private async void Init_Mission(object sender, RoutedEventArgs value)
{
double nowLat = Convert.ToDouble(DD.Location().Latitude());
double nowLng = Convert.ToDouble(DD.Location().Longitude());
WaypointMission = new WaypointMission()
{
waypointCount = 4,
maxFlightSpeed = 15,
autoFlightSpeed = 10,
finishedAction = WaypointMissionFinishedAction.NO_ACTION,
headingMode = WaypointMissionHeadingMode.AUTO,
flightPathMode = WaypointMissionFlightPathMode.NORMAL,
gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY,
exitMissionOnRCSignalLostEnabled = false,
pointOfInterest = new LocationCoordinate2D()
{
latitude = 0,
longitude = 0
},
gimbalPitchRotationEnabled = true,
repeatTimes = 0,
missionID = 0,
waypoints = new List <Waypoint>()
{
InitDumpWaypoint(nowLat + 0.001, nowLng + 0.0015),
InitDumpWaypoint(nowLat + 0.001, nowLng - 0.0015),
InitDumpWaypoint(nowLat - 0.001, nowLng - 0.0015),
InitDumpWaypoint(nowLat - 0.001, nowLng + 0.0015),
}
};
}
/// <summary>
/// Mission path of parking lot R25 of the Texas Tech University
/// </summary>
/// <returns> <see cref="WaypointMission"/> </returns>
public static WaypointMission GetR25Mission()
{
WaypointMission mission = new WaypointMission();
mission.waypointCount = 0;
mission.maxFlightSpeed = 15;
mission.autoFlightSpeed = 10;
mission.finishedAction = WaypointMissionFinishedAction.NO_ACTION;
mission.headingMode = WaypointMissionHeadingMode.USING_WAYPOINT_HEADING;
mission.flightPathMode = WaypointMissionFlightPathMode.NORMAL;
mission.gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY;
mission.exitMissionOnRCSignalLostEnabled = false;
mission.pointOfInterest = new LocationCoordinate2D()
{
latitude = 0,
longitude = 0
};
mission.gimbalPitchRotationEnabled = true;
mission.repeatTimes = 0;
mission.missionID = 0;
mission.waypoints = new List <Waypoint>()
{
InitWaypoint(33.586253, -101.881052, 3, 90, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.START_TAKE_PHOTO
}
}),
InitWaypoint(33.585668, -101.881044, 3, 90, new List <WaypointAction>()
{
}),
InitWaypoint(33.585668, -101.881149, 3, -180, new List <WaypointAction>()
{
}),
InitWaypoint(33.585666, -101.881288, 3, -180, new List <WaypointAction>()
{
}),
InitWaypoint(33.585690, -101.881288, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.586256, -101.881284, 3, -90, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.STOP_RECORD
}
})
};
return(mission);
}
/// <summary>
/// Mission path of parking lot R16 of the Texas Tech University
/// </summary>
/// <returns> <see cref="WaypointMission"/> </returns>
public static WaypointMission GetR16Mission()
{
WaypointMission mission = new WaypointMission();
mission.waypointCount = 0;
mission.maxFlightSpeed = 15;
mission.autoFlightSpeed = 10;
mission.finishedAction = WaypointMissionFinishedAction.AUTO_LAND;
mission.headingMode = WaypointMissionHeadingMode.USING_WAYPOINT_HEADING;
mission.flightPathMode = WaypointMissionFlightPathMode.NORMAL;
mission.gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY;
mission.exitMissionOnRCSignalLostEnabled = false;
mission.pointOfInterest = new LocationCoordinate2D()
{
latitude = 0,
longitude = 0
};
mission.gimbalPitchRotationEnabled = true;
mission.repeatTimes = 0;
mission.missionID = 0;
mission.waypoints = new List <Waypoint>()
{
InitWaypoint(33.588462, -101.875579, 3, 90, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.START_TAKE_PHOTO
}
}),
InitWaypoint(33.588483, -101.875543, 3, 90, new List <WaypointAction>()
{
}),
InitWaypoint(33.588639, -101.875553, 3, 90, new List <WaypointAction>()
{
}),
InitWaypoint(33.588637, -101.875607, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.588510, -101.875615, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.588462, -101.875579, 3, -180, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.STOP_RECORD
}
}),
};
return(mission);
}
public SDKError LoadMission(String json_mision)
{
JArray points = JArray.Parse(json_mision);
int waypointCount = points.Count;
double maxFlightSpeed = 15; // meters per second TODO
double autoFlightSpeed = 10; // meters per second TODO
int missionID = 0; //TODO
List <Waypoint> waypoints = new List <Waypoint>(waypointCount);
foreach (JObject point in points)
{
JObject coord = (JObject)point.SelectToken("coord");
JArray coordinates = (JArray)coord.SelectToken("coordinates");
double latitude = (double)coordinates.First[0];
double longitude = (double)coordinates.First[1];
double gimbalPitch = (double)point.SelectToken("angulo");
double speed = (double)point.SelectToken("velocidad"); // meters per second
double altitude = (double)point.SelectToken("altura");
int stayTime = (int)point.SelectToken("tiempo");
int rotation = (int)point.SelectToken("rotacion");
waypoints.Add(InitWaypoint(latitude, longitude, altitude, gimbalPitch, speed, stayTime, rotation));
System.Diagnostics.Debug.WriteLine("lat {0}, lng {1})", latitude, longitude);
}
WaypointMission mission = new WaypointMission()
{
waypointCount = points.Count,
maxFlightSpeed = maxFlightSpeed,
autoFlightSpeed = autoFlightSpeed,
finishedAction = WaypointMissionFinishedAction.GO_HOME,
headingMode = WaypointMissionHeadingMode.AUTO,
flightPathMode = WaypointMissionFlightPathMode.NORMAL,
gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY,
exitMissionOnRCSignalLostEnabled = false,
gimbalPitchRotationEnabled = true,
repeatTimes = 1,
missionID = missionID,
waypoints = waypoints
};
//LoadMission
SDKError loadError = DJISDKManager.Instance.WaypointMissionManager.GetWaypointMissionHandler(0).LoadMission(mission);
System.Diagnostics.Debug.WriteLine("LOAD MISSION: " + loadError.ToString());
return(loadError);
}
/// <summary>
/// This creates a test mission,
/// It will create a square path around given origin point
/// </summary>
/// <param name="loc"> the origin of the square path that will be followed</param>
/// <returns> <see cref="WaypointMission"/> </returns>
public static WaypointMission GetTestMission(LocationCoordinate2D loc)
{
WaypointMission mission = new WaypointMission();
mission.waypointCount = 0;
mission.maxFlightSpeed = 15;
mission.autoFlightSpeed = 10;
mission.finishedAction = WaypointMissionFinishedAction.NO_ACTION;
mission.headingMode = WaypointMissionHeadingMode.AUTO;
mission.flightPathMode = WaypointMissionFlightPathMode.NORMAL;
mission.gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY;
mission.exitMissionOnRCSignalLostEnabled = false;
mission.pointOfInterest = new LocationCoordinate2D()
{
latitude = 0,
longitude = 0
};
mission.gimbalPitchRotationEnabled = true;
mission.repeatTimes = 0;
mission.missionID = 0;
mission.waypoints = new List <Waypoint>()
{
InitWaypoint(loc.latitude + 0.00001, loc.longitude + 0.000015, 3, 0, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.START_TAKE_PHOTO
}
}),
InitWaypoint(loc.latitude + 0.00001, loc.longitude - 0.000015, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(loc.latitude - 0.00001, loc.longitude - 0.000015, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(loc.latitude - 0.00001, loc.longitude + 0.000015, 3, 0, new List <WaypointAction>()
{
})
};
return(mission);
}
private void RedrawWaypoint()
{
List <BasicGeoposition> waypointPositions = new List <BasicGeoposition>();
WaypointMission mission = WaypointMissionViewModel.Instance.WaypointMission;
for (int i = 0; i < mission.waypoints.Count(); ++i)
{
if (waypointLayer.MapElements.Count == i)
{
MapIcon waypointIcon = new MapIcon()
{
Image = RandomAccessStreamReference.CreateFromUri(new Uri("ms-appx:///Assets/waypoint.png")),
NormalizedAnchorPoint = new Point(0.5, 0.5),
ZIndex = 0,
};
waypointLayer.MapElements.Add(waypointIcon);
}
var geolocation = new BasicGeoposition()
{
Latitude = mission.waypoints[i].location.latitude, Longitude = mission.waypoints[i].location.longitude
};
(waypointLayer.MapElements[i] as MapIcon).Location = new Geopoint(geolocation);
waypointPositions.Add(geolocation);
}
if (routeLayer.MapElements.Count == 0 && waypointPositions.Count >= 2)
{
var polyline = new MapPolyline
{
StrokeColor = Color.FromArgb(255, 0, 255, 0),
Path = new Geopath(waypointPositions),
StrokeThickness = 2
};
routeLayer.MapElements.Add(polyline);
}
else
{
var waypointPolyline = routeLayer.MapElements[0] as MapPolyline;
waypointPolyline.Path = new Geopath(waypointPositions);
}
}
private void init_mission(double autoFlightSpeed, WaypointMissionFinishedAction action, WaypointMissionHeadingMode heading_mode)
{
missionCreated = true;
mission = new WaypointMission()
{
waypointCount = 0,
maxFlightSpeed = 15,
autoFlightSpeed = autoFlightSpeed,
finishedAction = action,
headingMode = heading_mode,
flightPathMode = WaypointMissionFlightPathMode.NORMAL,
gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY,
exitMissionOnRCSignalLostEnabled = false,
pointOfInterest = new LocationCoordinate2D()
{
latitude = 0,
longitude = 0
},
gimbalPitchRotationEnabled = false,
repeatTimes = 0,
missionID = 0,
waypoints = new List <Waypoint>()
};
}
/// <summary>
/// Test mission path of parking lot R25 of the Texas Tech University
/// </summary>
/// <returns> <see cref="WaypointMission"/> </returns>
public static WaypointMission GetR17Mission()
{
WaypointMission mission = new WaypointMission();
mission.waypointCount = 0;
mission.maxFlightSpeed = 15;
mission.autoFlightSpeed = 10;
mission.finishedAction = WaypointMissionFinishedAction.NO_ACTION;
mission.headingMode = WaypointMissionHeadingMode.USING_WAYPOINT_HEADING;
mission.flightPathMode = WaypointMissionFlightPathMode.NORMAL;
mission.gotoFirstWaypointMode = WaypointMissionGotoFirstWaypointMode.SAFELY;
mission.exitMissionOnRCSignalLostEnabled = false;
mission.pointOfInterest = new LocationCoordinate2D()
{
latitude = 0,
longitude = 0
};
mission.gimbalPitchRotationEnabled = true;
mission.repeatTimes = 0;
mission.missionID = 0;
mission.waypoints = new List <Waypoint>()
{
/*left*/
InitWaypoint(33.588915, -101.875378, 3, -90, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.START_TAKE_PHOTO
}
}),
InitWaypoint(33.588911, -101.875216, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.588983, -101.875514, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589006, -101.875515, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589032, -101.875515, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589057, -101.875513, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589105, -101.875503, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589132, -101.875506, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589159, -101.875509, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589179, -101.875509, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589207, -101.875514, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589231, -101.875515, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589254, -101.875505, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589283, -101.875513, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589305, -101.875512, 3, -90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589329, -101.875511, 3, -90, new List <WaypointAction>()
{
}),
/*up*/
InitWaypoint(33.589354, -101.875502, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589357, -101.875468, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589359, -101.875440, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589362, -101.875410, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589365, -101.875377, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589367, -101.875349, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589367, -101.875320, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589363, -101.875290, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589365, -101.875261, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589365, -101.875230, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589362, -101.875197, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589364, -101.875143, 3, 0, new List <WaypointAction>()
{
}),
InitWaypoint(33.589362, -101.875110, 3, 0, new List <WaypointAction>()
{
}),
/*right*/
InitWaypoint(33.589330, -101.875030, 3, 90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589311, -101.875027, 3, 90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589284, -101.875027, 3, 90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589259, -101.875025, 3, 90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589234, -101.875025, 3, 90, new List <WaypointAction>()
{
}),
InitWaypoint(33.589209, -101.875028, 3, 90, new List <WaypointAction>()
{
}),
/*moving*/
InitWaypoint(33.589205, -101.875068, 3, 180, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.STOP_RECORD
}
}),
InitWaypoint(33.589088, -101.875072, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588968, -101.875048, 3, 180, new List <WaypointAction>()
{
}),
/*down*/
InitWaypoint(33.588951, -101.875047, 3, 180, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.START_TAKE_PHOTO
}
}),
InitWaypoint(33.588942, -101.875084, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588943, -101.875120, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588933, -101.875217, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588933, -101.875259, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588933, -101.875250, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588932, -101.875281, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588930, -101.875313, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588927, -101.875345, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588928, -101.875376, 3, 180, new List <WaypointAction>()
{
}),
InitWaypoint(33.588925, -101.875408, 3, 180, new List <WaypointAction>()
{
}),
/*moving 2*/
InitWaypoint(33.588960, -101.875452, 3, 0, new List <WaypointAction>()
{
}),
/*inner 1 left*/
InitWaypoint(33.589032, -101.875451, 3, 90, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.START_TAKE_PHOTO
}
}),
/*temp move away*/
InitWaypoint(33.589029, -101.875483, 3, 0, new List <WaypointAction>()
{
new WaypointAction()
{
actionType = WaypointActionType.STOP_RECORD
}
})
};
return(mission);
}
