public void AddTask(ITask task)
{
Task t = null;
var mission = Mission as Mission;
foreach (Task task1 in mission.Tasks)
{
if (task1.TaskID == task.TaskID)
{
t = task1;
break;
}
}
if (t == null)
{
Mission.AddTask(task);
}
else
{
mission.Tasks.Remove(t);
mission.Tasks.Add(task as Task);
}
}
private void MapWaypointMessengerAction(MapWaypointMessenger obj)
{
//NavTask.NavPath.Clear();
//ServiceLocator.Current.GetInstance<IMap>().RemoveAllShape();
byte index = 1;
var mission = (MissionPackage.Mission)Mission;
ITask first = null;
foreach (Task task in mission.Tasks)
{
if (task.TaskID == obj.TaskId)
{
first = task;
break;
}
}
var taskNav = first as MavlinkTaskNav;
if (taskNav != null)
{
taskNav.NavPath.Clear();
foreach (var waypoint in obj.Points)
{
double x = waypoint.X, y = waypoint.Y;
//Utils.Utils.ConvertGeoToMercator(ref x, ref y);
taskNav.NavPath.Add(new MavlinkWaypoint
{
Id = index,
Command = (ushort)MissionMavCmd.WAYPOINT,
Latitude = y,
Longitude = x,
Altitude = DefaultAltitude,
Param1 = 0,
Param2 = 0,
Param3 = 0,
Param4 = 0
});
index++;
}
}
else
{
var mavlinkTaskNav = new MavlinkTaskNav("Task_" + (ushort)obj.TaskId, (ushort)obj.TaskId);
foreach (var waypoint in obj.Points)
{
double x = waypoint.X, y = waypoint.Y;
//Utils.Utils.ConvertGeoToMercator(ref x, ref y);
mavlinkTaskNav.NavPath.Add(new MavlinkWaypoint
{
Id = index,
Command = (ushort)MissionMavCmd.WAYPOINT,
Latitude = y,
Longitude = x,
Altitude = DefaultAltitude,
Param1 = 0,
Param2 = 0,
Param3 = 0,
Param4 = 0
});
index++;
}
Mission.AddTask(mavlinkTaskNav);
}
Messenger.Default.Send(new UpdataMissionMessenger {
MissionId = Mission.MissionID
});
}