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Can successfully send messages

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This commit is contained in:
bbod
2019-09-04 19:41:44 -06:00
parent e66bd40e06
commit 9e6ce4d9f6
9 changed files with 79 additions and 41 deletions
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1
.idea/.idea.Tello Drone/.idea/contentModel.xml generated
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@@ -22,7 +22,6 @@
<e p="DroneConstants.cs" t="Include" />
<e p="DroneFactory.cs" t="Include" />
<e p="IConsoleLogger.cs" t="Include" />
<e p="IDrone.cs" t="Include" />
<e p="IDroneCommands.cs" t="Include" />
<e p="IDroneConstants.cs" t="Include" />
<e p="IDroneFactory.cs" t="Include" />

2
Tello Drone/CoreModule.cs
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@@ -8,10 +8,8 @@ namespace Tello_Drone
{
container.Register<IDroneFactory, DroneFactory>(Reuse.Singleton);
container.Register<IDroneCommands, DroneComands>(Reuse.Singleton);
container.Register<IDrone, Drone>(Reuse.Singleton);
container.Register<IMissions, Missions>(Reuse.Singleton);
container.Register<IConsoleLogger, ConsoleLogger>(Reuse.Singleton);
//container.Register<IUdpClientWrapper, UdpClientWrapper>(Reuse.Singleton);
}
public void Resolve(IContainer container)

17
Tello Drone/Drone.cs
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@@ -2,7 +2,7 @@ using System.Runtime.CompilerServices;
namespace Tello_Drone
{
public class Drone : IDrone
public class Drone
{
private readonly IDroneCommands _droneCommands;
@@ -11,10 +11,17 @@ namespace Tello_Drone
_droneCommands = droneCommands;
}
public bool Forward() => _droneCommands.Forward();
public bool Reverse() => _droneCommands.Reverse();
public bool Up() => _droneCommands.Up();
public bool Down() => _droneCommands.Down();
public void Forward(int x) => _droneCommands.Forward(x);
public void Reverse(int x) => _droneCommands.Reverse(x);
public void Up(int z) => _droneCommands.Up(z);
public void Down(int z) => _droneCommands.Down(z);
public void Left(int y) => _droneCommands.Left(y);
public void Right(int y) => _droneCommands.Right(y);
public bool Command() => _droneCommands.Command();
public bool InitialTakeOff() => _droneCommands.InitialTakeOff();
public void TakeOff() => _droneCommands.TakeOff();
public void Land() => _droneCommands.Land();
public void RotateClockWise(int r) => _droneCommands.RotateClockWise(r);
}

41
Tello Drone/DroneComands.cs
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@@ -1,5 +1,7 @@
using System;
using System.Net;
using System.Reflection.Metadata.Ecma335;
using System.Xml.Schema;
namespace Tello_Drone
{
@@ -13,17 +15,38 @@ namespace Tello_Drone
_udpClient = udpClient;
}
public bool Forward() => SendCommand("Forward");
public void Forward(int x) => SendCommand($"forward {x}");
public void Reverse(int x) => SendCommand($"back {x}");
public void Up(int z) => SendCommand($"up {z}");
public void Down(int z) => SendCommand($"down {z}");
public void Left(int y) => SendCommand($"left {y}");
public void Right(int y) => SendCommand($"right {y}");
public bool Command() => TrySendCommand("command");
public bool InitialTakeOff() => TrySendCommand("takeoff");
public void TakeOff() => SendCommand("takeoff");
public void Land() => SendCommand("land");
public void RotateClockWise(int r) => SendCommand($"cw {r}");
public bool Reverse() => SendCommand("Reverse");
public bool Up() => SendCommand("Up");
public bool Down() => SendCommand("Down");
private bool SendCommand(string message)
private void SendCommand(string message)
{
return _udpClient.TrySend(message, 1_500);
var returnValue = _udpClient.TrySend(message, 0_500);
if (returnValue == false)
SendCommand("land");
}
private bool TrySendCommand(string message)
{
return _udpClient.TrySend(message, 0_500);
}
}
}

3
Tello Drone/DroneFactory.cs
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@@ -3,8 +3,7 @@ namespace Tello_Drone
public class DroneFactory : IDroneFactory
{
private readonly IDroneCommands _droneCommands;
private Drone _createDrone;
public DroneFactory(IDroneCommands droneCommands)
{
_droneCommands = droneCommands;

8
Tello Drone/IDrone.cs
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@@ -1,8 +0,0 @@
namespace Tello_Drone
{
public interface IDrone
{
}
}

16
Tello Drone/IDroneCommands.cs
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@@ -2,9 +2,17 @@ namespace Tello_Drone
{
public interface IDroneCommands
{
bool Forward();
bool Reverse();
bool Up();
bool Down();
void Forward(int x);
void Reverse(int x);
void Up(int z);
void Down(int z);
void Left(int y);
void Right(int y);
bool Command();
bool InitialTakeOff();
void TakeOff();
void Land();
void RotateClockWise(int r);
}
}

15
Tello Drone/Missions.cs
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@@ -1,4 +1,6 @@
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using DryIoc;
namespace Tello_Drone
{
@@ -6,6 +8,7 @@ namespace Tello_Drone
{
private readonly IConsoleLogger _consoleLogger;
private Drone _drone;
private int setupRetry = 0;
public Missions( IDroneFactory droneFactory, IConsoleLogger consoleLogger)
{
@@ -15,12 +18,20 @@ namespace Tello_Drone
public void RunMission1()
{
_drone.Down();
_drone.Up();
MissionSetup();
_drone.Down(3);
_drone.Up(3);
}
private void MissionSetup()
{
var inCommandMode = false;
while (inCommandMode != true && setupRetry < 3)
{
inCommandMode = _drone.Command();
setupRetry++;
_consoleLogger.Log(inCommandMode.ToString());
}
}
}

17
Tello Drone/UdpClientWrapper.cs
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@@ -14,7 +14,7 @@ namespace Tello_Drone
{
private readonly UdpClient _client;
private int retryCount = 0;
private IPEndPoint _ipEndPoint;
private IPEndPoint _sendIpEndPoint;
private IDroneConstants _droneConstants;
private IConsoleLogger _consoleLogger;
@@ -28,27 +28,28 @@ namespace Tello_Drone
consoleLogger.Log("Enter Drone Port Number:");
_droneConstants.DronePortNumber = Convert.ToInt32(Console.ReadLine());
_client = new UdpClient(_droneConstants.DroneIPAddress, _droneConstants.DronePortNumber);
_ipEndPoint = new IPEndPoint(IPAddress.Parse(_droneConstants.DroneIPAddress), _droneConstants.DronePortNumber);
_sendIpEndPoint = new IPEndPoint(IPAddress.Parse(_droneConstants.DroneIPAddress), _droneConstants.DronePortNumber);
}
public bool TrySend(string message, int timeOut)
public bool TrySend(string message, int timeout)
{
bool successfullFlag = false;
while(retryCount < 3 && successfullFlag == false)
{
_client.Client.ReceiveTimeout = 1_500;
_client.Send(Encoding.UTF8.GetBytes(message), 1);
_client.Client.ReceiveTimeout = timeout;
_client.Send(Encoding.ASCII.GetBytes(message), message.Length);
try
{
var bytes = _client.Receive(ref _ipEndPoint);
var bytes = _client.Receive(ref _sendIpEndPoint);
var returnMessage = Encoding.ASCII.GetString(bytes, 0, bytes.Length);
if (returnMessage == "Ok")
if (returnMessage == "ok")
successfullFlag = true;
_consoleLogger.Log($"successfull flag = {successfullFlag}");
}
catch
{
_consoleLogger.Log("SHIT BROKE");
_consoleLogger.Log("Did not get a response from the drone retrying.");
}
retryCount++;
}