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

Plane.FormationCreator.sln

@@ -5,7 +5,7 @@ VisualStudioVersion = 14.0.25420.1
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.FormationCreator", "Plane.FormationCreator\Plane.FormationCreator.csproj", "{61E2F31E-220A-4E3F-A64D-F7CDC2135008}"
 	ProjectSection(ProjectDependencies) = postProject
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB} = {BE3280E8-8C7F-4961-9685-1124C5B990CB}
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A} = {705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}
 	EndProjectSection
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Windows", "..\Plane.Libraries\Plane.Windows\Plane.Windows.csproj", "{06848293-9B17-4068-9B35-44D0ED713CD4}"
@@ -26,7 +26,7 @@ Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk_Shared", "..\Pl
 EndProject
 Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.shproj", "{695733D7-99FF-4707-8C89-474E949CADCB}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "flyBase", "..\flyBase\flyBase.csproj", "{BE3280E8-8C7F-4961-9685-1124C5B990CB}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRoute", "..\FlyTest\FlightRoute\FlightRoute.csproj", "{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}"
 EndProject
 Global
 	GlobalSection(SharedMSBuildProjectFiles) = preSolution
@@ -106,14 +106,14 @@ Global
 		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
 		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
 		{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Release|Any CPU.Build.0 = Release|Any CPU
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.Release|Any CPU.Build.0 = Release|Any CPU
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
-		{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
+		{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

Plane.FormationCreator/Formation/CopterManager.cs

@@ -20,12 +20,17 @@ using System.IO;
 
 namespace Plane.FormationCreator.Formation
 {
+   
 
     public class CopterCollection : ObservableCollection<ICopter>
     {
-
+        //软件过期时间---过期将无法添加飞机，并自动退出
+        public static DateTime Expire_App = DateTime.Parse("2021-06-01");
+        //超级用户过期时间--过期将无法使用内置超级用户登录
+        public static DateTime Expire_SuperUser = Expire_App;
+        //允许飞行的飞机数量
         public int EnCopterNumber = 0;
-
+        //允许模拟的飞机数量
         public int EnVCopterNumber = 0;
 
 
@@ -36,15 +41,13 @@ namespace Plane.FormationCreator.Formation
         /// <param name="baseSemObjects"></param>  
         public int AddCopter(ICopter entityObject, CopterManager.CopterSortType vSortType)
         {
-            ////给第三方时候限制数量和时间用
-            DateTime dateTime2019 = DateTime.Parse("2020-08-01");
 
             //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)
+            if (DateTime.UtcNow > Expire_App)
             {
                 throw new NotImplementedException();
             }
@@ -179,8 +182,17 @@ namespace Plane.FormationCreator.Formation
 
         const string LoginPage = "checkforapp.php";
         const string supername = "admin";
-        const string superpass = "fxmf0622";
+        const string superpass = "admin0622";
         const string TEMP_MISSIONFILE = @".\gcs.dat";
+        //飞控版本控制
+        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;
+                                 //飞控版本控制
+        public string FC_VER_STRING = "4.1.2以前"; //
+
+
+
+
+
         //用户级别
         const int LEVEL_NORMAL = 1;
         const int LEVEL_ADMIN = 0;
@@ -205,7 +217,19 @@ namespace Plane.FormationCreator.Formation
                 Task.WhenAll(Copters.Select(c => c.DisconnectAsync()));
             };
 
-        }
+
+            Windows.IniHelper.IniFiles inifilse = new Windows.IniHelper.IniFiles();
+            string readvalue = "";
+            int intTemp;
+            readvalue = inifilse.IniReadvalue("Default", "FC_VER_NO");
+            if (readvalue != "" && int.TryParse(readvalue, out intTemp))
+                FC_VER_NO = int.Parse(readvalue);
+
+
+            readvalue = inifilse.IniReadvalue("Default", "FC_VER_STRING");
+            if (readvalue != "" )
+                FC_VER_STRING =readvalue;
+      }
 
         public List<ICopter> ShowCopter = new List<ICopter>();
 
@@ -328,6 +352,7 @@ namespace Plane.FormationCreator.Formation
 
         private string _UserName = "";
         private string _UserDisplayName = "";
+        public string RTK_URL = "";
 
         public void NetLogined(string UserName,string UserDisplayName,int vEnCopterNumber,int vEnVCopterNumber,int userlever=1)
         {
@@ -355,6 +380,40 @@ namespace Plane.FormationCreator.Formation
                 }).ConfigureAwait(false);
             }
         }
+        public void GetRTKURL()
+        {
+            if (_UserName == "") return;
+            // 发送请求
+            StringBuilder sbUrl = new StringBuilder(); // 请求URL内容
+            sbUrl.Append(VersionControl.ServerURL + LoginPage);
+            sbUrl.Append("?");
+            sbUrl.Append("username=" + _UserName);
+            sbUrl.Append("&clientname=" + System.Net.Dns.GetHostName());
+            sbUrl.Append("&type=GetRTK");
+            sbUrl.Append("&ver=" + Assembly.GetExecutingAssembly().GetName().Version.ToString());
+            String strUrl = sbUrl.ToString();
+            string errorstr;
+            new AsynDataUtils().AsynGetData(strUrl, ResultCallBack_rtk, out errorstr);
+        }
+
+        public void ReleaseRTKURL()
+        {
+            if (_UserName == "") return;
+            // 发送请求
+            StringBuilder sbUrl = new StringBuilder(); // 请求URL内容
+            sbUrl.Append(VersionControl.ServerURL + LoginPage);
+            sbUrl.Append("?");
+            sbUrl.Append("username=" + _UserName);
+            sbUrl.Append("&clientname=" + System.Net.Dns.GetHostName());
+            sbUrl.Append("&type=RelRTK");
+            sbUrl.Append("&ver=" + Assembly.GetExecutingAssembly().GetName().Version.ToString());
+            String strUrl = sbUrl.ToString();
+            string errorstr;
+            new AsynDataUtils().AsynGetData(strUrl, null, out errorstr);
+
+        }
+        
+
         private void NetActivePost()
         {
             // 发送请求
@@ -565,7 +624,8 @@ namespace Plane.FormationCreator.Formation
         {
             Logined = false;
             //超级用户，无限制
-            if ((username== supername) && (password== superpass))
+ 
+            if ((username== supername) && (password== superpass) &&(DateTime.UtcNow < CopterCollection.Expire_SuperUser)  )
             {
                 NetLogined(supername, superDispname, -1, -1, LEVEL_ADMIN);
                 return;
@@ -590,7 +650,29 @@ namespace Plane.FormationCreator.Formation
             else Loginstate = "登录失败,"+ errorstr;
         }
 
+        private void ResultCallBack_rtk(string data, bool haveerror)
+        {
+            if (haveerror)
+            {
+                MessageBox.Show("获取RTK账号失败，" + data, "错误");
+                return;
+            }
+            if (data == "")
+            {
+                MessageBox.Show("获取RTK账号失败，请检查网络", "错误");
+                return;
+            }
 
+            string[] arr = data.Split(';');
+            string loginret = arr[0];
+            if (loginret == "ok")
+            {
+                RTK_URL = arr[1];
+            }
+            else
+                MessageBox.Show(loginret, "错误");
+            
+        }
 
         //在这个方法里面接收回调的返回信息
         private void DataResultCallBack_changepassword(string data, bool haveerror)

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -31,7 +31,7 @@ namespace Plane.FormationCreator.Formation
 
             _copterManager.Copters.CollectionChanged += (sender, e) =>
             {
-                // 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）。
+                // 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）。
                 //AddTakeOffTask(e.NewItems?.Cast<ICopter>());
             };
 
@@ -47,7 +47,7 @@ namespace Plane.FormationCreator.Formation
                 }
                 */
 
-                // TODO: 林俊清, 20150803, 处理选中多个飞行器的情况。
+                // TODO: 王海, 20150803, 处理选中多个飞行器的情况。
                 if (_copterManager.SelectedCopters.Count() > 1)
                 {
                     return;
@@ -74,7 +74,7 @@ namespace Plane.FormationCreator.Formation
 
             TaskAdded += (sender, e) =>
             {
-                // TODO: 林俊清, 20150803, 处理选中多个飞行器的情况。
+                // TODO: 王海, 20150803, 处理选中多个飞行器的情况。
                 if (_copterManager.SelectedCopters.Count() > 1)
                 {
                     return;
@@ -1072,7 +1072,7 @@ namespace Plane.FormationCreator.Formation
             var center = nullableCenter.Value;
             var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = staggerRoutes, FlytoTime = flytoTime, LoiterTime = loiterTime };
             if(taskName != null) newTask.TaskCnName = taskName;
-            // 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。
+            // 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。
             for (int i = 0; i < copters.Count; i++)
             {
                 var copter = copters[i];
@@ -1505,15 +1505,34 @@ namespace Plane.FormationCreator.Formation
         }
 
 
-        public void SetTaskFlytime(int taskIndex,bool settime=true)
+        public void SetTaskFlytime(int taskIndex,bool settime=true,float currspeed=-1.0f)
         {
+            double speed = 5.0f; //默认速度
+
             if ((taskIndex > 0 )&&(taskIndex < Tasks.Count) &&( Tasks[taskIndex].TaskType == FlightTaskType.FlyTo))
             {
                 if (_copterManager.Copters.Count() > 0)
                 {
+
+                    //计算之前航点有没改变速度，有就取最后一次速度
+                    if (currspeed==-1.0)
+                    {
+                        for (int _taskIndex = taskIndex-1; _taskIndex > 1; _taskIndex--)
+
+                        {
+                            var curWaypoint = Tasks[_taskIndex].SingleCopterInfos.FirstOrDefault();
+                            if ((curWaypoint.IsChangeSpeed))
+                            {
+                                speed = curWaypoint.LevelSpeed;
+                                break;
+                            }
+
+                        }
+                    }
                     double maxDistance = 0.0f;
                     string copterName = "";
-                    double speed = 0.0f;
+                   
+
                     foreach (var copter in _copterManager.Copters)
                     {
                         var prevWaypoint = Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
@@ -1523,6 +1542,16 @@ namespace Plane.FormationCreator.Formation
                             Message.Show($"任务{taskIndex + 1}飞机编号:{copter.Id}是自动速度，无法计算时间!");
                             return ;
                         }
+
+                        //当前航点是否改变速度，有就取修改的速度
+                        if (curWaypoint.IsChangeSpeed)
+                        {
+
+                            speed = curWaypoint.LevelSpeed;
+
+                        }
+                       
+
                         double distance = GeographyUtils.CalcDistance(
                                prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
                                curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
@@ -1530,7 +1559,7 @@ namespace Plane.FormationCreator.Formation
                         {
                             maxDistance = distance;
                             copterName = copter.Name;
-                            speed = curWaypoint.LevelSpeed;
+                           // speed = curWaypoint.LevelSpeed;
                         }
                     }
 
@@ -1564,7 +1593,7 @@ namespace Plane.FormationCreator.Formation
         }      //计算优化线路，采用米计算
 
         /// <summary>
-        /// 
+        ///  自动生成航线2D和3D都用这个--------目前使用----------------
         /// </summary>
         /// <param name="Is3d">3D计算</param>
         /// <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>
@@ -2320,7 +2349,7 @@ namespace Plane.FormationCreator.Formation
                     }
                     AvoidCrashLog.Clear(); //可能有丢失
                 }
-                catch   // 林俊清, 20151102, 通常是“集合已修改”异常。
+                catch   // 王海, 20151102, 通常是“集合已修改”异常。
                 {
                 }
                 finally
@@ -2351,7 +2380,7 @@ namespace Plane.FormationCreator.Formation
 
 
                 }
-                catch   // 林俊清, 20151102, 通常是“集合已修改”异常。
+                catch   // 王海, 20151102, 通常是“集合已修改”异常。
                 {
                 }
                 finally

Plane.FormationCreator/Formation/RtcmManager.cs

@@ -13,6 +13,7 @@ using System.Linq;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
+using System.Windows.Forms;
 using System.Windows.Media;
 using System.Windows.Threading;
 
@@ -210,18 +211,19 @@ namespace Plane.FormationCreator.Formation
         public async Task Open(string CMB_serialport)
         {
             if (CMB_serialport == "") return;
+            FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
 
-            switch(CMB_serialport)
+            switch (CMB_serialport)
             {
-               case "千寻":
+                case "千寻":
                     //检测原点
-                    FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+                  //  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;
                     }
-
+                     //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 = "";
@@ -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);
 

Plane.FormationCreator/MainWindow.xaml

@@ -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}"

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -421,9 +421,9 @@
     </Page>
   </ItemGroup>
   <ItemGroup>
-    <ProjectReference Include="..\..\flyBase\flyBase.csproj">
+    <ProjectReference Include="..\..\FlyTest\FlightRoute\FlightRoute.csproj">
-      <Project>{be3280e8-8c7f-4961-9685-1124c5b990cb}</Project>
+      <Project>{705aab55-ed7a-4856-8f7b-e7a78ed9e39a}</Project>
-      <Name>flyBase</Name>
+      <Name>FlightRoute</Name>
     </ProjectReference>
     <ProjectReference Include="..\..\Plane.Libraries\Plane.Logging\Plane.Logging.csproj">
       <Project>{9c2cafda-cf1d-4565-b797-398376fcd346}</Project>

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -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,

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -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))
         //    }
         //}

Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs

@@ -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);
                 }));
             }
         }

Plane.FormationCreator/Views/ConnectWindow.xaml.cs

@@ -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();
 
 

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -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}" />
                        
                        

Plane.FormationCreator/Views/CopterAttributeView.xaml

@@ -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"

Plane.FormationCreator/Views/LoginView.xaml.cs

@@ -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 + ")";
 
         }
     }

Plane.FormationCreator/Views/MapView.xaml.cs

@@ -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;
 

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -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"
+                                    <ComboBox   x:Name="cmbTemplateLEDMode" Height="25" MinWidth="125" Width="110" Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
-                                                           SelectedIndex="{Binding Path=LEDMode}">
+                                                           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="同步闪烁(随机)" />
-                                        <ComboBoxItem Content="异步呼吸(单色)" />
+                                        <ComboBoxItem Content="异步闪烁(单色)" />
-                                        <ComboBoxItem Content="异步呼吸(随机)" />
+                                        <ComboBoxItem Content="拉烟"/>
-                                        
+                                        <ComboBoxItem Content="拉烟"/>
-                                        <ComboBoxItem Content="变色(单色)" />
+                                        <ComboBoxItem Content="拉烟"/>
-                                        <ComboBoxItem Content="变色(随机)" />
+                                        <ComboBoxItem Content="拉烟"/>
-                                        <ComboBoxItem Content="异步变色(单色)" />
+                                        <ComboBoxItem Content="拉烟"/>
-                                        <ComboBoxItem Content="异步变色(随机)" />
+                                        <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>

Plane.FormationCreator/Views/ModifyTaskView.xaml.cs

@@ -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;
+            /*
-       /*
+            DependencyObject myListItem = LEDItems.ItemContainerGenerator.ContainerFromItem(LEDItems.Items.CurrentItem);
-            FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+            ContentPresenter myContentPresenter = FindVisualChild<ContentPresenter>(myListItem);
-
+            DataTemplate myDataTemplate = myContentPresenter.ContentTemplate;
-            int firstIndex = int.Parse( firstCopter.Text );
+            ComboBox ledcomb = (ComboBox)myDataTemplate.FindName("cmbTemplateLEDMode", myContentPresenter);
-            int secondIndex = int.Parse( secondCopter.Text );
+            //    ledcomb.SelectedIndex = 2;
-
-            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();
-                
-            }
             */
 
+
+            // 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;
+
+        }
     }
 }

Plane.FormationCreator/Views/RtcmInfoView.xaml

@@ -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"/>