加入全部解锁及写入航点功能
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@ -61,6 +61,33 @@ namespace Plane.FormationCreator.ViewModels
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}
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private ICommand _UnlockAllCommand;
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public ICommand UnlockAllCommand
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{
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get
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{
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return _UnlockAllCommand ?? (_UnlockAllCommand = new RelayCommand(async () =>
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{
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// await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.UnlockAsync()));
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await Task.WhenAll(_copterManager.Copters.Select(async c => {
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await c.UnlockAsync();
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//解锁间隔一定要超过1s否则导致飞控以后无法解锁
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for (int i = 0; !c.IsUnlocked; i++)
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{
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if (i > 200)
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break;
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if (i % (1000 / 25) == 1000 / 25 - 1)
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{
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await c.UnlockAsync(); // 每 1000 毫秒重试一次。解锁间隔一定要超过1s否则导致飞控以后无法解锁
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}
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await Task.Delay(25).ConfigureAwait(false);
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}
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}));
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}));
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}
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}
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private ICommand _UnlockCommand;
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public ICommand UnlockCommand
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{
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@ -529,62 +556,42 @@ namespace Plane.FormationCreator.ViewModels
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for (int j = 0; j < _flightTaskManager.Tasks.Count; j++)
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{
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if (_flightTaskManager.Tasks[j].TaskType == FlightTaskType.FlyTo)
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switch (_flightTaskManager.Tasks[j].TaskType)
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{
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missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
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case FlightTaskType.TakeOff:
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missions[missindex++] = Mission.CreateTakeoffMission(10,10,_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng, 3);
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//要起飞任务
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break;
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case FlightTaskType.FlyTo:
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missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, 3);
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break;
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case FlightTaskType.Loiter:
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// missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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// _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
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break;
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case FlightTaskType.ReturnToLand:
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//降落低空航点
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// missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLat,
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// _flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLng, 3);
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//返航
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missions[missindex++] = Mission.CreateReturnToLaunchMission();
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break;
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default:
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break;
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}
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if (_flightTaskManager.Tasks[j].TaskType == FlightTaskType.TakeOff)
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{
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//起飞低空航点
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missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng, 10);
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//不要起飞任务，在写入时会自动加入
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//自动起飞10米后，需要飞到第一个航点下方
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}
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if (_flightTaskManager.Tasks[j].TaskType == FlightTaskType.Loiter)
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{
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missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
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}
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if (_flightTaskManager.Tasks[j].TaskType == FlightTaskType.ReturnToLand)
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{
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//降落低空航点
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missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLng, 10);
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//返航
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missions[missindex++] = Mission.CreateReturnToLaunchMission();
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}
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}
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var result = await _copterManager.Copters[i].WriteMissionListAsync(missions);
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//MessageBox.Show($"The result of WriteMissions: {result}");
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}
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// var firstCopter = _copterManager.Copters.First();
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// Test TurnAsync.
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@ -40,10 +40,8 @@
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Command="{Binding HoverCommand}" />
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<Button Content="手动"
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Command="{Binding FloatCommand}" />
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<Button Content="航点"
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Command="{Binding WriteMissionCommand}" />
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<Button Content="开始"
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Command="{Binding MissionStartCommand}" />
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<Button Content="参数"
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Command="{Binding ParamModify}" />
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</WrapPanel>
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<WrapPanel>
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@ -58,13 +56,23 @@
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<Button Content="测试"
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Command="{Binding TestCommand}" />
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<Button Content="参数"
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Command="{Binding ParamModify}" />
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<TextBox Width="50"
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Visibility="Hidden"
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Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
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</WrapPanel>
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<WrapPanel>
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<Button Content="写入航点"
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Command="{Binding WriteMissionCommand}" />
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<Button Content="全部解锁"
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Command="{Binding UnlockAllCommand}" />
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<Button Content="开始任务"
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Command="{Binding MissionStartCommand}" />
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</WrapPanel>
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<WrapPanel>
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<TextBox
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Grid.Column="1"
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@ -81,6 +89,7 @@
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Text="{Binding Path=RTKState}"
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/>
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</WrapPanel>
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<!--// 林俊清, 20150920, 目前不再使用 FormationController，删除相关按钮。
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@ -17,7 +17,7 @@
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</Style>
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</StackPanel.Resources>
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<TextBlock Text="任务操作" FontWeight="Bold" />
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<StackPanel>
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@ -152,7 +152,7 @@
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</StackPanel>
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<Separator />
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<TextBlock Text="任务属性" Margin="0, 0, 5, 0" FontWeight="Bold" />
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<StackPanel>
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<TextBlock Text="起飞数量：" Margin="5,10,5,0" />
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@ -193,7 +193,7 @@
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Value="2" />
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</Style>
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</TabControl.Resources>
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<TabItem Header="飞往">
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<TabItem Header="航点">
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<Grid Margin="5">
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<Grid.RowDefinitions>
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<RowDefinition SharedSizeGroup="TabItem" />
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@ -268,7 +268,7 @@
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</Grid>
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</Grid>
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</TabItem>
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<TabItem Header="转向">
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<TabItem Header="转向" Visibility="Collapsed">
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<Grid Margin="5">
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<Grid.RowDefinitions>
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<RowDefinition SharedSizeGroup="TabItem" />
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@ -304,7 +304,7 @@
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</Grid>
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</Grid>
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</TabItem>
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<TabItem Header="画圈">
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<TabItem Header="画圈" Visibility="Collapsed">
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<Grid Margin="5">
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<Grid.RowDefinitions>
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<RowDefinition SharedSizeGroup="TabItem" />
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