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

添加原点：

Browse Source 
用于导入导出任务、写入航点
后续广播模式起飞需要发送给所有飞机
This commit is contained in:
zxd 2018-07-16 12:17:32 +08:00
parent 789988fcba
commit 3dcdacf527
7 changed files with 164 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -74,13 +74,6 @@ namespace Plane.FormationCreator.Formation
private CopterManager _copterManager;
private double _OriginLat;
public double OriginLat
{
get { return _OriginLat; }
set { Set(nameof(OriginLat), ref _OriginLat, value); }
}
private int _TakeOffNumAttr = 1;
public int TakeOffNumAttr
{
@ -113,12 +106,7 @@ namespace Plane.FormationCreator.Formation
}
}
}
private double _OriginLng;
public double OriginLng
{
get { return _OriginLng; }
set { Set(nameof(OriginLng), ref _OriginLng, value); }
}
private void AddTakeOffTask(IEnumerable<ICopter> copters)
{
@ -198,6 +186,7 @@ namespace Plane.FormationCreator.Formation
}
public event EventHandler<FlightTaskAddedEventArgs> TaskAdded;
public event EventHandler<FlightTaskAddedOriginalEventArgs> OnOriginalSet;
public event EventHandler<SingleCopterInfoChangedEventArgs> SingleCopterInfoChanged;
@ -285,6 +274,29 @@ namespace Plane.FormationCreator.Formation
}
private double _OriginLat = 0;
public double OriginLat
{
get { return _OriginLat; }
set { Set(nameof(OriginLat), ref _OriginLat, value); }
}
private double _OriginLng = 0;
public double OriginLng
{
get { return _OriginLng; }
set { Set(nameof(OriginLng), ref _OriginLng, value); }
}
/// <summary>
/// 起始点作为参考，设置起始点后飞行写入的数据将为相对坐标
/// </summary>
public void SetOriginal()
{
OnOriginalSet?.Invoke(this, new FlightTaskAddedOriginalEventArgs { Lat = OriginLat, Lng = OriginLng });
}
public void ClearTasks()
{
ResetTasks();
@ -1061,6 +1073,12 @@ namespace Plane.FormationCreator.Formation
public FlightTask AddedTask { get; set; }
}
public class FlightTaskAddedOriginalEventArgs : EventArgs
{
public double Lat { get; set; }
public double Lng { get; set; }
}
public class SingleCopterInfoChangedEventArgs : EventArgs
{
public SingleCopterInfoChangedEventArgs(FlightTaskSingleCopterInfo changedSingleCopterInfo)

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

@ -48,12 +48,14 @@ namespace Plane.FormationCreator.Formation
{
get
{
var origin = GetOrigin();
//var origin = GetOrigin();
var origin = new LatLng(_flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
return new LatLng(TargetLat - origin.Lat, TargetLng - origin.Lng);
}
set
{
var origin = GetOrigin();
//var origin = GetOrigin();
var origin = new LatLng(_flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
TargetLat = origin.Lat + value.Lat;
TargetLng = origin.Lng + value.Lng;
}

30
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -593,6 +593,20 @@ namespace Plane.FormationCreator.ViewModels
}
}
// private ICommand _SetOriginalPointCommand;
// public ICommand SetOriginalPointCommand
// {
// get
// {
// return _SetOriginalPointCommand ?? (_SetOriginalPointCommand = new RelayCommand(() =>
// {
// FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
// _flightTaskManager.SetOriginal();
// }));
// }
// }
private ICommand _WriteMissionCommand;
@ -606,6 +620,12 @@ namespace Plane.FormationCreator.ViewModels
ViewModels.ModifyTaskViewModel _taskmodimodel = ServiceLocator.Current.GetInstance<ViewModels.ModifyTaskViewModel>();
var _flightTaskManager = _taskmodimodel.FlightTaskManager;
if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
{
Alert.Show("作为参照的原点未设置，无法写入相对位置！", "提示");
return;
}
int coptercount = _copterManager.Copters.Count;
int taskcount = _flightTaskManager.Tasks.Count;
// bool havewritefault = true;
@ -630,8 +650,8 @@ namespace Plane.FormationCreator.ViewModels
missions[missindex++] = Mission.CreateTakeoffMission(
1,//1,
5,//takeofftime,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
_flightTaskManager.Tasks[j+1].SingleCopterInfos[i].TargetAlt);
//要起飞任务
@ -643,8 +663,8 @@ namespace Plane.FormationCreator.ViewModels
missions[missindex++] = Mission.CreateWaypointMission(
5,//_flightTaskManager.Tasks[j].SingleCopterInfos[i].LoiterTime,
5,// _flightTaskManager.Tasks[j].SingleCopterInfos[i].FlytoTime,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
break;
case FlightTaskType.Loiter:
@ -1160,5 +1180,7 @@ namespace Plane.FormationCreator.ViewModels
}));
}
}
}
}

10
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -219,6 +219,11 @@ namespace Plane.FormationCreator.ViewModels
{
return _ExportTasksCommand ?? (_ExportTasksCommand = new RelayCommand(() =>
{
if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
{
Alert.Show("作为参照的原点未设置，无法导出相对位置！", "提示");
return;
}
var exportedText = _flightTaskManager.ExportTasks();
var dialog = new SaveFileDialog
{
@ -240,6 +245,11 @@ namespace Plane.FormationCreator.ViewModels
{
return _ImportTasksCommand ?? (_ImportTasksCommand = new RelayCommand(() =>
{
if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
{
Alert.Show("作为参照的原点未设置，无法导入相对位置！", "提示");
return;
}
var dialog = new OpenFileDialog
{
DefaultExt = "fcg",

14
Plane.FormationCreator/ViewModels/TaskBarViewModel.cs
View File

@ -65,6 +65,20 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _SetOriginCommand;
public ICommand SetOriginCommand
{
get
{
return _SetOriginCommand ?? (_SetOriginCommand = new RelayCommand(() =>
{
// _flightTaskManager
// FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
_flightTaskManager.SetOriginal();
}));
}
}
private ICommand _ResetTasksCommand;
public ICommand ResetTasksCommand
{

77
Plane.FormationCreator/Views/MapView.xaml.cs
View File

@ -49,6 +49,7 @@ namespace Plane.FormationCreator.Views
_mapManager.SetCenterGetter(() => new LatLng { Lat = map.Center.Latitude, Lng = map.Center.Longitude });
_flightTaskManager.TaskAdded += FlightTaskManager_TaskAdded;
_flightTaskManager.OnOriginalSet += FlightTaskManager_SetOriginal;
Task.Factory.StartNew(async () =>
{
@ -220,6 +221,10 @@ namespace Plane.FormationCreator.Views
rectangle = null;
drawRectangle = false;
};
map.MouseMove += new MouseEventHandler(OriginalMove);
map.MouseLeftButtonUp += new MouseButtonEventHandler(OriginalMouseUp);
}
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
@ -229,6 +234,7 @@ namespace Plane.FormationCreator.Views
const string COPTER_TAG = "Copter";
const string WAYPOINT_TAG = "Waypoint";
const string ORIGINALPOINT_TAG = "Originalpoint";
public void Refresh()
{
@ -322,7 +328,7 @@ namespace Plane.FormationCreator.Views
while (elem != map && elem != null)
{
tag = elem.Tag?.ToString();
if (tag == COPTER_TAG || tag == WAYPOINT_TAG)
if (tag == COPTER_TAG || tag == WAYPOINT_TAG || tag == ORIGINALPOINT_TAG)
{
return true;
}
@ -341,6 +347,75 @@ namespace Plane.FormationCreator.Views
}
}
Ellipse original = null;
private void FlightTaskManager_SetOriginal(object sender, FlightTaskAddedOriginalEventArgs e)
{
if (map.Children.Contains(original))
return;
Location location = new Location();
if (e.Lat == 0 && e.Lng == 0)
location = map.Center;
else
location = new Location(e.Lat, e.Lng);
//_flightTaskManager
original = new Ellipse
{
Tag = ORIGINALPOINT_TAG,
Fill = new SolidColorBrush(Color.FromRgb(0, 0, 0)),
StrokeThickness = 3,
Stroke = new SolidColorBrush(Color.FromRgb(255, 255, 255)),
Width = 18,
Height = 18,
};
map.Children.Add(original);
MapLayer.SetPosition(original, location);
original.ToolTip = location.ToString();
originaDrag = false;
original.MouseLeftButtonDown += new MouseButtonEventHandler(OriginalMouseDown);
}
private bool originaDrag = false;
double wpOffsetX = 0;
double wpOffsetY = 0;
private void OriginalMouseDown(object sender, MouseButtonEventArgs e)
{
originaDrag = true;
var posInObject = e.GetPosition(original);
wpOffsetX = posInObject.X;
wpOffsetY = posInObject.Y;
}
private void OriginalMove(object sender, MouseEventArgs e)
{
if (originaDrag)
{
Point eventPos = e.GetPosition(map);
var leftTopPos = new Point(eventPos.X - wpOffsetX, eventPos.Y - wpOffsetY);
MapLayer.SetPosition(original, map.ViewportPointToLocation(leftTopPos));
}
}
private void OriginalMouseUp(object sender, MouseButtonEventArgs e)
{
if (originaDrag)
{
Point eventPos = e.GetPosition(map);
Location location = map.ViewportPointToLocation(eventPos);
_flightTaskManager.OriginLat = location.Latitude;
_flightTaskManager.OriginLng = location.Longitude;
original.ToolTip = location.ToString();
Console.WriteLine("original-----------"+original.ToolTip);
Clipboard.SetDataObject(string.Format("{0},{1}", location.Latitude, location.Longitude), true);
originaDrag = false;
}
}
private void MapSelectionComboBox_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
switch ((e.AddedItems[0] as FrameworkElement).Tag.ToString())

3
Plane.FormationCreator/Views/TaskBarView.xaml
View File

@ -127,6 +127,9 @@
<Button Content="强制下一步"
Background="#232323"
Command="{Binding NextTasksCommand}" />
<Button Content="设置原点"
Background="#232323"
Command="{Binding SetOriginCommand}" />
<!--<Button Content="保存" />
<Button Content="取消" />-->
</StackPanel>