private void MissionCommandsExecute(SoftkeyEnum obj)
{
if (VehicleSelected == null)
{
return;
}
switch (obj)
{
case SoftkeyEnum.ArmDisArm:
var guiQuadVehicle = VehicleSelected as GuiQuadVehicle;
VehicleComponent.SetArmDisArmCommand(VehicleSelected.ID, !guiQuadVehicle.QuadStatus.Armed);
break;
case SoftkeyEnum.Loiter:
break;
case SoftkeyEnum.ReturnToLaunch:
break;
case SoftkeyEnum.SetHome:
break;
case SoftkeyEnum.StartMission:
MissionComponent.StartMission(VehicleSelected.ID, 0);
break;
case SoftkeyEnum.StopMission:
MissionComponent.StopMission(VehicleSelected.ID, 0);
break;
case SoftkeyEnum.RestartMission:
MissionComponent.RestartMission(VehicleSelected.ID, 0, 0);
break;
case SoftkeyEnum.Auto:
break;
case SoftkeyEnum.Sensor:
break;
case SoftkeyEnum.Reserve:
break;
case SoftkeyEnum.TaskOff:
VehicleComponent.TakeOffCommand(VehicleSelected.ID, 100, (float)VehicleSelected.Latitude,
(float)VehicleSelected.Longitude, (float)VehicleSelected.Heading);
break;
default:
throw new ArgumentOutOfRangeException("obj");
}
}
private void ButtonCommandsAction(SoftkeyEnum obj)
{
switch (obj)
{
case SoftkeyEnum.ArmDisArm:
ArmDisArm();
break;
case SoftkeyEnum.Loiter:
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.Loiter);
break;
case SoftkeyEnum.ReturnToLaunch:
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.RTL);
break;
case SoftkeyEnum.SetHome:
ServiceLocator.Current.GetInstance <IVehiclesSource>().VehicleSelected.SetCurrentHome();
VehicleComponent.SetHomePositionCommand(VehicleSelected.ID, ServiceLocator.Current.GetInstance <IVehiclesSource>().VehicleSelected.HomePosition);
break;
case SoftkeyEnum.StartMission:
StartMission();
break;
case SoftkeyEnum.StopMission:
break;
case SoftkeyEnum.RestartMission:
RestartMission();
break;
case SoftkeyEnum.Auto:
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.Auto);
break;
case SoftkeyEnum.Sensor:
break;
case SoftkeyEnum.Reserve:
VehicleComponent.TakeOffCommand(VehicleSelected.ID, 100, (float)VehicleSelected.Latitude,
(float)VehicleSelected.Longitude, (float)VehicleSelected.Heading);
break;
default:
throw new ArgumentOutOfRangeException("obj");
}
}
private async void MissionCommandsExecute(SoftkeyEnum obj)
{
await AsyncUtil.RaunAsync(() =>
{
switch (obj)
{
case SoftkeyEnum.StartMission:
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
MissionComponent.StartMission(vehicle.ID, 0);
Thread.Sleep(1000);
Debug.WriteLine("StartMission - vehicle " + vehicle.ID);
}
}
break;
case SoftkeyEnum.StopMission:
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
MissionComponent.StopMission(vehicle.ID, 0);
Thread.Sleep(1000);
Debug.WriteLine("StopMission - vehicle " + vehicle.ID);
}
}
break;
case SoftkeyEnum.RestartMission:
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
MissionComponent.RestartMission(vehicle.ID, 0, 0);
Thread.Sleep(1000);
Debug.WriteLine("RestartMission - vehicle " + vehicle.ID);
}
}
break;
}
return(obj);
});
}
private void ButtonCommandsAction(SoftkeyEnum obj)
{
//ServiceLocator.Current.GetInstance<IButtonsControl>().ButtonCommands.Execute(obj);
}
