protected override void OnElementChanged(ElementChangedEventArgs <Xamarin.Forms.Frame> e)
{
_uas = SLWIOC.Get <IConnectedUasManager>().Active.Uas;
_uas.Attitude.PropertyChanged += Attitude_PropertyChanged;
DataContext = _uas;
var gpsBindingHelper = new BindingHelper <GPSStatus>(_gpsStatus);
gpsBindingHelper.Add(_uas.GPSs.First()).For(mod => mod.FixType, ctl => ctl.FixType);
gpsBindingHelper.Add(_uas.GPSs.First()).For(mod => mod.HDOP, ctl => ctl.HDOP);
gpsBindingHelper.Add(_uas.GPSs.First()).For(mod => mod.VDOP, ctl => ctl.VDOP);
gpsBindingHelper.Add(_uas.GPSs.First()).For(mod => mod.SateliteCount, ctl => ctl.SatCount);
var sysStatusbindingHelper = new BindingHelper <Controls.SystemStatus>(_systemStatus);
sysStatusbindingHelper.Add(_uas.SystemStatus).For(mod => mod.Armed, ctl => ctl.Armed);
sysStatusbindingHelper.Add(_uas.Batteries.First()).For(mod => mod.Voltage, ctl => ctl.BatteryVoltage);
sysStatusbindingHelper.Add(_uas.Batteries.First()).For(mod => mod.RemainingPercent, ctl => ctl.PercentRemaining);
sysStatusbindingHelper.Add(_uas.Batteries.First()).For(mod => mod.TimeRemaining, ctl => ctl.TimeRemaining);
var altStatusbindingHelper = new BindingHelper <Controls.AltitudeIndicator>(_altitudeIndicator);
altStatusbindingHelper.Add(_uas).For(mod => mod.CurrentLocation, ctl => ctl.Location);
// _bindignHelper.Add(_uas.GPSs.First(), () => _gpsStatus.FixType, nameof(GPS.FixType));
base.OnElementChanged(e);
Background = new SolidColorBrush(Colors.LightBlue);
_video.GetDevices();
}
public void Start(IUas uas, ITransport transport)
{
_transport = transport;
foreach (var config in _configManager.Current.StreamReadConfigurations)
{
StartDataStream(config);
}
}
protected override void OnElementChanged(ElementChangedEventArgs <Xamarin.Forms.Frame> e)
{
if (e.NewElement != null)
{
SLWIOC.Get <ILocationProvider>().LocationUpdated += _locationProvier_LocationUpdated;
_uas = SLWIOC.Get <IConnectedUasManager>().Active.Uas;
_navigation = (e.NewElement.BindingContext as INavigationProvider).Navigation;
if (_navigation == null)
{
throw new ArgumentException("Argument Not Set");
}
_navigation.PropertyChanged += _navigation_PropertyChanged;
}
base.OnElementChanged(e);
}
public ConnectedUas(IUas uas, ITransport transport)
{
Uas = uas;
Transport = transport;
}
public void UpdateUas(IUas uas, UasMessage message)
{
var apm = uas as APM;
switch (message.MessageId)
{
case Core.MavLink.UasMessages.Heartbeat:
uas.FlightController.Update(message as UasHeartbeat);
uas.SystemStatus.Update(message as UasHeartbeat);
break;
case Core.MavLink.UasMessages.GpsRawInt:
uas.GPSs.First().Update(message as UasGpsRawInt);
break;
case UasMessages.GlobalPositionInt:
var pos = message as UasGlobalPositionInt;
uas.CurrentLocation = new LagoVista.Core.Models.Geo.GeoLocation(pos.Lat.ToLatLon(), pos.Lon.ToLatLon(), pos.Alt / 1000f);
break;
case UasMessages.SysStatus:
uas.Batteries.First().Update(message as UasSysStatus);
uas.Sensors.Update(message as UasSysStatus);
break;
case UasMessages.AutopilotVersion: uas.FlightController.Update(message as UasAutopilotVersion); break;
case UasMessages.Hwstatus: uas.FlightController.Update(message as UasHwstatus); break;
case UasMessages.PowerStatus: uas.PowerStatus.Update(message as UasPowerStatus); break;
case UasMessages.Attitude: uas.Attitude.Update(message as UasAttitude); break;
case UasMessages.BatteryStatus: uas.Batteries.First().Update(message as UasBatteryStatus); break;
case UasMessages.RadioStatus: uas.Comms.Update(message as UasRadioStatus, 0); break;
case UasMessages.MagCalProgress:
/* Compass Calibration Progress */
break;
case UasMessages.CompassmotStatus:
/* Compass Calibration Status */
break;
case UasMessages.EkfStatusReport: uas.EKFStatus.Update(message as UasEkfStatusReport); break;
case UasMessages.RcChannels:
var rcRaw = message as UasRcChannels;
uas.Channels[0].RawValue = rcRaw.Chan1Raw;
uas.Channels[1].RawValue = rcRaw.Chan2Raw;
uas.Channels[2].RawValue = rcRaw.Chan3Raw;
uas.Channels[3].RawValue = rcRaw.Chan4Raw;
uas.Channels[4].RawValue = rcRaw.Chan5Raw;
uas.Channels[5].RawValue = rcRaw.Chan6Raw;
uas.Channels[6].RawValue = rcRaw.Chan7Raw;
uas.Channels[7].RawValue = rcRaw.Chan8Raw;
uas.Channels[8].RawValue = rcRaw.Chan9Raw;
uas.Channels[9].RawValue = rcRaw.Chan10Raw;
uas.Channels[10].RawValue = rcRaw.Chan11Raw;
uas.Channels[11].RawValue = rcRaw.Chan12Raw;
uas.Channels[12].RawValue = rcRaw.Chan13Raw;
uas.Channels[13].RawValue = rcRaw.Chan14Raw;
uas.Channels[14].RawValue = rcRaw.Chan15Raw;
uas.Channels[15].RawValue = rcRaw.Chan16Raw;
break;
case UasMessages.Rangefinder: uas.RangeFinder.Update(message as UasRangefinder); break;
case UasMessages.RcChannelsScaled:
var rc = message as UasRcChannelsScaled;
uas.Channels[0].Value = rc.Chan1Scaled;
uas.Channels[1].Value = rc.Chan2Scaled;
uas.Channels[2].Value = rc.Chan3Scaled;
uas.Channels[3].Value = rc.Chan4Scaled;
uas.Channels[4].Value = rc.Chan5Scaled;
uas.Channels[5].Value = rc.Chan6Scaled;
uas.Channels[6].Value = rc.Chan7Scaled;
uas.Channels[7].Value = rc.Chan8Scaled;
break;
case UasMessages.HighLatency:
var hlm = message as UasHighLatency;
uas.GPSs.First().FixType = ((GpsFixType)hlm.GpsFixType).ToString();
break;
case UasMessages.Radio:
var radio = message as UasRadio;
break;
case UasMessages.VfrHud:
/* For fixed wing */
break;
case Core.MavLink.UasMessages.RawImu:
uas.Acc.First().Update(message as UasRawImu, DOFSensorType.Accelerometer);
uas.Gyro.First().Update(message as UasRawImu, DOFSensorType.Gyro);
uas.Magnometer.First().Update(message as UasRawImu, DOFSensorType.Magnometer);
break;
}
}
