/// <summary>
/// Goes forward over the line until an endpoint. It will try to correct the position if it loses position.
/// </summary>
/// <param name="isForward"></param>
private void followLine(bool isForward)
{
PositioningState prevState = PositioningState.Init;
bool isFlying = true;
Bitmap bmp = _controller.GetBitmapFromBottomCam();
while (!CircleProcessor.Instance.IsCircleInCenter(bmp) && isFlying)//Go forward and correct until endpoint is found
{
PositioningState state = LineProcessor.Instance.ProcessLine(bmp);
if (state != prevState)
{
prevState = state;
isFlying = _positioningHandler.HandlePositioningChange(state, prevState, isForward);
}
System.Threading.Thread.Sleep(10);
bmp = _controller.GetBitmapFromBottomCam();
}
_controller.Hover();
}
/// <summary>
/// Checks if the drone can detect the line when flying in the given direction for the given amount of maximum meters.
/// </summary>
/// <param name="controller"></param>
/// <param name="maxMeters"></param>
/// <param name="direction"></param>
/// <returns></returns>
private bool findLine(DroneController controller, float maxMeters, FlyDirection direction)
{
float speed = .1F / 3;
float time = maxMeters / speed * 200;
float oldSpeed = controller.Speed;
controller.Speed = speed;
move(controller, direction);
Stopwatch s = new Stopwatch();
s.Start();
bool lineDetected = false;
while (!lineDetected && s.Elapsed < TimeSpan.FromMilliseconds(time))
{
Bitmap bmp = controller.GetBitmapFromBottomCam();
lineDetected = LineProcessor.Instance.IsLineVisible(bmp);
}
controller.Speed = oldSpeed;
s.Stop();
return(lineDetected);
}