/// <summary>
/// Returns command for tracking target.
/// </summary>
/// <returns>Returns command for tracking target if any.</returns>
private CommandSetTrackingTargets GetTrackCmd()
{
int count = 0;
CommandSetTrackingTargets ret = null;
foreach (Command command in m_Commands)
{
// find all commands for tracking targets (can be only one!!!)
if (command is CommandSetTrackingTargets)
{
++count;
ret = command as CommandSetTrackingTargets;
}
}
if (count > 1)
{
throw new Exception("More than one command for tracking targets in mission!");
}
else if (count == 0)
{
// No tracking command, add it
ret = new CommandSetTrackingTargets(Commands.CommandSetTrackingTargets);
m_Commands.Add(ret);
}
return(ret);
}
/// <summary>
/// Starts planning this mission for all assigned drones to this mission.
/// Even if the drone is already on another mission.
/// </summary>
public void Start()
{
// Create all waypoint commands
// foreach drone add new command
// Remove all waypoint commands
//for (int i = 0; i < m_Commands.Count; ++i)
//{
// if (m_Commands[i] is CommandSetWaypoints)
// {
// m_Commands.RemoveAt(i);
// --i;
// }
//}
CommandSetTrackingTargets tcmd = GetTrackCmd();
m_Commands.Clear();
m_Commands.Add(tcmd);
// For each drone add new command
foreach (string droneName in m_AssignedDrones)
{
CommandSetWaypoints cmd = new CommandSetWaypoints(Commands.CommandSetWaypoints);
foreach (int index in m_WaypointsKeysOrder)
{
cmd.Waypoints.Add(m_Waypoints[index]);
}
//cmd.Waypoints = m_Waypoints.Values.ToList();
cmd.UAVId = droneName;
m_Commands.Add(cmd);
// Assign drones on mission
AgentManager.Instance.DroneOnMission(droneName, m_MissionName);
}
// Add zones tracking
foreach (string zone in m_Zones)
{
SurveyRectangleAreaNoStop(zone);
}
// Assign/Reassing mission in simulator
Network.SimulatorClient.Instance.SendMission(this);
m_IsPlaying = true;
}
/// <summary>
/// Removes ground target from being monitored. Stops mission execution and requests redraw on gui when removed.
/// </summary>
/// <param name="targetName">ground target to stop monitoring</param>
public void RemoveTarget(string targetName)
{
Debug.Log("Removing target " + targetName);
bool hasTarget = false;
foreach (Command command in m_Commands)
{
// find all commands for tracking targets and remove this target
if (command is CommandSetTrackingTargets)
{
CommandSetTrackingTargets cmd = command as CommandSetTrackingTargets;
cmd.Targets.Remove(targetName);
hasTarget = true;
}
}
if (hasTarget)
{
StopActions();
ValuesChanged();
}
}
/// <summary>
/// Creates or adds targets to CommandSetTrackingTargets. Stops mission execution and requests redraw on gui.
/// </summary>
/// <param name="targets"></param>
public void TrackTargets(List <string> targets)
{
StopActions();
// Find or create command for tracking targets
CommandSetTrackingTargets cmd = GetTrackCmd();
foreach (string target in targets)
{
GroundTarget groundTarget = AgentManager.Instance.GetTrackableTarget(target);
if (groundTarget != null)
{
// If such target exists, add it to command (only if unique)
if (!cmd.Targets.Contains(target))
{
Debug.Log("Adding " + target);
cmd.Targets.Add(target);
}
}
}
ValuesChanged();
}
