public void RadianToDegreeTest_Succes()
{
//Arrange
double expected = 34.3774677078;
//Act
double actual = LatLonSpherical.RadianToDegree(0.60);
double tolerance = calculateTolerance(expected);
//Assert
Assert.That(actual, Is.EqualTo(expected).Within(tolerance));
}
public void DegreeToRadianTest_Success()
{
// Arrange
double expected = 0.78539816339;
// Act
double actual = LatLonSpherical.DegreeToRadian(45.0);
double tolerance = calculateTolerance(expected);
// Assert
Assert.That(actual, Is.EqualTo(expected).Within(tolerance));
}
public void CalculateDistanceBetweenLocations()
{
//Arrange
double expected = 124.8;
Location startLocation = new Location {
latitude = 53.188333, longitude = 0.133333
};
Location endLocation = new Location {
latitude = 53.320556, longitude = -1.729722
};
//Act
double actual = LatLonSpherical.CalculateDistanceBetweenLocations(startLocation, endLocation);
//Assert
Assert.That(actual, Is.EqualTo(expected).Within(0.05));
}
public void CalculateBearing()
{
//Arrange
double expected = 284.00119698271232;
Location startLocation = new Location {
latitude = 59.571111, longitude = 4.133889
};
Location endLocation = new Location {
latitude = 42.351111, longitude = -71.040833
};
//Act
double actual = LatLonSpherical.CalculateBearing(startLocation, endLocation);
//Assert
Assert.That(actual, Is.EqualTo(expected));
}
public void CalculateDestinationLocation()
{
//Arrange
Location expected = new Location {
latitude = 53.188333, longitude = 0.133333
};
Location point = new Location {
latitude = 53.320556, longitude = -1.729722
};
double bearing = 96.018254433006632;
double distance = 124.8;
//Act
Location actual = LatLonSpherical.CalculateDestinationLocation(point, bearing, distance);
//Assert
Assert.That(actual, Has.Property("latitude").EqualTo(expected.latitude).Within(0.0005)
& Has.Property("longitude").EqualTo(expected.longitude).Within(0.0005));
}
private async Task MoveTo(Location startPoint, Location endPoint, CancellationToken cancellationToken)
{
var startLocation = startPoint;
var endLocation = endPoint;
var distanceBetweenPoints = LatLonSpherical.CalculateDistanceBetweenLocations(startLocation, endLocation) * 1000; // multiply by 1000 to get in meters
var timeRequired = distanceBetweenPoints / _drone.Velocity;
for (int i = 0; i < timeRequired; i++)
{
if (cancellationToken.IsCancellationRequested)
{
cancellationToken.ThrowIfCancellationRequested();
}
var bearing = LatLonSpherical.CalculateBearing(startLocation, endLocation);
var distanceInKm = _drone.Velocity / 1000;
var intermediaryLocation = LatLonSpherical.CalculateDestinationLocation(startLocation, bearing, distanceInKm);
var coordinates = new Coordinates {
latitude = intermediaryLocation.latitude, longitude = intermediaryLocation.longitude
};
var track = new Track {
location = coordinates, timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ssZ")
};
var response = await this._utmService.Tracking.FlightTrack(_drone.Id,
_drone.OperationId, track);
if (response)
{
_drone.Location = intermediaryLocation;
Console.WriteLine($"operation: {_drone.OperationId} drone: {_drone.Id} latitude: {track.location.latitude} longitude: {track.location.longitude}");
}
else
{
Console.WriteLine("Error");
}
startLocation = intermediaryLocation;
}
}
