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_LAND(int uid, CMD_NAV_Land jsObject)
{
CMD_NAV_Land cmd_nav_land = new CMD_NAV_Land();
cmd_nav_land.Id = jsObject.Id;
cmd_nav_land.Altitude = jsObject.Altitude;
cmd_nav_land.Latitude = jsObject.Latitude;
cmd_nav_land.Longitude = jsObject.Longitude;
cmd_nav_land.Throttle = jsObject.Throttle;
cmd_nav_land.UAVId = jsObject.UAVId;
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
db.CMD_NAV_Land.Add(cmd_nav_land);
db.SaveChanges();
return(Ok());
}
public int LandCommand(CMD_NAV_Land cmd)
{
Clients.Group("vehicles").sendLandCommand(cmd, Context.ConnectionId);
return(cmd.Id);
}
