1.兼容版和新飞控版用同样的软件，配置文件不同
2.飞行时间计算，每一个判断是否修改速度，有修改就按新速度计算时间 3.加入魔方基站支持 4.支持部分任务
This commit is contained in:
parent
3719c74753
commit
4dba5da8fd
@ -5,7 +5,7 @@ VisualStudioVersion = 14.0.25420.1
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MinimumVisualStudioVersion = 10.0.40219.1
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.FormationCreator", "Plane.FormationCreator\Plane.FormationCreator.csproj", "{61E2F31E-220A-4E3F-A64D-F7CDC2135008}"
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ProjectSection(ProjectDependencies) = postProject
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{BE3280E8-8C7F-4961-9685-1124C5B990CB} = {BE3280E8-8C7F-4961-9685-1124C5B990CB}
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A} = {705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}
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EndProjectSection
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Windows", "..\Plane.Libraries\Plane.Windows\Plane.Windows.csproj", "{06848293-9B17-4068-9B35-44D0ED713CD4}"
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@ -26,7 +26,7 @@ Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk_Shared", "..\Pl
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EndProject
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Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.shproj", "{695733D7-99FF-4707-8C89-474E949CADCB}"
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "flyBase", "..\flyBase\flyBase.csproj", "{BE3280E8-8C7F-4961-9685-1124C5B990CB}"
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRoute", "..\FlyTest\FlightRoute\FlightRoute.csproj", "{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}"
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EndProject
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Global
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GlobalSection(SharedMSBuildProjectFiles) = preSolution
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@ -106,14 +106,14 @@ Global
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Release|Any CPU.Build.0 = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.Release|Any CPU.Build.0 = Release|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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@ -20,12 +20,17 @@ using System.IO;
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namespace Plane.FormationCreator.Formation
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{
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public class CopterCollection : ObservableCollection<ICopter>
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{
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//软件过期时间---过期将无法添加飞机，并自动退出
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public static DateTime Expire_App = DateTime.Parse("2021-06-01");
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//超级用户过期时间--过期将无法使用内置超级用户登录
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public static DateTime Expire_SuperUser = Expire_App;
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//允许飞行的飞机数量
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public int EnCopterNumber = 0;
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//允许模拟的飞机数量
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public int EnVCopterNumber = 0;
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@ -36,15 +41,13 @@ namespace Plane.FormationCreator.Formation
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/// <param name="baseSemObjects"></param>
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public int AddCopter(ICopter entityObject, CopterManager.CopterSortType vSortType)
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{
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////给第三方时候限制数量和时间用
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DateTime dateTime2019 = DateTime.Parse("2020-08-01");
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//新增飞机区域限制：内蒙
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// if (entityObject.Latitude < 37.4307185218 || entityObject.Latitude > 45.6754821756
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// || entityObject.Longitude < 97.3493089056 || entityObject.Longitude > 115.8006783856)
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// return 0;
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if (DateTime.UtcNow > dateTime2019)
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if (DateTime.UtcNow > Expire_App)
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{
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throw new NotImplementedException();
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}
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@ -179,8 +182,17 @@ namespace Plane.FormationCreator.Formation
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const string LoginPage = "checkforapp.php";
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const string supername = "admin";
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const string superpass = "fxmf0622";
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const string superpass = "admin0622";
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const string TEMP_MISSIONFILE = @".\gcs.dat";
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//飞控版本控制
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public int FC_VER_NO = 1;//"4.1.2" 这个版本以前版本灯光比较少no=1 //"4.5"以后no=2;
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//飞控版本控制
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public string FC_VER_STRING = "4.1.2以前"; //
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//用户级别
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const int LEVEL_NORMAL = 1;
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const int LEVEL_ADMIN = 0;
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@ -205,7 +217,19 @@ namespace Plane.FormationCreator.Formation
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Task.WhenAll(Copters.Select(c => c.DisconnectAsync()));
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};
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}
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Windows.IniHelper.IniFiles inifilse = new Windows.IniHelper.IniFiles();
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string readvalue = "";
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int intTemp;
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readvalue = inifilse.IniReadvalue("Default", "FC_VER_NO");
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if (readvalue != "" && int.TryParse(readvalue, out intTemp))
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FC_VER_NO = int.Parse(readvalue);
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readvalue = inifilse.IniReadvalue("Default", "FC_VER_STRING");
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if (readvalue != "" )
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FC_VER_STRING =readvalue;
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}
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public List<ICopter> ShowCopter = new List<ICopter>();
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@ -328,6 +352,7 @@ namespace Plane.FormationCreator.Formation
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private string _UserName = "";
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private string _UserDisplayName = "";
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public string RTK_URL = "";
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public void NetLogined(string UserName,string UserDisplayName,int vEnCopterNumber,int vEnVCopterNumber,int userlever=1)
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{
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@ -355,6 +380,40 @@ namespace Plane.FormationCreator.Formation
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}).ConfigureAwait(false);
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}
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}
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public void GetRTKURL()
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{
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if (_UserName == "") return;
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// 发送请求
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StringBuilder sbUrl = new StringBuilder(); // 请求URL内容
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sbUrl.Append(VersionControl.ServerURL + LoginPage);
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sbUrl.Append("?");
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sbUrl.Append("username=" + _UserName);
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sbUrl.Append("&clientname=" + System.Net.Dns.GetHostName());
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sbUrl.Append("&type=GetRTK");
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sbUrl.Append("&ver=" + Assembly.GetExecutingAssembly().GetName().Version.ToString());
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String strUrl = sbUrl.ToString();
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string errorstr;
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new AsynDataUtils().AsynGetData(strUrl, ResultCallBack_rtk, out errorstr);
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}
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public void ReleaseRTKURL()
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{
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if (_UserName == "") return;
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// 发送请求
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StringBuilder sbUrl = new StringBuilder(); // 请求URL内容
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sbUrl.Append(VersionControl.ServerURL + LoginPage);
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sbUrl.Append("?");
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sbUrl.Append("username=" + _UserName);
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sbUrl.Append("&clientname=" + System.Net.Dns.GetHostName());
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sbUrl.Append("&type=RelRTK");
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sbUrl.Append("&ver=" + Assembly.GetExecutingAssembly().GetName().Version.ToString());
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String strUrl = sbUrl.ToString();
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string errorstr;
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new AsynDataUtils().AsynGetData(strUrl, null, out errorstr);
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}
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private void NetActivePost()
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{
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// 发送请求
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@ -565,7 +624,8 @@ namespace Plane.FormationCreator.Formation
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{
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Logined = false;
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//超级用户，无限制
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if ((username== supername) && (password== superpass))
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if ((username== supername) && (password== superpass) &&(DateTime.UtcNow < CopterCollection.Expire_SuperUser) )
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{
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NetLogined(supername, superDispname, -1, -1, LEVEL_ADMIN);
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return;
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@ -590,7 +650,29 @@ namespace Plane.FormationCreator.Formation
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else Loginstate = "登录失败,"+ errorstr;
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}
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private void ResultCallBack_rtk(string data, bool haveerror)
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{
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if (haveerror)
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{
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MessageBox.Show("获取RTK账号失败，" + data, "错误");
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return;
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}
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if (data == "")
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{
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MessageBox.Show("获取RTK账号失败，请检查网络", "错误");
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return;
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}
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string[] arr = data.Split(';');
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string loginret = arr[0];
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if (loginret == "ok")
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{
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RTK_URL = arr[1];
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}
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else
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MessageBox.Show(loginret, "错误");
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}
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//在这个方法里面接收回调的返回信息
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private void DataResultCallBack_changepassword(string data, bool haveerror)
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@ -31,7 +31,7 @@ namespace Plane.FormationCreator.Formation
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_copterManager.Copters.CollectionChanged += (sender, e) =>
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{
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// TODO: 林俊清, 20150724, 需要改为正确的做法（清除旧飞机的任务，补充新飞机的任务）。
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// TODO: 王海, 20150724, 需要改为正确的做法（清除旧飞机的任务，补充新飞机的任务）。
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//AddTakeOffTask(e.NewItems?.Cast<ICopter>());
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};
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@ -47,7 +47,7 @@ namespace Plane.FormationCreator.Formation
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}
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*/
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// TODO: 林俊清, 20150803, 处理选中多个飞行器的情况。
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// TODO: 王海, 20150803, 处理选中多个飞行器的情况。
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if (_copterManager.SelectedCopters.Count() > 1)
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{
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return;
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@ -74,7 +74,7 @@ namespace Plane.FormationCreator.Formation
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TaskAdded += (sender, e) =>
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{
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// TODO: 林俊清, 20150803, 处理选中多个飞行器的情况。
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// TODO: 王海, 20150803, 处理选中多个飞行器的情况。
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if (_copterManager.SelectedCopters.Count() > 1)
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{
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return;
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@ -1072,7 +1072,7 @@ namespace Plane.FormationCreator.Formation
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var center = nullableCenter.Value;
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var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = staggerRoutes, FlytoTime = flytoTime, LoiterTime = loiterTime };
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if(taskName != null) newTask.TaskCnName = taskName;
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// TODO: 林俊清, 20150801, 处理实际飞行器数目与记录中数目不一致的情况。
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// TODO: 王海, 20150801, 处理实际飞行器数目与记录中数目不一致的情况。
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for (int i = 0; i < copters.Count; i++)
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{
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var copter = copters[i];
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@ -1505,15 +1505,34 @@ namespace Plane.FormationCreator.Formation
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}
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public void SetTaskFlytime(int taskIndex,bool settime=true)
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public void SetTaskFlytime(int taskIndex,bool settime=true,float currspeed=-1.0f)
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{
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double speed = 5.0f; //默认速度
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if ((taskIndex > 0 )&&(taskIndex < Tasks.Count) &&( Tasks[taskIndex].TaskType == FlightTaskType.FlyTo))
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{
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if (_copterManager.Copters.Count() > 0)
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{
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//计算之前航点有没改变速度，有就取最后一次速度
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if (currspeed==-1.0)
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{
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for (int _taskIndex = taskIndex-1; _taskIndex > 1; _taskIndex--)
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{
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var curWaypoint = Tasks[_taskIndex].SingleCopterInfos.FirstOrDefault();
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if ((curWaypoint.IsChangeSpeed))
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{
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speed = curWaypoint.LevelSpeed;
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break;
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}
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}
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}
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double maxDistance = 0.0f;
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string copterName = "";
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double speed = 0.0f;
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foreach (var copter in _copterManager.Copters)
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{
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var prevWaypoint = Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
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@ -1523,6 +1542,16 @@ namespace Plane.FormationCreator.Formation
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Message.Show($"任务{taskIndex + 1}飞机编号:{copter.Id}是自动速度，无法计算时间!");
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return ;
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}
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//当前航点是否改变速度，有就取修改的速度
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if (curWaypoint.IsChangeSpeed)
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{
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speed = curWaypoint.LevelSpeed;
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}
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double distance = GeographyUtils.CalcDistance(
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prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
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curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
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@ -1530,7 +1559,7 @@ namespace Plane.FormationCreator.Formation
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{
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maxDistance = distance;
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copterName = copter.Name;
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speed = curWaypoint.LevelSpeed;
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// speed = curWaypoint.LevelSpeed;
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}
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}
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@ -1564,7 +1593,7 @@ namespace Plane.FormationCreator.Formation
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} //计算优化线路，采用米计算
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/// <summary>
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///
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/// 自动生成航线2D和3D都用这个--------目前使用----------------
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/// </summary>
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/// <param name="Is3d">3D计算</param>
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/// <param name="Ischange">是否改变线路的结束点顺序--返回起飞点航线不能交换</param>
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@ -2320,7 +2349,7 @@ namespace Plane.FormationCreator.Formation
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}
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AvoidCrashLog.Clear(); //可能有丢失
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}
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catch // 林俊清, 20151102, 通常是“集合已修改”异常。
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catch // 王海, 20151102, 通常是“集合已修改”异常。
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{
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}
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finally
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@ -2351,7 +2380,7 @@ namespace Plane.FormationCreator.Formation
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}
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catch // 林俊清, 20151102, 通常是“集合已修改”异常。
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catch // 王海, 20151102, 通常是“集合已修改”异常。
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{
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}
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finally
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@ -13,6 +13,7 @@ using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using System.Windows.Media;
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using System.Windows.Threading;
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@ -210,18 +211,19 @@ namespace Plane.FormationCreator.Formation
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public async Task Open(string CMB_serialport)
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{
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if (CMB_serialport == "") return;
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FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
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switch(CMB_serialport)
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switch (CMB_serialport)
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{
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case "千寻":
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case "千寻":
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//检测原点
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FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
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// FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
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if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
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{
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Alert.Show("作为参照的原点未设置，无法发送RTCM！", "提示");
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return;
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}
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//ini里面的固定千寻账号
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//千寻账号
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string messagetips = "格式：http://差分账号:差分密码@域名:端口/坐标系\r\n例如：http://account:password@rtk.ntrip.qxwz.com:8002/RTCM32_GGB";
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string url = "";
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||||
@ -229,9 +231,45 @@ namespace Plane.FormationCreator.Formation
|
||||
url = inifilse.IniReadvalue("Default", "RTKurl");
|
||||
if (PlaneMessageBox.OnShow(messagetips, "发送RTK", ref url) == false) return;
|
||||
inifilse.IniWritevalue("Default", "RTKurl", url);
|
||||
|
||||
|
||||
//构造
|
||||
comPort = new CommsNTRIP(url, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
|
||||
|
||||
break;
|
||||
|
||||
case "魔方基站":
|
||||
//检测原点
|
||||
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;
|
||||
}
|
||||
/* //ini里面的固定千寻账号
|
||||
//千寻账号
|
||||
string messagetips = "格式：http://差分账号:差分密码@域名:端口/坐标系\r\n例如：http://account:password@rtk.ntrip.qxwz.com:8002/RTCM32_GGB";
|
||||
string url = "";
|
||||
IniFiles inifilse = new IniFiles();
|
||||
url = inifilse.IniReadvalue("Default", "RTKurl");
|
||||
if (PlaneMessageBox.OnShow(messagetips, "发送RTK", ref url) == false) return;
|
||||
inifilse.IniWritevalue("Default", "RTKurl", url);
|
||||
*/
|
||||
//通过网络得到千寻账号
|
||||
if (_copterManager.RTK_URL == "")
|
||||
{
|
||||
//得到千寻账号
|
||||
_copterManager.GetRTKURL();
|
||||
//等到返回5秒
|
||||
DateTime Tthen = DateTime.Now;
|
||||
do
|
||||
{
|
||||
Application.DoEvents();
|
||||
} while ((_copterManager.RTK_URL == "") || (Tthen.AddSeconds(2) > DateTime.Now));
|
||||
}
|
||||
if (_copterManager.RTK_URL != "")
|
||||
{
|
||||
//构造
|
||||
comPort = new CommsNTRIP(_copterManager.RTK_URL, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
comPort = new SerialPort();
|
||||
@ -256,11 +294,30 @@ namespace Plane.FormationCreator.Formation
|
||||
}
|
||||
}
|
||||
|
||||
public async Task Close()
|
||||
public async Task Close(string CMB_serialport)
|
||||
{
|
||||
await _commModuleManager.CloseRtcmLoop();
|
||||
Rtcmthreadrun = false;
|
||||
comPort.Close();
|
||||
switch (CMB_serialport)
|
||||
{
|
||||
case "魔方基站":
|
||||
{
|
||||
//释放千寻账号
|
||||
_copterManager.ReleaseRTKURL();
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
BaseState = false;
|
||||
GpsState = false;
|
||||
GlonassState = false;
|
||||
BeidouState = false;
|
||||
rtcmInfoList.Clear();
|
||||
_copterManager.RTK_URL = "";
|
||||
|
||||
|
||||
}
|
||||
|
||||
private async Task RtcmLoop()
|
||||
@ -333,7 +390,7 @@ namespace Plane.FormationCreator.Formation
|
||||
}
|
||||
catch(Exception ex)
|
||||
{
|
||||
Message.Show(ex.Message);
|
||||
Plane.Windows.Messages.Message.Show(ex.Message);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -420,7 +477,7 @@ namespace Plane.FormationCreator.Formation
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Message.Show(ex.Message);
|
||||
Plane.Windows.Messages.Message.Show(ex.Message);
|
||||
}
|
||||
await Task.Delay(1);
|
||||
|
||||
|
||||
@ -87,7 +87,7 @@
|
||||
<Button Content="{Binding SwitchVelocityModeButtonContent}"
|
||||
Command="{Binding SwitchVelocityModeCommand}"
|
||||
Visibility="Collapsed"/>
|
||||
<!--// 林俊清, 20150930, 不分这些模式了。
|
||||
<!--// 王海, 20150930, 不分这些模式了。
|
||||
<Button Content="进入任务模式"
|
||||
Command="{Binding SwitchAppModeCommand}"
|
||||
CommandParameter="{x:Static m:AppMode.PreparedForRunningTasks}"
|
||||
|
||||
@ -421,9 +421,9 @@
|
||||
</Page>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\..\flyBase\flyBase.csproj">
|
||||
<Project>{be3280e8-8c7f-4961-9685-1124c5b990cb}</Project>
|
||||
<Name>flyBase</Name>
|
||||
<ProjectReference Include="..\..\FlyTest\FlightRoute\FlightRoute.csproj">
|
||||
<Project>{705aab55-ed7a-4856-8f7b-e7a78ed9e39a}</Project>
|
||||
<Name>FlightRoute</Name>
|
||||
</ProjectReference>
|
||||
<ProjectReference Include="..\..\Plane.Libraries\Plane.Logging\Plane.Logging.csproj">
|
||||
<Project>{9c2cafda-cf1d-4565-b797-398376fcd346}</Project>
|
||||
|
||||
@ -554,7 +554,61 @@ namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
return _TakeOffCommand ?? (_TakeOffCommand = new RelayCommand(async () =>
|
||||
{
|
||||
await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.TakeOffAsync()));
|
||||
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，无法开始任务！", "提示");
|
||||
return;
|
||||
}
|
||||
//飞机用UTC时间，日志用本地时间记录
|
||||
DateTime MissionTime = DateTime.UtcNow.AddSeconds(5);
|
||||
DateTime MissionTime_log = DateTime.Now.AddSeconds(5);
|
||||
Message.Show("任务开始:" + MissionTime_log.ToString());
|
||||
//循环3次 发送起飞命令 避免通信问题
|
||||
for (int i = 0; i < 10; i++)
|
||||
{
|
||||
|
||||
/*await _commModuleManager.DoMissionStartAsync(_copterManager.Copters,
|
||||
MissionTime.Hour,
|
||||
MissionTime.Minute,
|
||||
MissionTime.Second,
|
||||
_flightTaskManager.OriginLng,
|
||||
_flightTaskManager.OriginLat
|
||||
);
|
||||
*/
|
||||
|
||||
|
||||
await _commModuleManager.DoMissionStartAsync(_copterManager.AcceptingControlCopters,
|
||||
MissionTime.Hour,
|
||||
MissionTime.Minute,
|
||||
MissionTime.Second,
|
||||
_flightTaskManager.OriginLng,
|
||||
_flightTaskManager.OriginLat
|
||||
);
|
||||
|
||||
|
||||
|
||||
/* await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.MissionStartAsync(
|
||||
MissionTime.Hour,
|
||||
MissionTime.Minute,
|
||||
MissionTime.Second,
|
||||
_flightTaskManager.OriginLng,
|
||||
_flightTaskManager.OriginLat
|
||||
)));
|
||||
*/
|
||||
|
||||
|
||||
await Task.Delay(10).ConfigureAwait(false);
|
||||
|
||||
}
|
||||
//_copterManager.Net_LogStartMission(MissionTime_log, _flightTaskManager.OriginLng, _flightTaskManager.OriginLat);
|
||||
Alert.Show("所有选中飞机开始执行航点任务。请勿多次开始任务！", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
@ -1337,7 +1391,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
if (_RtcmInfoViewModel.RtcmManager.Rtcmthreadrun)
|
||||
{
|
||||
Alert.Show("RTK数据正在发送，将自动关闭！", "提示");
|
||||
await _RtcmInfoViewModel.RtcmManager.Close();
|
||||
await _RtcmInfoViewModel.RtcmManager.Close(_RtcmInfoViewModel.SerialPortsSelectdValue);
|
||||
}
|
||||
|
||||
|
||||
@ -1370,7 +1424,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
if (_RtcmInfoViewModel.RtcmManager.Rtcmthreadrun)
|
||||
{
|
||||
Alert.Show("RTK数据正在发送，将自动关闭！", "提示");
|
||||
await _RtcmInfoViewModel.RtcmManager.Close();
|
||||
await _RtcmInfoViewModel.RtcmManager.Close(_RtcmInfoViewModel.SerialPortsSelectdValue);
|
||||
}
|
||||
|
||||
int coptercount = _copterManager.Copters.Count;
|
||||
@ -1411,7 +1465,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
if (_RtcmInfoViewModel.RtcmManager.Rtcmthreadrun)
|
||||
{
|
||||
Alert.Show("RTK数据正在发送，将自动关闭！", "提示");
|
||||
await _RtcmInfoViewModel.RtcmManager.Close();
|
||||
await _RtcmInfoViewModel.RtcmManager.Close(_RtcmInfoViewModel.SerialPortsSelectdValue);
|
||||
}
|
||||
|
||||
Alert.Show("开始写入航点，请稍等！", "提示");
|
||||
@ -1526,14 +1580,30 @@ namespace Plane.FormationCreator.ViewModels
|
||||
List<IMission> missions = new List<IMission>();
|
||||
foreach (LEDInfo ledInfo in LEDInfos)
|
||||
{
|
||||
float ledinterval=0;
|
||||
//拉烟的ID 老版本只有8种，新固件增加了
|
||||
int fireno = 8;
|
||||
Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
|
||||
int ledMode = ledInfo.LEDMode;
|
||||
//拉烟任务模式ID是50，需要改为50
|
||||
if (ledMode == 15) ledMode = 50;
|
||||
if (_copterManager.FC_VER_NO == 1)
|
||||
{
|
||||
fireno = 8;
|
||||
//老版本是闪烁频率，且不能为小数
|
||||
ledinterval = ledInfo.LEDInterval;
|
||||
}
|
||||
else
|
||||
{
|
||||
fireno = 15;
|
||||
//新版本飞控 是闪烁间隔单位是100ms，地面站还是频率可以有1位小数,用户输入0.5hz 飞控应该是(1/0.5)*10=20
|
||||
ledinterval = (1/ledInfo.LEDInterval);
|
||||
}
|
||||
|
||||
if (ledMode == fireno) ledMode = 50;
|
||||
IMission LEDMission = Mission.CreateLEDControlMission(
|
||||
(int)(ledInfo.Delay * 10),
|
||||
ledMode,
|
||||
ledInfo.LEDInterval,
|
||||
ledinterval,
|
||||
0, //ledInfo.LEDTimes,
|
||||
color.R,
|
||||
color.G,
|
||||
|
||||
@ -37,7 +37,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
// }
|
||||
// }
|
||||
//};
|
||||
// TODO: 林俊清, 20150803, 没什么问题就把这段以及 FlyToLat 等属性删了。
|
||||
// TODO: 王海, 20150803, 没什么问题就把这段以及 FlyToLat 等属性删了。
|
||||
//_flightTaskManager.PropertyChanged += (sender, e) =>
|
||||
//{
|
||||
// switch (e.PropertyName)
|
||||
@ -66,7 +66,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
//};
|
||||
//_copterManager.SelectedCoptersChanged += (sender, e) =>
|
||||
//{
|
||||
// // TODO: 林俊清, 20150731, 处理多选飞行器时的情况。
|
||||
// // TODO: 王海, 20150731, 处理多选飞行器时的情况。
|
||||
// var selectedCopters = _copterManager.SelectedCopters;
|
||||
// if (selectedCopters.Count() > 1)
|
||||
// {
|
||||
@ -129,13 +129,13 @@ namespace Plane.FormationCreator.ViewModels
|
||||
//private void InvokeForSelectedSingleCopterInfos(Action<FlightTaskSingleCopterInfo> action)
|
||||
//{
|
||||
// var modifyingTask = _flightTaskManager.SelectedTask as FlyToFlightTask;
|
||||
// if (modifyingTask != null && _copterManager.SelectedCopters.Count() == 1) // 林俊清, 20150731, 目前不处理多选的情况。
|
||||
// if (modifyingTask != null && _copterManager.SelectedCopters.Count() == 1) // 王海, 20150731, 目前不处理多选的情况。
|
||||
// {
|
||||
// modifyingTask.FlyToFlightTaskSingleCopterInfos
|
||||
// .Where(i => _copterManager.SelectedCopters.FirstOrDefault() == i.Copter)
|
||||
// .ForEach(action);
|
||||
|
||||
// // TODO: 林俊清, 20150731, 添加同时改多个 SingleCopterInfo 的程序。
|
||||
// // TODO: 王海, 20150731, 添加同时改多个 SingleCopterInfo 的程序。
|
||||
// //.Where(i => _copterManager.SelectedCopters.Contains(i.Copter))
|
||||
// }
|
||||
//}
|
||||
|
||||
@ -32,12 +32,14 @@ namespace Plane.FormationCreator.ViewModels
|
||||
public RtcmInfoViewModel(RtcmManager rtcmManager)
|
||||
{
|
||||
_rtcmManager = rtcmManager;
|
||||
serialPorts.Add("魔方基站");
|
||||
serialPorts.Add("千寻");
|
||||
|
||||
string[] commports = _rtcmManager.GetPortNames();
|
||||
foreach (var item in commports)
|
||||
{
|
||||
serialPorts.Add(item);
|
||||
}
|
||||
serialPorts.Add("千寻");
|
||||
SerialPortsSelectdValue = serialPorts[0];
|
||||
}
|
||||
|
||||
@ -47,12 +49,13 @@ namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
string lastSelectValue = SerialPortsSelectdValue;
|
||||
serialPorts.Clear();
|
||||
serialPorts.Add("魔方基站");
|
||||
serialPorts.Add("千寻");
|
||||
string[] commports = _rtcmManager.GetPortNames();
|
||||
foreach (var item in commports)
|
||||
{
|
||||
serialPorts.Add(item);
|
||||
}
|
||||
serialPorts.Add("千寻");
|
||||
if (serialPorts.Contains(lastSelectValue))
|
||||
SerialPortsSelectdValue = lastSelectValue;
|
||||
}
|
||||
@ -67,7 +70,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
if (!_rtcmManager.Rtcmthreadrun)
|
||||
await _rtcmManager.Open(SerialPortsSelectdValue);
|
||||
else
|
||||
await _rtcmManager.Close();
|
||||
await _rtcmManager.Close(SerialPortsSelectdValue);
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
@ -46,9 +46,9 @@ namespace Plane.FormationCreator.Views
|
||||
panel2.Visibility = Visibility.Collapsed;
|
||||
panel3.Visibility = Visibility.Collapsed;
|
||||
}
|
||||
|
||||
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
var version = Assembly.GetExecutingAssembly().GetName().Version;
|
||||
about_ver.Text = "版本：" + version.ToString();
|
||||
about_ver.Text = "版本：" + version.ToString() + "(飞控兼容:" + _copterManager.FC_VER_STRING + ")";
|
||||
about_buildtm .Text= "编译时间：" + System.IO.File.GetLastWriteTime(this.GetType().Assembly.Location).ToString();
|
||||
|
||||
|
||||
|
||||
@ -111,7 +111,7 @@
|
||||
Command="{Binding UnlockCommand}" />
|
||||
<Button Content="加锁"
|
||||
Command="{Binding LockCommand}" />
|
||||
<Button Content="起飞" Visibility="Collapsed"
|
||||
<Button Content="单独任务"
|
||||
Command="{Binding TakeOffCommand}" />
|
||||
|
||||
|
||||
|
||||
@ -17,7 +17,7 @@
|
||||
<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>
|
||||
<Label Margin="0" Content="摆放高度(米)" ></Label>
|
||||
<TextBox
|
||||
Margin="30,0"
|
||||
Width="80"
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using Plane.FormationCreator.ViewModels;
|
||||
using System.Reflection;
|
||||
using System.Windows;
|
||||
@ -20,7 +21,8 @@ namespace Plane.FormationCreator.Views
|
||||
LoginViewModel loginViewModel = ServiceLocator.Current.GetInstance<LoginViewModel>();
|
||||
this.DataContext = loginViewModel;
|
||||
var version = Assembly.GetExecutingAssembly().GetName().Version;
|
||||
about_ver.Content = "版本：" + version.ToString();
|
||||
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
about_ver.Content = "版本：" + version.ToString() + "(飞控兼容:"+ _copterManager.FC_VER_STRING + ")";
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -146,7 +146,7 @@ namespace Plane.FormationCreator.Views
|
||||
//var pos = map.ViewportPointToLocation(e.GetPosition(map));
|
||||
//AddOrMoveCopter(new FakeCopter(pos.Latitude, pos.Longitude));
|
||||
|
||||
// 林俊清, 20150930, AppMode 存在意义已不大；只有正在运行任务的时候才不允许指点。
|
||||
// 王海, 20150930, AppMode 存在意义已不大；只有正在运行任务的时候才不允许指点。
|
||||
//if (AppEx.Current.AppMode != AppMode.ControllingCopters) return;
|
||||
if (_flightTaskManager.IsPaused == false) return;
|
||||
|
||||
|
||||
@ -462,6 +462,7 @@
|
||||
<Button Content="测试/停止" VerticalAlignment="Center"
|
||||
Margin="0,5,5,0"
|
||||
Grid.Column="2"
|
||||
Visibility="Collapsed"
|
||||
Command="{Binding TestCopterLEDCommand}"
|
||||
/>
|
||||
|
||||
@ -496,36 +497,40 @@
|
||||
</ItemsPanelTemplate>
|
||||
</ItemsControl.ItemsPanel>
|
||||
<ItemsControl.ItemTemplate>
|
||||
<DataTemplate>
|
||||
<DataTemplate x:Name="LEDTemplate">
|
||||
<StackPanel Margin="0,5,0,0" Orientation="Horizontal" >
|
||||
<TextBlock Text="类型" Margin="0,0,0,0" VerticalAlignment="Center" ></TextBlock>
|
||||
<ComboBox Height="25" MinWidth="125" Width="110" Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
|
||||
SelectedIndex="{Binding Path=LEDMode}">
|
||||
<ComboBox x:Name="cmbTemplateLEDMode" Height="25" MinWidth="125" Width="110" Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
|
||||
SelectedIndex="{Binding Path=LEDMode}"
|
||||
|
||||
Loaded="OnCBLoaded" Initialized="cmbTemplateLEDMode_Initialized"
|
||||
|
||||
>
|
||||
<ComboBox.ItemContainerStyle>
|
||||
<Style>
|
||||
<Setter Property="ComboBoxItem.Foreground" Value="White"/>
|
||||
</Style>
|
||||
|
||||
|
||||
</ComboBox.ItemContainerStyle>
|
||||
<ComboBoxItem Content="常亮" />
|
||||
<ComboBoxItem Content="代码里面动态添加--这里数量要够" />
|
||||
<ComboBoxItem Content="同步闪烁(单色)" />
|
||||
<ComboBoxItem Content="异步闪烁(随机)" />
|
||||
<ComboBoxItem Content="同步闪烁(随机)" />
|
||||
<ComboBoxItem Content="异步闪烁(单色)" />
|
||||
<ComboBoxItem Content="渐亮" />
|
||||
<ComboBoxItem Content="渐暗" />
|
||||
<ComboBoxItem Content="呼吸灯(单色)" />
|
||||
<ComboBoxItem Content="呼吸灯(随机)" />
|
||||
<ComboBoxItem Content="异步呼吸(单色)" />
|
||||
<ComboBoxItem Content="异步呼吸(随机)" />
|
||||
|
||||
<ComboBoxItem Content="变色(单色)" />
|
||||
<ComboBoxItem Content="变色(随机)" />
|
||||
<ComboBoxItem Content="异步变色(单色)" />
|
||||
<ComboBoxItem Content="异步变色(随机)" />
|
||||
|
||||
|
||||
<ComboBoxItem Content="同步闪烁(随机)" />
|
||||
<ComboBoxItem Content="异步闪烁(单色)" />
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
<ComboBoxItem Content="拉烟"/>
|
||||
|
||||
</ComboBox>
|
||||
|
||||
<TextBlock Text="时间" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
|
||||
@ -533,9 +538,9 @@
|
||||
ToolTip="单位:秒，最小设置0.1秒"
|
||||
Text="{Binding Delay,UpdateSourceTrigger=PropertyChanged}" />
|
||||
|
||||
<TextBlock Text="间隔" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
|
||||
<TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
|
||||
<TextBox Height="25" MinWidth="35" MaxWidth="40" Margin="5,0,0,0"
|
||||
ToolTip="单位:秒，最小设置0.1秒"
|
||||
ToolTip="单位:HZ，最小设置0.1HZ"
|
||||
Text="{Binding Path=LEDInterval, UpdateSourceTrigger=PropertyChanged}" />
|
||||
|
||||
<TextBlock Text="颜色" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
|
||||
|
||||
@ -24,16 +24,41 @@ namespace Plane.FormationCreator.Views
|
||||
/// <summary>
|
||||
/// Interaction logic for ModifyTaskView.xaml
|
||||
/// </summary>
|
||||
|
||||
|
||||
public partial class ModifyTaskView : UserControl
|
||||
{
|
||||
private int[] defcolor= { 255, 65280, 16711680, 65535 , 16711935, 16776960,0 };
|
||||
ModifyTaskViewModel _modifyTaskViewModel = ServiceLocator.Current.GetInstance<ModifyTaskViewModel>();
|
||||
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
|
||||
private childItem FindVisualChild<childItem>(DependencyObject obj)
|
||||
where childItem : DependencyObject
|
||||
{
|
||||
for (int i = 0; i < VisualTreeHelper.GetChildrenCount(obj); i++)
|
||||
{
|
||||
DependencyObject child = VisualTreeHelper.GetChild(obj, i);
|
||||
if (child != null && child is childItem)
|
||||
{
|
||||
return (childItem)child;
|
||||
}
|
||||
else
|
||||
{
|
||||
childItem childOfChild = FindVisualChild<childItem>(child);
|
||||
if (childOfChild != null)
|
||||
return childOfChild;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
public ModifyTaskView()
|
||||
{
|
||||
InitializeComponent();
|
||||
|
||||
this.DataContext = _modifyTaskViewModel;
|
||||
|
||||
|
||||
|
||||
|
||||
if (!VersionControl.IsFullVersion)
|
||||
{
|
||||
//lightDesign.Visibility = Visibility.Collapsed;
|
||||
@ -42,27 +67,48 @@ namespace Plane.FormationCreator.Views
|
||||
|
||||
private void Button_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
// distanceCopters.Text;
|
||||
/*
|
||||
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
|
||||
|
||||
int firstIndex = int.Parse( firstCopter.Text );
|
||||
int secondIndex = int.Parse( secondCopter.Text );
|
||||
|
||||
if (_flightTaskManager.SelectedTask != null)
|
||||
{
|
||||
var firstCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[firstIndex-1];
|
||||
var secondCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[secondIndex-1];
|
||||
double distance = GeographyUtils.CalcDistance(firstCopterInfo.TargetLat, firstCopterInfo.TargetLng, firstCopterInfo.TargetAlt,
|
||||
secondCopterInfo.TargetLat, secondCopterInfo.TargetLng, secondCopterInfo.TargetAlt);
|
||||
|
||||
distanceCopters.Text = ((double)Math.Round(distance*100)/100).ToString();
|
||||
|
||||
}
|
||||
/*
|
||||
DependencyObject myListItem = LEDItems.ItemContainerGenerator.ContainerFromItem(LEDItems.Items.CurrentItem);
|
||||
ContentPresenter myContentPresenter = FindVisualChild<ContentPresenter>(myListItem);
|
||||
DataTemplate myDataTemplate = myContentPresenter.ContentTemplate;
|
||||
ComboBox ledcomb = (ComboBox)myDataTemplate.FindName("cmbTemplateLEDMode", myContentPresenter);
|
||||
// ledcomb.SelectedIndex = 2;
|
||||
*/
|
||||
|
||||
|
||||
// distanceCopters.Text;
|
||||
/*
|
||||
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
|
||||
|
||||
int firstIndex = int.Parse( firstCopter.Text );
|
||||
int secondIndex = int.Parse( secondCopter.Text );
|
||||
|
||||
if (_flightTaskManager.SelectedTask != null)
|
||||
{
|
||||
var firstCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[firstIndex-1];
|
||||
var secondCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[secondIndex-1];
|
||||
double distance = GeographyUtils.CalcDistance(firstCopterInfo.TargetLat, firstCopterInfo.TargetLng, firstCopterInfo.TargetAlt,
|
||||
secondCopterInfo.TargetLat, secondCopterInfo.TargetLng, secondCopterInfo.TargetAlt);
|
||||
|
||||
distanceCopters.Text = ((double)Math.Round(distance*100)/100).ToString();
|
||||
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void OnCBLoaded(object sender, EventArgs e)
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
private void TextBox_MouseDoubleClick(object sender, MouseButtonEventArgs e)
|
||||
{
|
||||
System.Windows.Forms.ColorDialog colorDialog = new System.Windows.Forms.ColorDialog();
|
||||
@ -87,5 +133,46 @@ namespace Plane.FormationCreator.Views
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private void cmbTemplateLEDMode_Initialized(object sender, EventArgs e)
|
||||
{
|
||||
int selind = 0;
|
||||
ComboBox cb = (ComboBox)sender;
|
||||
selind = cb.SelectedIndex;
|
||||
cb.Items.Clear();
|
||||
if (_copterManager.FC_VER_NO == 1)
|
||||
{
|
||||
cb.Items.Add("常亮"); //0
|
||||
cb.Items.Add("同步闪烁(单色)"); //1
|
||||
cb.Items.Add("异步闪烁(随机)"); //2
|
||||
cb.Items.Add("渐亮"); //3
|
||||
cb.Items.Add("渐暗"); //4
|
||||
cb.Items.Add("呼吸灯(单色)"); //5
|
||||
cb.Items.Add("同步闪烁(随机)"); //6
|
||||
cb.Items.Add("异步闪烁(单色)"); //7
|
||||
cb.Items.Add("拉烟"); //8
|
||||
}
|
||||
else
|
||||
{
|
||||
cb.Items.Add("常亮"); //0
|
||||
cb.Items.Add("同步闪烁(单色)"); //1
|
||||
cb.Items.Add("异步闪烁(随机)"); //2
|
||||
cb.Items.Add("同步闪烁(随机)"); //3
|
||||
cb.Items.Add("异步闪烁(单色)"); //4
|
||||
cb.Items.Add("渐亮"); //5
|
||||
cb.Items.Add("渐暗"); //6
|
||||
cb.Items.Add("同步呼吸灯(单色)"); //7
|
||||
cb.Items.Add("同步呼吸灯(随机色)"); //8
|
||||
cb.Items.Add("异步呼吸(单色)"); //9
|
||||
cb.Items.Add("异步呼吸(随机色)"); //10
|
||||
cb.Items.Add("变色(单色)"); //11
|
||||
cb.Items.Add("变色(随机)"); //12
|
||||
cb.Items.Add("异步变色(单色)"); //13
|
||||
cb.Items.Add("异步变色(随机)"); //14
|
||||
cb.Items.Add("拉烟"); //15
|
||||
}
|
||||
cb.SelectedIndex = selind;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
xmlns:c="http://metro.mahapps.com/winfx/xaml/controls"
|
||||
mc:Ignorable="d"
|
||||
d:DesignHeight="300" d:DesignWidth="800"
|
||||
Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize" Topmost="True">
|
||||
Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize">
|
||||
<Grid Margin="0,0,0,0">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition Height="Auto"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user