/// <summary>
/// Example hpw to upload processed route to vehicle
/// </summary>
/// <param name="route">calculated route</param>
/// <param name="vehicle">Vehicle where to upload route</param>
/// <returns></returns>
public bool UploadRoute(ProcessedRoute route, Vehicle vehicle)
{
if (route == null)
{
throw new Exception("Route not specified");
}
if (vehicle == null)
{
throw new Exception("Vehicle not specified");
}
UploadRouteRequest request = new UploadRouteRequest
{
ClientId = _connect.AuthorizeHciResponse.ClientId,
ProcessedRoute = route,
Vehicle = vehicle,
};
MessageFuture <UploadRouteResponse> task = _connect.Executor.Submit <UploadRouteResponse>(request);
task.Wait();
if (task.Exception != null || task.Value == null)
{
logger.LogException(task.Exception);
throw new Exception("Upload error: " + task.Exception.Message);
}
return(true);
}
/// <summary>
/// Example how to calculate route by id
/// </summary>
/// <param name="routeId">route ID</param>
/// <returns>Processed route</returns>
public ProcessedRoute CalculateRouteById(int routeId)
{
var updatedRoute = GetUpdatedRouteById(routeId);
ProcessRouteRequest request = new ProcessRouteRequest
{
ClientId = _connect.AuthorizeHciResponse.ClientId,
Route = updatedRoute,
};
MessageFuture <ProcessRouteResponse> task = _connect.Executor.Submit <ProcessRouteResponse>(request);
task.Wait();
if (task.Exception != null || task.Value == null)
{
logger.LogException(task.Exception);
throw new Exception("Calculate error: " + task.Exception.Message);
}
return(task.Value.ProcessedRoute);
}
/// <summary>
/// Example how to create route on server with route parameters
/// Minimum parameters is specified
/// </summary>
/// <param name="mission">Mission where create route</param>
/// <param name="vehicleProfile">Profile for route</param>
/// <param name="name">Route name</param>
/// <returns></returns>
public Route CreateNewRoute(Mission mission, VehicleProfile vehicleProfile, String name = "TestRoute")
{
var routeName = string.Format("{0} {1}", name, DateTime.Now.ToShortDateString() + " " + DateTime.Now.ToShortTimeString());
Route route = new Route
{
CreationTime = ServiceHelpers.CreationTime(),
Name = routeName,
Mission = mission
};
ChangeRouteVehicleProfileRequest request = new ChangeRouteVehicleProfileRequest
{
ClientId = _connect.AuthorizeHciResponse.ClientId,
Route = route,
NewProfile = new VehicleProfile {
Id = vehicleProfile.Id
}
};
MessageFuture <ChangeRouteVehicleProfileResponse> future =
_connect.Executor.Submit <ChangeRouteVehicleProfileResponse>(request);
future.Wait();
route = future.Value.Route;
route.Mission = mission;
route.TrajectoryType = TrajectoryType.TT_STAIR;
route.MaxAltitude = 50.0;
route.SafeAltitude = 3.0;
route.CheckAerodromeNfz = false;
route.CheckAerodromeNfzSpecified = true;
route.InitialSpeed = 0.0;
route.MaxSpeed = 0.0;
route.CheckCustomNfz = false;
route.CheckCustomNfzSpecified = true;
route.Failsafes.Add(new Failsafe()
{
Action = FailsafeAction.FA_GO_HOME,
ActionSpecified = true,
Reason = FailsafeReason.FR_RC_LOST,
ReasonSpecified = true,
});
route.Failsafes.Add(new Failsafe()
{
Action = FailsafeAction.FA_LAND,
ActionSpecified = true,
Reason = FailsafeReason.FR_LOW_BATTERY,
ReasonSpecified = true
});
route.Failsafes.Add(new Failsafe()
{
Action = FailsafeAction.FA_WAIT,
ActionSpecified = true,
Reason = FailsafeReason.FR_GPS_LOST,
ReasonSpecified = true
});
route.Failsafes.Add(new Failsafe()
{
Action = FailsafeAction.FA_GO_HOME,
ActionSpecified = true,
Reason = FailsafeReason.FR_DATALINK_LOST,
ReasonSpecified = true
});
return(SaveUpdatedRoute(route));
}
