private async void StartMissionExecute()
{
if (VehicleSelected != null)
{
var mission = await AsyncUtil.RaunAsync <bool>(StartMissionAsync);
}
}
private async void QuadModeCommandExecute(VehicleModeEnum obj)
{
await AsyncUtil.RaunAsync(() =>
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
VehicleComponent.SendModeCommand(vehicle.ID, (uint)obj);
}
return(obj);
});
}
private async void DisArmModeCommandExecute()
{
await AsyncUtil.RaunAsync(() =>
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
VehicleComponent.SetArmDisArmCommand(vehicle.ID, false);
}
return(true);
});
}
private async void SetNextWaypointCommandExecute()
{
await AsyncUtil.RaunAsync(() =>
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
var next = vehicle.NextWaypoint + 1;
MissionComponent.GoToCurrentWaypointId(vehicle.ID, 0, next);
Thread.Sleep(1000);
}
return(true);
});
}
private async void TakeOffCommandExecute()
{
await AsyncUtil.RaunAsync(() =>
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
//if (vehicle.IsActivateMission)
{
VehicleComponent.TakeOffCommand(vehicle.ID, AltTakeOff, (float)vehicle.Latitude,
(float)vehicle.Longitude, (float)vehicle.Heading);
Thread.Sleep(1000);
Debug.WriteLine("TakeOffCommandExecute - vehicle " + vehicle.ID);
}
}
return(true);
});
}
private async void MissionCommandsExecute(SoftkeyEnum obj)
{
await AsyncUtil.RaunAsync(() =>
{
switch (obj)
{
case SoftkeyEnum.StartMission:
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
MissionComponent.StartMission(vehicle.ID, 0);
Thread.Sleep(1000);
Debug.WriteLine("StartMission - vehicle " + vehicle.ID);
}
}
break;
case SoftkeyEnum.StopMission:
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
MissionComponent.StopMission(vehicle.ID, 0);
Thread.Sleep(1000);
Debug.WriteLine("StopMission - vehicle " + vehicle.ID);
}
}
break;
case SoftkeyEnum.RestartMission:
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
MissionComponent.RestartMission(vehicle.ID, 0, 0);
Thread.Sleep(1000);
Debug.WriteLine("RestartMission - vehicle " + vehicle.ID);
}
}
break;
}
return(obj);
});
}
private async void SendMissionCommandsExecute()
{
await AsyncUtil.RaunAsync(() =>
{
foreach (var vehicle in Vehicles.Where(vehicle => vehicle.IsSelected))
{
if (vehicle.Task != null)
{
vehicle.IsActivateMission = false;
MissionComponent.UploadTask(vehicle.ID,
vehicle.HomePosition,
new MavlinkWaypoint
{
Latitude = vehicle.Latitude,
Longitude = vehicle.Longitude,
Altitude = DefaultAltitude,
Param4 = (float)vehicle.Heading
},
vehicle.Task);
}
}
return(true);
});
}
