public bool IsInSoftBoundary(GPSPoint Point)
{
return(SoftBoundaryPolygon.InPolygon(Point));
}
public Double GetDistanceTo(GPSPoint Point)
{
return(BoundaryPolygon.GetDistanceTo(Point));
}
public bool ProcessDroneData()
{
GPSPoint ThisPosition = new GPSPoint((float)_FlightMapData.Latitude, (float)_FlightMapData.Longitude);
LastUpdatedOn = DateTime.Now;
if (_LastFlightMapData != null)
{
//Fix sudden change in heading
Double ChangeInHeading = (Double)_LastFlightMapData.Heading - (Double)_FlightMapData.Heading;
if (ChangeInHeading > 20 || ChangeInHeading < -20)
{
if (_LastFlightMapData.Heading > 340 && _FlightMapData.Heading < 10)
{
//then we leave it to rotate
}
else
{
_FlightMapData.Heading = _LastFlightMapData.Heading + (ChangeInHeading > 0 ? 1 : -1) * 20;
if (_FlightMapData.Heading > 360)
{
_FlightMapData.Heading = _FlightMapData.Heading - 360;
}
if (_FlightMapData.Heading < 0)
{
_FlightMapData.Heading = -1 * _FlightMapData.Heading;
}
}
}
if (_FlightMapData.Altitude >= _MinFieldValue || _FlightMapData.Speed >= _MinFieldValue)
{
DateTime StartTime = (DateTime)(_LastFlightMapData.ReadTime);
DateTime EndTime = (DateTime)(_FlightMapData.ReadTime);
_TotalFlightTime += (Decimal)Math.Abs(EndTime.Subtract(StartTime).TotalSeconds);
//Distance between Last point and this point
GPSPoint LastLocation = new GPSPoint((float)_LastFlightMapData.Latitude, (float)_LastFlightMapData.Longitude);
_FlightMapData.PointDistance = (Decimal)GPSCalc.GetDistance(ThisPosition, LastLocation);
_TotalDistance += (Decimal)_FlightMapData.PointDistance;
}
}
SatelliteSummary.AddTo((Double)_FlightMapData.Satellites);
SpeedSummary.AddTo((Double)_FlightMapData.Speed);
AltitudeSummary.AddTo((Double)_FlightMapData.Altitude);
_FlightMapData.TotalFlightTime = _TotalFlightTime;
_FlightMapData.Distance = _TotalDistance;
_FlightMapData.avg_Altitude = (Decimal)AltitudeSummary.Avg;
_FlightMapData.Max_Altitude = (Decimal)AltitudeSummary.Max;
_FlightMapData.Min_Altitude = (Decimal)AltitudeSummary.Min;
_FlightMapData.Avg_Satellites = (Decimal)SatelliteSummary.Avg;
_FlightMapData.Max_Satellites = (Decimal)SatelliteSummary.Max;
_FlightMapData.Min_Satellites = (Decimal)SatelliteSummary.Min;
_FlightMapData.Avg_Speed = (Decimal)SpeedSummary.Avg;
_FlightMapData.Max_Speed = (Decimal)SpeedSummary.Max;
_FlightMapData.Min_Speed = (Decimal)SpeedSummary.Min;
_DroneFlight.Longitude = _FlightMapData.Longitude;
_DroneFlight.Latitude = _FlightMapData.Latitude;
_ExtDroneFlight.Altitude = (Double)_FlightMapData.Altitude;
_ExtDroneFlight.LastFlightDate = _ReadTime;
//Save the last point for the reference
_LastFlightMapData = Cloner <FlightMapData> .Clone(_FlightMapData);
return(true);
}
public async Task <bool> GenerateAlerts()
{
bool _InBoundary = true;
bool _InSoftBoundary = true;
bool _IsInAltitudeLimit = true;
GPSPoint ThisPosition = new GPSPoint((float)_FlightMapData.Latitude, (float)_FlightMapData.Longitude);
FlightApproval Approval = GetApproval(ThisPosition);
if (Approval != null)
{
_Approval = Approval;
_DroneFlight.ApprovalID = _Approval.ApprovalId;
_InBoundary = _Approval.IsInBoundary(ThisPosition);
_InSoftBoundary = Approval.IsInSoftBoundary(ThisPosition);
_IsInAltitudeLimit = Approval.IsInAltitudeLimit((Decimal)_FlightMapData.Altitude);
}
else
{
_Approval = GetClosesetApproval(ThisPosition);
_InBoundary = false;
_InSoftBoundary = false;
//If approval found on close by, take that
//if not, maximum to 40 meter
_IsInAltitudeLimit = _Approval != null?
_Approval.IsInAltitudeLimit((Decimal)_FlightMapData.Altitude) :
(_FlightMapData.Altitude <= 40M);
}
if (!_InSoftBoundary && !IsAlertedSoftBoundary)
{
//Outside the Soft Boundary, Generate alert
var ThisAlert = new Alert(_ExtDroneFlight);
ThisAlert.Generate("Boundary", "Critical");
await ThisAlert.Save();
IsAlertedSoftBoundary = true;
}
else if (_InSoftBoundary)
{
IsAlertedSoftBoundary = false;
}
if (!_InBoundary && !IsAlertedBoundary)
{
//Outside the Boundary, generate alert
var ThisAlert = new Alert(_ExtDroneFlight);
ThisAlert.Generate("Boundary", "High");
await ThisAlert.Save();
IsAlertedBoundary = true;
}
else if (_InBoundary)
{
IsAlertedBoundary = false;
}
if (!_IsInAltitudeLimit && !IsAlertedAltitudeLimit)
{
//Generate Alert for Altitude breach
var ThisAlert = new Alert(_ExtDroneFlight);
ThisAlert.Generate("Altitude", "Critical");
await ThisAlert.Save();
IsAlertedAltitudeLimit = true;
}
else if (_IsInAltitudeLimit)
{
IsAlertedAltitudeLimit = false;
}
//Save the current status
_DroneFlight.ApprovalID = _Approval == null ? 0 : _Approval.ApprovalId;
_DroneFlight.IsFlightOutside = IsAlertedBoundary;
_DroneFlight.IsFlightSoftFence = IsAlertedSoftBoundary ? 1 : 0;
_DroneFlight.HigherLimit = IsAlertedAltitudeLimit ? 1 : 0;
_FlightMapData.IsOutSide = !_InBoundary;
_FlightMapData.IsSoftFence = (_InSoftBoundary ? 0 : 1);
return(true);
}
public Double GetDistanceTo(GPSPoint Point)
{
return(Point.GetDistanceTo(Points[0]));
}
