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1，加入回传功率设置，在设置窗口里面

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2. 增加删除按钮，可以删除不存在的飞机
3. 发送起飞从10次变为20次重复
4.加入256个航点的任务限制提示
5.加入计算任务数按钮
This commit is contained in:
xu 2021-12-27 12:39:28 +08:00
parent 512d9e5386
commit 09da3f24ba
11 changed files with 304 additions and 79 deletions
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38
Plane.FormationCreator/Formation/CopterManager.cs
View File

@ -25,7 +25,7 @@ namespace Plane.FormationCreator.Formation
public class CopterCollection : ObservableCollection<ICopter>
{
//软件过期时间---过期将无法添加飞机，并自动退出
public static DateTime Expire_App = DateTime.Parse("2022-06-10");
public static DateTime Expire_App = DateTime.Parse("2022-12-31");
//超级用户过期时间--过期将无法使用内置超级用户登录
public static DateTime Expire_SuperUser = Expire_App;
//允许飞行的飞机数量
@ -627,7 +627,9 @@ namespace Plane.FormationCreator.Formation
if ((username== supername) && (password== superpass) &&(DateTime.UtcNow < CopterCollection.Expire_SuperUser) )
{
NetLogined(supername, superDispname, -1, -1, LEVEL_ADMIN);
// NetLogined(supername, superDispname, -1, -1, LEVEL_ADMIN);
NetLogined(supername, superDispname,6, 50, LEVEL_NORMAL);
VersionControl.SaveLogininfoToIni(supername, superpass, savepassword); //超级密码是否保存---不要就不保存
return;
}
@ -776,6 +778,38 @@ namespace Plane.FormationCreator.Formation
}
public async Task DelSelCopters()
{
if (AcceptingControlCopters == null || AcceptingControlCopters.Count() ==0)
{
return;
}
foreach (var copter in AcceptingControlCopters)
{
await copter.DisconnectAsync();
if(Copters.Contains(copter))
{
Copters.Remove(copter);
}
//标记是否跳过，这个已经没用了，随便删除第一个
CopterStatus.RemoveAt(0);
}
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。
//wifi
// if (VersionControl.ConType == 1)
// UdpServerConnectionManager.Instance.ClearConnections();
}
public bool EnAddCopter_Real()
{
if (EnCopterNumber == -1) return true;

2
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -222,7 +222,7 @@ namespace Plane.FormationCreator.Formation
{
str = ts.Seconds + "秒";
}
Message.ShowStatus($"选中 [{value.TaskIndex+1} {value.TaskCnName }] 从{str}开始执行，需{ GetTaskTime(value.TaskIndex)}秒");
Message.ShowStatus($"选中 [{value.TaskIndex+1} {value.TaskCnName }] 从{str}开始执行，需{ GetTaskTime(value.TaskIndex)}秒,共{Tasks.Count}个任务");
}
else Message.ShowStatus($"无任务选中");

19
Plane.FormationCreator/Formation/GroupManager.cs
View File

@ -133,15 +133,16 @@ namespace Plane.FormationCreator.Formation
// {
//_copterManager.Select(_copterManager.Copters[copterIndex]);
ICopter copter = null;
// try
// {
// copter = _copterManager.Copters.First(o => o.Name == (copterIndex + 1).ToString());
// }
// catch (Exception)
// {
// continue;
// }
copter = _copterManager.Copters.FirstOrDefault(o => o.Name == (copterIndex + 1).ToString());
// try
// {
// copter = _copterManager.Copters.First(o => o.Name == (copterIndex + 1).ToString());
// }
// catch (Exception)
// {
// continue;
// }
string strcoptername = _copterManager.Copters[copterIndex].Name;
copter = _copterManager.Copters.FirstOrDefault(o => o.Name == strcoptername);
if (copter != null)
{
_copterManager.Select(copter);

4
Plane.FormationCreator/MainWindow.xaml
View File

@ -273,8 +273,10 @@
<TextBlock Margin="10,4" Width="400"
Text="{Binding CopterListViewModel.SelectedCopter.StatusText}" />
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
<TextBlock Margin="10,4" Width="400"
<TextBlock Margin="10,4" Width="200"
Text="{Binding ControlPanelViewModel.RTKState}" />
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
</StackPanel>
<StackPanel Orientation="Horizontal" HorizontalAlignment="Right">

14
Plane.FormationCreator/ViewModels/ConnectViewModel.cs
View File

@ -256,6 +256,20 @@ namespace Plane.FormationCreator.ViewModels
}
private ICommand _SetModulePowerCommand;
public ICommand SetModulePowerCommand
{
get
{
return _SetModulePowerCommand ?? (_SetModulePowerCommand = new RelayCommand(async () =>
{
int mPower = int.Parse(CopterColor);
await commModule.SetModulePower((short)CopterNum, (short)mPower);
}));
}
}
private ICommand _CommDataAsync;
public ICommand CommDataAsync

155
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -126,54 +126,69 @@ namespace Plane.FormationCreator.ViewModels
minVol = float.Parse(inputDialog.Answer);
else return;
//测试电池
await _commModuleManager.TestBattery((short)0, minVol);
if (minVol == 0.0) return;
Message.Show("---请检查飞机灯光---");
Message.Show(string.Format("---绿 色 电压高于 {0:F2}v (单节高于 {1:F2}v)--- ", minVol , minVol / 4.0f));
Message.Show(string.Format("---黄 色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol , minVol / 4.0f));
Message.Show(string.Format("---棕 色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.2, (minVol - 0.2) / 4.0f));
Message.Show(string.Format("---洋红色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.4, (minVol - 0.4) / 4.0f));
Message.Show(string.Format("---亮红色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.6, (minVol - 0.6) / 4.0f));
Message.Show("---输入0恢复灯光---");
//测试电池
await _commModuleManager.TestBattery((short)0, minVol);
if (minVol == 0.0) return;
Message.Show("---请检查飞机灯光---");
Message.Show(string.Format("---绿 色 电压高于 {0:F2}v (单节高于 {1:F2}v)--- ", minVol, minVol / 4.0f));
Message.Show(string.Format("---黄 色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol, minVol / 4.0f));
Message.Show(string.Format("---棕 色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.2, (minVol - 0.2) / 4.0f));
Message.Show(string.Format("---洋红色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.4, (minVol - 0.4) / 4.0f));
Message.Show(string.Format("---亮红色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.6, (minVol - 0.6) / 4.0f));
Message.Show("---输入0恢复灯光---");
Message.Show("--------------开始检测单机电压--------------");
Dictionary<string, float> dic_voltage = new Dictionary<string, float>();
await Task.WhenAll(_copterManager.Copters.Select(async c =>
{
float voltageSum = 0.0f;
string name = c.Name;
for (int i = 0; i < 5; i++)
Message.Show("--------------开始检测单机电压--------------");
Dictionary<string, float> dic_voltage = new Dictionary<string, float>();
await Task.WhenAll(_copterManager.Copters.Select(async c =>
{
voltageSum += c.Voltage;
await Task.Delay(1000).ConfigureAwait(false);
}
float voltageAverage = voltageSum / 5;
if (name != null && name != "")
{
lock(locker)
float voltageSum = 0.0f;
string name = c.Name;
for (int i = 0; i < 5; i++)
{
dic_voltage.Add(name, voltageAverage);
voltageSum += c.Voltage;
await Task.Delay(1000).ConfigureAwait(false);
}
}
})).ConfigureAwait(false);
await Task.Run(async () => {
float voltageAverage = voltageSum / 5;
if (name != null && name != "")
{
lock (locker)
{
dic_voltage.Add(name, voltageAverage);
}
}
})).ConfigureAwait(false);
Dictionary<string, float> dic_voltage_Order = dic_voltage.OrderByDescending(o => o.Value).ToDictionary(o => o.Key, o => o.Value);
bool showch = false;
bool showch = false;
ICopter vcopter = null;
_copterManager.shiftkeydown = true;
//清除选择
_copterManager.Select(null);
foreach (KeyValuePair<string, float> kv in dic_voltage_Order)
{
if ((!showch) &&(minVol>0.00) && (kv.Value<=minVol))
if ((!showch) && (minVol > 0.00) && (kv.Value <= minVol))
{
Message.Show(string.Format("以下飞机电压低于[{0}V，单节{1:F2}]", minVol, minVol/4));
Message.Show(string.Format("以下飞机电压低于[{0}V，单节{1:F2}]", minVol, minVol / 4));
showch = true;
}
Message.Show(string.Format("{0} --> 5秒平均电压：{1:F2},单节{2:F2}", kv.Key, kv.Value, kv.Value/4));
Message.Show(string.Format("{0} --> 5秒平均电压：{1:F2},单节{2:F2}", kv.Key, kv.Value, kv.Value / 4));
//选中低电压飞机
if ((minVol > 0.00) && (kv.Value <= minVol))
{
vcopter = _copterManager.Copters.FirstOrDefault(o => o.Name == kv.Key);
if (vcopter != null)
_copterManager.Select(vcopter); //需要访问UI线程
}
await Task.Delay(5).ConfigureAwait(false);
}
await Task.Delay(500).ConfigureAwait(false);
_copterManager.shiftkeydown = false;
Message.Show(string.Format("----检测电压完成,检测总数：{0}----", dic_voltage.Count));
}).ConfigureAwait(false);
//todo:增加电压阈值变成不同颜色灯
}));
}
@ -390,6 +405,30 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _DelCommand;
public ICommand DelCommand
{
get
{
return _DelCommand ?? (_DelCommand = new RelayCommand(async () =>
{
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
{
if (_flightTaskManager.Tasks.Count > 0)
{
Alert.Show("有航点任务无法删除飞机,请先清除航点！", "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
await _copterManager.DelSelCopters();
}
}));
}
}
private ICommand _MotorTestCommand;
public ICommand MotorTestCommand
{
@ -616,8 +655,11 @@ namespace Plane.FormationCreator.ViewModels
DateTime MissionTime = DateTime.UtcNow.AddSeconds(5);
DateTime MissionTime_log = DateTime.Now.AddSeconds(5);
Message.Show("任务开始:" + MissionTime_log.ToString());
IEnumerable<ICopter> selcopters = _copterManager.AcceptingControlCopters;
//循环3次 发送起飞命令 避免通信问题
for (int i = 0; i < 10; i++)
for (int i = 0; i < 20; i++)
{
/*await _commModuleManager.DoMissionStartAsync(_copterManager.Copters,
@ -630,7 +672,7 @@ namespace Plane.FormationCreator.ViewModels
*/
await _commModuleManager.DoMissionStartAsync(_copterManager.AcceptingControlCopters,
await _commModuleManager.DoMissionStartAsync(selcopters,
MissionTime.Hour,
MissionTime.Minute,
MissionTime.Second,
@ -650,17 +692,25 @@ namespace Plane.FormationCreator.ViewModels
*/
await Task.Delay(10).ConfigureAwait(false);
await Task.Delay(20).ConfigureAwait(false);
}
//_copterManager.Net_LogStartMission(MissionTime_log, _flightTaskManager.OriginLng, _flightTaskManager.OriginLat);
Alert.Show("所有选中飞机开始执行航点任务。请勿多次开始任务！", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
}));
}
}
private ICommand _ThrowoutCommand;
public ICommand ThrowoutCommand
{
get
{
return _ThrowoutCommand ?? (_ThrowoutCommand = new RelayCommand( () =>
{
// await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.UnlockAsync()));
if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
_commModuleManager.ThrowoutAsync(_copterManager.AcceptingControlCopters);
}));
}
}
@ -1346,9 +1396,9 @@ namespace Plane.FormationCreator.ViewModels
DateTime MissionTime_log = DateTime.Now.AddSeconds(5);
Message.Show("任务开始:" + MissionTime_log.ToString());
//循环3次 发送起飞命令 避免通信问题
for (int i = 0; i < 10; i++)
for (int i = 0; i < 20; i++)
{
await _commModuleManager.DoMissionStartAsync(_copterManager.Copters,
await _commModuleManager.DoMissionStartAsync(null,
MissionTime.Hour,
MissionTime.Minute,
MissionTime.Second,
@ -1368,7 +1418,7 @@ namespace Plane.FormationCreator.ViewModels
}
*/
await Task.Delay(10).ConfigureAwait(false);
await Task.Delay(20).ConfigureAwait(false);
}
_copterManager.Net_LogStartMission(MissionTime_log, _flightTaskManager.OriginLng, _flightTaskManager.OriginLat);
@ -1532,7 +1582,7 @@ namespace Plane.FormationCreator.ViewModels
}
}
/// <summary>
/// <summary>
/// 用通讯模块 写入航点信息
/// </summary>
/// <param name="i">copterIndex</param>
@ -1612,11 +1662,18 @@ namespace Plane.FormationCreator.ViewModels
//_commModuleManager.missionWriteState.Add(int.Parse(_copterManager.Copters[i].Id), state);
if (!result)
{
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输失败!");
if (_copterManager.SortType == CopterManager.CopterSortType.ByVID)
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 通信模块传输失败!");
else
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输失败!");
}
else
{
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输完成!");
if (_copterManager.SortType == CopterManager.CopterSortType.ByVID)
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 通信模块传输完成!");
else
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输完成!");
}
await Task.Delay(500).ConfigureAwait(false);
}

80
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -401,6 +401,86 @@ namespace Plane.FormationCreator.ViewModels
}));
}
}
private void GetMaxMissions()
{
int missiontmp = 0;
string maxCopterName = "";
int maxmission = 0;
string minCopterName = "";
int minmission = 65535;
ICopter vcopter = _copterManager.SelectedCopters.FirstOrDefault();
if (vcopter == null)
{
Alert.Show($"请先选中飞机!", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
return;
}
int coptercount = _copterManager.Copters.Count;
for (int i = 0; i < coptercount; i++)
{
missiontmp = 0;
var currcopter = _copterManager.Copters[i];
foreach (var capter in _copterManager.SelectedCopters)
{
if (currcopter == capter)
{
for (int j = 0; j < _flightTaskManager.Tasks.Count; j++)
{
missiontmp++;
missiontmp += _flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos.Count();
}
if (missiontmp > maxmission)
{
maxCopterName = _copterManager.Copters[i].Name;
maxmission = missiontmp;
}
if (missiontmp < minmission)
{
minCopterName = _copterManager.Copters[i].Name;
minmission = missiontmp;
}
}
}
}
if (maxmission>256)
Alert.Show($"飞机：[ {maxCopterName} ] 有最多任务数量：{maxmission} 已超出256的最大航点限制，请减少灯光; \n飞机：[ {minCopterName} ] 有最少任务数量：{minmission}", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
else
Alert.Show($"飞机：[ {maxCopterName} ] 有最多任务数量：{maxmission} \n飞机：[ {minCopterName} ] 有最少任务数量：{minmission} \n (航点加灯光不能超过256个任务)", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
return ;
}
private ICommand _CheckMissionCountCommand;
public ICommand CheckMissionCountCommand
{
get
{
return _CheckMissionCountCommand ?? (_CheckMissionCountCommand = new RelayCommand<float>(async =>
{
GetMaxMissions();
}));
}
}
//调整所有任务经度
private ICommand _ModiAllPosCommand;
public ICommand ModiAllPosCommand

3
Plane.FormationCreator/Views/ConnectWindow.xaml
View File

@ -8,7 +8,7 @@
xmlns:ec="clr-namespace:Plane.Windows.Controls;assembly=Plane.Windows"
mc:Ignorable="d"
Title=""
Width="500"
Width="565.58"
Height="325.107"
WindowStartupLocation="CenterScreen"
@ -48,6 +48,7 @@
<Button Content="闪灯 " Width="67" Margin="5,5,5,5" Command="{Binding CommDataAsync}" ToolTip="参数为十六进制颜色"/>
<Button Content="拉烟" Width="67" Margin="5,5,5,5" Command="{Binding TestFireCommandAsync}" ToolTip="参数为通道号1-4"/>
<Button Content="抛物" Width="67" Margin="5,5,5,5" Command="{Binding TestPWMCommandAsync}" ToolTip="接入舵机控制"/>
<Button Content="功率" Width="67" Margin="5,5,5,5" Command="{Binding SetModulePowerCommand}" ToolTip="设置模块回传功率"/>
</StackPanel>

14
Plane.FormationCreator/Views/ControlPanelView.xaml
View File

@ -60,10 +60,15 @@
Command="{Binding CalibrationSingleCommand}" />
<Button Content="正式参数" Command="{Binding TurnOffTestLightsCommand}" Visibility="Collapsed" />
<Button Content="电机测试"
<Button Content="电机" Visibility="Collapsed"
Command="{Binding MotorTestCommand}" />
<Button Content="删除飞机"
Command="{Binding DelCommand}" />
<Label Visibility="Collapsed" Content="Lat"/>
<TextBox Visibility="Collapsed" Text="{Binding LatOffset}" Width="50"/>
<Label Visibility="Collapsed" Content="Lng"/>
@ -113,8 +118,9 @@
Command="{Binding LockCommand}" />
<Button Content="单独任务"
Command="{Binding TakeOffCommand}" />
<Button Content="抛物"
Command="{Binding ThrowoutCommand}" />
</WrapPanel>
<WrapPanel>
@ -192,8 +198,6 @@
<Button Content="全部降落"
Command="{Binding AllLandCommand}" />
</WrapPanel>
</StackPanel>

47
Plane.FormationCreator/Views/CopterListView.xaml.cs
View File

@ -16,6 +16,8 @@ using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using System.Threading;
using System.Windows.Threading;
namespace Plane.FormationCreator.Views
{
@ -44,22 +46,47 @@ namespace Plane.FormationCreator.Views
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
private void SelectitemMessage(ICopter copter)
{
if (copter == null)
////需要访问UI线程，可能在其他线程里面
Dispatcher dispatcher = Dispatcher.FromThread(Thread.CurrentThread);
if (dispatcher != null)
{
lvwDrones.SelectedItems.Clear();
}
else
{
if (!_copterManager.shiftkeydown)
if (copter == null)
{
lvwDrones.SelectedItems.Clear();
lvwDrones.SelectedItem = copter;
}
else
lvwDrones.SelectedItems.Add(copter);
}
{
if (!_copterManager.shiftkeydown)
{
lvwDrones.SelectedItems.Clear();
lvwDrones.SelectedItem = copter;
}
else
lvwDrones.SelectedItems.Add(copter);
}
}else
lvwDrones.Dispatcher.BeginInvoke(new Action(() =>
{
if (copter == null)
{
lvwDrones.SelectedItems.Clear();
}
else
{
if (!_copterManager.shiftkeydown)
{
lvwDrones.SelectedItems.Clear();
lvwDrones.SelectedItem = copter;
}
else
lvwDrones.SelectedItems.Add(copter);
}
}));
}
private void SelectitemClearMessage(ICopter copter)

7
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -660,7 +660,12 @@
Margin="10,5,0,5" Height="26"
Command="{Binding ShowallTaskpointCommand}"
/>
</StackPanel>
<Button Content="计算任务数" Width="120"
Margin="10,5,0,5" Height="26"
Command="{Binding CheckMissionCountCommand}"
/>
</StackPanel>