public QualityCheck PostQualityCheck(ProductLocation product)
{
if (_db.QualityChecks.Any(d => d.EndDate == null))
{
return(null);
}
// get correct object from database by id
ProductLocation pr = _db.Locations.Find(product.Id);
// initiate quality check object
QualityCheck qualitycheck = new QualityCheck();
qualitycheck.StartDate = DateTime.Now;
qualitycheck.ProductLocation = pr;
qualitycheck.EndDate = null;
_db.QualityChecks.Add(qualitycheck);
_db.SaveChanges();
// create commands for quality check
DroneCommandProcessor commands = createCommands(qualitycheck);
// Execute quality check
commands.Execute();
return(qualitycheck);
}
// Method to create commands for the drone to execute
private DroneCommandProcessor createCommands(QualityCheck qc)
{
// Get productLocation to take picture from
ProductLocation pl = qc.ProductLocation;
// Initiate CommandProcessor
_droneCommandProcessor = new DroneCommandProcessor();
// Get Graph datastructure in pathfinder generated from selected warehouse
IPathfinderFactory pathfinderFactory = new PathfinderFactory();
Pathfinder pathfinder = pathfinderFactory.GetPathfinderFromWarehouse(pl.District.Warehouse);
// Initiate start position (start position is drone start location)
Position startNode = new Position(pl.District.Warehouse.StartNode.X, pl.District.Warehouse.StartNode.Y);
// Get path to take from startposition to nearest graphnode for the Productlocation by using dijkstra algoritm
LinkedList <Position> path = pathfinder.GetPath(startNode, this.giveEndPosition(pl));
// save path to qualitycheck for webpage view
List <Position> path2 = pathfinder.GetPathList(startNode, this.giveEndPosition(pl));
var s = JsonConvert.SerializeObject(path2, Formatting.Indented,
new JsonSerializerSettings
{
ReferenceLoopHandling = ReferenceLoopHandling.Ignore
});
qc.JSONPath = s;
_db.Entry(qc).State = EntityState.Modified;
_db.SaveChanges();
// add start / takeoff command to the droneCommandProcessor
_droneCommandProcessor.AddCommand(new Command {
name = "Start"
});
// add commands to the droneCommandProcessor from path, this generates the commands needed to move to the nearest graphnode to the productlocation
IMovementCommandFactory mFactory = new MovementCommandFactory();
_droneCommandProcessor.AddListCommand(mFactory.GetMovementCommands(path));
// add commands to move from the nearest graphnode to the position in front of the productlocation
IDistrictCommandFactory dFactory = new DistrictCommandFactory();
_droneCommandProcessor.AddListCommand(dFactory.GetCommands(giveEndPosition(pl), pl));
// add command to take picture, this also needs the current quality check id, needed for saving the pictures to the correct location
_droneCommandProcessor.AddCommand(new Command {
name = "TakePicture", value = qc.Id
});
// add command to land the drone
_droneCommandProcessor.AddCommand(new Command {
name = "Land"
});
return(_droneCommandProcessor);
}
