI("Configuration sent to the Drone successfully");
return true;
}
catch (Exception ex)
{
SendMessageToUI(ex.Message);
return false;
}
}
public void Land()
{
_RequestedState = RequestedState.Land;
SendMessageToUI("The Drone is landing");
}
public async void RequestConfiguration()
{
_RequestedState = RequestedState.GetConfiguration;
await Log.Instance.WriteLineAsync("DroneClient:RequestConfiguration");
}
public async void ResetEmergency()
{
_RequestedState = RequestedState.ResetEmergency;
await Log.Instance.WriteLineAsync("DroneClient:ResetEmergency");
}
public async Task <bool> ConnectAsync()
{
bool isConnected = false;
try
{
if (IsActive)
{
return(true);
}
else
{
//We close the workers previously started.
Close();
}
SendMessageToUI("Starting Connection process");
await Log.Instance.WriteLineAsync("DroneClient:Connecting");
_RequestedState = RequestedState.Initialize;
_ConfigurationWorker.Start();
_NavDataWorker.Start();
_CommandWorker.Start();
_WatchdogWorker.Start();
// We Check if the differents workers have been well initialized
int attempt = 0;
while (!IsActive && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt < 10)
{
SendMessageToUI("All workers have been activated");
attempt = 0;
// We Check if the AR.Drone is well initialized
while (_RequestedState != RequestedState.None && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt < 10)
{
SendMessageToUI("Connected with the Drone successfully");
await InitMultiConfiguration();
SetDefaultConfiguration();
RequestConfiguration();
SendMessageToUI("Configuration sent to the Drone successfully");
isConnected = true;
}
}
}
catch (Exception ex)
{
SendMessageToUI(ex.Message);
return(false);
}
if (!isConnected)
{
Close();
DisposeOverride();
}
return(isConnected);
}
public async void RequestConfiguration()
{
_RequestedState = RequestedState.GetConfiguration;
await Log.Instance.WriteLineAsync("DroneClient:RequestConfiguration");
}
public async void Land()
{
_RequestedState = RequestedState.Land;
await Log.Instance.WriteLineAsync("DroneClient:Land");
SendMessageToUI("The Drone is landing");
}
public void ResetEmergency()
{
_requestedState = RequestedState.ResetEmergency;
}
public void RequestConfiguration()
{
_requestedState = RequestedState.GetConfiguration;
}
public async void Hover()
{
//No command means hovering
_RequestedState = RequestedState.None;
await Log.Instance.WriteLineAsync("DroneClient:Hover");
}
public void Emergency()
{
_requestedState = RequestedState.Emergency;
}
public void Takeoff()
{
if (_navigationData.State.HasFlag(NavigationState.Landed))
_requestedState = RequestedState.Fly;
}
public void RequestConfiguration()
{
_requestedState = RequestedState.GetConfiguration;
}
private void OnNavigationPacketAcquired(NavigationPacket packet)
{
if (_navigationData.State == NavigationState.Unknown)
_requestedState = RequestedState.Initialize;
if (NavigationPacketAcquired != null)
NavigationPacketAcquired(packet);
UpdateNavigationData(packet);
}
public async void Hover()
{
//No command means hovering
_RequestedState = RequestedState.None;
await Log.Instance.WriteLineAsync("DroneClient:Hover");
}
public async Task<bool> ConnectAsync()
{
bool isConnected = false;
try
{
if (IsActive)
return true;
else
//We close the workers previously started.
Close();
SendMessageToUI("Starting Connection process");
await Log.Instance.WriteLineAsync("DroneClient:Connecting");
_RequestedState = RequestedState.Initialize;
_ConfigurationWorker.Start();
_NavDataWorker.Start();
_CommandWorker.Start();
_WatchdogWorker.Start();
// We Check if the differents workers have been well initialized
int attempt = 0;
while (!IsActive && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt < 10)
{
SendMessageToUI("All workers have been activated");
attempt = 0;
// We Check if the AR.Drone is well initialized
while (_RequestedState != RequestedState.None && attempt < 10)
{
await Task.Delay(100);
attempt++;
}
if (attempt < 10)
{
SendMessageToUI("Connected with the Drone successfully");
await InitMultiConfiguration();
SetDefaultConfiguration();
RequestConfiguration();
SendMessageToUI("Configuration sent to the Drone successfully");
isConnected = true;
}
}
}
catch (Exception ex)
{
SendMessageToUI(ex.Message);
return false;
}
if (!isConnected)
{
Close();
DisposeOverride();
}
return isConnected;
}
public void Land()
{
_requestedState = RequestedState.Land;
}
public void TakeOff(bool automated = true)
{
_RequestedState = RequestedState.TakeOff;
SendMessageToUI("The Drone is taking off");
}
