diff --git a/Plane.FormationCreator/App.xaml b/Plane.FormationCreator/App.xaml
index a3bae2d..8c7a789 100644
--- a/Plane.FormationCreator/App.xaml
+++ b/Plane.FormationCreator/App.xaml
@@ -37,8 +37,8 @@
True="【编辑模式】" />
+ False="平面视图"
+ True="立体视图" />
/// 设置单个虚拟ID
@@ -94,75 +94,123 @@ namespace Plane.FormationCreator.ViewModels
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;
- if (_copterManager.AcceptingControlCopters.Count() == 4)
+ //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];
+ // var fourthCopter = copters[3];
- //第一列角度
- double firstColazimuth = GeographyUtils.RadToDeg(GeographyUtils.CalcDirection2D(
- firstCopter.Latitude, firstCopter.Longitude,
- thirdCopter.Latitude, thirdCopter.Longitude));
- //最后列角度
- double lastColazimuth = GeographyUtils.RadToDeg(GeographyUtils.CalcDirection2D(
- secondCopter.Latitude, secondCopter.Longitude,
- fourthCopter.Latitude, fourthCopter.Longitude));
+ //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
{
- rowfirstCopter = FindNextCopter(rowfirstCopter, firstColazimuth);
- rowlastCopter = FindNextCopter(rowlastCopter, lastColazimuth);
- }
-
- if (rowfirstCopter == null || rowlastCopter == null)
- {
- Alert.Show($"在确认第{i+1}列时候无法找到起始或结束飞机");
- return;
+
+ 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);
@@ -173,19 +221,36 @@ namespace Plane.FormationCreator.ViewModels
tempCopter = _copterManager.Copters.FirstOrDefault(o => o.VirtualId == num);
}
-
- destCopter = FindNextCopter(destCopter, curRowAzimuth);
+ //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)
{
- Alert.Show($"在寻找第{num}号位置时候无法找到对应位置飞机");
- return;
+ Message.Show($"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($"在寻找第{num}号位置时候无法找到对应位置飞机");
+ //return;
+ }
+ else
+ {
+ rowfindstep = 1;
+ sourceCopter = destCopter;
+
+
+
}
}
- destCopter.VirtualId = num;
+ if (destCopter != null)
+ {
+ //赋予虚拟ID
+ destCopter.VirtualId = num;
- Message.Show($"飞机{destCopter.Name} 虚拟ID = {destCopter.VirtualId}");
+ Message.Show($"飞机{destCopter.Name} 虚拟ID = {destCopter.VirtualId}");
+ }
num++;
}
}
@@ -196,37 +261,78 @@ namespace Plane.FormationCreator.ViewModels
}
- private ICopter FindNextCopter(ICopter startCopter, double azimuth)
+ private ICopter FindNextCopter(ILocation2D startLoc, double azimuth, int findstep)
{
ICopter retCopter = null;
bool foundCopter = false;
float stepLength = 0;
+ double mindis = 500.0f;
+
while (!foundCopter)
{
- stepLength += 1.5f;
+ mindis = 500.0f;
+ stepLength += 1.5f * findstep;
+ //计算startCopter按azimuth方向移动stepLength后的位置targetLatLng
Tuple targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
- startCopter.Latitude, startCopter.Longitude, (float)azimuth, stepLength);
+ startLoc.Latitude, startLoc.Longitude, (float)azimuth, stepLength);
+ //所有没有虚拟ID的飞机
List 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);
- if (temp < 1.5)
+
+ //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;
}
}
- return retCopter;
+
+ 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 targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
+ startLoc.Latitude, startLoc.Longitude, directionDegrees, distance);
+ return retLoc;
+
}
}
+
+
}
diff --git a/Plane.FormationCreator/Views/CopterListView.xaml b/Plane.FormationCreator/Views/CopterListView.xaml
index 0b5ec16..516459d 100644
--- a/Plane.FormationCreator/Views/CopterListView.xaml
+++ b/Plane.FormationCreator/Views/CopterListView.xaml
@@ -104,7 +104,7 @@
Margin="5,0,0,0"
Command="{Binding ShowLackCopterNumsCommand}"/>