private void WriteMissionCommandExecute()
{
if (VehicleSelected != null && VehicleSelected.Tasks.Count > 0)
{
MissionComponent.UploadTask(VehicleSelected.ID, VehicleSelected.HomePosition,
new MavlinkWaypoint
{
Latitude = VehicleSelected.Latitude,
Longitude = VehicleSelected.Longitude,
Altitude = DefaultAltitude,
Param4 = (float)VehicleSelected.Heading
},
VehicleSelected.Tasks[0]);
}
}
private void SelectTaskCommandExecute(object obj)
{
var vehicle = obj as Vehicle;
if (vehicle != null)
{
vehicle.Tasks.Clear();
vehicle.Tasks.Add(vehicle.Task);
vehicle.Task = vehicle.Task;
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);
vehicle.MissionID = vehicle.Task.TaskID;
}
}
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);
});
}
private void SelectedTaskCommandExecute(ITask obj)
{
foreach (var vehicle in VehiclesSource.Vehicles)
{
if (vehicle.ID == VehicleSelected.ID)
{
vehicle.Tasks.Clear();
vehicle.Tasks.Add(obj);
vehicle.Task = obj;
vehicle.IsActivateMission = false;
MissionComponent.UploadTask(vehicle.ID,
vehicle.HomePosition,
new MavlinkWaypoint
{
Latitude = vehicle.Latitude,
Longitude = vehicle.Longitude,
Altitude = DefaultAltitude,
Param4 = (float)VehicleSelected.Heading
},
vehicle.Tasks[0]);
vehicle.MissionID = VehicleSelected.Tasks[0].TaskID;
}
}
}
private void MapMouseLeftButtonDownAction(MapMouseLeftButtonDownMessenger obj)
{
int DistanceDefault = 50;
if (VehicleSelected == null)
{
return;
}
if (InsertHoverPoint)
{
//Target
//var a = Utils.Utils.DegreeBearing(VehicleSelected.Latitude, VehicleSelected.Longitude, obj.Latitude,obj.Longitude);
var convertPoint = new ObservableCollection <Waypoint>();
var x = VehicleSelected.Latitude;
var y = VehicleSelected.Longitude;
//Utils.Utils.ConvertMercatorToGeo(ref y, ref x);
/*var bearing = Utils.Utils.DegreeBearing(VehicleSelected.Latitude, VehicleSelected.Longitude, obj.Latitude,obj.Longitude);
* var distance = Utils.Utils.CalculateDistance(VehicleSelected.Latitude, VehicleSelected.Longitude,
* obj.Latitude, obj.Longitude, "K") *1000;
* if (distance > DistanceDefault)
* {
* Utils.Utils.PointRadialDistance(ref x, ref y, bearing, DistanceDefault);
* }*/
convertPoint.Add(new MavlinkWaypoint
{
Latitude = x,
Longitude = y,
Altitude = DefaultAltitude,
Id = 1,
Param4 = (float)VehicleSelected.Heading,
Command = (ushort)MissionMavCmd.WAYPOINT,
});
convertPoint.Add(new MavlinkWaypoint
{
Latitude = obj.Latitude,
Longitude = obj.Longitude,
Altitude = DefaultAltitude,
Id = 2,
Command = (ushort)MissionMavCmd.WAYPOINT,
});
var task = new MavlinkTaskNav("HoverTask", TaskID)
{
NavPath = convertPoint,
TaskType = TaskTypeEnum.Hoverrer
};
MissionSource.AddTask(task);
VehicleSelected.Tasks.Clear();
VehicleSelected.Tasks.Add(task);
var newShape = new Shape(TaskID, convertPoint)
{
Symbol = (LineSymbol)Application.Current.FindResource("LineSymbol")
};
ServiceLocator.Current.GetInstance <IMap>().AddShape(newShape);
//MissionComponent.UploadTask(VehicleSelected.ID,
// VehicleSelected.HomePosition,
// new MavlinkWaypoint
// {
// Latitude = VehicleSelected.Latitude,
// Longitude = VehicleSelected.Longitude,
// Altitude = DefaultAltitude,
// Param4 = (float) VehicleSelected.Heading
// },
// VehicleSelected.Tasks[0]);
VehicleSelected.IsActivateMission = false;
MissionComponent.UploadTask(VehicleSelected.ID, VehicleSelected.HomePosition, null, VehicleSelected.Tasks[0]);
VehicleSelected.MissionID = VehicleSelected.Tasks[0].TaskID;
}
}
private void CommandStateClick(object obj)
{
if (VehicleComponent == null)
{
VehicleComponent = ServiceLocator.Current.GetInstance <IVehicleComponent>();
}
if (VehicleComponent == null)
{
return;
}
if (MissionComponent == null)
{
MissionComponent = ServiceLocator.Current.GetInstance <IMissionComponent>();
}
if (MissionComponent == null)
{
return;
}
VisibilityView = Visibility.Hidden;
var state = obj as string;
switch (state)
{
case "CameHome":
if (VehicleSelected != null)
{
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.RTL);
}
break;
case "Land":
if (VehicleSelected != null)
{
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.Land);
}
break;
case "Pause":
if (VehicleSelected != null)
{
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.Loiter);
}
break;
case "Start":
if (VehicleSelected != null)
{
//VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint) VehicleModeEnum.Auto);
//MissionComponent.StartMission(VehicleSelected.ID, 0);
MissionComponent.StartMissionAuto(VehicleSelected.ID, 0);
}
break;
case "LoadMission":
if (VehicleSelected.Tasks.Count > 0)
{
VehicleSelected.IsActivateMission = false;
MissionComponent.UploadTask(VehicleSelected.ID,
VehicleSelected.HomePosition,
new MavlinkWaypoint
{
Latitude = VehicleSelected.Latitude,
Longitude = VehicleSelected.Longitude,
Altitude = DefaultAltitude,
Param4 = (float)VehicleSelected.Heading
},
VehicleSelected.Tasks[0]);
VehicleSelected.MissionID = VehicleSelected.Tasks[0].TaskID;
}
break;
case "TakeOff":
if (VehicleSelected != null)
{
VehicleComponent.TakeOffCommand(VehicleSelected.ID, 100, (float)VehicleSelected.Latitude,
(float)VehicleSelected.Longitude, (float)VehicleSelected.Heading);
}
break;
case "ControlRequest":
//if (value)
// ServiceLocator.Current.GetInstance<IJoystick>(idx).Start();
//else
// ServiceLocator.Current.GetInstance<IJoystick>().Stop();
break;
case "OpenCamera":
if (QuadPropertyWindow != null)
{
QuadPropertyWindow.Close();
QuadPropertyWindow = null;
}
QuadPropertyWindow = new QuadPropertyWindow();
QuadPropertyWindow.Show();
break;
}
}