通信模块的断线重连 固定IP改换为199.51

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

Plane.FormationCreator/App.xaml.cs

@@ -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;
                 }
             }

Plane.FormationCreator/Formation/CopterManager.cs

@@ -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>

Plane.FormationCreator/MainWindow.xaml.cs

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

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -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.

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -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
         {

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -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}");
 
                 }));
             }

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -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"

Plane.FormationCreator/Views/CopterInfoView.xaml

@@ -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>

Plane.FormationCreator/Views/CopterListView.xaml

@@ -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>
 

Plane.FormationCreator/Views/MapView.xaml

@@ -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>