增加过度航点属性，通过颜色区分

加入起飞检测额外时间，默认4秒,加入参数控制时间和高度
加入自动计算航线碰撞检测间距参数
加入2D计算返航

Plane.FormationCreator/App.xaml

@@ -75,6 +75,9 @@
         <lcnv:HeartbeatCountToBrushConverter x:Key="HeartbeatCountToBrushConverter" />
         <lcnv:AppModeToVisibilityConverter x:Key="AppModeToVisibilityConverter" />
         <lcnv:FlightTaskStatusToFillConverter x:Key="FlightTaskStatusToFillConverter" />
+
+        <lcnv:FlightTaskStatusAndTransitionToFillConverter x:Key="FlightTaskStatusAndTransitionToFillConverter" />
+
         <lcnv:FlightTaskIsSelectedToEffectConverter x:Key="FlightTaskIsSelectedToEffectConverter" />
     </Application.Resources>
 </Application>

Plane.FormationCreator/Formation/FlightTask.cs

@@ -122,6 +122,21 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        private bool _IsTransition=false;
+        public bool IsTransition
+        {
+            get { return _IsTransition; }
+            set { 
+                
+                Set(nameof(IsTransition), ref _IsTransition, value); 
+                if ((value)&& (TaskCnName == "航点"))
+                    TaskCnName = "过度";
+            
+            }
+        }
+
+
+
         private bool _IsSelected;
         public bool IsSelected
         {

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -375,9 +375,32 @@ namespace Plane.FormationCreator.Formation
             set { Set(nameof(FC_defvel_down), ref _FC_defvel_down, value); }
         }
 
+        //起飞检测额外时间，默认4秒
+        private float _FC_takeoff_ct = 4000;
+        public float FC_takeoff_ct
+        {
+            get { return _FC_takeoff_ct; }
+            set { Set(nameof(FC_takeoff_ct), ref _FC_takeoff_ct, value); }
+        }
+
+        //起飞检测高度cm
+        private float _FC_takeoff_calt = 100;
+        public float FC_takeoff_calt
+        {
+            get { return _FC_takeoff_calt; }
+            set { Set(nameof(FC_takeoff_calt), ref _FC_takeoff_calt, value); }
+        }
 
 
 
+        //自动计算航线，碰撞检测间距,航线小于1.8米再检测前后距离是否大于_FC_SpaceBetween (cm)
+        private float _FC_SpaceBetween = 250;
+        public float FC_SpaceBetween
+        {
+            get { return _FC_SpaceBetween;}
+            set { Set(nameof(FC_SpaceBetween), ref _FC_SpaceBetween, value); }
+        }
+
 
         private TasksStatus _TaskState = TasksStatus.Stop;
         public TasksStatus TaskState
@@ -1196,7 +1219,7 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
-        public void RestoreFlyToTask(bool staggerRoutes, int flytoTime, int loiterTime, string taskName, dynamic singleCopterInfos, bool isMeter)
+        public void RestoreFlyToTask(bool staggerRoutes, int flytoTime, int loiterTime, string taskName, dynamic singleCopterInfos, bool isMeter, bool istrans)
         {
             var copters = _copterManager.Copters;
             float tagalt = 15;
@@ -1206,7 +1229,7 @@ namespace Plane.FormationCreator.Formation
             var nullableCenter = copters.GetCenter();
             if (nullableCenter == null) return;
             var center = nullableCenter.Value;
-            var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = staggerRoutes, FlytoTime = flytoTime, LoiterTime = loiterTime };
+            var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = staggerRoutes, FlytoTime = flytoTime, LoiterTime = loiterTime,IsTransition= istrans };
             if (taskName != null) newTask.TaskCnName = taskName;
             // TODO: 王海, 20150801, 处理实际飞行器数目与记录中数目不一致的情况。
             for (int i = 0; i < copters.Count; i++)
@@ -1341,6 +1364,7 @@ namespace Plane.FormationCreator.Formation
                             flytoTime = task.FlytoTime,
                             loiterTime = task.LoiterTime,
                             taskname = task.TaskCnName,
+                            istransition = task.IsTransition,
                             singleCopterInfos = task.SingleCopterInfos.Select(info =>
                             {
                                 var offset = info.LatLngOffset;
@@ -1570,7 +1594,10 @@ namespace Plane.FormationCreator.Formation
                             RestoreTakeOffTask((byte)task.takeoffTime, task.singleCopterInfos);
                             break;
                         case FlightTaskType.FlyTo:
-                            RestoreFlyToTask((bool)task.staggerRoutes, (int)task.flytoTime, (int)task.loiterTime, (string)task.taskname, task.singleCopterInfos, isMeter);
+                            bool isTransition = false;
+                            if (task.istransition != null)
+                                isTransition = (bool)task.istransition;
+                            RestoreFlyToTask((bool)task.staggerRoutes, (int)task.flytoTime, (int)task.loiterTime, (string)task.taskname, task.singleCopterInfos, isMeter, isTransition);
                             break;
                         case FlightTaskType.Land:
                             RestoreLandTask(task.singleCopterInfos);
@@ -1772,20 +1799,28 @@ namespace Plane.FormationCreator.Formation
                         var curWaypoint = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
 
                         double copter_maxDistance_up = nextWaypoint.TargetAlt;
+                        double copter_maxDistance_show = copter_maxDistance_up;
+                        //减去测试起飞高度
+                        if (FC_takeoff_ct > 0)
+                            copter_maxDistance_up -= FC_takeoff_calt / 100.0f;
                         double time_up = getMinfligthtime((float)copter_maxDistance_up, acc_z, defvel_up, flytimetype);
                         double copter_tasktime = curWaypoint.TakeOffWaitTime + time_up;
 
                         if (copter_tasktime > tasktime)
                         {
                             tasktime = copter_tasktime;
-                            maxDistance_up = copter_maxDistance_up;
+                            maxDistance_up = copter_maxDistance_show;
                             copterName = copter.Name;
                             waittime = curWaypoint.TakeOffWaitTime;
                             upflytime = time_up;
                         }
                     }
+                    //加入起飞测试时间
+                    tasktime += FC_takeoff_ct / 1000.0f;
+                    Message.Show($"起飞任务{taskIndex + 1}参数：检测起飞高度:{Math.Round(FC_takeoff_calt / 100.0f, 2)}米,检测时间:{Math.Round( FC_takeoff_ct / 1000.0f, 2)}秒"
+                            );
                     Message.Show($"起飞任务{taskIndex + 1}起飞高度:{Math.Round(maxDistance_up, 2)}米 " +
-                            $"最长耗时：{Math.Round(tasktime, 2)}秒({Math.Round(upflytime, 2)},{Math.Round(waittime, 2)})，编号:{copterName}"
+                            $"最长耗时：{Math.Round(tasktime, 2)}秒(飞{Math.Round(upflytime, 2)},等待{Math.Round(waittime, 2)})，编号:{copterName}"
                             );
                     if (settime)
                     {
@@ -2275,7 +2310,8 @@ namespace Plane.FormationCreator.Formation
                     //选中前一个任务，插入错层
                     SelectTask(SelectedTaskIndex - 1);
                     AddTask();
-
+                    //设置为过度航点
+                    SelectedTask.IsTransition = true;
                     //第一个错层
                     RouteRes = (FlightRoute.Vector3[])resarray[0];
 
@@ -2290,7 +2326,7 @@ namespace Plane.FormationCreator.Formation
 
                     //第二个错层
                     AddTask();
-
+                    SelectedTask.IsTransition = true;
                     RouteRes = (FlightRoute.Vector3[])resarray[1];
 
                     for (int i = 0; i < _copterManager.Copters.Count; i++)
@@ -2357,6 +2393,7 @@ namespace Plane.FormationCreator.Formation
             //设置随机数种子
             FlyVecFun.RandomSeed = (int)DateTime.Now.Ticks;
             Message.Show($"开始自动生成任务，种子数：{FlyVecFun.RandomSeed}");
+            FlyVecFun.SpaceBetweenSquare=FC_SpaceBetween* FC_SpaceBetween;  //这是个平方值
 
             //获取当前航点与前一航点所有经纬高
             for (int i = 0; i < _copterManager.Copters.Count; i++)
@@ -2422,6 +2459,7 @@ namespace Plane.FormationCreator.Formation
                         //插入错层航点
                         SelectTask(SelectedTaskIndex - 1);
                         AddTask();
+                        SelectedTask.IsTransition = true;
                         SelectedTask.LoiterTime = 0;
                         for (int i = 0; i < _copterManager.Copters.Count; i++)
                         {
@@ -2445,6 +2483,7 @@ namespace Plane.FormationCreator.Formation
                     //插入错层航点
                     SelectTask(SelectedTaskIndex - 1);
                     AddTask();
+                    SelectedTask.IsTransition = true;
                     SelectedTask.LoiterTime = 0;
                     for (int i = 0; i < _copterManager.Copters.Count; i++)
                     {
@@ -2464,6 +2503,7 @@ namespace Plane.FormationCreator.Formation
                         //选中前一个任务，插入错层
                         SelectTask(SelectedTaskIndex - 1);
                         AddTask();
+                        SelectedTask.IsTransition = true;
                         SelectedTask.LoiterTime = 0;
                         //第一个中间航点
 
@@ -2481,6 +2521,7 @@ namespace Plane.FormationCreator.Formation
                         //选中前一个任务，插入错层
                         SelectTask(SelectedTaskIndex - 1);
                         AddTask();
+                        SelectedTask.IsTransition = true;
                         SelectedTask.LoiterTime = 0;
                         //第一个中间航点
 
@@ -2494,6 +2535,7 @@ namespace Plane.FormationCreator.Formation
 
                         //第二个中间航点
                         AddTask();
+                        SelectedTask.IsTransition = true;
                         SelectedTask.LoiterTime = 0;
                         for (int i = 0; i < _copterManager.Copters.Count; i++)
                         {
@@ -2510,6 +2552,7 @@ namespace Plane.FormationCreator.Formation
                         //选中前一个任务，插入错层
                         SelectTask(SelectedTaskIndex - 1);
                         AddTask();
+                        SelectedTask.IsTransition = true;
                         SelectedTask.LoiterTime = 0;
                         //第一个中间航点
 
@@ -2523,6 +2566,7 @@ namespace Plane.FormationCreator.Formation
 
                         //第二个中间航点
                         AddTask();
+                        SelectedTask.IsTransition = true;
                         SelectedTask.LoiterTime = 0;
                         for (int i = 0; i < _copterManager.Copters.Count; i++)
                         {
@@ -2534,6 +2578,7 @@ namespace Plane.FormationCreator.Formation
 
                         //第三个中间航点
                         AddTask();
+                        SelectedTask.IsTransition = true;
                         SelectedTask.LoiterTime = 0;
                         for (int i = 0; i < _copterManager.Copters.Count; i++)
                         {
@@ -2565,6 +2610,7 @@ namespace Plane.FormationCreator.Formation
 
                 //第一个中间航点
                 AddTask();
+                SelectedTask.IsTransition = true;
                 SelectedTask.LoiterTime = 0;
                 for (int i = 0; i < _copterManager.Copters.Count; i++)
                 {
@@ -2575,6 +2621,7 @@ namespace Plane.FormationCreator.Formation
                 SetTaskFlytime(SelectedTaskIndex);
                //第二个中间航点
                 AddTask();
+                SelectedTask.IsTransition = true;
                 SelectedTask.LoiterTime = 0;
                 for (int i = 0; i < _copterManager.Copters.Count; i++)
                 {
@@ -3026,7 +3073,10 @@ namespace Plane.FormationCreator.Formation
                         RestoreTakeOffTask((byte)task.takeoffTime, task.singleCopterInfos);
                         break;
                     case FlightTaskType.FlyTo:
-                        RestoreFlyToTask((bool)task.staggerRoutes, (int)task.flytoTime, (int)task.loiterTime, (string)task.taskname, task.singleCopterInfos, isMeter);
+                        bool isTransition = false;
+                        if (task.istransition != null)
+                            isTransition = (bool)task.istransition; 
+                        RestoreFlyToTask((bool)task.staggerRoutes, (int)task.flytoTime, (int)task.loiterTime, (string)task.taskname, task.singleCopterInfos, isMeter, isTransition);
                         break;
                    
                     case FlightTaskType.Land:
@@ -3377,6 +3427,17 @@ namespace Plane.FormationCreator.Formation
             if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
                 FC_defvel_down = float.Parse(readvalue);
 
+            readvalue = inifilse.IniReadvalue("Default", "FC_takeoff_ct");
+            if (readvalue != "" && int.TryParse(readvalue, out intTemp))
+                FC_takeoff_ct = int.Parse(readvalue);
+
+            readvalue = inifilse.IniReadvalue("Default", "FC_takeoff_calt");
+            if (readvalue != "" && int.TryParse(readvalue, out intTemp))
+                FC_takeoff_calt = int.Parse(readvalue);
+
+            readvalue = inifilse.IniReadvalue("Default", "FC_spacbetween");
+            if (readvalue != "" && int.TryParse(readvalue, out intTemp))
+                FC_SpaceBetween = int.Parse(readvalue); 
 
 
         }

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -167,6 +167,7 @@
     <Compile Include="AppConfig.cs" />
     <Compile Include="Converters\AppModeToVisibilityConverter.cs" />
     <Compile Include="Converters\FlightTaskIsSelectedToEffectConverter.cs" />
+    <Compile Include="Converters\FlightTaskStatusAndTransitionToFillConverter.cs" />
     <Compile Include="Converters\FlightTaskStatusToFillConverter.cs" />
     <Compile Include="Converters\HeartbeatCountToBrushConverter.cs" />
     <Compile Include="Formation\AppMode.cs" />

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -950,7 +950,7 @@ namespace Plane.FormationCreator.ViewModels
                 }));
             }
         }
-
+        //2D计算，不改变ID，拉开层
         private ICommand _OptimizeRouteCommandRet;
         public ICommand OptimizeRouteCommandRet
         {
@@ -960,7 +960,7 @@ namespace Plane.FormationCreator.ViewModels
                 {
                     if (_copterManager.FC_VER_NO >= 3)
                         //3D计算，不改变ID，可以错层
-                        _flightTaskManager.OptimizeRouteMeter(true, false, true); //采用米计算逻辑，用3D生成，不改变ID，可拉开层(2D回起飞矩阵专用)
+                        _flightTaskManager.OptimizeRouteMeter(false, false, true); //采用米计算逻辑，用3D生成，不改变ID，可拉开层(2D回起飞矩阵专用)
                     else
                         _flightTaskManager.OptimizeRouteMeter(false, false); //采用米计算逻辑，用2D生成，不改变ID，不拉开层
 
@@ -968,6 +968,23 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        //3D计算，不改变ID，不拉开层
+        private ICommand _OptimizeRouteCommandRet3D;
+        public ICommand OptimizeRouteCommandRet3D
+        {
+            get
+            {
+                return _OptimizeRouteCommandRet3D ?? (_OptimizeRouteCommandRet3D = new RelayCommand<int>(async =>
+                {
+                    if (_copterManager.FC_VER_NO >= 3)
+                        //3D计算，不改变ID，可以错层
+                        _flightTaskManager.OptimizeRouteMeter(true, false, false); //采用米计算逻辑，用3D生成，不改变ID，不拉开层(3D回起飞矩阵专用)
+                    else
+                        _flightTaskManager.OptimizeRouteMeter(false, false); //采用米计算逻辑，用2D生成，不改变ID，不拉开层
+
+                }));
+            }
+        }
 
         private ICommand _OptimizeRouteCommand3D;
         public ICommand OptimizeRouteCommand3D

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -70,12 +70,15 @@
                             <TextBlock Margin="0,5,5,0" Text="所有：" VerticalAlignment="Center"  HorizontalAlignment="Center"/>
                             <Button Margin="0,5,5,0" Content="导入航点" Command="{Binding ImportWayPointCommand}" 
                                     Visibility="Collapsed"/>
-                            <Button Margin="0,5,5,0" Content="计算航线2D"  Width="105" Command="{Binding OptimizeRouteCommand}" 
+                            <Button Margin="0,5,5,0" Content="2D航线"  Width="82" Command="{Binding OptimizeRouteCommand}" 
                                     />
-                            <Button Margin="0,5,5,0" Content="计算航线3D"  Width="105" Command="{Binding OptimizeRouteCommand3D}" 
+                            <Button Margin="0,5,5,0" Content="3D航线"  Width="82" Command="{Binding OptimizeRouteCommand3D}" 
                                     />
-                            <Button Margin="0,5,5,0" Content="计算返航"  Width="105" Command="{Binding OptimizeRouteCommandRet}" 
+                            <Button Margin="0,5,5,0" Content="2D返航"  Width="82" Command="{Binding OptimizeRouteCommandRet}" 
                                     />
+                            <Button Margin="0,5,5,0" Content="3D返航"  Width="82" Command="{Binding OptimizeRouteCommandRet3D}" 
+                                   />
+
 
                             <Button Margin="0,5,5,0" Content="导出到C4D"  Width="105" Command="{Binding ExportWayPointCommand}"/>
    

Plane.FormationCreator/Views/TaskBarView.xaml

@@ -90,7 +90,7 @@
                             <ColumnDefinition />
                         </Grid.ColumnDefinitions>
 
-                        <Border Background="{Binding Status, Converter={StaticResource FlightTaskStatusToFillConverter}}"
+                        <Border 
                                 Width="88"
                                 Height="19"
                                 BorderThickness="1"
@@ -99,6 +99,12 @@
                                 MouseLeftButtonDown="TaskLeftButtonDown"
                                 MouseLeftButtonUp="SelectTask"
                                 MouseRightButtonUp="HideTask">
+                            <Border.Background>
+                                <MultiBinding Converter="{StaticResource FlightTaskStatusAndTransitionToFillConverter}">
+                                    <Binding Path="Status" />
+                                    <Binding Path="IsTransition" />
+                                </MultiBinding>
+                            </Border.Background>
 
                             <WrapPanel VerticalAlignment="Center" 
                                    HorizontalAlignment="Center" >
@@ -125,7 +131,7 @@
                 <RowDefinition/>
                 <RowDefinition Height="28"/>
             </Grid.RowDefinitions>
-            <StackPanel Height="100" Background="#FF2D2D2D" VerticalAlignment="Bottom">
+            <StackPanel Height="120" Background="#FF2D2D2D" VerticalAlignment="Bottom">
 
                 <TextBlock  x:Name="hintaddtask"   Margin="0,25,0,0" Text="请添加或选择飞行任务" Visibility="Collapsed" FontSize="18" TextAlignment="Center"/>
 
@@ -151,7 +157,7 @@
                        
                         <TabItem.Header>
                             <Label x:Name="flytoLabel"  Content="航点" HorizontalAlignment="Stretch"  MouseLeftButtonDown="TaskLabelLeftButtonDown" 
-                                   ToolTip="双击修改名称" />
+                                  ToolTip="双击修改名称" />
                         </TabItem.Header>
 
 
@@ -159,6 +165,7 @@
                             <Grid.RowDefinitions>
                                 <RowDefinition />
                                 <RowDefinition />
+                                <RowDefinition />
                             </Grid.RowDefinitions>
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition />
@@ -172,6 +179,9 @@
                             <TextBox  Grid.Row="1"  Grid.Column="1" Margin="2" VerticalAlignment="Center"
                                       MaxLength="4"
                                       Text="{Binding LoiterTime, UpdateSourceTrigger=PropertyChanged}" />
+                            <CheckBox Grid.Row="2" Grid.Column="2" x:Name="tranBox" Content="过度航点" HorizontalAlignment="Left"  Width="75.353" 
+                                IsChecked="{Binding IsTransition}"/>
+                            
                         </Grid>
                     </TabItem>