public MainViewModel(ISerialTelemetryLink telemeteryLink, IDroneAdapter droneAdapter, IMissionPlanner planner)
{
TelemetryLink = telemeteryLink;
TelemetryLink.MessageParsed += _telemeteryLink_MessageParsed;
OpenSerialPortCommand = new RelayCommand(HandleConnectClick, CanPressConnect);
GetWaypointsCommand = new RelayCommand(GetWaypoints, CanDoConnectedStuff);
Title = "Kevin";
_apmDrone = new LagoVista.Drone.Models.Drone();
_droneAdapter = droneAdapter;
_planner = planner;
}
public async Task GetWayPoints(IDrone drone, ISerialTelemetryLink link)
{
var req = new mavlink_mission_request_list_t();
req.target_system = drone.SystemId;
req.target_component = drone.ComponentId;
var result = await link.RequestDataAsync <mavlink_mission_count_t>(drone, MAVLINK_MSG_ID.MISSION_REQUEST_LIST, req, MAVLINK_MSG_ID.MISSION_COUNT, TimeSpan.FromSeconds(1000));
if (result.Successful)
{
for (ushort idx = 0; idx < result.Result.count; ++idx)
{
var reqf = new mavlink_mission_request_int_t();
reqf.target_system = drone.SystemId;
reqf.target_component = drone.ComponentId;
reqf.seq = idx;
var wpResult = await link.RequestDataAsync <mavlink_mission_item_t>(drone, MAVLINK_MSG_ID.MISSION_REQUEST_INT, reqf, MAVLINK_MSG_ID.MISSION_ITEM, TimeSpan.FromSeconds(1000));
if (wpResult.Successful)
{
Debug.WriteLine(wpResult.Result.x + " " + wpResult.Result.y + " " + wpResult.Result.z);
}
else
{
Debug.WriteLine($"No joy on {idx}");
}
}
Debug.WriteLine($"Get go our response {result.Result.count}");
}
else
{
Debug.WriteLine($"No joy");
}
}
