Plane.FormationCreator/Plane.FormationCreator/ViewModels/ConfigVirtualIdViewModel.cs

using GalaSoft.MvvmLight;
using GalaSoft.MvvmLight.Command;
using Plane.Copters;
using Plane.FormationCreator.Formation;
using Plane.Geography;
using Plane.Windows.Messages;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Input;

namespace Plane.FormationCreator.ViewModels
{
    public class ConfigVirtualIdViewModel : ViewModelBase
    {
        CopterManager _copterManager;
        public ConfigVirtualIdViewModel(CopterManager copterManager)
        {
            _copterManager = copterManager;
        }

        private int _SingleVirtualId = 0;
        public int SingleVirtualId
        {
            get { return _SingleVirtualId; }
            set { Set(nameof(SingleVirtualId), ref _SingleVirtualId, value); }
        }

        private int _SingleRowCount = 0;
        public int SingleRowCount
        {
            get { return _SingleRowCount; }
            set { Set(nameof(SingleRowCount), ref _SingleRowCount, value); }
        }

        /// <summary>
        /// 清除所有编号
        /// </summary>
        private ICommand _ClearVirtualIdCommand;
        public ICommand ClearVirtualIdCommand
        {
            get
            {
                return _ClearVirtualIdCommand ?? (_ClearVirtualIdCommand = new RelayCommand(() =>
                {
                    foreach (var c in _copterManager.Copters)
                    {
                        c.VirtualId = 0;
                    }
                    Message.Show($"已清除所有飞机编号");
                }));
            }
        }




        /// <summary>
        /// 设置单个虚拟ID
        /// </summary>
        private ICommand _SetSingleVirtualIdCommand;
        public ICommand SetSingleVirtualIdCommand
        {
            get
            {
                return _SetSingleVirtualIdCommand ?? (_SetSingleVirtualIdCommand = new RelayCommand(() =>
                {
                    if (SingleVirtualId <= 0)
                    {
                        System.Windows.MessageBox.Show("编号必须大于0");
                        return;
                    }

                    if (_copterManager.AcceptingControlCopters.Count() == 1)
                    {
                        var copter = _copterManager.AcceptingControlCopters.FirstOrDefault();
                        copter.VirtualId = SingleVirtualId;
                        Message.Show($"飞机{copter.Name} 设置编号={SingleVirtualId}");
                    }
                }));
            }
        }

        private ICommand _AutoLocationNumsCommand;
        public ICommand AutoLocationNumsCommand
        {
            get
            {
                return _AutoLocationNumsCommand ?? (_AutoLocationNumsCommand = new RelayCommand(async () =>
                {

                    int colCount = SingleRowCount;
                    int copterCount = _copterManager.Copters.Count;

                    /*
                    if (copterCount % colCount != 0)
                    {
                        Alert.Show($"列数设置错误！");
                        return;
                    }
                    */
                    //列数用户设置colCount
                    //计算行数rowCount
                    int rowCount = copterCount / colCount;
                    //有多的飞机,多一行
                    //有整除余，代表最后一行是否没有满
                    bool havemode = (copterCount % colCount != 0);

                    //if (havemode)
                    //    rowCount++;
                    int num = 1;
                    //目前方案是 选中3架飞机，1号飞机，第一排任意飞机，第一列任意飞机（尽量远离1号机）
                    //用于计算横向和纵向的角度
                    if (_copterManager.AcceptingControlCopters.Count() == 3)
                    {
                        var copters = _copterManager.AcceptingControlCopters.ToList();
                        var firstCopter = copters[0];
                        var secondCopter = copters[1];
                        var thirdCopter = copters[2];
                      //  var fourthCopter = copters[3];

                        //第一列角度(1,3)  用于计算每行第一架飞机
                        float firstColDirect =(float) GeographyUtils.RadToDeg(firstCopter.CalcDirection2D(thirdCopter));
                        //最后列角度(2,4) 用于计算每行最后一架飞机
                        float lastColDirect =(float) GeographyUtils.RadToDeg(secondCopter.CalcDirection2D(fourthCopter));



                        /*
                         // //四个角从1号机开始选取(第一排第一个1, 第一排最后2, 最后一排第一个3 , 最后一排最后4)
                         //第一列角度(1,3)  用于计算每行第一架飞机
                         float firstColazimuth = GeographyUtils.RadToDeg(GeographyUtils.CalcDirection2D(
                                                                 firstCopter.Latitude, firstCopter.Longitude,
                                                                 thirdCopter.Latitude, thirdCopter.Longitude));
                         //最后列角度(2,4) 用于计算每行最后一架飞机
                         float lastColazimuth = GeographyUtils.RadToDeg(GeographyUtils.CalcDirection2D(
                                                                 secondCopter.Latitude, secondCopter.Longitude,
                                                                 fourthCopter.Latitude, fourthCopter.Longitude));

     */

                        ICopter destCopter = null;
                        ICopter sourceCopter = null;
                        ICopter rowfirstCopter = null;
                        ICopter rowlastCopter = null;
                        //行头位置，行尾位置，用ILocation2D不用ICopter是因为可能没有飞机
                        ILocation2D rowLocfirst = null;
                        ILocation2D rowLoclast = null;

                        //行查找步长
                        int rowfindstep = 1;
                        //按行循环
                        for (int i = 0; i < rowCount; i++)
                        {

                            //第一行开始结束是（1，2）
                            if (i == 0)
                            {
                                rowfirstCopter = firstCopter;
                                rowLocfirst = rowfirstCopter;
                                rowlastCopter = secondCopter;
                                rowLoclast = rowlastCopter;
                            }
                            //最后一行（3,4）
                            else if (i == rowCount - 1)
                            {
                                rowfirstCopter = thirdCopter;
                                rowLocfirst = rowfirstCopter;
                                rowlastCopter = fourthCopter;
                                rowLoclast = rowlastCopter;
                            }
                            else
                            //中间的行找该行的第一架和最后一架飞机
                            {

                                rowLocfirst=rowLocfirst.CalcLatLngSomeMetersAway2D(firstColDirect, 1.5f);
                                rowLoclast = rowLoclast.CalcLatLngSomeMetersAway2D(firstColDirect, 1.5f);

                                rowLocfirst.CalcLatLngSomeMetersAway2D(firstColDirect, 1.5f);

 

                                rowfirstCopter = FindNextCopter(rowLocfirst, firstColDirect, 1);
                                rowlastCopter = FindNextCopter(rowLoclast, lastColDirect, 1);
                            }

                            if (rowfirstCopter == null)
                                Message.Show($"无法找到第{i + 1}行的起始飞机");
                            if (rowlastCopter == null)
                                Message.Show($"无法找到第{i + 1}行的结束飞机");

                            rowfindstep = 1;
                            //每一行按列循环
                            for (int j = 0; j < colCount; j++)
                            {

                                //计算每一行方向
                                double curRowAzimuth = GeographyUtils.RadToDeg(GeographyUtils.CalcDirection2D(
                                                               rowfirstCopter.Latitude, rowfirstCopter.Longitude,
                                                               rowlastCopter.Latitude, rowlastCopter.Longitude));
                                if (j == 0)
                                {
                                    destCopter = rowfirstCopter;
                                    sourceCopter = rowfirstCopter;
                                }
                                else if (j == colCount - 1)
                                {
                                    destCopter = rowlastCopter;
                                }
                                else
                                //按行查找飞机
                                {
                                    ICopter tempCopter = null;
                                    tempCopter = _copterManager.Copters.FirstOrDefault(o => o.VirtualId == num);
                                    while (tempCopter != null)
                                    {
                                        num++;
                                        j++;
                                        tempCopter = _copterManager.Copters.FirstOrDefault(o => o.VirtualId == num);
                                    }

                                    //根据当前飞机destCopter，按curRowAzimuth方向按间距1.5米找下一个飞机
                                    destCopter = FindNextCopter(sourceCopter, curRowAzimuth, rowfindstep);

                                    if (destCopter == null)
                                    {
                                        Message.Show($"在寻找第{num}号位置时候无法找到对应位置飞机");
                                        //增加步长继续找
                                        rowfindstep++;


                                        //Alert.Show($"在寻找第{num}号位置时候无法找到对应位置飞机");
                                        //return;
                                    }
                                    else
                                    {
                                        rowfindstep = 1;
                                        sourceCopter = destCopter;



                                    }

                                }
                                if (destCopter != null)
                                {
                                    //赋予虚拟ID
                                    destCopter.VirtualId = num;

                                    Message.Show($"飞机{destCopter.Name} 虚拟ID = {destCopter.VirtualId}");
                                }
                                num++;
                            }
                        }
                    }
                    await Task.Delay(10);
                }));
            }
        }


        private ICopter FindNextCopter(ILocation2D startLoc, double azimuth, int findstep)
        {
            ICopter retCopter = null;
            bool foundCopter = false;
            float stepLength = 0;
            double mindis = 500.0f;

            while (!foundCopter)
            {
                mindis = 500.0f;
                stepLength += 1.5f * findstep;
                //计算startCopter按azimuth方向移动stepLength后的位置targetLatLng
                Tuple<double, double> targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
                                            startLoc.Latitude, startLoc.Longitude, (float)azimuth, stepLength);

                //所有没有虚拟ID的飞机
                List<ICopter> remainCopters = _copterManager.Copters.Where(o => o.VirtualId == 0).ToList();



                foreach (var copter in remainCopters)
                {
                    //计算这些飞机和targetLatLng的距离
                    double temp = GeographyUtils.CalcDistance2D(copter.Latitude, copter.Longitude,
                                                                targetLatLng.Item1, targetLatLng.Item2);

                    //找最近的飞机
                    if (temp < mindis)
                    {
                        mindis = temp;
                        retCopter = copter;
                    }


                    //如果目标点最近未标注飞机小于1米就认为找到了
                    if (mindis < 1.0)
                    {
                        foundCopter = true;
                        retCopter = copter;
                        break;
                    }
                }
                //不找更多步长
                break;
                if (stepLength > 15)
                {
                    break;
                }
            }

            if (foundCopter)
                return retCopter;
            else
                return null;
        }



        //根据当前位置和角度距离查找下一个位置
        private ILocation2D FindNextLocal(ILocation2D startLoc, float directionDegrees, float distance)
        {
            ILocation2D retLoc = null;



            //计算startCopter按azimuth方向移动stepLength后的位置targetLatLng
            Tuple<double, double> targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
                                        startLoc.Latitude, startLoc.Longitude, directionDegrees, distance);
            return retLoc;

        }
    }


}