public async Task <IHttpActionResult> UpdatePhase(int id, string phase)
{
var mis = await db.Missions.FindAsync(id);
if (mis != null && phase != null)
{
mis.Phase = phase;
db.Entry(mis);
try
{
await db.SaveChangesAsync();
}
catch (Exception e)
{
//Just catch the exception and emit out, that's all we care about
}
var hub = GlobalHost.ConnectionManager.GetHubContext <VehicleHub>();
hub.Clients.All.newMissionPhase(id, phase);
return(Ok());
}
else
{
return(Conflict());
}
}
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 async Task <IHttpActionResult> InsertWaypoints(int id, Waypoint newWp)
{
//Use a transaction because we have to make possibly 2 commits to the database. If
//either fails, we need to roll back
using (var trans = db.Database.BeginTransaction())
{
try
{
Mission mission = await db.Missions.FindAsync(id);
//If the mission doesn't exist, or the input parameter doesn't match the stored mission id, then return bad request
//The auto-generated WebApi2
if (mission == null && newWp.MissionId != id)
{
return(BadRequest("The Mission was not found and the waypoint was null"));
}
newWp = db.Waypoints.Add(newWp);
await db.SaveChangesAsync();
var wps = mission.Waypoints;
//Try to get the nextWaypoint id
var nextPointId = newWp.NextWaypointId;
//If nextPointId is not null, fix the reference of the former previous waypoint
if (nextPointId != null)
{
//Find previous waypoint
Waypoint prevWp = (from wp in mission.Waypoints
//Make sure we don't accidentally get the wp we just inserted
where wp.NextWaypointId == nextPointId && wp.Id != newWp.Id && wp.IsActive
select wp).FirstOrDefault();
if (prevWp != null) //If this new WP is not at the beginning of the list
{
prevWp.NextWaypointId = newWp.Id;
//This waypoint is now modified. Let the context know.
db.Entry(prevWp).State = System.Data.Entity.EntityState.Modified;
await db.SaveChangesAsync();
}
}
//We finished with the transactions, make sure to commit them.
trans.Commit();
var hub = GlobalHost.ConnectionManager.GetHubContext <VehicleHub>();
hub.Clients.All.WaypointInserted(id);
return(Ok(newWp));
}
catch (DbUpdateException e)
{
//Something went wrong. Rollback any changes, if any.
trans.Rollback();
return(BadRequest());
}
}
}
public async Task <IHttpActionResult> PutFlightState(int id, FlightStateDTO flightStateDto)
{
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
if (id != flightStateDto.Id)
{
return(BadRequest());
}
FlightState flightState = Mapper.Map <FlightState>(flightStateDto);
db.Entry(flightState).State = System.Data.Entity.EntityState.Modified;
try
{
await db.SaveChangesAsync();
}
catch (DbUpdateConcurrencyException)
{
if (!FlightStateExists(id))
{
return(NotFound());
}
else
{
throw;
}
}
return(StatusCode(HttpStatusCode.NoContent));
}
public IHttpActionResult PutMapRestricted(int id, MapRestricted mapRestricted)
{
if (!ModelState.IsValid)
{
return(BadRequest(ModelState));
}
if (id != mapRestricted.Id)
{
return(BadRequest());
}
db.Entry(mapRestricted).State = System.Data.Entity.EntityState.Modified;
try
{
db.SaveChanges();
}
catch (DbUpdateConcurrencyException)
{
if (!MapRestrictedExists(id))
{
return(NotFound());
}
else
{
throw;
}
}
return(StatusCode(HttpStatusCode.NoContent));
}
public async Task <IHttpActionResult> setCurrentMission(int id, int missionId)
{
var sched = await db.Schedules.FindAsync(id);
var mission = await db.Missions.FindAsync(missionId);
mission.ScheduleId = sched.Id;
sched.CurrentMission = mission.id;
db.Entry(mission).State = System.Data.Entity.EntityState.Modified;
db.Entry(sched).State = System.Data.Entity.EntityState.Modified;
await db.SaveChangesAsync();
var hub = GlobalHost.ConnectionManager.GetHubContext <VehicleHub>();
hub.Clients.All.vehicleHasNewMission(sched.UAVId, id, missionId);
return(Ok());
}
public IHttpActionResult assignMultipleUAVs(int user_id, int amt)
{
IEnumerable <UAV> uavs = db.UAVs.Where(u => u.User == null && u.isActive == true).Take(amt);
NEST_App.Models.User user = db.Users.Find(user_id);
foreach (UAV uav in uavs)
{
user.UAVs.Add(uav);
}
db.Entry(user).State = EntityState.Modified;
try
{
db.SaveChanges();
}
catch
{
return(StatusCode(HttpStatusCode.Conflict));
}
return(Ok(user));
}
public DateTime GetEta(int id)
{
var uav = _db.UAVs.Find(id);
var firstOrDefault = uav.Schedules.FirstOrDefault();
if (firstOrDefault == null)
{
return(new DateTime());
}
if (firstOrDefault.CurrentMission == null)
{
return(new DateTime());
}
var currentMissionId = (int)firstOrDefault.CurrentMission;
var currentMission = _db.Missions.Find(currentMissionId);
var orDefault = uav.FlightStates.FirstOrDefault();
if (orDefault == null)
{
return(new DateTime());
}
var radianVelocity = GeoCodeCalc.CalcPythagorean(orDefault.VelocityX, orDefault.VelocityY);
if (currentMission.TimeAssigned == null)
{
return(new DateTime());
}
var flightState = uav.FlightStates.FirstOrDefault();
if (flightState == null)
{
return(new DateTime());
}
currentMission.EstimatedCompletionTime = ((DateTime)currentMission.TimeAssigned).AddMinutes(GeoCodeCalc.CalcDistance(flightState.Latitude,
flightState.Longitude, currentMission.Latitude, currentMission.Longitude) / radianVelocity);
_db.Entry(currentMission).State = System.Data.Entity.EntityState.Modified;
_db.SaveChanges();
return((DateTime)currentMission.EstimatedCompletionTime);
}
