// Handle a TMA message
public void HandleTMAMessage(TMAOriginalMessage message)
{
SystemTracks sysTracks = new SystemTracks();
sysTracks.timeStamp = convertTime(message.timeStamp);
sysTracks.systemTracks = new List <TrackData>();
foreach (OriginalSystemTrack OrigTrack in message.systemTracks)
{
// if track exists
if (OrigTrack.trackId != 0)
{
TrackData newTrackData = new TrackData();
newTrackData.trackID = OrigTrack.trackId;
newTrackData.relativeBearing = OrigTrack.bearing;
if (OrigTrack.bearingRate.valid)
{
newTrackData.relativeBearingRate = OrigTrack.bearingRate.value;
}
// if new track
if (!isKnownTarget[OrigTrack.trackId - 1])
{
isKnownTarget[OrigTrack.trackId - 1] = true;
creationTime[OrigTrack.trackId - 1] = OrigTrack.timeStamp;
newTrackData.trackState = State.NewTrack;
newTrackData.creationTime = convertTime(OrigTrack.timeStamp);
}
// if old track
else
{
newTrackData.trackState = State.UpdateTrack;
newTrackData.creationTime = convertTime(creationTime[OrigTrack.trackId - 1]);
}
sysTracks.systemTracks.Add(newTrackData);
}
}
if (lastTracksMessage != null)
{
foreach (var currTrack in lastTracksMessage.systemTracks)
{
if (currTrack.trackId != 0)
{
// check if track was deleted
if (!sysTracks.systemTracks.Exists(x => x.trackID == currTrack.trackId))
{
isKnownTarget[currTrack.trackId - 1] = false;
TrackData newTrack = new TrackData()
{
trackID = currTrack.trackId,
trackState = State.DeleteTrack
};
sysTracks.systemTracks.Add(newTrack);
}
}
}
}
lastTracksMessage = message;
// send to stiching
sender.SendTrackData(sysTracks);
// save to db
db.saveRecord(sysTracks, "SystemTrack");
}
