public List <object> LocationToFence(List <Locationwp> list)
{
FencePolygon pol = new FencePolygon();
foreach (var locationwp in list)
{
var plla = new PointLatLngAlt(locationwp);
switch (locationwp.id)
{
case (ushort)MAVLink.MAV_CMD.FENCE_POLYGON_VERTEX_EXCLUSION:
{
pol.Mode = FencePolygon.PolyType.Exclusive;
pol.Points.Add(plla);
if (pol.Points.Count == locationwp.p1)
{
Fences.Add(pol);
pol = new FencePolygon();
}
}
break;
case (ushort)MAVLink.MAV_CMD.FENCE_POLYGON_VERTEX_INCLUSION:
{
pol.Mode = FencePolygon.PolyType.Inclusive;
pol.Points.Add(plla);
if (pol.Points.Count == locationwp.p1)
{
Fences.Add(pol);
pol = new FencePolygon();
}
}
break;
case (ushort)MAVLink.MAV_CMD.FENCE_CIRCLE_EXCLUSION:
{
var cir = new FenceCircle()
{
Mode = FenceCircle.PolyType.Exclusive,
Center = plla,
Radius = locationwp.p1
};
Fences.Add(cir);
}
break;
case (ushort)MAVLink.MAV_CMD.FENCE_CIRCLE_INCLUSION:
{
var cir = new FenceCircle()
{
Mode = FenceCircle.PolyType.Inclusive,
Center = plla,
Radius = locationwp.p1
};
Fences.Add(cir);
}
break;
case (ushort)MAVLink.MAV_CMD.FENCE_RETURN_POINT:
Fences.Add(new FenceReturn()
{
Return = plla
});
break;
default:
break;
}
}
return(Fences);
}
public void DownloadFence(MAVLinkInterface port, Action <int, string> progress = null)
{
var list = mav_mission.download(port, MAVLink.MAV_MISSION_TYPE.FENCE, progress);
FencePolygon pol = new FencePolygon();
foreach (var locationwp in list)
{
var plla = new PointLatLngAlt(locationwp);
switch (locationwp.id)
{
case (ushort)MAVLink.MAV_CMD.FENCE_POLYGON_VERTEX_EXCLUSION:
{
pol.Mode = FencePolygon.PolyType.Exclusive;
pol.Points.Add(plla);
if (pol.Points.Count == locationwp.p1)
{
Fences.Add(pol);
pol = new FencePolygon();
}
}
break;
case (ushort)MAVLink.MAV_CMD.FENCE_POLYGON_VERTEX_INCLUSION:
{
pol.Mode = FencePolygon.PolyType.Inclusive;
pol.Points.Add(plla);
if (pol.Points.Count == locationwp.p1)
{
Fences.Add(pol);
pol = new FencePolygon();
}
}
break;
case (ushort)MAVLink.MAV_CMD.FENCE_CIRCLE_EXCLUSION:
{
var cir = new FenceCircle()
{
Mode = FenceCircle.PolyType.Exclusive,
Center = plla,
Radius = locationwp.p1
};
Fences.Add(cir);
}
break;
case (ushort)MAVLink.MAV_CMD.FENCE_CIRCLE_INCLUSION:
{
var cir = new FenceCircle()
{
Mode = FenceCircle.PolyType.Inclusive,
Center = plla,
Radius = locationwp.p1
};
Fences.Add(cir);
}
break;
case (ushort)MAVLink.MAV_CMD.FENCE_RETURN_POINT:
Fences.Add(new FenceReturn()
{
Return = plla
});
break;
default:
break;
}
}
}