public int HoldCommand(CMD_NAV_Hold cmd)
{
Clients.Group("vehicles").sendHoldCommand(cmd, Context.ConnectionId);
System.Diagnostics.Debug.WriteLine("ID is: " + cmd.Id);
System.Diagnostics.Debug.WriteLine("Context ID is: " + Context.ConnectionId);
return(cmd.Id);
}
public async Task BroadcastAcceptedCommand(CMD_ACK ack)
{
NestContainer db = new NestContainer();
{
switch (ack.CommandType)
{
case "CMD_NAV_Target":
CMD_NAV_Target target = await db.CMD_NAV_Target.FindAsync(ack.CommandId);
if (target != null && ack.Accepted == true)
{
target.Acked = true;
Clients.All.targetCommandAccepted(target);
db.Entry(target).State = EntityState.Modified;
await db.SaveChangesAsync();
}
break;
case "CMD_NAV_Hold":
CMD_NAV_Hold hold = await db.CMD_NAV_Hold.FindAsync(ack.CommandId);
if (hold != null && ack.Accepted == true)
{
hold.Acked = true;
Clients.All.targetCommandAccepted(hold);
db.Entry(hold).State = EntityState.Modified;
await db.SaveChangesAsync();
}
break;
case "CMD_NAV_Return":
CMD_NAV_Return goBack = await db.CMD_NAV_Return.FindAsync(ack.CommandId);
if (goBack != null && ack.Accepted == true)
{
goBack.Acked = true;
Clients.All.targetCommandAccepted(goBack);
db.Entry(goBack).State = EntityState.Modified;
await db.SaveChangesAsync();
}
break;
case "CMD_NAV_Land":
CMD_NAV_Land land = await db.CMD_NAV_Land.FindAsync(ack.CommandId);
if (land != null && ack.Accepted == true)
{
land.Acked = true;
Clients.All.targetCommandAccepted(land);
db.Entry(land).State = EntityState.Modified;
await db.SaveChangesAsync();
}
break;
default:
break;
}
}
}
public IHttpActionResult PostCMD_NAV_HOLD(int uid, CMD_NAV_Hold jsObject)
{
int result = 0;
CMD_NAV_Hold cmd_nav_hold = new CMD_NAV_Hold();
//cmd_nav_hold.Id = jsObject.Id;
cmd_nav_hold.Altitude = jsObject.Altitude;
cmd_nav_hold.Latitude = jsObject.Latitude;
cmd_nav_hold.Longitude = jsObject.Longitude;
cmd_nav_hold.UAVId = jsObject.UAVId;
cmd_nav_hold.Time = jsObject.Time;
cmd_nav_hold.Throttle = jsObject.Throttle;
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
try
{
db.CMD_NAV_Hold.Add(cmd_nav_hold);
result = db.SaveChanges();
}
catch (DbEntityValidationException e)
{
foreach (var eve in e.EntityValidationErrors)
{
System.Diagnostics.Debug.Write("Entity of type " + eve.Entry.Entity.GetType().Name + " in state " + eve.Entry.State + " has the following validation errors:");
foreach (var ve in eve.ValidationErrors)
{
System.Diagnostics.Debug.Write("- Property: " + ve.PropertyName + ", Error: " + ve.ErrorMessage);
}
}
throw;
}
if (result == 1)
{
return(Ok());
}
else
{
return(NotFound());
}
}
