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336 lines
10 KiB
JavaScript
336 lines
10 KiB
JavaScript
'use strict';
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let WaypointCollection = function () {
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let self = {},
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data = [],
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maxWaypoints = 60,
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isValidMission = 0,
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countBusyPoints = 0,
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version = 0,
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center = {}
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self.getMaxWaypoints = function () {
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return maxWaypoints;
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};
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self.setMaxWaypoints = function (data) {
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maxWaypoints = data;
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};
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self.getValidMission = function () {
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return isValidMission;
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};
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self.setValidMission = function (data) {
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isValidMission = data;
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};
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self.getCountBusyPoints = function () {
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return countBusyPoints;
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};
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self.setCountBusyPoints = function (data) {
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countBusyPoints = data;
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};
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self.getVersion = function () {
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return version;
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};
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self.setVersion = function (data) {
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version = data;
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};
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self.getCenter = function () {
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return center;
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};
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self.setCenter = function (data) {
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center = data;
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};
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self.setCenterZoom = function (data) {
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center.zoom = data;
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};
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self.setCenterLon = function (data) {
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center.lon = data;
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};
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self.setCenterLat = function (data) {
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center.lat = data;
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};
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self.put = function (element) {
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data.push(element);
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};
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self.get = function () {
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return data;
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};
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self.isEmpty = function () {
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return data == [];
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};
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self.flush = function () {
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data = [];
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};
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self.reinit = function () {
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data = [];
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maxWaypoints = 60;
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isValidMission = 0;
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countBusyPoints = 0;
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version = 0;
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center = {};
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};
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self.getWaypoint = function(waypointId) {
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for (let waypointIndex in data) {
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if (data.hasOwnProperty(waypointIndex)) {
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let waypoint = data[waypointIndex];
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if (waypoint.getNumber() == waypointId ) {
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return waypoint;
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}
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}
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}
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};
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self.updateWaypoint = function(newWaypoint) {
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if (newWaypoint.isUsed()) {
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data[newWaypoint.getNumber()] = newWaypoint;
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}
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};
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self.dropWaypoint = function(newWaypoint) {
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self.getWaypoint(newWaypoint.getNumber()).setUsed(false);
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let indexId = newWaypoint.getNumber()
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data.forEach(function (wp) {
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if (wp.getNumber() >= indexId) {
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wp.setNumber(wp.getNumber()-1);
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}
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if (wp.getAction() == MWNP.WPTYPE.JUMP && wp.getP1()>=indexId) {
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wp.setP1(wp.getP1()-1);
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}
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});
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data.splice(indexId, 1);
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};
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self.insertWaypoint = function (newWaypoint, indexId) {
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data.forEach(function (wp) {
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if (wp.getNumber() >= indexId) {
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wp.setNumber(wp.getNumber()+1);
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}
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if (wp.getAction() == MWNP.WPTYPE.JUMP && wp.getP1()>=indexId) {
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wp.setP1(wp.getP1()+1);
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}
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});
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data.splice(indexId, 0, newWaypoint);
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};
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self.drop = function (waypointId) {
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self.getWaypoint(waypointId).setUsed(false);
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var tmpData = [];
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let idx = 0;
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data.forEach(function (element) {
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if (element.isUsed()) {
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element.setNumber(idx)
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tmpData.push(element);
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idx++;
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}
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});
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data = tmpData;
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};
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self.update = function (bMWPfile=false, bReverse=false) {
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let oldWPNumber = 0;
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let optionIdx = 0;
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let idx = 0;
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data.forEach(function (element) {
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if (element.isUsed()) {
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if (bMWPfile && !bReverse) {
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element.setNumber(element.getNumber()-1);
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if (element.getAction() == MWNP.WPTYPE.JUMP) {
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element.setP1(element.getP1()-1);
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}
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}
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else if (bMWPfile && bReverse) {
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element.setNumber(element.getNumber()+1);
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if (element.getAction() == MWNP.WPTYPE.JUMP) {
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element.setP1(element.getP1()+1);
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}
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}
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if ([MWNP.WPTYPE.JUMP,MWNP.WPTYPE.SET_HEAD,MWNP.WPTYPE.RTH].includes(element.getAction())) {
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element.setAttachedId(oldWPNumber);
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element.setAttachedNumber(optionIdx);
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element.setAttached(true);
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optionIdx++;
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}
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else {
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oldWPNumber = element.getNumber();
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element.setLayerNumber(idx);
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optionIdx = 0;
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idx++;
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}
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if (element.getNumber() == ((bMWPfile && bReverse) ? self.get().length : self.get().length-1)) {
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element.setEndMission(0xA5);
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}
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else {
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element.setEndMission(0);
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}
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}
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});
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};
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self.getNonAttachedList = function () {
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let tmpData = [];
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data.forEach(function (element) {
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if (!element.isAttached()) {
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tmpData.push(element);
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}
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});
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return tmpData;
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}
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self.getAttachedList = function () {
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let tmpData = [];
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data.forEach(function (element) {
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if (element.isAttached()) {
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tmpData.push(element);
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}
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});
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return tmpData;
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}
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self.getAttachedFromWaypoint = function (waypoint) {
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let tmpData = [];
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data.forEach(function (element) {
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if (element.isAttached() && element.getAttachedId() == waypoint.getNumber()) {
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tmpData.push(element);
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}
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});
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return tmpData;
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}
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self.addAttachedFromWaypoint = function (waypoint) {
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let tmpNumber = 0;
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let tmpData = self.getAttachedFromWaypoint(waypoint);
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if (tmpData != 'undefined' && tmpData.length !=0) {
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tmpNumber = tmpData.length;
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}
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let tempWp = new Waypoint(waypoint.getNumber()+tmpNumber+1, MWNP.WPTYPE.JUMP, 0, 0);
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tempWp.setAttached(true);
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tempWp.setAttachedId(waypoint.getNumber());
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self.insertWaypoint(tempWp, waypoint.getNumber()+tmpNumber+1);
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self.update();
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}
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self.dropAttachedFromWaypoint = function (waypoint, waypointAttachedNumber) {
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data.forEach(function (element) {
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if (element.isAttached() && element.getAttachedId() == waypoint.getNumber() && element.getAttachedNumber() == waypointAttachedNumber) {
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self.dropWaypoint(element);
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self.update();
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}
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});
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}
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self.extractBuffer = function(waypointId) {
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let buffer = [];
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let waypoint = self.getWaypoint(waypointId);
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buffer.push(waypoint.getNumber()); // sbufReadU8(src); // number
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buffer.push(waypoint.getAction()); // sbufReadU8(src); // action
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buffer.push(specificByte(waypoint.getLat(), 0)); // sbufReadU32(src); // lat
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buffer.push(specificByte(waypoint.getLat(), 1));
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buffer.push(specificByte(waypoint.getLat(), 2));
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buffer.push(specificByte(waypoint.getLat(), 3));
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buffer.push(specificByte(waypoint.getLon(), 0)); // sbufReadU32(src); // lon
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buffer.push(specificByte(waypoint.getLon(), 1));
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buffer.push(specificByte(waypoint.getLon(), 2));
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buffer.push(specificByte(waypoint.getLon(), 3));
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buffer.push(specificByte(waypoint.getAlt(), 0)); // sbufReadU32(src); // to set altitude (cm)
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buffer.push(specificByte(waypoint.getAlt(), 1));
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buffer.push(specificByte(waypoint.getAlt(), 2));
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buffer.push(specificByte(waypoint.getAlt(), 3));
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buffer.push(lowByte(waypoint.getP1())); //sbufReadU16(src); // P1 speed or landing
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buffer.push(highByte(waypoint.getP1()));
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buffer.push(lowByte(waypoint.getP2())); //sbufReadU16(src); // P2
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buffer.push(highByte(waypoint.getP2()));
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buffer.push(lowByte(waypoint.getP3())); //sbufReadU16(src); // P3
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buffer.push(highByte(waypoint.getP3()));
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buffer.push(waypoint.getEndMission()); //sbufReadU8(src); // future: to set nav flag
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return buffer;
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}
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self.missionDisplayDebug = function() {
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if (data && data.length != 0) {
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data.forEach(function (element) {
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console.log("N° : ", element.getNumber(),
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"Action : ", element.getAction(),
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"Lon : ", element.getLon(),
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"Lat : ", element.getLat(),
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"Alt : ", element.getAlt(),
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"P1 : ", element.getP1(),
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"P2 : ", element.getP2(),
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"P3 : ", element.getP3(),
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"EndMission : ", element.getEndMission());
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});
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}
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}
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self.copy = function(mission){
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mission.get().forEach(function (element) {
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self.put(element);
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});
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self.setMaxWaypoints(mission.getMaxWaypoints());
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self.setValidMission(mission.getValidMission());
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self.setCountBusyPoints(mission.getCountBusyPoints());
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self.setVersion(mission.getVersion());
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self.setCenter(mission.getCenter());
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}
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self.convertJumpNumberToWaypoint = function(jumpId) {
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let outputNumber = 0;
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self.getNonAttachedList().forEach(function (element) {
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if (element.getLayerNumber() == jumpId) {
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outputNumber = element.getNumber();
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}
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});
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return outputNumber;
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}
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self.isJumpTargetAttached = function(waypoint) {
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let lJumptTargetAttached = [];
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data.forEach(function (element) {
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if (element.getAction() == MWNP.WPTYPE.JUMP && element.getP1() == waypoint.getNumber()) {
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lJumptTargetAttached.push(element.getNumber());
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}
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});
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console.log("lJumptTargetAttached ", lJumptTargetAttached);
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return (lJumptTargetAttached.length != 0 && lJumptTargetAttached != 'undefined')
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}
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self.getPoiList = function() {
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let poiList = [];
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data.forEach(function (element) {
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if (element.getAction() == MWNP.WPTYPE.SET_POI) {
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poiList.push(element.getNumber());
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}
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});
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return poiList;
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}
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return self;
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}; |