public void Schedule(int index = 0, int delay = 0)
{
System.Threading.Timer timer = new System.Threading.Timer(
delegate(object state)
{
if (this.commandSchedule.Count <= index)
{
return;
}
int scheduleTime = 0;
if (commandSchedule[index].commandType == DroneCommandType.DRONE_FLYING)
{
scheduleTime = 5000;
}
else if (commandSchedule[index].commandType == DroneCommandType.DRONE_PILOTING)
{
scheduleTime = commandSchedule[index].sustainTime;
}
byte[] packetBytes = CommandPacketManager.SerializeCommand(this.commandSchedule[index]);
byte temp = packetBytes[packetBytes.Length - 1];
packetBytes[packetBytes.Length - 1] = packetBytes[packetBytes.Length - 2];
packetBytes[packetBytes.Length - 2] = temp;
AddACKCheckEvent(delegate()
{
mainForm.UpdateLog("schedule" + index.ToString() + " success");
Schedule(++this.scheduleIndex, scheduleTime + BebopDrone.SCHEDULE_WAIT_TERM);
},
2000,
"Schedule time out.");
server.WriteData(id, packetBytes);
}, null, delay, System.Threading.Timeout.Infinite);
}
// Device have to return ACK if device connect to drone
public void CheckConnection()
{
CommandPacket packet =
CommandPacketManager.CommandPack(DroneCommandType.ACK,
DroneFlyingMode.NONE);
byte[] packetBytes = CommandPacketManager.SerializeCommand(packet);
server.WriteData(id, packetBytes);
}
// Device have to return ACK if device command to drone successfully
public void Land()
{
CommandPacket packet =
CommandPacketManager.CommandPack(DroneCommandType.DRONE_FLYING,
DroneFlyingMode.LAND);
byte[] packetBytes = CommandPacketManager.SerializeCommand(packet);
AddACKCheckEvent(delegate() { mainForm.UpdateLog("Land success"); },
2000,
"Land time out.");
server.WriteData(id, packetBytes);
}
// Device have to return ACK if drone move done successfully
public void PCMD_Move(sbyte roll, sbyte pitch, sbyte yaw, sbyte gaz, short time)
{
// Move
CommandPacket packet =
CommandPacketManager.CommandPack(DroneCommandType.DRONE_PILOTING,
DroneFlyingMode.NONE,
roll, pitch, yaw, gaz, time);
byte[] packetBytes = CommandPacketManager.SerializeCommand(packet);
byte temp = packetBytes[packetBytes.Length - 1];
packetBytes[packetBytes.Length - 1] = packetBytes[packetBytes.Length - 2];
packetBytes[packetBytes.Length - 2] = temp;
AddACKCheckEvent(delegate() { mainForm.UpdateLog("PCMD move Success"); },
2000,
"PCMD move time out.");
server.WriteData(id, packetBytes);
}
