private void _transport_OnMessageReceived(object sender, UasMessage arg)
{
switch (arg.MessageId)
{
case UasMessages.Statustext:
var stat = arg as UasStatustext;
var message = new String(stat.Text);
if (message.ToLower().Contains("calibration successful") || message.ToLower().Contains("calibration failed"))
{
IsDone = true;
IsActive = false;
DoneCommand.RaiseCanExecuteChanged();
UserMessage = message;
}
break;
case UasMessages.CommandLong:
var cmd = arg as UasCommandLong;
if (cmd.Command == (ushort)MavCmd.AccelcalVehiclePos)
{
var pos = (AccelcalVehiclePos)cmd.Param1;
UserMessage = "Please place vehicle " + pos.ToString();
}
break;
}
}
void onDoneButtonClicked(object sender, EventArgs e)
{
if (DoneCommand != null && DoneCommand.CanExecute(null))
{
DoneCommand.Execute(null);
}
}
public void Done()
{
_connectedUasManager.Active.Transport.SendMessage(UasCommands.PreflightCalibration(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, 0, 0, 2, 0, 0));
BeginCommand.RaiseCanExecuteChanged();
CancelCommand.RaiseCanExecuteChanged();
DoneCommand.RaiseCanExecuteChanged();
NextCommand.RaiseCanExecuteChanged();
}
private async void RefreshSites()
{
if (IsBusy || !IsActive)
{
return;
}
IsBusy = true;
if (firstLocation == null)
{
firstLocation = await _siteService.GetLocation();
if (firstLocation != null)
{
VisibleRegion = MapSpan.FromCenterAndRadius(new Position(firstLocation.Latitude, firstLocation.Longitude), VisibleRegion.Radius);
IsBusy = false;
return;
}
}
try
{
var distanceRadians =
DegreesToRadians(Math.Max(VisibleRegion.LatitudeDegrees, VisibleRegion.LongitudeDegrees) / 2);
var sites = await _siteService.GetNearBySites(MapCenter.Latitude, MapCenter.Longitude, distanceRadians);
Sites = new ObservableCollection <Site>(sites);
var pins = new List <ILocationViewModel>();
foreach (var site in sites)
{
var localSite = site;
pins.Add(new LocationViewModel
{
Key = site.SiteId.ToString(),
Title = site.SiteName,
Latitude = site.Latitude,
Longitude = site.Longitude,
Description = string.Format("{0}", site.IsPublic.HasValue ? site.IsPublic.Value ? "Allmän" : "Privat" : string.Empty),
Command = new Command(() => DoneCommand.Execute(localSite))
});
}
//UpdatePins(pins);
Pins = new ObservableCollection <ILocationViewModel>(pins);
}
finally
{
IsBusy = false;
}
}
public void Run_ShouldSetTaskStatusToDone_WhenAValidIdIsPassed()
{
var command = new DoneCommand(Id: 1);
var currentTask = new TaskItem(command.Id, "DESC", PriorityEnum.High, TaskStatus.NotStarted);
_taskRepository.Setup(_ => _.GetTaskById(command.Id)).Returns(currentTask);
_taskRepository.Setup(_ => _.UpdateTask(It.IsAny <TaskItem>())).Callback <TaskItem>(task =>
task.TaskStatus.Should().Be(TaskStatus.Done)
);
_subject.Run(command);
_taskRepository.Verify(_ => _.UpdateTask(It.IsAny <TaskItem>()), Times.Once);
}
private async Task AfterMediaRetrieved(bool isShortCut)
{
Source = ImageSource.FromStream(() =>
{
var stream = MediaFile.GetStreamWithImageRotatedForExternalStorage();
return(stream);
});
DoneCommand.ChangeCanExecute();
//if (isShortCut)
//{
// DoneCommand.Execute(null);
//}
await Task.CompletedTask;
}
public void Execute(DoneCommand command)
{
CommandExecutor.SharedInstance.brain.Arm.Done(CommandExecutor.SharedInstance.RegisterId.Value, command.RetrunData);
LogHandler?.Invoke($"DoneCommand({command.RetrunData}) is executed!");
lock (CommandExecutor.SharedInstance)
{
CommandStore.SharedInstance.CurrentCommand = null;
CommandExecutor.SharedInstance.IsWaitingResponse = false;
}
new Thread(() => {
LogHandler?.Invoke($"Will sleep 500ms for safty");
Thread.Sleep(500);
CommandExecutor.SharedInstance.Execute();
}).Start();
}
public void Next()
{
if (IsActive)
{
var ack = new UasCommandAck()
{
TargetComponent = _connectedUasManager.Active.Uas.ComponentId,
TargetSystem = _connectedUasManager.Active.Uas.SystemId,
Command = 1,
Result = 1,
};
_connectedUasManager.Active.Transport.SendMessage(ack);
}
_connectedUasManager.Active.Transport.SendMessage(UasCommands.PreflightCalibration(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, 0, 0, 1, 0, 0));
BeginCommand.RaiseCanExecuteChanged();
CancelCommand.RaiseCanExecuteChanged();
DoneCommand.RaiseCanExecuteChanged();
NextCommand.RaiseCanExecuteChanged();
}
//(CDLTLL) RefreshMap() with real data loading from services/mock is called only if VisibleRegion or Map-Zoom has changed
private async void ReloadMapInfo()
{
if (IsBusy)
{
return;
}
IsBusy = true;
if (_firstLocation == null)
{
_firstLocation = await GetLocation();
if (_firstLocation != null)
{
VisibleRegion = MapSpan.FromCenterAndRadius(new Position(_firstLocation.Latitude, _firstLocation.Longitude), VisibleRegion.Radius);
IsBusy = false;
return;
}
}
try
{
var distanceRadians =
DegreesToRadians(Math.Max(VisibleRegion.LatitudeDegrees, VisibleRegion.LongitudeDegrees) / 2);
var center = VisibleRegion.Center;
var halfheightDegrees = VisibleRegion.LatitudeDegrees / 2;
var halfwidthDegrees = VisibleRegion.LongitudeDegrees / 2;
var topLatitude = center.Latitude + halfheightDegrees;
var leftLongitude = center.Longitude - halfwidthDegrees;
var bottomLatitude = center.Latitude - halfheightDegrees;
var rightLongitude = center.Longitude + halfwidthDegrees;
// Adjust for Internation Date Line (+/- 180 degrees longitude)
if (leftLongitude < -180)
{
leftLongitude = 180 + (180 + leftLongitude);
}
if (rightLongitude > 180)
{
rightLongitude = (rightLongitude - 180) - 180;
}
// (CDLTLL) Query and obtain data from a real service or from the mock service depending on the injected implementation
var vehiclesInCurrentMapArea = await _vehiclesService.GetVehiclesInArea(this.UrlPrefix,
CurrentTenantId,
topLatitude,
leftLongitude,
bottomLatitude,
rightLongitude);
//(CDLTLL - Check this, not being used)
Vehicles = new ObservableCollection <Vehicle>(vehiclesInCurrentMapArea);
var pinsList = new List <ILocationViewModel>();
foreach (Vehicle vehicle in vehiclesInCurrentMapArea)
{
Vehicle localVehicle = vehicle;
pinsList.Add(new LocationViewModel
{
Key = vehicle.Id.ToString(),
Title = vehicle.Make + " " + vehicle.Model,
Latitude = vehicle.Latitude,
Longitude = vehicle.Longitude,
Description = "LicensePlate: " + vehicle.LicensePlate,
Command = new Command(() => DoneCommand.Execute(localVehicle))
});
}
//UpdatePins(pins);
if (Pins != null)
{
Pins.Clear();
}
Pins = new ObservableCollection <ILocationViewModel>(pinsList);
}
finally
{
IsBusy = false;
}
}
