public async Task <IHttpActionResult> PutUAV(int id, UAV uAV)
{
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
if (id != uAV.Id)
{
return(BadRequest());
}
_db.Entry(uAV).State = System.Data.Entity.EntityState.Modified;
try
{
await _db.SaveChangesAsync();
}
catch (DbUpdateConcurrencyException)
{
if (!UAVExists(id))
{
return(NotFound());
}
else
{
throw;
}
}
return(StatusCode(HttpStatusCode.NoContent));
}
public async Task <IHttpActionResult> PostUAVWithConfig(UAV uav)
{
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
uav.Configurations = new Configuration
{
Classification = "quadrotor",
create_date = DateTime.Now,
modified_date = DateTime.Now,
Name = "autogen",
NumberOfMotors = 4,
};
uav.Schedules.Add(new Schedule
{
UAVId = uav.Id,
create_date = DateTime.Now,
modified_date = DateTime.Now,
CurrentMission = null
});
_db.UAVs.Add(uav);
await _db.SaveChangesAsync();
return(Ok(uav));
}
void OnCollisionEnter(Collision collision)
{
//Debug.Log("collision");
//eventsOutputStreamWriter.WriteLine("collisionData");
//eventsOutputStreamWriter.WriteLine("time = " +Time.time);
//eventsOutputStreamWriter.WriteLine("object = "+collision.transform.name);
//eventsOutputStreamWriter.WriteLine("EndcollisionData\n");
droneEventLogEntry entry = new droneEventLogEntry();
entry.cmd = lastFetchedCmd;
entry.entryType = "collision";
entry.position = this.transform.position;
entry.rotation = this.transform.rotation.eulerAngles;
entry.velocity = rb.velocity;
entry.time = Time.time;
entry.relativeVelocity = collision.relativeVelocity;
entry.otherName = collision.gameObject.name;
UAV otherUAV = collision.gameObject.GetComponent <UAV>();
if (otherUAV != null)
{
entry.otherCmd = otherUAV.lastFetchedCmd;
}
eventLogger.logs.Add(entry);
//cmdList = new string[2];
//cmdList[0] = "move y0 x"+transform.position.x.ToString()+" z"+ transform.position.z.ToString();
//cmdList[1] = "wait";
//currentCmdIndex = 0;
//cmdDone = true;
Destroy(this.gameObject);
// Debug.Log(name + " cs LogSize:" + eventLogger.logs.Count);
}
public virtual void sendMessage(object msg, UAV target)
{
comminaction air = FindObjectOfType <comminaction>();
air.routeMsg(this, target, msg);
// target.readMessage(msg, this);
droneEventLogEntry entry = new droneEventLogEntry();
entry.cmd = lastFetchedCmd;
entry.entryType = "new message sent";
entry.position = this.transform.position;
entry.rotation = this.transform.rotation.eulerAngles;
Rigidbody rb = GetComponent <Rigidbody>();
entry.velocity = rb.velocity;
entry.time = Time.time;
// entry.relativeVelocity = collision.relativeVelocity;
entry.info = msg.ToString();
if (target != null)
{
entry.otherName = target.name;
UAV otherUAV = target.gameObject.GetComponent <UAV>();
if (otherUAV != null)
{
entry.otherCmd = otherUAV.lastFetchedCmd;
}
}
else
{
entry.otherName = "ALL";
eventLogger.logs.Add(entry);
}
}
public HttpResponseMessage AddUavAndAssign(UAV uav)
{
try
{
uav.estimated_workload = 0;
_db.UAVs.Add(uav);
var nextUserInQueue = _db.Users.FirstOrDefault(u => u.position_in_queue == 1);
var users = _db.Users;
if (nextUserInQueue != null)
{
nextUserInQueue.UAVs.Add(uav);
uav.User = nextUserInQueue;
foreach (var user in users.Where(user => user.user_id != nextUserInQueue.user_id && user.UserRole.role_type == "Flight Dispatcher"))
{
user.position_in_queue--;
_db.Entry(user).State = System.Data.Entity.EntityState.Modified;
}
nextUserInQueue.position_in_queue = users.Count();
_db.Entry(nextUserInQueue).State = System.Data.Entity.EntityState.Modified;
_db.Entry(uav).State = System.Data.Entity.EntityState.Modified;
_db.SaveChanges();
}
else
{
return(Request.CreateResponse(HttpStatusCode.Conflict));
}
}
catch (Exception exception)
{
return(Request.CreateResponse(HttpStatusCode.Conflict));
}
return(Request.CreateResponse(HttpStatusCode.OK));
//emit to user that uav has been tasked to them later via signalr
}
private void OnTriggerExit(Collider other)
{
if (inRageObjects.Contains(other.gameObject))
{
inRageObjects.Remove(other.gameObject);
}
else
{
return;
}
droneEventLogEntry entry = new droneEventLogEntry();
entry.cmd = lastFetchedCmd;
entry.entryType = "object out of range";
entry.position = this.transform.position;
entry.rotation = this.transform.rotation.eulerAngles;
entry.velocity = rb.velocity;
entry.time = Time.time;
// entry.relativeVelocity = collision.relativeVelocity;
entry.otherName = other.name;
UAV otherUAV = other.gameObject.GetComponent <UAV>();
if (otherUAV != null)
{
entry.otherCmd = otherUAV.lastFetchedCmd;
}
eventLogger.logs.Add(entry);
}
void camraFoucsOn(UAV target)
{
// hack need to be genrlaezed for when drones
this.transform.position = target.transform.position + (new Vector3(0, 3f, -5f)) + userOfsets;
// this.transform.localRotation.eulerAngles.Set(30f, 0f, 0f);
}
public async Task <IHttpActionResult> disableUAV(int id)
{
UAV uav = await _db.UAVs.FindAsync(id);
if (uav == null)
{
return(NotFound());
}
uav.isActive = false;
_db.Entry(uav).State = System.Data.Entity.EntityState.Modified;
try
{
await _db.SaveChangesAsync();
}
catch (DbUpdateConcurrencyException)
{
if (!UAVExists(id))
{
return(NotFound());
}
else
{
throw;
}
}
return(Ok(uav));
}
public void UavWasRejected(UAV uav)
{
var userConnections = activeConnections.Where(p => p.Value == uav.User.user_id).Select(p => p.Key);
//(IHubCallerConnectionContext<dynamic>)userConnections.uavWasRejected(uav);
Clients.Clients((IList <string>)userConnections).uavWasRejected(uav);
//Clients.All.uavWasRejected(uav);
}
public uavObjectState(GameObject src) : base(src)
{
UAV uav = src.GetComponent <UAV>();
cmdList = uav.cmdList;
Dictionary <string, string> Data = uav.makeDictionary();
uavData = makeListFromDictionary(Data);
}
public void reportBackAtBase(int uavId)
{
UAV uav = db.UAVs.FirstOrDefault(x => x.Id == uavId);
//if the uav landed at 'base', remove from list -- allows sending warning again
batteryWarning.Remove(uav);
areaWarning.Remove(uav);
Clients.All.uavBackAtBase(uavId);
}
public async Task <IHttpActionResult> GetUAV(int id)
{
UAV uAV = await _db.UAVs.FindAsync(id);
if (uAV == null)
{
return(NotFound());
}
return(Ok(uAV));
}
public async Task <IHttpActionResult> PostUAV(UAV uAV)
{
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
_db.UAVs.Add(uAV);
await _db.SaveChangesAsync();
return(CreatedAtRoute("DefaultApi", new { id = uAV.Id }, uAV));
}
public async Task <IHttpActionResult> DeleteUAV(int id)
{
UAV uAV = await _db.UAVs.FindAsync(id);
if (uAV == null)
{
return(NotFound());
}
_db.UAVs.Remove(uAV);
await _db.SaveChangesAsync();
return(Ok(uAV));
}
public async Task <HttpResponseMessage> UAVAssignment(int id, int?userId)
{
try
{
UAV u = _db.UAVs.FirstOrDefault(x => x.Id == id);
u.User_user_id = userId;
_db.Entry(u).State = System.Data.Entity.EntityState.Modified;
await _db.SaveChangesAsync();
}
catch (DbUpdateException e)
{
return(Request.CreateResponse(HttpStatusCode.BadRequest));
}
return(Request.CreateResponse(HttpStatusCode.OK));
}
public void SpawnUAV()
{
UAV_MODEL = Function.Call <Entity>("spawn", "script_model", UAV.Call <Vector3>("getTagOrigin", "tag_origin"));
UAV_MODEL.Call("setModel", "vehicle_predator_b");
double zOffset = 6300;
double angle = 0;
double radiusOffset = 6100;
double xOffset = (double)Math.Cos(angle) * radiusOffset;
double yOffset = (double)Math.Sin(angle) * radiusOffset;
Vector3 angleVector = Function.Call <Vector3>("vectorNormalize", new Vector3((float)xOffset, (float)yOffset, (float)zOffset));
angleVector = (angleVector * 6100);
UAV_MODEL.Call("linkTo", UAV, "tag_origin", angleVector, new Vector3(0, (float)angle - 90, 10));
}
public void routeMsg(UAV sendr, UAV rcever, object msg)
{
comminactionLogEntry entry = new comminactionLogEntry();
entry.msg = msg.ToString();
entry.from = sendr.name;
entry.time = Time.time;
if (rcever != null)
{
float distnace = (sendr.transform.position - rcever.transform.position).magnitude;
entry.to = rcever.name;
entry.recivedby.Add(new reviverData(rcever.name, distnace));
rcever.readMessage(msg, sendr);
}
else
{
var allUav = GameObject.FindObjectsOfType <UAV>();
entry.to = "ALL";
foreach (var x in allUav)
{
float distnace = (sendr.transform.position - x.transform.position).magnitude;
if (x == sendr)
{
continue;
}
if (sendr.inRageObjects.Contains(x.gameObject))
{
entry.recivedby.Add(new reviverData(x.name, distnace));
}
else
{
entry.faildToReciveBy.Add(new reviverData(x.name, distnace));
}
}
}
loger.logs.Add(entry);
}
public virtual void readMessage(object msg, UAV src)
{
droneEventLogEntry entry = new droneEventLogEntry();
entry.cmd = lastFetchedCmd;
entry.entryType = "new message recived ";
entry.position = this.transform.position;
entry.rotation = this.transform.rotation.eulerAngles;
Rigidbody rb = GetComponent <Rigidbody>();
entry.velocity = rb.velocity;
entry.time = Time.time;
// entry.relativeVelocity = collision.relativeVelocity;
entry.info = msg.ToString();
entry.otherName = src.name;
UAV otherUAV = src.gameObject.GetComponent <UAV>();
if (otherUAV != null)
{
entry.otherCmd = otherUAV.lastFetchedCmd;
}
eventLogger.logs.Add(entry);
}
void OnTriggerEnter(Collider other)
{
//Debug.Log(other.name+" is in range");
//eventsOutputStreamWriter.WriteLine("newObjectInRange");
//eventsOutputStreamWriter.WriteLine("time = " + Time.time);
//eventsOutputStreamWriter.WriteLine("object = " + other.name);
//eventsOutputStreamWriter.WriteLine("endnewObjectInRange\n");
if (inRageObjects.Contains(other.gameObject))
{
return;
}
inRageObjects.Add(other.gameObject);
droneEventLogEntry entry = new droneEventLogEntry();
entry.cmd = lastFetchedCmd;
entry.entryType = "object Detected";
entry.position = this.transform.position;
entry.rotation = this.transform.rotation.eulerAngles;
entry.velocity = rb.velocity;
entry.time = Time.time;
// entry.relativeVelocity = collision.relativeVelocity;
entry.otherName = other.name;
UAV otherUAV = other.gameObject.GetComponent <UAV>();
if (otherUAV != null)
{
entry.otherCmd = otherUAV.lastFetchedCmd;
}
eventLogger.logs.Add(entry);
if (otherUAV != null)
{
sendMessage(lastFetchedCmd, otherUAV);
}
}
public async Task <IHttpActionResult> assignUser(int uav_id, int user_id)
{
UAV uav = await _db.UAVs.FindAsync(uav_id);
User user = await _db.Users.FindAsync(user_id);
if (uav == null || user == null)
{
return(NotFound());
}
uav.User = user;
user.UAVs.Add(uav);
_db.Entry(uav).State = System.Data.Entity.EntityState.Modified;
_db.Entry(user).State = System.Data.Entity.EntityState.Modified;
try
{
await _db.SaveChangesAsync();
}
catch (DbUpdateConcurrencyException)
{
throw;
}
return(Ok(uav));
}
public async Task PushFlightStateUpdate(FlightStateDTO dto)
{
Clients.All.flightStateUpdate(dto);
//await TrespassChecker.ReportTrespassIfNecesarry(dto.UAVId, dto.Latitude, dto.Longitude);
var eventHub = GlobalHost.ConnectionManager.GetHubContext <EventLogHub>();
UAV uav = db.UAVs.FirstOrDefault(x => x.Id == dto.Id);
double lat = Math.Round(dto.Latitude * 10000) / 10000;
double lon = Math.Round(dto.Longitude * 10000) / 10000;
var mis = from ms in db.Missions
where ms.ScheduleId == uav.Id
select ms;
//look up the uav
bool areaList = (areaWarning.Where(u => u.Id == uav.Id).Count()) > 0;
bool batteryList = (batteryWarning.Where(u => u.Id == uav.Id).Count()) > 0;
if (!areaList)
{
bool check = db.MapRestrictedSet.Where(
u => u.SouthWestLatitude <mis.FirstOrDefault().Latitude&&
u.NorthEastLatitude> mis.FirstOrDefault().Latitude&&
u.SouthWestLongitude <mis.FirstOrDefault().Longitude&&
u.NorthEastLongitude> mis.FirstOrDefault().Longitude
).Count() > 0;
if (check)
{
areaWarning.Add(uav);
EventLog evt = new EventLog();
evt.event_id = events;
evt.uav_id = uav.Id;
evt.uav_callsign = uav.Callsign;
evt.criticality = "critical";
evt.message = "Delivery is in restricted area";
evt.create_date = DateTime.Now;
evt.modified_date = DateTime.Now;
//wtf seriously? -- why is this in here twice...
evt.UAVId = uav.Id;
evt.operator_screen_name = "jimbob";
eventHub.Clients.All.newEvent(evt);
db.EventLogs.Add(evt);
events++;
}
}
//it's not in the battery list
if (!batteryList)
{
if (dto.BatteryLevel < .2)
{
//add list -- stops from sending warning everytime
batteryWarning.Add(uav);
EventLog evt = new EventLog();
evt.event_id = events;
evt.uav_id = uav.Id;
evt.uav_callsign = uav.Callsign;
evt.criticality = "critical";
evt.message = "Low Battery";
evt.create_date = DateTime.Now;
evt.modified_date = DateTime.Now;
//wtf seriously? -- why is this in here twice...
evt.UAVId = uav.Id;
evt.operator_screen_name = "jimbob";
eventHub.Clients.All.newEvent(evt);
db.EventLogs.Add(evt);
events++;
}
}
try
{
db.SaveChangesAsync();
}
catch (DbUpdateConcurrencyException)
{
throw;
}
// flightstatedto entity is not the same as models in our db context. can not guarantee atomic. need to wipe out flightstatedto
}
public async Task <IHttpActionResult> generateUAVs(int number)
{
Random num = new Random();
for (int i = 0; i < number; i++)
{
UAV uav = new UAV
{
Callsign = getName().ToUpper() + num.Next(1, 99),
NumDeliveries = num.Next(1, 2000),
Mileage = num.Next(1, 100),
Id = i,
create_date = DateTime.Now,
modified_date = DateTime.Now,
MaxAcceleration = 20,
MaxVelocity = 20,
MaxVerticalVelocity = 20,
MinDeliveryAlt = 100,
UpdateRate = 1000,
CruiseAltitude = 400,
isActive = true,
};
uav.Schedules.Add(new Schedule
{
UAVId = uav.Id,
create_date = DateTime.Now,
modified_date = DateTime.Now,
CurrentMission = null
});
Configuration config = new Configuration
{
Classification = "Predator",
create_date = DateTime.Now,
modified_date = DateTime.Now,
Name = "Default",
NumberOfMotors = 4
};
var flights = new List <FlightState>
{
new FlightState {
Longitude = -118.5288,
Latitude = 34.2420,
Altitude = 400,
VelocityX = 0,
VelocityY = 0,
VelocityZ = 0,
Yaw = 0,
Roll = 0,
Pitch = 0,
YawRate = 0,
RollRate = 0,
PitchRate = 0,
BatteryLevel = .99,
UAVId = i
},
};
flights.ForEach(f =>
{
f.Timestamp = DateTime.Now;
f.create_date = DateTime.Now;
f.modified_date = DateTime.Now;
});
DateTime dateValue = new DateTime();
dateValue = DateTime.Now;
var randPoint = getDistance();
uav.Configurations = config;
uav.FlightStates = flights;
//uav.Schedules = sched;
_db.UAVs.Add(uav);
//db.Missions.Add(mission.First());
//db.Maintenances.Add(maintenances.First());
_db.Configurations.Add(config);
//db.Schedules.Add(sched.First());
_db.FlightStates.Add(flights.First());
try
{
_db.SaveChanges();
}
catch (DbUpdateException e)
{
Console.Write(e.Entries);
}
}
var drones = from u in _db.UAVs.Include(u => u.FlightStates)
select new
{
Id = u.Id,
Mileage = u.Mileage,
NumDeliveries = u.NumDeliveries,
Callsign = u.Callsign,
create_date = u.create_date,
modified_date = u.modified_date,
MaxVelocity = u.MaxVelocity,
MaxAcceleration = u.MaxAcceleration,
MaxVerticalVelocity = u.MaxVerticalVelocity,
UpdateRate = u.UpdateRate,
FlightState = u.FlightStates.OrderBy(fs => fs.Timestamp).FirstOrDefault(),
EventLog = u.EventLogs
};
return(Ok(drones));
}
//[HttpGet]
//[Route("api/sim/resetsim")]
//public void ResetSim()
//{
// startIndex = 0;
//}
public HttpResponseMessage GetInitSim()
{
int ct = 0;
//Check if the UAV list has already been created
if (!generated)
{
//Flag the list as being created
//System.Diagnostics.Debug.WriteLine("started");
generated = true;
UAV temp = db.UAVs.Find(0);
var uavs = from u in db.UAVs.Include(u => u.FlightStates).Include(u => u.Schedules)
let s = u.Schedules.OrderBy(s => s.create_date).FirstOrDefault()
select new
{
Id = u.Id,
Mileage = u.Mileage,
NumDeliveries = u.NumDeliveries,
Callsign = u.Callsign,
create_date = u.create_date,
modified_date = u.modified_date,
MaxVelocity = u.MaxVelocity,
MaxAcceleration = u.MaxAcceleration,
MaxVerticalVelocity = u.MaxVerticalVelocity,
UpdateRate = u.UpdateRate,
Schedule = new
{
Id = s.Id,
UAVId = s.UAVId,
create_date = s.create_date,
modified_date = s.modified_date,
Missions = s.Missions,
},
FlightState = u.FlightStates.OrderBy(fs => fs.Timestamp).FirstOrDefault(),
User = u.User
};
//System.Diagnostics.Debug.WriteLine("uav var generated");
//Find out how many drones have been retrieved
foreach (var vehicle in uavs)
{
ct++;
}
//Create a transferobject list of uavs
xList = new TransferObject[ct];
ct = 0;
//Populate the uav list
foreach (var vehicle in uavs)
{
xList[ct] = new TransferObject
{
Id = vehicle.Id,
Mileage = vehicle.Mileage,
NumDeliveries = vehicle.NumDeliveries,
Callsign = vehicle.Callsign,
create_date = vehicle.create_date,
modified_date = vehicle.modified_date,
MaxVelocity = vehicle.MaxVelocity,
MaxAcceleration = vehicle.MaxAcceleration,
MaxVerticalVelocity = vehicle.MaxVerticalVelocity,
UpdateRate = vehicle.UpdateRate,
Schedule = new Schedule
{
Id = vehicle.Schedule.Id,
UAVId = vehicle.Schedule.UAVId,
create_date = vehicle.Schedule.create_date,
modified_date = vehicle.Schedule.modified_date,
Missions = vehicle.Schedule.Missions,
},
FlightState = vehicle.FlightState,
};
ct++;
}
//System.Diagnostics.Debug.WriteLine("List created");
int capacity = 0;
//Check if creating a new numofdrones-sized array would exceed the number of remaining, unassigned drones
//If it would exceed, make the length only as long as the remaining number of drones
if ((startIndex + numOfDrones) > xList.Length)
{
capacity = xList.Length - startIndex;
}
else
{
capacity = numOfDrones;
}
TransferObject[] transferList = new TransferObject[capacity];
for (int i = startIndex; i < (startIndex + numOfDrones) && i < xList.Length; i++)
{
transferList[i] = new TransferObject();
transferList[i] = transferList[i].Copy(xList[i]);
}
//Build the list of drones to send to the simulator
startIndex += numOfDrones;
return(Request.CreateResponse(HttpStatusCode.OK, transferList));
}
else //xList is already generated
{
if (startIndex > xList.Length)
{
return(Request.CreateResponse(HttpStatusCode.BadRequest));
}
else
{
int capacity = 0;
//Check if creating a new numofdrones-sized array would exceed the number of remaining, unassigned drones
//If it would exceed, make the length only as long as the remaining number of drones
if ((startIndex + numOfDrones) > xList.Length)
{
capacity = xList.Length - startIndex;
}
else
{
capacity = numOfDrones;
}
TransferObject[] transferList = new TransferObject[capacity];
//Build the list of drones to send to the simulator
for (int i = 0; i < numOfDrones && (i + startIndex) < xList.Length; i++)
{
transferList[i] = new TransferObject();
transferList[i] = transferList[i].Copy(xList[i + startIndex]);
}
//Increase the starting index of the next iteration
startIndex += numOfDrones;
return(Request.CreateResponse(HttpStatusCode.OK, transferList));
}
}
}
void OnEnable()
{
uav = target as UAV;
setHeight = serializedObject.FindProperty("HeightSet");
heightSet = uav.HeightPreSet;
}
