public Attitude(ITelloState state, bool useMissionPad = false)
{
if (state == null)
{
throw new ArgumentNullException(nameof(state));
}
if (!useMissionPad)
{
Pitch = state.Pitch;
Roll = state.Roll;
Yaw = state.Yaw;
}
else
{
if (!state.MissionPadDetected)
{
throw new ArgumentException($"{nameof(state)}.{nameof(ITelloState.MissionPadDetected)} == false");
}
Pitch = state.MissionPadPitch;
Roll = state.MissionPadRoll;
Yaw = state.MissionPadYaw;
}
Timestamp = state.Timestamp;
}
public void SetState(ITelloState telloState)
{
if (telloState != null)
{
this.available = 0;
this.Buffer = Encoding.UTF8.GetBytes(telloState.ToString());
}
}
public Battery(ITelloState state)
{
if (state == null)
{
throw new ArgumentNullException(nameof(state));
}
TemperatureLowC = state.TemperatureLowC;
TemperatureHighC = state.TemperatureHighC;
PercentRemaining = state.BatteryPercent;
Timestamp = state.Timestamp;
}
public Position(ITelloState state)
: this(
state?.HeightInCm,
state?.BarometerInCm + _altitudeDelta,
0,
0,
0,
state?.Timestamp)
{
if (state == null)
{
throw new ArgumentNullException(nameof(state));
}
}
//todo: fix "this" calls to look like : (state ?? throw new ArgumentNullException(nameof(state))).HeightInCm
public Position(ITelloState state, Vector vector)
: this(
state?.HeightInCm,
state?.BarometerInCm + _altitudeDelta,
vector?.Heading,
vector?.X,
vector?.Y,
state?.Timestamp)
{
if (state == null)
{
throw new ArgumentNullException(nameof(state));
}
}
public AirSpeed(ITelloState state)
{
if (state == null)
{
throw new ArgumentNullException(nameof(state));
}
this.AccelerationX = state.AccelerationX;
this.AccelerationY = state.AccelerationY;
this.AccelerationZ = state.AccelerationZ;
this.SpeedX = state.SpeedX;
this.SpeedY = state.SpeedY;
this.SpeedZ = state.SpeedZ;
this.Timestamp = state.Timestamp;
}
private string Invoke(Command command)
{
if (command != Commands.EnterSdkMode && !this.inCommandMode)
{
throw new TelloException("Call EnterSdkMode first.");
}
if (!this.isFlying && command.Rule.IsInFlightRequired)
{
throw new TelloException("Call Takeoff first.");
}
switch (command.Rule.ExpectedResponse)
{
case Responses.Ok:
this.HandleOk(command);
this.state = new TelloState(this.position);
return("ok");
case Responses.Speed:
return(this.speed.ToString());
case Responses.Battery:
return("99");
case Responses.Time:
return("0");
case Responses.WIFISnr:
return("unk");
case Responses.SdkVersion:
return("Sim V1");
case Responses.SerialNumber:
return("SIM-1234");
case Responses.None:
return(String.Empty);
default:
throw new NotSupportedException();
}
}
private string Invoke(Command command)
{
if (command != Commands.EnterSdkMode && !_inCommandMode)
{
throw new TelloException("Call EnterSdkMode first.");
}
if (!_isFlying && command.Rule.MustBeInFlight)
{
throw new TelloException("Call Takeoff first.");
}
switch (command.Rule.Response)
{
case Responses.Ok:
HandleOk(command);
_state = new TelloState(_position);
return("ok");
case Responses.Speed:
return(_speed.ToString());
case Responses.Battery:
return("99");
case Responses.Time:
return("0");
case Responses.WIFISnr:
return("unk");
case Responses.SdkVersion:
return("Sim V1");
case Responses.SerialNumber:
return("SIM-1234");
default:
throw new NotSupportedException();
}
}
public void UpdateState(object _, StateChangedArgs e)
{
this.State = e.State;
}
public StateChangedArgs(ITelloState state)
{
State = state ?? throw new ArgumentNullException(nameof(state));
}
public AttitudeObservation(
IObservationGroup group,
ITelloState state)
: this(
(group ?? throw new ArgumentNullException(nameof(group))).Id,
public HobbsMeter(ITelloState state)
{
this.DistanceTraversedInCm = state.DistanceTraversedInCm;
this.MotorTimeInSeconds = state.MotorTimeInSeconds;
this.Timestamp = state.Timestamp;
}
