private async Task <CommandProcessingResult> ExecuteDemoCommandAsync(DeserializableCommand deserializableCommand)
{
var command = deserializableCommand.Command;
try
{
dynamic parameters = WireCommandSchemaHelper.GetParameters(command);
if (parameters != null)
{
string statusstring = ReflectionHelper.GetNamedPropertyValue(
parameters,
"data",
usesCaseSensitivePropertyNameMatch: true,
exceptionThrownIfNoMatch: true);
if (statusstring != null &&
int.TryParse(statusstring.ToString(), out var count))
{
await this.commandProcessor.ExecuteCommandAsync("Demo run!");
await this.commandProcessor.ExecuteCommandAsync(Commands.DriveForward);
await this.commandProcessor.ExecuteCommandAsync(Commands.CameraLedOn);
while (count > 0)
{
count--;
await Task.Delay(200);
}
await this.commandProcessor.ExecuteCommandAsync(Commands.Horn);
await this.commandProcessor.ExecuteCommandAsync(Commands.CameraLedOff);
await this.commandProcessor.ExecuteCommandAsync(Commands.DriveStop);
return(CommandProcessingResult.Success);
}
// setPointTempDynamic is a null reference.
return(CommandProcessingResult.CannotComplete);
}
else
{
// parameters is a null reference.
return(CommandProcessingResult.CannotComplete);
}
}
catch (Exception)
{
return(CommandProcessingResult.RetryLater);
}
}
private async Task <CommandProcessingResult> ExecuteSendWaypointsCommandAsync(DeserializableCommand deserializableCommand)
{
var command = deserializableCommand.Command;
try
{
dynamic parameters = WireCommandSchemaHelper.GetParameters(command);
if (parameters != null)
{
string waypointString = ReflectionHelper.GetNamedPropertyValue(
parameters,
"data",
usesCaseSensitivePropertyNameMatch: true,
exceptionThrownIfNoMatch: true);
if (!string.IsNullOrEmpty(waypointString))
{
JArray waypointArray = JArray.Parse(waypointString);
if (waypointArray != null && waypointArray.Count > 0)
{
var wayPoints = new List <GeoCoordinate>();
foreach (var wayPoint in waypointArray)
{
if (double.TryParse(wayPoint[0].ToString(), out var lat) &&
double.TryParse(wayPoint[1].ToString(), out var lon))
{
var wayPointObject = new GeoCoordinate(lat, lon);
wayPoints.Add(wayPointObject);
}
}
if (wayPoints.Count > 0)
{
await this.wayPointNavigator.StartWayPointNavigationAsync(wayPoints);
}
return(CommandProcessingResult.Success);
}
}
}
return(CommandProcessingResult.CannotComplete);
}
catch (Exception)
{
return(CommandProcessingResult.RetryLater);
}
}
private async Task <CommandProcessingResult> ExecuteMoveVehicleCommandAsync(
DeserializableCommand deserializableCommand)
{
var command = deserializableCommand.Command;
try
{
dynamic parameters = WireCommandSchemaHelper.GetParameters(command);
if (parameters != null)
{
string value = ReflectionHelper.GetNamedPropertyValue(
parameters,
"data",
usesCaseSensitivePropertyNameMatch: true,
exceptionThrownIfNoMatch: true);
if (!string.IsNullOrEmpty(value) &&
Enum.TryParse(
typeof(Commands.DrivingDirection),
value.Trim(),
true,
out var direction))
{
var cmddir = (Commands.DrivingDirection)direction;
string drivingdirection = Helper.Helpers.MapDrivingDirectionToCommand(cmddir);
await this.commandProcessor.ExecuteCommandAsync(drivingdirection);
return(CommandProcessingResult.Success);
}
}
return(CommandProcessingResult.CannotComplete);
}
catch (Exception)
{
return(CommandProcessingResult.RetryLater);
}
}
private async Task <CommandProcessingResult> ExecuteSetLightsCommandAsync(DeserializableCommand deserializableCommand)
{
var command = deserializableCommand.Command;
try
{
dynamic parameters = WireCommandSchemaHelper.GetParameters(command);
if (parameters != null)
{
string value = ReflectionHelper.GetNamedPropertyValue(
parameters,
"data",
usesCaseSensitivePropertyNameMatch: true,
exceptionThrownIfNoMatch: true);
if (bool.TryParse(value, out var result))
{
var cmd = result ? Commands.CameraLedOn : Commands.CameraLedOff;
await this.commandProcessor.ExecuteCommandAsync(cmd);
return(CommandProcessingResult.Success);
}
// setPointTempDynamic is a null reference.
return(CommandProcessingResult.CannotComplete);
}
else
{
// parameters is a null reference.
return(CommandProcessingResult.CannotComplete);
}
}
catch (Exception)
{
return(CommandProcessingResult.RetryLater);
}
}
