紧急返航功能，策略不对，临时保存

Plane.FormationCreator/Formation/FlightTask.cs

@@ -163,7 +163,11 @@ namespace Plane.FormationCreator.Formation
             get { return _ModifyingSingleCopterInfo; }
             set { Set(nameof(ModifyingSingleCopterInfo), ref _ModifyingSingleCopterInfo, value); }
         }
-
+        /// <summary>
+        /// 实际执行某一个任务--包含等待
+        /// </summary>
+        /// <returns></returns>
+        /// <exception cref="InvalidOperationException"></exception>
         public async Task RunAsync()
         {
             switch (TaskType)
@@ -172,8 +176,6 @@ namespace Plane.FormationCreator.Formation
                     await RunFlyToTaskAsync().ConfigureAwait(false);
                     break;
                 case FlightTaskType.TakeOff:
-                    //多架同时起飞
-                    //await MutilRunTakeOffTaskAsync().ConfigureAwait(false);
                     await NewMutilRunTakeOffTaskAsync().ConfigureAwait(false);
                     break;
                 case FlightTaskType.Land:

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -22,6 +22,10 @@ using Plane.CommunicationManagement;
 using Microsoft.Practices.ServiceLocation;
 using Plane.FormationCreator.ViewModels;
 using MahApps.Metro.Controls;
+using Newtonsoft.Json.Linq;
+using GMap.NET.MapProviders;
+using GMap.NET;
+using static Plane.FormationCreator.CalculationLogLatDistance;
 
 namespace Plane.FormationCreator.Formation
 {
@@ -648,7 +652,21 @@ namespace Plane.FormationCreator.Formation
             // SelectedTaskIndex = 0;
         }
 
-
+        //模拟紧急返航
+        public async Task sim_DoMissionEmergencyRetAsync(PLLocation takeoffcentloc, PLLocation taskcentloc, float mindistance,int rettime, bool descending)
+        {
+            var copters = _copterManager.Copters;
+            if (TaskState == TasksStatus.Stop)
+                return;
+            IsEmergencyRet = true;
+            //设置所有模拟飞机的位置
+            for (int j = 0; j < copters.Count; j++)
+            {
+                var copter = copters[j];
+                var fc = copter as FakeCopter;
+                await fc.EmergencyRetAsync(takeoffcentloc, taskcentloc, mindistance, rettime, descending);
+            }
+        }
 
         public async Task ForceNextTasks()
         {
@@ -2199,6 +2217,15 @@ namespace Plane.FormationCreator.Formation
             }
             return ret;
          }
+        CancellationTokenSource cts ;
+
+        //绕行取消，用于3D绕行计算
+        public void cancel_ABypassBAsync()
+        {
+            if (cts!=null)
+                cts.Cancel(); //取消掉 异步执行的 绕行函数
+        }
+
         //新开线程异步调用ABypassB并等待返回
         public async Task<(List<List<FlightRouteV2.Vector3>>,bool)> ABypassBAsync(FlightRouteV2.Vector3[] aVecs, FlightRouteV2.Vector3[] bVecs)
         {
@@ -2207,7 +2234,8 @@ namespace Plane.FormationCreator.Formation
 
             var task = Task.Run(() =>
             {
-                ret = FlyVecFun.ABypassB(aVecs, bVecs, Routecallback, Cronograma, out isPasstmp);
+                cts = new CancellationTokenSource(); 
+                ret = FlyVecFun.ABypassB(aVecs, bVecs, Routecallback, Cronograma, cts.Token, out isPasstmp);
             });
             try
             {
@@ -2852,8 +2880,24 @@ namespace Plane.FormationCreator.Formation
             Message.Show($"经纬方式计算用时：{stopWatch.Elapsed.TotalMilliseconds}ms,总飞行距离{sumlength}米,有{crosscount}个交叉");
   
         }
-
-        //计算中心点 (三维的)
+        //计算一个图案的重心点 (三维的)
+        private PLLocation CenterGravityLatLng(List<PLLocation> points)
+        {
+            double aLatitude = 0;
+            double aLongitude = 0;
+            double aAlt = 0;
+            foreach (var item in points)
+            {
+                aLatitude += item.Latitude;
+                aLongitude += item.Longitude;
+                aAlt += item.Altitude;
+            }
+            aLatitude = aLatitude / points.Count;
+            aLongitude = aLongitude / points.Count;
+            aAlt = aAlt / points.Count;
+            return new PLLocation(aLatitude, aLongitude, (float)aAlt);
+        }
+        //计算两个图案的共同几何中心点 (三维的)
         private PLLocation CenterLatLng(List<PLLocation> point1, List<PLLocation> point2)
         {
             PLLocation centerLatLng = new PLLocation(0,0,0);
@@ -3195,8 +3239,30 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        private bool _IsEmergencyRet=false;
+        public bool IsEmergencyRet
+        {
+            get { return _IsEmergencyRet; }
+            private set
+            {
+                if (Set(nameof(IsEmergencyRet), ref _IsEmergencyRet, value))
+                {
+                    if (_IsEmergencyRet)
+                    {
+                        MessageText = "任务紧急返航中！";
+                    }
+                    else
+                    {
+                        MessageText = "任务运行中";
+                    }
+                }
+
+
+            }
+        }
+
         TimeSpan timeSpan;
-        DateTime taskStartTime;
+        public DateTime taskStartTime;
         public async Task RunTaskAsync()
         {
             if (Tasks.Count == 0) return;
@@ -3249,10 +3315,14 @@ namespace Plane.FormationCreator.Formation
 
             }
         }
-
+        /// <summary>
+        /// 开始运行模拟任务
+        /// </summary>
+        /// <returns></returns>
         public async Task RunAsync()
         {
             IsPaused = false;
+            IsEmergencyRet = false;
             for (int i = CurrentRunningTaskIndex; i < Tasks.Count; i++)
             {
                 var task = Tasks[i];
@@ -3261,6 +3331,10 @@ namespace Plane.FormationCreator.Formation
             }
             AppEx.Current.AppMode = AppMode.RunningTasks;
             StartAvoidingCrash(); //开始碰撞检测
+
+            //告诉所有飞机开始任务--模拟飞机不计算起飞延迟，直接传0
+            foreach (var copter in _copterManager.Copters)
+                 await copter.MissionStartAsync(0, 0, 0, 0, 0);
             TaskState = TasksStatus.Running;  
             for (int i = CurrentRunningTaskIndex; i < Tasks.Count; i++)
             {
@@ -3269,16 +3343,13 @@ namespace Plane.FormationCreator.Formation
                 task.Status = FlightTaskStatus.Running;
                 CurrentRunningTask = task;
                 CurrentRunningTaskIndex = i;
-
-                //////////////////显示提示信息
+                //显示提示信息
                 int starttime = 0;
                 for (int j = 0; j < task.TaskIndex; j++)
                      starttime += GetTaskTime(j);
                 TimeSpan ts = new TimeSpan(0, 0, Convert.ToInt32(starttime));
                 Message.Show($"{ts}:任务{i+1} {task.TaskCnName } 开始执行，需{ GetTaskTime(task.TaskIndex)}秒");
-                /////////////////////////
-
-
+                //开始执行任务
                 await task.RunAsync().ConfigureAwait(false);
                 // 1. 被暂停时，中断 RunAsync。继续运行时将把此时运行了一半的 CurrentRunningTask 重新运行一遍。
                 if (IsPaused == true)
@@ -3288,10 +3359,17 @@ namespace Plane.FormationCreator.Formation
                     Message.Show($"任务{i + 1} {task.TaskCnName } 暂停执行");
                     return;
                 }
+                //紧急返航中-跳出任务循环
+                if (IsEmergencyRet == true) break;
                 task.Status = FlightTaskStatus.Stop;
             }
 
-            // 2. 正常结束时，重置 CurrentRunningTask、CurrentRunningTaskIndex 和 IsPaused。
+            //紧急返航中-等待返航结束
+            while (IsEmergencyRet) { 
+                //延时10ms等待
+                await Task.Delay(10);
+             }
+             // 2. 正常结束时，重置 CurrentRunningTask、CurrentRunningTaskIndex 和 IsPaused。
             TaskState = TasksStatus.Stop;
             CurrentRunningTask = null;
             CurrentRunningTaskIndex = 0;
@@ -3306,8 +3384,176 @@ namespace Plane.FormationCreator.Formation
         #endregion Run and pause.
 
 
-        Dictionary<int, string> AvoidCrashLog = new Dictionary<int, string >();
+        //计算飞行一段时间后的位置
+        private PLLocation TaskFlyLoc(PLLocation startloc, PLLocation tarloc,int currflytime,int flytime )
+        {
+            PLLocation flyLatLng;
+            if (currflytime >= flytime)
+            {
+                flyLatLng=new PLLocation(tarloc.Latitude, tarloc.Longitude, tarloc.Altitude);
+                return flyLatLng;
+            }
+            double _direction = startloc.CalcDirection2D(tarloc.Latitude, tarloc.Longitude);
+            double _Lng_delta = (float)(Math.Sin(_direction) * GeographyUtils.CalcMetersToLngSpan(tarloc.Latitude));
+            double _Lat_delta = (float)(Math.Cos(_direction) * GeographyUtils.METERS_TO_LAT_SPAN);
 
+            //计算xy和z方向距离
+            float _distance_xy = (float)startloc.CalcDistance2D(tarloc);
+            float _distance_z = tarloc.Altitude - startloc.Altitude;
+            
+            float currdis_xy= _distance_xy/ flytime* currflytime;
+            float currdis_z = _distance_z / flytime * currflytime;
+            // 更新位置
+            float Altitude = startloc.Altitude + currdis_z;
+            double Longitude = startloc.Longitude  + currdis_xy * _Lng_delta;
+            double Latitude = startloc.Latitude + currdis_xy * _Lat_delta;
+            flyLatLng = new PLLocation(Latitude, Longitude, Altitude);
+            return flyLatLng;
+        }
+
+
+
+
+
+
+        //计算紧急返航数据
+        //rettime :返航时间点--从起飞开始计算的秒数
+        //takeoffcentloc:起飞图案重心点
+        //taskcentloc:返航图案重心点
+        //mindistance:离起飞重心点最近飞机距离
+        //overlapping:两个图案是否有重叠--用来决定飞机是先降低高度还是先横着飞
+        //返回值：是否可以计算返航--起飞不能用这个函数，直接降落
+        public bool EmergencyRet(int rettime, out PLLocation takeoffcentloc, out PLLocation taskcentloc, out double mindistance, out bool overlapping)
+        {
+            mindistance = 0;
+            int starttime = 0;
+            int flyedtasktime = 0;
+            int rettaskindex = -1;
+            int taskflytime = 0;
+            taskcentloc = null;
+            overlapping = false;
+            
+            double takeoffmaxlat=0;
+            double takeoffmaxlng = 0;
+            double takeoffminlat = double.MaxValue;
+            double takeoffminlng = double.MaxValue;
+            double taskmaxlat = 0;
+            double taskmaxlng = 0;
+            double taskminlat = double.MaxValue;
+            double taskminlng = double.MaxValue;
+
+
+
+
+            Dictionary<int, PLLocation> curTaskPoint = new Dictionary<int, PLLocation>();
+
+            //计算地面起飞矩阵的中心点
+            for (int i = 0; i < _copterManager.Copters.Count; i++)
+            {
+                //起飞任务
+                var curinfo = Tasks[0].SingleCopterInfos[i];
+                PLLocation curLoc = new PLLocation(curinfo.TargetLat, curinfo.TargetLng,0);
+                if (curinfo.TargetLat > takeoffmaxlat)
+                    takeoffmaxlat = curinfo.TargetLat;
+                if (curinfo.TargetLng > takeoffmaxlng)
+                    takeoffmaxlng = curinfo.TargetLng;
+                if (curinfo.TargetLat < takeoffminlat)
+                    takeoffminlat = curinfo.TargetLat;
+                if (curinfo.TargetLng < takeoffminlng)
+                    takeoffminlng = curinfo.TargetLng;
+                curTaskPoint.Add(i, curLoc);
+            }
+            takeoffcentloc = CenterGravityLatLng(curTaskPoint.Values.ToList());
+            curTaskPoint.Clear();
+
+            //计算返航时间正在飞行哪个航点，飞了多久
+            for (int i = 0; i < Tasks.Count; i++)
+            {
+                flyedtasktime= GetTaskTime(i);
+                if ((starttime+ flyedtasktime) > rettime)
+                {
+                    rettaskindex = i;
+                    taskflytime = rettime - starttime;
+                }
+                starttime += flyedtasktime;
+            }
+            //起飞不能用这个函数，直接降落
+            if (rettaskindex<1) return false;
+            mindistance = double.MaxValue;
+
+            //计算悬停图案的重心点
+            for (int i = 0; i < _copterManager.Copters.Count; i++)
+            {
+                var curinfo = Tasks[rettaskindex].SingleCopterInfos[i];
+                var prvcurinfo = Tasks[rettaskindex - 1].SingleCopterInfos[i];
+                PLLocation curLoc;
+                if (taskflytime < Tasks[rettaskindex].FlytoTime)
+                {
+                    PLLocation coptercurLoc = new PLLocation(curinfo.TargetLat, curinfo.TargetLng, curinfo.TargetAlt);
+                    PLLocation copterprvLoc = new PLLocation(prvcurinfo.TargetLat, prvcurinfo.TargetLng, prvcurinfo.TargetAlt);
+                    //计算飞行一段时间后的位置
+                    curLoc = TaskFlyLoc(copterprvLoc, coptercurLoc, taskflytime, Tasks[rettaskindex].FlytoTime);
+                }
+                else  //正在悬停
+                    curLoc = new PLLocation(curinfo.TargetLat, curinfo.TargetLng, 0);
+
+                curTaskPoint.Add(i, curLoc);
+                if (curinfo.TargetLat > taskmaxlat)
+                    taskmaxlat = curinfo.TargetLat;
+                if (curinfo.TargetLng > taskmaxlng)
+                    taskmaxlng = curinfo.TargetLng;
+                if (curinfo.TargetLat < taskminlat)
+                    taskminlat = curinfo.TargetLat;
+                if (curinfo.TargetLng < taskminlng)
+                    taskminlng = curinfo.TargetLng;
+                double taskdistance = takeoffcentloc.CalcDistance(curLoc);
+                if (taskdistance < mindistance)
+                    mindistance = taskdistance;
+            }
+            taskcentloc = CenterGravityLatLng(curTaskPoint.Values.ToList());
+            curTaskPoint.Clear();
+
+            //判断两个图案是否有重叠
+            overlapping = DoRectanglesOverlap(takeoffminlat, takeoffminlng, takeoffmaxlat, takeoffmaxlng,
+                                           taskminlat, taskminlng, taskmaxlat, taskmaxlng);
+
+
+
+            return true;
+        }
+
+        /// <summary>
+        /// 判断两个矩形是否有重叠
+        /// </summary>
+        /// <param name="minLat1"></param>
+        /// <param name="minLng1"></param>
+        /// <param name="maxLat1"></param>
+        /// <param name="maxLng1"></param>
+        /// <param name="minLat2"></param>
+        /// <param name="minLng2"></param>
+        /// <param name="maxLat2"></param>
+        /// <param name="maxLng2"></param>
+        /// <returns></returns>
+        static bool DoRectanglesOverlap(double minLat1, double minLng1, double maxLat1, double maxLng1,
+                                         double minLat2, double minLng2, double maxLat2, double maxLng2)
+        {
+            // 判断第一个矩形在第二个矩形的左边或右边
+            if (minLng1 > maxLng2 || minLng2 > maxLng1)
+            {
+                return false;
+            }
+
+            // 判断第一个矩形在第二个矩形的上边或下边
+            if (minLat1 > maxLat2 || minLat2 > maxLat1)
+            {
+                return false;
+            }
+
+            return true;
+        }
+
+
+        Dictionary<int, string> AvoidCrashLog = new Dictionary<int, string >();
 
 
        

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -86,20 +86,10 @@ namespace Plane.FormationCreator.Formation
                 for (int i = 0; i < infos.Count; i++)
                 {
                     var info = infos[i];
-                    
+                    //为每架飞机创建一个航点任务
                     tasks[i] = await Task.Factory.StartNew(async () =>
                     {
                         var internalInfo = info;
-                          //if (i1 > 0)
-                        //{
-                        //    var prevCopter = infos[i1 - 1].Copter;
-                        //    while (CheckCrossing(infos, i1) &&
-                        //        prevCopter.Altitude - copter.Altitude < 2)
-                        //    {
-                        //        await Task.Delay(25).ConfigureAwait(false);
-                        //    }
-                        //}
-
                         await FlyToTaskFlySingleCopterAsync(internalInfo);
                     });
                 }
@@ -116,7 +106,11 @@ namespace Plane.FormationCreator.Formation
 
 
     //    private int RuningTaskRemaining = 0;
-
+        /// <summary>
+        /// 单独飞机执行飞行任务
+        /// </summary>
+        /// <param name="info"></param>
+        /// <returns></returns>
         private async Task FlyToTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
         {
             DateTime dtNow = DateTime.Now;
@@ -152,61 +146,20 @@ namespace Plane.FormationCreator.Formation
                 targetLng = info.Copter.TakeOffPoint.Longitude;
             }
             int flytype = _flightTaskManager.getflytype(taskIndex);
+            //指定目标位置
             await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt, task.FlytoTime, flytype);
-      //      await Task.Delay(10).ConfigureAwait(false);
-
             dtNow = DateTime.Now;
             ts = dtNow - dtLastTime;
-
-           // int sendFlyToTimes = 0;
-
-            /*
-            //第0个任务为takeoff 
-            if (taskIndex > 0)
-            {
-                FlightTask prevTask = _flightTaskManager.Tasks[taskIndex - 1];
-                if (prevTask.TaskType == FlightTaskType.FlyTo && prevTask.LoiterTime == 0)
-                    flyToTime += prevTask.RuningTaskRemaining;
-            }
-            */
-
-                //while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt))    //按航点飞  ：所有Copter到达目标点开始飞下个航点
+            //等待时间到达，并执行灯光模拟--不移动飞机，移动飞机是飞机自己计算的
             while (ts.TotalMilliseconds < (flyToTime + loiterTime))                                         //按时间轴飞：当前任务时间到达后自动飞往下个航点
             {
-                /*
-                //悬停时间等于0为快速航点  到达之后立即出发下个航点 切时间累积
-                if (loiterTime == 0 &&
-                    info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt))
-                {
-                    task.RuningTaskRemaining = flyToTime - (int)ts.TotalMilliseconds;
-                    break;
-                }
-                */
                 if (_flightTaskManager.IsPaused == true)
                 {
                     await info.Copter.HoverAsync();
                     return;
                 }
                 await Task.Delay(100).ConfigureAwait(false); //判断是否到达位置10hz
-
-
-
-                //                 if (info.LEDInfos.Count > 0)
-                //                 {
-                //                     string LEDRGB = "";
-                //                     List<LEDInfo> LedControl = info.LEDInfos.OrderBy(i=>i.Delay).ToList();
-                //                     for (int i = 0; i < LedControl.Count; i++)
-                //                     {
-                //                         var led = LedControl[i];
-                //                         if (ts.TotalMilliseconds >= led.Delay * 1000)
-                //                             LEDRGB = info.LEDInfos[i].LEDRGB;
-                //                         else
-                //                             break;
-                //                     }
-                //                     info.Copter.LEDColor = LEDRGB;
-                // 
-                //                 }
-
+                //执行灯光模拟
                 if (info.LEDInfos.Count > 0)
                 {
                     string LEDRGB = "";
@@ -223,10 +176,7 @@ namespace Plane.FormationCreator.Formation
                             break;
                     }
                     info.Copter.LEDColor = LEDRGB;
-
                 }
-
-
                 // 当该飞机被标记时，悬停并跳过飞行任务
                 if ((bool)_copterManager.CopterStatus[copterIndex])
                 {

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -66,20 +66,20 @@ namespace Plane.FormationCreator.Formation
             var tasksTakeOff = new Task[infos.Count];
             for (int i = 0; i < infos.Count; i++)
             {
-                //tasksTakeOff[i] = NewSingleRunTaskOffTaskAsunc(infos[i]);
-
-
                 tasksTakeOff[i] = await Task.Factory.StartNew(async () =>
                 {
                     var internalInfo = infos[i];
-
                     await NewSingleRunTaskOffTaskAsunc(internalInfo);
                 });
             }
             await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
-            //await Task.Delay(100);
         }
 
+        /// <summary>
+        /// 单独飞机 执行起飞任务
+        /// </summary>
+        /// <param name="info"></param>
+        /// <returns></returns>
         private async Task NewSingleRunTaskOffTaskAsunc(FlightTaskSingleCopterInfo info)
         {
             DateTime dtNow = DateTime.Now;
@@ -113,7 +113,7 @@ namespace Plane.FormationCreator.Formation
             //info.Copter.takeOffTargetAltitude = takeOffAlt;
             FlightTask task = _flightTaskManager.CurrentRunningTask;
             float takeflytime = task.TakeOffTime - info.TakeOffWaitTime;
-            //开始往上飞
+            //飞行目标，开始往上飞
             await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt, takeflytime, 1); //秒
             //解锁起飞用暗紫色
             info.Copter.LEDColor = CopterManager.CopterTakeoffColor;
@@ -121,7 +121,7 @@ namespace Plane.FormationCreator.Formation
             dtNow = DateTime.Now;
             ts = dtNow - dtLastTime;
            
-
+            //等待起飞时间完成,并模拟灯光--不移动飞机-飞机自己计算并移动位置
             while (ts.TotalMilliseconds < task.TakeOffTime * 1000)
             {
                 if (_flightTaskManager.IsPaused == true)
@@ -154,7 +154,6 @@ namespace Plane.FormationCreator.Formation
             }
             //起飞完成用默认颜色
             info.Copter.LEDColor = CopterManager.CopterFlyingColor;
-
         }
 
 

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -395,6 +395,42 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private ICommand _EmergencyRetCommand;
+        public ICommand EmergencyRetCommand
+        {
+            get
+            {
+                return _EmergencyRetCommand ?? (_EmergencyRetCommand = new RelayCommand(async () =>
+                {
+                    if (Alert.Show("您确定要紧急返航吗？紧急返航可能导致飞行器碰撞！！！！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
+                        != MessageBoxResult.OK)
+                        return;                    //计算当前图案中心点，起飞图案中心点，图案距离起飞图案中心点最近距离
+                    FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+                    //计算无人机返航方向和最近的飞机距离
+                    PLLocation takeoffcentloc;
+                    PLLocation taskcentloc;
+                    double mindistance; //单位米
+                    bool overlapping;  //图案否重叠
+                    int rettime= (int)(DateTime.Now - _flightTaskManager.taskStartTime).TotalSeconds;
+                    if (!_flightTaskManager.EmergencyRet(rettime,out takeoffcentloc,out taskcentloc, out mindistance,out overlapping))
+                    {
+                        Alert.Show("紧急返航数据计算失败！", "提示");
+                        return;
+                    }
+                    rettime += 5; //加5秒延迟用于通讯重复，有些飞机通讯不成功多次发送才收到，比别的飞机慢
+
+                    //模拟测试
+                    if (_flightTaskManager.TaskState != TasksStatus.Stop)
+                        await _flightTaskManager.sim_DoMissionEmergencyRetAsync(takeoffcentloc, taskcentloc, (float)mindistance, rettime, overlapping);
+                    for (int i = 0; i < 10; i++)
+                    {
+                        await _commModuleManager.DoMissionEmergencyRetAsync(takeoffcentloc,taskcentloc,(float)mindistance, rettime, overlapping);
+                    }
+                }));
+            }
+        }
+
+
         private ICommand _LEDFlickerCommand;
         public ICommand LEDFlickerCommand
         {

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -198,8 +198,11 @@
                    
                     <WrapPanel>
 
-                        <Button Content="全部降落"
+                     <Button Content="全部降落"
                      Command="{Binding AllLandCommand}" />
+                     <Button Content="紧急返航"
+                     Command="{Binding EmergencyRetCommand}" />
+                        
 
                     </WrapPanel>
                 </StackPanel>