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加入全部解锁及写入航点功能

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This commit is contained in:
panxu 2018-04-30 23:41:03 +08:00
parent f31f08e530
commit 031ba6a647
3 changed files with 74 additions and 58 deletions
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99
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -61,6 +61,33 @@ namespace Plane.FormationCreator.ViewModels
} }
private ICommand _UnlockAllCommand;
public ICommand UnlockAllCommand
{
get
{
return _UnlockAllCommand ?? (_UnlockAllCommand = new RelayCommand(async () =>
{
// await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.UnlockAsync()));
await Task.WhenAll(_copterManager.Copters.Select(async c => {
await c.UnlockAsync();
//解锁间隔一定要超过1s否则导致飞控以后无法解锁
for (int i = 0; !c.IsUnlocked; i++)
{
if (i > 200)
break;
if (i % (1000 / 25) == 1000 / 25 - 1)
{
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
}
await Task.Delay(25).ConfigureAwait(false);
}
}));
}));
}
}
private ICommand _UnlockCommand; private ICommand _UnlockCommand;
public ICommand UnlockCommand public ICommand UnlockCommand
{ {
@ -529,62 +556,42 @@ namespace Plane.FormationCreator.ViewModels
for (int j = 0; j < _flightTaskManager.Tasks.Count; j++) for (int j = 0; j < _flightTaskManager.Tasks.Count; j++)
{ {
switch (_flightTaskManager.Tasks[j].TaskType)
if (_flightTaskManager.Tasks[j].TaskType == FlightTaskType.FlyTo)
{ {
missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat, case FlightTaskType.TakeOff:
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
missions[missindex++] = Mission.CreateTakeoffMission(10,10,_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng, 3);
//要起飞任务
break;
case FlightTaskType.FlyTo:
missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, 3);
break;
case FlightTaskType.Loiter:
// missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
// _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
break;
case FlightTaskType.ReturnToLand:
//降落低空航点
// missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLat,
// _flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLng, 3);
//返航
missions[missindex++] = Mission.CreateReturnToLaunchMission();
break;
default:
break;
} }
if (_flightTaskManager.Tasks[j].TaskType == FlightTaskType.TakeOff)
{
//起飞低空航点
missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng, 10);
//不要起飞任务，在写入时会自动加入
//自动起飞10米后，需要飞到第一个航点下方
}
if (_flightTaskManager.Tasks[j].TaskType == FlightTaskType.Loiter)
{
missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
}
if (_flightTaskManager.Tasks[j].TaskType == FlightTaskType.ReturnToLand)
{
//降落低空航点
missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLat,
_flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLng, 10);
//返航
missions[missindex++] = Mission.CreateReturnToLaunchMission();
}
} }
var result = await _copterManager.Copters[i].WriteMissionListAsync(missions); var result = await _copterManager.Copters[i].WriteMissionListAsync(missions);
//MessageBox.Show($"The result of WriteMissions: {result}"); //MessageBox.Show($"The result of WriteMissions: {result}");
} }
// var firstCopter = _copterManager.Copters.First(); // var firstCopter = _copterManager.Copters.First();
// Test TurnAsync. // Test TurnAsync.

23
Plane.FormationCreator/Views/ControlPanelView.xaml
View File

@ -40,10 +40,8 @@
Command="{Binding HoverCommand}" /> Command="{Binding HoverCommand}" />
<Button Content="手动" <Button Content="手动"
Command="{Binding FloatCommand}" /> Command="{Binding FloatCommand}" />
<Button Content="航点" <Button Content="参数"
Command="{Binding WriteMissionCommand}" /> Command="{Binding ParamModify}" />
<Button Content="开始"
Command="{Binding MissionStartCommand}" />
</WrapPanel> </WrapPanel>
<WrapPanel> <WrapPanel>
@ -58,13 +56,23 @@
<Button Content="测试" <Button Content="测试"
Command="{Binding TestCommand}" /> Command="{Binding TestCommand}" />
<Button Content="参数"
Command="{Binding ParamModify}" />
<TextBox Width="50" <TextBox Width="50"
Visibility="Hidden" Visibility="Hidden"
Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" /> Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
</WrapPanel> </WrapPanel>
<WrapPanel>
<Button Content="写入航点"
Command="{Binding WriteMissionCommand}" />
<Button Content="全部解锁"
Command="{Binding UnlockAllCommand}" />
<Button Content="开始任务"
Command="{Binding MissionStartCommand}" />
</WrapPanel>
<WrapPanel> <WrapPanel>
<TextBox <TextBox
Grid.Column="1" Grid.Column="1"
@ -81,6 +89,7 @@
Text="{Binding Path=RTKState}" Text="{Binding Path=RTKState}"
/> />
</WrapPanel> </WrapPanel>
<!--// 林俊清, 20150920, 目前不再使用 FormationController，删除相关按钮。 <!--// 林俊清, 20150920, 目前不再使用 FormationController，删除相关按钮。

10
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -17,7 +17,7 @@
</Style> </Style>
</StackPanel.Resources> </StackPanel.Resources>
<TextBlock Text="任务操作" FontWeight="Bold" />
<StackPanel> <StackPanel>
@ -152,7 +152,7 @@
</StackPanel> </StackPanel>
<Separator /> <Separator />
<TextBlock Text="任务属性" Margin="0, 0, 5, 0" FontWeight="Bold" />
<StackPanel> <StackPanel>
<TextBlock Text="起飞数量：" Margin="5,10,5,0" /> <TextBlock Text="起飞数量：" Margin="5,10,5,0" />
@ -193,7 +193,7 @@
Value="2" /> Value="2" />
</Style> </Style>
</TabControl.Resources> </TabControl.Resources>
<TabItem Header="飞往"> <TabItem Header="航点">
<Grid Margin="5"> <Grid Margin="5">
<Grid.RowDefinitions> <Grid.RowDefinitions>
<RowDefinition SharedSizeGroup="TabItem" /> <RowDefinition SharedSizeGroup="TabItem" />
@ -268,7 +268,7 @@
</Grid> </Grid>
</Grid> </Grid>
</TabItem> </TabItem>
<TabItem Header="转向"> <TabItem Header="转向" Visibility="Collapsed">
<Grid Margin="5"> <Grid Margin="5">
<Grid.RowDefinitions> <Grid.RowDefinitions>
<RowDefinition SharedSizeGroup="TabItem" /> <RowDefinition SharedSizeGroup="TabItem" />
@ -304,7 +304,7 @@
</Grid> </Grid>
</Grid> </Grid>
</TabItem> </TabItem>
<TabItem Header="画圈"> <TabItem Header="画圈" Visibility="Collapsed">
<Grid Margin="5"> <Grid Margin="5">
<Grid.RowDefinitions> <Grid.RowDefinitions>
<RowDefinition SharedSizeGroup="TabItem" /> <RowDefinition SharedSizeGroup="TabItem" />