修改背景和UI

添加飞机摆放设置
修改为Gmap目前使用的bing模式
添加3D视图和背景
取消断线重连的提示改为状态显示

Plane.FormationCreator.sln

@@ -33,40 +33,74 @@ Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
 		Release|Any CPU = Release|Any CPU
+		v4.0-Debug|Any CPU = v4.0-Debug|Any CPU
+		v4.0-Release|Any CPU = v4.0-Release|Any CPU
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.Release|Any CPU.Build.0 = Release|Any CPU
+		{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 		{06848293-9B17-4068-9B35-44D0ED713CD4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{06848293-9B17-4068-9B35-44D0ED713CD4}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{06848293-9B17-4068-9B35-44D0ED713CD4}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{06848293-9B17-4068-9B35-44D0ED713CD4}.Release|Any CPU.Build.0 = Release|Any CPU
+		{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 		{98755514-C2E9-4ABE-8A25-007804577558}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{98755514-C2E9-4ABE-8A25-007804577558}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{98755514-C2E9-4ABE-8A25-007804577558}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{98755514-C2E9-4ABE-8A25-007804577558}.Release|Any CPU.Build.0 = Release|Any CPU
+		{98755514-C2E9-4ABE-8A25-007804577558}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{98755514-C2E9-4ABE-8A25-007804577558}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{98755514-C2E9-4ABE-8A25-007804577558}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{98755514-C2E9-4ABE-8A25-007804577558}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 		{413C18E2-235F-4E15-B5C1-633657DE5D7A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{413C18E2-235F-4E15-B5C1-633657DE5D7A}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{413C18E2-235F-4E15-B5C1-633657DE5D7A}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{413C18E2-235F-4E15-B5C1-633657DE5D7A}.Release|Any CPU.Build.0 = Release|Any CPU
+		{413C18E2-235F-4E15-B5C1-633657DE5D7A}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{413C18E2-235F-4E15-B5C1-633657DE5D7A}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{413C18E2-235F-4E15-B5C1-633657DE5D7A}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{413C18E2-235F-4E15-B5C1-633657DE5D7A}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 		{9C2CAFDA-CF1D-4565-B797-398376FCD346}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{9C2CAFDA-CF1D-4565-B797-398376FCD346}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{9C2CAFDA-CF1D-4565-B797-398376FCD346}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{9C2CAFDA-CF1D-4565-B797-398376FCD346}.Release|Any CPU.Build.0 = Release|Any CPU
+		{9C2CAFDA-CF1D-4565-B797-398376FCD346}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{9C2CAFDA-CF1D-4565-B797-398376FCD346}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{9C2CAFDA-CF1D-4565-B797-398376FCD346}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{9C2CAFDA-CF1D-4565-B797-398376FCD346}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 		{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.Release|Any CPU.Build.0 = Release|Any CPU
+		{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 		{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.Release|Any CPU.Build.0 = Release|Any CPU
+		{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.Release|Any CPU.Build.0 = Release|Any CPU
+		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

Plane.FormationCreator/App.config

@@ -1,18 +1,28 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <configuration>
-    <configSections>
+  <configSections>
-        <sectionGroup name="userSettings" type="System.Configuration.UserSettingsGroup, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" >
+    <sectionGroup name="userSettings" type="System.Configuration.UserSettingsGroup, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-            <section name="Plane.FormationCreator.Properties.Settings" type="System.Configuration.ClientSettingsSection, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" allowExeDefinition="MachineToLocalUser" requirePermission="false" />
+      <section name="Plane.FormationCreator.Properties.Settings" type="System.Configuration.ClientSettingsSection, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" allowExeDefinition="MachineToLocalUser" requirePermission="false" />
-        </sectionGroup>
+    </sectionGroup>
-    </configSections>
+    <!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 -->
-    <startup> 
+    <section name="entityFramework" type="System.Data.Entity.Internal.ConfigFile.EntityFrameworkSection, EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" requirePermission="false" />
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6"/>
+  </configSections>
-    </startup>
+  <startup>
+    <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6" />
+  </startup>
   <runtime>
     <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
       <dependentAssembly>
-        <assemblyIdentity name="System.Windows.Interactivity" publicKeyToken="31bf3856ad364e35" culture="neutral"/>
+        <assemblyIdentity name="System.Windows.Interactivity" publicKeyToken="31bf3856ad364e35" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.5.0.0" newVersion="4.5.0.0"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.5.0.0" newVersion="4.5.0.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.Data.SQLite" publicKeyToken="db937bc2d44ff139" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-1.0.109.0" newVersion="1.0.109.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="Newtonsoft.Json" publicKeyToken="30ad4fe6b2a6aeed" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-9.0.0.0" newVersion="9.0.0.0" />
       </dependentAssembly>
     </assemblyBinding>
   </runtime>
@@ -23,4 +33,21 @@
       </setting>
     </Plane.FormationCreator.Properties.Settings>
   </userSettings>
+  <entityFramework>
+    <defaultConnectionFactory type="System.Data.Entity.Infrastructure.LocalDbConnectionFactory, EntityFramework">
+      <parameters>
+        <parameter value="mssqllocaldb" />
+      </parameters>
+    </defaultConnectionFactory>
+    <providers>
+      <provider invariantName="System.Data.SqlClient" type="System.Data.Entity.SqlServer.SqlProviderServices, EntityFramework.SqlServer" />
+      <provider invariantName="System.Data.SQLite.EF6" type="System.Data.SQLite.EF6.SQLiteProviderServices, System.Data.SQLite.EF6" />
+    </providers>
+  </entityFramework>
+  <system.data>
+    <DbProviderFactories>
+      <remove invariant="System.Data.SQLite.EF6" />
+      <add name="SQLite Data Provider (Entity Framework 6)" invariant="System.Data.SQLite.EF6" description=".NET Framework Data Provider for SQLite (Entity Framework 6)" type="System.Data.SQLite.EF6.SQLiteProviderFactory, System.Data.SQLite.EF6" />
+    <remove invariant="System.Data.SQLite" /><add name="SQLite Data Provider" invariant="System.Data.SQLite" description=".NET Framework Data Provider for SQLite" type="System.Data.SQLite.SQLiteFactory, System.Data.SQLite" /></DbProviderFactories>
+  </system.data>
 </configuration>

Plane.FormationCreator/AppConfig.cs

@@ -40,7 +40,7 @@ namespace Plane.FormationCreator
             App.Current.Exit += (sender, e) =>
             {
                 this.Center = _mapManager.Center;
-                this.ZoomLevel = _mapManager.MapView.map.ZoomLevel;
+                this.ZoomLevel = _mapManager.MapView.gmap.Zoom;
                 this.Save();
             };
         }

Plane.FormationCreator/Converters/FlightTaskStatusToFillConverter.cs

@@ -14,9 +14,9 @@ namespace Plane.FormationCreator.Converters
 {
     public class FlightTaskStatusToFillConverter : IValueConverter
     {
-        static SolidColorBrush _normalFill = new SolidColorBrush(Colors.LightGray);
+        static SolidColorBrush _normalFill = new SolidColorBrush(Color.FromRgb(45, 45, 45));
-        static SolidColorBrush _runningFill = new SolidColorBrush(Colors.OrangeRed);
+        static SolidColorBrush _runningFill = new SolidColorBrush(Colors.Green);
-        static SolidColorBrush _PausedFill = new SolidColorBrush(Colors.Yellow);
+        static SolidColorBrush _PausedFill = new SolidColorBrush(Colors.Red);
         public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
         {
             var status = (FlightTaskStatus)value;

Plane.FormationCreator/Formation/FlightTask.cs

@@ -40,6 +40,7 @@ namespace Plane.FormationCreator.Formation
                 //if (_TaskType != value)
                 {
                     RaisePropertyChanged(nameof(TaskTypeIndex));
+                    RaisePropertyChanged(nameof(TaskCnName));
                 }
             }
         }
@@ -60,6 +61,21 @@ namespace Plane.FormationCreator.Formation
         }
         */
 
+        public string TaskCnName
+        {
+            get
+            {
+                string CnName = "";
+                switch (TaskType)
+                {
+                    case FlightTaskType.TakeOff: CnName = (TaskIndex + 1).ToString() + ".起飞"; break;
+                    case FlightTaskType.FlyTo: CnName = (TaskIndex + 1).ToString() + ".航点"; break;
+                    case FlightTaskType.Land: CnName = (TaskIndex + 1).ToString() + ".降落"; break;
+                }
+                return CnName;
+            }
+        }
+
         public int TaskTypeIndex
         {
             get {
@@ -83,6 +99,15 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        //task在所以任务中的index
+        public int TaskIndex
+        {
+            get
+            {
+                return _flightTaskManager.Tasks.IndexOf(this);
+            }
+        }
+
         private bool _IsSelected;
         public bool IsSelected
         {

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -18,6 +18,7 @@ namespace Plane.FormationCreator.Formation
     {
         public FlightTaskManager(CopterManager copterManager)
         {
+            LoadIni();
             _copterManager = copterManager;
             
             //AddTakeOffTask(_copterManager.Copters);
@@ -88,6 +89,7 @@ namespace Plane.FormationCreator.Formation
 
         private CopterManager _copterManager;
         
+
         private int _TakeOffNumAttr = 1;
         public int TakeOffNumAttr
         {
@@ -191,6 +193,35 @@ namespace Plane.FormationCreator.Formation
             private set { Set(nameof(CurrentRunningTaskIndex), ref _CurrentRunningTaskIndex, value); }
         }
 
+        private int _ColumnCount = 5;
+        public int ColumnCount
+        {
+            get { return _ColumnCount; }
+            set { Set(nameof(ColumnCount), ref _ColumnCount, value); }
+        }
+
+
+        private float _ColumnDistance = 4.0f;
+        public float ColumnDistance
+        {
+            get { return _ColumnDistance; }
+            set { Set(nameof(ColumnDistance), ref _ColumnDistance, value); }
+        }
+
+        private float _RowDistance = 4.0f;
+        public float RowDistance
+        {
+            get { return _RowDistance; }
+            set { Set(nameof(RowDistance), ref _RowDistance, value); }
+        }
+
+        private int _Orientation = 0;
+        public int Orientation
+        {
+            get { return _Orientation; }
+            set { Set(nameof(Orientation), ref _Orientation, value); }
+        }
+
 
         private TasksStatus _TaskState = TasksStatus.Stop;
         public TasksStatus TaskState
@@ -227,12 +258,11 @@ namespace Plane.FormationCreator.Formation
                 var newTask = new FlightTask(FlightTaskType.FlyTo);
                 int coptindex = 0;
 
-                int colnum = 20; //自动生成列数=4
+                int colnum = ColumnCount; //自动生成列数=4
-                float coldis = 2.5f;//列相距5米
+                float coldis = ColumnDistance;//列相距5米
-                float rowdis = 5f;//行相距5米
+                float rowdis = RowDistance;//行相距5米
                 float matrixdis = 20; //生成方阵距离30米
 
-
                 int currcol = 0; //当前列号
                 int currrow = 0; //当前行
                 Tuple<double, double> colLatLng = new Tuple<double, double>(0, 0);
@@ -1040,9 +1070,9 @@ namespace Plane.FormationCreator.Formation
                
                 var pointjson= points[i];
                 System.Windows.Point point = new System.Windows.Point((int)pointjson.x, (int)pointjson.y);
-                Microsoft.Maps.MapControl.WPF.Location loc = _mapManager.MapView.map.ViewportPointToLocation(point);
+                var loc = _mapManager.MapView.gmap.FromLocalToLatLng((int)point.X , (int)point.Y);
-                SelectedTask.SingleCopterInfos[i].TargetLat = loc.Latitude;
+                SelectedTask.SingleCopterInfos[i].TargetLat = loc.Lat;
-                SelectedTask.SingleCopterInfos[i].TargetLng = loc.Longitude;
+                SelectedTask.SingleCopterInfos[i].TargetLng = loc.Lng;
             } 
         }
 
@@ -1314,6 +1344,40 @@ namespace Plane.FormationCreator.Formation
                 }
             }
         }
+
+        private void LoadIni()
+        {
+            Windows.IniHelper.IniFiles inifilse = new Windows.IniHelper.IniFiles();
+            string readvalue = "";
+            int intTemp;
+            float floatTemp;
+            readvalue = inifilse.IniReadvalue("Default", "ColumnCount");
+            if (readvalue!= "" && int.TryParse(readvalue,out intTemp))
+                ColumnCount = int.Parse(readvalue);
+
+            readvalue = inifilse.IniReadvalue("Default", "ColumnDistance");
+            if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
+                ColumnDistance = float.Parse(readvalue);
+
+            readvalue = inifilse.IniReadvalue("Default", "RowDistance");
+            if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
+                RowDistance = float.Parse(readvalue);
+
+            readvalue = inifilse.IniReadvalue("Default", "Orientation");
+            if (readvalue != "" && int.TryParse(readvalue, out intTemp))
+                Orientation = int.Parse(readvalue);
+
+
+        }
+
+        public void SaveIni()
+        {
+            Windows.IniHelper.IniFiles inifilse = new Windows.IniHelper.IniFiles();
+            inifilse.IniWritevalue("Default", "ColumnCount", ColumnCount.ToString());
+            inifilse.IniWritevalue("Default", "ColumnDistance", ColumnDistance.ToString());
+            inifilse.IniWritevalue("Default", "RowDistance", RowDistance.ToString());
+            inifilse.IniWritevalue("Default", "Orientation", Orientation.ToString());
+        }
     }
 
     public class FlightTaskAddedEventArgs : EventArgs

Plane.FormationCreator/Formation/LatLng.cs

@@ -1,4 +1,6 @@
-using System;
+using GMap.NET;
+using Plane.FormationCreator.Maps;
+using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.Linq;

Plane.FormationCreator/GMap.cs

@@ -0,0 +1,14 @@
+using System.Windows.Controls;
+using System.Windows.Media;
+using GMap.NET.WindowsPresentation;
+using System.Globalization;
+using System.Windows;
+using System;
+
+namespace Plane.GoogleMap
+{
+    class GMap : GMapControl
+    {
+        
+    }
+}

Plane.FormationCreator/MainWindow.xaml

@@ -42,6 +42,7 @@
 
     <c:MetroWindow.RightWindowCommands>
         <c:WindowCommands>
+            <Button Content="切换地图" Command="{Binding ChangeMapModeCommand}"></Button>
             <Button Content="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource ShowModifyTaskViewButtonContentConverter}}"
                     Command="{Binding ShowOrHideModifyTaskViewCommand}" />
             <Button Content="重启监听"
@@ -60,7 +61,10 @@
             <Button Name="btnShowLog"
                     Content="日志"
                     Click="btnShowLog_Click" 
-                    Visibility="Collapsed"/>
+                    />
+            <Button Content="地图透明"
+                    Click="Map_Opacity_Click" 
+                    />
             <Button Name="btnGoHome"
                     Content="回家"
                     Click="btnGoHome_Click" />
@@ -115,7 +119,7 @@
             <RowDefinition Height="Auto" />
         </Grid.RowDefinitions>
 
-        <Grid Margin="10,20,10,10">
+        <Grid Margin="1">
             <Grid.ColumnDefinitions>
                 <ColumnDefinition Width="73*" />
                 <ColumnDefinition Width="27*" MinWidth="360" />
@@ -123,14 +127,29 @@
 
             <Grid Margin="0,0,10,0"
               Width="Auto" >
-                
                 <Grid.RowDefinitions>
                     <RowDefinition />
                     <RowDefinition Height="Auto" />
                     <RowDefinition Height="Auto" />
                 </Grid.RowDefinitions>
-                <v:MapView x:Name="map"
+
-                      />
+
+                <TabControl SelectedIndex="{Binding MapMode,UpdateSourceTrigger=PropertyChanged}">
+                    <TabItem Visibility="Collapsed">
+                        <v:MapView x:Name="map"/>
+                    </TabItem >
+                    <TabItem Visibility="Collapsed">
+                        <v:View3D/>
+                    </TabItem>
+                </TabControl>
+
+                <!--
+                
+                <v:MapView x:Name="map"/>
+               
+               -->
+
+
                 <v:TaskBarView 
                     x:Name="TaskbarControl"       
                     VerticalAlignment="Bottom"
@@ -179,13 +198,21 @@
         </Grid>
 
         <Border Grid.Row="1"
-                Background="{StaticResource HighlightBrush}">
+                Background="{StaticResource WhiteBrush}">
-            <StackPanel Orientation="Horizontal">
+            <Grid>
-                <TextBlock Margin="4"
+                <StackPanel Orientation="Horizontal" HorizontalAlignment="Left">
+                    <TextBlock Margin="4"
                            Text="{Binding Message}" MouseUp="LogShowHide"/>
-                <TextBlock Margin="4"
+                    <TextBlock Margin="4"
                            Text="{Binding CopterListViewModel.SelectedCopter.StatusText}" />
-            </StackPanel>
+                    
+                </StackPanel>
+                <StackPanel Orientation="Horizontal" HorizontalAlignment="Right">
+                    <TextBlock Text="通信连接：" Margin="4"/>
+                    <ContentPresenter Content="{Binding CommunicationModuleConnected, Converter={StaticResource CheckSignConverter}, Mode=OneWay}" />
+                </StackPanel>
+            </Grid>
+            
         </Border>
         <TextBox Name="logTextBox" Height="700" Width="600" Background="#FF2D2D2D"
                  HorizontalAlignment="Left" 

Plane.FormationCreator/MainWindow.xaml.cs

@@ -495,5 +495,17 @@ namespace Plane.FormationCreator
         {
             logTextBox.ScrollToEnd();
         }
+
+        private void Map_Opacity_Click(object sender, RoutedEventArgs e)
+        {
+            if (map.Opacity == 1)
+            {
+                map.Opacity = 0.5;
+            }
+            else
+            {
+                map.Opacity = 1;
+            }
+        }
     }
 }

Plane.FormationCreator/Maps/MapConverter.cs

@@ -0,0 +1,290 @@
+/* ----------------------------------------------------------
+ * 文件名称：MapConverter.cs
+ * 
+ * 作者：秦建辉
+ * 
+ * 微信：splashcn
+ * 
+ * 博客：http://www.firstsolver.com/wordpress/
+ * 
+ * 开发环境：
+ *      Visual Studio V2017
+ *      .NETCore 1.1
+ *      
+ * 版本历史：
+ *      V1.0    2017年05月16日
+ *              坐标转换器
+ * 
+ * 说明：
+ *      WGS84：为一种大地坐标系，也是目前广泛使用的GPS全球卫星定位系统使用的坐标系。
+ *      GCJ02：又称火星坐标系，是由中国国家测绘局制定的地理坐标系统，是由WGS84加密后得到的坐标系。
+ *      BD09：为百度坐标系，在GCJ02坐标系基础上再次加密。其中bd09ll表示百度经纬度坐标，bd09mc表示百度墨卡托米制坐标。 
+ *      
+ * 参考资料：
+ *      https://www.oschina.net/code/snippet_260395_39205
+------------------------------------------------------------ */
+using GMap.NET;
+using GMap.NET.WindowsPresentation;
+using Plane.FormationCreator.Formation;
+using System;
+
+namespace Plane.FormationCreator.Maps
+{
+    /// <summary>
+    /// WGS-84、GCJ-02（火星坐标系）、BD-09（百度坐标系）之间的坐标转换器
+    /// </summary>
+    public static class MapConverter
+    {
+        /// <summary>
+        /// Gmap的PointLatLng转换为WGS84
+        /// </summary>
+        /// <param name="GCJ02"></param>
+        /// <returns></returns>
+        public static LatLng ToWGS84(this PointLatLng LatLng_GCJ02)
+        {
+//             double WGS84_lat;
+//             double WGS84_lng;
+//             GCJ02ToWGS84Exact(LatLng_GCJ02.Lat, LatLng_GCJ02.Lng, out WGS84_lat, out WGS84_lng);
+//             return new LatLng(WGS84_lat, WGS84_lng);
+            return new LatLng(LatLng_GCJ02.Lat, LatLng_GCJ02.Lng);
+        }
+
+        /// <summary>
+        /// LatLng转换为ToGCJ02
+        /// </summary>
+        /// <param name="LatLng_WGS84"></param>
+        /// <returns></returns>
+        public static PointLatLng ToGCJ02(this LatLng LatLng_WGS84)
+        {
+            
+            //             double GCJ02_lat;
+            //             double GCJ02_lng;
+            //             WGS84ToGCJ02(LatLng_WGS84.Lat, LatLng_WGS84.Lng, out GCJ02_lat, out GCJ02_lng);
+            //             return new PointLatLng(GCJ02_lat, GCJ02_lng);
+            return new PointLatLng(LatLng_WGS84.Lat, LatLng_WGS84.Lng);
+        }
+
+        /// <summary>
+        /// 圆周率
+        /// </summary>
+        private const double PI = 3.1415926535897932384626;
+        private const double X_PI = PI * 3000.0 / 180.0;
+ 
+        /// <summary>
+        /// 地理位置是否位于中国以外
+        /// </summary>
+        /// <param name="wgLat">WGS-84坐标纬度</param>
+        /// <param name="wgLon">WGS-84坐标经度</param>
+        /// <returns>
+        ///     true：国外
+        ///     false：国内
+        /// </returns>
+        public static bool OutOfChina(double wgLat, double wgLon)
+        {
+            if (wgLon < 72.004 || wgLon > 137.8347) return true;
+            if (wgLat < 0.8293 || wgLat > 55.8271) return true;
+ 
+            return false;
+        }
+ 
+        /// <summary>
+        /// WGS-84坐标系转火星坐标系 (GCJ-02)
+        /// </summary>
+        /// <param name="wgLat">WGS-84坐标纬度</param>
+        /// <param name="wgLon">WGS-84坐标经度</param>
+        /// <param name="mgLat">输出：GCJ-02坐标纬度</param>
+        /// <param name="mgLon">输出：GCJ-02坐标经度</param>
+        public static void WGS84ToGCJ02(double wgLat, double wgLon, out double mgLat, out double mgLon)
+        {
+            if (OutOfChina(wgLat, wgLon))
+            {
+                mgLat = wgLat;
+                mgLon = wgLon;
+            }
+            else
+            {
+                double dLat;
+                double dLon;
+                Delta(wgLat, wgLon, out dLat, out dLon);
+                mgLat = wgLat + dLat;
+                mgLon = wgLon + dLon;
+            }
+        }
+ 
+        /// <summary>
+        /// 火星坐标系 (GCJ-02)转WGS-84坐标系
+        /// </summary>
+        /// <param name="mgLat">GCJ-02坐标纬度</param>
+        /// <param name="mgLon">GCJ-02坐标经度</param>
+        /// <param name="wgLat">输出：WGS-84坐标纬度</param>
+        /// <param name="wgLon">输出：WGS-84坐标经度</param>
+        public static void GCJ02ToWGS84(double mgLat, double mgLon, out double wgLat, out double wgLon)
+        {
+            if (OutOfChina(mgLat, mgLon))
+            {
+                wgLat = mgLat;
+                wgLon = mgLon;
+            }
+            else
+            {
+                double dLat;
+                double dLon;
+                Delta(mgLat, mgLon, out dLat, out dLon);
+                wgLat = mgLat - dLat;
+                wgLon = mgLon - dLon;
+            }
+        }
+ 
+        /// <summary>
+        /// 火星坐标系 (GCJ-02)转WGS-84坐标系
+        /// </summary>
+        /// <param name="mgLat">GCJ-02坐标纬度</param>
+        /// <param name="mgLon">GCJ-02坐标经度</param>
+        /// <param name="wgLat">输出：WGS-84坐标纬度</param>
+        /// <param name="wgLon">输出：WGS-84坐标经度</param>
+        public static void GCJ02ToWGS84Exact(double mgLat, double mgLon, out double wgLat, out double wgLon)
+        {
+            const double InitDelta = 0.01;
+            const double Threshold = 0.000001;
+ 
+            double dLat = InitDelta;
+            double dLon = InitDelta;
+            double mLat = mgLat - dLat;
+            double mLon = mgLon - dLon;
+            double pLat = mgLat + dLat;
+            double pLon = mgLon + dLon;
+ 
+            double nLat;
+            double nLon;
+ 
+            int i = 0;
+            do
+            {
+                wgLat = (mLat + pLat) / 2;
+                wgLon = (mLon + pLon) / 2;
+ 
+                WGS84ToGCJ02(wgLat, wgLon, out nLat, out nLon);
+ 
+                dLat = nLat - mgLat;
+                dLon = nLon - mgLon;
+                if ((Math.Abs(dLat) < Threshold) && (Math.Abs(dLon) < Threshold)) break;
+ 
+                if (dLat > 0) pLat = wgLat; else mLat = wgLat;
+                if (dLon > 0) pLon = wgLon; else mLon = wgLon;
+                System.Diagnostics.Debug.WriteLine($"times:{i}");
+            } while (++i <= 30);
+        }
+ 
+        /// <summary>
+        /// 百度坐标系 (BD-09)转火星坐标系 (GCJ-02)
+        /// </summary>
+        /// <param name="bdLat">百度坐标系纬度</param>
+        /// <param name="bdLon">百度坐标系经度</param>
+        /// <param name="mgLat">输出：GCJ-02坐标纬度</param>
+        /// <param name="mgLon">输出：GCJ-02坐标经度</param>         
+        public static void BD09ToGCJ02(double bdLat, double bdLon, out double mgLat, out double mgLon)
+        {
+            double x = bdLon - 0.0065;
+            double y = bdLat - 0.006;
+            double z = Math.Sqrt(x * x + y * y) - 0.00002 * Math.Sin(y * X_PI);
+            double theta = Math.Atan2(y, x) - 0.000003 * Math.Cos(x * X_PI);
+            mgLat = z * Math.Sin(theta);
+            mgLon = z * Math.Cos(theta);
+        }
+ 
+        /// <summary>
+        /// 火星坐标系 (GCJ-02)转百度坐标系 (BD-09)
+        /// </summary>
+        /// <param name="mgLat">GCJ-02坐标纬度</param>
+        /// <param name="mgLon">GCJ-02坐标经度</param>
+        /// <param name="bdLat">输出：百度坐标系纬度</param>
+        /// <param name="bdLon">输出：百度坐标系经度</param>
+        public static void GCJ02ToBD09(double mgLat, double mgLon, out double bdLat, out double bdLon)
+        {
+            double x = mgLon;
+            double y = mgLat;
+            double z = Math.Sqrt(x * x + y * y) + 0.00002 * Math.Sin(y * X_PI);
+            double theta = Math.Atan2(y, x) + 0.000003 * Math.Cos(x * X_PI);
+            bdLat = z * Math.Sin(theta) + 0.006;
+            bdLon = z * Math.Cos(theta) + 0.0065;
+        }
+ 
+        /// <summary>
+        /// WGS-84坐标系转百度坐标系 (BD-09)
+        /// </summary>
+        /// <param name="wgLat">WGS-84坐标纬度</param>
+        /// <param name="wgLon">WGS-84坐标经度</param>
+        /// <param name="bdLat">输出：百度坐标系纬度</param>
+        /// <param name="bdLon">输出：百度坐标系经度</param>
+        public static void WGS84ToBD09(double wgLat, double wgLon, out double bdLat, out double bdLon)
+        {
+            double mgLat;
+            double mgLon;
+ 
+            WGS84ToGCJ02(wgLat, wgLon, out mgLat, out mgLon);
+            GCJ02ToBD09(mgLat, mgLon, out bdLat, out bdLon);
+        }
+ 
+        /// <summary>
+        /// 百度坐标系 (BD-09)转WGS-84坐标系
+        /// </summary>
+        /// <param name="bdLat">百度坐标系纬度</param>
+        /// <param name="bdLon">百度坐标系经度</param>
+        /// <param name="wgLat">输出：WGS-84坐标纬度</param>
+        /// <param name="wgLon">输出：WGS-84坐标经度</param>
+        public static void BD09ToWGS84(double bdLat, double bdLon, out double wgLat, out double wgLon)
+        {
+            double mgLat;
+            double mgLon;
+ 
+            BD09ToGCJ02(bdLat, bdLon, out mgLat, out mgLon);
+            GCJ02ToWGS84(mgLat, mgLon, out wgLat, out wgLon);
+        }
+ 
+        public static double Distance(double LatA, double LonA, double LatB, double LonB)
+        {
+            const double EarthR = 6371000.0;
+ 
+            double x = Math.Cos(LatA * PI / 180.0) * Math.Cos(LatB * PI / 180.0) * Math.Cos((LonA - LonB) * PI / 180);
+            double y = Math.Sin(LatA * PI / 180.0) * Math.Sin(LatB * PI / 180.0);
+            double s = x + y;
+            if (s > 1) s = 1;
+            if (s < -1) s = -1;
+ 
+            return Math.Acos(s) * EarthR;
+        }
+ 
+        private static void Delta(double Lat, double Lon, out double dLat, out double dLon)
+        {
+            const double AXIS = 6378245.0;
+            const double EE = 0.00669342162296594323;
+ 
+            dLat = TransformLat(Lon - 105.0, Lat - 35.0);
+            dLon = TransformLon(Lon - 105.0, Lat - 35.0);
+            double radLat = Lat / 180.0 * PI;
+            double magic = Math.Sin(radLat);
+            magic = 1 - EE * magic * magic;
+            double sqrtMagic = Math.Sqrt(magic);
+            dLat = (dLat * 180.0) / ((AXIS * (1 - EE)) / (magic * sqrtMagic) * PI);
+            dLon = (dLon * 180.0) / (AXIS / sqrtMagic * Math.Cos(radLat) * PI);
+        }
+ 
+        private static double TransformLat(double x, double y)
+        {
+            double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * Math.Sqrt(Math.Abs(x));
+            ret += (20.0 * Math.Sin(6.0 * x * PI) + 20.0 * Math.Sin(2.0 * x * PI)) * 2.0 / 3.0;
+            ret += (20.0 * Math.Sin(y * PI) + 40.0 * Math.Sin(y / 3.0 * PI)) * 2.0 / 3.0;
+            ret += (160.0 * Math.Sin(y / 12.0 * PI) + 320 * Math.Sin(y * PI / 30.0)) * 2.0 / 3.0;
+            return ret;
+        }
+ 
+        private static double TransformLon(double x, double y)
+        {
+            double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * Math.Sqrt(Math.Abs(x));
+            ret += (20.0 * Math.Sin(6.0 * x * PI) + 20.0 * Math.Sin(2.0 * x * PI)) * 2.0 / 3.0;
+            ret += (20.0 * Math.Sin(x * PI) + 40.0 * Math.Sin(x / 3.0 * PI)) * 2.0 / 3.0;
+            ret += (150.0 * Math.Sin(x / 12.0 * PI) + 300.0 * Math.Sin(x / 30.0 * PI)) * 2.0 / 3.0;
+            return ret;
+        }
+    }
+}

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -14,6 +14,8 @@
     <ProjectTypeGuids>{60dc8134-eba5-43b8-bcc9-bb4bc16c2548};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids>
     <WarningLevel>4</WarningLevel>
     <TargetFrameworkProfile />
+    <NuGetPackageImportStamp>
+    </NuGetPackageImportStamp>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <PlatformTarget>AnyCPU</PlatformTarget>
@@ -25,6 +27,8 @@
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
     <UseVSHostingProcess>true</UseVSHostingProcess>
+    <Prefer32Bit>true</Prefer32Bit>
+    <AllowUnsafeBlocks>false</AllowUnsafeBlocks>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
     <PlatformTarget>AnyCPU</PlatformTarget>
@@ -39,6 +43,14 @@
     <ApplicationIcon>gcs.ico</ApplicationIcon>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089, processorArchitecture=MSIL">
+      <HintPath>..\packages\EntityFramework.6.2.0\lib\net45\EntityFramework.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+    <Reference Include="EntityFramework.SqlServer, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089, processorArchitecture=MSIL">
+      <HintPath>..\packages\EntityFramework.6.2.0\lib\net45\EntityFramework.SqlServer.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
     <Reference Include="GalaSoft.MvvmLight, Version=5.2.0.37222, Culture=neutral, PublicKeyToken=e7570ab207bcb616, processorArchitecture=MSIL">
       <HintPath>..\packages\MvvmLightLibs.5.2.0.0\lib\net45\GalaSoft.MvvmLight.dll</HintPath>
       <Private>True</Private>
@@ -51,6 +63,22 @@
       <HintPath>..\packages\MvvmLightLibs.5.2.0.0\lib\net45\GalaSoft.MvvmLight.Platform.dll</HintPath>
       <Private>True</Private>
     </Reference>
+    <Reference Include="GMap.NET.Core, Version=1.8.5.0, Culture=neutral, PublicKeyToken=b85b9027b614afef, processorArchitecture=MSIL">
+      <HintPath>..\packages\GMap.NET.Windows.1.8.5\lib\net40\GMap.NET.Core.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+    <Reference Include="GMap.NET.WindowsPresentation, Version=1.8.5.0, Culture=neutral, PublicKeyToken=b85b9027b614afef, processorArchitecture=MSIL">
+      <HintPath>..\packages\GMap.NET.Windows.1.8.5\lib\net40\GMap.NET.WindowsPresentation.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+    <Reference Include="HelixToolkit, Version=2.4.0.0, Culture=neutral, PublicKeyToken=52aa3500039caf0d, processorArchitecture=MSIL">
+      <HintPath>..\packages\HelixToolkit.2.4.0\lib\netstandard1.1\HelixToolkit.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+    <Reference Include="HelixToolkit.Wpf, Version=2.4.0.0, Culture=neutral, PublicKeyToken=52aa3500039caf0d, processorArchitecture=MSIL">
+      <HintPath>..\packages\HelixToolkit.Wpf.2.4.0\lib\net45\HelixToolkit.Wpf.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
     <Reference Include="MahApps.Metro, Version=1.5.0.23, Culture=neutral, PublicKeyToken=f4fb5a3c4d1e5b4f, processorArchitecture=MSIL">
       <HintPath>..\packages\MahApps.Metro.1.5.0\lib\net45\MahApps.Metro.dll</HintPath>
       <Private>True</Private>
@@ -71,13 +99,26 @@
     <Reference Include="Microsoft.Practices.ServiceLocation">
       <HintPath>..\packages\CommonServiceLocator.1.3\lib\portable-net4+sl5+netcore45+wpa81+wp8\Microsoft.Practices.ServiceLocation.dll</HintPath>
     </Reference>
-    <Reference Include="Newtonsoft.Json, Version=8.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
+    <Reference Include="Newtonsoft.Json, Version=9.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
-      <HintPath>..\packages\Newtonsoft.Json.8.0.2\lib\net45\Newtonsoft.Json.dll</HintPath>
+      <HintPath>..\packages\Newtonsoft.Json.9.0.1\lib\net45\Newtonsoft.Json.dll</HintPath>
       <Private>True</Private>
     </Reference>
     <Reference Include="PresentationFramework.Aero" />
     <Reference Include="System" />
+    <Reference Include="System.ComponentModel.DataAnnotations" />
     <Reference Include="System.Data" />
+    <Reference Include="System.Data.SQLite, Version=1.0.109.0, Culture=neutral, PublicKeyToken=db937bc2d44ff139, processorArchitecture=MSIL">
+      <HintPath>..\packages\System.Data.SQLite.Core.1.0.109.1\lib\net46\System.Data.SQLite.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+    <Reference Include="System.Data.SQLite.EF6, Version=1.0.109.0, Culture=neutral, PublicKeyToken=db937bc2d44ff139, processorArchitecture=MSIL">
+      <HintPath>..\packages\System.Data.SQLite.EF6.1.0.109.0\lib\net46\System.Data.SQLite.EF6.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+    <Reference Include="System.Data.SQLite.Linq, Version=1.0.109.0, Culture=neutral, PublicKeyToken=db937bc2d44ff139, processorArchitecture=MSIL">
+      <HintPath>..\packages\System.Data.SQLite.Linq.1.0.109.0\lib\net46\System.Data.SQLite.Linq.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
     <Reference Include="System.Windows.Interactivity, Version=4.5.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
       <HintPath>..\packages\MahApps.Metro.1.5.0\lib\net45\System.Windows.Interactivity.dll</HintPath>
       <Private>True</Private>
@@ -140,8 +181,8 @@
     <Compile Include="Formation\FlightTaskManager.cs" />
     <Compile Include="Formation\PropertyChangedEventArgs.cs" />
     <Compile Include="Formation\FlightTask_TakeOff.cs" />
-    <Compile Include="Maps\OpenStreetMapTileLayer.cs" />
+    <Compile Include="GMap.cs" />
-    <Compile Include="Maps\OpenStreetMapTileSource.cs" />
+    <Compile Include="Maps\MapConverter.cs" />
     <Compile Include="ModifyParam.xaml.cs">
       <DependentUpon>ModifyParam.xaml</DependentUpon>
     </Compile>
@@ -157,6 +198,7 @@
     <Compile Include="ViewModels\ModifyTaskViewModel.cs" />
     <Compile Include="ViewModels\ModiLEDModel.cs" />
     <Compile Include="ViewModels\TaskBarViewModel.cs" />
+    <Compile Include="ViewModels\View3DViewModel.cs" />
     <Compile Include="Views\ControlPanelView.xaml.cs">
       <DependentUpon>ControlPanelView.xaml</DependentUpon>
     </Compile>
@@ -179,9 +221,15 @@
     <Compile Include="Views\ModifyTaskView.xaml.cs">
       <DependentUpon>ModifyTaskView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\SetCoptersPutView.xaml.cs">
+      <DependentUpon>SetCoptersPutView.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Views\TaskBarView.xaml.cs">
       <DependentUpon>TaskBarView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\View3D.xaml.cs">
+      <DependentUpon>View3D.xaml</DependentUpon>
+    </Compile>
   </ItemGroup>
   <ItemGroup>
     <Compile Include="MainWindow.xaml.cs">
@@ -291,10 +339,18 @@
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
+    <Page Include="Views\SetCoptersPutView.xaml">
+      <SubType>Designer</SubType>
+      <Generator>MSBuild:Compile</Generator>
+    </Page>
     <Page Include="Views\TaskBarView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
+    <Page Include="Views\View3D.xaml">
+      <SubType>Designer</SubType>
+      <Generator>MSBuild:Compile</Generator>
+    </Page>
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="..\..\Plane.Libraries\Plane.Logging\Plane.Logging.csproj">
@@ -336,6 +392,13 @@
     <Resource Include="bg.jpg" />
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <Import Project="..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets" Condition="Exists('..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets')" />
+  <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
+    <PropertyGroup>
+      <ErrorText>这台计算机上缺少此项目引用的 NuGet 程序包。使用“NuGet 程序包还原”可下载这些程序包。有关更多信息，请参见 http://go.microsoft.com/fwlink/?LinkID=322105。缺少的文件是 {0}。</ErrorText>
+    </PropertyGroup>
+    <Error Condition="!Exists('..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets'))" />
+  </Target>
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
        Other similar extension points exist, see Microsoft.Common.targets.
   <Target Name="BeforeBuild">

Plane.FormationCreator/Properties/DesignTimeResources.xaml

@@ -0,0 +1,5 @@
+<ResourceDictionary xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+                    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+                    xmlns:local="clr-namespace:Plane.FormationCreator.Properties">
+    
+</ResourceDictionary>

Plane.FormationCreator/ServiceLocatorConfigurer.cs

@@ -31,6 +31,7 @@ namespace Plane.FormationCreator
             _container.Register<ControlPanelViewModel>();
             _container.Register<CopterListViewModel>();
             _container.Register<TaskBarViewModel>();
+            _container.Register<View3DViewModel>();
             _container.Register<ModifyTaskViewModel>();
 
             _container.Register<ILogger>(() => new LocalFileLogger(new DebugLogger()));

Plane.FormationCreator/Styles/Colors.xaml

@@ -8,10 +8,10 @@
     <SolidColorBrush x:Key="Background"
                      Color="#1C1C1C" />
     <SolidColorBrush x:Key="LightBackground"
-                     Color="#2D2D30" />
+                     Color="#001B35" />
     <Color x:Key="AccentColor">Transparent</Color>
     <Color x:Key="BlackColor">#FFFFFFFF</Color>
-    <Color x:Key="WhiteColor">#2D2D30</Color>
+    <Color x:Key="WhiteColor">#001B35</Color>
     <Color x:Key="HighlightColor">Transparent</Color>
 
     <!-- re-set brushes too -->

Plane.FormationCreator/Util/ParamFile.cs

@@ -0,0 +1,119 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+
+
+namespace Plane.Util
+{
+    public class ParamFile
+    {
+        //private static readonly ILog log =
+        //    LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+
+        public static string FileMask = "Parameter File|*.param;*.parm|All Files|*.*";
+
+        public static Dictionary<string, double> loadParamFile(string Filename)
+        {
+            Dictionary<string, double> param = new Dictionary<string, double>();
+
+            using (StreamReader sr = new StreamReader(Filename))
+            {
+                while (!sr.EndOfStream)
+                {
+                    string line = sr.ReadLine();
+
+                    if (line.Contains("NOTE:"))
+                    {
+                       // CustomMessageBox.Show(line, "Saved Note");
+                        continue;
+                    }
+
+                    if (line.StartsWith("#"))
+                        continue;
+
+                    string[] items = line.Split(new char[] {' ', ',', '\t'}, StringSplitOptions.RemoveEmptyEntries);
+
+                    if (items.Length != 2)
+                        continue;
+
+                    string name = items[0];
+                    double value = 0;
+                    try
+                    {
+                        value = double.Parse(items[1], System.Globalization.CultureInfo.InvariantCulture);
+                            // new System.Globalization.CultureInfo("en-US"));
+                    }
+                    catch (Exception ex)
+                    {
+                        //log.Error(ex);
+                        throw new FormatException("Invalid number on param " + name + " : " + items[1].ToString());
+                    }
+
+                    if (name == "SYSID_SW_MREV")
+                        continue;
+                    if (name == "WP_TOTAL")
+                        continue;
+                    if (name == "CMD_TOTAL")
+                        continue;
+                    if (name == "FENCE_TOTAL")
+                        continue;
+                    if (name == "SYS_NUM_RESETS")
+                        continue;
+                    if (name == "ARSPD_OFFSET")
+                        continue;
+                    if (name == "GND_ABS_PRESS")
+                        continue;
+                    if (name == "GND_TEMP")
+                        continue;
+                    if (name == "CMD_INDEX")
+                        continue;
+                    if (name == "LOG_LASTFILE")
+                        continue;
+                    if (name == "FORMAT_VERSION")
+                        continue;
+
+                    param[name] = value;
+                }
+            }
+
+            return param;
+        }
+
+        public static void SaveParamFile(string fn, Hashtable paramlist)
+        {
+            using (StreamWriter sw = new StreamWriter(File.Open(fn, FileMode.Create)))
+            {
+                string input = DateTime.Now + " Frame : ";
+                //if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
+              //  {
+                 //   input = DateTime.Now + " Plane: Skywalker";
+              //  }
+               // InputBox.Show("Custom Note", "Enter your Notes/Frame Type etc", ref input);
+                if (input != "")
+                    sw.WriteLine("#NOTE: " + input.Replace(',', '|'));
+
+                var list = new SortedList(paramlist);
+
+                foreach (var item in list.Keys)
+                {
+                    double value = double.Parse(paramlist[item].ToString());
+
+                    string valueasstring = value.ToString(new System.Globalization.CultureInfo("en-US"));
+
+                    if (valueasstring.Contains("."))
+                    {
+                        sw.WriteLine(item + "," +
+                                     ((float) value).ToString(new System.Globalization.CultureInfo("en-US")));
+                    }
+                    else
+                    {
+                        sw.WriteLine(item + "," + valueasstring);
+                    }
+                }
+            }
+        }
+    }
+}

Plane.FormationCreator/ViewModels/ConnectViewModel.cs

@@ -195,6 +195,18 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private ICommand _UpdateAllCopterCommand;
+        public ICommand UpdateAllCopterCommand
+        {
+            get
+            {
+                return _UpdateAllCopterCommand ?? (_UpdateAllCopterCommand = new RelayCommand(async () =>
+                {
+                    await commModule.UpdateCommModule();
+                }));
+            }
+        }
+
         private ICommand _CommDataAsync;
         public ICommand CommDataAsync
         {

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -940,7 +940,7 @@ namespace Plane.FormationCreator.ViewModels
                     int utcsecond = DateTime.UtcNow.AddSeconds(5).Second;
 
                     //循环3次 发送起飞命令 避免通信问题
-                    for (int i = 0; i < 3; i++)
+                    for (int i = 0; i < 5; i++)
                     {
                         await _commModuleManager.DoMissionStartAsync(utchour,
                                utcminute,
@@ -949,7 +949,7 @@ namespace Plane.FormationCreator.ViewModels
                                _flightTaskManager.OriginLat
                             );
 
-                        
+                        /*
                         foreach (var vcopter in _copterManager.Copters)
                         {
                             await vcopter.MissionStartAsync(utchour,
@@ -959,6 +959,7 @@ namespace Plane.FormationCreator.ViewModels
                                _flightTaskManager.OriginLat
                                );
                         }
+                        */
                         
                         await Task.Delay(10).ConfigureAwait(false);
                     }
@@ -1185,7 +1186,7 @@ namespace Plane.FormationCreator.ViewModels
             foreach (LEDInfo ledInfo in LEDInfos)
             {
                 Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
-                if (ledInfo.LEDMode == 5) ledInfo.LEDMode = 6;
+                //if (ledInfo.LEDMode == 5) ledInfo.LEDMode = 6;
                 IMission LEDMission = Mission.CreateLEDControlMission(
                         (int)(ledInfo.Delay * 10),
                         ledInfo.LEDMode,

Plane.FormationCreator/ViewModels/CopterListViewModel.cs

@@ -25,13 +25,12 @@ namespace Plane.FormationCreator.ViewModels
             _copterManager = copterManager;
             _mapManager = mapManager;
             _flightTaskManager = flightTaskManager;
+            /*
             System.Timers.Timer t = new System.Timers.Timer(5000);   //实例化Timer类，设置间隔时间为1秒；   
             t.Elapsed += new System.Timers.ElapsedEventHandler(theout); //到达时间的时候执行事件；   
             t.AutoReset = true;   //设置是执行一次（false）还是一直执行(true)；   
             t.Enabled = true;     //是否执行System.Timers.Timer.Elapsed事件；
-
+            */
-
-
         }
 
         public void theout(object source, System.Timers.ElapsedEventArgs e)
@@ -46,16 +45,12 @@ namespace Plane.FormationCreator.ViewModels
                 allrec += copterrec;
                 allsend += coptersend;
                 copter.ResetCommunicationNumber();
-
-
             }
             allrec /= 5;
             allsend /= 5;
             if (_copterManager.Copters.Count>0)
                 Communinfo = "接收：" + allrec + "/s;发送："+ allsend+"/s 单机:"+ allrec/ _copterManager.Copters.Count+"/s;"+
                 allsend / _copterManager.Copters.Count+"/s";
- 
-
         }
 
         private CopterManager _copterManager;
@@ -74,7 +69,7 @@ namespace Plane.FormationCreator.ViewModels
         private int _virtualCopterId = 1;
         private LatLng? _lastVirtualCopterLocation;
 
-        private string _Communinfo = "0字节/秒";
+        private string _Communinfo = "";
         public string Communinfo
         {
             get { return _Communinfo; }
@@ -95,6 +90,8 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(ContinuousNum), ref _ContinuousNum, value); }
         }
 
+        
+
         private ICommand _IntervalSelectCoptersCommand;
         public ICommand IntervalSelectCoptersCommand
         {
@@ -134,9 +131,9 @@ namespace Plane.FormationCreator.ViewModels
                     var center = _mapManager.Center;
                     string id;
 
-                    int colnum = 5; //自动生成列数=4
+                    int colnum = _flightTaskManager.ColumnCount; //自动生成列数=4
-                    float coldis = 3.5f;//列相距5米
+                    float coldis = _flightTaskManager.ColumnDistance;//列相距5米
-                    float rowdis = 3f;//行相距5米
+                    float rowdis = _flightTaskManager.RowDistance;//行相距5米
                     int currcol = 0; //当前列号
                     int currrow = 0; //当前行
                     Tuple<double, double> colheadLatLng = new Tuple<double, double>(0, 0);
@@ -148,8 +145,6 @@ namespace Plane.FormationCreator.ViewModels
                     {
                         id = _virtualCopterId.ToString();
  
-
- 
                         if (i == 0)
                         {
                             _lastVirtualCopterLocation = new LatLng(center.Lat, center.Lng);
@@ -196,13 +191,39 @@ namespace Plane.FormationCreator.ViewModels
                         );
                         await copter.ConnectAsync();
                         await copter.GetCopterDataAsync();
-                        _copterManager.Copters.Add(copter);
+                        _copterManager.Copters.AddCopter(copter);
                         _copterManager.CopterStatus.Add(false);
                     }
                 }));
             }
         }
 
+        private ICommand _SetCoptersPutCommand;
+        public ICommand SetCoptersPutCommand
+        {
+            get
+            {
+                return _SetCoptersPutCommand ?? (_SetCoptersPutCommand = new RelayCommand(async () =>
+                {
+                    var SetCoptersPutView = new Views.SetCoptersPutView(
+                        _flightTaskManager.ColumnCount,
+                        _flightTaskManager.ColumnDistance,
+                        _flightTaskManager.RowDistance,
+                        _flightTaskManager.Orientation
+                        );
+                    if (SetCoptersPutView.ShowDialog() == true)
+                    {
+                        _flightTaskManager.ColumnCount = int.Parse(SetCoptersPutView.textboxColNum.Text);
+                        _flightTaskManager.ColumnDistance = float.Parse(SetCoptersPutView.textboxColDis.Text);
+                        _flightTaskManager.RowDistance = float.Parse(SetCoptersPutView.textboxRowDis.Text);
+                        _flightTaskManager.Orientation = int.Parse(SetCoptersPutView.textboxOrientation.Text);
+                        _flightTaskManager.SaveIni();
+                    }
+                    await Task.Delay(100);
+                }));
+            }
+        }
+
         private ICommand _ClearCoptersCommand;
         public ICommand ClearCoptersCommand
         {

Plane.FormationCreator/ViewModels/MainViewModel.cs

@@ -22,6 +22,7 @@ namespace Plane.FormationCreator.ViewModels
             _copterListViewModel = copterListViewModel;
 
             Plane.Windows.Messages.Message.Configure(showAction: msg => this.Message = msg);
+            Plane.Windows.Messages.Message.Configure(connectAction: connected => this.CommunicationModuleConnected = connected);
 
             this.SwitchVelocityModeButtonContent = GetSwitchVelocityModeButtonContent();
 
@@ -63,6 +64,16 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private bool _CommunicationModuleConnected;
+        public bool CommunicationModuleConnected
+        {
+            get { return _CommunicationModuleConnected; }
+            set
+            {
+                Set(nameof(CommunicationModuleConnected), ref _CommunicationModuleConnected, value);
+            }
+        }
+
         private List<string> _MessageList = new List<string>();
 
         public string Messages
@@ -137,6 +148,30 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private int _MapMode=0;
+        public int MapMode
+        {
+            get { return _MapMode; }
+            set { Set(nameof(MapMode), ref _MapMode, value); }
+        }
+
+        private ICommand _ChangeMapModeCommand;
+        public ICommand ChangeMapModeCommand
+        {
+            get
+            {
+                return _ChangeMapModeCommand ?? (_ChangeMapModeCommand = new RelayCommand(() =>
+                {
+                    if (MapMode == 0)
+                        MapMode = 1;
+                    else
+                        MapMode = 0;
+                }));
+            }
+        }
+
+
+
 
         private ICommand _ExportTasksCommand;
         public ICommand ExportTasksCommand

Plane.FormationCreator/ViewModels/ModiLEDModel.cs

@@ -0,0 +1,13 @@
+using GalaSoft.MvvmLight;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Plane.FormationCreator.ViewModels
+{
+    class ModiLEDModel : ViewModelBase
+    {
+    }
+}

Plane.FormationCreator/ViewModels/ModiLEDViewModel.cs

@@ -0,0 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Plane.FormationCreator.ViewModels
+{
+    class ModiLEDViewModel ：ViewModelBase
+    {
+    }
+}

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -278,6 +278,28 @@ namespace Plane.FormationCreator.ViewModels
                     double tlng = 0;
                     double avgl = 0;
 
+                    if (_copterManager.SelectedCopters.Count() > 2)
+                    {
+                        List<FlightTaskSingleCopterInfo> selectTaskInfos = new List<FlightTaskSingleCopterInfo>();
+                        for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
+                        {
+
+                            if (_copterManager.SelectedCopters.Contains(_flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter))
+                                selectTaskInfos.Add(_flightTaskManager.SelectedTask.SingleCopterInfos[i]);
+                        }
+                        selectTaskInfos.Sort((x, y) => x.TargetLng.CompareTo(y.TargetLng));
+                        minlng = selectTaskInfos[0].TargetLng;
+                        maxlng = selectTaskInfos[selectTaskInfos.Count - 1].TargetLng;
+                        tlng = (maxlng - minlng) / (selectTaskInfos.Count - 1);
+
+                        for (int i = 0; i < selectTaskInfos.Count; i++)
+                        {
+                            selectTaskInfos[i].TargetLng = minlng + i * tlng;
+                        }
+                    }
+                 
+
+                    /*
                     if (Alert.Show("本操作将导致飞机位置重新排列，编号最小的飞机在最左边，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
                     == MessageBoxResult.OK)
                     {
@@ -334,7 +356,7 @@ namespace Plane.FormationCreator.ViewModels
 
                     }
 
-
+                    */
                    ///////////////////////
 
                    // await Task.Delay(100);  // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
@@ -359,6 +381,27 @@ namespace Plane.FormationCreator.ViewModels
 
                     double avgl = 0;
 
+                    if (_copterManager.SelectedCopters.Count() > 2)
+                    {
+                        List<FlightTaskSingleCopterInfo> selectTaskInfos = new List<FlightTaskSingleCopterInfo>();
+                        for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
+                        {
+
+                            if (_copterManager.SelectedCopters.Contains(_flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter))
+                                selectTaskInfos.Add(_flightTaskManager.SelectedTask.SingleCopterInfos[i]);
+                        }
+                        selectTaskInfos.Sort((x, y) => x.TargetLat.CompareTo(y.TargetLat));
+                        minlat = selectTaskInfos[0].TargetLat;
+                        maxlat = selectTaskInfos[selectTaskInfos.Count - 1].TargetLat;
+                        tlat = (maxlat - minlat) / (selectTaskInfos.Count - 1);
+
+                        for (int i = 0; i < selectTaskInfos.Count; i++)
+                        {
+                            selectTaskInfos[i].TargetLat = minlat + i * tlat;
+                        }
+                    }
+
+                    /*
                     if (Alert.Show("本操作将导致飞机位置重新排列，编号最小的飞机在最上边，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
                     == MessageBoxResult.OK)
                     {
@@ -419,7 +462,7 @@ namespace Plane.FormationCreator.ViewModels
 
                             // await Task.Delay(100);  // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
                         }
-                    }
+                    }*/
                 }));
             }
         }
@@ -1183,6 +1226,8 @@ public ICommand VerticlAlignmentCommand
             {
                 return _calDistinceCommand ?? (_calDistinceCommand = new RelayCommand<double>(async  =>
                 {
+                    if (_copterManager.AcceptingControlCopters.Count() < 2)
+                        return;
 
                     double minDistance = double.MaxValue;
 
@@ -1222,6 +1267,34 @@ public ICommand VerticlAlignmentCommand
             }
         }
 
+        private ICommand _WayPointDistinceCommand;
+        public ICommand WayPointDistinceCommand
+        {
+            get
+            {
+                return _WayPointDistinceCommand ?? (_WayPointDistinceCommand = new RelayCommand<double>(async =>
+                {
+                    if (_copterManager.AcceptingControlCopters.Count() != 1)
+                        return;
+
+                    int taskIndex = _flightTaskManager.SelectedTaskIndex;
+                    if (taskIndex != 0 || _flightTaskManager.SelectedTask.TaskType == FlightTaskType.FlyTo)
+                    {
+                        var curCopter = _copterManager.AcceptingControlCopters.First();
+
+                        var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == curCopter);
+                        var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == curCopter);
+
+                        double distance = GeographyUtils.CalcDistance(
+                               prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
+                               curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
+
+                        Message.Show($"航点间距 = {distance}");
+                    }
+                }));
+            }
+        }
+
 
 
 

Plane.FormationCreator/ViewModels/View3DViewModel.cs

@@ -0,0 +1,86 @@
+using GalaSoft.MvvmLight;
+using GalaSoft.MvvmLight.Command;
+using HelixToolkit.Wpf;
+using Plane.FormationCreator.Formation;
+using Plane.Geography;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Media3D;
+
+namespace Plane.FormationCreator.ViewModels
+{
+    public class View3DViewModel : ViewModelBase
+    {
+        private FlightTaskManager _flightTaskManager;
+
+        public View3DViewModel(FlightTaskManager flightTaskManager)
+        {
+            modelGroup = new Model3DGroup();
+            planeGroup = new Model3DGroup();
+            waypointGroup = new Model3DGroup();
+            modelGroup.Children.Add(planeGroup);
+            modelGroup.Children.Add(waypointGroup);
+            this.Model = modelGroup;
+            _flightTaskManager = flightTaskManager;
+            _flightTaskManager.PropertyChanged += new PropertyChangedEventHandler(flightTaskPropertyChanged);
+        }
+
+        private void flightTaskPropertyChanged(object sender, PropertyChangedEventArgs e)
+        {
+            switch (e.PropertyName)
+            {
+                case nameof(FlightTaskManager.SelectedTaskIndex):
+                        SelectTask();
+                    break;
+                default:
+                    break;
+            }
+        }
+
+        private void SelectTask()
+        {
+            if (_flightTaskManager.SelectedTaskIndex > 0)
+            {
+                //modelGroup.Children.Clear();
+                if (waypointGroup == null) waypointGroup = new Model3DGroup();
+                waypointGroup.Children.Clear();
+               
+
+                var meshBuilderwaypoint = new MeshBuilder(false, false);
+                meshBuilderwaypoint.AddSphere(new Point3D(0, 0, 0), 0.3);
+                var meshwaypoint = meshBuilderwaypoint.ToMesh(true);
+                var greenMaterial = MaterialHelper.CreateMaterial(Color.FromRgb(0,255,0));
+
+                foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.Tasks[_flightTaskManager.SelectedTaskIndex].SingleCopterInfos)
+                {
+                
+                    double x = GeographyUtils.CalcDistance(_flightTaskManager.OriginLng, 0, 0, info.TargetLng, 0, 0);
+                    if (_flightTaskManager.OriginLng > info.TargetLng) x = -x;
+                    double y = GeographyUtils.CalcDistance(0, _flightTaskManager.OriginLat, 0, 0, info.TargetLat, 0);
+                    if (_flightTaskManager.OriginLat > info.TargetLat) y = -y;
+
+                    waypointGroup.Children.Add(new GeometryModel3D
+                    {
+                        Geometry = meshwaypoint,
+                        Transform = new TranslateTransform3D(x, y, info.TargetAlt),
+                        Material = greenMaterial,
+                        BackMaterial = greenMaterial
+                    });
+                }
+            }
+        }
+
+        public Model3D Model { get; set; }
+        public Model3DGroup modelGroup { get; set; }
+
+        public Model3DGroup planeGroup { get; set; }
+        public Model3DGroup waypointGroup { get; set; }
+
+    }
+}

Plane.FormationCreator/Views/ConnectWindow.xaml

@@ -10,7 +10,7 @@
                Title="连接"
                Width="429.175"
                Height="570.371"
-               Style="{StaticResource VSWindowStyleKey}"
+               
                WindowStartupLocation="CenterScreen"
                FontFamily="Microsoft YaHei"
                ResizeMode="NoResize">
@@ -67,6 +67,7 @@
             <RowDefinition Height="Auto" />
             <RowDefinition Height="Auto" />
             <RowDefinition Height="Auto" />
+            <RowDefinition Height="Auto" />
         </Grid.RowDefinitions>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="Auto" />
@@ -143,5 +144,12 @@
             <Button Content="搜索飞机" Margin="5" Command="{Binding QueryAllCopterCommand}"/>
         </StackPanel>
 
+        <StackPanel Orientation="Horizontal"
+                    HorizontalAlignment="Center"
+                    Grid.Row="4"
+                    Grid.ColumnSpan="3">
+            <Button Content="空中升级" Margin="5" Command="{Binding UpdateAllCopterCommand}"></Button>
+        </StackPanel>
+                    
     </Grid>
 </c:MetroWindow>

Plane.FormationCreator/Views/CopterListView.xaml

@@ -20,6 +20,7 @@
         <ListBox x:Name="lvwDrones"
                  ItemsSource="{Binding CopterManager.Copters}"
                  SelectedItem="{Binding SelectedCopter}"
+                 PreviewKeyDown="_listBoxCopters_PreviewKeyDown"
                  Background="Transparent"
                  BorderThickness="0"
                  SelectionMode="Extended"
@@ -77,8 +78,11 @@
                     Command="{Binding AddVirtualCopterCommand}"
                     CommandParameter="{Binding Text, ElementName=txtVirtualCopterCount}" />
             <Button Content="清除"
-                    Margin="5,0,5,0"
+                    Margin="5,0,0,0"
                     Command="{Binding ClearCoptersCommand}" />
+            <Button Content="设置"
+                    Margin="5,0,5,0"
+                    Command="{Binding SetCoptersPutCommand}" />
             <TextBlock  Text="总数"
                    Margin="5,5,0,0"/>
             <TextBlock  Text="{Binding CopterManager.Copters.Count}"

Plane.FormationCreator/Views/CopterListView.xaml.cs

@@ -37,6 +37,7 @@ namespace Plane.FormationCreator.Views
             lvwDrones.SelectionChanged += (sender, e) =>
             {
                 _copterManager.RaiseSelectedCoptersChanged(e.AddedItems.Cast<ICopter>(), e.RemovedItems.Cast<ICopter>());
+                lvwDrones.ScrollIntoView(lvwDrones.SelectedItem);
             };
         }
 
@@ -65,5 +66,31 @@ namespace Plane.FormationCreator.Views
         {
             lvwDrones.SelectedItems.Clear();
         }
+
+        private void _listBoxCopters_PreviewKeyDown(object sender, KeyEventArgs e)
+        {
+            if (!this.lvwDrones.HasItems)
+            {
+                return;
+            }
+
+            bool prev = e.Key == Key.Up;
+            bool next = e.Key == Key.Down;
+            if (prev | next)
+            {
+                int afterIndex;
+                if (prev)
+                {
+                    afterIndex = lvwDrones.SelectedIndex - 1;
+                    lvwDrones.SelectedIndex = afterIndex < 0 ? 0 : afterIndex;
+                }
+                else
+                {
+                    afterIndex = lvwDrones.SelectedIndex + 1;
+                    lvwDrones.SelectedIndex = afterIndex > lvwDrones.Items.Count - 1 ? lvwDrones.Items.Count - 1 : afterIndex;
+                }
+                e.Handled = true;
+            }
+        }
     }
 }

Plane.FormationCreator/Views/LogUserControl.xaml

@@ -0,0 +1,12 @@
+<UserControl x:Class="Plane.FormationCreator.Views.LogUserControl"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+             mc:Ignorable="d" 
+             d:DesignHeight="300" d:DesignWidth="300">
+    <Grid>
+        <TextBox/>
+    </Grid>
+</UserControl>

Plane.FormationCreator/Views/LogUserControl.xaml.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// LogUserControl.xaml 的交互逻辑
+    /// </summary>
+    public partial class LogUserControl : UserControl
+    {
+        public LogUserControl()
+        {
+            InitializeComponent();
+        }
+    }
+}

Plane.FormationCreator/Views/LogWindow.xaml

@@ -6,12 +6,14 @@
         xmlns:local="clr-namespace:Plane.FormationCreator.Views"
         xmlns:c="http://metro.mahapps.com/winfx/xaml/controls"
         xmlns:ec="clr-namespace:Plane.Windows.Controls;assembly=Plane.Windows"
+        xmlns:src="clr-namespace:Plane.GoogleMap"
         mc:Ignorable="d"
-        Style="{StaticResource VSWindowStyleKey}"
+        
         Title="日志" Height="776.219" Width="1195.283">
 
     <Grid>
-        <TabControl>
+        <src:GMap x:Name="mapControl" Zoom="13" MaxZoom="24" MinZoom="1" />
+        <TabControl Visibility="Collapsed">
             <TabItem Header="软件日志">
                 <TextBox 
                      Name="textAppLog"
@@ -20,7 +22,8 @@
                      Margin="10,10,10,10" 
                      TextWrapping="Wrap"
                      IsReadOnly="True"
-                     ScrollViewer.VerticalScrollBarVisibility="Visible"/>
+                     ScrollViewer.VerticalScrollBarVisibility="Visible"
+                    />
             </TabItem>
             <TabItem Header="飞机日志">
                 <TextBox 

Plane.FormationCreator/Views/LogWindow.xaml.cs

@@ -1,4 +1,5 @@
-using Plane.FormationCreator.Formation;
+
+using Plane.FormationCreator.Formation;
 using Plane.FormationCreator.ViewModels;
 using MahApps.Metro.Controls;
 using Microsoft.Practices.ServiceLocation;
@@ -18,6 +19,10 @@ using System.Configuration;
 using System.IO;
 using System.Threading;
 using Plane.Logging;
+using GMap.NET;
+using GMap.NET.MapProviders;
+using GMap.NET.WindowsPresentation;
+using Plane.FormationCreator.Maps;
 
 namespace Plane.FormationCreator.Views
 {
@@ -29,6 +34,8 @@ namespace Plane.FormationCreator.Views
         public LogWindow(string log)
         {
             InitializeComponent();
+
+
             textAppLog.Text = log;
             textAppLog.SelectionStart = textAppLog.Text.Length;
             textAppLog.ScrollToEnd();
@@ -36,6 +43,37 @@ namespace Plane.FormationCreator.Views
             string loger = _logger.ReadLog();
             textCopterLog.Text = loger;
             textCopterLog.SelectionStart = textCopterLog.Text.Length;
+
+            
+            try
+            {
+                System.Net.IPHostEntry e = System.Net.Dns.GetHostEntry("ditu.google.cn");
+            }
+            catch
+            {
+                mapControl.Manager.Mode = AccessMode.CacheOnly;
+                MessageBox.Show("No internet connection avaible, going to CacheOnly mode.", "GMap.NET Demo", MessageBoxButton.OK, MessageBoxImage.Warning);
+            }
+
+            mapControl.MapProvider = GMapProviders.GoogleChinaSatelliteMap; //google china 地图
+            mapControl.MinZoom = 2;  //最小缩放
+            mapControl.MaxZoom = 23; //最大缩放
+            mapControl.Zoom = 19;     //当前缩放
+            mapControl.ShowCenter = true; //不显示中心十字点
+
+            mapControl.DragButton = MouseButton.Left; //左键拖拽地图
+            mapControl.Position = new LatLng(40.07734857737275, 116.34323845862502).ToGCJ02(); 
+
+            mapControl.MouseLeftButtonDown += new MouseButtonEventHandler(mapControl_MouseLeftButtonDown);
+            
+        }
+
+        void mapControl_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            Point clickPoint = e.GetPosition(mapControl);
+            PointLatLng point = mapControl.FromLocalToLatLng((int)clickPoint.X, (int)clickPoint.Y);
+            GMapMarker marker = new GMapMarker(point);
+            mapControl.Markers.Add(marker);
         }
     }
 }

Plane.FormationCreator/Views/MapView.xaml

@@ -6,11 +6,22 @@
              xmlns:local="clr-namespace:Plane.FormationCreator.Views"
              xmlns:m="clr-namespace:Plane.FormationCreator.Maps"
              xmlns:bingMaps="clr-namespace:Microsoft.Maps.MapControl.WPF;assembly=Microsoft.Maps.MapControl.WPF"
+             xmlns:googleMaps="clr-namespace:Plane.GoogleMap"
              mc:Ignorable="d"
              d:DesignHeight="300"
              d:DesignWidth="300">
-    <Grid>
+    <UserControl.Resources>
+        <ContextMenu x:Key="MapMenu" >
+            <MenuItem Header="地图透明" Click="Map_Opacity"
+                      Foreground="White"/>
+            <MenuItem Header="加载图片" Click="Load_Background"
+                      Foreground="White"/>
+        </ContextMenu>
+    </UserControl.Resources>
+    <Grid Name="grid_bg">
 
+        <googleMaps:GMap x:Name="gmap" Opacity="1" ContextMenu="{StaticResource MapMenu}"/>
+        <!--
         <bingMaps:Map Name="map" 
                       CredentialsProvider="8IGVSMWVqW8lDaMuGr2c~XaqB2qlBDLvSvXFzrQ8c-A~AiPIQttopdwAl4kXs8xm6_r59NEGdyqXejcaMDum6qB1BUJ6e25uViKL7fEdEROP"
                       ZoomLevel="20" Opacity="1">
@@ -21,8 +32,9 @@
                 <bingMaps:Location Latitude="40.055905"
                                    Longitude="116.322233" />
             </bingMaps:Map.Center>
-            <!--<m:OpenStreetMapTileLayer UriFormat="http://tile.openstreetmap.org/{z}/{x}/{y}.png" />-->
+           
         </bingMaps:Map>
+        -->
         <StackPanel HorizontalAlignment="Right"
               VerticalAlignment="Top" 
                     Orientation="Horizontal"

Plane.FormationCreator/Views/MapView.xaml.cs

@@ -23,14 +23,15 @@ using System.Windows.Media.Imaging;
 using System.Windows.Navigation;
 using System.Windows.Shapes;
 using Plane.Collections;
-using Microsoft.Maps.MapControl.WPF;
-using Microsoft.Maps.MapControl.WPF.Overlays;
 using System.Windows.Media.Effects;
 using Microsoft.Practices.ServiceLocation;
 using Plane.FormationCreator.ViewModels;
 using Plane.Geography;
 using Plane.FormationCreator.Maps;
 using Plane.Windows.Messages;
+using GMap.NET;
+using GMap.NET.WindowsPresentation;
+using GMap.NET.MapProviders;
 
 namespace Plane.FormationCreator.Views
 {
@@ -44,9 +45,16 @@ namespace Plane.FormationCreator.Views
             InitializeComponent();
 
             this.DataContext = ServiceLocator.Current.GetInstance<MapViewModel>();
+            gmap.MapProvider = GMapProviders.BingHybridMap; //google china 地图
+            gmap.MinZoom = 2;  //最小缩放
+            gmap.MaxZoom = 30; //最大缩放
+            gmap.Zoom = 19;     //当前缩放
+            gmap.ShowCenter = false; //不显示中心十字点
+            gmap.DragButton = MouseButton.Left; //左键拖拽地图
+            gmap.Position = new LatLng(40.07734857737275, 116.34323845862502).ToGCJ02();
 
             _mapManager.MapView = this;
-            _mapManager.SetCenterGetter(() => new LatLng { Lat = map.Center.Latitude, Lng = map.Center.Longitude });
+            _mapManager.SetCenterGetter(() => new LatLng { Lat = gmap.Position.ToWGS84().Lat, Lng = gmap.Position.ToWGS84().Lng });
 
             _flightTaskManager.TaskAdded += FlightTaskManager_TaskAdded;
             _flightTaskManager.OnOriginalSet += FlightTaskManager_SetOriginal;
@@ -100,7 +108,7 @@ namespace Plane.FormationCreator.Views
                 }
             };
 
-            map.MouseLeftButtonDown += (sender, e) =>
+            gmap.MouseLeftButtonDown += (sender, e) =>
             {
                 if (IsMouseOnCopterOrWaypoint(e.OriginalSource))
                 {
@@ -113,7 +121,7 @@ namespace Plane.FormationCreator.Views
             //_copterManager.Copters.ForEach(copter => AddOrMoveCopterForModifyingTask(copter));
             //_copterManager.Copters.CollectionChanged += CoptersForModifyingTask_CollectionChanged;
 
-            map.MouseDoubleClick += async (sender, e) =>
+            gmap.MouseDoubleClick += async (sender, e) =>
             {
                 e.Handled = true;
 
@@ -129,42 +137,48 @@ namespace Plane.FormationCreator.Views
 
                 if (!copters.Any()) return;
 
-                var pos = map.ViewportPointToLocation(e.GetPosition(map));
+                Point clickPoint = e.GetPosition(gmap);
+                var pos = gmap.FromLocalToLatLng((int)clickPoint.X, (int)clickPoint.Y);
                 var centerLat = copters.Average(c => c.Latitude);
                 var centerLng = copters.Average(c => c.Longitude);
-                var latDelta = pos.Latitude - centerLat;
+                var latDelta = pos.Lat - centerLat;
-                var lngDelta = pos.Longitude - centerLng;
+                var lngDelta = pos.Lng - centerLng;
 
                
                 await Task.WhenAll(copters.Select(copter => copter.FlyToAsync(copter.Latitude + latDelta, copter.Longitude + lngDelta, copter.Altitude)));
             };
 
             var center = _appConfig.Center;
-            map.Center = new Location(center.Lat, center.Lng);
+            gmap.Position = new LatLng(center.Lat, center.Lng).ToGCJ02();
-            map.ZoomLevel = _appConfig.ZoomLevel;
+            gmap.Zoom = _appConfig.ZoomLevel;
 
 
-            map.ViewChangeOnFrame += (object sender, MapEventArgs e) =>
+            gmap.OnMapZoomChanged += () =>
               {
-                  if ( map.Mode.GetType().ToString() == "Microsoft.Maps.MapControl.WPF.AerialMode")
+//                   if ( gmap.Mode.GetType().ToString() == "Microsoft.Maps.MapControl.WPF.AerialMode")
-                    if (map.ZoomLevel >19)
+//                     if (map.ZoomLevel >19)
-                      map.ZoomLevel = 19;
+//                       map.ZoomLevel = 19;
-                  if (original!= null && map.Children.Contains(original))
+                  if (originalMarker != null && gmap.Markers.Contains(originalMarker))
                   {
-                      Location location = new Location(_flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
+                      PointLatLng location = new LatLng(_flightTaskManager.OriginLat, _flightTaskManager.OriginLng).ToGCJ02();
-                      Point wpPos = map.LocationToViewportPoint(location);
+                      GPoint wpPos = gmap.FromLatLngToLocal(location);
-                      wpPos.X -= ORIGIN_RADIUS;
+                      //Point wpPos = gmap.LocationToViewportPoint(location);
-                      wpPos.Y -= ORIGIN_RADIUS;
+                      wpPos.X -= (long)ORIGIN_RADIUS;
-                      MapLayer.SetPosition(original, map.ViewportPointToLocation(wpPos));
+                      wpPos.Y -= (long)ORIGIN_RADIUS;
+                      originalMarker.Position = gmap.FromLocalToLatLng((int)wpPos.X, (int)wpPos.Y);
+                      //MapLayer.SetPosition(original, gmap.ViewportPointToLocation(wpPos));
                   }
               };
 
+            GMapMarker rectangleMarker = null;
             Rectangle rectangle = new Rectangle();
             bool drawRectangle = false;
             Point startPosition = new Point();
             Point leftTopPoint = new Point();
-            map.MouseRightButtonDown += (sender, e) =>
+            gmap.MouseRightButtonDown += (sender, e) =>
             {
+                startPosition = e.GetPosition(this);
+                rectangleMarker = new GMapMarker(gmap.FromLocalToLatLng((int)startPosition.X, (int)startPosition.Y));
                 rectangle = new Rectangle();
                 rectangle.Width = 0;
                 rectangle.Height = 0;
@@ -173,31 +187,33 @@ namespace Plane.FormationCreator.Views
                
                 rectangle.Fill = new SolidColorBrush(Color.FromArgb(80, 0, 120, 215));
                 rectangle.Tag = "Rectangle";
+                rectangleMarker.Shape = rectangle;
+                rectangleMarker.Tag = "Rectangle";
+                gmap.Markers.Add(rectangleMarker);
                 
-                map.Children.Add(rectangle);
+                //MapLayer.SetPosition(rectangle, map.ViewportPointToLocation(startPosition));
-                startPosition = e.GetPosition(this);
-                MapLayer.SetPosition(rectangle, map.ViewportPointToLocation(startPosition));
                 drawRectangle = true;
             };
 
-            map.MouseMove += (sender, e) =>
+            gmap.MouseMove += (sender, e) =>
             {
                 if (drawRectangle)
                 {
-                    Point mousePosition = e.GetPosition(this);
+                    Point mousePosition = e.GetPosition(gmap);
                     rectangle.Width = Math.Abs(mousePosition.X - startPosition.X);
                     rectangle.Height = Math.Abs(mousePosition.Y - startPosition.Y);
                     leftTopPoint = new Point(Math.Min(mousePosition.X, startPosition.X), Math.Min(mousePosition.Y, startPosition.Y));
-                    MapLayer.SetPosition(rectangle, map.ViewportPointToLocation(leftTopPoint));
+                    rectangleMarker.Position = gmap.FromLocalToLatLng((int)leftTopPoint.X, (int)leftTopPoint.Y);
+                    //MapLayer.SetPosition(rectangle, map.ViewportPointToLocation(leftTopPoint));
                 }
             };
             int selectedCount = 0;
-            map.MouseRightButtonUp += (sender, e) =>
+            gmap.MouseRightButtonUp += (sender, e) =>
             {
                 selectedCount = 0;
-                if (rectangle != null && map.Children.Contains(rectangle))
+                if (rectangleMarker != null && gmap.Markers.Contains(rectangleMarker))
                 {
-                    map.Children.Remove(rectangle);
+                    gmap.Markers.Remove(rectangleMarker);
                     _copterManager.Select(null);
                     if (_flightTaskManager.SelectedTask != null && _flightTaskManager.SelectedTask.TaskType != FlightTaskType.TakeOff)
                     {
@@ -205,8 +221,8 @@ namespace Plane.FormationCreator.Views
                         
                         foreach (FlightTaskSingleCopterInfo taskCopterInfo in _flightTaskManager.SelectedTask.SingleCopterInfos)
                         {
-                            Location seekLocation = new Location(taskCopterInfo.TargetLat, taskCopterInfo.TargetLng);
+                            PointLatLng seekLocation = new LatLng(taskCopterInfo.TargetLat, taskCopterInfo.TargetLng).ToGCJ02();
-                            Point seekPoint = map.LocationToViewportPoint(seekLocation);
+                            GPoint seekPoint = gmap.FromLatLngToLocal(seekLocation);
                             if ((seekPoint.X > leftTopPoint.X && seekPoint.X < leftTopPoint.X + rectangle.Width) &&
                                 seekPoint.Y > leftTopPoint.Y && seekPoint.Y < leftTopPoint.Y + rectangle.Height)
                             {
@@ -218,22 +234,23 @@ namespace Plane.FormationCreator.Views
                     }
                 }
                 rectangle = null;
+                rectangleMarker = null;
                 drawRectangle = false;
             };
 
-            map.MouseLeave += (sender, e) =>
+            gmap.MouseLeave += (sender, e) =>
             {
-                if (map.Children.Contains(rectangle))
+                if (gmap.Markers.Contains(rectangleMarker))
                 {
-                    map.Children.Remove(rectangle);
+                    gmap.Markers.Remove(rectangleMarker);
                 }
                 rectangle = null;
                 drawRectangle = false;       
             };
 
            
-            map.MouseMove += new MouseEventHandler(OriginalMove);
+            gmap.MouseMove += new MouseEventHandler(OriginalMove);
-            map.MouseLeftButtonUp += new MouseButtonEventHandler(OriginalMouseUp);
+            gmap.MouseLeftButtonUp += new MouseButtonEventHandler(OriginalMouseUp);
         }
 
         private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
@@ -255,6 +272,7 @@ namespace Plane.FormationCreator.Views
 
         public bool RemoveLoadingErrorMessage()
         {
+            /*
             var errorElement = map.Children.OfType<LoadingErrorMessage>().FirstOrDefault();
             if (errorElement != null)
             {
@@ -265,13 +283,16 @@ namespace Plane.FormationCreator.Views
             {
                 return false;
             }
+            */
+            return true;
         }
 
         public void GoHome()
         {
-            map.ZoomLevel = 19;
+            gmap.Zoom = 19;
             //map.Center = new Location(40.0559055, 116.322233);
-            map.Center = new Location(40.6801557090282, 114.670060030638);
+            //gmap.Position = new LatLng(40.6801557090282, 114.670060030638).ToGCJ02();
+            gmap.Position = new PointLatLng(40.1484605429763, 116.293929666281);
         }
 
 
@@ -305,7 +326,7 @@ namespace Plane.FormationCreator.Views
         {
             var drawing = _copterDrawings.ContainsKey(copter) ?
                 _copterDrawings[copter] :
-                (_copterDrawings[copter] = new CopterDrawing(copter, map));
+                (_copterDrawings[copter] = new CopterDrawing(copter, gmap));
             drawing.AddOrMoveCopter();
         }
 
@@ -321,6 +342,7 @@ namespace Plane.FormationCreator.Views
 
         public void ClearCopters()
         {
+            /*
             for (int i = map.Children.Count - 1; i >= 0; i--)
             {
                 if (!(map.Children[i] is MapTileLayer))
@@ -332,6 +354,9 @@ namespace Plane.FormationCreator.Views
             {
                 item.Value.RemoveMap_ViewChanged();
             }
+            */
+            
+            gmap.Markers.Clear();
             _copterDrawings.Clear();
         }
 
@@ -339,7 +364,7 @@ namespace Plane.FormationCreator.Views
         {
             var elem = originalSource as FrameworkElement;
             string tag;
-            while (elem != map && elem != null)
+            while (elem != gmap && elem != null)
             {
                 tag = elem.Tag?.ToString();
                 if (tag == COPTER_TAG || tag == WAYPOINT_TAG || tag == ORIGINALPOINT_TAG)
@@ -356,28 +381,29 @@ namespace Plane.FormationCreator.Views
             foreach (var info in e.AddedTask.SingleCopterInfos)
             {
                 var drawingInfo = _copterDrawings[info.Copter];
-                var location = new Location(info.TargetLat, info.TargetLng, info.TargetAlt);
+                var location = new Microsoft.Maps.MapControl.WPF.Location(info.TargetLat, info.TargetLng, info.TargetAlt);
                 drawingInfo.AddWaypoint(location, e.AddedTask.TaskType);
             }
         }
 
+        GMapMarker originalMarker = null;
         Microsoft.Expression.Shapes.RegularPolygon original = null;
         const double ORIGIN_RADIUS = 12;
         private void FlightTaskManager_SetOriginal(object sender, FlightTaskAddedOriginalEventArgs e)
         {
             if (_copterManager.Copters.Count == 0) return;
-            if (map.Children.Contains(original))
+            if (gmap.Markers.Contains(originalMarker))
-                map.Children.Remove(original);
+                gmap.Markers.Remove(originalMarker);
-            Location location = new Location(_copterManager.Copters[0].Latitude, _copterManager.Copters[0].Longitude);
+            PointLatLng location = new LatLng(_copterManager.Copters[0].Latitude, _copterManager.Copters[0].Longitude).ToGCJ02();
-            Point point = map.LocationToViewportPoint(location);
+            GPoint point = gmap.FromLatLngToLocal(location);
-            point.X -= ORIGIN_RADIUS;
+            point.X -= (long)ORIGIN_RADIUS;
-            point.Y -= ORIGIN_RADIUS;
+            point.Y -= (long)ORIGIN_RADIUS;
-            Location mapLocation = map.ViewportPointToLocation(point);
+            PointLatLng mapLocation = gmap.FromLocalToLatLng((int)point.X , (int)point.Y);
     
             original = new Microsoft.Expression.Shapes.RegularPolygon
             {
                 Tag = ORIGINALPOINT_TAG,
-                Fill = new SolidColorBrush(Color.FromArgb(200,237, 155, 3)),
+                Fill = new SolidColorBrush(Color.FromArgb(200, 237, 155, 3)),
                 Stroke = new SolidColorBrush(Color.FromArgb(200, 238, 80, 238)),
                 StrokeThickness = 1,
                 Width = ORIGIN_RADIUS * 2,
@@ -385,16 +411,17 @@ namespace Plane.FormationCreator.Views
                 InnerRadius = 0.5,
                 PointCount = 5,
             };
+            originalMarker = new GMapMarker(mapLocation);
+            originalMarker.ZIndex = 200;
+            originalMarker.Shape = original;
             
-         
+            gmap.Markers.Add(originalMarker);
-
+            //MapLayer.SetPosition(original, mapLocation);
-            map.Children.Add(original);
+            //MapLayer.SetZIndex(original, 200);
-            MapLayer.SetPosition(original, mapLocation);
-            MapLayer.SetZIndex(original, 200);
             original.ToolTip = location.ToString();
             originaDrag = false;
-            _flightTaskManager.OriginLat = location.Latitude;
+            _flightTaskManager.OriginLat = location.Lat;
-            _flightTaskManager.OriginLng = location.Longitude;
+            _flightTaskManager.OriginLng = location.Lng;
             original.MouseLeftButtonDown += new MouseButtonEventHandler(OriginalMouseDown);
 
         }
@@ -408,8 +435,8 @@ namespace Plane.FormationCreator.Views
         {
             originaDrag = true;
 
-
+            gmap.CanDragMap = false;
-            var originPoint = e.GetPosition(map);
+            var originPoint = e.GetPosition(gmap);
             originX = originPoint.X;
             originY = originPoint.Y;
 
@@ -422,9 +449,10 @@ namespace Plane.FormationCreator.Views
         {
             if (originaDrag)
             {
-                Point eventPos = e.GetPosition(map);
+                Point eventPos = e.GetPosition(gmap);
                 var leftTopPos = new Point(eventPos.X - wpOffsetX, eventPos.Y - wpOffsetY);
-                MapLayer.SetPosition(original, map.ViewportPointToLocation(leftTopPos));
+                originalMarker.Position = gmap.FromLocalToLatLng((int)leftTopPos.X, (int)leftTopPos.Y);
+                //MapLayer.SetPosition(original, map.ViewportPointToLocation(leftTopPos));
             }
            
         }
@@ -433,23 +461,22 @@ namespace Plane.FormationCreator.Views
         {
             if (originaDrag)
             {
-                
+                Point eventPos = e.GetPosition(gmap);
-
-
-                Point eventPos = e.GetPosition(map);
                 var centrePos = new Point(eventPos.X - wpOffsetX + ORIGIN_RADIUS, eventPos.Y - wpOffsetY + ORIGIN_RADIUS);
-                Location location = map.ViewportPointToLocation(centrePos);
+                PointLatLng location = gmap.FromLocalToLatLng((int)centrePos.X, (int)centrePos.Y);
-                _flightTaskManager.OriginLat = location.Latitude;
+                _flightTaskManager.OriginLat = location.Lat;
-                _flightTaskManager.OriginLng = location.Longitude;
+                _flightTaskManager.OriginLng = location.Lng;
                 original.ToolTip = location.ToString();
-                Clipboard.SetDataObject(string.Format("{0},{1}", location.Latitude, location.Longitude), true);
+                //Clipboard.SetDataObject(string.Format("{0},{1}", location.Lat, location.Lng), true);
                 originaDrag = false;
+                gmap.CanDragMap = true;
             }
         }
 
 
         private void MapSelectionComboBox_SelectionChanged(object sender, SelectionChangedEventArgs e)
         {
+            /*
             switch ((e.AddedItems[0] as FrameworkElement).Tag.ToString())
             {
                 case "卫星地图":
@@ -472,6 +499,7 @@ namespace Plane.FormationCreator.Views
                     }
                     break;
             }
+            */
         }
         
         private void showallpoint_Checked(object sender, RoutedEventArgs e)
@@ -488,11 +516,7 @@ namespace Plane.FormationCreator.Views
                     _flightTaskManager.RightSelect(taskitme);
                    // TaskbarControl.setRightSelect(taskitme, ischecked);
                 }
-
             }
-
-
-
         }
 
 
@@ -521,6 +545,7 @@ namespace Plane.FormationCreator.Views
 
         private void RemoveTileLayers()
         {
+            /*
             for (int i = map.Children.Count - 1; i >= 0; i--)
             {
                 if (map.Children[i] is MapTileLayer)
@@ -528,12 +553,45 @@ namespace Plane.FormationCreator.Views
                     map.Children.RemoveAt(i);
                 }
             }
+            */
+        }
+
+        private void Map_Opacity(object sender, RoutedEventArgs e)
+        {
+            if (gmap.Opacity == 1)
+            {
+                gmap.Opacity = 0.5;
+            }
+            else
+            {
+                gmap.Opacity = 1;
+            }
+        }
+
+        private void Load_Background(object sender, RoutedEventArgs e)
+        {
+            var dialog = new OpenFileDialog
+            {
+                Filter = "图片 |*.jpg;*.bmp;*.png"
+            };
+            if (dialog.ShowDialog() == true)
+            {
+                ImageBrush ib = new ImageBrush();
+                ib.AlignmentX = AlignmentX.Left;
+                ib.AlignmentY = AlignmentY.Top;
+                ib.Stretch = Stretch.None;
+                ib.ImageSource = new BitmapImage(new Uri(dialog.FileName, UriKind.RelativeOrAbsolute));
+                grid_bg.Background = ib;
+                gmap.Opacity = 0.5;
+            }
+
+            
         }
     }
 
     static class LocationExtensions
     {
-        public static double CalcDistance(this Location loc1, Location loc2)
+        public static double CalcDistance(this Microsoft.Maps.MapControl.WPF.Location loc1, Microsoft.Maps.MapControl.WPF.Location loc2)
         {
             if (loc1 == null)
             {

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -2,7 +2,6 @@
 using Plane.Copters;
 using Plane.FormationCreator.Formation;
 using Plane.Logging;
-using Microsoft.Maps.MapControl.WPF;
 using Microsoft.Practices.ServiceLocation;
 using System;
 using System.Collections.Generic;
@@ -14,6 +13,11 @@ using System.Windows.Controls;
 using System.Windows.Media;
 using System.Windows.Media.Effects;
 using System.Windows.Shapes;
+using GMap.NET.WindowsPresentation;
+using GMap.NET;
+using Plane.FormationCreator.Maps;
+using Microsoft.Maps.MapControl.WPF;
+using Plane.FormationCreator.ViewModels;
 
 namespace Plane.FormationCreator.Views
 {
@@ -21,7 +25,7 @@ namespace Plane.FormationCreator.Views
     {
         private class CopterDrawing
         {
-            public CopterDrawing(ICopter copter, Map map)
+            public CopterDrawing(ICopter copter, GoogleMap.GMap map)
             {
                 this.Copter = copter;
                 _map = map;
@@ -38,13 +42,14 @@ namespace Plane.FormationCreator.Views
 
                 _flightTaskManager.TasksCleared += (sender, e) =>
                 {
-                    for (int i = this.Route.Locations.Count - 1; i >= 1; i--)
+                    Route.Points.Clear();
-                    {
+//                     for (int i = this.Route.Locations.Count - 1; i >= 1; i--)
-                        this.Route.Locations.RemoveAt(i);
+//                     {
-                    }
+//                         this.Route.Locations.RemoveAt(i);
+//                     }
                     foreach (var wp in this.Waypoints)
                     {
-                        _map.Children.Remove(wp);
+                        _map.Markers.Remove(wp);
                     }
                     this.Waypoints.Clear();
                 };
@@ -83,6 +88,7 @@ namespace Plane.FormationCreator.Views
            
 
             public ICopter Copter { get; set; }
+            public GMapMarker DotMarker { get; set; }
             public Grid DotContainer { get; set; }
             public Polygon Dot { get; set; }
 
@@ -91,20 +97,22 @@ namespace Plane.FormationCreator.Views
             public MapPolyline Track { get; set; }
             public Location LastLocation { get; set; }
 
-            public MapPolyline Route { get; set; }
+            public GMapRoute Route { get; set; }
-            public List<ShapesContainer> Waypoints { get; set; } = new List<ShapesContainer>();
+            public List<GMapMarker> Waypoints { get; set; } = new List<GMapMarker>();
 
-            Map _map;
+            GoogleMap.GMap _map;
             Color _color;
             Brush _brush;
 
             ILogger _logger = ServiceLocator.Current.GetInstance<ILogger>();
             CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
             FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+            View3DViewModel _view3DViewModel = ServiceLocator.Current.GetInstance<View3DViewModel>();
 
 
             private void Map_ViewChanged<MapEventArgs>(object sender, MapEventArgs e)
             {
+                /*
                 for (int index = 1; index < _flightTaskManager.Tasks.Count; index++)
                 {
                     var info = _flightTaskManager.Tasks[index].SingleCopterInfos.Find(i => i.Copter == this.Copter); ;
@@ -115,6 +123,7 @@ namespace Plane.FormationCreator.Views
                     wpPos.Y -= WAYPOINT_RADIUS;
                     MapLayer.SetPosition(wpContainer, _map.ViewportPointToLocation(wpPos));
                 }
+                */
 
             }
 
@@ -122,7 +131,7 @@ namespace Plane.FormationCreator.Views
             {
                 try
                 {
-                    var location = new Location(Copter.Latitude, Copter.Longitude, Copter.Altitude);
+                    var location = new Microsoft.Maps.MapControl.WPF.Location(Copter.Latitude, Copter.Longitude, Copter.Altitude);
 
                     if (this.Dot != null )
                     {
@@ -132,9 +141,8 @@ namespace Plane.FormationCreator.Views
                             this.Dot.Fill = _brush;
                     }
 
-                    
+                    PointLatLng gmapLatLng = new LatLng(location.Latitude, location.Longitude).ToGCJ02();
-                        
+                    GPoint center = _map.FromLatLngToLocal(gmapLatLng);
-                    Point center = _map.LocationToViewportPoint(location);
                     bool locationUpdated = true;
                     SolidColorBrush blackBrush = new SolidColorBrush();
                     if (this.Dot == null)
@@ -166,8 +174,6 @@ namespace Plane.FormationCreator.Views
                         DotContainer.Children.Add(Dot);
 
                         //飞机里面的编号
-
-
                         CopterText = new TextBlock
                         {
                             Text = Copter.Name,
@@ -177,29 +183,29 @@ namespace Plane.FormationCreator.Views
                             VerticalAlignment = VerticalAlignment.Center
                         };
 
-
+                        DotMarker = new GMapMarker(new PointLatLng(0, 0));
                         DotContainer.Children.Add(CopterText);
+                        DotMarker.Shape = DotContainer;
+                        _map.Markers.Add(DotMarker);
+                        //MapLayer.SetZIndex(DotContainer, 100);
 
-                        _map.Children.Add(DotContainer);
+                        this.Route = new GMapRoute(new List<PointLatLng>() { gmapLatLng, gmapLatLng });
-                        MapLayer.SetZIndex(DotContainer, 100);
+                        Path path = new Path()
+                        {
+                            Stroke = _brush,
+                            StrokeThickness = 2.0
+                        };
 
-                        this.Route = new MapPolyline { Locations = new LocationCollection { location } };
+                        this.Route.Shape = path;
-                        this.Route.Stroke = _brush;
-                        this.Route.StrokeThickness = 2.0;
                         //显示计划航线
-
+                        //_map.Markers.Add(Route);
-                        //     _map.Children.Add(this.Route);
-
-
 
                         this.LastLocation = location;
 
-                        RegisterEventHandlersForDraggingCopter(DotContainer);
+                        RegisterEventHandlersForDraggingCopter(DotMarker);
                     }
                     else
                     {
-
-                        
                         if ((bool)_copterManager.CopterStatus[_copterManager.Copters.IndexOf(Copter)])
                         {
                             CopterText.Foreground = new SolidColorBrush(Colors.Red);
@@ -209,8 +215,6 @@ namespace Plane.FormationCreator.Views
                             CopterText.Foreground = new SolidColorBrush(Colors.White);
                         }
 
-
-
                         if (LastLocation != null && location.CalcDistance(LastLocation) < 0.1)
                         {
                             locationUpdated = false;
@@ -244,7 +248,8 @@ namespace Plane.FormationCreator.Views
                     if (locationUpdated)
                     {
                         Track.Locations.Add(location);
-                        MapLayer.SetPosition(Dot.Parent, location);
+                        DotMarker.Position = new LatLng(location.Latitude, location.Longitude).ToGCJ02();
+                        //MapLayer.SetPosition(Dot.Parent, location);
                         this.LastLocation = location;
                     }
                 }
@@ -257,30 +262,34 @@ namespace Plane.FormationCreator.Views
             public void AddWaypoint(Location location, FlightTaskType type)
             {
                 // Add waypoint.
-
+                LatLng gmapLatLng = new LatLng(location.Latitude, location.Longitude);
-               
+                GMapMarker marker = new GMapMarker(gmapLatLng.ToGCJ02());
                 ShapesContainer shapesContainer = new ShapesContainer(_brush);
                 shapesContainer.Tag = WAYPOINT_TAG;
+                marker.Tag = WAYPOINT_TAG;
+                marker.Shape = shapesContainer;
 
-                Waypoints.Add(shapesContainer);
+                Waypoints.Add(marker);
-                _map.Children.Add(shapesContainer);
+                _map.Markers.Add(marker);
-                MapLayer.SetZIndex(shapesContainer, 100);
+                marker.ZIndex = 100;
-                var wpPos = _map.LocationToViewportPoint(location);
+                //MapLayer.SetZIndex(shapesContainer, 100);
+                //var wpPos = _map.LocationToViewportPoint(location);
                 //wpPos.X -= WAYPOINT_RADIUS;
                 //wpPos.Y -= WAYPOINT_RADIUS;
-                MapLayer.SetPosition(shapesContainer, _map.ViewportPointToLocation(wpPos));
+                //MapLayer.SetPosition(shapesContainer, _map.ViewportPointToLocation(wpPos));
 
                 SetEffect(_copterManager.SelectedCopters.Contains(Copter));
 
                 // Register event handlers.
-                RegisterEventHandlersForDraggingWaypoint(shapesContainer, taskIndex: Waypoints.Count);
+                RegisterEventHandlersForDraggingWaypoint(marker, taskIndex: Waypoints.Count);
 
                 // Register event handlers for task info.
-                RegisterEventHandlersForTaskInfo(shapesContainer, taskIndex: Waypoints.Count);
+                RegisterEventHandlersForTaskInfo(marker, taskIndex: Waypoints.Count);
             }
 
-            private void RegisterEventHandlersForDraggingCopter(Grid copterElement)
+            private void RegisterEventHandlersForDraggingCopter(GMapMarker copterMarker)
             {
+                Grid copterElement = copterMarker.Shape as Grid;
                 var dragMoving = false;
                 double offsetX = 0;
                 double offsetY = 0;
@@ -294,6 +303,7 @@ namespace Plane.FormationCreator.Views
                         offsetY = posInObject.Y;
 
                         dragMoving = true;
+                        _map.CanDragMap = false;
                     }
                 };
                 _map.MouseMove += (sender, e) =>
@@ -303,9 +313,10 @@ namespace Plane.FormationCreator.Views
                         var pos = e.GetPosition(_map);
                         pos.X -= offsetX;
                         pos.Y -= offsetY;
-                        MapLayer.SetPosition(copterElement, _map.ViewportPointToLocation(pos));
+                        copterMarker.Position = _map.FromLocalToLatLng((int)pos.X, (int)pos.Y);
+                        //MapLayer.SetPosition(copterElement, _map.ViewportPointToLocation(pos));
 
-                        var center = _map.ViewportPointToLocation(pos);
+                        //var center = _map.ViewportPointToLocation(pos);
 
 //                         var routePoint = this.Route.Locations[0];
 //                         routePoint.Latitude = center.Latitude;
@@ -313,21 +324,23 @@ namespace Plane.FormationCreator.Views
 
                         var fc = Copter as FakeCopter;
                         fc.SetProperties(
-                            latitude: center.Latitude,
+                            latitude: copterMarker.Position.ToWGS84().Lat,
-                            longitude: center.Longitude
+                            longitude: copterMarker.Position.ToWGS84().Lng
                         );
                     }
                 };
                 _map.MouseLeftButtonUp += (sender, e) =>
                 {
+                    _map.CanDragMap = true;
                     if (dragMoving) dragMoving = false;
                 };
             }
 
-            private Dictionary<ICopter, Point> selectWayOriginPoint = new Dictionary<ICopter, Point>();
+            private Dictionary<ICopter, GPoint> selectWayOriginPoint = new Dictionary<ICopter, GPoint>();
             private Dictionary<object, bool> _dictDraggingWp = new Dictionary<object, bool>();
-            private void RegisterEventHandlersForDraggingWaypoint(Grid wp, int taskIndex)
+            private void RegisterEventHandlersForDraggingWaypoint(GMapMarker wpMarker, int taskIndex)
             {
+                Grid wp = wpMarker.Shape as Grid;
                 _dictDraggingWp[wp] = false;
                 double originX = 0;
                 double originY = 0;
@@ -360,10 +373,11 @@ namespace Plane.FormationCreator.Views
                     {
                         if (_copterManager.SelectedCopters.Contains(info.Copter))
                         {
-                            Location originLocation = new Location(info.TargetLat, info.TargetLng);
+                            PointLatLng originLocation = new LatLng(info.TargetLat, info.TargetLng).ToGCJ02();
-                            selectWayOriginPoint[info.Copter] = _map.LocationToViewportPoint(originLocation);
+                            selectWayOriginPoint[info.Copter] = _map.FromLatLngToLocal(originLocation);
                         }
                     }
+                    _map.CanDragMap = false;
                 };
                 wp.MouseRightButtonDown += (sender, e) =>
                 {
@@ -377,35 +391,45 @@ namespace Plane.FormationCreator.Views
                         var offsetX = eventPos.X - originX;
                         var offsetY = eventPos.Y - originY;
 
-                        foreach (KeyValuePair<ICopter, Point> kv in selectWayOriginPoint)
+                        foreach (KeyValuePair<ICopter, GPoint> kv in selectWayOriginPoint)
                         {
                             Point curPoint = new Point(kv.Value.X + offsetX, kv.Value.Y + offsetY);
-                            var curLoc = _map.ViewportPointToLocation(curPoint);
+                            var curLoc = _map.FromLocalToLatLng((int)curPoint.X, (int)curPoint.Y).ToWGS84();
 
                             var modifyingSingleCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos.Find(i => i.Copter == kv.Key);
                             //modifyingSingleCopterInfo.TargetLat = routePoint.Latitude = curLoc.Latitude;
                             //modifyingSingleCopterInfo.TargetLng = routePoint.Longitude = curLoc.Longitude;
-                            modifyingSingleCopterInfo.TargetLat =  curLoc.Latitude;
+                            modifyingSingleCopterInfo.TargetLat = curLoc.Lat;
-                            modifyingSingleCopterInfo.TargetLng =  curLoc.Longitude;
+                            modifyingSingleCopterInfo.TargetLng = curLoc.Lng;
+                            Console.WriteLine("-------" + curLoc.Lat + "," + curLoc.Lng);
 
                         }
 
-                        var routePoint = this.Route.Locations[1];
+//                        var routePoint = this.Route.Points[1];
                         var leftTopPos = new Point(eventPos.X - wpOffsetX, eventPos.Y - wpOffsetY);
                         var newRoutePoint = new Point(leftTopPos.X + WAYPOINT_RADIUS, leftTopPos.Y + WAYPOINT_RADIUS);
-                        routePoint.Latitude = _map.ViewportPointToLocation(leftTopPos).Latitude;
+                        var lat_lng = _map.FromLocalToLatLng((int)leftTopPos.X, (int)leftTopPos.Y);
-                        routePoint.Longitude = _map.ViewportPointToLocation(leftTopPos).Longitude;
+
-                        MapLayer.SetPosition(wp, _map.ViewportPointToLocation(leftTopPos));
+                        Route.Points.RemoveAt(1);
+                        Route.Points.Add(lat_lng);
+
+//                         routePoint.Lat = lat_lng.Lat;
+//                         routePoint.Lng = lat_lng.Lng;
+                        this.Route.RegenerateShape(_map);
+                        wpMarker.Position = lat_lng;
+                        //MapLayer.SetPosition(wp, _map.ViewportPointToLocation(leftTopPos));
                     }
                 };
                 _map.MouseLeftButtonUp += (sender, e) =>
                 {
+                    _map.CanDragMap = true;
                     if (_dictDraggingWp[wp]) _dictDraggingWp[wp] = false;
                 };
             }
 
-            private void RegisterEventHandlersForTaskInfo(Grid wp, int taskIndex)
+            private void RegisterEventHandlersForTaskInfo(GMapMarker marker, int taskIndex)
             {
+                var wp = marker.Shape as ShapesContainer;
                 var info = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(i => i.Copter == this.Copter);
                 if (info == null) return;
                 info.PropertyChanged += (sender, e) =>
@@ -417,14 +441,18 @@ namespace Plane.FormationCreator.Views
                         case nameof(FlightTaskSingleCopterInfo.TargetAlt):
                             if (!_dictDraggingWp.GetValue(wp, false))
                             {
-                                var centerLocation = new Location(info.TargetLat, info.TargetLng, info.TargetAlt);
+                                //var centerLocation = new Location(info.TargetLat, info.TargetLng, info.TargetAlt);
-                                var centerPos = _map.LocationToViewportPoint(centerLocation);
+                                //var centerPos = _map.LocationToViewportPoint(centerLocation);
-                                var leftTopPos = new Point(centerPos.X, centerPos.Y);
+                                //var leftTopPos = new Point(centerPos.X, centerPos.Y);
-                                MapLayer.SetPosition(wp, _map.ViewportPointToLocation(leftTopPos));
+                                //MapLayer.SetPosition(wp, _map.ViewportPointToLocation(leftTopPos));
-                                 var routePoint = Route.Locations[1];
+                                marker.Position = new LatLng(info.TargetLat, info.TargetLng).ToGCJ02();
-                                 routePoint.Latitude = info.TargetLat;
+                                //                                  var routePoint = Route.Points[1];
-                                 routePoint.Longitude = info.TargetLng;
+                                //                                  routePoint.Lat = info.TargetLat;
-                                 routePoint.Altitude = info.TargetAlt;
+                                //                                  routePoint.Lng = info.TargetLng;
+                                Route.Points.RemoveAt(1);
+                                Route.Points.Add(marker.Position);
+                                this.Route.RegenerateShape(_map);
+                                //routePoint.Altitude = info.TargetAlt;
                             }
                             break;
                     }
@@ -433,44 +461,39 @@ namespace Plane.FormationCreator.Views
 
             public void RemoveCopter()
             {
-                _map.Children.Remove(this.DotContainer);
+                _map.Markers.Remove(this.DotMarker);
-                _map.Children.Remove(this.Track);
+                //_map.Markers.Remove(this.Track);
-                _map.Children.Remove(this.Route);
+                //_map.Markers.Remove(this.Route);
                 foreach (var item in this.Waypoints)
                 {
-                    _map.Children.Remove(item);
+                    _map.Markers.Remove(item);
                 }
             }
 
             public void RemoveMap_ViewChanged()
             {
-                _map.ViewChangeOnFrame -= Map_ViewChanged;
+                //_map.ViewChangeOnFrame -= Map_ViewChanged;
             }
 
             public void SetShowroute(bool? showroute)
             {
-             
                 if (showroute ?? false )
                 {
-                    _map.Children.Add(this.Route);
+                    _map.Markers.Add(this.Route);
-                    MapLayer.SetZIndex(this.Route, 99);
+                    Route.ZIndex = 99;
                 } 
-                   
                 else
-                    _map.Children.Remove(this.Route);
+                    _map.Markers.Remove(this.Route);
             }
 
             public void SetShowtrack(bool? showtrack)
             {
-                if (showtrack ?? false)
+//                 if (showtrack ?? false)
-                    _map.Children.Add(Track);
+//                     _map.Children.Add(Track);
-                else
+//                 else
-                    _map.Children.Remove(Track);
+//                     _map.Children.Remove(Track);
             }
 
-
-
-
             public void SetEffect(bool selected)
             {
             
@@ -487,7 +510,7 @@ namespace Plane.FormationCreator.Views
                 }
 
 
-                Waypoints.ForEach(wp => wp.Ismark = selected);
+                Waypoints.ForEach(wp => ((ShapesContainer)(wp.Shape)).Ismark = selected);
 
 
                 /*
@@ -501,16 +524,18 @@ namespace Plane.FormationCreator.Views
             public void ResetRoute(int taskIndex)
             {
                 var wpIndex = taskIndex - 1;    // Waypoints 中没有起飞点。
-                Route.Locations.Clear();
+                Route.Points.Clear();
                 if (wpIndex >= 0 && wpIndex < Waypoints.Count)
                 {
                     var info1 = _flightTaskManager.Tasks[wpIndex].SingleCopterInfos.Find(i => i.Copter == this.Copter);
                     var info2 = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.Find(i => i.Copter == this.Copter);
                     
-                    Location loc1 = new Location(info1.TargetLat, info1.TargetLng);
+                    PointLatLng loc1 = new LatLng(info1.TargetLat, info1.TargetLng).ToGCJ02();
-                    Location loc2 = new Location(info2.TargetLat, info2.TargetLng);
+                    PointLatLng loc2 = new LatLng(info2.TargetLat, info2.TargetLng).ToGCJ02();
-                    Route.Locations.Add(loc1);
+                    Route.Points.Add(loc1);
-                    Route.Locations.Add(loc2);
+                    Route.Points.Add(loc2);
+                    //if (0)
+                    Route.RegenerateShape(_map);
                 }
                
                
@@ -521,8 +546,8 @@ namespace Plane.FormationCreator.Views
                 var wpIndex = taskIndex - 1;    // Waypoints 中没有起飞点。
                 if (wpIndex >= 0 && wpIndex < Waypoints.Count)
                 {
-                    Waypoints.ForEach(p => p.wp.Stroke = null);
+                    Waypoints.ForEach(p => ((ShapesContainer)(p.Shape)).wp.Stroke = null);
-                    var wp = Waypoints[wpIndex].wp;
+                    var wp = ((ShapesContainer)(Waypoints[wpIndex].Shape)).wp;
                     wp.Stroke = _selectedTaskStroke;
                 }
             }
@@ -533,25 +558,15 @@ namespace Plane.FormationCreator.Views
                 var wpIndex = taskIndex - 1;    // Waypoints 中没有起飞点。
                 if (wpIndex >= 0 && wpIndex < Waypoints.Count)
                 {
-                    // Waypoints.ForEach(p => p.Stroke = null);
+                    var wp = Waypoints[wpIndex].Shape as ShapesContainer;
-                    var wp = Waypoints[wpIndex];
-                    // Route.Locations.RemoveAt(wpIndex);
-                    // Route.Visibility = Visibility.Hidden;
-                    // wp.Stroke = _selectedTaskStroke;
-                    // var flightTaskTmp = _flightTaskManager.Tasks[taskIndex];
                     if (!flag)
                     {
                         wp.Visibility = Visibility.Hidden;
-                        //Route.Visibility = Visibility.Hidden;
-                        //Route.Children.RemoveAt(1);
-                        //Route.Locations.RemoveAt(taskIndex);
                     }
                     else
                     {
                         wp.Visibility = Visibility.Visible;
                         var info = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.Find(i => i.Copter == this.Copter);
-                        //Route.Locations.Insert(taskIndex, new Location(info.TargetLat, info.TargetLng));
-                        //Route.Visibility = Visibility.Visible;
                     }
                     
                 }

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -132,7 +132,9 @@
                             <Button Content="最小距离"
                                     Margin="0,5,5,0" 
                                     Command="{Binding calDistinceCommand}"/>
-
+                            <Button Content="航点间距"
+                                    Margin="0,5,5,0" 
+                                    Command="{Binding WayPointDistinceCommand}"/>
 
                             <Button Content="前一高度"
                                     Margin="0,5,5,0"
@@ -239,13 +241,13 @@
                             <StackPanel  Margin="0,2" Grid.Column="1">
                                 <TextBlock Text="水平"/>
                                 <TextBox  Width="45" Margin="5,0,0,5"
-                                          Text="{Binding LevelSpeed}"/>
+                                          Text="{Binding LevelSpeed, UpdateSourceTrigger=PropertyChanged}"/>
                                 <TextBlock Text="上升" Margin="15,0,0,0"/>
                                 <TextBox Width="45" Margin="5,0,0,5"
-                                         Text="{Binding UpSpeed}"/>
+                                         Text="{Binding UpSpeed, UpdateSourceTrigger=PropertyChanged}"/>
                                 <TextBlock Text="下降" Margin="15,0,0,0"/>
                                 <TextBox Width="45" Margin="5,0,0,5"
-                                         Text="{Binding DownSpeed}"/>
+                                         Text="{Binding DownSpeed, UpdateSourceTrigger=PropertyChanged}"/>
                             </StackPanel>
                             <Button Content="应用到所选" Grid.Row="1" Grid.Column="1" Command="{Binding SetIsChangeCommand}"/>
                            
@@ -338,7 +340,7 @@
                         <DataTemplate>
                             <StackPanel Margin="0,5,0,0" Orientation="Horizontal" >
                                 <TextBlock Text="类型" Margin="0,0,0,0" VerticalAlignment="Center" ></TextBlock>
-                                <ComboBox  MinWidth="80"  Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
+                                <ComboBox  MinWidth="125" Width="125" Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
                                                            SelectedIndex="{Binding Path=LEDMode}">
                                     <ComboBox.ItemContainerStyle>
                                         <Style>
@@ -346,11 +348,13 @@
                                         </Style>
                                     </ComboBox.ItemContainerStyle>
                                     <ComboBoxItem Content="常亮" />
-                                    <ComboBoxItem Content="闪烁" />
+                                    <ComboBoxItem Content="同步闪烁(单色)" />
-                                    <ComboBoxItem Content="随机" />
+                                    <ComboBoxItem Content="异步闪烁(随机)" />
                                     <ComboBoxItem Content="渐亮" />
                                     <ComboBoxItem Content="渐暗" />
-                                    <ComboBoxItem Content="同步随机" />
+                                    <ComboBoxItem Content="呼吸灯" />
+                                    <ComboBoxItem Content="同步闪烁(随机)" />
+                                    <ComboBoxItem Content="异步闪烁(单色)" />
                                 </ComboBox>
 
                                 <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
@@ -362,8 +366,8 @@
                                 <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
                                                          Text="{Binding Path=LEDRate, UpdateSourceTrigger=PropertyChanged}" />
 
-                                <TextBlock Text="颜色" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
+                                <TextBlock Text="颜色"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
-                                <TextBox Margin="5,0,0,0" 
+                                <TextBox Margin="5,0,0,0" MinWidth="60" Width="60"
                                                          Text="{Binding LEDRGB, UpdateSourceTrigger=PropertyChanged}" />
 
                                 <Button Content="删除" Margin="12,0,0,0" 

Plane.FormationCreator/Views/SetCoptersPutView.xaml

@@ -0,0 +1,35 @@
+<Window x:Class="Plane.FormationCreator.Views.SetCoptersPutView"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+        mc:Ignorable="d"
+        Title="设置摆放" Height="301.595" Width="364.628" WindowStartupLocation="CenterScreen" WindowStyle="ToolWindow" ResizeMode="NoResize">
+    <Grid Margin="90,45">
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition/>
+            <ColumnDefinition/>
+        </Grid.ColumnDefinitions>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="28"/>
+            <RowDefinition Height="28"/>
+            <RowDefinition Height="28"/>
+            <RowDefinition Height="28"/>
+            <RowDefinition/>
+        </Grid.RowDefinitions>
+        <Label Content="每列数量" Margin="5,2"></Label>
+        <TextBox Name="textboxColNum" Grid.Column="1" Margin="5" Width="80" ></TextBox>
+
+        <Label Content="列间距" Margin="5,2" Grid.Row="1"></Label>
+        <TextBox Name="textboxColDis" Grid.Column="1" Margin="5" Grid.Row="1"  Width="80"></TextBox>
+
+        <Label Content="行间距" Margin="5,2"  Grid.Row="2"></Label>
+        <TextBox Name="textboxRowDis" Grid.Column="1" Margin="5" Grid.Row="2"  Width="80"></TextBox>
+
+        <Label Content="朝向" Margin="5,2"  Grid.Row="3"></Label>
+        <TextBox Name="textboxOrientation" Grid.Column="1" Margin="5" Grid.Row="3" Width="80"></TextBox>
+
+        <Button Content="确定" Width="80" Height="28" Grid.Row="4" Grid.ColumnSpan="2" Click="BtnOK_Click"/>
+    </Grid>
+</Window>

Plane.FormationCreator/Views/SetCoptersPutView.xaml.cs

@@ -0,0 +1,51 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// SetCoptersPutView.xaml 的交互逻辑
+    /// </summary>
+    public partial class SetCoptersPutView : Window
+    {
+        public SetCoptersPutView(int col_num, float col_dis, float row_dis, int orientation)
+        {
+            InitializeComponent();
+            textboxColNum.Text = col_num.ToString();
+            textboxColDis.Text = col_dis.ToString();
+            textboxRowDis.Text = row_dis.ToString();
+            textboxOrientation.Text = orientation.ToString();
+        }
+
+        private void BtnOK_Click(object sender, RoutedEventArgs e)
+        {
+            int tempint = 0;
+            float tempfloat = 0;
+            if (
+                int.TryParse(textboxColNum.Text, out tempint) &&
+                float.TryParse(textboxColDis.Text, out tempfloat) &&
+                float.TryParse(textboxRowDis.Text, out tempfloat) &&
+                int.TryParse(textboxOrientation.Text, out tempint)
+                )
+            {
+                this.DialogResult = true;
+            }
+            else
+            {
+                MessageBox.Show("请输入正确的数字");
+            }
+            
+        }
+    }
+}

Plane.FormationCreator/Views/TaskBarView.xaml

@@ -11,25 +11,25 @@
              d:DesignWidth="500">
     <Grid>
         <Grid.ColumnDefinitions>
-            <ColumnDefinition Width="Auto" />
+            <ColumnDefinition  />
-            <ColumnDefinition />
+            <ColumnDefinition Width="Auto"/>
             <ColumnDefinition Width="Auto" />
         </Grid.ColumnDefinitions>
 
-        <Button HorizontalAlignment="Left"
+        <Button HorizontalAlignment="Left" Grid.Column="1"
                 Visibility="{Binding FlightTaskManager.IsPaused, Converter={StaticResource IsPausedToRunButtonVisibilityConverter}}"
                 Command="{Binding RunTasksCommand}">
             <Button.Template>
                 <ControlTemplate>
-                    <Grid Width="40"
+                    <Grid Width="30"
-                          Height="40"
+                          Height="30"
-                          Background="#31000000"
+                          Background="#00FFFFFF"
                           VerticalAlignment="Bottom">
-                        <ed:RegularPolygon Fill="LightGray"
+                        <ed:RegularPolygon Fill="Black"
                                            InnerRadius="1"
                                            PointCount="3"
-                                           Width="40"
+                                           Width="30"
-                                           Height="40"
+                                           Height="30"
                                            Stretch="Fill"
                                            Stroke="Gray">
                             <ed:RegularPolygon.RenderTransform>
@@ -37,7 +37,7 @@
                                     <ScaleTransform />
                                     <SkewTransform />
                                     <RotateTransform Angle="90" />
-                                    <TranslateTransform X="40" />
+                                    <TranslateTransform X="30" />
                                 </TransformGroup>
                             </ed:RegularPolygon.RenderTransform>
                         </ed:RegularPolygon>
@@ -45,32 +45,33 @@
                 </ControlTemplate>
             </Button.Template>
         </Button>
-        <Button HorizontalAlignment="Left"
+        <Button HorizontalAlignment="Left" Grid.Column="1"
-                Background="#232323" 
+                Background="#00FFFFFF" 
                 Visibility="{Binding FlightTaskManager.IsPaused, Converter={StaticResource IsPausedToPauseButtonVisibilityConverter}}"
                 Command="{Binding PauseTasksCommand}">
             <Button.Template>
                 <ControlTemplate>
-                    <Grid Width="40"
+                    <Grid Width="30"
-                          Height="40"
+                          Height="30"
                           VerticalAlignment="Bottom"
-                          Background="#33000000">
+                          Background="#00FFFFFF">
-                        <Rectangle Fill="LightGray"
+                        <Rectangle Fill="Black"
                                    HorizontalAlignment="Left"
-                                   Width="15"
+                                   Width="10"
-                                   Height="40"
+                                   Height="30"
                                    Stroke="Gray" />
-                        <Rectangle Fill="LightGray"
+                        <Rectangle Fill="Black"
+                                   Margin="0,0,3,0"
                                    HorizontalAlignment="Right"
-                                   Width="15"
+                                   Width="10"
-                                   Height="40"
+                                   Height="30"
                                    Stroke="Gray" />
                     </Grid>
                 </ControlTemplate>
             </Button.Template>
         </Button>
 
-        <ItemsControl Grid.Column="1"
+        <ItemsControl Grid.Column="0"
                       VerticalAlignment="Bottom"
                       ItemsSource="{Binding Tasks}"
                       Name="TasksControl">
@@ -90,10 +91,10 @@
                         </Grid.ColumnDefinitions>
 
                         <Border Background="{Binding Status, Converter={StaticResource FlightTaskStatusToFillConverter}}"
-                                Width="100"
+                                Width="85"
-                                Height="15"
+                                Height="19"
-                                BorderThickness="2"
+                                BorderThickness="1"
-                                BorderBrush="Gray"
+                                BorderBrush="Black"
                                 Effect="{Binding IsSelected, Converter={StaticResource FlightTaskIsSelectedToEffectConverter}}"
                                 MouseLeftButtonUp="SelectTask"
                                 MouseRightButtonUp="HideTask">
@@ -101,9 +102,9 @@
                             <TextBlock Width="auto" 
                                    VerticalAlignment="Center" 
                                    HorizontalAlignment="Center" 
-                                   FontSize="11"
+                                   FontSize="12"
-                                   Foreground="Black"
+                                   Foreground="White"
-                                   Text="{Binding TaskType}" />
+                                   Text="{Binding TaskCnName}" />
                         </Border>
 
                     </Grid>

Plane.FormationCreator/Views/View3D.xaml

@@ -0,0 +1,32 @@
+<UserControl x:Class="Plane.FormationCreator.Views.View3D"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+             xmlns:HelixToolkit="clr-namespace:HelixToolkit.Wpf;assembly=HelixToolkit.Wpf"
+             mc:Ignorable="d" 
+             d:DesignHeight="300" d:DesignWidth="300">
+    <Grid>
+        <HelixToolkit:HelixViewport3D Name="view3d" ShowViewCube="False" ShowCameraTarget="False" CameraMode="FixedPosition" RotationSensitivity="0.6">
+            <ModelVisual3D>
+                <ModelVisual3D.Content>
+                    <AmbientLight Color="White"/>
+                </ModelVisual3D.Content>
+            </ModelVisual3D>
+
+            <ModelVisual3D Content="{Binding Model, UpdateSourceTrigger=PropertyChanged}">
+                
+            </ModelVisual3D>
+            <HelixToolkit:PanoramaCube3D Source="E:\test\3DView\3DView\Models\Opera\"/>
+        </HelixToolkit:HelixViewport3D>
+
+        <StackPanel HorizontalAlignment="Left" Margin="2"
+              VerticalAlignment="Top" 
+                    Orientation="Horizontal"
+                    >
+            <Button Content="重置镜头" Click="ResetCamera_Click" />
+        </StackPanel>
+            
+    </Grid>
+</UserControl>

Plane.FormationCreator/Views/View3D.xaml.cs

@@ -0,0 +1,60 @@
+using HelixToolkit.Wpf;
+using Microsoft.Practices.ServiceLocation;
+using Plane.FormationCreator.Formation;
+using Plane.FormationCreator.ViewModels;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Media.Media3D;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// View3D.xaml 的交互逻辑
+    /// </summary>
+    public partial class View3D : UserControl
+    {
+        private FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+        public View3D()
+        {
+            InitializeComponent();
+
+            var camera = view3d.Camera as PerspectiveCamera;
+            camera.Position = new Point3D(0, 0, 0);
+            camera.LookDirection = new Vector3D(0, 1, 0);
+            camera.UpDirection = new Vector3D(0, 0, 1);
+            camera.FieldOfView = 120;
+
+            this.DataContext = ServiceLocator.Current.GetInstance<View3DViewModel>();
+            view3d.ShowCameraInfo = true;
+            view3d.ShowFieldOfView = true;
+        }
+
+
+        private void ResetCamera_Click(object sender, RoutedEventArgs e)
+        {
+            //             view3d.CameraController.CameraPosition = new Point3D(0, 40, 1);
+            //             view3d.CameraController.CameraUpDirection = new Vector3D(0, -1, 10);
+            //             view3d.CameraController.CameraTarget = new Point3D(0, 1, 10);
+            //             view3d.CameraController.CameraMode = CameraMode.FixedPosition;
+            //             view3d.CameraController.CameraRotationMode = CameraRotationMode.Turntable;
+
+            var camera = view3d.Camera as PerspectiveCamera;
+            camera.Position = new Point3D(0, 0, 0);
+            camera.LookDirection = new Vector3D(0, 1, 0);
+            camera.UpDirection = new Vector3D(0, 0, 1);
+            camera.FieldOfView = 120;
+        }
+    }
+}

Plane.FormationCreator/packages.config

@@ -1,10 +1,18 @@
 <?xml version="1.0" encoding="utf-8"?>
 <packages>
   <package id="CommonServiceLocator" version="1.3" targetFramework="net45" />
+  <package id="EntityFramework" version="6.2.0" targetFramework="net46" />
+  <package id="GMap.NET.Windows" version="1.8.5" targetFramework="net46" />
+  <package id="HelixToolkit" version="2.4.0" targetFramework="net46" />
+  <package id="HelixToolkit.Wpf" version="2.4.0" targetFramework="net46" />
   <package id="MahApps.Metro" version="1.5.0" targetFramework="net46" />
   <package id="MaterialDesignColors" version="1.1.2" targetFramework="net46" />
   <package id="MaterialDesignThemes" version="1.4.0.473" targetFramework="net46" />
-  <package id="Microsoft.Maps.MapControl.WPF" version="1.0.0.3" targetFramework="net45" />
+  <package id="Microsoft.Maps.MapControl.WPF" version="1.0.0.3" targetFramework="net46" />
   <package id="MvvmLightLibs" version="5.2.0.0" targetFramework="net46" />
-  <package id="Newtonsoft.Json" version="8.0.2" targetFramework="net46" />
+  <package id="Newtonsoft.Json" version="9.0.1" targetFramework="net46" />
+  <package id="System.Data.SQLite" version="1.0.109.1" targetFramework="net46" />
+  <package id="System.Data.SQLite.Core" version="1.0.109.1" targetFramework="net46" />
+  <package id="System.Data.SQLite.EF6" version="1.0.109.0" targetFramework="net46" />
+  <package id="System.Data.SQLite.Linq" version="1.0.109.0" targetFramework="net46" />
 </packages>