private async Task <CommandProcessingResult> ExecuteSendWaypointsCommandAsync(DeserializableCommand deserializableCommand)
{
var command = deserializableCommand.Command;
try
{
dynamic parameters = WireCommandSchemaHelper.GetParameters(command);
if (parameters != null)
{
string waypointString = ReflectionHelper.GetNamedPropertyValue(
parameters,
"data",
usesCaseSensitivePropertyNameMatch: true,
exceptionThrownIfNoMatch: true);
if (!string.IsNullOrEmpty(waypointString))
{
JArray waypointArray = JArray.Parse(waypointString);
if (waypointArray != null && waypointArray.Count > 0)
{
var wayPoints = new List <GeoCoordinate>();
foreach (var wayPoint in waypointArray)
{
if (double.TryParse(wayPoint[0].ToString(), out var lat) &&
double.TryParse(wayPoint[1].ToString(), out var lon))
{
var wayPointObject = new GeoCoordinate(lat, lon);
wayPoints.Add(wayPointObject);
}
}
if (wayPoints.Count > 0)
{
await this.wayPointNavigator.StartWayPointNavigationAsync(wayPoints);
}
return(CommandProcessingResult.Success);
}
}
}
return(CommandProcessingResult.CannotComplete);
}
catch (Exception)
{
return(CommandProcessingResult.RetryLater);
}
}
private async Task <CommandProcessingResult> HandleCommandAsync(DeserializableCommand deserializableCommand)
{
var notifyEventArgs = new NotifyUIEventArgs()
{
NotificationType = NotificationType.Console,
Data = $"Received cloud command: {deserializableCommand.CommandName}"
};
this.NotifyUIEvent(notifyEventArgs);
if (deserializableCommand.CommandName == "DemoRun")
{
return(await this.ExecuteDemoCommandAsync(deserializableCommand));
}
else if (deserializableCommand.CommandName == "SendWaypoints")
{
return(await this.ExecuteSendWaypointsCommandAsync(deserializableCommand));
}
else if (deserializableCommand.CommandName == "SetLights")
{
return(await this.ExecuteSetLightsCommandAsync(deserializableCommand));
}
else if (deserializableCommand.CommandName == "SetCamera")
{
return(await this.ExecuteSetCameraCommandAsync(deserializableCommand));
}
else if (deserializableCommand.CommandName == "SendBuzzer")
{
return(await this.ExecuteSendBuzzerCommandAsync());
}
else if (deserializableCommand.CommandName == "EmergencyStop")
{
return(await this.ExecuteEmergencyStopCommandAsync());
}
else if (deserializableCommand.CommandName == "StartTelemetry")
{
return(this.ExecuteStartStopTelemetryCommandAsync(true));
}
else if (deserializableCommand.CommandName == "StopTelemetry")
{
return(this.ExecuteStartStopTelemetryCommandAsync(false));
}
else if (deserializableCommand.CommandName == "MoveVehicle")
{
return(await this.ExecuteMoveVehicleCommandAsync(deserializableCommand));
}
else if (deserializableCommand.CommandName == "MoveCamera")
{
return(await this.ExecuteMoveCameraCommandAsync(deserializableCommand));
}
else
{
notifyEventArgs = new NotifyUIEventArgs()
{
NotificationType = NotificationType.Console,
Data = $"Command not registered in the system: {deserializableCommand.CommandName}"
};
this.NotifyUIEvent(notifyEventArgs);
}
return(CommandProcessingResult.CannotComplete);
}
