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通信模块的断线重连 固定IP改换为199.51

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添加飞机选中数量的统计
优化写航点跳过错误，优化写航点的统计
通信模块的version
检测航点最小距离时显示ID号
This commit is contained in:
zxd 2018-08-26 22:08:32 +08:00
parent 6ade842b38
commit 4d464bc976
10 changed files with 95 additions and 13 deletions
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6
Plane.FormationCreator/App.xaml.cs
View File

@ -200,7 +200,7 @@ namespace Plane.FormationCreator
private async void CommtionReceivedCopterInfo(object sender, CommunicationReceiveCopterInfoEventArgs e)
{
await UpdateCommCopterInfo(e.Id, e.Package);
await UpdateCommCopterInfo(e.Id, e.Package, e.CommModuleVersion);
//await TaskUtils.CompletedTask;
}
@ -256,7 +256,7 @@ namespace Plane.FormationCreator
}));
}
private async Task UpdateCommCopterInfo(int id, byte[] package)
private async Task UpdateCommCopterInfo(int id, byte[] package, byte CommModuleVersion)
{
await AddCommCopter(id);
lock (locker)
@ -266,7 +266,7 @@ namespace Plane.FormationCreator
{
PLCopter plcopter = (PLCopter)copter;
if (!plcopter.CommModuleConnected) plcopter.CommModuleConnected = true;
plcopter.InternalCopter.AnalyzeCommMouldePositionIntPacket(package);
plcopter.InternalCopter.AnalyzeCommMouldePositionIntPacket(package, CommModuleVersion);
plcopter.CommModuleConnected = true;
}
}

7
Plane.FormationCreator/Formation/CopterManager.cs
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@ -95,6 +95,12 @@ namespace Plane.FormationCreator.Formation
/// 注意：为避免多线程操作出问题，每次使用此属性时都会新建一个 List！
/// </summary>
public IEnumerable<ICopter> AcceptingControlCopters { get { return SelectedCopters.ToList(); } }
private int _SeletedCopterCount;
public int SeletedCopterCount
{
get { return _SeletedCopterCount; }
set { Set(nameof(SeletedCopterCount), ref _SeletedCopterCount, value); }
}
private Func<IList> _selectedCoptersGetter;
@ -111,6 +117,7 @@ namespace Plane.FormationCreator.Formation
public void RaiseSelectedCoptersChanged(IEnumerable<ICopter> addedCopters, IEnumerable<ICopter> removedCopters)
{
SelectedCoptersChanged?.Invoke(this, new SelectedCoptersChangedEventArgs { AddedCopters = addedCopters, RemovedCopters = removedCopters });
SeletedCopterCount = SelectedCopters.Count();
}
/// <summary>

1
Plane.FormationCreator/MainWindow.xaml.cs
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@ -40,6 +40,7 @@ namespace Plane.FormationCreator
//{
// //App.Current.Shutdown();
//}
}
private CommModuleManager _commModuleManager = CommModuleManager.Instance;
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();

6
Plane.FormationCreator/Plane.FormationCreator.csproj
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@ -335,6 +335,12 @@
<ItemGroup>
<Resource Include="bg.jpg" />
</ItemGroup>
<ItemGroup>
<Resource Include="tiane.bmp" />
</ItemGroup>
<ItemGroup>
<Resource Include="tiane.jpg" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets.

51
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
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@ -144,14 +144,16 @@ namespace Plane.FormationCreator.ViewModels
{
return _DetectionMissionData ?? (_DetectionMissionData = new RelayCommand(async () =>
{
var missionState = _commModuleManager.MissionWriteState.Where(i => !i.Value.SendAchieved || !i.Value.WriteSucceed);
var missionState = _commModuleManager.MissionWriteState.Where(i => i.Value.IsFailed);
if (missionState.Count() == 0)
Message.Show("航点全部写入成功");
else
{
Message.Show("----统计失败航点写入失败----");
foreach (KeyValuePair<int, CommWriteMissinState> item in missionState)
{
string msg = $"{item.Key}: 传输:{item.Value.SendAchieved}, 写入:{item.Value.WriteSucceed} ";
CommWriteMissinState state = item.Value;
string msg = $"{item.Key}:飞机状态:{state.StateReturn}, 错误码:{state.ErrorCode}, 传输:{state.SendAchieved}, 写入:{state.WriteSucceed} ";
Message.Show(msg);
await Task.Delay(10);
}
@ -208,6 +210,51 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _DetectionCommModuleVersion;
public ICommand DetectionCommModuleVersion
{
get
{
return _DetectionCommModuleVersion ?? (_DetectionCommModuleVersion = new RelayCommand(async () =>
{
Dictionary<int, List<string>> dic_version = new Dictionary<int, List<string>>();
await Task.WhenAll(_copterManager.Copters.Select(async c =>
{
string name = c.Name;
int version = c.CommModuleVersion;
lock (locker)
{
List<string> copterList;
if (!dic_version.ContainsKey(version))
{
copterList = new List<string>();
dic_version.Add(version, copterList);
}
else
copterList = dic_version[version];
copterList.Add(name);
}
await Task.Delay(10).ConfigureAwait(false);
})).ConfigureAwait(false);
await Task.Run(async () =>
{
foreach (KeyValuePair<int, List<string>> kv in dic_version)
{
string copters = string.Join(",", kv.Value.ToArray());
Message.Show(string.Format("通信模块版本{0}：{1}", kv.Key, copters));
await Task.Delay(5).ConfigureAwait(false);
}
Message.Show("----统计完成----");
}).ConfigureAwait(false);
}));
}
}
private ICommand _AllLandCommand;
public ICommand AllLandCommand
{

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

@ -1256,6 +1256,8 @@ public ICommand VerticlAlignmentCommand
var flightTask = _flightTaskManager.SelectedTask;
List<ICopter> selectedCopter = new List<ICopter>();
selectedCopter.AddRange(_copterManager.AcceptingControlCopters);
string minCopterId1 = "0";
string minCopterId2 = "0";
for (int i = 0; i < selectedCopter.Count; i++)
{
var copter1 = selectedCopter[i];
@ -1269,13 +1271,19 @@ public ICommand VerticlAlignmentCommand
double distance = GeographyUtils.CalcDistance(
copterInfo1.TargetLat, copterInfo1.TargetLng, copterInfo1.TargetAlt,
copterInfo2.TargetLat, copterInfo2.TargetLng, copterInfo2.TargetAlt);
minDistance = Math.Min(minDistance, distance);
//minDistance = Math.Min(minDistance, distance);
if (distance < minDistance)
{
minDistance = distance;
minCopterId1 = copter1.Id;
minCopterId2 = copter2.Id;
}
}
}
//Distancevalue = minDistance;
Message.Show($"最小距离 = {minDistance}");
Message.Show($"最小距离 = {minDistance} 飞机:{minCopterId1}和{minCopterId2}");
}));
}

9
Plane.FormationCreator/Views/ControlPanelView.xaml
View File

@ -70,12 +70,17 @@
CommandParameter="1"/>
<Button Content="电机"
Command="{Binding MotorTestCommand}" />
<Button Content="航点"
Command="{Binding WriteMissionSingleCommand}" />
<TextBox Width="50"
Visibility="Collapsed"
Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
</WrapPanel>
<WrapPanel>
<Button Content="选写航点"
Command="{Binding WriteMissionSingleCommand}" />
<Button Content="统计模块"
Command="{Binding DetectionCommModuleVersion}" />
</WrapPanel>
<Separator/>
<WrapPanel>
<Button Content="全部降落"

8
Plane.FormationCreator/Views/CopterInfoView.xaml
View File

@ -103,6 +103,7 @@
<TextBlock Text="{Binding Retain[0]}" />
</StackPanel>
<!--
<StackPanel>
<TextBlock Text="固件版本：" />
@ -172,7 +173,12 @@
<TextBlock Text="定位精度：" />
<TextBlock Text="{Binding GpsHdop, StringFormat=0.##}" />
</StackPanel>
</StackPanel>
<StackPanel>
<TextBlock Text="通信模块：" />
<TextBlock Text="{Binding CommModuleVersion}" />
</StackPanel>
</StackPanel>
</Grid>
</StackPanel>
</UserControl>

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

@ -60,6 +60,8 @@
<TextBox Width="30" Margin="5,0,0,0" Text="{Binding ContinuousNum}"/>
<TextBlock Text="间隔数量" Margin="5,5,0,0"/>
<TextBox Width="30" Margin="5,0,0,0" Text="{Binding IntervalNum}"/>
<TextBlock Text="选中个数" Margin="5,5,0,0"/>
<TextBlock Width="30" Margin="5,5,0,0" Text="{Binding CopterManager.SeletedCopterCount, UpdateSourceTrigger=PropertyChanged}"/>
</StackPanel>

4
Plane.FormationCreator/Views/MapView.xaml
View File

@ -11,9 +11,9 @@
d:DesignWidth="300">
<Grid>
<bingMaps:Map Name="map"
<bingMaps:Map Name="map"
CredentialsProvider="8IGVSMWVqW8lDaMuGr2c~XaqB2qlBDLvSvXFzrQ8c-A~AiPIQttopdwAl4kXs8xm6_r59NEGdyqXejcaMDum6qB1BUJ6e25uViKL7fEdEROP"
ZoomLevel="20">
ZoomLevel="20" Opacity="1">
<bingMaps:Map.Mode>
<bingMaps:AerialMode />
</bingMaps:Map.Mode>