public VehicleDto(Vehicle vehicle)
{
VIN = vehicle.VIN;
Username = vehicle.UserIdentityGuid;
InstagramUri = vehicle.InstagramUri;
FacebookUri = vehicle.FacebookUri;
ImageUri = vehicle.Image.Uri;
ColorCode = vehicle.Color.Code;
ColorName = vehicle.Color.Name;
Description = vehicle.Description;
Manufacturer = vehicle.ModelYear.Model.Manufacturer.Name;
Model = vehicle.ModelYear.Model.Name;
Year = vehicle.ModelYear.Year;
Transmission = vehicle.Transmission.Name;
VehicleLocation = new VehicleLocation(vehicle.VehicleLocation.Latitude, vehicle.VehicleLocation.Longitude);
ViewCount = vehicle.ViewCount;
Status = vehicle.Status.Name;
if (vehicle.VehicleImages != null)
{
foreach (var vi in vehicle.VehicleImages)
{
VehicleImages.Add(vi.Image);
}
}
}
public async Task <string> AddIt(LocationContext context, VehicleLocation vehicleLocation)
{
_context = context;
_context.VehicleLocations.Add(vehicleLocation);
await _context.SaveChangesAsync();
string vehicleLatLong = "";
vehicleLatLong += vehicleLocation.VehicleId;
vehicleLatLong += "#";
vehicleLatLong += vehicleLocation.Latitude;
vehicleLatLong += ",";
vehicleLatLong += vehicleLocation.Longitude;
vehicleLocation.VehicleLatLong = vehicleLatLong;
_context.Entry(vehicleLocation).State = EntityState.Modified;
_context.VehicleLocations.Update(vehicleLocation);
try
{
await _context.SaveChangesAsync();
return("Response:{ status: Succes, description: Vehicle data saved}");
}
catch (DbUpdateConcurrencyException e)
{
return("Look here " + e.Message);
}
}
public static DataSet SaveLocation(VehicleLocation vehiclelocation, string Action)
{
try
{
string ConnectionString = Common.GetConnectionString();
List <SqlParameter> parameters = new List <SqlParameter>();
parameters.Add(new SqlParameter("@LocationID", vehiclelocation.LocationID));
parameters.Add(new SqlParameter("@VehicleId", vehiclelocation.VehicleId));
parameters.Add(new SqlParameter("@LocationLatitude", vehiclelocation.LocationLatitude));
parameters.Add(new SqlParameter("@LocationLongitude", vehiclelocation.LocationLongitude));
parameters.Add(new SqlParameter("@LocationFullAddress", vehiclelocation.LocationFullAddress));
parameters.Add(new SqlParameter("@LandMark", vehiclelocation.LandMark));
parameters.Add(new SqlParameter("@CityName", vehiclelocation.CityName));
parameters.Add(new SqlParameter("@Action", Action));
//int rowsAffected = SqlHelper.ExecuteNonQuery(ConnectionString, CommandType.StoredProcedure, "spSaveLocation", parameters.ToArray());
//return rowsAffected;
using (DataSet dt = SqlHelper.ExecuteDataset(ConnectionString, CommandType.StoredProcedure, "spSaveLocation", parameters.ToArray()))
{
return(dt);
}
}
catch (Exception e)
{
//loggerErr.Error(e.Message + " - " + e.StackTrace);
throw e;
}
}
public async Task <IActionResult> PutVehicleLocation([FromRoute] int id, [FromBody] VehicleLocation vehicleLocation)
{
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
if (id != vehicleLocation.Id)
{
return(BadRequest());
}
_context.Entry(vehicleLocation).State = EntityState.Modified;
try
{
await _context.SaveChangesAsync();
}
catch (DbUpdateConcurrencyException)
{
if (!VehicleLocationExists(id))
{
return(NotFound());
}
else
{
throw;
}
}
return(NoContent());
}
private DateTime CreateLocalTimestamp(VehicleLocation location)
{
var ukTimezone = TimeZoneInfo.FindSystemTimeZoneById("Europe/London");
var datetime = DateTime.UnixEpoch.AddSeconds(location.LastGpsFix).AddMinutes(1);
datetime = TimeZoneInfo.ConvertTimeFromUtc(datetime, ukTimezone);
return(datetime);
}
public async Task <IActionResult> PostVehicleLocation([FromBody] VehicleLocation vehicleLocation)
{
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
PostCheck checkIt = new PostCheck();
string response = await checkIt.AddIt(_context, vehicleLocation);
return(Ok(response));
}
public IActionResult Post(VehicleLocation vehicleLocation)
{
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
locationService.Add(vehicleLocation);
return(CreatedAtRoute(new { Id = vehicleLocation.DeviceId }, vehicleLocation));
}
public async Task <string> DoesItExist(LocationContext context, VehicleLocation vehicleLocation)
{
_context = context;
var response = await _context.VehicleLocations.SingleOrDefaultAsync(m => m.VehicleLatLong == vehicleLocation.VehicleLatLong);
if (response == null)
{
return("1");
}
return("0");
}
private void UpdateMoveControlSensorData()
{
VehicleLocation location = localData.Location;
if (localData != null)
{
sensorData_Address.SetValueAndColor(location.LastAddress, (location.InAddress ? 100 : 0));
sensorData_Section.SetValueAndColor(location.NowSection);
sensorData_Distance.SetValueAndColor(location.DistanceFormSectionHead.ToString("0"));
}
else
{
sensorData_Address.SetValueAndColor("");
sensorData_Section.SetValueAndColor("");
sensorData_Distance.SetValueAndColor("");
}
sensorData_Real.SetValueAndColor(computeFunction.GetMapAGVPositionStringWithAngle(localData.Real));
sensorData_LocationAGVPosition.SetValueAndColor(computeFunction.GetLocateAGVPositionStringWithAngle(localData.MoveControlData.LocateControlData.LocateAGVPosition));
sensorData_MIPCAGVPosition.SetValueAndColor(computeFunction.GetLocateAGVPositionStringWithAngle(localData.MoveControlData.MotionControlData.EncoderAGVPosition));
MoveCommandData command = localData.MoveControlData.MoveCommand;
if (command != null)
{
sensorData_CommandID.SetValueAndColor(command.CommandID);
sensorData_CommandStartTime.SetValueAndColor(command.StartTime.ToString("HH:mm:ss"));
sensorData_CommandStstus.SetValueAndColor(command.CommandStatus.ToString());
sensorData_MoveStatus.SetValueAndColor(command.MoveStatus.ToString(), (int)command.MoveStatus);
sensorData_CommandEncoder.SetValueAndColor(command.CommandEncoder.ToString("0"));
SetLabelTextAndColor(label_MoveControlSensorData_SensorSstatusValue, command.SensorStatus);
SetLabelTextAndColor(label_MoveControlSensorData_ReserveValue, (command.WaitReserveIndex == -1 ? EnumVehicleSafetyAction.Normal : EnumVehicleSafetyAction.SlowStop));
SetLabelTextAndColor(label_MoveControlSensorData_PauseValue, command.AGVPause);
}
else
{
sensorData_CommandID.SetValueAndColor("");
sensorData_CommandStartTime.SetValueAndColor("");
sensorData_CommandStstus.SetValueAndColor("");
sensorData_MoveStatus.SetValueAndColor("");
sensorData_CommandEncoder.SetValueAndColor("");
label_MoveControlSensorData_SensorSstatusValue.Text = "";
label_MoveControlSensorData_ReserveValue.Text = "";
label_MoveControlSensorData_PauseValue.Text = "";
}
SetLabelTextAndColor(label_MoveControlSensorData_SafetySensorValue, localData.MIPCData.SafetySensorStatus);
SetLabelTextAndColor(label_MoveControlSensorData_LocalPauseValue, localData.MoveControlData.SensorStatus.LocalPause);
sensorData_Velocity.SetValueAndColor(String.Concat(localData.MoveControlData.MotionControlData.LineVelocity.ToString("0"), "/",
localData.MoveControlData.MotionControlData.SimulateLineVelocity.ToString("0")));
}
public static async Task <Vehicle> CreateVehicle(int branchId, int fuel, int?odometer,
VehicleManufacturingInfo manufacturingInfo, VehiclePurchaseInfo purchaseInfo,
VehicleLocation locationInfo, VehicleSpecs vehicleSpex)
{
var vehicle = new Vehicle();
vehicle.SetBasicData(branchId, fuel);
vehicle.SetLocationInfo(locationInfo);
vehicle.SetSpecs(vehicleSpex);
vehicle.SetPurchaseInfo(purchaseInfo);
vehicle.MarkVehicleAsReady();
vehicle.Odometer = odometer;
return(vehicle);
}
private Dictionary <string, object> CreateGeoJsonProperties(VehicleLocation location)
{
DateTime datetime = CreateLocalTimestamp(location);
var properties = new Dictionary <string, object>();
properties.Add("heading", location.Heading);
properties.Add("colour", _routeColourService.Get(location.ServiceName)?.Colour);
properties.Add("text_colour", _routeColourService.Get(location.ServiceName)?.TextColor);
properties.Add("name", location.ServiceName);
properties.Add("vehicleId", location.VehicleId);
properties.Add("last_update", datetime.ToString());
properties.Add("destination", location.Destination);
return(properties);
}
public IActionResult SaveLocation([FromBody] VehicleLocation vehiclelocation) //int LocationID, int VehicleId, decimal LocationLatitude, decimal LocationLongitude, string LocationFullAddress
{
//List<VehicleLocation> vehicleLocation = new List<VehicleLocation>();
//string GetConnectionString = VehiclesController.GetConnectionString();
List <ServiceDetails> serviceDetail = new List <ServiceDetails>();
string Action = "Add";
try
{
if (vehiclelocation.VehicleId <= 0 || vehiclelocation.VehicleId == null)
{
return(StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a VehicleId" } }));
}
//else if (vehiclelocation.LocationLatitude == "" || vehiclelocation.LocationLatitude == "string" || vehiclelocation.LocationLatitude == null)
//{
// return StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a Latitude value" } });
//}
//else if (vehiclelocation.LocationLongitude == "" || vehiclelocation.LocationLongitude == "string" || vehiclelocation.LocationLongitude == null)
//{
// return StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a Longitude value" } });
//}
else if (vehiclelocation.CityName == "" || vehiclelocation.CityName == "string" || vehiclelocation.CityName == null)
{
return(StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a CityName" } }));
}
else
{
DataSet dt = Data.Vehicles.SaveLocation(vehiclelocation, Action);
string row = dt.Tables[0].Rows[0]["ErrorMessage"].ToString();
if (row == "Success")
{
return(StatusCode((int)HttpStatusCode.OK, "Saved Successfully"));
}
else
{
return(StatusCode((int)HttpStatusCode.Forbidden, new { error = new { message = row } }));
}
}
}
catch (Exception e)
{
string SaveErrorLog = Data.Common.SaveErrorLog("SaveLocation", e.Message);
return(StatusCode((int)HttpStatusCode.InternalServerError, new { error = new { message = e.Message.ToString() } }));
}
}
public View GetInfoWindow(Marker marker)
{
if (marker.Title != null)
{
var vehicleInfo = VehicleLocation.FirstOrDefault(x => x.trackerId.ToString() == marker.Title);
View view = LayoutInflater.Inflate(Resource.Layout.WindowsInfoAdapterLayout, null, false);
var label = view.FindViewById <TextView>(Resource.Id.vehicleLabel);
var model = view.FindViewById <TextView>(Resource.Id.vehicleModel);
var regNumber = view.FindViewById <TextView>(Resource.Id.vehicleregNumber);
if (vehicleInfo.label != "")
{
label.Text = vehicleInfo.label;
}
else
{
label.Visibility = ViewStates.Gone;
}
if (vehicleInfo.model != "")
{
model.Text = vehicleInfo.model;
}
else
{
model.Visibility = ViewStates.Gone;
}
if (vehicleInfo.regNumber != "")
{
regNumber.Text = vehicleInfo.regNumber;
}
else
{
regNumber.Visibility = ViewStates.Gone;
}
return(view);
}
else
{
return(null);
}
}
private (VehicleManufacturingInfo, VehicleLocation, VehiclePurchaseInfo, VehicleSpecs, VehicleLicenseInfo) CreateVehicleValueObjects(VehicleDto vehicleDto)
{
var manufacturingInfoDto = vehicleDto.VehicleManufacturingInfo;
VehicleManufacturingInfo vehicleManufacturingInfo = null;
if (manufacturingInfoDto != null)
{
vehicleManufacturingInfo = new VehicleManufacturingInfo(manufacturingInfoDto.ModelId, manufacturingInfoDto.Year, manufacturingInfoDto.ChassisNo);
}
var locationInfoDto = vehicleDto.LocationInfo;
VehicleLocation vehicleLocation = null;
if (locationInfoDto != null)
{
vehicleLocation = new VehicleLocation(locationInfoDto.CurrentLocationId);
}
var purchaseInfoDto = vehicleDto.PurchaseInfo;
VehiclePurchaseInfo vehiclePurchaseInfo = null;
if (purchaseInfoDto != null)
{
vehiclePurchaseInfo = VehiclePurchaseInfo.CreateVehiclePurchaseInfo(purchaseInfoDto.VendorId, purchaseInfoDto.Date, purchaseInfoDto.Price);
}
var spexDto = vehicleDto.Specs;
VehicleSpecs vehicleSpex = null;
if (spexDto != null)
{
vehicleSpex = VehicleSpecs.CreateVehicleSpex(spexDto.ColorId, spexDto.TrimLevelId,
spexDto.FuelTypeId, spexDto.FuelTankSize, spexDto.EngineSize);
}
var licenseInfoDto = vehicleDto.VehicleLicenseInfo;
VehicleLicenseInfo vehicleLicenseInfo = null;
if (licenseInfoDto != null)
{
vehicleLicenseInfo = VehicleLicenseInfo.Create(licenseInfoDto.LicenseTypeId, licenseInfoDto.UsageTypeId,
licenseInfoDto.PlateNo, licenseInfoDto.Number, licenseInfoDto.ExpiryDate);
}
return(vehicleManufacturingInfo, vehicleLocation, vehiclePurchaseInfo, vehicleSpex, vehicleLicenseInfo);
}
public async Task <string> SaveAddress(string newAddress, VehicleLocation vehicleLocation)
{
vehicleLocation.Address = newAddress;
_context.Entry(vehicleLocation).State = EntityState.Modified;
_context.VehicleLocations.Update(vehicleLocation);
try
{
await _context.SaveChangesAsync();
return("Response:{ status: Succes, description: Vehicle data saved}");
}
catch (DbUpdateConcurrencyException e)
{
return("Look here " + e.Message);
}
}
public VehicleLocationToDb(VehicleLocation vehiclelocation)
: base(s_metadata)
{
SetSqlInt64(0, vehiclelocation.ID);
SetSqlDateTime(1, vehiclelocation.Times ?? SqlTypes.SqlDateTime.Null);
SetSqlString(2, vehiclelocation.Phone);
SetSqlString(3, vehiclelocation.VehicleNumber);
SetSqlString(4, vehiclelocation.Longitude);
SetSqlString(5, vehiclelocation.Latitude);
SetSqlString(6, vehiclelocation.Str1);
SetSqlString(7, vehiclelocation.Str2);
SetSqlString(8, vehiclelocation.Str3);
SetSqlString(9, vehiclelocation.Str4);
SetSqlString(10, vehiclelocation.Str5);
SetSqlInt64(11, vehiclelocation.Int1);
SetSqlInt64(12, vehiclelocation.Int2);
SetSqlInt64(13, vehiclelocation.Int3);
SetSqlDateTime(14, vehiclelocation.Datetime1 ?? SqlTypes.SqlDateTime.Null);
SetSqlDateTime(15, vehiclelocation.Datetime2 ?? SqlTypes.SqlDateTime.Null);
SetSqlDateTime(16, vehiclelocation.Datetime3 ?? SqlTypes.SqlDateTime.Null);
}
public MapAGVPosition GetAGVPositionByVehicleLocation(VehicleLocation now)
{
if (localData.TheMapInfo.AllSection.ContainsKey(now.NowSection))
{
MapAGVPosition returnValue = new MapAGVPosition();
returnValue.Angle = localData.TheMapInfo.AllSection[now.NowSection].FromVehicleAngle;
returnValue.Position.X = localData.TheMapInfo.AllSection[now.NowSection].FromAddress.AGVPosition.Position.X +
(localData.TheMapInfo.AllSection[now.NowSection].ToAddress.AGVPosition.Position.X -
localData.TheMapInfo.AllSection[now.NowSection].FromAddress.AGVPosition.Position.X) *
(now.DistanceFormSectionHead / localData.TheMapInfo.AllSection[now.NowSection].Distance);
returnValue.Position.Y = localData.TheMapInfo.AllSection[now.NowSection].FromAddress.AGVPosition.Position.Y +
(localData.TheMapInfo.AllSection[now.NowSection].ToAddress.AGVPosition.Position.Y -
localData.TheMapInfo.AllSection[now.NowSection].FromAddress.AGVPosition.Position.Y) *
(now.DistanceFormSectionHead / localData.TheMapInfo.AllSection[now.NowSection].Distance);
return(returnValue);
}
else
{
return(null);
}
}
/// <summary>
/// Return a list of all gps messages with there timestamp from the log
/// </summary>
/// <param name="fn"></param>
/// <returns></returns>
private Dictionary<long, VehicleLocation> readGPSMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> vehiclePositionList = new Dictionary<long, VehicleLocation>();
// Telemetry Log
if (fn.ToLower().EndsWith("tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
mine.logplaybackfile =
new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
// check for valid lock
if (!(cs.gpsstatus >=3 || cs.gpsstatus2 >= 3))
continue;
VehicleLocation location = new VehicleLocation();
location.Time = cs.datetime;
location.Lat = cs.lat;
location.Lon = cs.lng;
location.RelAlt = cs.alt;
location.AltAMSL = cs.altasl;
location.Roll = cs.roll;
location.Pitch = cs.pitch;
location.Yaw = cs.yaw;
location.SAlt = cs.sonarrange;
vehiclePositionList[ToMilliseconds(location.Time)] = location;
// 4 5 7
Console.Write((mine.logplaybackfile.BaseStream.Position*100/
mine.logplaybackfile.BaseStream.Length) + " \r");
}
mine.logplaybackfile.Close();
}
}
// DataFlash Log
else
{
using (var sr = new CollectionBuffer(File.OpenRead(fn)))
{
// Will hold the last seen Attitude information in order to incorporate them into the GPS Info
float currentYaw = 0f;
float currentRoll = 0f;
float currentPitch = 0f;
float currentSAlt = 0f;
foreach (var item in sr.GetEnumeratorType(new string[] { "GPS", "GPS2", "ATT", "CTUN", "RFND" }))
{
// Look for GPS Messages. However GPS Messages do not have Roll, Pitch and Yaw
// So we have to look for one ATT message after having read a GPS one
var gpstouse = UseGpsorGPS2();
if (item.msgtype == gpstouse)
{
if (!sr.dflog.logformat.ContainsKey(gpstouse))
continue;
int latindex = sr.dflog.FindMessageOffset(gpstouse, "Lat");
int lngindex = sr.dflog.FindMessageOffset(gpstouse, "Lng");
int altindex = sr.dflog.FindMessageOffset(gpstouse, "Alt");
int statusindex = sr.dflog.FindMessageOffset(gpstouse, "Status");
int raltindex = sr.dflog.FindMessageOffset(gpstouse, "RAlt");
if (raltindex == -1)
raltindex = sr.dflog.FindMessageOffset(gpstouse, "RelAlt");
VehicleLocation location = new VehicleLocation();
try
{
location.Time = item.time;
if (statusindex != -1)
{
// check for valid lock
if (double.Parse(item.items[statusindex], CultureInfo.InvariantCulture) < 3)
continue;
}
if (latindex != -1)
location.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
if (lngindex != -1)
location.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
if (raltindex != -1)
location.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
if (altindex != -1)
location.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
location.Roll = currentRoll;
location.Pitch = currentPitch;
location.Yaw = currentYaw;
location.SAlt = currentSAlt;
long millis = ToMilliseconds(location.Time);
//System.Diagnostics.Debug.WriteLine("GPS MSG - UTCMillis = " + millis + " GPS Week = " + getValueFromStringArray(gpsLineValues, gpsweekpos) + " TimeMS = " + getValueFromStringArray(gpsLineValues, timepos));
if (!vehiclePositionList.ContainsKey(millis) && (location.Time != DateTime.MinValue))
vehiclePositionList[millis] = location;
}
catch
{
Console.WriteLine("Bad "+gpstouse+" Line");
}
}
else if (item.msgtype == "ATT")
{
int Rindex = sr.dflog.FindMessageOffset("ATT", "Roll");
int Pindex = sr.dflog.FindMessageOffset("ATT", "Pitch");
int Yindex = sr.dflog.FindMessageOffset("ATT", "Yaw");
if (Rindex != -1)
currentRoll = float.Parse(item.items[Rindex], CultureInfo.InvariantCulture);
if (Pindex != -1)
currentPitch = float.Parse(item.items[Pindex], CultureInfo.InvariantCulture);
if (Yindex != -1)
currentYaw = float.Parse(item.items[Yindex], CultureInfo.InvariantCulture);
}
else if (item.msgtype == "CTUN")
{
int SAltindex = sr.dflog.FindMessageOffset("CTUN", "SAlt");
if (SAltindex != -1)
{
currentSAlt = float.Parse(item.items[SAltindex], CultureInfo.InvariantCulture);
}
}
else if (item.msgtype == "RFND")
{
int SAltindex = sr.dflog.FindMessageOffset("RFND", "Dist1");
if (SAltindex != -1)
{
currentSAlt = float.Parse(item.items[SAltindex], CultureInfo.InvariantCulture);
}
}
}
}
}
return vehiclePositionList;
}
private void FindSectionThread()
{
VehicleLocation newVehicleLocation = new VehicleLocation();
string sectionID = localData.Location.NowSection;
string addressID = localData.Location.LastAddress;
MapAGVPosition now = localData.Real;
MapPosition temp;
MapSection section;
double distanceToHead;
double distanceToTail;
if (now == null)
{
return;
}
if (localData.TheMapInfo.AllSection.ContainsKey(sectionID))
{
#region 是否還在目前Section內 (判斷條件 : 頭尾不能超出,寬度為MoveControlConfig.SectionRange 預設是50mm, 非RTurn且 角度誤差在MoveControlConfig.SectionAllowDeltaTheta 預設是5度).
section = localData.TheMapInfo.AllSection[sectionID];
temp = computeFunction.GetTransferPosition(section, now.Position);
if (0 <= temp.X && temp.X <= section.Distance && Math.Abs(temp.Y) <= localData.MoveControlData.MoveControlConfig.SectionRange &&
Math.Abs(computeFunction.GetCurrectAngle(section.FromVehicleAngle - now.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
if (section.FromVehicleAngle == section.ToVehicleAngle)
{
if (Math.Abs(computeFunction.GetCurrectAngle(section.FromVehicleAngle - now.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
localData.Location.DistanceFormSectionHead = temp.X;
distanceToHead = temp.X;
distanceToTail = section.Distance - temp.X;
if (distanceToHead <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToHead <= distanceToTail)
{
localData.Location.InAddress = true;
localData.Location.LastAddress = section.FromAddress.Id;
}
else if (distanceToTail <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToTail <= distanceToHead)
{
localData.Location.InAddress = true;
localData.Location.LastAddress = section.ToAddress.Id;
}
else
{
localData.Location.InAddress = false;
}
WriteLog(7, "", String.Concat("Section不變更 : ", sectionID));
localData.LastAGVPosition = now;
return;
}
}
}
#endregion
#region 搜尋是否在相鄰Section內 (判斷條件 : 頭尾不能超出,寬度為MoveControlConfig.SectionRange 預設是50mm, 非RTurn且 角度誤差在MoveControlConfig.SectionAllowDeltaTheta 預設是5度).
for (int i = 0; i < localData.TheMapInfo.AllSection[sectionID].NearbySection.Count; i++)
{
section = localData.TheMapInfo.AllSection[sectionID].NearbySection[i];
if (section.FromVehicleAngle == section.ToVehicleAngle)
{
temp = computeFunction.GetTransferPosition(section, now.Position);
if (0 <= temp.X && temp.X <= section.Distance && Math.Abs(temp.Y) <= localData.MoveControlData.MoveControlConfig.SectionRange &&
Math.Abs(computeFunction.GetCurrectAngle(section.FromVehicleAngle - now.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
if (Math.Abs(computeFunction.GetCurrectAngle(section.FromVehicleAngle - now.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
newVehicleLocation.DistanceFormSectionHead = temp.X;
newVehicleLocation.NowSection = section.Id;
distanceToHead = temp.X;
distanceToTail = section.Distance - temp.X;
if (distanceToHead <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToHead <= distanceToTail)
{
newVehicleLocation.InAddress = true;
newVehicleLocation.LastAddress = section.FromAddress.Id;
}
else if (distanceToTail <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToTail <= distanceToHead)
{
newVehicleLocation.InAddress = true;
newVehicleLocation.LastAddress = section.ToAddress.Id;
}
else
{
newVehicleLocation.InAddress = false;
if (section.FromAddress == localData.TheMapInfo.AllSection[sectionID].FromAddress ||
section.FromAddress == localData.TheMapInfo.AllSection[sectionID].ToAddress)
{
newVehicleLocation.LastAddress = section.FromAddress.Id;
}
else
{
newVehicleLocation.LastAddress = section.ToAddress.Id;
}
}
localData.Location = newVehicleLocation;
WriteLog(7, "", String.Concat("切換Section(相鄰) : ", newVehicleLocation.NowSection));
localData.LastAGVPosition = now;
return;
}
}
}
}
#endregion
}
#region Find All (條件 : 頭尾可超出 MoveControlConfig.SectionRange 預設是50mm, 寬度在MoveControlConfig.SectionWidthRange 預設是500mm, 非RTurn且 角度誤差在MoveControlConfig.SectionAllowDeltaTheta 預設是5度 中 找尋數值最接近的)
MapSection minSection = null;
MapPosition minPosition = null;
double min = -1;
double tempMin;
double deltaAngle;
foreach (MapSection tempSection in localData.TheMapInfo.AllSection.Values)
{
if (tempSection.FromVehicleAngle == tempSection.ToVehicleAngle)
{
temp = computeFunction.GetTransferPosition(tempSection, now.Position);
if (-localData.MoveControlData.MoveControlConfig.SectionRange <= temp.X && temp.X <= (tempSection.Distance + localData.MoveControlData.MoveControlConfig.SectionRange) &&
Math.Abs(temp.Y) <= localData.MoveControlData.MoveControlConfig.SectionWidthRange)
{
deltaAngle = Math.Abs(computeFunction.GetCurrectAngle(tempSection.FromVehicleAngle - now.Angle));
tempMin = Math.Abs(temp.Y) + deltaAngle * 50;
if (temp.X < 0)
{
tempMin = tempMin - temp.X;
}
else if (temp.X > tempSection.Distance)
{
tempMin = tempMin + temp.X - tempSection.Distance;
}
if (min == -1 || tempMin < min)
{
min = tempMin;
minSection = tempSection;
minPosition = temp;
}
}
}
}
if (min == -1)
{
if (localData.MoveControlData.MoveControlConfig.LosePositionSetNullAddressSection)
{
newVehicleLocation.DistanceFormSectionHead = 0;
newVehicleLocation.LastAddress = "";
newVehicleLocation.NowSection = "";
newVehicleLocation.InAddress = false;
localData.Location = newVehicleLocation;
}
WriteLog(3, "", String.Concat("目前位置 : ", computeFunction.GetMapAGVPositionStringWithAngle(now), " 搜尋不到所在Section"));
localData.LastAGVPosition = now;
}
else
{
newVehicleLocation.NowSection = minSection.Id;
if (minPosition.X < 0)
{
newVehicleLocation.DistanceFormSectionHead = 0;
}
else if (minPosition.X > minSection.Distance)
{
newVehicleLocation.DistanceFormSectionHead = minSection.Distance;
}
else
{
newVehicleLocation.DistanceFormSectionHead = minPosition.X;
}
distanceToHead = Math.Abs(minPosition.X);
distanceToTail = Math.Abs(minSection.Distance - minPosition.X);
if (distanceToHead <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToHead <= distanceToTail)
{
newVehicleLocation.LastAddress = minSection.FromAddress.Id;
newVehicleLocation.InAddress = true;
}
else if (distanceToTail < localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToTail < distanceToHead)
{
newVehicleLocation.LastAddress = minSection.ToAddress.Id;
newVehicleLocation.InAddress = true;
}
else
{
if (distanceToHead <= distanceToTail)
{
newVehicleLocation.LastAddress = minSection.FromAddress.Id;
}
else
{
newVehicleLocation.LastAddress = minSection.ToAddress.Id;
}
newVehicleLocation.InAddress = false;
}
localData.Location = newVehicleLocation;
WriteLog(7, "", String.Concat("切換Section(All) : ", newVehicleLocation.NowSection));
localData.LastAGVPosition = now;
}
#endregion
}
private void MiidlerInfo()
{
/// 充電相關資訊.
///
bool 正在充電 = localData.MIPCData.Charging;
/// SOC
double soc = localData.BatteryInfo.SOC;
double 到站充電高水位 = localData.MIPCData.Config.ChargingSOC_High;
double 在站點上充電水位 = localData.MIPCData.Config.ChargingSOC_Low;
/// 這邊訊號在充電送出成功時就會on,會做delay,middler不用再做delay.
/// 開始充電、結束充電.
StartChargingByAddressID("48001??");
StopCharging();
/// 上報位置相關.
/// 目前位置(座標)
MapAGVPosition nowPosition = localData.Real;
/// 這邊迷航是會是null 但如果config設定迷航時殘留上次數值,就會迷航前的資料.
if (nowPosition != null)
{
double x = nowPosition.Position.X;
double y = nowPosition.Position.Y;
double angle = nowPosition.Angle;
}
double 移動方向 = localData.MoveDirectionAngle;
double 移動速度 = localData.MoveControlData.MotionControlData.LineVelocity;
bool 避車停止 = localData.MoveControlData.ReserveStop;
bool 障礙物停止 = localData.MoveControlData.SafetySensorStop;
bool AlarmBit = AlarmHandler.HasAlarm;
bool Auto中 = (localData.AutoManual == EnumAutoState.Auto);
/// Address Section Distance.
VehicleLocation nowVehicleLocation = localData.Location;
string NowSection = nowVehicleLocation.NowSection;
/// 迷航時為空白.
string LastAddress = nowVehicleLocation.LastAddress;
/// 迷航時為空白.
///
bool 是否在LastAddress上 = nowVehicleLocation.InAddress;
double distance = nowVehicleLocation.DistanceFormSectionHead;
/// 走行相關.
/// 移動命令
///
bool 現在可以下命令 = localData.MoveControlData.Ready && !localData.MoveControlData.ErrorBit;
/// ErrorBit理論上等同AlarmHandler.HasAlarm,因此應該不會發生兩邊狀態不一致.
bool 現在MoveControl有命令 = (localData.MoveControlData.MoveCommand != null);
string errorMessage = "";
MoveControl.VehicleMove(null, ref errorMessage);
/// 這樣好了 你呼叫的地方就先打null沒關係 只是上面要有三行
string CommandID = "???";
List <string> movingAddressList;
List <string> movingSectionList;
/// 停車.
MoveControl.VehicleStop();
/// Pause.Continue.
MoveControl.VehiclePause();
MoveControl.VehicleContinue();
/// Cancel 下了會自己先pause在Stop.
MoveControl.VehicleCancel();
/// Override需要自己寫.
/// 下面一個為完成上報,一個為過站上報.
/// MoveControl.MoveCompleteEvent += MoveControl_MoveComplete;
/// MoveControl.PassAddressEvent += MoveControl_PassAddress;
/// 取放相關.
/// 開始命令
///
bool Fork現在可以下命令 = localData.LoadUnloadData.Ready && !localData.LoadUnloadData.ErrorBit;
/// 可以視為友達版本的ForkHome訊號.
/// LoadUnloadCommand(addressID, load or unload)
/// return true = 開始執行, false = 無法執行
///
/// 應該不會需要停止, 停止這樣下.
/// 這邊要考慮一下 取放貨到底能不能中斷.
StopLoadUnload();
///
/// 取放 結束Event
/// LoadUnloadControl.ForkCompleteEvent
///
/// 更新loading 和CSTID
UpdateLoadingAndCSTID();
bool 臺車有貨物 = localData.LoadUnloadData.Loading;
string 卡夾ID = localData.LoadUnloadData.CstID;
}
private void UpdateAddressSection_ManualMode()
{
if (localData.Real != null && localData.LastAGVPosition != null)
{
double distance = computeFunction.GetTwoPositionDistance(localData.Real, localData.LastAGVPosition);
if (distance <= localData.MoveControlData.MoveControlConfig.InPositionRange && Math.Abs(computeFunction.GetCurrectAngle(localData.Real.Angle - localData.LastAGVPosition.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
lastFindSectionTime = DateTime.Now;
string sectionID = localData.Location.NowSection;
if (localData.TheMapInfo.AllSection.ContainsKey(sectionID))
{
if (localData.TheMapInfo.AllSection[sectionID].FromVehicleAngle == localData.TheMapInfo.AllSection[sectionID].ToVehicleAngle)
{
MapPosition temp = computeFunction.GetTransferPosition(localData.TheMapInfo.AllSection[sectionID], localData.Real.Position);
double sectionDeviation = temp.Y;
double theta = computeFunction.GetCurrectAngle(localData.Real.Angle - localData.TheMapInfo.AllSection[sectionID].FromVehicleAngle);
thetaSectionDeviation = new ThetaSectionDeviation(theta, sectionDeviation);
}
}
return;
}
}
if (localData.Real == null)
{
if (localData.MoveControlData.MoveControlConfig.LosePositionSetNullAddressSection)
{
localData.Location = new VehicleLocation();
}
}
else
{
if ((DateTime.Now - lastFindSectionTime).TotalMilliseconds > localData.MoveControlData.MoveControlConfig.TimeValueConfig.IntervalTimeList[EnumIntervalTimeType.ManualFindSectionInterval])
{
lastFindSectionTime = DateTime.Now;
if (findSectionThread == null || !findSectionThread.IsAlive)
{
findSectionThread = new Thread(FindSectionThread);
findSectionThread.Start();
}
else
{
WriteLog(3, "", String.Concat("Find now Section Interval : ", localData.MoveControlData.MoveControlConfig.TimeValueConfig.IntervalTimeList[EnumIntervalTimeType.ManualFindSectionInterval].ToString("0"), ", 上一次搜尋還未結束"));
}
}
else
{
VehicleLocation oldLocate = localData.Location;
if (localData.TheMapInfo.AllSection.ContainsKey(oldLocate.NowSection))
{
VehicleLocation newLocate = new VehicleLocation();
newLocate.NowSection = oldLocate.NowSection;
MapPosition temp = computeFunction.GetTransferPosition(localData.TheMapInfo.AllSection[oldLocate.NowSection], localData.Real.Position);
if (Math.Abs(temp.X) <= localData.MoveControlData.MoveControlConfig.InPositionRange)
{
newLocate.InAddress = true;
newLocate.LastAddress = localData.TheMapInfo.AllSection[oldLocate.NowSection].FromAddress.Id;
}
else if (Math.Abs(localData.TheMapInfo.AllSection[oldLocate.NowSection].Distance - temp.X) <= localData.MoveControlData.MoveControlConfig.InPositionRange)
{
newLocate.InAddress = true;
newLocate.LastAddress = localData.TheMapInfo.AllSection[oldLocate.NowSection].ToAddress.Id;
}
else
{
newLocate.LastAddress = oldLocate.LastAddress;
}
if (temp.X < 0)
{
temp.X = 0;
}
else if (temp.X > localData.TheMapInfo.AllSection[oldLocate.NowSection].Distance)
{
temp.X = localData.TheMapInfo.AllSection[oldLocate.NowSection].Distance;
}
newLocate.DistanceFormSectionHead = temp.X;
double sectionDeviation = temp.Y;
double theta = computeFunction.GetCurrectAngle(localData.Real.Angle - localData.TheMapInfo.AllSection[oldLocate.NowSection].FromVehicleAngle);
thetaSectionDeviation = new ThetaSectionDeviation(theta, sectionDeviation);
localData.Location = newLocate;
}
}
}
}
private void UpdateAddressSection_MoveControlMovingFlow(SectionLine sectionLine)
{
if (sectionLine == null || localData.Real == null)
{
return;
}
VehicleLocation newVehicleLocation = new VehicleLocation();
if (localData.MoveControlData.MoveCommand.CommandStatus == EnumMoveCommandStartStatus.Reporting)
{
newVehicleLocation.LastAddress = localData.Location.LastAddress;
newVehicleLocation.InAddress = localData.Location.InAddress;
}
else
{
if (localData.TheMapInfo.AllAddress.ContainsKey(sectionLine.Start.Id))
{
newVehicleLocation.LastAddress = sectionLine.Start.Id;
}
else
{
newVehicleLocation.LastAddress = localData.Location.LastAddress;
}
}
newVehicleLocation.NowSection = sectionLine.Section.Id;
MapPosition temp;
if (localData.MoveControlData.LocateControlData.LocateAGVPosition != null)
{
temp = computeFunction.GetTransferPosition(sectionLine.Section, localData.MoveControlData.LocateControlData.LocateAGVPosition.AGVPosition.Position);
}
else
{
temp = computeFunction.GetTransferPosition(sectionLine.Section, localData.Real.Position);
}
//MapPosition temp = computeFunction.GetTransferPosition(sectionLine.Section, localData.Real.Position);
if (temp.X < 0)
{
newVehicleLocation.DistanceFormSectionHead = 0;
}
else if (temp.X > sectionLine.Section.Distance)
{
newVehicleLocation.DistanceFormSectionHead = sectionLine.Section.Distance;
}
else
{
newVehicleLocation.DistanceFormSectionHead = temp.X;
}
if (Math.Abs(temp.X) <= localData.MoveControlData.MoveControlConfig.InPositionRange)
{
newVehicleLocation.InAddress = true;
}
else
{
newVehicleLocation.InAddress = false;
}
if (localData.MoveControlData.MoveCommand.MoveStatus == EnumMoveStatus.Moving)
{
double sectionDeviation = temp.Y;
double theta = computeFunction.GetCurrectAngle(localData.Real.Angle - sectionLine.Section.FromVehicleAngle);
thetaSectionDeviation = new ThetaSectionDeviation(theta, sectionDeviation);
}
localData.MoveControlData.MoveCommand.CommandEncoder = sectionLine.EncoderAddSectionDistanceStart + (sectionLine.SectionDirFlag ? temp.X : -temp.X);
localData.Location = newVehicleLocation;
localData.LastAGVPosition = localData.Real;
}
/// <summary>
/// Return a list of all cam messages in a log with timestamp
/// </summary>
/// <param name="fn"></param>
/// <returns></returns>
private Dictionary<long, VehicleLocation> readCAMMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> list = new Dictionary<long, VehicleLocation>();
if (fn.ToLower().EndsWith("tlog"))
return null;
// convert bin to log
if (fn.ToLower().EndsWith("bin"))
{
string tempfile = Path.GetTempFileName();
Log.BinaryLog.ConvertBin(fn, tempfile);
fn = tempfile;
}
using (StreamReader sr = new StreamReader(fn))
{
int a = 0;
while (!sr.EndOfStream)
{
a++;
string line = sr.ReadLine();
var item = dflog.GetDFItemFromLine(line, a);
if (item.msgtype == "CAM")
{
int latindex = dflog.FindMessageOffset("CAM", "Lat");
int lngindex = dflog.FindMessageOffset("CAM", "Lng");
int altindex = dflog.FindMessageOffset("CAM", "Alt");
int raltindex = dflog.FindMessageOffset("CAM", "RelAlt");
int rindex = dflog.FindMessageOffset("CAM", "Roll");
int pindex = dflog.FindMessageOffset("CAM", "Pitch");
int yindex = dflog.FindMessageOffset("CAM", "Yaw");
int gtimeindex = dflog.FindMessageOffset("CAM", "GPSTime");
int gweekindex = dflog.FindMessageOffset("CAM", "GPSWeek");
VehicleLocation p = new VehicleLocation();
p.Time = GetTimeFromGps(int.Parse(item.items[gweekindex], CultureInfo.InvariantCulture),
int.Parse(item.items[gtimeindex], CultureInfo.InvariantCulture));
p.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
p.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
p.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
p.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
p.Pitch = float.Parse(item.items[pindex], CultureInfo.InvariantCulture);
p.Roll = float.Parse(item.items[rindex], CultureInfo.InvariantCulture);
p.Yaw = float.Parse(item.items[yindex], CultureInfo.InvariantCulture);
list[ToMilliseconds(p.Time)] = p;
}
}
}
return list;
}
async private Task <DateTime> GetFirstSustainedTriggerTime(string fn)
{
DateTime SusTrigTime = new DateTime();
Dictionary <long, VehicleLocation> vehicletriggerList = new Dictionary <long, VehicleLocation>();
// Telemetry Log
if (fn.ToLower().EndsWith("tlog"))
{
System.IO.FileStream logplaybackfile = new System.IO.FileStream(fn, FileMode.Open);
MAVLinkInterface mine = new MAVLinkInterface(logplaybackfile);
bool WasLastOn = false;
MissionPlanner.CurrentState cs = new MissionPlanner.CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
VehicleLocation location = new VehicleLocation();
location.Time = cs.datetime;
bool tmponval = false;
if (((cs.ch7in > 1520) || (cs.ch7in < 1480)) && (cs.ch7in != 0)) //if ch7 val is not default we assume camera is on
{
tmponval = true;
if (!WasLastOn)
{
SusTrigTime = cs.datetime;
}
else
{
// logic to check if we have a sustained trigger
System.TimeSpan SusTime = cs.datetime - SusTrigTime;
double Sustimesec = SusTime.TotalSeconds;
if (Sustimesec > 30)
{
mine.logplaybackfile.Close();
return(SusTrigTime);
}
}
WasLastOn = true;
}
else
{
if (cs.ch7in != 0)
{
tmponval = false;
if (WasLastOn)
{
// logic to check if we have a sustained trigger
System.TimeSpan SusTime = cs.datetime - SusTrigTime;
double Sustimesec = SusTime.TotalSeconds;
if (Sustimesec > 30)
{
mine.logplaybackfile.Close();
return(SusTrigTime);
}
}
}
WasLastOn = false;
}
}
mine.logplaybackfile.Close();
}
return(SusTrigTime);
}
public IActionResult UpdateLocation([FromBody] VehicleLocation vehiclelocation)
{
List <ServiceDetails> serviceDetail = new List <ServiceDetails>();
string Action = "Update";
try
{
if (vehiclelocation.LocationID <= 0 || vehiclelocation.LocationID == null)
{
return(StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a LocationID" } }));
}
else if (vehiclelocation.VehicleId <= 0 || vehiclelocation.VehicleId == null)
{
return(StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a VehicleId" } }));
}
//else if (vehiclelocation.LocationLatitude == "" || vehiclelocation.LocationLatitude == "string" || vehiclelocation.LocationLatitude == null)
//{
// return StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a Latitude value" } });
//}
//else if (vehiclelocation.LocationLongitude == "" || vehiclelocation.LocationLongitude == "string" || vehiclelocation.LocationLongitude == null)
//{
// return StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a Longitude value" } });
//}
else if (vehiclelocation.CityName == "" || vehiclelocation.CityName == "string" || vehiclelocation.CityName == null)
{
return(StatusCode((int)HttpStatusCode.BadRequest, new { error = new { message = "Please enter a CityName" } }));
}
else
{
DataSet dt = Data.Vehicles.SaveLocation(vehiclelocation, Action);
string row = dt.Tables[0].Rows[0]["ErrorMessage"].ToString();
if (row == "Success")
{
return(StatusCode((int)HttpStatusCode.OK, "Updated Successfully"));
}
else
{
//return "Invalid";
return(StatusCode((int)HttpStatusCode.Forbidden, new { error = new { message = row } }));
}
}
//if (row == "Success")
//{
// ServiceAmount amt = new ServiceAmount();
// if (dt.Tables[1].Rows.Count > 0)
// {
// for (int i = 0; i < dt.Tables[1].Rows.Count; i++)
// {
// ServiceDetails service = new ServiceDetails();
// service.ServiceID = (dt.Tables[1].Rows[i]["ServiceID"] == DBNull.Value ? 0 : (int)dt.Tables[1].Rows[i]["ServiceID"]);
// //service.ServicePlanID = (dt.Tables[1].Rows[i]["ServicePlanID"] == DBNull.Value ? 0 : (int)dt.Tables[1].Rows[i]["ServicePlanID"]);
// service.ServicePriceChartId = (dt.Tables[1].Rows[i]["ServicePriceChartId"] == DBNull.Value ? 0 : (int)dt.Tables[1].Rows[i]["ServicePriceChartId"]);
// service.PlanType = (dt.Tables[1].Rows[i]["PlanType"] == DBNull.Value ? "-" : dt.Tables[1].Rows[i]["PlanType"].ToString());
// service.Price = (dt.Tables[1].Rows[i]["Price"] == DBNull.Value ? 0 : (decimal)dt.Tables[1].Rows[i]["Price"]);
// service.VehicleId = (dt.Tables[1].Rows[i]["VehicleId"] == DBNull.Value ? 0 : (int)dt.Tables[1].Rows[i]["VehicleId"]);
// service.UserId = (dt.Tables[1].Rows[i]["UserId"] == DBNull.Value ? 0 : (int)dt.Tables[1].Rows[i]["UserId"]);
// //service.RemainderMinutes = (dt.Tables[1].Rows[i]["RemainderMinutes"] == DBNull.Value ? 0 : (int)dt.Tables[1].Rows[i]["RemainderMinutes"]);
// //service.LocationID = (dt.Tables[1].Rows[i]["LocationID"] == DBNull.Value ? 0 : (int)dt.Tables[1].Rows[i]["LocationID"]);
// //service.IsTeamsandConditionsAccepted = (dt.Tables[1].Rows[i]["IsTeamsandConditionsAccepted"] == DBNull.Value ? false : (bool)dt.Tables[1].Rows[i]["IsTeamsandConditionsAccepted"]);
// service.PromoCodeApplied = (dt.Tables[1].Rows[i]["PromoCodeApplied"] == DBNull.Value ? false : (bool)dt.Tables[1].Rows[i]["PromoCodeApplied"]);
// service.Status = (dt.Tables[1].Rows[i]["Status"] == DBNull.Value ? "-" : dt.Tables[1].Rows[i]["Status"].ToString());
// service.ScheduleID = (dt.Tables[1].Rows[i]["ScheduleID"] == DBNull.Value ? 0 : (int)dt.Tables[1].Rows[i]["ScheduleID"]);
// service.RequestedServiceDate = (dt.Tables[1].Rows[i]["RequestedServiceDate"] == DBNull.Value ? "-" : dt.Tables[1].Rows[i]["RequestedServiceDate"].ToString());
// service.ActualServiceDate = (dt.Tables[1].Rows[i]["ActualServiceDate"] == DBNull.Value ? "-" : dt.Tables[1].Rows[i]["ActualServiceDate"].ToString());
// service.ServiceOutDate = (dt.Tables[1].Rows[i]["ServiceOutDate"] == DBNull.Value ? "-" : dt.Tables[1].Rows[i]["ServiceOutDate"].ToString());
// service.ServiceName = (dt.Tables[1].Rows[i]["ServiceName"] == DBNull.Value ? "-" : dt.Tables[1].Rows[i]["ServiceName"].ToString());
// service.Description = (dt.Tables[1].Rows[i]["Description"] == DBNull.Value ? "-" : dt.Tables[1].Rows[i]["Description"].ToString());
// service.IsAvailable = (dt.Tables[1].Rows[i]["IsAvailable"] == DBNull.Value ? false : (bool)dt.Tables[1].Rows[i]["IsAvailable"]);
// serviceDetail.Add(service);
// }
// if (dt.Tables[2].Rows.Count > 0)
// {
// amt.TotalAmount = (dt.Tables[2].Rows[0]["TotalAmount"] == DBNull.Value ? 0 : (decimal)dt.Tables[2].Rows[0]["TotalAmount"]);
// }
// }
// return StatusCode((int)HttpStatusCode.OK, new { serviceDetail, amt });
//}
//else
//{
// return StatusCode((int)HttpStatusCode.Forbidden, new { error = new { message = row } });
//}
}
catch (Exception e)
{
string SaveErrorLog = Data.Common.SaveErrorLog("UpdateLocation", e.Message);
return(StatusCode((int)HttpStatusCode.InternalServerError, new { error = new { message = e.Message.ToString() } }));
}
}
/// <summary>
/// Return a list of all gps messages with there timestamp from the log
/// </summary>
/// <param name="fn"></param>
/// <returns></returns>
private Dictionary<long, VehicleLocation> readGPSMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> vehiclePositionList = new Dictionary<long, VehicleLocation>();
// Telemetry Log
if (fn.ToLower().EndsWith("tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
mine.logplaybackfile =
new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
mine.MAV.packets.Initialize(); // clear
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
VehicleLocation location = new VehicleLocation();
location.Time = cs.datetime;
location.Lat = cs.lat;
location.Lon = cs.lng;
location.RelAlt = cs.alt;
location.AltAMSL = cs.altasl;
location.Roll = cs.roll;
location.Pitch = cs.pitch;
location.Yaw = cs.yaw;
vehiclePositionList[ToMilliseconds(location.Time)] = location;
// 4 5 7
Console.Write((mine.logplaybackfile.BaseStream.Position*100/
mine.logplaybackfile.BaseStream.Length) + " \r");
}
mine.logplaybackfile.Close();
}
}
// DataFlash Log
else
{
// convert bin to log
if (fn.ToLower().EndsWith("bin"))
{
string tempfile = Path.GetTempFileName();
Log.BinaryLog.ConvertBin(fn, tempfile);
fn = tempfile;
}
using (StreamReader sr = new StreamReader(fn))
{
// Will hold the last seen Attitude information in order to incorporate them into the GPS Info
float currentYaw = 0f;
float currentRoll = 0f;
float currentPitch = 0f;
int a = 0;
while (!sr.EndOfStream)
{
a++;
string line = sr.ReadLine();
var item = dflog.GetDFItemFromLine(line, a);
// Look for GPS Messages. However GPS Messages do not have Roll, Pitch and Yaw
// So we have to look for one ATT message after having read a GPS one
if (item.msgtype == "GPS")
{
if (!dflog.logformat.ContainsKey("GPS"))
continue;
int latindex = dflog.FindMessageOffset("GPS", "Lat");
int lngindex = dflog.FindMessageOffset("GPS", "Lng");
int altindex = dflog.FindMessageOffset("GPS", "Alt");
int raltindex = dflog.FindMessageOffset("GPS", "RAlt");
if (raltindex == -1)
raltindex = dflog.FindMessageOffset("GPS", "RelAlt");
VehicleLocation location = new VehicleLocation();
try
{
location.Time = dflog.GetTimeGPS(line);
location.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
location.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
location.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
location.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
location.Roll = currentRoll;
location.Pitch = currentPitch;
location.Yaw = currentYaw;
long millis = ToMilliseconds(location.Time);
//System.Diagnostics.Debug.WriteLine("GPS MSG - UTCMillis = " + millis + " GPS Week = " + getValueFromStringArray(gpsLineValues, gpsweekpos) + " TimeMS = " + getValueFromStringArray(gpsLineValues, timepos));
if (!vehiclePositionList.ContainsKey(millis) && (location.Time != DateTime.MinValue))
vehiclePositionList[millis] = location;
}
catch
{
Console.WriteLine("Bad GPS Line");
}
}
else if (item.msgtype == "ATT")
{
int Rindex = dflog.FindMessageOffset("ATT", "Roll");
int Pindex = dflog.FindMessageOffset("ATT", "Pitch");
int Yindex = dflog.FindMessageOffset("ATT", "Yaw");
currentRoll = float.Parse(item.items[Rindex], CultureInfo.InvariantCulture);
currentPitch = float.Parse(item.items[Pindex], CultureInfo.InvariantCulture);
currentYaw = float.Parse(item.items[Yindex], CultureInfo.InvariantCulture);
}
}
}
}
return vehiclePositionList;
}
// Return List with all CAMs messages splitted in string arrays
Dictionary<long, VehicleLocation> readCAMMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> list = new Dictionary<long, VehicleLocation>();
if (fn.ToLower().EndsWith("tlog"))
return null;
// convert bin to log
if (fn.ToLower().EndsWith("bin"))
{
string tempfile = Path.GetTempFileName();
Log.BinaryLog.ConvertBin(fn, tempfile);
fn = tempfile;
}
using (StreamReader sr = new StreamReader(fn))
{
int a = 0;
while (!sr.EndOfStream)
{
a++;
string line = sr.ReadLine();
var item = DFLog.GetDFItemFromLine(line, a);
if (item.msgtype == "CAM")
{
int latindex = DFLog.FindMessageOffset("CAM", "Lat");
int lngindex = DFLog.FindMessageOffset("CAM", "Lng");
int altindex = DFLog.FindMessageOffset("CAM", "Alt");
int raltindex = DFLog.FindMessageOffset("CAM", "RelAlt");
int rindex = DFLog.FindMessageOffset("CAM", "Roll");
int pindex = DFLog.FindMessageOffset("CAM", "Pitch");
int yindex = DFLog.FindMessageOffset("CAM", "Yaw");
int gtimeindex = DFLog.FindMessageOffset("CAM", "GPSTime");
int gweekindex = DFLog.FindMessageOffset("CAM", "GPSWeek");
VehicleLocation p = new VehicleLocation();
p.Time = GetTimeFromGps(int.Parse(item.items[gweekindex], CultureInfo.InvariantCulture),
int.Parse(item.items[gtimeindex], CultureInfo.InvariantCulture));
p.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
p.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
p.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
p.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
p.Pitch = float.Parse(item.items[pindex], CultureInfo.InvariantCulture);
p.Roll = float.Parse(item.items[rindex], CultureInfo.InvariantCulture);
p.Yaw = float.Parse(item.items[yindex], CultureInfo.InvariantCulture);
list[ToMilliseconds(p.Time)] = p;
}
}
//while (!sr.EndOfStream)
//{
// string line = sr.ReadLine();
// if (line.ToLower().StartsWith("cam"))
// {
// string[] currentCAM = line.Split(new char[] { ',', ':' });
// VehicleLocation p = new VehicleLocation();
// p.Time = GetTimeFromGps(int.Parse(getValueFromStringArray(currentCAM, weekCAMPos), CultureInfo.InvariantCulture), int.Parse(getValueFromStringArray(currentCAM, timeCAMpos), CultureInfo.InvariantCulture));
// p.Lat = double.Parse(getValueFromStringArray(currentCAM, latCAMpos), CultureInfo.InvariantCulture);
// p.Lon = double.Parse(getValueFromStringArray(currentCAM, lngCAMpos), CultureInfo.InvariantCulture);
// p.AltAMSL = double.Parse(getValueFromStringArray(currentCAM, altCAMpos), CultureInfo.InvariantCulture);
// p.RelAlt = double.Parse(getValueFromStringArray(currentCAM, altCAMpos), CultureInfo.InvariantCulture);
// p.Pitch = float.Parse(getValueFromStringArray(currentCAM, pitchCAMATT), CultureInfo.InvariantCulture);
// p.Roll = float.Parse(getValueFromStringArray(currentCAM, rollCAMATT), CultureInfo.InvariantCulture);
// p.Yaw = float.Parse(getValueFromStringArray(currentCAM, yawCAMATT), CultureInfo.InvariantCulture);
// list[ToMilliseconds(p.Time)] = p;
// }
//}
}
return list;
}
// Return List with all CAMs messages splitted in string arrays
Dictionary<long, VehicleLocation> readCAMMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> list = new Dictionary<long, VehicleLocation>();
if (fn.ToLower().EndsWith("tlog"))
return null;
// convert bin to log
if (fn.ToLower().EndsWith("bin"))
{
string tempfile = Path.GetTempFileName();
Log.BinaryLog.ConvertBin(fn, tempfile);
fn = tempfile;
}
using (StreamReader sr = new StreamReader(fn))
{
while (!sr.EndOfStream)
{
string line = sr.ReadLine();
if (line.ToLower().StartsWith("cam"))
{
string[] currentCAM = line.Split(new char[] { ',', ':' });
VehicleLocation p = new VehicleLocation();
p.Time = GetTimeFromGps(int.Parse(getValueFromStringArray(currentCAM, weekCAMPos), CultureInfo.InvariantCulture), int.Parse(getValueFromStringArray(currentCAM, timeCAMpos), CultureInfo.InvariantCulture));
p.Lat = double.Parse(getValueFromStringArray(currentCAM, latCAMpos), CultureInfo.InvariantCulture);
p.Lon = double.Parse(getValueFromStringArray(currentCAM, lngCAMpos), CultureInfo.InvariantCulture);
p.AltAMSL = double.Parse(getValueFromStringArray(currentCAM, altCAMpos), CultureInfo.InvariantCulture);
p.RelAlt = double.Parse(getValueFromStringArray(currentCAM, altCAMpos), CultureInfo.InvariantCulture);
p.Pitch = float.Parse(getValueFromStringArray(currentCAM, pitchCAMATT), CultureInfo.InvariantCulture);
p.Roll = float.Parse(getValueFromStringArray(currentCAM, rollCAMATT), CultureInfo.InvariantCulture);
p.Yaw = float.Parse(getValueFromStringArray(currentCAM, yawCAMATT), CultureInfo.InvariantCulture);
list[ToMilliseconds(p.Time)] = p;
}
}
}
return list;
}
public MapAddress CheckNowAndFirstSectionAndAddress(MapSection section, MapAddress address, ref string errorMessage)
{
MapAGVPosition agvPosition = localData.Real;
VehicleLocation nowLocation = localData.Location;
if (agvPosition == null || agvPosition.Position == null || !localData.TheMapInfo.AllAddress.ContainsKey(nowLocation.LastAddress))
{
errorMessage = "迷航中";
return(null);
}
if (nowLocation.InAddress)
{
return(localData.TheMapInfo.AllAddress[nowLocation.LastAddress]);
}
MapAddress returnAddress = null;
if (section.Id != nowLocation.NowSection)
{
if (section.FromAddress == localData.TheMapInfo.AllSection[nowLocation.NowSection].FromAddress ||
section.FromAddress == localData.TheMapInfo.AllSection[nowLocation.NowSection].ToAddress)
{
returnAddress = section.FromAddress;
}
else if (section.ToAddress == localData.TheMapInfo.AllSection[nowLocation.NowSection].FromAddress ||
section.ToAddress == localData.TheMapInfo.AllSection[nowLocation.NowSection].ToAddress)
{
returnAddress = section.ToAddress;
}
else
{
errorMessage = "判定不再Address上且命令起始Section和local判定Section不同,且Section本身無相交,異常";
return(null);
}
if (GetDistanceFormTwoAGVPosition(returnAddress.AGVPosition, agvPosition) > localData.MoveControlData.CreateMoveCommandConfig.SafteyDistance[EnumCommandType.Move] / 2)
{
errorMessage = "判定不再Address上且命令起始Section和local判定Section不同,兩條Section交點和命令起始Address差異過大";
return(null);
}
else
{
return(returnAddress);
}
}
else
{
if (section.FromVehicleAngle == section.ToVehicleAngle)
{
returnAddress = new MapAddress();
returnAddress.InsideSection = section;
returnAddress.AGVPosition.Angle = section.FromVehicleAngle;
returnAddress.AGVPosition.Position = GetTransferPosition(agvPosition, section);
if (returnAddress.AGVPosition.Position == null)
{
errorMessage = "ComputeFunction.GetTransferPosition return null";
return(null);
}
return(returnAddress);
}
else
{
errorMessage = "不能再RTurn Section啟動";
return(null);
}
}
}
private DateTime CreateLocalTimestamp(VehicleLocation location)
{
var datetime = DateTime.UnixEpoch.AddSeconds(location.LastGpsFix);
return(datetime);
}
private Dictionary<long, VehicleLocation> readTRIGMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> list = new Dictionary<long, VehicleLocation>();
float currentSAlt = 0;
using (var sr = new CollectionBuffer(File.OpenRead(fn)))
{
foreach (var item in sr.GetEnumeratorType(new string[] { "TRIG", "RFND" }))
{
if (item.msgtype == "TRIG")
{
int latindex = sr.dflog.FindMessageOffset("TRIG", "Lat");
int lngindex = sr.dflog.FindMessageOffset("TRIG", "Lng");
int altindex = sr.dflog.FindMessageOffset("TRIG", "Alt");
int raltindex = sr.dflog.FindMessageOffset("TRIG", "RelAlt");
int rindex = sr.dflog.FindMessageOffset("TRIG", "Roll");
int pindex = sr.dflog.FindMessageOffset("TRIG", "Pitch");
int yindex = sr.dflog.FindMessageOffset("TRIG", "Yaw");
int gtimeindex = sr.dflog.FindMessageOffset("TRIG", "GPSTime");
int gweekindex = sr.dflog.FindMessageOffset("TRIG", "GPSWeek");
VehicleLocation p = new VehicleLocation();
p.Time = GetTimeFromGps(int.Parse(item.items[gweekindex], CultureInfo.InvariantCulture),
int.Parse(item.items[gtimeindex], CultureInfo.InvariantCulture));
p.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
p.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
p.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
if (raltindex != -1)
p.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
p.Pitch = float.Parse(item.items[pindex], CultureInfo.InvariantCulture);
p.Roll = float.Parse(item.items[rindex], CultureInfo.InvariantCulture);
p.Yaw = float.Parse(item.items[yindex], CultureInfo.InvariantCulture);
p.SAlt = currentSAlt;
list[ToMilliseconds(p.Time)] = p;
}
else if (item.msgtype == "RFND")
{
int SAltindex = sr.dflog.FindMessageOffset("RFND", "Dist1");
if (SAltindex != -1)
{
currentSAlt = float.Parse(item.items[SAltindex], CultureInfo.InvariantCulture);
}
}
}
}
return list;
}
/// <summary>
/// Return a list of all cam messages in a log with timestamp
/// </summary>
/// <param name="fn"></param>
/// <returns></returns>
private Dictionary<long, VehicleLocation> readCAMMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> list = new Dictionary<long, VehicleLocation>();
// Telemetry Log
if (fn.ToLower().EndsWith("tlog"))
{
TXT_outputlog.AppendText("Warning: tlogs are not fully supported when using CAM Messages\n");
using (MAVLinkInterface mine = new MAVLinkInterface())
{
mine.logplaybackfile =
new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.CAMERA_FEEDBACK)
{
var msg = (MAVLink.mavlink_camera_feedback_t)packet.data;
VehicleLocation location = new VehicleLocation();
location.Time = FromUTCTimeMilliseconds((long)(msg.time_usec / 1000));// cs.datetime;
location.Lat = msg.lat;
location.Lon = msg.lng;
location.RelAlt = msg.alt_rel;
location.AltAMSL = msg.alt_msl;
location.Roll = msg.roll;
location.Pitch = msg.pitch;
location.Yaw = msg.yaw;
location.SAlt = cs.sonarrange;
list[ToMilliseconds(location.Time)] = location;
Console.Write((mine.logplaybackfile.BaseStream.Position*100/
mine.logplaybackfile.BaseStream.Length) + " \r");
}
}
mine.logplaybackfile.Close();
}
}
// DataFlash Log
else
{
float currentSAlt = 0;
using (var sr = new CollectionBuffer(File.OpenRead(fn)))
{
foreach (var item in sr.GetEnumeratorType(new string[] { "CAM", "RFND" }))
{
if (item.msgtype == "CAM")
{
int latindex = sr.dflog.FindMessageOffset("CAM", "Lat");
int lngindex = sr.dflog.FindMessageOffset("CAM", "Lng");
int altindex = sr.dflog.FindMessageOffset("CAM", "Alt");
int raltindex = sr.dflog.FindMessageOffset("CAM", "RelAlt");
int rindex = sr.dflog.FindMessageOffset("CAM", "Roll");
int pindex = sr.dflog.FindMessageOffset("CAM", "Pitch");
int yindex = sr.dflog.FindMessageOffset("CAM", "Yaw");
int gtimeindex = sr.dflog.FindMessageOffset("CAM", "GPSTime");
int gweekindex = sr.dflog.FindMessageOffset("CAM", "GPSWeek");
VehicleLocation p = new VehicleLocation();
p.Time = GetTimeFromGps(int.Parse(item.items[gweekindex], CultureInfo.InvariantCulture),
int.Parse(item.items[gtimeindex], CultureInfo.InvariantCulture));
p.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
p.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
p.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
if (raltindex != -1)
p.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
p.Pitch = float.Parse(item.items[pindex], CultureInfo.InvariantCulture);
p.Roll = float.Parse(item.items[rindex], CultureInfo.InvariantCulture);
p.Yaw = float.Parse(item.items[yindex], CultureInfo.InvariantCulture);
p.SAlt = currentSAlt;
list[ToMilliseconds(p.Time)] = p;
}
else if (item.msgtype == "RFND")
{
int SAltindex = sr.dflog.FindMessageOffset("RFND", "Dist1");
if (SAltindex != -1)
{
currentSAlt = float.Parse(item.items[SAltindex], CultureInfo.InvariantCulture);
}
}
}
}
}
return list;
}
public void SetLocationInfo(VehicleLocation locationInfo)
{
LocationInfo = locationInfo;
}
// Return List with all GPS Messages splitted in string arrays
Dictionary<long, VehicleLocation> readGPSMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> vehiclePositionList = new Dictionary<long,VehicleLocation>();
// Telemetry Log
if (fn.ToLower().EndsWith("tlog"))
{
MAVLinkInterface mine = new MAVLinkInterface();
mine.logplaybackfile = new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
mine.MAV.packets.Initialize(); // clear
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
VehicleLocation location = new VehicleLocation();
location.Time = cs.datetime;
location.Lat = cs.lat;
location.Lon = cs.lng;
location.RelAlt = cs.alt;
location.AltAMSL = cs.altasl;
location.Roll = cs.roll;
location.Pitch = cs.pitch;
location.Yaw = cs.yaw;
vehiclePositionList[ToMilliseconds(location.Time)] = location;
// 4 5 7
Console.Write((mine.logplaybackfile.BaseStream.Position * 100 / mine.logplaybackfile.BaseStream.Length) + " \r");
}
mine.logplaybackfile.Close();
}
// DataFlash Log
else
{
StreamReader sr = new StreamReader(fn);
// Will hold the last seen Attitude information in order to incorporate them into the GPS Info
float currentYaw = 0f;
float currentRoll = 0f;
float currentPitch = 0f;
while (!sr.EndOfStream)
{
string line = sr.ReadLine();
// Look for GPS Messages. However GPS Messages do not have Roll, Pitch and Yaw
// So we have to look for one ATT message after having read a GPS one
if (line.ToLower().StartsWith("gps"))
{
VehicleLocation location = new VehicleLocation();
string[] gpsLineValues = line.Split(new char[] { ',', ':' });
try
{
location.Time = GetTimeFromGps(int.Parse(getValueFromStringArray(gpsLineValues, gpsweekpos), CultureInfo.InvariantCulture), int.Parse(getValueFromStringArray(gpsLineValues, timepos), CultureInfo.InvariantCulture));
location.Lat = double.Parse(getValueFromStringArray(gpsLineValues, latpos), CultureInfo.InvariantCulture);
location.Lon = double.Parse(getValueFromStringArray(gpsLineValues, lngpos), CultureInfo.InvariantCulture);
location.RelAlt = double.Parse(getValueFromStringArray(gpsLineValues, altpos), CultureInfo.InvariantCulture);
location.AltAMSL = double.Parse(getValueFromStringArray(gpsLineValues, altAMSLpos), CultureInfo.InvariantCulture);
location.Roll = currentRoll;
location.Pitch = currentPitch;
location.Yaw = currentYaw;
long millis = ToMilliseconds(location.Time);
//System.Diagnostics.Debug.WriteLine("GPS MSG - UTCMillis = " + millis + " GPS Week = " + getValueFromStringArray(gpsLineValues, gpsweekpos) + " TimeMS = " + getValueFromStringArray(gpsLineValues, timepos));
if (!vehiclePositionList.ContainsKey(millis))
vehiclePositionList[millis] = location;
}
catch { Console.WriteLine("Bad GPS Line"); }
}
else if (line.ToLower().StartsWith("att"))
{
string[] attLineValues = line.Split(new char[] { ',', ':' });
currentRoll = float.Parse(getValueFromStringArray(attLineValues, rollATT), CultureInfo.InvariantCulture);
currentPitch = float.Parse(getValueFromStringArray(attLineValues, pitchATT), CultureInfo.InvariantCulture);
currentYaw = float.Parse(getValueFromStringArray(attLineValues, yawATT), CultureInfo.InvariantCulture);
}
}
sr.Close();
}
return vehiclePositionList;
}
public void Add(VehicleLocation location)
{
db.GeoAdd(key, location.Location.Longitude, location.Location.Latitude, location.DeviceId);
}
