@Override
public void disconnect() {
stop();
landing();
manager.close();
if (videoManager != null) videoManager.close();
if (navdataManager != null) navdataManager.close();
}
/** connect video */
@Override
public boolean connectVideo() {
if (inetaddr == null) {
inetaddr = getInetAddress(ipaddr);
}
videoManager = new VideoManager(inetaddr, manager);
videoManager.setImageListener(
new ImageListener() {
@Override
public void imageUpdated(BufferedImage image) {
if (imageListener != null) {
imageListener.imageUpdated(image);
}
}
});
return videoManager.connect(ARDroneUtils.VIDEO_PORT);
}
public CCPanel(final ARDrone ardrone) {
super(new GridBagLayout());
setBackground(Color.BLUE);
video = new VideoPanel(ardrone);
battery = new BatteryPanel();
state = new StatePanel();
attitude = new AttitudePanel();
add(
video,
new GridBagConstraints(
0,
0,
1,
1,
0.7,
1,
GridBagConstraints.FIRST_LINE_START,
GridBagConstraints.BOTH,
new Insets(0, 0, 0, 0),
0,
0));
add(
new JScrollPane(state),
new GridBagConstraints(
1,
0,
1,
2,
0.3,
1,
GridBagConstraints.FIRST_LINE_START,
GridBagConstraints.VERTICAL,
new Insets(0, 0, 0, 0),
0,
0));
add(
attitude.getPane(),
new GridBagConstraints(
0,
1,
1,
1,
1,
1,
GridBagConstraints.FIRST_LINE_START,
GridBagConstraints.BOTH,
new Insets(0, 0, 0, 0),
0,
0));
// add(battery, new GridBagConstraints(0, 1, 1, 1, 1, 1,
// GridBagConstraints.FIRST_LINE_START, GridBagConstraints.BOTH, new
// Insets(0,0,0,0), 0, 0));
// CommandManager handles (keyboard) input and dispatches events to the
// drone
System.out.println("CCPanel.KeyEventDispatcher: grab the whole keyboard input from now on ...");
KeyboardFocusManager manager = KeyboardFocusManager.getCurrentKeyboardFocusManager();
manager.addKeyEventDispatcher(
new KeyEventDispatcher() {
private KeyboardCommandManager cmdManager = new KeyboardCommandManager(ardrone, 45);
public boolean dispatchKeyEvent(KeyEvent e) {
if (e.getID() == KeyEvent.KEY_PRESSED) {
cmdManager.keyPressed(e);
} else if (e.getID() == KeyEvent.KEY_RELEASED) {
cmdManager.keyReleased(e);
}
return true;
}
});
VideoManager vm = ardrone.getVideoManager();
vm.setImageListener(this);
NavDataManager m = ardrone.getNavDataManager();
m.setStateListener(this);
m.setAttitudeListener(this);
m.setBatteryListener(this);
}