public void TelemetryCallBack(ServiceTelemetryDTO dto, int tempId)
{
if (ClientVehicle != null)
{
Mapper.Map <ServiceTelemetryDTO, ClientTelemetry>(dto, ClientVehicle.Telemetry);
if (ClientVehicle.Telemetry.LatitudeGPS != null && ClientVehicle.Telemetry.LongitudeGPS != null)
{
if (!_initMapCenter)
{
_initMapCenter = true;
MapViewModel.InitMapCenter(ClientVehicle.Telemetry.LatitudeGPS.Value, ClientVehicle.Telemetry.LongitudeGPS.Value);
}
MapViewModel.ChangeCoordinates(ClientVehicle.Telemetry.LatitudeGPS.Value, ClientVehicle.Telemetry.LongitudeGPS.Value, ClientVehicle.Telemetry.AltitudeAGL, ClientVehicle.Telemetry.Camera1Yaw);
}
}
}
private void _telemetryReceived(int vehicleId, List <Telemetry> telemetry)
{
Debug.Assert(_telemetryDTOList.ContainsKey(vehicleId), "_telemetryDTOList.ContainsKey(vehicleId)");
ServiceTelemetryDTO vehicleTelemetry = _telemetryDTOList[vehicleId].ServiceTelemetryDTO;
try
{
foreach (Telemetry t in telemetry)
{
if (t.TelemetryField.Code == "downlink_present" && t.TelemetryField.Semantic == Semantic.S_BOOL && t.TelemetryField.Subsystem == Subsystem.S_FLIGHT_CONTROLLER)
{
//case TelemetryType.TT_DOWNLINK_CONNECTED:
var value = GetValueOrNull <bool>(t.Value).GetValueOrDefault();
vehicleTelemetry.DownlinkPresent = value;
_downlinkCb(vehicleId, value);
}
if (t.TelemetryField.Code == "altitude_amsl" && t.TelemetryField.Semantic == Semantic.S_ALTITUDE_AMSL && t.TelemetryField.Subsystem == Subsystem.S_FLIGHT_CONTROLLER)
{
//case TelemetryType.TT_MSL_ALTITUDE:
vehicleTelemetry.AltitudeAMSL = GetValueOrNull <float>(t.Value);
}
if (t.TelemetryField.Code == "latitude" && t.TelemetryField.Semantic == Semantic.S_LATITUDE && t.TelemetryField.Subsystem == Subsystem.S_FLIGHT_CONTROLLER)
{
//case TelemetryType.TT_LATITUDE:
vehicleTelemetry.Latitude = GetValueOrNull <double>(t.Value);
}
if (t.TelemetryField.Code == "longitude" && t.TelemetryField.Semantic == Semantic.S_LONGITUDE && t.TelemetryField.Subsystem == Subsystem.S_FLIGHT_CONTROLLER)
{
//case TelemetryType.TT_LONGITUDE:
vehicleTelemetry.Longitude = GetValueOrNull <double>(t.Value);
}
if (t.TelemetryField.Code == "heading" && t.TelemetryField.Semantic == Semantic.S_HEADING && t.TelemetryField.Subsystem == Subsystem.S_FLIGHT_CONTROLLER)
{
vehicleTelemetry.Heading = GetValueOrDefault <float>(t.Value);
}
if (t.TelemetryField.Code == "pitch" && t.TelemetryField.Semantic == Semantic.S_PITCH && t.TelemetryField.Subsystem == Subsystem.S_FLIGHT_CONTROLLER)
{
vehicleTelemetry.Pitch = GetValueOrDefault <float>(t.Value);
}
if (t.TelemetryField.Code == "roll" && t.TelemetryField.Semantic == Semantic.S_ROLL && t.TelemetryField.Subsystem == Subsystem.S_FLIGHT_CONTROLLER)
{
vehicleTelemetry.Roll = GetValueOrDefault <float>(t.Value);
}
if (t.TelemetryField.Code == "heading" && t.TelemetryField.Semantic == Semantic.S_HEADING && t.TelemetryField.Subsystem == Subsystem.S_GIMBAL)
{
vehicleTelemetry.PayloadHeading = Math.Round(GetTelemetryValueOrDefault <double>(t.Value), 10);
}
if (t.TelemetryField.Code == "pitch" && t.TelemetryField.Semantic == Semantic.S_PITCH && t.TelemetryField.Subsystem == Subsystem.S_GIMBAL)
{
vehicleTelemetry.PayloadPitch = Math.Round(GetTelemetryValueOrDefault <double>(t.Value), 10);
}
if (t.TelemetryField.Code == "roll" && t.TelemetryField.Semantic == Semantic.S_ROLL && t.TelemetryField.Subsystem == Subsystem.S_GIMBAL)
{
vehicleTelemetry.PayloadRoll = Math.Round(GetTelemetryValueOrDefault <double>(t.Value), 10);
}
if (t.TelemetryField.Code == "video_stream_uri" && t.TelemetryField.Semantic == Semantic.S_STRING && t.TelemetryField.Subsystem == Subsystem.S_CAMERA)
{
string oldValue = vehicleTelemetry.VideoStreamUrl;
string videoStreamUri;
if (!t.Value.TryGetAsString(out videoStreamUri))
{
videoStreamUri = null;
}
if (oldValue != videoStreamUri)
{
vehicleTelemetry.VideoStreamUrl = videoStreamUri;
TelemetryVideoUrlChanged?.Invoke(new VideoSourceChangedDTO()
{
VehicleId = vehicleId,
VideoSourceName = videoStreamUri
});
}
}
}
}
catch
{
//Silent
}
}