Revert "通信模块协议的添加和修改"

提交了前面版本未add的文件
添加了千寻Rtk发送:NTRIP
添加缺号统计
添加GPS类型统计
限制小武内蒙地区部分地区使用(相关代码已注释)
This reverts commit 725c4b6d71.

Plane.FormationCreator/App.xaml.cs

@@ -140,13 +140,12 @@ namespace Plane.FormationCreator
                  UdpServerConnectionManager.Instance.StartReceiving();
                  */
 
+                //初始化地面站连接
                 CommModuleManager.Instance.CommunicationReceived += CommtionReceivedCopterInfo;
                 CommModuleManager.Instance.CommunicationCopterDisconnect += CommCopterDisconnect;
                 CommModuleManager.Instance.CommunicationConnected += CommCopterconnected;
-
-
                 CommModuleManager.Instance.Connect();
-                //CommModuleManager.Instance.test();
+
             }
             catch (Exception ex)
             {

Plane.FormationCreator/Formation/Copter.cs

@@ -23,6 +23,8 @@ namespace Plane.FormationCreator.Formation
             Brush = _brushes[NextBrushIndex()];
             RecordLat = lat;
             RecordLng = lng;
+            Latitude = lat;
+            Longitude = lng;
             //RaiseLocationChangedIfNeeded();
         }
 

Plane.FormationCreator/Formation/CopterManager.cs

@@ -20,9 +20,13 @@ namespace Plane.FormationCreator.Formation
         /// <param name="baseSemObjects"></param>  
         public int AddCopter(ICopter entityObject)
         {
-
             ////给第三方时候限制数量和时间用
-            DateTime dateTime2019 = DateTime.Parse("2019-06-20");
+            DateTime dateTime2019 = DateTime.Parse("2019-09-20");
+
+            //新增飞机区域限制：内蒙
+//              if (entityObject.Latitude < 37.4307185218 || entityObject.Latitude > 45.6754821756
+//                || entityObject.Longitude < 97.3493089056 || entityObject.Longitude > 115.8006783856)
+//                  return 0;
 
             if (DateTime.UtcNow > dateTime2019)
             {

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -1374,13 +1374,19 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        TimeSpan timeSpan;
+        DateTime taskStartTime;
         public async Task RunTaskAsync()
-
         {
-            Message.Show("任务开始");
+            taskStartTime = DateTime.Now;
+            Message.Show($"{DateTime.Now.ToString("HH:mm:ss")}:任务开始");
             await RunAsync();
             if ((IsPaused ?? false) == false)
-                Message.Show("任务完成");
+            {
+                timeSpan = DateTime.Now - taskStartTime;
+                Message.Show($"{DateTime.Now.ToString("HH:mm:ss")}:任务完成");
+                Message.Show($"总时长 = {timeSpan.Minutes}分{timeSpan.Seconds}秒");
+            }  
         }
 
         public async Task RunAsync()

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -169,7 +169,7 @@ namespace Plane.FormationCreator.Formation
                 if (prevTask.TaskType == FlightTaskType.FlyTo && prevTask.LoiterTime == 0)
                     flyToTime += prevTask.RuningTaskRemaining;
             }
-            int LEDIndex = 0;
+
                 //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
             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
             {
@@ -212,21 +212,20 @@ namespace Plane.FormationCreator.Formation
                     double time = 0;
                     for (int i = 0; i < LedControl.Count; i++)
                     {
+                      
                         var led = LedControl[i];
                         time += led.Delay * 1000;
                         if (ts.TotalMilliseconds >= time)
-                        {
                             LEDRGB = info.LEDInfos[i].LEDRGB;
-                            LEDIndex = i;
-                            
-                        }  
                         else
                             break;
                     }
-                    Message.Show(LEDIndex.ToString());
                     info.Copter.LEDColor = LEDRGB;
+
                 }
 
+
+
                 if (ts.TotalMilliseconds / 10 > sendFlyToTimes)   // 每500ms发送一遍指点坐标
                 {
                     sendFlyToTimes++;

Plane.FormationCreator/Formation/GroupManager.cs

@@ -0,0 +1,174 @@
+using Plane.Copters;
+using GalaSoft.MvvmLight;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Plane.FormationCreator.Util;
+using System.Windows.Input;
+using GalaSoft.MvvmLight.Command;
+using Microsoft.Practices.ServiceLocation;
+
+namespace Plane.FormationCreator.Formation
+{
+    public class GroupManager: ObservableObject
+    {
+        public ObservableCollection<CopterGroup> copterGroups { get; } = new ObservableCollection<CopterGroup>();
+        private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
+        private string _LastSelectedGroup;
+        public string LastSelectedGroup
+        {
+            get { return _LastSelectedGroup; }
+            set { Set(nameof(LastSelectedGroup), ref _LastSelectedGroup, value); }
+        }
+        public GroupManager()
+        {
+        }
+
+        public void AddGroup(string name = "")
+        {
+            CopterGroup group = new CopterGroup(name);
+            copterGroups.Add(group);
+            group.RemoveGroupEvent += new CopterGroup.RemoveGroupEventHandler(GroupRemove);
+            group.SelectedGroupEvent += new CopterGroup.SelectedGroupEventHandler(SelectedGroup);
+        }
+
+        public void SelectedGroup(object sender)
+        {
+            CopterGroup groups = sender as CopterGroup;
+            LastSelectedGroup = groups.groupName;
+        }
+
+        public void GroupRemove(object sender)
+        {
+            CopterGroup groups = sender as CopterGroup;
+            copterGroups.Remove(groups);
+        }
+
+
+        public IEnumerable<object> ExportGroups()
+        {
+            return copterGroups;
+        }
+
+        public void ImportGroupsInfo(dynamic groupsInfo)
+        {
+            copterGroups.Clear();
+            foreach (var group in groupsInfo)
+            {
+                string name = group.groupName;
+                CopterGroup copterGroup = new CopterGroup(name);
+                foreach (var index in group.copterIndexList)
+                {
+                    copterGroup.copterIndexList.Add(Convert.ToInt32(index));
+                }
+                copterGroups.Add(copterGroup);
+                copterGroup.RemoveGroupEvent += new CopterGroup.RemoveGroupEventHandler(GroupRemove);
+                copterGroup.SelectedGroupEvent += new CopterGroup.SelectedGroupEventHandler(SelectedGroup);
+            }
+        }
+
+
+        private ICommand _AddGroupsCommand;
+        public ICommand AddGroupsCommand
+        {
+            get
+            {
+                return _AddGroupsCommand ?? (_AddGroupsCommand = new RelayCommand<double>(async =>
+                {
+                    AddGroup();
+                }));
+            }
+        }
+
+
+
+    }
+
+    public class CopterGroup : ObservableObject
+    {
+        private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
+        public CopterGroup(string name = "")
+        {
+            groupName = name != "" ? name : "新分组";
+            
+        }
+        public string groupName { get; set; }
+        public List<int> copterIndexList { get; } = new List<int>();
+
+        public delegate void RemoveGroupEventHandler(object sender);
+        public event RemoveGroupEventHandler RemoveGroupEvent;
+        private ICommand _RemoveGroupCommand;
+        [Newtonsoft.Json.JsonIgnore]
+        public ICommand RemoveGroupCommand
+        {
+            get
+            {
+                return _RemoveGroupCommand ?? (_RemoveGroupCommand = new RelayCommand<double>(async =>
+                {
+                    RemoveGroupEvent(this);
+                }));
+            }
+        }
+
+
+        public delegate void SelectedGroupEventHandler(object sender);
+        public event SelectedGroupEventHandler SelectedGroupEvent;
+        private ICommand _SelectCoptersCommand;
+        [Newtonsoft.Json.JsonIgnore]
+        public ICommand SelectCoptersCommand
+        {
+            get
+            {
+                return _SelectCoptersCommand ?? (_SelectCoptersCommand = new RelayCommand<double>(async =>
+                {
+                    _copterManager.Select(null);
+                    _copterManager.shiftkeydown = true;
+                    foreach (var copterIndex in copterIndexList)
+                    {
+                        //if (_copterManager.Copters.Count > copterIndex)
+                       // {
+                            //_copterManager.Select(_copterManager.Copters[copterIndex]);
+                            ICopter copter = null;
+//                             try
+//                             {
+//                                 copter = _copterManager.Copters.First(o => o.Name == (copterIndex + 1).ToString());
+//                             }
+//                             catch (Exception)
+//                             {
+//                                 continue;
+//                             }
+                            copter = _copterManager.Copters.FirstOrDefault(o => o.Name == (copterIndex + 1).ToString());
+                            if (copter != null)
+                            {
+                                _copterManager.Select(copter);
+                            }
+                        //}
+                    }
+                    _copterManager.shiftkeydown = false;
+                    SelectedGroupEvent(this);
+                }));
+            }
+        }
+
+        private ICommand _SetGroupCoptersCommand;
+        [Newtonsoft.Json.JsonIgnore]
+        public ICommand SetGroupCoptersCommand
+        {
+            get
+            {
+                return _SetGroupCoptersCommand ?? (_SetGroupCoptersCommand = new RelayCommand<double>(async =>
+                {
+                    copterIndexList.Clear();
+                    foreach (var copter in _copterManager.SelectedCopters)
+                    {
+                        copterIndexList.Add(_copterManager.Copters.IndexOf(copter));
+                    }
+                }));
+            }
+        }
+    }
+}

Plane.FormationCreator/MainWindow.xaml

@@ -92,7 +92,7 @@
                         <Button BorderThickness="1" Content="导出任务" Margin="0,8,0,8"
                                 Command="{Binding ExportTasksCommand}"/>
                         <CheckBox Content="只导出航点" Grid.Column="1"  Margin="0,8,0,8" Foreground="#969696"
-                                  IsChecked="{Binding OnlyImpotWaypointS}"/>
+                                  IsChecked="{Binding OnlyImpotWaypointS}" Visibility="Collapsed"/>
                         <Button BorderThickness="1" BorderBrush="#FFFFFF" Content="导入任务" Margin="0,8,0,8" Grid.Row="1"
                                 Command="{Binding ImportTasksCommand}"/>
                         <StackPanel VerticalAlignment="Center" Margin="0,8,0,8" Grid.Row="1"  Grid.Column="1" Orientation="Horizontal">
@@ -109,7 +109,7 @@
                 </MenuItem>
             </Menu>
 
-            <Menu Name="otherWindows" Background="Transparent" VerticalAlignment="Center">
+            <Menu Name="otherWindows" Background="Transparent" VerticalAlignment="Center" Visibility="Collapsed">
                 <MenuItem Header="窗口" Margin="0,2,0,0" Foreground="#969696">
                     <CheckBox Content="属性设置" Margin="0,8,0,8" IsChecked="False" Click="btnAttribute_Click"/>
                     <CheckBox Content="分组设置" Margin="0,8,0,8" IsChecked="False" Click="btnGroup_Click"/>

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -191,7 +191,10 @@
     <Compile Include="ServiceLocatorConfigurer.cs" />
     <Compile Include="Test.cs" />
     <Compile Include="CalculationLogLatDistance.cs" />
+    <Compile Include="Util\CommNTRIP.cs" />
+    <Compile Include="Util\ICorrections.cs" />
     <Compile Include="Util\ParamFile.cs" />
+    <Compile Include="Util\rtcm3.cs" />
     <Compile Include="Util\VersionControl.cs" />
     <Compile Include="ViewModels\CalibrationViewModel.cs" />
     <Compile Include="ViewModels\ConnectViewModel.cs" />

Plane.FormationCreator/Util/CommNTRIP.cs

@@ -0,0 +1,277 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using System.Linq;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Plane.Util
+{
+    public class CommNTRIP: IDisposable
+    {
+        public TcpClient client = new TcpClient();
+        private Uri remoteUri;
+        double Lat = 40.0910757034397;
+        double Lng = 116.27734627295;
+        double alt = 0;
+        int retrys = 3;
+        DateTime _lastnmea = DateTime.MinValue;
+        public string Port { get; set; }
+
+        private string host;
+
+        
+
+        private static int bytes = 0;
+        private static int bps = 0;
+        public int ReadTimeout
+        {
+            get; 
+            set; 
+        }
+
+        public CommNTRIP(string url, double lat, double lng)
+        {
+            remoteUri = new Uri(url);
+            this.Lat = lat;
+            this.Lng = lng;
+            ReadTimeout = 500;
+        }
+
+        public void doConnect()
+        {
+            string usernamePassword = remoteUri.UserInfo;
+            string userpass2 = Uri.UnescapeDataString(usernamePassword);
+            string auth = "Authorization: Basic " +
+                          Convert.ToBase64String(new ASCIIEncoding().GetBytes(userpass2)) + "\r\n";
+
+            if (usernamePassword == "")
+                auth = "";
+
+            host = remoteUri.Host;
+            Port = remoteUri.Port.ToString();
+
+            client = new TcpClient(host, int.Parse(Port));
+            client.Client.IOControl(IOControlCode.KeepAliveValues, TcpKeepAlive(true, 36000000, 3000), null);
+
+            NetworkStream ns = client.GetStream();
+
+            StreamWriter sw = new StreamWriter(ns);
+            StreamReader sr = new StreamReader(ns);
+
+            string line = "GET " + remoteUri.PathAndQuery + " HTTP/1.0\r\n"
+                          + "User-Agent: NTRIP MissionPlanner/1.0\r\n"
+                          + auth
+                          + "Connection: close\r\n\r\n";
+
+            sw.Write(line);
+            sw.Flush();
+
+            line = sr.ReadLine(); 
+
+            Console.WriteLine(line);
+            if (!line.Contains("200"))
+            {
+                client.Dispose();
+                client = new TcpClient();
+                throw new Exception("Bad ntrip Responce\n\n" + line);
+            }
+
+            SendNMEA();
+
+            VerifyConnected();
+        }
+
+        public int Read(byte[] readto, int offset, int length)
+        {
+            VerifyConnected();
+
+            SendNMEA();
+
+            try
+            {
+                if (length < 1) { return 0; }
+
+                return client.Client.Receive(readto, offset, length, SocketFlags.Partial);
+            }
+            catch { throw new Exception("ntrip Socket Closed"); }
+        }
+
+
+        private void SendNMEA()
+        {
+            if (Lat != 0 || Lng != 0)
+            {
+                if (_lastnmea.AddSeconds(30) < DateTime.Now)
+                {
+                    double latdms = (int)Lat + ((Lat - (int)Lat) * .6f);
+                    double lngdms = (int)Lng + ((Lng - (int)Lng) * .6f);
+
+                    var line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
+                        "$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA",
+                        DateTime.Now.ToUniversalTime(), Math.Abs(latdms * 100).ToString("0000.00"), Lat < 0 ? "S" : "N",
+                        Math.Abs(lngdms * 100).ToString("00000.00"), Lng < 0 ? "W" : "E", 1, 10,
+                        1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0");
+
+                    string checksum = GetChecksum(line);
+                    WriteLine(line + "*" + checksum);
+
+                    _lastnmea = DateTime.Now;
+                }
+            }
+        }
+
+        public int BytesToRead
+        {
+            get
+            {
+                /*Console.WriteLine(DateTime.Now.Millisecond + " tcp btr " + (client.Available + rbuffer.Length - rbufferread));*/
+                SendNMEA();
+                return (int)client.Available;
+            }
+        }
+
+        void VerifyConnected()
+        {
+            if (!IsOpen)
+            {
+                try
+                {
+                    client.Dispose();
+                    client = new TcpClient();
+                }
+                catch { }
+
+                // this should only happen if we have established a connection in the first place
+                if (client != null && retrys > 0)
+                {
+                    doConnect();
+                    retrys--;
+                }
+
+                throw new Exception("The ntrip is closed");
+            }
+        }
+
+        public bool IsOpen
+        {
+            get
+            {
+                try
+                {
+                    return client.Client.Connected;
+                }
+                catch
+                {
+                    return false;
+                }
+            }
+        }
+
+        public void WriteLine(string line)
+        {
+            VerifyConnected();
+            line = line + "\r\n";
+            Write(line);
+        }
+
+        public void Write(string line)
+        {
+            VerifyConnected();
+            byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
+            Write(data, 0, data.Length);
+        }
+
+        public void Write(byte[] write, int offset, int length)
+        {
+            VerifyConnected();
+            try
+            {
+                client.Client.Send(write, length, SocketFlags.None);
+            }
+            catch { }//throw new Exception("Comport / Socket Closed"); }
+        }
+
+        string GetChecksum(string sentence)
+        {
+            // Loop through all chars to get a checksum
+            int Checksum = 0;
+            foreach (char Character in sentence.ToCharArray())
+            {
+                switch (Character)
+                {
+                    case '$':
+                        // Ignore the dollar sign
+                        break;
+                    case '*':
+                        // Stop processing before the asterisk
+                        continue;
+                    default:
+                        // Is this the first value for the checksum?
+                        if (Checksum == 0)
+                        {
+                            // Yes. Set the checksum to the value
+                            Checksum = Convert.ToByte(Character);
+                        }
+                        else
+                        {
+                            // No. XOR the checksum with this character's value
+                            Checksum = Checksum ^ Convert.ToByte(Character);
+                        }
+                        break;
+                }
+            }
+            // Return the checksum formatted as a two-character hexadecimal
+            return Checksum.ToString("X2");
+        }
+
+        private byte[] TcpKeepAlive(bool On_Off, uint KeepaLiveTime, uint KeepaLiveInterval)
+        {
+            byte[] InValue = new byte[12];
+
+            Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4);
+            Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4);
+            Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4);
+
+            return InValue;
+        }
+
+        protected virtual void Dispose(bool disposing)
+        {
+            if (disposing)
+            {
+                this.Close();
+                client = null;
+            }
+        }
+
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+
+        public void Close()
+        {
+            try
+            {
+                if (client.Client != null && client.Client.Connected)
+                {
+                    client.Client.Dispose();
+                    client.Dispose();
+                }
+            }
+            catch { }
+
+            try
+            {
+                client.Dispose();
+            }
+            catch { }
+
+            client = new TcpClient();
+        }   
+    }
+}

Plane.FormationCreator/Util/ICorrections.cs

@@ -0,0 +1,24 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace Plane.Util
+{
+    public interface ICorrections
+    {
+        /// <summary>
+        /// overall packet length (use for sending forward)
+        /// </summary>
+        int length { get; }
+        /// <summary>
+        /// raw packet data 
+        /// </summary>
+        byte[] packet { get; }
+        /// <summary>
+        /// reset the parser to the initial state
+        /// </summary>
+        /// <returns></returns>
+        bool resetParser();
+    }
+}

Plane.FormationCreator/ViewModels/ConnectViewModel.cs

@@ -86,7 +86,7 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _SendCommand ?? (_SendCommand = new RelayCommand(async () =>
                 {
-                    await commModule.SetCommCount(CopterCount, (short)(CopterStartNum - 1));
+                    await SendCommandAsync(CopterNum);
                 }
                 ));
             }
@@ -132,27 +132,6 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(CopterColor), ref _CopterColor, value); }
         }
 
-        private byte _TransmittedPower = 5;
-        public byte TransmittedPower
-        {
-            get { return _TransmittedPower; }
-            set { Set(nameof(TransmittedPower), ref _TransmittedPower, value); }
-        }
-
-        private short _CopterCount;
-        public short CopterCount
-        {
-            get { return _CopterCount; }
-            set { Set(nameof(CopterCount), ref _CopterCount, value); }
-        }
-
-        private short _CopterStartNum;
-        public short CopterStartNum
-        {
-            get { return _CopterStartNum; }
-            set { Set(nameof(CopterStartNum), ref _CopterStartNum, value); }
-        }
-
         private ICommand _WriteIdCommand;
         public ICommand WriteIdCommand
         {
@@ -236,9 +215,6 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
-        /// <summary>
-        /// 全部1S一次闪灯  主要用于测试通信
-        /// </summary>
         private ICommand _CommDataAsync;
         public ICommand CommDataAsync
         {
@@ -252,54 +228,6 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
-        /// <summary>
-        /// 设置回传功率
-        /// </summary>
-        private ICommand _CommSetPowerAsync;
-        public ICommand CommSetPowerAsync
-        {
-            get
-            {
-                return _CommSetPowerAsync ?? (_CommSetPowerAsync = new RelayCommand(async () =>
-                {
-                    if (TransmittedPower >= 1 && TransmittedPower <= 16)
-                        await commModule.SetCopterCommBackPower((short)CopterNum, TransmittedPower);
-                    else
-                        Alert.Show("功率范围只能设置为1-16");
-                }));
-            }
-        }
-
-        /// <summary>
-        /// 获取配置
-        /// </summary>
-        private ICommand _CommGetCurrSysParmAsync;
-        public ICommand CommGetCurrSysParmAsync
-        {
-            get
-            {
-                return _CommGetCurrSysParmAsync ?? (_CommGetCurrSysParmAsync = new RelayCommand(async () =>
-                {
-                    await commModule.GetCurr_Sys_Parm();
-                }));
-            }
-        }
-
-        /// <summary>
-        /// 改写配置
-        /// </summary>
-        private ICommand _CommSetCurrSysParmAsync;
-        public ICommand CommSetCurrSysParmAsync
-        {
-            get
-            {
-                return _CommSetCurrSysParmAsync ?? (_CommSetCurrSysParmAsync = new RelayCommand(async () =>
-                {
-                    await commModule.SetCurr_Sys_Parm();
-                }));
-            }
-        }
-
         private List<IMission> CreateLEDMissions(IEnumerable<LEDInfo> LEDInfos)
         {
             List<IMission> missions = new List<IMission>();

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -30,6 +30,8 @@ namespace Plane.FormationCreator.ViewModels
         private static System.Threading.Thread thrtk;
         private static bool trkthreadrun = false;
 
+        private static bool rtcmthreadrun = false;
+
 
 
         public ControlPanelViewModel(FormationController formationController, CopterManager copterManager)
@@ -66,6 +68,13 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(RTKbtntxt), ref _RTKbtntxt, value); }
         }
 
+        private string _NTRIPbtntxt = "发送RTCM";
+        public string NTRIPbtntxt
+        {
+            get { return _NTRIPbtntxt; }
+            set { Set(nameof(NTRIPbtntxt), ref _NTRIPbtntxt, value); }
+        }
+
         private ICommand _LockAllCommand;
         public ICommand LockAllCommand
         {
@@ -211,6 +220,38 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private ICommand _ReportGPSTypeCommand;
+        public ICommand ReportGPSTypeCommand
+        {
+            get
+            {
+                return _ReportGPSTypeCommand ?? (_ReportGPSTypeCommand = new RelayCommand(async()=>
+                {
+                    if (_copterManager.Copters.Count > 0)
+                    {
+                        Dictionary<string, List<string>> GPSTypes = new Dictionary<string, List<string>>();
+                        foreach (var copter in _copterManager.Copters)
+                        {
+                            string name = copter.Name;
+                            if (!GPSTypes.Keys.Contains(copter.GpsFixType.ToString()))
+                            {
+                                List<string> copterNames = new List<string>();
+                                copterNames.Add(name);
+                                GPSTypes.Add(copter.GpsFixType.ToString(), copterNames);
+                            }
+                            else
+                                GPSTypes[copter.GpsFixType.ToString()].Add(name);
+                        }
+
+                        foreach (var item in GPSTypes)
+                        {
+                            Message.Show($"{item.Key}:{string.Join(",", item.Value)}");
+                        }
+                    }
+                    await Task.Delay(10);
+                }));
+            }
+        }
 
         private ICommand _DetectionCommModuleVersion;
         public ICommand DetectionCommModuleVersion
@@ -461,11 +502,11 @@ namespace Plane.FormationCreator.ViewModels
         {
             get
             {
-                return _RLTOffsetCommand ?? (_RLTOffsetCommand = new RelayCommand(async () =>
+                return _RLTOffsetCommand ?? (_RLTOffsetCommand = new RelayCommand(() =>
                 {
-                    Message.Show($"偏移Lat = {LatOffset}，Lng = {LngOffset}");
+//                     Message.Show($"偏移Lat = {LatOffset}，Lng = {LngOffset}");
-                    if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
+//                     if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
-                        await _commModuleManager.RLTOffsetAsync(LatOffset, LngOffset, _copterManager.AcceptingControlCopters);
+//                         await _commModuleManager.RLTOffsetAsync(LatOffset, LngOffset, _copterManager.AcceptingControlCopters);
 
 
                 }));
@@ -830,10 +871,7 @@ namespace Plane.FormationCreator.ViewModels
                         RTKState = "未发送RTK数据";
                         RTKbtntxt = "发送RTK";
                     }
-
-
                     /*
-
                                         await Task.Run(() =>
                                         {
                                             if (!Rtkport.IsOpen)
@@ -845,31 +883,71 @@ namespace Plane.FormationCreator.ViewModels
 
                                             while (trkthreadrun)
                                             {
-
                                                 await ReadRTKPacketAsync();
 
                                                    // if (await Rtkport.ReadAsync(buffer, 0, Math.Min(buffer.Length, 110)) > 0)
                                                 {
-
-
-
-
-
                                                 }
-
-
-
-
-
-
-
-
                                             }
-
-
                                         });*/
+                }));
+            }
+        }
 
 
+        private ICommand _SendRTCMCommand;
+        public ICommand SendRTCMCommand
+        {
+            get
+            {
+                return _SendRTCMCommand ?? (_SendRTCMCommand = new RelayCommand(async () =>
+                {
+                    FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+                    if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
+                    {
+                        Alert.Show("作为参照的原点未设置，无法发送RTCM！", "提示");
+                        return;
+                    }
+
+                    rtcmthreadrun = !rtcmthreadrun;
+                    if (rtcmthreadrun)
+                    {
+                        RTKState = "RTK数据发送中";
+                        NTRIPbtntxt = "停止RTCM";
+                        Alert.Show("RTCM数据开始发送", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                    
+                        await Task.Run(async () =>
+                        {
+                            string url = "http://qxarpz003:1dc880b@rtk.ntrip.qxwz.com:8002/RTCM32_GGB";
+                            CommNTRIP commNTRIP = new CommNTRIP(url, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
+                            rtcm3 rtcm3 = new rtcm3();
+                            commNTRIP.doConnect();
+                            //读取RTK数据循环
+                            while (rtcmthreadrun)
+                            {
+                                byte[] buffer = new byte[180];
+
+                                while (commNTRIP.BytesToRead > 0)
+                                {
+                                    int read = commNTRIP.Read(buffer, 0, Math.Min(buffer.Length, commNTRIP.BytesToRead));
+
+                                    for (int a = 0; a < read; a++)
+                                    {
+                                        int seenmsg = -1;
+                                        // rtcm
+                                        if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
+                                        {
+                                            await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length);
+                                        }
+                                    }
+                                }
+                                await Task.Delay(10);
+                            }
+                            NTRIPbtntxt = "发送RTCM";
+                            RTKState = "未发送RTK数据";
+                            Alert.Show("RTCM数据停止发送", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                        });
+                    }
                 }));
             }
         }
@@ -1260,7 +1338,7 @@ namespace Plane.FormationCreator.ViewModels
             foreach (LEDInfo ledInfo in LEDInfos)
             {
                 Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
-                //if (ledInfo.LEDMode == 5) ledInfo.LEDMode = 6;
+                if (ledInfo.LEDMode == 8) ledInfo.LEDMode = 50;
                 IMission LEDMission = Mission.CreateLEDControlMission(
                         (int)(ledInfo.Delay * 10),
                         ledInfo.LEDMode,

Plane.FormationCreator/ViewModels/CopterListViewModel.cs

@@ -194,6 +194,14 @@ namespace Plane.FormationCreator.ViewModels
                     Tuple<double, double> colheadLatLng = new Tuple<double, double>(0, 0);
                     Tuple<double, double> targetLatLng = new Tuple<double, double>(0, 0);
 
+
+                    //内蒙地区
+//                     if (center.Lat < 37.4307185218 || center.Lat > 45.6754821756
+//                         || center.Lng < 97.3493089056 || center.Lng > 115.8006783856)
+//                         return ;
+
+                   
+
                     LatLng? colLatLng = new LatLng(center.Lat, center.Lng); ;
 
                     for (int i = 0; i < addcount; ++i, ++_virtualCopterId)
@@ -253,6 +261,37 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private ICommand _ShowLackCopterNumsCommand;
+        public ICommand ShowLackCopterNumsCommand
+        {
+            get
+            {
+                return _ShowLackCopterNumsCommand ?? (_ShowLackCopterNumsCommand = new RelayCommand(async () =>
+                {
+                    if (_copterManager.Copters.Count == 0) return;
+                    ICopter lastCopter = _copterManager.Copters.Last();
+                    int name = int.Parse(lastCopter.Name);
+                    List<string> lackCopterNums = new List<string>();
+                    for (int i = 1; i <= name; i++)
+                    {
+                        ICopter copter = null;
+                        copter = _copterManager.Copters.FirstOrDefault(o=>o.Name == i.ToString());
+                        if (copter == null)
+                            lackCopterNums.Add(i.ToString());
+                    }
+                    if (lackCopterNums.Count > 0)
+                    {
+                        Windows.Messages.Message.Show($"未连接：{string.Join(",", lackCopterNums)}");
+                    }
+                    else
+                    {
+                        Windows.Messages.Message.Show($"{name}架全部连接");
+                    }
+                    await Task.Delay(10);
+                }));
+            }
+        }
+
         private ICommand _SetCoptersPutCommand;
         public ICommand SetCoptersPutCommand
         {

Plane.FormationCreator/ViewModels/GroupsViewModel.cs

@@ -0,0 +1,26 @@
+using GalaSoft.MvvmLight;
+using GalaSoft.MvvmLight.Command;
+using Plane.FormationCreator.Formation;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Input;
+
+namespace Plane.FormationCreator.ViewModels
+{
+    public class GroupsViewModel: ViewModelBase
+    {
+        GroupManager _groupManager;
+
+        public GroupsViewModel(GroupManager groupManager)
+        {
+            _groupManager = groupManager;
+        }
+
+        public GroupManager GroupManager { get { return _groupManager; } }
+
+       
+    }
+}

Plane.FormationCreator/Views/ConnectWindow.xaml

@@ -68,8 +68,6 @@
             <RowDefinition Height="Auto" />
             <RowDefinition Height="Auto" />
             <RowDefinition Height="Auto" />
-            <RowDefinition Height="Auto" />
-            <RowDefinition Height="Auto" />
         </Grid.RowDefinitions>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="Auto" />
@@ -91,8 +89,7 @@
                     HorizontalAlignment="Center"
                     Grid.Row="1"
                     Grid.ColumnSpan="3"
-                    Name="panel1"
+                    Name="panel1">
-                    Visibility="Collapsed">
             
             <ec:ProgressButton HorizontalAlignment="Center"
                                VerticalAlignment="Center"
@@ -136,7 +133,7 @@
                     Grid.ColumnSpan="3"
                     Name="panel2">
             <Button Content="通信模块状态" Margin="5" Command="{Binding Path=StateInquireCommand}"/>
-            
+            <Button Content="设置总数" Margin="5" Command="{Binding Path=SendCommand}" />
             <Button Content="切换写航点"  Margin="5" Command="{Binding Path=ChangeWriteMissionCommand}" />
 
 
@@ -145,10 +142,9 @@
                     HorizontalAlignment="Center"
                     Grid.Row="3"
                     Grid.ColumnSpan="3">
-            <Label Content="ID:"/>
             <TextBox Margin="2,5,5,5" Width="30" Text="{Binding CopterNum}"></TextBox>
             <Button Content="    对频    "  Margin="5,5,0,5" Command="{Binding Path=WriteIdCommand}" />
-            <Button Content="    闪灯    "  Margin="5" Command="{Binding CommDataAsync}"/>
+            <Button Content="闪灯"  Margin="5" Command="{Binding CommDataAsync}"/>
             <TextBox Width="80" Text="{Binding CopterColor}"/>
 
         </StackPanel>
@@ -156,33 +152,11 @@
         <StackPanel Orientation="Horizontal" 
                     HorizontalAlignment="Center"
                     Grid.Row="4"
-                    Grid.ColumnSpan="3">
-            <Button Content="设置回传功率" Command="{Binding CommSetPowerAsync}"/>
-            <TextBox Margin="5,0" Width="80" Text="{Binding TransmittedPower}"/>
-            <Button Margin="5,0" Content="读取配置" Command="{Binding CommGetCurrSysParmAsync}"/>
-            <Button Margin="5,0" Content="™写入配置" Command="{Binding CommSetCurrSysParmAsync}"/>
-        </StackPanel>
-
-        <StackPanel Orientation="Horizontal" 
-                    HorizontalAlignment="Center"
-                    Grid.Row="5"
                     Grid.ColumnSpan="3"
                     Name="panel3">
             <Button Content="空中升级" Margin="5" Command="{Binding UpdateAllCopterCommand}"></Button>
             <Button Content="搜索飞机"  Margin="5" Command="{Binding QueryAllCopterCommand}"/>
         </StackPanel>
 
-        <StackPanel Orientation="Horizontal" 
-                    HorizontalAlignment="Center"
-                    Grid.Row="6"
-                    Grid.ColumnSpan="3"
-                    >
-            <Button Content="设置总数" Margin="5" Command="{Binding Path=SendCommand}" />
-            <Label Content="总数:"/>
-            <TextBox Width="50" Text="{Binding CopterCount}"/>
-            <Label Content="起始号:"/>
-            <TextBox  Width="50" Text="{Binding CopterStartNum}"/>
-        </StackPanel>
-
     </Grid>
 </c:MetroWindow>

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -82,13 +82,15 @@
            
             <Button Content="选写航点"
                     Command="{Binding WriteMissionSingleCommand}" />
+            <Button Content="定位统计"
+                    Command="{Binding ReportGPSTypeCommand}"/>
             <Button Content="统计模块" 
                     Command="{Binding DetectionCommModuleVersion}" />
-            <Label>Lat</Label>
+            <Label Visibility="Collapsed">Lat</Label>
-            <TextBox Text="{Binding LatOffset}" Width="50"/>
+            <TextBox Visibility="Collapsed" Text="{Binding LatOffset}" Width="50"/>
-            <Label>Lng</Label>
+            <Label Visibility="Collapsed">Lng</Label>
-            <TextBox Text="{Binding LngOffset}" Width="50"/>
+            <TextBox Visibility="Collapsed" Text="{Binding LngOffset}" Width="50"/>
-            <Button Content="设置返航点" 
+            <Button Visibility="Collapsed" Content="设置返航点" 
                      Command="{Binding RLTOffsetCommand}" />
         </WrapPanel>
         <Separator/>
@@ -131,8 +133,10 @@
                 />
             
             <Button Content="{Binding Path=RTKbtntxt}" 
-                   
                     Command="{Binding SendRTKCommand}" />
+            
+            <Button Content="{Binding Path=NTRIPbtntxt}" 
+                    Command="{Binding SendRTCMCommand}" />
             <TextBlock 
                    Margin="5,5,5,5"
                      Text="{Binding Path=RTKState}"

Plane.FormationCreator/Views/CopterAttributeView.xaml

@@ -0,0 +1,32 @@
+<UserControl x:Class="Plane.FormationCreator.Views.CopterAttributeView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+             mc:Ignorable="d" 
+             d:DesignHeight="300"
+             BorderThickness="1"
+             Background="#FF2D2D2D" Width="464">
+    <UserControl.BorderBrush>
+        <SolidColorBrush Color="{DynamicResource {x:Static SystemColors.ActiveBorderColorKey}}"/>
+    </UserControl.BorderBrush>
+
+    <Grid Margin="5" >
+        <StackPanel Orientation="Vertical">
+            <Label Margin="5,0,0,0" Content="属性设置" VerticalAlignment="Center"/>
+            <Separator></Separator>
+            <StackPanel Margin="5,0,0,5" Orientation="Horizontal" HorizontalAlignment="Left">
+                <Label Margin="0" Content="摆放高度" ></Label>
+                <TextBox 
+                    Margin="30,0"
+                    Width="80"
+                    Text="{Binding SelectedCopter.GroundAlt,UpdateSourceTrigger=PropertyChanged}"/>
+                <Button 
+                    Width="120"
+                    Content="应用到所选"
+                    Command="{Binding ApplyGroundAltCommand}"/>
+            </StackPanel>
+        </StackPanel>
+    </Grid>
+</UserControl>

Plane.FormationCreator/Views/CopterAttributeView.xaml.cs

@@ -0,0 +1,31 @@
+using Microsoft.Practices.ServiceLocation;
+using Plane.FormationCreator.ViewModels;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// CopterAttributeView.xaml 的交互逻辑
+    /// </summary>
+    public partial class CopterAttributeView : UserControl
+    {
+        public CopterAttributeView()
+        {
+            InitializeComponent();
+            //this.DataContext = ServiceLocator.Current.GetInstance<CopterAttributeViewModel>();
+        }
+    }
+}

Plane.FormationCreator/Views/CopterGroupsView.xaml

@@ -0,0 +1,61 @@
+<UserControl x:Class="Plane.FormationCreator.Views.CopterGroupsView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+             mc:Ignorable="d"
+             BorderThickness="1"
+             Background="#FF2D2D2D" Width="464" Height="300">
+    <UserControl.BorderBrush>
+        <SolidColorBrush Color="{DynamicResource {x:Static SystemColors.ActiveBorderColorKey}}"/>
+    </UserControl.BorderBrush>
+    <Grid Margin="5" >
+        <StackPanel Orientation="Vertical">
+            <Grid >
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition/>
+                    <ColumnDefinition/>
+                    <ColumnDefinition/>
+                </Grid.ColumnDefinitions>
+                <Label Margin="5,0" Content="分组设置" HorizontalAlignment="Left" />
+                <Label Margin="15,0" Grid.Column="1" Content="最后选中：" HorizontalAlignment="Left"/>
+                <Label Grid.Column="1" Content="{Binding GroupManager.LastSelectedGroup}" HorizontalAlignment="Right"/>
+                <Button Margin="5,0" Grid.Column="2" Content="添加分组" HorizontalAlignment="Right"
+                        Command="{Binding Path=GroupManager.AddGroupsCommand}"/>
+            </Grid>
+                <Separator></Separator>
+            <ItemsControl
+                MinHeight="180"
+                MaxHeight="240"
+                ScrollViewer.VerticalScrollBarVisibility="Visible"
+                ScrollViewer.HorizontalScrollBarVisibility="Hidden"
+                ItemsSource="{Binding Path= GroupManager.copterGroups}">
+                <ItemsControl.Template>
+                    <ControlTemplate>
+                        <ScrollViewer x:Name="ScrollViewer" Padding="{TemplateBinding Padding}">
+                            <ItemsPresenter />
+                        </ScrollViewer>
+                    </ControlTemplate>
+                </ItemsControl.Template>
+                <ItemsControl.ItemsPanel>
+                    <ItemsPanelTemplate>
+                        <StackPanel Orientation="Vertical" />
+                    </ItemsPanelTemplate>
+                </ItemsControl.ItemsPanel>
+
+                <ItemsControl.ItemTemplate>
+                    <DataTemplate>
+                        <StackPanel Orientation="Horizontal">
+                            <TextBox Width="95" Text="{Binding groupName,UpdateSourceTrigger=PropertyChanged}"/>
+                            <Button Margin="20,0,0,0" Width="90" Content="删除" Command="{Binding RemoveGroupCommand}"/>
+                            <Button Margin="20,0,0,0" Width="90" Content="设置" Command="{Binding SetGroupCoptersCommand}"/>
+                            <Button Margin="20,0,0,0" Width="90" Content="选中" Command="{Binding SelectCoptersCommand}"/>
+                        </StackPanel>
+                    </DataTemplate>
+                </ItemsControl.ItemTemplate>
+            </ItemsControl>
+
+        </StackPanel>
+    </Grid>
+</UserControl>

Plane.FormationCreator/Views/CopterGroupsView.xaml.cs

@@ -0,0 +1,32 @@
+using Microsoft.Practices.ServiceLocation;
+using Plane.FormationCreator.Formation;
+using Plane.FormationCreator.ViewModels;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// CopterGroupsView.xaml 的交互逻辑
+    /// </summary>
+    public partial class CopterGroupsView : UserControl
+    {
+        public CopterGroupsView()
+        {
+            InitializeComponent();
+            this.DataContext = ServiceLocator.Current.GetInstance<GroupsViewModel>();
+        }
+    }
+}

Plane.FormationCreator/Views/CopterListView.xaml

@@ -87,12 +87,15 @@
                     VerticalContentAlignment="Center"
                     Command="{Binding AddVirtualCopterCommand}"
                     CommandParameter="{Binding Text, ElementName=txtVirtualCopterCount}" />
-            <Button Content="导入飞机位置"
+            <Button Visibility="Collapsed" Content="导入飞机位置"
                     Margin="5,0,0,0"
                     Command="{Binding ImportCoptersLocationCommand}"/>
             <Button Content="清除"
                     Margin="5,0,0,0"
                     Command="{Binding ClearCoptersCommand}" />
+            <Button Content="缺号统计"
+                    Margin="5,0,0,0"
+                    Command="{Binding ShowLackCopterNumsCommand}"/>
             <Button Content="设置"
                     Margin="5,0,5,0"
                     Command="{Binding SetCoptersPutCommand}" />

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -81,7 +81,8 @@
                                     Visibility="Collapsed"/>
                             <Button Content="优化路线" Command="{Binding OptimizeRouteCommand}" 
                                     Visibility="Collapsed"/>
-                            <Button Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"/>
+                            <Button Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"
+                                    Visibility="Collapsed"/>
                         </StackPanel>
 
                         <Separator Margin="0,1"/>
@@ -412,6 +413,7 @@
                                     <ComboBoxItem Content="呼吸灯" />
                                     <ComboBoxItem Content="同步闪烁(随机)" />
                                     <ComboBoxItem Content="异步闪烁(单色)" />
+                                    <ComboBoxItem Content="拉烟"/>
                                 </ComboBox>
 
                                 <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>