private bool IsInRange(SupportedFirmwareVersion supportedFirmwareVersion)
{
VersionBetweenAttribute versionRange = GetVersionRange(supportedFirmwareVersion);
if (versionRange == null)
{
return false;
}
if (versionRange.MinVersionState == VersionState.Exclusive && this <= versionRange.MinVersion)
{
return false;
}
if (versionRange.MinVersionState == VersionState.Inclusive && this < versionRange.MinVersion)
{
return false;
}
if (versionRange.MaxVersionState == VersionState.Exclusive && this >= versionRange.MaxVersion)
{
return false;
}
if (versionRange.MaxVersionState == VersionState.Inclusive && this > versionRange.MaxVersion)
{
return false;
}
return true;
}
public DroneConfig()
{
serializationUtils = new SerializationUtils();
droneConfigInitialized = false;
standardOwnIpAddress = "192.168.1.2";
droneIpAddress = "192.168.1.1";
droneNetworkIdentifierStart = "ardrone_";
videoPort = 5555;
navigationPort = 5554;
commandPort = 5556;
controlInfoPort = 5559;
firmwareVersion = SupportedFirmwareVersion.Firmware_133;
timeoutValue = int.MaxValue;
defaultCameraMode = DroneCameraMode.FrontCamera;
applicationId = ".NET SDK/1.7.4";
userId = ".NET SDK USER";
sessionId = Guid.NewGuid().ToString();
initialSettings = new List<DroneSetting>();
}
public DroneConfig()
{
serializationUtils = new SerializationUtils();
droneConfigInitialized = false;
standardOwnIpAddress = "192.168.1.2";
droneIpAddress = "192.168.1.1";
droneNetworkIdentifierStart = "ardrone_";
videoPort = 5555;
navigationPort = 5554;
commandPort = 5556;
controlInfoPort = 5559;
firmwareVersion = SupportedFirmwareVersion.Firmware_133;
timeoutValue = int.MaxValue;
defaultCameraMode = DroneCameraMode.FrontCamera;
applicationId = ".NET SDK/1.7.4";
userId = ".NET SDK USER";
sessionId = Guid.NewGuid().ToString();
initialSettings = new List <DroneSetting>();
}
public ControlInfoRetriever(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue, SupportedFirmwareVersion firmwareVersion)
: base(networkConnector, remoteIpAddress, port, timeoutValue)
{
this.firmwareVersion = firmwareVersion;
ResetVariables();
}
public ControlInfoRetriever(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue, SupportedFirmwareVersion firmwareVersion)
: base(networkConnector, remoteIpAddress, port, timeoutValue)
{
this.firmwareVersion = firmwareVersion;
ResetVariables();
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
int flightModeValue = GetFlightModeValue();
return String.Format("AT*REF={0},{1}\r", sequenceNumber, flightModeValue);
}
private bool IsInRange(SupportedFirmwareVersion supportedFirmwareVersion)
{
VersionBetweenAttribute versionRange = GetVersionRange(supportedFirmwareVersion);
if (versionRange == null)
{
return(false);
}
if (versionRange.MinVersionState == VersionState.Exclusive && this <= versionRange.MinVersion)
{
return(false);
}
if (versionRange.MinVersionState == VersionState.Inclusive && this < versionRange.MinVersion)
{
return(false);
}
if (versionRange.MaxVersionState == VersionState.Exclusive && this >= versionRange.MaxVersion)
{
return(false);
}
if (versionRange.MaxVersionState == VersionState.Inclusive && this > versionRange.MaxVersion)
{
return(false);
}
return(true);
}
private void SetVariables(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue)
{
this.networkConnector = networkConnector;
this.remoteIpAddress = remoteIpAddress;
this.port = port;
this.timeoutValue = timeoutValue;
this.firmwareVersion = DroneConfig.DefaultSupportedFirmwareVersion;
}
private void SetFirmwareVersionAccordingToDroneConfiguration()
{
SupportedFirmwareVersion firmwareVersionToUse = GetFirmwareVersionToUse();
commandSender.FirmwareVersion = firmwareVersionToUse;
navigationDataRetriever.FirmwareVersion = firmwareVersionToUse;
videoDataRetriever.FirmwareVersion = firmwareVersionToUse;
}
public CommandSender(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue, SupportedFirmwareVersion firmwareVersion, DroneCameraMode defaultCameraMode)
: base(networkConnector, remoteIpAddress, port, timeoutValue)
{
this.firmwareVersion = firmwareVersion;
this.defaultCameraMode = defaultCameraMode;
ResetVariables();
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
int flightModeValue = GetFlightModeValue();
return(String.Format("AT*REF={0},{1}\r", sequenceNumber, flightModeValue));
}
public CommandSender(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue, SupportedFirmwareVersion firmwareVersion, DroneCameraMode defaultCameraMode)
: base(networkConnector, remoteIpAddress, port, timeoutValue)
{
this.firmwareVersion = firmwareVersion;
this.defaultCameraMode = defaultCameraMode;
ResetVariables();
}
private void SetVariables(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue)
{
this.networkConnector = networkConnector;
this.remoteIpAddress = remoteIpAddress;
this.port = port;
this.timeoutValue = timeoutValue;
this.firmwareVersion = DroneConfig.DefaultSupportedFirmwareVersion;
}
public VideoDataRetriever(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue, SupportedFirmwareVersion firmwareVersion)
: base(networkConnector, remoteIpAddress, port, timeoutValue)
{
this.firmwareVersion = firmwareVersion;
bitmapUtils = new BitmapUtils();
ResetVariables();
}
public NetworkConnector(String droneNetworkIdentifierStart, String standardOwnIpAddress, String droneIpAddress, SupportedFirmwareVersion firmwareVersion)
{
Initialize();
this.droneNetworkIdentifierStart = droneNetworkIdentifierStart;
this.standardOwnIpAddress = standardOwnIpAddress;
this.droneIpAddress = droneIpAddress;
this.firmwareVersion = firmwareVersion;
}
public VideoDataRetriever(NetworkConnector networkConnector, String remoteIpAddress, int port, int timeoutValue, SupportedFirmwareVersion firmwareVersion)
: base(networkConnector, remoteIpAddress, port, timeoutValue)
{
this.firmwareVersion = firmwareVersion;
bitmapUtils = new BitmapUtils();
ResetVariables();
}
public NetworkConnector(String droneNetworkIdentifierStart, String standardOwnIpAddress, String droneIpAddress, SupportedFirmwareVersion firmwareVersion)
{
Initialize();
this.droneNetworkIdentifierStart = droneNetworkIdentifierStart;
this.standardOwnIpAddress = standardOwnIpAddress;
this.droneIpAddress = droneIpAddress;
this.firmwareVersion = firmwareVersion;
}
public NetworkSanityChecker(VideoDataRetriever videoDataRetriever,
NavigationDataRetriever navigationDataRetriever,
CommandSender commandSender,
SupportedFirmwareVersion firmwareVersion)
{
this.videoDataRetriever = videoDataRetriever;
this.navigationDataRetriever = navigationDataRetriever;
this.commandSender = commandSender;
this.firmwareVersion = firmwareVersion;
}
public NetworkSanityChecker(VideoDataRetriever videoDataRetriever,
NavigationDataRetriever navigationDataRetriever,
CommandSender commandSender,
SupportedFirmwareVersion firmwareVersion)
{
this.videoDataRetriever = videoDataRetriever;
this.navigationDataRetriever = navigationDataRetriever;
this.commandSender = commandSender;
this.firmwareVersion = firmwareVersion;
}
private VersionBetweenAttribute GetVersionRange(SupportedFirmwareVersion supportedFirmwareVersion)
{
MemberInfo memberInfo = typeof(SupportedFirmwareVersion).GetMember(supportedFirmwareVersion.ToString()).FirstOrDefault();
if (memberInfo != null)
{
VersionBetweenAttribute attribute = (VersionBetweenAttribute)memberInfo.GetCustomAttributes(typeof(VersionBetweenAttribute), false).FirstOrDefault();
return(attribute);
}
return(null);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
switch (firmwareVersion)
{
case SupportedFirmwareVersion.Firmware_151:
return(String.Format("AT*CONFIG={0},\"{1}\",\"{2}\"\r", sequenceNumber, "video:video_channel", (int)cameraMode));
default:
return(String.Format("AT*ZAP={0},{1}\r", sequenceNumber, (int)cameraMode));
}
}
private void TakeOverDroneConfigSettings(DroneConfig droneConfig)
{
DroneNetworkSSID = droneConfig.DroneNetworkIdentifierStart;
DroneIpAddress = droneConfig.DroneIpAddress;
OwnIpAddress = droneConfig.StandardOwnIpAddress;
VideoPortText = droneConfig.VideoPort.ToString();
CommandPortText = droneConfig.CommandPort.ToString();
NavigationPortText = droneConfig.NavigationPort.ToString();
ControlPortText = droneConfig.ControlInfoPort.ToString();
firmwareVersion = droneConfig.FirmwareVersion;
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
switch (firmwareVersion)
{
case SupportedFirmwareVersion.Firmware_Between_15x_And_164:
case SupportedFirmwareVersion.Firmware_164_Or_Above:
return String.Format("AT*CONFIG={0},\"{1}\",\"{2}\"\r", sequenceNumber, "video:video_channel", (int)cameraMode);
default:
return String.Format("AT*ZAP={0},{1}\r", sequenceNumber, (int)cameraMode);
}
}
private void TakeOverDroneConfigSettings(DroneConfig droneConfig)
{
DroneNetworkSSID = droneConfig.DroneNetworkIdentifierStart;
DroneIpAddress = droneConfig.DroneIpAddress;
OwnIpAddress = droneConfig.StandardOwnIpAddress;
VideoPortText = droneConfig.VideoPort.ToString();
CommandPortText = droneConfig.CommandPort.ToString();
NavigationPortText = droneConfig.NavigationPort.ToString();
ControlPortText = droneConfig.ControlInfoPort.ToString();
firmwareVersion = droneConfig.FirmwareVersion;
}
private void TakeOverDroneConfigSettings(DroneConfig droneConfig)
{
DroneNetworkSSID = droneConfig.DroneNetworkIdentifierStart;
DroneIpAddress = droneConfig.DroneIpAddress;
OwnIpAddress = droneConfig.StandardOwnIpAddress;
VideoPortText = droneConfig.VideoPort.ToString();
CommandPortText = droneConfig.CommandPort.ToString();
NavigationPortText = droneConfig.NavigationPort.ToString();
ControlPortText = droneConfig.ControlInfoPort.ToString();
firmwareVersion = droneConfig.FirmwareVersion;
UseP264 = droneConfig.InitialSettings.Any(x => x.Key == videoCodec && x.Value == VideoCodecs.P264);
}
private void TakeOverDroneConfigSettings(DroneConfig droneConfig)
{
DroneNetworkSSID = droneConfig.DroneNetworkIdentifierStart;
DroneIpAddress = droneConfig.DroneIpAddress;
OwnIpAddress = droneConfig.StandardOwnIpAddress;
VideoPortText = droneConfig.VideoPort.ToString();
CommandPortText = droneConfig.CommandPort.ToString();
NavigationPortText = droneConfig.NavigationPort.ToString();
ControlPortText = droneConfig.ControlInfoPort.ToString();
firmwareVersion = droneConfig.FirmwareVersion;
UseP264 = droneConfig.InitialSettings.Any(x => x.Key == videoCodec && x.Value == VideoCodecs.P264);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion, DroneConfig droneConfig, Func <uint> additionalSequenceNumber)
{
CheckSequenceNumber();
if (!multiConfig)
{
return(String.Format("AT*CONFIG={0},\"{1}\",\"{2}\"\r", sequenceNumber, configurationKey, configurationValue));
}
string cmd = String.Format("AT*CONFIG_IDS={0},\"{1}\",\"{2}\",\"{3}\"\r", sequenceNumber, GetCrc32(droneConfig.SessionId), GetCrc32(droneConfig.UserId), GetCrc32(droneConfig.ApplicationId));
if (configurationKey == null)
{
return(cmd);
}
return(string.Format("{0}AT*CONFIG={1},\"{2}\",\"{3}\"\r", cmd, additionalSequenceNumber(), configurationKey, configurationValue));
}
public DroneConfig()
{
droneConfigInitialized = false;
standardOwnIpAddress = "192.168.1.2";
droneIpAddress = "192.168.1.1";
droneNetworkIdentifierStart = "ardrone_";
videoPort = 5555;
navigationPort = 5554;
commandPort = 5556;
controlInfoPort = 5559;
firmwareVersion = SupportedFirmwareVersion.Firmware_133;
timeoutValue = 500;
defaultCameraMode = DroneCameraMode.FrontCamera;
}
public DroneConfig()
{
droneConfigInitialized = false;
standardOwnIpAddress = "192.168.1.2";
droneIpAddress = "192.168.1.1";
droneNetworkIdentifierStart = "ardrone_";
videoPort = 5555;
navigationPort = 5554;
commandPort = 5556;
controlInfoPort = 5559;
firmwareVersion = SupportedFirmwareVersion.Firmware_133;
timeoutValue = 500;
defaultCameraMode = DroneCameraMode.FrontCamera;
}
public DroneConfig()
{
serializationUtils = new SerializationUtils();
droneConfigInitialized = false;
standardOwnIpAddress = "192.168.1.2";
droneIpAddress = "192.168.1.1";
droneNetworkIdentifierStart = "ardrone2_";
videoPort = 5555;
navigationPort = 5554;
commandPort = 5556;
controlInfoPort = 5559;
useSpecificFirmwareVersion = false;
firmwareVersion = DroneConfig.DefaultSupportedFirmwareVersion;
timeoutValue = 500;
defaultCameraMode = DroneCameraMode.FrontCamera;
}
public DroneConfig()
{
serializationUtils = new SerializationUtils();
droneConfigInitialized = false;
standardOwnIpAddress = "192.168.1.2";
droneIpAddress = "192.168.1.1";
droneNetworkIdentifierStart = "ardrone2_";
videoPort = 5555;
navigationPort = 5554;
commandPort = 5556;
controlInfoPort = 5559;
useSpecificFirmwareVersion = false;
firmwareVersion = DroneConfig.DefaultSupportedFirmwareVersion;
timeoutValue = 500;
defaultCameraMode = DroneCameraMode.FrontCamera;
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return(String.Format("AT*CTRL={0},{1},0\r", sequenceNumber, (int)mode));
}
public virtual string CreateCommand(SupportedFirmwareVersion firmwareVersion, DroneConfig config, Func <uint> additionalSequenceNumber)
{
return(CreateCommand(firmwareVersion));
}
public virtual string CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
return(null);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return(String.Format("AT*CONFIG={0},\"control:flight_anim\",\"{1},{2}\"\r", sequenceNumber, (int)droneAnimation, duration));
//return String.Format("AT*ANIM={0},{1},{2}\r", sequenceNumber, (int)droneAnimation, duration);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return String.Format("AT*PCMD={0},{1},{2},{3},{4},{5}\r", sequenceNumber, 1, NormalizeValue(roll), NormalizeValue(pitch), NormalizeValue(gaz), NormalizeValue(yaw));
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return(String.Format("AT*PCMD={0},{1},{2},{3},{4},{5}\r", sequenceNumber, (mode == DroneHoverMode.Hover) ? 0 : 1, 0, 0, 0, 0));
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return(String.Format("AT*LED={0},{1},{2},{3}\r", sequenceNumber, (int)ledAnimation, NormalizeValue(frequency), duration));
}
private VersionBetweenAttribute GetVersionRange(SupportedFirmwareVersion supportedFirmwareVersion)
{
MemberInfo memberInfo = typeof(SupportedFirmwareVersion).GetMember(supportedFirmwareVersion.ToString()).FirstOrDefault();
if (memberInfo != null)
{
VersionBetweenAttribute attribute = (VersionBetweenAttribute)memberInfo.GetCustomAttributes(typeof(VersionBetweenAttribute), false).FirstOrDefault();
return attribute;
}
return null;
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return(String.Format("AT*PCMD={0},{1},{2},{3},{4},{5}\r", sequenceNumber, 1, NormalizeValue(roll), NormalizeValue(pitch), NormalizeValue(gaz), NormalizeValue(yaw)));
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return String.Format("AT*FTRIM={0}\r", sequenceNumber);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return String.Format("AT*LED={0},{1},{2},{3}\r", sequenceNumber, (int)ledAnimation, NormalizeValue(frequency), duration);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return(String.Format("AT*FTRIM={0}\r", sequenceNumber));
}
public virtual string CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
return null;
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return String.Format("AT*CONFIG={0},\"{1}\",\"{2}\"\r", sequenceNumber, configurationKey, configurationValue);
}
public virtual string CreateCommand(SupportedFirmwareVersion firmwareVersion, DroneConfig config, Func<uint> additionalSequenceNumber)
{
return CreateCommand(firmwareVersion);
}
public abstract String CreateCommand(SupportedFirmwareVersion firmwareVersion);
public override String CreateCommand( SupportedFirmwareVersion firmwareVersion )
{
CheckSequenceNumber();
// unpairing is : "00:00:00:00:00:00"
return String.Format( "AT*CONFIG={0},{1},{2}\r", sequenceNumber, "network:owner_mac", _mac );
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return String.Format("AT*PCMD={0},{1},{2},{3},{4},{5}\r", sequenceNumber, (mode == DroneHoverMode.Hover) ? 0 : 1, 0, 0, 0, 0);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return String.Format("AT*CONFIG={0},\"control:flight_anim\",\"{1},{2}\"\r", sequenceNumber, (int)droneAnimation, duration);
//return String.Format("AT*ANIM={0},{1},{2}\r", sequenceNumber, (int)droneAnimation, duration);
}
public abstract String CreateCommand(SupportedFirmwareVersion firmwareVersion);
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return String.Format("AT*CTRL={0},{1},0\r", sequenceNumber, (int)mode);
}
public override String CreateCommand(SupportedFirmwareVersion firmwareVersion)
{
CheckSequenceNumber();
return(String.Format("AT*CONFIG={0},\"{1}\",\"{2}\"\r", sequenceNumber, configurationKey, configurationValue));
}
