/// <summary>
/// Clears current objective qeueue and adds the provided one into the empty queue
/// </summary>
/// <param name="aObjective">Objective to replace the others with</param>
public void SetObjective(Objective aObjective)
{
ClearObjectives();
ObjectiveQueue.Enqueue(aObjective);
}
/// <summary>
/// Initializes the Autopilot object and associates it with provided DroneClient and sets DeafultObjective
/// </summary>
/// <param name="aDroneClient">DroneClient object which Autopilot will be controlling</param>
/// <param name="aDefaultObjective">DefaultObjective to execute when ObjectiveQeueue is depleted</param>
/// <remarks>Using this constructor will force DeafultObjective to be 'Hover'</remarks>
public Autopilot(DroneClient aDroneClient, Objective aDefaultObjective)
{
DroneClient = aDroneClient;
DefaultObjective = aDefaultObjective;
ObjectiveQueue = new ConcurrentQueue<Objective>();
ApparatusOutputQueue = new ConcurrentQueue<Apparatus.Output>();
BoundToClient = false;
}
/// <summary>
/// Add a new objective into autopilot's action queue
/// </summary>
/// <param name="aObjective">Objective to be added/queued</param>
public void EnqueueObjective(Objective aObjective)
{
ObjectiveQueue.Enqueue(aObjective);
}
/// <see>
/// <cref>Create(long aDuration, params IntentObtainer[] aIntentObtainerList)</cref>
/// </see>
public static Objective Create(Expiration aExpiration, params IntentObtainer[] aIntentObtainerList)
{
var obj = new Objective(aExpiration);
foreach (IntentObtainer io in aIntentObtainerList) obj.Add(io);
return obj;
}