public void Guard(Route patrolRoute)
{
if (!flightTimer.Enabled)
{
// drone is not flying
this.TakeOff();
}
while (BatteryRemaining > Drone.BatteryLowLimit)
{
GeoCoordinate position = new GeoCoordinate(this.Position.Latitude, this.Position.Longitude);
double distanceToPatrolEnd = position.GetDistanceTo(patrolRoute.RouteEnd);
double distanceToPatrolStart = position.GetDistanceTo(patrolRoute.RouteStart);
if (distanceToPatrolEnd < 20)
{
this.Destination = new WayPoint() {Latitude= patrolRoute.RouteStart.Latitude, Longitude = patrolRoute.RouteStart.Longitude, Altitude=0} ;
}
else if (distanceToPatrolStart < 20)
{
this.Destination = new WayPoint() { Latitude = patrolRoute.RouteEnd.Latitude, Longitude = patrolRoute.RouteEnd.Longitude, Altitude = 0 };
}
this.Fly();
}
// Battery limit is low, go back to base
this.Destination = new WayPoint() { Latitude = patrolRoute.RouteStart.Latitude, Longitude = patrolRoute.RouteStart.Longitude, Altitude = 0 };
this.Land();
}
static void Main(string[] args)
{
Console.WriteLine("Please insert number of drones and then press enter:");
string basePath = @"C:\tmp\_ffdrones";
int numberOfDrones = 1;
WayPoint building9 = new WayPoint() { Altitude = 0.0, Longitude = -122.122147, Latitude = 47.683388 };
WayPoint building10 = new WayPoint() { Altitude = 0.0, Longitude = -122.122192, Latitude = 47.684319 };
WayPoint building2 = new WayPoint() { Altitude = 0.0, Longitude = -122.126129 , Latitude = 47.640682 };
WayPoint building24 = new WayPoint() { Altitude = 0.0, Longitude = -122.131546, Latitude = 47.641487};
WayPoint building33 = new WayPoint() { Altitude = 0.0, Longitude = -122.125397, Latitude = 47.642906};
List<WayPoint> waypoints = new List<WayPoint>();
waypoints.Add(building9);
waypoints.Add(building10);
waypoints.Add(building2);
waypoints.Add(building24);
waypoints.Add(building33);
try
{
string numberOfDronesQuery = Console.ReadLine();
Int32.TryParse(numberOfDronesQuery, out numberOfDrones);
}
catch (Exception)
{
Console.WriteLine("Not a valid number, using 1 drone");
}
// create drone fleet
List<Drone> PatrolDrones = new List<Drone>();
List<Drone> FFDrones = new List<Drone>();
Random randomizer = new Random();
List<Task> tasks = new List<Task>();
for (int i = 0; i < numberOfDrones; i++)
{
int start = randomizer.Next(0, waypoints.Count - 1);
int end = randomizer.Next(0, waypoints.Count - 1);
Drone drone = new Drone("drone" + i.ToString(), DroneType.Patrol, 20, 40);
drone.Position = waypoints[start];
drone.Destination = waypoints[end];
double batteryRandom = randomizer.Next(80, 100);
drone.BatteryRemaining = batteryRandom/100;
Route patrolRoute = new Route();
patrolRoute.RouteStart = new GeoCoordinate() { Latitude = waypoints[start].Latitude, Longitude = waypoints[start].Longitude, Altitude=0};
patrolRoute.RouteEnd = new GeoCoordinate() { Latitude = waypoints[end].Latitude, Longitude = waypoints[end].Longitude, Altitude = 0 };
var t = Task.Run(() => drone.Guard(patrolRoute));
tasks.Add(t);
}
Task.WaitAll(tasks.ToArray());
//drone1.SaveAsJsonObject(basePath + @"\" + drone1.Droneid + "-" + DateTime.UtcNow.ToString("yyyyMMddThhmmss") + ".json");
}