private async void Upload_Mission(object sender, RoutedEventArgs value)
{
//DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).GetLoadedMission();
SDKError err = await DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).UploadMission();
Debug.WriteLine("Upload mission to aircraft : " + err.ToString());
UploadMissionError.Text = "Upload mission to aircraft : " + err.ToString();
}
private async void Load_Mission(object sender, RoutedEventArgs value)
{
var state = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).GetCurrentState();
WaypointMissionState.Text = state.ToString();
SDKError err = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).LoadMission(WaypointMission);
//var WaypointMission2 = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).GetLoadedMission();
//else err = SDKError.MISSION_WAYPOINT_NULL_MISSION;
Debug.WriteLine("SDK load mission : " + err.ToString());
LoadMissionError.Text = "SDK load mission : " + err.ToString();
}
/// <summary>
/// Developer should change the work mode to transcode or playback in order to enhance download speed
/// </summary>
private async void Mode()
{
var current = await cameraHandler.GetCameraWorkModeAsync();
var currMode = current.value?.value;
if (currMode != CameraWorkMode.PLAYBACK && currMode != CameraWorkMode.TRANSCODE)
{
var msg = new CameraWorkModeMsg
{
value = CameraWorkMode.TRANSCODE
};
SDKError err = await cameraHandler.SetCameraWorkModeAsync(msg);
System.Diagnostics.Debug.WriteLine("Mode {0})", err.ToString());
}
else
{
var msg = new CameraWorkModeMsg
{
value = CameraWorkMode.SHOOT_PHOTO
};
SDKError err = await cameraHandler.SetCameraWorkModeAsync(msg);
System.Diagnostics.Debug.WriteLine("Mode {0})", err.ToString());
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
//register the application to the DJI Windows SDK
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
//The product connection state will be updated when it changes here.
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += async delegate(object sender, ProductTypeMsg? value)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, async() =>
{
if (value != null && value?.value != ProductType.UNRECOGNIZED)
{
System.Diagnostics.Debug.WriteLine("The Aircraft is connected now.");
IsConnected.Text = "The Aircraft is connected now.";
this.AirCraftConnected = true;
}
else
{
System.Diagnostics.Debug.WriteLine("The Aircraft is disconnected now.");
IsConnected.Text = "The Aircraft is disconnected now.";
this.AirCraftConnected = false;
}
});
};
}
else
{
System.Diagnostics.Debug.WriteLine("Register SDK failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
if (errorCode == SDKError.NO_ERROR)
{
if (_componentMgr == null)
{
this._componentMgr = DJISDKManager.Instance.ComponentManager;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).VelocityChanged += DJIDrone_VelocityChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AttitudeChanged += DJIDrone_AttitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AltitudeChanged += DJIDrone_AltitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AircraftLocationChanged += DJIDrone_AircraftLocationChanged;
DJISDKManager.Instance.ComponentManager.GetBatteryHandler(0, 0).VoltageChanged += DJIDrone_VoltageChanged;
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += DJIDrone_ProductTypeChanged;
}
if (_mgr.Active == null)
{
_mgr.SetActive(new Core.Models.ConnectedUas(this, new DJITransport(this)));
}
Debug.WriteLine("Product Registered");
}
else
{
Debug.WriteLine(errorCode.ToString());
}
}
//Callback of SDKRegistrationEvent
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
//Must in UI thread
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, async() =>
{
//Raw data and decoded data listener
if (videoParser == null)
{
videoParser = new DJIVideoParser.Parser();
videoParser.Initialize(delegate(byte[] data)
{
//Note: This function must be called because we need DJI Windows SDK to help us to parse frame data.
return(DJISDKManager.Instance.VideoFeeder.ParseAssitantDecodingInfo(0, data));
});
//Set the swapChainPanel to display and set the decoded data callback.
videoParser.SetSurfaceAndVideoCallback(0, 0, swapChainPanel, ReceiveDecodedData);
DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0).VideoDataUpdated += OnVideoPush;
}
//get the camera type and observe the CameraTypeChanged event.
DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0).CameraTypeChanged += OnCameraTypeChanged;
var type = await DJISDKManager.Instance.ComponentManager.GetCameraHandler(0, 0).GetCameraTypeAsync();
OnCameraTypeChanged(this, type.value);
});
}
else
{
System.Diagnostics.Debug.WriteLine("SDK register failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
private async void StartReturnToHome()
{
SDKError err = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).StartGoHomeAsync();
Debug.WriteLine("RTH err : " + err.ToString());
UI_output(rth_status, "RTH err : " + err.ToString());
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GoHomeStateChanged += Check_RTHsequence;
var RTHstate = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GetGoHomeStateAsync();
Debug.WriteLine("RTH sequence : " + RTHstate.value?.value.ToString());
if (RTHstate.value?.value == FCGoHomeState.COMPLETED)
{
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AltitudeChanged += RTH_Landing;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GoHomeStateChanged -= Check_RTHsequence;
}
}
private async void StartTakeOff()
{
SDKError err = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).StartTakeoffAsync();
Debug.WriteLine("Takeoff err : " + err.ToString());
UI_output(call_status, "Takeoff err : " + err.ToString());
/*
* if (err == SDKError.NO_ERROR || err == SDKError.REQUEST_TIMEOUT)
* {
* DJISDKManager.Instance.VirtualRemoteController.UpdateJoystickValue(1, 0, 0, 0);
* Thread.Sleep(5000);
* DJISDKManager.Instance.VirtualRemoteController.UpdateJoystickValue(0, 0, 1, 0);
* Thread.Sleep(2500);
* DJISDKManager.Instance.VirtualRemoteController.UpdateJoystickValue(0, 0, 0, 0);
* }*/
}
private async void UserAccountManager_UserAccountStateChanged(UserAccountState state, SDKError error)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
accountState = state;
operationResTextBlock.Text = error.ToString();
});
}
public async Task <SDKError> UploadMission()
{
//UploadMission
SDKError uploadError = await DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).UploadMission();
System.Diagnostics.Debug.WriteLine("UPLOAD MISSION: " + uploadError.ToString());
return(uploadError);
}
public async Task <SDKError> StartMission()
{
//6. StartMission
SDKError errStartMission = await DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).StartMission();
System.Diagnostics.Debug.WriteLine("START MISSION: " + errStartMission.ToString());
return(errStartMission);
}
public async Task <SDKError> RotateGimbalByAngle(double pitch, double roll, double yaw, double duration)
{
SDKError errRotateGimbalByAngle = await DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).RotateByAngleAsync(new GimbalAngleRotation()
{
pitch = pitch, roll = roll, yaw = yaw, duration = duration
});
System.Diagnostics.Debug.WriteLine(String.Format("Rotate by angle: {0}", errRotateGimbalByAngle.ToString()));
return(errRotateGimbalByAngle);
}
private void Load_Mission(object sender, RoutedEventArgs e)
{
var state = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).GetCurrentState();
Debug.WriteLine(state.ToString());
//WaypointMissionState.Text = state.ToString();
SDKError err = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).LoadMission(WaypointMission);
Debug.WriteLine("SDK load mission : " + err.ToString());
//LoadMissionError.Text = "SDK load mission : " + err.ToString();
}
private void SubscribeEvents()
{
_joinToken = EventAggregatorManager.Instance.EventAggregator.GetEvent <JoinMeetingEvent>().Subscribe((argument) =>
{
if (string.IsNullOrEmpty(MeetingNumber))
{
JoinError = "请输入课堂号！";
return;
}
ulong uint_meeting_number;
if (ulong.TryParse(MeetingNumber, out uint_meeting_number))
{
SDKError joinError = CZoomSDKeDotNetWrap.Instance.GetMeetingServiceWrap().Join(new JoinParam()
{
userType = SDKUserType.SDK_UT_APIUSER,
apiuserJoin = new JoinParam4APIUser()
{
userName = "******",
meetingNumber = uint_meeting_number,
psw = string.Empty,
hDirectShareAppWnd = new HWNDDotNet()
{
value = 0
},
isAudioOff = false,
isDirectShareDesktop = false,
isVideoOff = false,
participantId = string.Empty,
toke4enfrocelogin = string.Empty,
webinarToken = string.Empty,
}
});
if (joinError == SDKError.SDKERR_SUCCESS)
{
MeetingView meetingView = new MeetingView();
meetingView.Show();
}
else
{
MessageBox.Show(joinError.ToString());
}
}
else
{
JoinError = "请输入有效的课堂号！";
}
}, Prism.Events.ThreadOption.PublisherThread, true, filter => { return(filter.Target == Target.JoinMeetingViewModel); });
}
//Callback of SDKRegistrationEvent
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
System.Diagnostics.Debug.WriteLine("Register app successfully.");
setup();
}
else
{
System.Diagnostics.Debug.WriteLine("SDK register failed, the error is: ");
System.Diagnostics.Debug.WriteLine(resultCode.ToString());
}
}
public SDKError LoadMission(String json_mision)
{
JArray points = JArray.Parse(json_mision);
int waypointCount = points.Count;
double maxFlightSpeed = 15; // meters per second TODO
double autoFlightSpeed = 10; // meters per second TODO
int missionID = 0; //TODO
List <Waypoint> waypoints = new List <Waypoint>(waypointCount);
foreach (JObject point in points)
{
JObject coord = (JObject)point.SelectToken("coord");
JArray coordinates = (JArray)coord.SelectToken("coordinates");
double latitude = (double)coordinates.First[0];
double longitude = (double)coordinates.First[1];
double gimbalPitch = (double)point.SelectToken("angulo");
double speed = (double)point.SelectToken("velocidad"); // meters per second
double altitude = (double)point.SelectToken("altura");
int stayTime = (int)point.SelectToken("tiempo");
int rotation = (int)point.SelectToken("rotacion");
waypoints.Add(InitWaypoint(latitude, longitude, altitude, gimbalPitch, speed, stayTime, rotation));
System.Diagnostics.Debug.WriteLine("lat {0}, lng {1})", latitude, longitude);
}
WaypointMission mission = new WaypointMission()
{
waypointCount = points.Count,
maxFlightSpeed = maxFlightSpeed,
autoFlightSpeed = autoFlightSpeed,
finishedAction = WaypointMissionFinishedAction.GO_HOME,
headingMode = WaypointMissionHeadingMode.AUTO,
flightPathMode = WaypointMissionFlightPathMode.NORMAL,
gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY,
exitMissionOnRCSignalLostEnabled = false,
gimbalPitchRotationEnabled = true,
repeatTimes = 1,
missionID = missionID,
waypoints = waypoints
};
//LoadMission
SDKError loadError = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).LoadMission(mission);
System.Diagnostics.Debug.WriteLine("LOAD MISSION: " + loadError.ToString());
return(loadError);
}
private void Connection_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
//System.Diagnostics.Debug.WriteLine("Register app successfully.");
//The product connection state will be updated when it changes here.
//DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += async delegate (object sender, ProductTypeMsg? value)
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += Connection_isProductTypeChangedEvent;
}
else
{
isRegisterErrorOccurredEvent("Register SDK failed, the error is: " + resultCode.ToString());
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
if (state == SDKRegistrationState.Succeeded)
{
Debug.WriteLine("Activated.");
}
else
{
Debug.WriteLine("Not Activated.");
}
if (resultCode == SDKError.NO_ERROR)
{
Debug.WriteLine("Register success.");
activateStateTextBlock.Text = "Register Success";
}
else
{
Debug.WriteLine(resultCode.ToString());
activateStateTextBlock.Text = resultCode.ToString();
}
});
}
private void SDKAuth()
{
SDKError err = SdkWrap.Instacne.SDKAuth(new AuthParam()
{
//appKey = "miUWGGznzyA9NvGE0mWaHxqH5K62jbQGf9Vi",
//appSecret = "ktwJENTTfWGOlBOyvCOc81x5Ax4DFCU2lhCO",
appKey = "p3TojubkBYyntp8m4rVevr0yYmH1HVW9yPiR",
appSecret = "JLuhz1VkcWGVSUESJj19biBi7NZcbVWENRXe",
});
if (err != SDKError.SDKERR_SUCCESS)
{
Logging = false;
Err = err.ToString();
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
if (resultCode == SDKError.NO_ERROR)
{
Debug.WriteLine("Register app successfully.");
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += Get_Aircraft;
DJISDKManager.Instance.ComponentManager.GetBatteryHandler(0, 0).ChargeRemainingInPercentChanged += Get_Battery;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AltitudeChanged += Get_Altitude;
//The product connection state will be updated when it changes here.
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += async delegate(object sender, ProductTypeMsg? value)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
if (value != null && value?.value != ProductType.UNRECOGNIZED)
{
Debug.WriteLine("The Aircraft is connected now.");
//You can load/display your pages according to the aircraft connection state here.
}
else
{
Debug.WriteLine("The Aircraft is disconnected now.");
//You can hide your pages according to the aircraft connection state here, or show the connection tips to the users.
}
});
};
//If you want to get the latest product connection state manually, you can use the following code
var productType = (await DJISDKManager.Instance.ComponentManager.GetProductHandler(0).GetProductTypeAsync()).value;
if (productType != null && productType?.value != ProductType.UNRECOGNIZED)
{
Debug.WriteLine("The Aircraft is connected now.");
//You can load/display your pages according to the aircraft connection state here.
}
}
else
{
Debug.WriteLine("Register SDK failed, the error is: ");
Debug.WriteLine(resultCode.ToString());
}
}
private void Login()
{
LoginParam loginParam = new LoginParam()
{
loginType = LoginType.LoginType_Email,
emailLogin = new LoginParam4Email()
{
bRememberMe = RememberPwd,
password = Pwd,
userName = UserName,
}
};
SDKError error = SdkWrap.Instacne.Login(loginParam);
if (error != SDKError.SDKERR_SUCCESS)
{
Logging = false;
Err = error.ToString();
}
}
private void Instance_SDKRegistrationStateChanged(SDKRegistrationState state, SDKError errorCode)
{
if (errorCode == SDKError.NO_ERROR)
{
if (_componentMgr == null)
{
this._componentMgr = DJISDKManager.Instance.ComponentManager;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).VelocityChanged += DJIDrone_VelocityChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AreMotorsOnChanged += DJIDrone_AreMotorsOnChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).CompassHasErrorChanged += DJIDrone_CompassHasErrorChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).FlightTimeInSecondsChanged += DJIDrone_FlightTimeInSecondsChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).IsLowBatteryWarningChanged += DJIDrone_IsLowBatteryWarningChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AttitudeChanged += DJIDrone_AttitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).IsSeriousLowBatteryWarningChanged += DJIDrone_IsSeriousLowBatteryWarningChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AttitudeChanged += DJIDrone_AttitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).IsFlyingChanged += DJIDrone_IsFlyingChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AltitudeChanged += DJIDrone_AltitudeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).AircraftLocationChanged += DJIDrone_AircraftLocationChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).SatelliteCountChanged += DJIDrone_SatelliteCountChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GPSSignalLevelChanged += DJIDrone_GPSSignalLevelChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).RemainingFlightTimeChanged += DJIDrone_RemainingFlightTimeChanged;
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).IsLandingConfirmationNeededChanged += DJIDrone_IsLandingConfirmationNeededChanged;
DJISDKManager.Instance.ComponentManager.GetFlightAssistantHandler(0, 0).IsAscentLimitedByObstacleChanged += DJIDrone_IsAscentLimitedByObstacleChanged;
DJISDKManager.Instance.ComponentManager.GetFlightAssistantHandler(0, 0).VissionDetectionStateChanged += DJIDrone_VissionDetectionStateChanged;
DJISDKManager.Instance.ComponentManager.GetBatteryHandler(0, 0).VoltageChanged += DJIDrone_VoltageChanged;
DJISDKManager.Instance.ComponentManager.GetBatteryHandler(0, 0).ChargeRemainingInPercentChanged += DJIDrone_ChargeRemainingInPercentChanged;
DJISDKManager.Instance.ComponentManager.GetProductHandler(0).ProductTypeChanged += DJIDrone_ProductTypeChanged;
}
}
else
{
Debug.WriteLine("REG: " + errorCode.ToString());
}
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
activateStateTextBlock.Text = state == SDKRegistrationState.Succeeded ? "Activated." : "Not Activated.";
activationInformation.Text = resultCode == SDKError.NO_ERROR ? "Register success" : resultCode.ToString();
});
}
private async void Instance_SDKRegistrationEvent(SDKRegistrationState state, SDKError resultCode)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
Debug.WriteLine(state == SDKRegistrationState.Succeeded ? "Activated." : "Not Activated.");
Debug.WriteLine(resultCode == SDKError.NO_ERROR ? "Register success" : resultCode.ToString());
});
}
private void InitData()
{
JoinCommand = new DelegateCommand <CourseModel>((course) =>
{
ulong uint_meeting_number;
if (!ulong.TryParse(course.MeetingNumber, out uint_meeting_number))
{
MessageBox.Show("无效的课堂号！");
return;
}
;
if (course.HostId == App.UserModel.UserName)
{
CZoomSDKeDotNetWrap.Instance.GetAuthServiceWrap().Add_CB_onLoginRet((loginStatus, accountInfo) =>
{
switch (loginStatus)
{
case LOGINSTATUS.LOGIN_IDLE:
break;
case LOGINSTATUS.LOGIN_PROCESSING:
break;
case LOGINSTATUS.LOGIN_SUCCESS:
SDKError joinError = CZoomSDKeDotNetWrap.Instance.GetMeetingServiceWrap().Join(new JoinParam()
{
userType = SDKUserType.SDK_UT_NORMALUSER,
normaluserJoin = new JoinParam4NormalUser()
{
hDirectShareAppWnd = new HWNDDotNet()
{
value = 0
},
isAudioOff = false,
isDirectShareDesktop = false,
isVideoOff = false,
meetingNumber = uint_meeting_number,
participantId = string.Empty,
psw = string.Empty,
userName = "******",
webinarToken = string.Empty,
}
});
if (joinError == SDKError.SDKERR_SUCCESS)
{
MeetingView meetingView = new MeetingView();
meetingView.Show();
}
else
{
MessageBox.Show(joinError.ToString());
}
break;
case LOGINSTATUS.LOGIN_FAILED:
break;
default:
break;
}
});
SDKError loginError = CZoomSDKeDotNetWrap.Instance.GetAuthServiceWrap().Login(new LoginParam()
{
loginType = LoginType.LoginType_Email,
emailLogin = new LoginParam4Email()
{
bRememberMe = true,
password = "******",
userName = course.HostId,
}
});
}
else
{
SDKError joinError = CZoomSDKeDotNetWrap.Instance.GetMeetingServiceWrap().Join(new JoinParam()
{
userType = SDKUserType.SDK_UT_APIUSER,
apiuserJoin = new JoinParam4APIUser()
{
userName = "******",
meetingNumber = uint_meeting_number,
psw = string.Empty,
hDirectShareAppWnd = new HWNDDotNet()
{
value = 0
},
isAudioOff = false,
isDirectShareDesktop = false,
isVideoOff = false,
participantId = string.Empty,
toke4enfrocelogin = string.Empty,
webinarToken = string.Empty,
}
});
if (joinError == SDKError.SDKERR_SUCCESS)
{
MeetingView meetingView = new MeetingView();
meetingView.Show();
}
else
{
MessageBox.Show(joinError.ToString());
}
}
});
CourseList = new ObservableCollection <CourseModel>();
CourseList.Add(new CourseModel()
{
Duration = "8:00 - 9:00",
Name = "语文",
TeacherName = "马云",
MeetingNumber = "286683782",
HostId = "*****@*****.**",
JoinCommand = JoinCommand,
});
CourseList.Add(new CourseModel()
{
Duration = "11:00 - 12:00",
Name = "数学",
TeacherName = "刘强东",
MeetingNumber = "286683782",
HostId = "*****@*****.**",
JoinCommand = JoinCommand,
});
CourseList.Add(new CourseModel()
{
Duration = "14:00 - 15:00",
Name = "生物",
TeacherName = "李海波",
MeetingNumber = "286683782",
HostId = "*****@*****.**",
JoinCommand = JoinCommand,
});
}
private void SubscribeEvents()
{
_cardSelectedToken = EventAggregatorManager.Instance.EventAggregator.GetEvent <CardSelectedEvent>().Subscribe((argument) =>
{
switch (argument.Argument.Category)
{
case Category.MainCard:
IsMainCardSelected = true;
IsHistoryCardSelected = false;
break;
case Category.HistoryCard:
IsMainCardSelected = false;
IsHistoryCardSelected = true;
break;
}
}, ThreadOption.PublisherThread, true, filter => { return(filter.Target == Target.MainViewModel); });
_startClassToken = EventAggregatorManager.Instance.EventAggregator.GetEvent <StartClassEvent>().Subscribe((argument) =>
{
RegisterCallbacks();
CustomMeetingUI();
StartHook();
StartParam startParam = new StartParam()
{
userType = SDKUserType.SDK_UT_NORMALUSER,
};
//StartParam4APIUser apiuserStart = new StartParam4APIUser()
//{
// userID = "704311",
// userToken = "Izi6atSDBiwtIqk3GQX9txjxjj8SZLIa6s7v",
// userName = "******",
// meetingNumber = 3398415968,
//};
StartParam4NormalUser normalUser = new StartParam4NormalUser()
{
meetingNumber = 3398415968,
};
startParam.normaluserStart = normalUser;
SDKError error = SdkWrap.Instacne.Start(startParam);
if (error == SDKError.SDKERR_SUCCESS)
{
EventAggregatorManager.Instance.EventAggregator.GetEvent <WindowHideEvent>().Publish(new EventArgument()
{
Target = Target.MainView,
});
_meetingView = new MeetingView();
_meetingView.Show();
}
else
{
MessageBox.Show(error.ToString());
}
}, ThreadOption.PublisherThread, true, filter => { return(filter.Target == Target.MainViewModel); });
}
public async void OnSocketDataReceivedAsync(Stream clientStream, String message)
{
System.Diagnostics.Debug.WriteLine("MESSAGE RECEIVED: OnSocketDataReceivedAsync print: {0}", message);
// {"COMMAND": 'GET_LOCATION',
// "COMMAND_TYPE": 'TELEMETRY',
// "COMMAND_INFO": "NONE",
// }
JObject messageObject = null;
try
{
messageObject = JObject.Parse(message);
}
catch (Newtonsoft.Json.JsonException e)
{
sendStringMessageToClient(clientStream, buildResponse(false, "JSON_PARSE_ERROR", null));
System.Diagnostics.Debug.WriteLine("JSON PARSE ERROR: OnSocketDataReceivedAsync print {0}", e.ToString());
return;
}
string command = (string)messageObject.SelectToken("COMMAND");
string commandTpye = (string)messageObject.SelectToken("COMMAND_TYPE");
string resultCode = null;
JObject dataToClient = null;
if (commandTpye.Equals("MISSION"))
{
if (command.Equals("SET_PRECISION_LANDING"))
{
SDKError err = await DJIComponentManager.Instance.SetPrecisionLanding(true); //TODO use command_info to set false too
resultCode = err.ToString();
}
else if (command.Equals("SET_GSME"))
{
SDKError err = await DJIComponentManager.Instance.SetGroundStationModeEnabled(true); //TODO use command_info to set false too
resultCode = err.ToString();
}
else if (command.Equals("LOAD_MISSION"))
{
JArray infoCommand = (JArray)messageObject.SelectToken("COMMAND_INFO");
SDKError err = DJIMissionManager.Instance.LoadMission(infoCommand.ToString());
resultCode = err.ToString();
}
if (command.Equals("UPLOAD_MISSION"))
{
SDKError err = await DJIMissionManager.Instance.UploadMission();
resultCode = err.ToString();
}
else if (command.Equals("START_MISSION"))
{
SDKError err = await DJIMissionManager.Instance.StartMission();
resultCode = err.ToString();
}
else if (command.Equals("GET_MISSION_STATE"))
{
resultCode = SDKError.NO_ERROR.ToString();
dynamic jsonObject = new JObject();
jsonObject.MISSION_STATE = DJIMissionManager.Instance.WaypointMissionCurrentState(); //make an object
dataToClient = jsonObject;
}
}
else if (commandTpye.Equals("TELEMETRY"))
{
if (command.Equals("GET_LOCATION"))
{
if (await DJIComponentManager.Instance.AircraftConnected())
{
dynamic jsonObject = new JObject();
jsonObject.latitude = DJIComponentManager.Instance.AircraftLocation.latitude;
jsonObject.longitude = DJIComponentManager.Instance.AircraftLocation.longitude;
jsonObject.altitude = DJIComponentManager.Instance.AircraftAltitude;
//String jsonString = JsonConvert.SerializeObject(jsonObject);
resultCode = SDKError.NO_ERROR.ToString();
dataToClient = jsonObject;
}
else
{
resultCode = SDKError.DISCONNECTED.ToString();
}
}
}
else if (commandTpye.Equals("VIDEO_STREAMING"))
{
if (command.Equals("START_VIDEO_STREAMING"))
{
DJIVideoManager.Instance.InitializeVideoFeedModule();
resultCode = SDKError.NO_ERROR.ToString(); //TODO
}
else if (command.Equals("STOP_VIDEO_STREAMING"))
{
DJIVideoManager.Instance.UninitializeVideoFeedModule();
resultCode = SDKError.NO_ERROR.ToString();//TODO
}
else if (command.Equals("RESTART_VIDEO_STREAMING"))
{
DJIVideoManager.Instance.UninitializeVideoFeedModule();
DJIVideoManager.Instance.InitializeVideoFeedModule();
resultCode = SDKError.NO_ERROR.ToString();//TODO
}
else if (command.Equals("ESTABLISH_CONNECTION"))
{
DJIVideoManager.Instance.videoClient = clientStream; //set a video stream client
resultCode = SDKError.NO_ERROR.ToString(); //TODO
}
}
else if (commandTpye.Equals("GIMBAL"))
{
if (command.Equals("ROTATE_GIMBAL"))
{
double factor = 15.0;
JObject infoCommand = (JObject)messageObject.SelectToken("COMMAND_INFO");
double pitch = (double)infoCommand.SelectToken("y");
double roll = 0.0; //(double)infoCommand.SelectToken("roll");
double yaw = (double)infoCommand.SelectToken("x");
double duration = 1; //(double)infoCommand.SelectToken("duration");
System.Diagnostics.Debug.WriteLine("mensaje");
SDKError err = await DJIComponentManager.Instance.RotateGimbalByAngle(pitch *factor, roll *factor, yaw *factor, duration);
resultCode = err.ToString();
}
}
else if (commandTpye.Equals("VIRTUAL_CONTROLLER"))
{
//TODO
}
sendStringMessageToClient(clientStream, buildResponse(resultCode == SDKError.NO_ERROR.ToString(), resultCode, dataToClient));
}
public async Task <SDKError> SetPrecisionLanding(bool value)
{
SDKError errSetPrecisionLanding = await DJISDKManager.Instance.ComponentManager.GetFlightAssistantHandler(0, 0).SetPrecisionLandingEnabledAsync(new BoolMsg()
{
value = value
});
System.Diagnostics.Debug.WriteLine(String.Format("Set precision landing to {0}: {1}", value, errSetPrecisionLanding.ToString()));
return(errSetPrecisionLanding);
}
public async Task <SDKError> SetGroundStationModeEnabled(bool value)
{
SDKError errSetGroundStationModeEnabled = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).SetGroundStationModeEnabledAsync(new BoolMsg()
{
value = true
});
System.Diagnostics.Debug.WriteLine(String.Format("Set Ground Station Mode Enabled to {0}: {1}", value, errSetGroundStationModeEnabled.ToString()));
return(errSetGroundStationModeEnabled);
}
