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继续修改wifi，可以批量起飞等功能

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This commit is contained in:
xu 2020-03-11 15:34:31 +08:00
parent da086831bf
commit 3aa4879511
7 changed files with 52 additions and 15 deletions
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26
Plane.FormationCreator/App.xaml.cs
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@ -173,30 +173,40 @@ namespace Plane.FormationCreator
{ {
_logger.Log(e.Message ); _logger.Log(e.Message );
} }
//wifi模式添加飞机
private async Task AddOrUpdateCopter(string ip, IConnection Connection) private async Task AddOrUpdateCopter(string ip, IConnection Connection)
{ {
var copters = _copterManager.Copters; var copters = _copterManager.Copters;
var copterStatus = _copterManager.CopterStatus; 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 (copter == null)
{ {
await Dispatcher.BeginInvoke(new Action(() => if (!_copterManager.EnAddCopter_Real())
{ {
if (_copterManager.EnAddCopter_Real()) UdpServerConnectionManager.Instance.DeleteConnections(ip);
}
else
{
await Dispatcher.BeginInvoke(new Action(() =>
{ {
copter = new Copter(Connection, SynchronizationContext.Current, _mapManager.Center.Lat, _mapManager.Center.Lng) 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; int _index;
_index = copters.AddCopter(copter); _index = copters.AddCopter(copter);
copterStatus.Insert(_index, false); copterStatus.Insert(_index, false);
copter.TextReceived += Copter_TextReceived; copter.TextReceived += Copter_TextReceived;
}
})); }));
}
} }
else else
{ {

14
Plane.FormationCreator/Formation/CopterManager.cs
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@ -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() public bool EnAddCopter_Real()
{ {

9
Plane.FormationCreator/Formation/RtcmManager.cs
View File

@ -27,7 +27,7 @@ namespace Plane.FormationCreator.Formation
private CommModuleManager _commModuleManager = CommModuleManager.Instance; private CommModuleManager _commModuleManager = CommModuleManager.Instance;
public ObservableCollection<RtcmInfo> rtcmInfoList { get; } = new ObservableCollection<RtcmInfo>(); public ObservableCollection<RtcmInfo> rtcmInfoList { get; } = new ObservableCollection<RtcmInfo>();
private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>(); private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
private bool _rtcmthreadrun = false; private bool _rtcmthreadrun = false;
public bool Rtcmthreadrun public bool Rtcmthreadrun
{ {
@ -310,10 +310,11 @@ namespace Plane.FormationCreator.Formation
if ((seenmsg = rtcm.Read(buffer[a])) > 0) if ((seenmsg = rtcm.Read(buffer[a])) > 0)
{ {
bpsusefull += rtcm.length; bpsusefull += rtcm.length;
//用于双频RTK发送 //用于双频RTK发送
// await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length); // await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
//用于单频rtk发送 //用于单频rtk发送
await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length); _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
string msgname = "Rtcm" + seenmsg; string msgname = "Rtcm" + seenmsg;

2
Plane.FormationCreator/MainWindow.xaml
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@ -235,7 +235,7 @@
<TextBlock Margin="10,4" <TextBlock Margin="10,4"
Width="300" Text="{Binding SysStatusText}" /> Width="300" Text="{Binding SysStatusText}" />
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/> <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}" /> Text="{Binding CopterListViewModel.SelectedCopter.StatusText}" />
</StackPanel> </StackPanel>

7
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -314,6 +314,7 @@ namespace Plane.FormationCreator.ViewModels
{ {
return _AllLandCommand ?? (_AllLandCommand = new RelayCommand(async () => return _AllLandCommand ?? (_AllLandCommand = new RelayCommand(async () =>
{ {
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.LandAsync(); await _commModuleManager.LandAsync();
/* /*
await Task.WhenAll(_copterManager.Copters.Select(async c => 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())); // await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.UnlockAsync()));
for (int i = 0; i < 3; i++) for (int i = 0; i < 3; i++)
{ {
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.UnlockAsync(); await _commModuleManager.UnlockAsync();
await Task.Delay(1000).ConfigureAwait(false); 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) 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) == MessageBoxResult.OK)
{ {
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.LockAsync(_copterManager.AcceptingControlCopters); await _commModuleManager.LockAsync(_copterManager.AcceptingControlCopters);
//await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.LockAsync())); //await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.LockAsync()));
} }
@ -702,7 +705,10 @@ namespace Plane.FormationCreator.ViewModels
if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count) if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
num = await _commModuleManager.SetParamAsync(paramstr, paramvalue, _copterManager.AcceptingControlCopters); num = await _commModuleManager.SetParamAsync(paramstr, paramvalue, _copterManager.AcceptingControlCopters);
else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count) else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
{
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
num = await _commModuleManager.SetParamAsync(paramstr, paramvalue); num = await _commModuleManager.SetParamAsync(paramstr, paramvalue);
}
Alert.Show($"广播完成！ 当前序列号：{num}"); Alert.Show($"广播完成！ 当前序列号：{num}");
} }
else else
@ -896,6 +902,7 @@ namespace Plane.FormationCreator.ViewModels
} }
*/ */
//稳定方案的rtk发送，用于单频 //稳定方案的rtk发送，用于单频
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.InjectGpsDataAsync(packet, (ushort)packet.Length); await _commModuleManager.InjectGpsDataAsync(packet, (ushort)packet.Length);
} }
await Task.Delay(10).ConfigureAwait(false); await Task.Delay(10).ConfigureAwait(false);

7
Plane.FormationCreator/ViewModels/CopterListViewModel.cs
View File

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

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

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