继续修改wifi，可以批量起飞等功能

Plane.FormationCreator/App.xaml.cs

@@ -173,31 +173,41 @@ namespace Plane.FormationCreator
         {
             _logger.Log(e.Message );
         }
+        //wifi模式添加飞机
         private async Task AddOrUpdateCopter(string ip, IConnection Connection)
         {
             var copters = _copterManager.Copters;
             var copterStatus = _copterManager.CopterStatus;
 
-            var copter = copters.FirstOrDefault(c => c.Id == ip);
+            string[] iparr = ip.Split('.');
+            string vIPID = String.Format("{0:D3}", int.Parse(iparr[2])) + String.Format("{0:D3}", int.Parse(iparr[3]));
+
+            var copter = copters.FirstOrDefault(c => c.Id == vIPID);
             if (copter == null)
+            {
+                if (!_copterManager.EnAddCopter_Real())
+                {
+                    UdpServerConnectionManager.Instance.DeleteConnections(ip);
+                }
+                else
                 {
                     await Dispatcher.BeginInvoke(new Action(() =>
                     {
-                    if (_copterManager.EnAddCopter_Real())
+
-                    {
+
                         copter = new Copter(Connection, SynchronizationContext.Current, _mapManager.Center.Lat, _mapManager.Center.Lng)
                         {
-                            Id = ip,
+                            Id = vIPID,
-                            Name = ip.Substring(ip.LastIndexOf('.') + 1)
+                            Name = vIPID  // ip.Substring(ip.LastIndexOf('.') + 1)
-
                         };
                         int _index;
                         _index = copters.AddCopter(copter);
                         copterStatus.Insert(_index, false);
                         copter.TextReceived += Copter_TextReceived;
-                    }
+
                     }));
                 }
+            }
             else
             {
                 copter.Connection = Connection;

Plane.FormationCreator/Formation/CopterManager.cs

@@ -591,6 +591,20 @@ namespace Plane.FormationCreator.Formation
 
 
 
+        public async  Task ClearCopters()
+        {
+            foreach (var copter in Copters)
+            {
+                await copter.DisconnectAsync();
+            }
+            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。
+            Copters.Clear();
+            CopterStatus.Clear();
+            //wifi
+            if (VersionControl.ConType==1)
+                UdpServerConnectionManager.Instance.ClearConnections();
+        }
+
 
         public bool EnAddCopter_Real()
         {

Plane.FormationCreator/Formation/RtcmManager.cs

@@ -27,7 +27,7 @@ namespace Plane.FormationCreator.Formation
         private CommModuleManager _commModuleManager = CommModuleManager.Instance;
         public ObservableCollection<RtcmInfo> rtcmInfoList { get; } = new ObservableCollection<RtcmInfo>();
         private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
-
+        private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
         private bool _rtcmthreadrun = false;
         public bool Rtcmthreadrun
         {
@@ -313,6 +313,7 @@ namespace Plane.FormationCreator.Formation
                             //用于双频RTK发送
                             // await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
                             //用于单频rtk发送
+                            _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
                             await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
 
                             string msgname = "Rtcm" + seenmsg;                          

Plane.FormationCreator/MainWindow.xaml

@@ -235,7 +235,7 @@
                     <TextBlock Margin="10,4"
                          Width="300"  Text="{Binding SysStatusText}" />
                     <Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
-                    <TextBlock Margin="10,4" Width="200"
+                    <TextBlock Margin="10,4" Width="400"
                            Text="{Binding CopterListViewModel.SelectedCopter.StatusText}" />
                     
                 </StackPanel>

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -314,6 +314,7 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _AllLandCommand ?? (_AllLandCommand = new RelayCommand(async () =>
                 {
+                    _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
                     await _commModuleManager.LandAsync();
                     /*
                     await Task.WhenAll(_copterManager.Copters.Select(async c =>
@@ -409,6 +410,7 @@ namespace Plane.FormationCreator.ViewModels
                     // await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.UnlockAsync()));
                     for (int i = 0; i < 3; i++)
                     {
+                        _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
                         await _commModuleManager.UnlockAsync();
                         await Task.Delay(1000).ConfigureAwait(false);
                     }
@@ -536,6 +538,7 @@ namespace Plane.FormationCreator.ViewModels
                         if (Alert.Show("您确定要上锁吗？飞行器将无视转速，立即强制停止运转！！！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
                             == MessageBoxResult.OK)
                         {
+                            _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
                             await _commModuleManager.LockAsync(_copterManager.AcceptingControlCopters);
                             //await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.LockAsync()));
                         }
@@ -702,7 +705,10 @@ namespace Plane.FormationCreator.ViewModels
                                 if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
                                     num = await _commModuleManager.SetParamAsync(paramstr, paramvalue, _copterManager.AcceptingControlCopters);
                                 else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
+                                {
+                                    _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
                                     num = await _commModuleManager.SetParamAsync(paramstr, paramvalue);
+                                }
                                 Alert.Show($"广播完成！ 当前序列号：{num}");
                             }
                             else
@@ -896,6 +902,7 @@ namespace Plane.FormationCreator.ViewModels
                                         }
                                         */
                                         //稳定方案的rtk发送，用于单频
+                                        _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
                                         await _commModuleManager.InjectGpsDataAsync(packet, (ushort)packet.Length);
                                     }
                                     await Task.Delay(10).ConfigureAwait(false);

Plane.FormationCreator/ViewModels/CopterListViewModel.cs

@@ -441,6 +441,8 @@ namespace Plane.FormationCreator.ViewModels
                 return _ClearCoptersCommand ?? (_ClearCoptersCommand = new RelayCommand(async () =>
                 {
                     _flightTaskManager.Pause();
+                    await _copterManager.ClearCopters();
+                    /*
                     foreach (var copter in _copterManager.Copters)
                     {
                         await copter.DisconnectAsync();
@@ -448,10 +450,13 @@ 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。
                     _copterManager.Copters.Clear();
                     _copterManager.CopterStatus.Clear();
+                    */
+
                     _mapManager.ClearCopters();
                     _view3DManager.ClearCopters();
                     _flightTaskManager.ClearTasks();
                     //   UdpServerConnectionManager.Instance.ClearConnections();
+
                     _virtualCopterId = 1;
                     _lastVirtualCopterLocation = null;
                     _flightTaskManager.OriginLat = 0;

Plane.FormationCreator/Views/CalibrationWindow.xaml

@@ -30,7 +30,7 @@
                 <Button Content="开始校准" Width="100" Margin="10, 0"
                         Command="{Binding CalibrationCompassCommand}"/>
                 <Button Content="放弃校准" Width="100" Margin="10, 0"
-                        Command="{Binding CancelCalibrationCompassCommand}"/>
+                        Command="{Binding CancelCalibrationCompassCommand}" Visibility="Collapsed"/>
             </WrapPanel>
             <ProgressBar Margin="0,20" Height="18" Width="220" Value="{Binding CompassPercent, UpdateSourceTrigger=PropertyChanged}"/>