public Task <InvokeResult> UpdateWaypoints(IConnectedUas uas, Mission mission)
{
var msg = new UasMissionWritePartialList();
uas.Transport.SendMessage(msg);
return(Task.FromResult(InvokeResult.Success));
}
public async Task <InvokeResult <Mission> > GetWayPointsAsync(IConnectedUas uas)
{
var mission = new Mission();
var missionRequest = new UasMissionRequestList
{
TargetSystem = uas.Uas.SystemId,
TargetComponent = uas.Uas.ComponentId
};
var result = await uas.Transport.RequestDataAsync <UasMissionCount>(missionRequest, UasMessages.MissionCount);
if (result.Successful)
{
for (ushort idx = 0; idx < result.Result.Count; ++idx)
{
var reqf = new UasMissionRequestInt
{
TargetSystem = uas.Uas.SystemId,
TargetComponent = uas.Uas.ComponentId,
Seq = idx
};
var wpResult = await uas.Transport.RequestDataAsync <UasMissionItemInt>(reqf, UasMessages.MissionItemInt);
if (wpResult.Successful)
{
mission.Waypoints.Add(Waypoint.Create(wpResult.Result));
}
}
}
return(InvokeResult <Mission> .Create(mission));
}
public void SetActive(IConnectedUas connectedUas)
{
Active = connectedUas;
if (!All.Contains(connectedUas))
{
All.Add(connectedUas);
}
if (Active != null)
{
ActiveDroneChanged?.Invoke(this, connectedUas);
}
}
private void Connections_ActiveDroneChanged(object sender, IConnectedUas e)
{
RefreshUI();
}