group/Plane.FormationCreator
1
0
Fork 0
Code Issues 3 Pull Requests Actions Packages Projects Releases Wiki Activity

[FlightTask_FlyTo.cs]修改bug暂停后无法继续-未进入guided模式

Browse Source 
[FlightTask_LoiterTime.cs]飞机标记时以后任务跳过
[FlightTask_TakeOff.cs]解锁加入5秒时间限制
[ControlPanelViewModel.cs]加入解锁测试功能，解锁全部飞机保持10秒再加锁
[ControlPanelView.xaml]打开测试按钮
This commit is contained in:
pxzleo 2017-04-09 19:51:18 +08:00
parent 93ed6f778a
commit 3802af10ca
5 changed files with 66 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
View File

@ -643,10 +643,15 @@ namespace Plane.FormationCreator.Formation
int taskIndex = _flightTaskManager.CurrentRunningTaskIndex;
int copterIndex = SingleCopterInfos.IndexOf(info);
// 当该飞机被标记时，跳过飞行任务
if ((bool)_copterManager.CopterStatus[copterIndex])
return;
await info.Copter.SetShowLEDAsync(info.FlytoShowLED);
if (info.Copter.State != Plane.Copters.CopterState.CommandMode)
await info.Copter.GuidAsync();
DateTime dtNow = DateTime.Now;
DateTime dtLastTime = DateTime.Now;
TimeSpan ts = dtNow - dtLastTime;

24
Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs
View File

@ -353,7 +353,18 @@ namespace Plane.FormationCreator.Formation
{
var copter = info.Copter;
// await Task.Delay(200).ConfigureAwait(false);
// await Task.Delay(200).ConfigureAwait(false);
int copterIndex = SingleCopterInfos.IndexOf(info);
// 当该飞机被标记时，跳过飞行任务
if ((bool)_copterManager.CopterStatus[copterIndex])
return;
var tasks = new Task[1];
tasks[0] = Task.Run(async () =>
@ -383,6 +394,11 @@ namespace Plane.FormationCreator.Formation
{
var copter = info.Copter;
int copterIndex = SingleCopterInfos.IndexOf(info);
// 当该飞机被标记时，跳过飞行任务
if ((bool)_copterManager.CopterStatus[copterIndex])
return;
var tasks = new Task[1];
tasks[0] = Task.Run(async () =>
{
@ -434,6 +450,12 @@ namespace Plane.FormationCreator.Formation
private async Task LEDFlashTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info, bool isOn)
{
var copter = info.Copter;
int copterIndex = SingleCopterInfos.IndexOf(info);
// 当该飞机被标记时，跳过飞行任务
if ((bool)_copterManager.CopterStatus[copterIndex])
return;
// float gpsLed = await c.GetParamAsync("NOTI_GPSLED");
/*

6
Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
View File

@ -163,10 +163,16 @@ namespace Plane.FormationCreator.Formation
//{
// return;
//}
//5秒内每1000毫秒尝试解锁一次
//解锁间隔一定要超过1s否则导致飞控以后无法解锁
if (i > 200)
break;
if (i % (1000 / 25) == 1000 / 25 - 1)
{
await copter.UnlockAsync(); // 每 1000 毫秒重试一次。
}
await Task.Delay(25).ConfigureAwait(false);
}

32
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -48,11 +48,14 @@ namespace Plane.FormationCreator.ViewModels
await Task.WhenAll(_copterManager.AcceptingControlCopters.Select( async c => {
await c.UnlockAsync();
//解锁间隔一定要超过1s否则导致飞控以后无法解锁
for (int i = 0; !c.IsUnlocked; i++)
{
if (i > 200)
break;
if (i % (1000 / 25) == 1000 / 25 - 1)
{
await c.UnlockAsync(); // 每 1000 毫秒重试一次。
await c.UnlockAsync(); // 每 1000 毫秒重试一次。解锁间隔一定要超过1s否则导致飞控以后无法解锁
}
await Task.Delay(25).ConfigureAwait(false);
}
@ -255,6 +258,33 @@ namespace Plane.FormationCreator.ViewModels
{
return _TestCommand ?? (_TestCommand = new RelayCommand(async () =>
{
foreach (var vcopter in _copterManager.Copters)
{
await vcopter.UnlockAsync();
}
await Task.Delay(10000);
foreach (var vcopter in _copterManager.Copters)
{
await vcopter.LockAsync();
}
return;
var firstCopter = _copterManager.Copters.First();
// Test TurnAsync.

2
Plane.FormationCreator/Views/ControlPanelView.xaml
View File

@ -52,7 +52,7 @@
<Button Content="跳过"
Command="{Binding FlagCommand}" />
<Button Content="测试"
Visibility="Hidden"
Command="{Binding TestCommand}" />
<TextBox Width="50"
Visibility="Hidden"