/// <summary>
/// Sent shut down signal to all drones
/// </summary>
public void ShutDownDrones()
{
foreach (CancellationTokenSource shutdownToken in DroneNavigationRoutinesActive)
{
shutdownToken.Cancel();
}
DroneNavigationRoutinesActive.Clear();
}
/// <summary>
/// Power on all dispatcher's drones and starts their navigation routines
/// </summary>
public void StartDronesNavigationRoutine()
{
foreach (Drone drone in Drones)
{
var droneShutdownCancellationSource = new CancellationTokenSource();
var droneShutdownToken = droneShutdownCancellationSource.Token;
DroneNavigationRoutinesActive.Add(droneShutdownCancellationSource);
Task.Run(() => PerformNavigationRoutine(drone, droneShutdownToken), droneShutdownToken);
}
}