/// <summary>
/// Moves the specified drone across all its navigation points
/// </summary>
/// <param name="drone"></param>
/// <param name="droneShutdownToken"></param>
private void PerformNavigationRoutine(Drone drone, CancellationToken droneShutdownToken)
{
foreach (RoutePoint routePoint in drone.Route)
{
//If shutdown signal sent, send drone to origin point and shut it down
if (droneShutdownToken.IsCancellationRequested)
{
drone.MoveToOrigin();
Console.WriteLine("Navigation Routine for drone " + drone.Id + " canceled");
return;
}
drone.Move(routePoint);
Console.WriteLine("[" + routePoint.Time.ToLongTimeString() + "] Drone " + drone.Id + " moved to lat=" + drone.CurrentRoutePoint.Latitude + ", lng=" + drone.CurrentRoutePoint.Longitude);
//Report traffic conditions if tube station near
TubeStation tubeStationNear = FirstTubeStationNearLocation(drone.CurrentRoutePoint.Latitude, drone.CurrentRoutePoint.Longitude);
if (tubeStationNear != null)
{
ReportTrafficInfo(drone, tubeStationNear);
}
//Send shut down signal if 8:10 or later
if (routePoint.Time.Hour >= 8 && routePoint.Time.Minute >= 10)
{
ShutDownDrones();
}
}
}
/// <summary>
/// Reports the current position traffic info
/// </summary>
private void ReportTrafficInfo(Drone drone, TubeStation tubeStation)
{
double distanceTraveled = drone.LastRoutePoint.GetGeoCoordinate().GetDistanceTo(drone.CurrentRoutePoint.GetGeoCoordinate());
double speed = distanceTraveled / (drone.CurrentRoutePoint.Time - drone.LastRoutePoint.Time).TotalSeconds;
Console.WriteLine("[TRAFFIC REPORT BY DRONE " + drone.Id + "] " +
"Location: " + tubeStation.StreetName +
", Time: " + drone.CurrentRoutePoint.Time.ToShortTimeString() +
", Speed: " + Math.Round(speed, 2) + "m/s" +
", Traffic: " + drone.GetTrafficConditionsInCurrentPosition());
}