private static double GetAltitude(double rawValue, DroneModel droneModel)
{
if (droneModel == DroneModel.Disco)
{
return(rawValue / 1000D);
}
return(rawValue);
}
public static Flight ToFlight(this FlightDetails flightDetails)
{
var droneModel = DroneModel.FromProductId(flightDetails.ProductId);
var dataProvider = new DataProvider(flightDetails.DetailsData, flightDetails.DetailsHeaders);
var times = dataProvider.GetData <object, long>("time", Convert.ToInt64).ToList();
var altitude = dataProvider.GetData <object, double>("altitude", Convert.ToDouble).ToList();
var battLevel = dataProvider.GetData <object, int>("battery_level", Convert.ToInt32).ToList();
var lat = dataProvider.GetData <object, double>("product_gps_latitude", Convert.ToDouble).ToList();
var lng = dataProvider.GetData <object, double>("product_gps_longitude", Convert.ToDouble).ToList();
var spdX = dataProvider.GetData <object, double>("speed_vx", Convert.ToDouble).ToList();
var spdY = dataProvider.GetData <object, double>("speed_vy", Convert.ToDouble).ToList();
var spdZ = dataProvider.GetData <object, double>("speed_vz", Convert.ToDouble).ToList();
var pitotSpeed = dataProvider.GetData <object, double>("pitot_speed", Convert.ToDouble).ToList();
var anglePhi = dataProvider.GetData <object, double>("angle_phi", Convert.ToDouble).ToList();
var angleTheta = dataProvider.GetData <object, double>("angle_theta", Convert.ToDouble).ToList();
var anglePsi = dataProvider.GetData <object, double>("angle_psi", Convert.ToDouble).ToList();
var wifiStrength = dataProvider.GetData <object, double>("wifi_signal", Convert.ToDouble).ToList();
var ctrlLat = dataProvider.GetData <object, double>("controller_gps_latitude", Convert.ToDouble).ToList();
var ctrlLng = dataProvider.GetData <object, double>("controller_gps_longitude", Convert.ToDouble).ToList();
var statuses = Observable.Range(0, times.Count)
.Where(i => IsValidGpsCoord(lat[i]) && IsValidGpsCoord(lng[i]) && IsValidGpsCoord(ctrlLng[i]) &&
IsValidGpsCoord(ctrlLat[i]))
.Select(i => new RawData
{
TimeElapsed = TimeSpan.FromMilliseconds(times[i]).Add(TimeCorrection),
Speed = new Vector(spdX[i], spdY[i], spdZ[i]),
Altitude = altitude[i] >= 0 ? GetAltitude(altitude[i], droneModel) : 0,
PitotSpeed = pitotSpeed.Any() ? pitotSpeed[i] : double.NaN,
Longitude = lng[i],
Latitude = lat[i],
AnglePhi = anglePhi[i],
AngleTheta = angleTheta[i],
AnglePsi = anglePsi[i],
BatteryLevel = battLevel[i] / 100D,
WifiStregth = wifiStrength[i],
DronePosition = new GeoCoordinate(lat[i], lng[i], GetAltitude(altitude[i], droneModel)),
ControllerPosition = new GeoCoordinate(ctrlLat[i], ctrlLng[i], 0D),
})
.Buffer(2, 1)
.SkipLast(1)
.Scan(new DifferentialData {
Distance = 0D, Element = new List <RawData>()
}, (actual, states) => new DifferentialData
{
Distance = actual.Distance + states[0].DronePosition.GetDistanceTo(states[1].DronePosition),
Element = states,
})
.Select(x =>
{
var current = x.Element[1];
return(new Status
{
DronePosition = current.DronePosition,
ControllerPosition = current.ControllerPosition,
TimeElapsed = current.TimeElapsed,
AnglePsi = current.AnglePsi,
Speed = current.Speed,
AngleTheta = current.AngleTheta,
WifiStregth = current.WifiStregth,
PitotSpeed = current.PitotSpeed,
AnglePhi = current.AnglePhi,
BatteryLevel = current.BatteryLevel,
TotalDistance = x.Distance,
});
});
var collection = statuses.ToEnumerable().ToList();
return(new Flight
{
Date = flightDetails.Date,
RunTime = flightDetails.RunTime,
TotalRunTime = flightDetails.TotalRunTime,
DroneModel = droneModel,
Statuses = collection,
});
}
