public void GpsRawDataServiceAction(GpsRawDataService obj)
{
if (Vehicles != null)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == obj.VehicleId) as GuiQuadVehicle;
if (vehicle != null)
{
vehicle.Latitude = obj.Latitude;
vehicle.Longitude = obj.Longitude;
vehicle.Altitude = obj.Altitude;
vehicle.QuadStatus.GpsStatus = obj.GpsStatus;
vehicle.QuadStatus.Satellites = obj.Satellites;
vehicle.QuadStatus.Hdop = obj.Hdop;
if (obj.HomeAltitude == 0 && obj.HomeLatitude == 0 && obj.HomeLongitude == 0)
{
vehicle.HomePosition = null;
}
if (vehicle.HomePosition == null)
{
vehicle.HomePosition = new MavlinkWaypoint
{
Latitude = obj.HomeLatitude,
Longitude = obj.HomeLongitude,
Altitude = obj.HomeAltitude
};
}
}
}
}
public async void DeleteVehicle(string vehicleId)
{
if (BaseView != null && BaseView.CheckInternetConnection())
{
Mvx.Resolve <IMvxMessenger>().Publish(new ProgressMessage(this, true));
var result = await mApiService.DeleteVehicle(mCacheService.CurrentUser.UserId, vehicleId);
if (result)
{
//Mvx.Resolve<IMvxMessenger>().Publish(new ToastMessage(this, result.Result));
Mvx.Resolve <IMvxMessenger>().Publish(new ToastMessage(this, result ? "Success" : "Error"));
if (result)
{
var vehicle = mCacheService.UserVehicles.FirstOrDefault(x => x.VehicleId.Equals(vehicleId));
if (vehicle != null)
{
mCacheService.UserVehicles.Remove(vehicle);
//save to local database
BlobCache.UserAccount.InsertObject <List <Vehicle> >(mCacheService.CurrentUser.UserId, mCacheService.UserVehicles);
}
var vehicleVM = Vehicles.FirstOrDefault(x => x.Vehicle.VehicleId == vehicleId);
if (vehicle != null)
{
Vehicles.Remove(vehicleVM);
}
}
}
Mvx.Resolve <IMvxMessenger>().Publish(new ProgressMessage(this, false));
}
else
{
Mvx.Resolve <IMvxMessenger>().Publish(new ToastMessage(this, SharedTextSource.GetText("TurnOnInternetText")));
}
}
public void SystemStatusServiceAction(SystemStatusService obj)
{
if (Vehicles != null)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == obj.VehicleId) as GuiQuadVehicle ??
AddVehicle(obj.VehicleId);
vehicle.SetArm(obj.Armed);
vehicle.SetMode(obj.Mode);
vehicle.QuadStatus.BatteryVoltage = obj.BatteryVoltage;
vehicle.QuadStatus.BatteryRemaining = obj.BatteryRemaining;
vehicle.QuadStatus.BatteryCurrent = obj.BatteryCurrent;
vehicle.QuadStatus.Landed = obj.Landed;
vehicle.QuadStatus.Failsafe = obj.Failsafe;
vehicle.QuadStatus.ErrorQuad.Gps = obj.Gps;
vehicle.QuadStatus.ErrorQuad.Gyro = obj.Gyro;
vehicle.QuadStatus.ErrorQuad.Accel = obj.Accel;
vehicle.QuadStatus.ErrorQuad.Compass = obj.Compass;
vehicle.QuadStatus.ErrorQuad.Baro = obj.Baro;
vehicle.QuadStatus.ErrorQuad.OptFlow = obj.OptFlow;
vehicle.QuadStatus.ErrorQuad.Rc = obj.Rc;
vehicle.QuadStatus.ErrorQuad.Battery = obj.Battery;
vehicle.QuadStatus.ErrorQuad.Hdop = obj.Hdop;
vehicle.QuadStatus.ErrorQuad.Satellites = obj.Satellites;
}
}
public void GlobalPositionServiceAction(GlobalPositionService obj)
{
if (Vehicles != null)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == obj.VehicleId) as GuiQuadVehicle;
if (vehicle != null)
{
vehicle.Latitude = obj.Latitude;
vehicle.Longitude = obj.Longitude;
vehicle.Altitude = obj.Altitude;
vehicle.QuadStatus.AltitudeAboveGround = obj.AltitudeAboveGround;
var x = vehicle.Longitude;
var y = vehicle.Latitude;
vehicle.MapEntity.Latitude = vehicle.Latitude;
vehicle.MapEntity.Longitude = vehicle.Longitude;
vehicle.MapEntity.Altitude = vehicle.Altitude;
//Utils.Utils.ConvertMercatorToGeo(ref x, ref y);
vehicle.MapEntity.XLocation = x;
vehicle.MapEntity.YLocation = y;
//Messenger.Default.Send(new VehicleSelected { VehicleId = obj.VehicleId });
}
}
}
public void SetHomePosition(long idx, Waypoint homeWaypoint)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == idx) as GuiQuadVehicle;
if (vehicle != null)
{
vehicle.HomePosition = homeWaypoint;
}
}
public void SetActivateMission(long idx, bool isActivateMission)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == idx) as GuiQuadVehicle;
if (vehicle != null)
{
vehicle.IsActivateMission = true;
}
}
public Race RemoveVehicleBy(Guid vehicleId)
{
if (Status == RaceStatusType.Running)
throw new Exception("Vehicle cannot be removed from the race while the race is running.");
var vehicleToRemove = Vehicles.FirstOrDefault(vehicle => vehicle.Id.Equals(vehicleId));
Vehicles.Remove(vehicleToRemove);
return this;
}
public Race UpdateVehicleInfo(UpsertVehicle vehicle)
{
if (Status == RaceStatusType.Running)
throw new Exception("Cannot update vehicle info while the race is running.");
if (Vehicles.Any(v => v.TeamName.Equals(vehicle.TeamName)))
throw new Exception($"Team name '{vehicle.TeamName}' is already taken.");
Vehicles.FirstOrDefault(v => v.Id.Equals(vehicle.Id)).UpdateInfo(vehicle);
return this;
}
public void SetHudData(HudDataService hudData)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == hudData.VehicleId) as GuiQuadVehicle;
if (vehicle != null)
{
vehicle.QuadStatus.GroundSpeed = hudData.GroundSpeed;
vehicle.QuadStatus.AirSpeed = hudData.AirSpeed;
vehicle.QuadStatus.Climb = hudData.Climb;
}
}
public void JoystickInStatusAction(JoystickInStatusService obj)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == obj.VehicleId) as GuiQuadVehicle;
if (vehicle != null)
{
vehicle.JoystickIn.Roll = obj.Chan1Raw;
vehicle.JoystickIn.Pitch = obj.Chan2Raw;
vehicle.JoystickIn.Throttle = obj.Chan3Raw;
vehicle.JoystickIn.Rudder = obj.Chan4Raw;
}
}
public void AttitudeServiseAction(AttitudeServise obj)
{
if (Vehicles != null)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == obj.VehicleId) as GuiQuadVehicle;
if (vehicle != null)
{
vehicle.Heading = obj.Heading;
vehicle.Pitch = obj.Pitch;
vehicle.Roll = obj.Roll;
vehicle.MapEntity.Heading = vehicle.Heading;
}
}
}
public void ReadMission(long idx, byte sysid, byte compid, ObservableCollection <Waypoint> waypoints)
{
Application.Current.Dispatcher.BeginInvoke(DispatcherPriority.Normal, new Action(() =>
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == idx) as GuiQuadVehicle;
if (vehicle != null)
{
//vehicle.Tasks.Clear();
var taskId = ServiceLocator.Current.GetInstance <IMissionSource>().GenerateTaskId();
var mavlinkTaskNav = new MavlinkTaskNav("Task" + taskId, taskId)
{
NavPath = waypoints
};
ServiceLocator.Current.GetInstance <IMissionSource>().AddTask(mavlinkTaskNav);
vehicle.Tasks.Add(mavlinkTaskNav);
vehicle.MissionID = mavlinkTaskNav.TaskID;
var convertPoint = new ObservableCollection <Waypoint>();
foreach (MavlinkWaypoint point in mavlinkTaskNav.NavPath)
{
if (point.Command == (decimal)MMAVLink.MAVLink.MAV_CMD.WAYPOINT)
{
var x = point.Latitude;
var y = point.Longitude;
//Utils.Utils.ConvertMercatorToGeo(ref y, ref x);
convertPoint.Add(new MavlinkWaypoint
{
Latitude = x,
Longitude = y,
Altitude = point.Altitude,
Id = point.Id,
Command = point.Command,
Param1 = point.Param1,
Param2 = point.Param2,
Param3 = point.Param3,
Param4 = point.Param4,
});
}
}
var newShape = new Shape(mavlinkTaskNav.TaskID, convertPoint)
{
Symbol = (LineSymbol)Application.Current.FindResource("LineSymbol")
};
ServiceLocator.Current.GetInstance <IMap>().AddShape(newShape);
}
}));
}
public void VehicleStatusServiceAction(VehicleStatusService obj)
{
if (Vehicles != null)
{
var vehicle = Vehicles.FirstOrDefault(v => v.ID == obj.VehicleId) as GuiQuadVehicle;
if (vehicle != null)
{
vehicle.SetArm(obj.Armed);
vehicle.SetMode(obj.Mode);
vehicle.QuadStatus.Failsafe = obj.Failsafe;
vehicle.QuadStatus.Landed = obj.Landed;
//vehicle.QuadStatus.LinqQuality = obj.LinqQuality;
vehicle.QuadStatus.TickCount = obj.TickCount;
//Messenger.Default.Send(new VehicleSelected { Vehicle = vehicle });
}
}
}
void FindVehiclesCompleted(object sender, FindVehiclesCompletedEventArgs e)
{
if (e.Error == null)
{
Vehicles = e.Result;
SelectedVehicle = Vehicles.FirstOrDefault(c => c.ID == Work.VehicleID);
}
else
{
ErrorProvider.ShowError(e.Error, Navigator);
}
dataClient.FindVehiclesCompleted -= FindVehiclesCompleted;
if (busyCount == 0)
{
Busy = false;
}
else
{
busyCount--;
}
}
public VehicleStatistics VehicleStatisticsBy(Guid vehicleId)
{
return Vehicles.FirstOrDefault(v => v.Id.Equals(vehicleId)).VehicleStatistics();
}
