public void WaypointsToGreatArc(IAgAircraft aircraft, List <Waypoint> waypoints, bool useTakeoffLanding)
        {
            //Set propagator to GreatArc
            aircraft.SetRouteType(AgEVePropagatorType.ePropagatorGreatArc);
            IAgVePropagatorGreatArc route = aircraft.Route as IAgVePropagatorGreatArc;

            route.ArcGranularity = 51.333;

            //Set Ref type to WayPtAltRefMSL
            route.SetAltitudeRefType(AgEVeAltitudeRef.eWayPtAltRefMSL);
            route.Method = AgEVeWayPtCompMethod.eDetermineTimeAccFromVel;

            route.Waypoints.RemoveAll();

            if (useTakeoffLanding)
            {
                waypoints[0].Altitude = waypoints[0].SurfaceAltitude;
                waypoints[waypoints.Count - 1].Altitude = waypoints[waypoints.Count - 1].SurfaceAltitude;
            }

            foreach (Waypoint waypoint in waypoints)
            {
                IAgVeWaypointsElement thisWaypoint = route.Waypoints.Add();
                thisWaypoint.Latitude   = waypoint.Latitude;
                thisWaypoint.Longitude  = waypoint.Longitude;
                thisWaypoint.Altitude   = waypoint.Altitude;
                thisWaypoint.Speed      = waypoint.Speed;
                thisWaypoint.TurnRadius = waypoint.TurnRadius;
            }

            route.Propagate();
        }
        private void AddRoute(MyWaypoint startPoint, MyWaypoint endPoint, string gvName)
        {
            List <MyWaypoint> routePoints = GetRoute(startPoint, endPoint);

            // create new GV and add the waypoints
            if (m_root.CurrentScenario.Children.Contains(AgESTKObjectType.eGroundVehicle, gvName))
            {
                MessageBox.Show(gvName + " already exists, please pick a different name");
            }
            else
            {
                if (routePoints != null && routePoints.Count > 0)
                {
                    double turnRadius  = 2.0;   // meter
                    double granularity = 1.1;   // meter

                    m_root.UnitPreferences.SetCurrentUnit("Distance", "m");

                    switch (speedUnitsComboBox.SelectedItem.ToString())
                    {
                    case "km/h":
                        //m_root.UnitPreferences.SetCurrentUnit("Distance", "km");
                        m_root.UnitPreferences.SetCurrentUnit("Time", "hr");
                        //turnRadius /= 1000.0;
                        //granularity /= 1000.0;
                        speedUnitMultiplier = 1000.0;
                        break;

                    case "mph":
                        //m_root.UnitPreferences.SetCurrentUnit("Distance", "mi");
                        m_root.UnitPreferences.SetCurrentUnit("Time", "hr");
                        //turnRadius /= 1609.44;
                        //granularity /= 1609.44;
                        speedUnitMultiplier = 1609.44;
                        break;

                    case "m/s":
                        //m_root.UnitPreferences.SetCurrentUnit("Distance", "m");
                        m_root.UnitPreferences.SetCurrentUnit("Time", "sec");
                        speedUnitMultiplier = 1.0;
                        break;
                    }

                    switch (altUnitsComboBox.SelectedItem.ToString())
                    {
                    case "m":
                        altUnitMultiplier = 1.0;
                        break;

                    case "km":
                        altUnitMultiplier = 1000.0;
                        break;

                    case "ft":
                        altUnitMultiplier = 0.3048;
                        break;
                    }


                    IAgStkObject     gvObject = m_root.CurrentScenario.Children.New(AgESTKObjectType.eGroundVehicle, gvName);
                    IAgGroundVehicle gv       = gvObject as IAgGroundVehicle;

                    gv.SetRouteType(AgEVePropagatorType.ePropagatorGreatArc);
                    IAgVePropagatorGreatArc prop = gv.Route as IAgVePropagatorGreatArc;

                    foreach (MyWaypoint thisPt in routePoints)
                    {
                        IAgVeWaypointsElement thisVeWaypoint = prop.Waypoints.Add();
                        thisVeWaypoint.Latitude   = thisPt.Latitude;
                        thisVeWaypoint.Longitude  = thisPt.Longitude;
                        thisVeWaypoint.Altitude   = thisPt.Altitude * altUnitMultiplier;
                        thisVeWaypoint.Speed      = Convert.ToDouble(speedTextBox.Text) * speedUnitMultiplier;
                        thisVeWaypoint.TurnRadius = turnRadius;
                    }

                    if (terrainCheckBox.Checked)
                    {
                        prop.SetAltitudeRefType(AgEVeAltitudeRef.eWayPtAltRefTerrain);
                        IAgVeWayPtAltitudeRefTerrain altRef = prop.AltitudeRef as IAgVeWayPtAltitudeRefTerrain;
                        altRef.Granularity  = granularity;
                        altRef.InterpMethod = AgEVeWayPtInterpMethod.eWayPtEllipsoidHeight;
                    }

                    prop.Propagate();
                }
            }
        }
        public List <Waypoint> RasterSearchWaypointGenerator(
            string areaTargetPath, string heading, double speed, double altitude, double turnRadius,
            SwathWidthType swathType, double swathParameter)
        {
            List <Waypoint> waypoints = new List <Waypoint>();

            IAgStkObject areaTarget = root.GetObjectFromPath(areaTargetPath);

            IAgAreaTarget areaTargetObj      = (IAgAreaTarget)areaTarget;
            bool          areaTargetElActive = areaTarget.AccessConstraints.IsConstraintActive(AgEAccessConstraints.eCstrElevationAngle);
            double        restoreAngle       = 0;

            if (!areaTargetElActive)
            {
                IAgAccessCnstrAngle elevationMin = areaTarget.AccessConstraints.AddConstraint(AgEAccessConstraints.eCstrElevationAngle) as IAgAccessCnstrAngle;
                root.UnitPreferences["Angle"].SetCurrentUnit("deg");
                elevationMin.Angle = 90;
            }
            else
            {
                IAgAccessCnstrAngle elevationMin = areaTarget.AccessConstraints.GetActiveConstraint(AgEAccessConstraints.eCstrElevationAngle) as IAgAccessCnstrAngle;
                root.UnitPreferences["Angle"].SetCurrentUnit("deg");
                restoreAngle       = (double)elevationMin.Angle;
                elevationMin.Angle = 90;
            }

            double minLat = 90;
            double maxLat = -90;
            double minLon = 180;
            double maxLon = -180;

            root.UnitPreferences["Angle"].SetCurrentUnit("deg");
            switch (areaTargetObj.AreaType)
            {
            case AgEAreaType.eEllipse:
                IAgDataProviderGroup boundingProvider = areaTarget.DataProviders["Bounding Rectangle"] as IAgDataProviderGroup;
                IAgDataPrvFixed      dpElements       = boundingProvider.Group["Corner Points"] as IAgDataPrvFixed;
                IAgDrResult          atDataPrvResult  = dpElements.Exec();

                Array atLats = atDataPrvResult.DataSets.GetDataSetByName("Geodetic-Lat").GetValues();
                Array atLons = atDataPrvResult.DataSets.GetDataSetByName("Geodetic-Lon").GetValues();
                foreach (object item in atLats)
                {
                    if ((double)item > maxLat)
                    {
                        maxLat = (double)item;
                    }
                    if ((double)item < minLat)
                    {
                        minLat = (double)item;
                    }
                }
                foreach (object item in atLons)
                {
                    if ((double)item > maxLon)
                    {
                        maxLon = (double)item;
                    }
                    if ((double)item < minLon)
                    {
                        minLon = (double)item;
                    }
                }
                break;

            case AgEAreaType.ePattern:
                IAgAreaTypePatternCollection boundary = areaTargetObj.AreaTypeData as IAgAreaTypePatternCollection;

                foreach (IAgAreaTypePattern item in boundary)
                {
                    if ((double)item.Lat > maxLat)
                    {
                        maxLat = (double)item.Lat;
                    }
                    if ((double)item.Lat < minLat)
                    {
                        minLat = (double)item.Lat;
                    }

                    if ((double)item.Lon > maxLon)
                    {
                        maxLon = (double)item.Lon;
                    }
                    if ((double)item.Lon < minLon)
                    {
                        minLon = (double)item.Lon;
                    }
                }

                break;

            default:
                break;
            }
            double deltaLat = maxLat - minLat;
            double deltaLon = maxLon - minLon;

            IAgExecCmdResult cmdResult;

            switch (heading)
            {
            case "NorthSouth":
                cmdResult = root.ExecuteCommand("MeasureSurfaceDistance * " +
                                                minLat + " " + minLon + " " + minLat + " " + maxLon);
                break;

            case "EastWest":
                cmdResult = root.ExecuteCommand("MeasureSurfaceDistance * " +
                                                minLat + " " + minLon + " " + maxLat + " " + minLon);
                break;

            default:
                cmdResult = root.ExecuteCommand("MeasureSurfaceDistance * " +
                                                minLat + " " + minLon + " " + maxLat + " " + minLon);
                break;
            }



            double regionWidth = double.Parse(cmdResult[0]);

            int numPasses = DetermineNumPasses(swathType, swathParameter, altitude, regionWidth, null);

            if (numPasses < 1)
            {
                MessageBox.Show("No Passes.  Try Adjusting Swath Width Parameters");
                return(waypoints);
            }
            root.BeginUpdate();

            string           gvName        = uniqueName("gridTester", AgESTKObjectType.eGroundVehicle);
            IAgGroundVehicle groundVehicle = root.CurrentScenario.Children.New(AgESTKObjectType.eGroundVehicle, gvName) as IAgGroundVehicle;

            groundVehicle.Graphics.SetAttributesType(AgEVeGfxAttributes.eAttributesBasic);
            IAgVeGfxAttributesBasic gvGfx = groundVehicle.Graphics.Attributes as IAgVeGfxAttributesBasic;

            gvGfx.Inherit   = false;
            gvGfx.IsVisible = false;

            IAgVePropagatorGreatArc route = groundVehicle.Route as IAgVePropagatorGreatArc;

            //route.ArcGranularity = 51.333;
            route.SetAltitudeRefType(AgEVeAltitudeRef.eWayPtAltRefWGS84);
            route.Method = AgEVeWayPtCompMethod.eDetermineTimeAccFromVel;

            Waypoint waypoint1 = new Waypoint();
            Waypoint waypoint2 = new Waypoint();
            bool     headEast  = true;


            double loopMin;
            double loopMax;
            double gridAngleStep;

            switch (heading)
            {
            case "NorthSouth":
                loopMin       = minLon;
                loopMax       = maxLon;
                gridAngleStep = (maxLon - minLon) / numPasses;
                break;

            case "EastWest":
                loopMin       = minLat;
                loopMax       = maxLat;
                gridAngleStep = (maxLat - minLat) / numPasses;
                break;

            default:
                loopMin       = minLat;
                loopMax       = maxLat;
                gridAngleStep = .95 * (maxLat - minLat) / numPasses;
                break;
            }

            for (double eval = loopMin; eval <= loopMax; eval += gridAngleStep)
            {
                route.Waypoints.RemoveAll();
                IAgVeWaypointsElement thisWaypoint1;
                IAgVeWaypointsElement thisWaypoint2;
                switch (heading)
                {
                case "NorthSouth":
                    thisWaypoint1           = route.Waypoints.Add();
                    thisWaypoint1.Latitude  = minLat - gridAngleStep;
                    thisWaypoint1.Longitude = eval;
                    thisWaypoint1.Altitude  = 0;

                    thisWaypoint2           = route.Waypoints.Add();
                    thisWaypoint2.Latitude  = maxLat + gridAngleStep;
                    thisWaypoint2.Longitude = eval;
                    thisWaypoint2.Altitude  = 0;
                    break;

                case "EastWest":
                default:
                    thisWaypoint1           = route.Waypoints.Add();
                    thisWaypoint1.Latitude  = eval;
                    thisWaypoint1.Longitude = minLon - gridAngleStep;
                    thisWaypoint1.Altitude  = 0;

                    thisWaypoint2           = route.Waypoints.Add();
                    thisWaypoint2.Latitude  = eval;
                    thisWaypoint2.Longitude = maxLon + gridAngleStep;
                    thisWaypoint2.Altitude  = 0;
                    break;
                }
                route.Propagate();

                IAgStkAccess access = areaTarget.GetAccessToObject((IAgStkObject)groundVehicle);
                access.ComputeAccess();

                IAgDataPrvInterval dpAccess = access.DataProviders["Access Data"] as IAgDataPrvInterval;
                IAgScenario        scen     = root.CurrentScenario as IAgScenario;
                IAgDrResult        result   = dpAccess.Exec(scen.StartTime, scen.StopTime);


                if (result.DataSets.Count > 0)
                {
                    Array startTimes = result.DataSets.GetDataSetByName("Start Time").GetValues();
                    Array stopTimes  = result.DataSets.GetDataSetByName("Stop Time").GetValues();

                    string startTime = (string)startTimes.GetValue(0);
                    string stopTime  = (string)stopTimes.GetValue(stopTimes.GetLength(0) - 1);

                    IAgDataProviderGroup dpLLA         = ((IAgStkObject)groundVehicle).DataProviders["LLA State"] as IAgDataProviderGroup;
                    IAgDataPrvTimeVar    dpElements    = dpLLA.Group["Fixed"] as IAgDataPrvTimeVar;
                    IAgDrResult          DataPrvResult = dpElements.ExecSingle(startTime);

                    Array Lats = DataPrvResult.DataSets.GetDataSetByName("Lat").GetValues();
                    Array Lons = DataPrvResult.DataSets.GetDataSetByName("Lon").GetValues();

                    waypoint1                 = new Waypoint();
                    waypoint1.Latitude        = (double)Lats.GetValue(0);
                    waypoint1.Longitude       = (double)Lons.GetValue(0);
                    waypoint1.Altitude        = altitude;
                    waypoint1.SurfaceAltitude = 0;
                    waypoint1.Speed           = speed;
                    waypoint1.TurnRadius      = turnRadius;


                    IAgDataProviderGroup dpLLA1         = ((IAgStkObject)groundVehicle).DataProviders["LLA State"] as IAgDataProviderGroup;
                    IAgDataPrvTimeVar    dpElements1    = dpLLA1.Group["Fixed"] as IAgDataPrvTimeVar;
                    IAgDrResult          DataPrvResult1 = dpElements1.ExecSingle(stopTime);

                    Array Lats1 = DataPrvResult1.DataSets.GetDataSetByName("Lat").GetValues();
                    Array Lons1 = DataPrvResult1.DataSets.GetDataSetByName("Lon").GetValues();

                    waypoint2                 = new Waypoint();
                    waypoint2.Latitude        = (double)Lats1.GetValue(0);
                    waypoint2.Longitude       = (double)Lons1.GetValue(0);
                    waypoint2.Altitude        = altitude;
                    waypoint2.SurfaceAltitude = 0;
                    waypoint2.Speed           = speed;
                    waypoint2.TurnRadius      = turnRadius;


                    if (headEast)
                    {
                        waypoints.Add(waypoint1);
                        waypoints.Add(waypoint2);
                    }
                    else
                    {
                        waypoints.Add(waypoint2);
                        waypoints.Add(waypoint1);
                    }
                    headEast = !headEast;
                }
                access.RemoveAccess();
            }

            ((IAgStkObject)groundVehicle).Unload();

            if (!areaTargetElActive)
            {
                areaTarget.AccessConstraints.RemoveConstraint(AgEAccessConstraints.eCstrElevationAngle);
            }
            else
            {
                IAgAccessCnstrAngle elevationMin = areaTarget.AccessConstraints.GetActiveConstraint(AgEAccessConstraints.eCstrElevationAngle) as IAgAccessCnstrAngle;
                root.UnitPreferences["Angle"].SetCurrentUnit("deg");
                elevationMin.Angle = restoreAngle;
            }

            root.EndUpdate();
            root.UnitPreferences.ResetUnits();
            return(waypoints);
        }
Beispiel #4
0
        // old method

        /*    public List<MyWaypoint> CreateRoute(MyWaypoint startPoint, MyWaypoint endPoint)
         *  {
         *      // create route from waypointString
         *      RouteRequest routeRequest = new RouteRequest();
         *
         *      // Set the credentials using a valid Bing Maps key
         *      routeRequest.Credentials = new BingRouteService.Credentials();
         *      routeRequest.Credentials.ApplicationId = m_bingMapKey;
         *
         *      // tell them that we want points along the route
         *      routeRequest.Options = new RouteOptions();
         *      routeRequest.Options.RoutePathType = RoutePathType.Points;
         *
         *      //Parse user data to create array of waypoints
         *      BingRouteService.Waypoint[] waypoints = new BingRouteService.Waypoint[2];
         *
         *      BingRouteService.Waypoint point1 = new BingRouteService.Waypoint();
         *      BingRouteService.Location location1 = new BingRouteService.Location();
         *      location1.Latitude = startPoint.Latitude;
         *      location1.Longitude = startPoint.Longitude;
         *      point1.Location = location1;
         *      point1.Description = "Start";
         *      waypoints[0] = point1;
         *
         *      BingRouteService.Waypoint point2 = new BingRouteService.Waypoint();
         *      BingRouteService.Location location2 = new BingRouteService.Location();
         *      location2.Latitude = endPoint.Latitude;
         *      location2.Longitude = endPoint.Longitude;
         *      point2.Location = location2;
         *      point2.Description = "End";
         *      waypoints[1] = point2;
         *
         *      routeRequest.Waypoints = waypoints;
         *
         *      // Make the calculate route request
         *      RouteServiceClient routeService = new RouteServiceClient("BasicHttpBinding_IRouteService");
         *      RouteResponse routeResponse = routeService.CalculateRoute(routeRequest);
         *
         *      // pull out the lat/lon values
         *      List<MyWaypoint> returnPoints = new List<MyWaypoint>();
         *      if (routeResponse.Result.Legs.Length > 0)
         *      {
         *          //MessageBox.Show("Distance: " + routeResponse.Result.Summary.Distance.ToString()
         *          //    + " Time: " + routeResponse.Result.Summary.TimeInSeconds.ToString());
         *          foreach (BingRouteService.Location thisPt in routeResponse.Result.RoutePath.Points)
         *          {
         *              MyWaypoint thisPoint = new MyWaypoint();
         *
         *              thisPoint.Latitude = thisPt.Latitude;
         *              thisPoint.Longitude = thisPt.Longitude;
         *              //thisPoint.Altitude = GetAltitude(thisPoint.Latitude, thisPoint.Longitude);
         *              thisPoint.Altitude = 0.0;
         *
         *              returnPoints.Add(thisPoint);
         *          }
         *      }
         *
         *      return returnPoints;
         *  } */

        public void PopulateGvRoute(string gvName, List <Directions.MyWaypoint> routePoints,
                                    double speedValue, string speedUnits, bool useTerrain)
        {
            //MessageBox.Show($"Populate GvRoute method called! Name is {gvName}");// FOR DEBUGGING PURPOSES
            double turnRadius  = 15.0;  // meter
            double granularity = 100;   // meter

            switch (speedUnits)
            {
            case "km/h":
                m_root.UnitPreferences.SetCurrentUnit("Distance", "km");
                m_root.UnitPreferences.SetCurrentUnit("Time", "hr");
                turnRadius  /= 1000.0;
                granularity /= 1000.0;
                break;

            case "mph":
                m_root.UnitPreferences.SetCurrentUnit("Distance", "mi");
                m_root.UnitPreferences.SetCurrentUnit("Time", "hr");
                turnRadius  /= 1609.44;
                granularity /= 1609.44;
                break;

            case "m/s":
                m_root.UnitPreferences.SetCurrentUnit("Distance", "m");
                m_root.UnitPreferences.SetCurrentUnit("Time", "sec");
                break;
            }


            IAgStkObject     gvObject = m_root.CurrentScenario.Children.New(AgESTKObjectType.eGroundVehicle, gvName);
            IAgGroundVehicle gv       = gvObject as IAgGroundVehicle;

            gv.Graphics.WaypointMarker.IsWaypointMarkersVisible = false;
            //gv.Graphics.WaypointMarker.IsTurnMarkersVisible = false;
            IAgVOModel gvModel = gv.VO.Model;

            gvModel.ModelType = AgEModelType.eModelFile;
            IAgVOModelFile modelFile = gvModel.ModelData as IAgVOModelFile;

            if (File.Exists(installDir + @"Plugins\GreatArcPlugin\Model\mercslk.mdl"))
            {
                modelFile.Filename = installDir + @"Plugins\GreatArcPlugin\Model\mercslk.mdl";
            }

            gv.VO.Route.InheritTrackDataFrom2D = true;

            gv.SetRouteType(AgEVePropagatorType.ePropagatorGreatArc);
            IAgVePropagatorGreatArc prop = gv.Route as IAgVePropagatorGreatArc;

            foreach (Directions.MyWaypoint thisPt in routePoints)
            {
                IAgVeWaypointsElement thisVeWaypoint = prop.Waypoints.Add();
                thisVeWaypoint.Latitude  = thisPt.Latitude;
                thisVeWaypoint.Longitude = thisPt.Longitude;
                thisVeWaypoint.Altitude  = thisPt.Altitude;

                thisVeWaypoint.Speed      = speedValue;
                thisVeWaypoint.TurnRadius = turnRadius;
            }

            if (useTerrain)
            {
                prop.SetAltitudeRefType(AgEVeAltitudeRef.eWayPtAltRefTerrain);
                IAgVeWayPtAltitudeRefTerrain altRef = prop.AltitudeRef as IAgVeWayPtAltitudeRefTerrain;
                altRef.Granularity  = granularity;
                altRef.InterpMethod = AgEVeWayPtInterpMethod.eWayPtTerrainHeight;
            }

            prop.Propagate();
            //MessageBox.Show("GV route propagated!");// FOR DEBUGGING PURPOSES
        }