private FlightPoint[] convertToFlightPoint(double heading, float alt, long missionFK)
{
FlightPoint[] fps = new FlightPoint[wpArray.Length];
FlightPoint fp = new FlightPoint();
for (int i = 0; i < wpArray.Length; i++)
{
fp = new FlightPoint();
fp.MissionFK = missionFK;
fp.Latitude = wpArray[i].lat;
fp.Longitude = wpArray[i].lon;
fp.Altitude = alt;
fp.Target_yaw = (short)heading;
fp.PIAction = PIAction.TakePicture;
fp.Damping_distance = 0;
fp.Target_gimbal_pitch = 0;
fp.Turn_mode = TurnMode.Clockwise;
fp.Has_action = HasAction.No_Action;
fp.Action_time_limit = 5;
fp.ACTION_action_repeat = 1;
fp.ACTION_Command_list = new List <int>(1)
{
1
};
fp.ACTION_Param_list = new List <int>(1)
{
1
};
fps[i] = fp;
}
return(fps);
}
public ActionResult DeleteConfirmed(long id)
{
FlightPoint flightPoint = db.FlightPoints.Find(id);
db.FlightPoints.Remove(flightPoint);
db.SaveChanges();
return(RedirectToAction("Index"));
}
public FlightPoint[] reverseMission(FlightPoint[] fps)
{
FlightPoint[] reverseArray = new FlightPoint[fps.Length];
for (int i = 0; i < fps.Length; i++)
{
reverseArray[i] = fps[fps.Length - 1 - i];
}
return(reverseArray);
}
public ActionResult Edit([Bind(Include = "FlightPointPK,MissionFK,Latitude,Longitude,Altitude,Damping_distance,Target_yaw,Target_gimbal_pitch,Turn_mode,Has_action,Action_time_limit,ACTION_action_repeat,_ACTION_COMMAND_LIST,_ACTION_COMMAND_PARAMS,PIAction")] FlightPoint flightPoint)
{
if (ModelState.IsValid)
{
db.Entry(flightPoint).State = EntityState.Modified;
db.SaveChanges();
return(RedirectToAction("Index"));
}
ViewBag.MissionFK = new SelectList(db.Missions, "MissionPK", "Name", flightPoint.MissionFK);
return(View(flightPoint));
}
// GET: FlightPoints/Details/5
public ActionResult Details(long?id)
{
if (id == null)
{
return(new HttpStatusCodeResult(HttpStatusCode.BadRequest));
}
FlightPoint flightPoint = db.FlightPoints.Find(id);
if (flightPoint == null)
{
return(HttpNotFound());
}
return(View(flightPoint));
}
// GET: FlightPoints/Edit/5
public ActionResult Edit(long?id)
{
if (id == null)
{
return(new HttpStatusCodeResult(HttpStatusCode.BadRequest));
}
FlightPoint flightPoint = db.FlightPoints.Find(id);
if (flightPoint == null)
{
return(HttpNotFound());
}
ViewBag.MissionFK = new SelectList(db.Missions, "MissionPK", "Name", flightPoint.MissionFK);
return(View(flightPoint));
}
// GET: FlightPoints/Create
public ActionResult Create()
{
ViewBag.MissionFK = new SelectList(db.Missions, "MissionPK", "Name");
var Model = new FlightPoint()
{
Altitude = 30,
Target_yaw = 0,
Damping_distance = 0,
Target_gimbal_pitch = 0,
Turn_mode = TurnMode.Clockwise,
Has_action = HasAction.No_Action,
Action_time_limit = 5,
ACTION_action_repeat = 1,
_ACTION_COMMAND_LIST = "1",
_ACTION_COMMAND_PARAMS = "1"
};
return(View(Model));
}
private void SelectDestination(FlightPoint flight, FlightWay way)
{
if (flight != null)
{
if (_route == null)
{
_route = new Route();
}
switch (way)
{
case FlightWay.DEPARTURE:
_route.Departure = flight.Iata;
break;
case FlightWay.ARRIVAL:
_route.Arrival = flight.Iata;
break;
}
if (_route.FormRoute())
{
APrefListViewModel._viewModel.Routes.Add(_route);
}
}
}
public FlightPoint[] mirrorMission(FlightPoint[] fps)
{
FlightPoint[] mirrorArray = new FlightPoint[fps.Length];
GPSCoordinates v1 = new GPSCoordinates();
GPSCoordinates v2 = new GPSCoordinates();
if (fps.Length < 2)
{
return(null);
}
double heading = fps[0].Target_yaw;
double startHeading = 0;
double reverseStartHeading = 0;
v1.lat = fps[0].Latitude;
v1.lon = fps[0].Longitude;
v2.lat = fps[1].Latitude;
v2.lon = fps[1].Longitude;
startHeading = calcHeading(v1, v2);
if (startHeading < 0)
{
reverseStartHeading = 180 + startHeading;
}
else
{
reverseStartHeading = -180 + startHeading;
}
int curStripeStartIndex = 0;
int numOfWpInStripe = 1;
bool endOfMission = false;
int i = 0;
while (!endOfMission)
{
numOfWpInStripe = 1;
for (i = curStripeStartIndex; i < fps.Length; i++)
{
v1.lat = fps[i].Latitude;
v1.lon = fps[i].Longitude;
if (i + 1 < fps.Length)
{
v2.lat = fps[i + 1].Latitude;
v2.lon = fps[i + 1].Longitude;
}
else
{
endOfMission = true;
break;
}
// ako se heading i target_yaw poklapaju, odnosno ako su supotni ali istog pravca
// Kada pocne sledeci stripe, heading ce biti pomeren za 90
if ((Math.Abs(calcHeading(v1, v2) - heading) < 2) ||
((Math.Abs(calcHeading(v1, v2) - heading) > 178) && (Math.Abs(calcHeading(v1, v2) - heading) < 182)))
{
numOfWpInStripe++;
}
else
{
break;
}
}
// Okreni ovaj stripe i okreni mu Target_Yaw
for (int j = 0; j < numOfWpInStripe; j++)
{
mirrorArray[curStripeStartIndex + j] = fps[curStripeStartIndex + numOfWpInStripe - 1 - j];
mirrorArray[curStripeStartIndex + j].Target_yaw = (short)reverseStartHeading;
}
// U prvom prolazu treba numOfWpInStripe - 1, ali + 1 da bi presli na prvi u sledecem stripe-u
if (curStripeStartIndex == 0)
{
curStripeStartIndex = numOfWpInStripe - 1 + 1;
}
// Da bi poceo od prvog u sledecem stripe-u dodajemo + 1
else
{
curStripeStartIndex += numOfWpInStripe;
}
if (i >= fps.Length - 1)
{
endOfMission = true;
}
}
return(mirrorArray);
}
