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电压优化、间隔选中、航点偏移优化、去掉阴影为优化速度、导入航点、优化路线(目前无法使用)

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This commit is contained in:
zxd 2018-08-08 15:35:01 +08:00
parent 6fbb8e6273
commit 54a20e79e6
12 changed files with 444 additions and 82 deletions
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141
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -878,6 +878,147 @@ namespace Plane.FormationCreator.Formation
i++;
}
}
public void OptimizeRoute2()
{
double minLat = SelectedTask.SingleCopterInfos[0].TargetLat;
double maxLat = SelectedTask.SingleCopterInfos[0].TargetLat;
double minLng = SelectedTask.SingleCopterInfos[0].TargetLng;
double maxLng = SelectedTask.SingleCopterInfos[0].TargetLng;
Dictionary<int, LatLng> recordLatLng = new Dictionary<int, LatLng>();
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
var curinfo = SelectedTask.SingleCopterInfos[i];
recordLatLng.Add(i, new LatLng(curinfo.TargetLat, curinfo.TargetLng));
var lastInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i];
minLat = Math.Min(minLat, Math.Min(curinfo.TargetLat, lastInfo.TargetLat));
maxLat = Math.Max(maxLat, Math.Max(curinfo.TargetLat, lastInfo.TargetLat));
minLng = Math.Min(minLng, Math.Min(curinfo.TargetLng, lastInfo.TargetLng));
maxLng = Math.Max(maxLng, Math.Max(curinfo.TargetLng, lastInfo.TargetLng));
}
double CenterLat = (maxLat - minLat) / 2;
double CenterLng = (maxLng - minLng) / 2;
Dictionary<int, double> distanceDic = new Dictionary<int, double>();
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
var curinfo = SelectedTask.SingleCopterInfos[i];
var lastInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i];
double distance1 = GeographyUtils.CalcDistance(CenterLat, CenterLng, 1,
curinfo.TargetLat, curinfo.TargetLng, 1);
//int[] nums = new int[] { SelectedTaskIndex, i};
int nums = SelectedTaskIndex << 16 ^ i;
distanceDic.Add(nums, distance1);
double distance2 = GeographyUtils.CalcDistance(CenterLat, CenterLng, 1,
lastInfo.TargetLat, lastInfo.TargetLng, 1);
nums = (SelectedTaskIndex - 1) << 16 ^ i;
distanceDic.Add(nums, distance2);
}
distanceDic = distanceDic.OrderByDescending(o => o.Value).ToDictionary(p => p.Key, o => o.Value);
while (distanceDic.Count > 0)
{
KeyValuePair<int, double> kv = distanceDic.First();
int taskIndex = kv.Key >> 16;
int copterID = kv.Key & 0xffff;
var curInfo = Tasks[taskIndex].SingleCopterInfos[copterID];
if (taskIndex == SelectedTaskIndex)
{
double mindistance = double.MaxValue;
int index = 0;
for (int i = 0; i < Tasks[taskIndex - 1].SingleCopterInfos.Count; i++)
{
var destInfo = Tasks[taskIndex - 1].SingleCopterInfos[i];
double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1,
destInfo.TargetLat, destInfo.TargetLng, 1);
if (distance < mindistance)
{
mindistance = distance;
index = i;
}
}
Tasks[taskIndex].SingleCopterInfos[index].TargetLat = recordLatLng[copterID].Lat;
Tasks[taskIndex].SingleCopterInfos[index].TargetLng = recordLatLng[copterID].Lng;
distanceDic.Remove(kv.Key);
distanceDic.Remove(( taskIndex - 1) << 16 ^ index );
}
else
{
double mindistance = double.MaxValue;
int index = 0;
for (int i = 0; i < Tasks[taskIndex + 1].SingleCopterInfos.Count; i++)
{
var destInfo = Tasks[taskIndex + 1].SingleCopterInfos[i];
double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1,
destInfo.TargetLat, destInfo.TargetLng, 1);
if (distance < mindistance)
{
mindistance = distance;
index = i;
}
}
Tasks[taskIndex + 1].SingleCopterInfos[copterID].TargetLat = recordLatLng[index].Lat;
Tasks[taskIndex + 1].SingleCopterInfos[copterID].TargetLng = recordLatLng[index].Lng;
distanceDic.Remove(kv.Key);
distanceDic.Remove(( taskIndex + 1) << 16 ^ index );
}
}
}
public void OptimizeRoute()
{
Dictionary<int[], double> distanceDic = new Dictionary<int[], double>();
Dictionary<int, LatLng> recordLatLng = new Dictionary<int, LatLng>();
for (int i = 0; i < SelectedTask.SingleCopterInfos.Count; i++)
{
var curinfo = SelectedTask.SingleCopterInfos[i];
recordLatLng.Add(i, new LatLng(curinfo.TargetLat, curinfo.TargetLng));
for (int j = 0; j < Tasks[SelectedTaskIndex - 1].SingleCopterInfos.Count; j++)
{
var lastInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[j];
double distance = GeographyUtils.CalcDistance(curinfo.TargetLat, curinfo.TargetLng, curinfo.TargetLng,
lastInfo.TargetLat, lastInfo.TargetLng, lastInfo.TargetLng);
int[] nums = new int[] {i,j};
distanceDic.Add(nums, distance);
}
}
distanceDic = distanceDic.OrderBy(o=>o.Value).ToDictionary(p=>p.Key,o=>o.Value);
List<int> movedCopters = new List<int>();
List<int> usedPoints = new List<int>();
foreach (KeyValuePair <int[], double> kv in distanceDic)
{
int moveCopterNum = kv.Key[1];
int destNum = kv.Key[0];
if (movedCopters.Contains(moveCopterNum) || usedPoints.Contains(destNum))
continue;
SelectedTask.SingleCopterInfos[moveCopterNum].TargetLat = recordLatLng[destNum].Lat;
SelectedTask.SingleCopterInfos[moveCopterNum].TargetLng = recordLatLng[destNum].Lng;
movedCopters.Add(moveCopterNum);
usedPoints.Add(destNum);
}
}
public void ImportWaypoint(string tasksText)
{
dynamic jsonfile = JsonConvert.DeserializeObject(tasksText);
dynamic points = jsonfile.points;
for (int i = 0; i < SelectedTask.SingleCopterInfos.Count; i++)
{
MapManager _mapManager = Microsoft.Practices.ServiceLocation.ServiceLocator.Current.GetInstance<MapManager>();
var pointjson= points[i];
System.Windows.Point point = new System.Windows.Point((int)pointjson.x, (int)pointjson.y);
Microsoft.Maps.MapControl.WPF.Location loc = _mapManager.MapView.map.ViewportPointToLocation(point);
SelectedTask.SingleCopterInfos[i].TargetLat = loc.Latitude;
SelectedTask.SingleCopterInfos[i].TargetLng = loc.Longitude;
}
}
// 导入任务
public void ImportTasks(string tasksText)
{

53
Plane.FormationCreator/ViewModels/ConnectViewModel.cs
View File

@ -152,6 +152,32 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _StateInquireCommand;
public ICommand StateInquireCommand
{
get
{
return _StateInquireCommand ?? (_StateInquireCommand = new RelayCommand(async () =>
{
await WriteIdCommandAsync(0, 0x00);
}
));
}
}
private ICommand _CommDataAsync;
public ICommand CommDataAsync
{
get
{
return _CommDataAsync ?? (_CommDataAsync = new RelayCommand(async () =>
{
await commModule.GenerateDataAsync((short)CopterNum);
}
));
}
}
private ICommand _CommWriteMissionCommand;
public ICommand CommWriteMissionCommand
{
@ -300,14 +326,37 @@ namespace Plane.FormationCreator.ViewModels
await commModule.GeneratePacketAsync((short)num, messageType);
}
private async Task SendCommandAsync()
{
Protocols.MavComm.comm_set_mav_count mavCount = new Protocols.MavComm.comm_set_mav_count();
mavCount.mav_count = 200;
await commModule.GeneratePacketAsync(0, (byte)Protocols.MavComm.COMM_SET_MAV_COUNT, mavCount);
await commModule.GenerateDataAsync(0, (byte)Protocols.MavComm.COMM_SET_MAV_COUNT, mavCount);
}
public async Task<bool> DoCommandAsync(MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
{
MAVLink.mavlink_command_long_t req = new MAVLink.mavlink_command_long_t();
req.target_system = 1;
req.target_component = 1;
if (actionid == MAVLink.MAV_CMD.COMPONENT_ARM_DISARM)
{
req.target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;
}
req.command = (ushort)actionid;
req.param1 = p1;
req.param2 = p2;
req.param3 = p3;
req.param4 = p4;
req.param5 = p5;
req.param6 = p6;
req.param7 = p7;
await Task.Delay(10);
return true;
}
private async Task WriteCommandAsync(ICopter copter, List<IMission> missions)
{
List<MAVLink.mavlink_mission_item_t> mission_list = new List<MAVLink.mavlink_mission_item_t>();

34
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -87,6 +87,8 @@ namespace Plane.FormationCreator.ViewModels
}
}
private static readonly object locker = new object();
private ICommand _DetectionVoltage;
public ICommand DetectionVoltage
{
@ -94,26 +96,38 @@ namespace Plane.FormationCreator.ViewModels
{
return _DetectionVoltage ?? (_DetectionVoltage = new RelayCommand(async () =>
{
Message.Show("--------------开始检测电压--------------");
Dictionary<string, float> dic_voltage = new Dictionary<string, float>();
await Task.WhenAll(_copterManager.Copters.Select(async c =>
{
float voltageSum = 0.0f;
string name = c.Name;
for (int i = 0; i < 5; i++)
{
voltageSum += c.Voltage;
await Task.Delay(1000).ConfigureAwait(false);
}
float voltageAverage = voltageSum / 5;
dic_voltage.Add(c.Name, voltageAverage);
}));
dic_voltage = dic_voltage.OrderByDescending(o => o.Value).ToDictionary(p => p.Key, o => o.Value);
Message.Show("--------------开始检测电压--------------");
foreach (KeyValuePair<string, float> kv in dic_voltage)
{
Message.Show(string.Format("{0} --> 5秒平均电压：{1}", kv.Key, kv.Value));
await Task.Delay(5).ConfigureAwait(false);
}
Message.Show("--------------检测电压完成--------------");
if (name != null && name != "")
{
lock(locker)
{
dic_voltage.Add(name, voltageAverage);
}
}
})).ConfigureAwait(false);
await Task.Run(async () => {
Dictionary<string, float> dic_voltage_Order = dic_voltage.OrderByDescending(o => o.Value).ToDictionary(o => o.Key, o => o.Value);
foreach (KeyValuePair<string, float> kv in dic_voltage_Order)
{
Message.Show(string.Format("{0} --> 5秒平均电压：{1}", kv.Key, kv.Value));
await Task.Delay(5).ConfigureAwait(false);
}
Message.Show(string.Format("----检测电压完成,检测总数：{0}----", dic_voltage.Count));
}).ConfigureAwait(false);
}));
}
}

48
Plane.FormationCreator/ViewModels/CopterListViewModel.cs
View File

@ -88,6 +88,13 @@ namespace Plane.FormationCreator.ViewModels
set { Set(nameof(IntervalNum), ref _IntervalNum, value); }
}
private int _ContinuousNum;
public int ContinuousNum
{
get { return _ContinuousNum; }
set { Set(nameof(ContinuousNum), ref _ContinuousNum, value); }
}
private ICommand _IntervalSelectCoptersCommand;
public ICommand IntervalSelectCoptersCommand
{
@ -95,16 +102,21 @@ namespace Plane.FormationCreator.ViewModels
{
return _IntervalSelectCoptersCommand ?? (_IntervalSelectCoptersCommand = new RelayCommand(() =>
{
if (_copterManager.AcceptingControlCopters.Count() == 0 || IntervalNum == 0)
if (_copterManager.AcceptingControlCopters.Count() != 1 || IntervalNum == 0 || ContinuousNum == 0)
return;
ICopter copter = _copterManager.AcceptingControlCopters.FirstOrDefault();
ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
_copterManager.Select(null);
int index = _copterManager.Copters.IndexOf(copter);
_copterManager.shiftkeydown = true;
for (; index < _copterManager.Copters.Count; index += IntervalNum + 1)
for (; index < _copterManager.Copters.Count; index += IntervalNum)
{
_copterManager.Select(_copterManager.Copters[index]);
for (int i = 0; i < ContinuousNum; i++)
{
if (index >= _copterManager.Copters.Count) break;
_copterManager.Select(_copterManager.Copters[index]);
index++;
}
}
_copterManager.shiftkeydown = false;
@ -122,9 +134,9 @@ namespace Plane.FormationCreator.ViewModels
var center = _mapManager.Center;
string id;
int colnum = 5; //自动生成列数=4
float coldis = 3;//列相距5米
float rowdis = 3;//行相距5米
int colnum = 10; //自动生成列数=4
float coldis = 5;//列相距5米
float rowdis = 2.5f;//行相距5米
int currcol = 0; //当前列号
int currrow = 0; //当前行
Tuple<double, double> colheadLatLng = new Tuple<double, double>(0, 0);
@ -167,23 +179,11 @@ namespace Plane.FormationCreator.ViewModels
/* _lastVirtualCopterLocation =
_lastVirtualCopterLocation == null ?
new LatLng(center.Lat, center.Lng) :
new LatLng(_lastVirtualCopterLocation.Value.Lat, _lastVirtualCopterLocation.Value.Lng + 0.0001);
*/
/* _lastVirtualCopterLocation =
_lastVirtualCopterLocation == null ?
new LatLng(center.Lat, center.Lng) :
new LatLng(_lastVirtualCopterLocation.Value.Lat, _lastVirtualCopterLocation.Value.Lng + 0.0001);
*/

33
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -505,7 +505,39 @@ namespace Plane.FormationCreator.ViewModels
}));
}
}
private ICommand _ImportWayPointCommand;
public ICommand ImportWayPointCommand
{
get
{
return _ImportWayPointCommand ?? (_ImportWayPointCommand = new RelayCommand<int>(async =>
{
var dialog = new OpenFileDialog
{
DefaultExt = "json",
Filter = "json文件|*.json"
};
if (dialog.ShowDialog() == true)
{
var tasksText = File.ReadAllText(dialog.FileName);
_flightTaskManager.ImportWaypoint(tasksText);
}
}));
}
}
private ICommand _OptimizeRouteCommand;
public ICommand OptimizeRouteCommand
{
get
{
return _OptimizeRouteCommand ?? (_OptimizeRouteCommand = new RelayCommand<int>(async =>
{
_flightTaskManager.OptimizeRoute2();
}));
}
}
private ICommand _LevelAlignmentCommand;
public ICommand LevelAlignmentCommand
@ -1255,7 +1287,6 @@ public ICommand VerticlAlignmentCommand
}
if ((lng1 != 0) && (lng2 != 0))
{
distance = GeographyUtils.CalcDistance(
lat1, lng1, alt1,
lat2, lng2, alt2);

17
Plane.FormationCreator/Views/ConnectWindow.xaml
View File

@ -66,6 +66,7 @@
<RowDefinition />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
</Grid.RowDefinitions>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="Auto" />
@ -108,7 +109,7 @@
IsProcessing="{Binding IsProcessing}"
Command="{Binding Path=ConnectCommand}"
CommandParameter="SerialPort" />
<Button Content="切换写航点" Margin="5,5,0,5" Command="{Binding Path=ChangeWriteMissionCommand}" />
<!--<ec:ProgressButton Name="btnConnectUdp"
Grid.Row="1"
Grid.ColumnSpan="3"
@ -120,17 +121,27 @@
IsProcessing="{Binding IsProcessing}"
Command="{Binding Path=ConnectCommand}"
CommandParameter="UDP" />-->
<Button Content="关闭TCP" Margin="5" Command="{Binding CloseCommand}"/>
</StackPanel>
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Center"
Grid.Row="2"
Grid.ColumnSpan="3">
<Button Content="关闭TCP" Margin="5" Command="{Binding CloseCommand}"/>
<Button Content="状态查询" Margin="5" Command="{Binding Path=StateInquireCommand}"/>
<Button Content="设置20台" Margin="5" Command="{Binding Path=SendCommand}" />
<Button Content="写入航点" Margin="5" Command="{Binding Path=CommWriteMissionCommand}" />
<Button Content="广播编号" Margin="5,5,0,5" Command="{Binding Path=WriteIdCommand}" />
<Button Content="切换写航点" Margin="5" Command="{Binding Path=ChangeWriteMissionCommand}" />
</StackPanel>
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Center"
Grid.Row="3"
Grid.ColumnSpan="3">
<TextBox Margin="2,5,5,5" Width="30" Text="{Binding CopterNum}"></TextBox>
<Button Content="广播编号" Margin="5,5,0,5" Command="{Binding Path=WriteIdCommand}" />
<Button Content="闪灯" Margin="5" Command="{Binding CommDataAsync}"/>
</StackPanel>
</Grid>

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

@ -33,7 +33,7 @@
<Grid.ColumnDefinitions>
<ColumnDefinition Width="180" />
<ColumnDefinition Width="120" />
<ColumnDefinition Width="Auto" />
</Grid.ColumnDefinitions>
<StackPanel Orientation="Vertical">

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

@ -56,8 +56,11 @@
<StackPanel Grid.Row="1" Margin="0,0,0,5"
Orientation="Horizontal">
<Button Content="间隔选中" Command="{Binding IntervalSelectCoptersCommand}"/>
<TextBlock Text="连选数量" Margin="5,5,0,0"/>
<TextBox Width="30" Margin="5,0,0,0" Text="{Binding ContinuousNum}"/>
<TextBlock Text="间隔数量" Margin="5,5,0,0"/>
<TextBox Width="30" Margin="5,0,0,0" Text="{Binding IntervalNum}"/>
</StackPanel>
<StackPanel Grid.Row="2"

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

@ -10,6 +10,7 @@
d:DesignHeight="300"
d:DesignWidth="300">
<Grid>
<bingMaps:Map Name="map"
CredentialsProvider="8IGVSMWVqW8lDaMuGr2c~XaqB2qlBDLvSvXFzrQ8c-A~AiPIQttopdwAl4kXs8xm6_r59NEGdyqXejcaMDum6qB1BUJ6e25uViKL7fEdEROP"
ZoomLevel="20">
@ -62,5 +63,6 @@
</Grid>
</UserControl>

18
Plane.FormationCreator/Views/MapView.xaml.cs
View File

@ -109,7 +109,6 @@ namespace Plane.FormationCreator.Views
_copterManager.Copters.ForEach(copter => copter.LocationChanged += Copter_LocationChanged);
_copterManager.Copters.CollectionChanged += Copters_CollectionChanged;
//_copterManager.Copters.ForEach(copter => AddOrMoveCopterForModifyingTask(copter));
//_copterManager.Copters.CollectionChanged += CoptersForModifyingTask_CollectionChanged;
@ -149,6 +148,14 @@ namespace Plane.FormationCreator.Views
if ( map.Mode.GetType().ToString() == "Microsoft.Maps.MapControl.WPF.AerialMode")
if (map.ZoomLevel >19)
map.ZoomLevel = 19;
if (original!= null && map.Children.Contains(original))
{
Location location = new Location(_flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
Point wpPos = map.LocationToViewportPoint(location);
wpPos.X -= ORIGIN_RADIUS;
wpPos.Y -= ORIGIN_RADIUS;
MapLayer.SetPosition(original, map.ViewportPointToLocation(wpPos));
}
};
Rectangle rectangle = new Rectangle();
@ -261,7 +268,8 @@ namespace Plane.FormationCreator.Views
public void GoHome()
{
map.ZoomLevel = 19;
map.Center = new Location(40.0559055, 116.322233);
//map.Center = new Location(40.0559055, 116.322233);
map.Center = new Location(40.6801557090282, 114.670060030638);
}
@ -318,6 +326,10 @@ namespace Plane.FormationCreator.Views
map.Children.RemoveAt(i);
}
}
foreach (var item in _copterDrawings)
{
item.Value.RemoveMap_ViewChanged();
}
_copterDrawings.Clear();
}
@ -372,6 +384,8 @@ namespace Plane.FormationCreator.Views
PointCount = 5,
};
map.Children.Add(original);
MapLayer.SetPosition(original, mapLocation);
MapLayer.SetZIndex(original, 200);

156
Plane.FormationCreator/Views/MapView_CopterDrawing.cs
View File

@ -48,8 +48,19 @@ namespace Plane.FormationCreator.Views
}
this.Waypoints.Clear();
};
//_map.ViewChangeOnFrame += new EventHandler<MapEventArgs>(Map_ViewChanged);
selectMarkup.Width = 7;
selectMarkup.Height = 7;
selectMarkup.HorizontalAlignment = HorizontalAlignment.Left;
selectMarkup.VerticalAlignment = VerticalAlignment.Top;
selectMarkup.Fill = new SolidColorBrush(Colors.Black);
}
Rectangle selectMarkup = new Rectangle();
static DropShadowEffect _selectedEffect = new DropShadowEffect();
static SolidColorBrush _selectedTaskStroke = new SolidColorBrush(Colors.White);
@ -81,7 +92,7 @@ namespace Plane.FormationCreator.Views
public Location LastLocation { get; set; }
public MapPolyline Route { get; set; }
public List<Ellipse> Waypoints { get; set; } = new List<Ellipse>();
public List<ShapesContainer> Waypoints { get; set; } = new List<ShapesContainer>();
Map _map;
Color _color;
@ -91,6 +102,22 @@ namespace Plane.FormationCreator.Views
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
private void Map_ViewChanged<MapEventArgs>(object sender, MapEventArgs e)
{
for (int index = 1; index < _flightTaskManager.Tasks.Count; index++)
{
var info = _flightTaskManager.Tasks[index].SingleCopterInfos.Find(i => i.Copter == this.Copter); ;
ShapesContainer wpContainer = Waypoints[index - 1]; //起飞任务没有Waypoint;
Location location = new Location(info.TargetLat, info.TargetLng);
Point wpPos = _map.LocationToViewportPoint(location);
wpPos.X -= WAYPOINT_RADIUS;
wpPos.Y -= WAYPOINT_RADIUS;
MapLayer.SetPosition(wpContainer, _map.ViewportPointToLocation(wpPos));
}
}
public void AddOrMoveCopter()
{
try
@ -198,8 +225,8 @@ namespace Plane.FormationCreator.Views
if (Copter.GetShowLEDAsync())
blackBrush.Color = Colors.White;
else
blackBrush.Color = Colors.Transparent;
Dot.Stroke = blackBrush;
blackBrush.Color = Colors.Transparent;
Dot.Stroke = blackBrush;
var trans = Dot.RenderTransform as RotateTransform;
if (trans == null)
@ -231,25 +258,18 @@ namespace Plane.FormationCreator.Views
public void AddWaypoint(Location location, FlightTaskType type)
{
// Add waypoint.
/*
if (!Copter.IsGpsAccurate && !(Copter is FakeCopter))
location = _map.Center;
*/
var wp = new Ellipse
{
Tag = WAYPOINT_TAG,
Fill = _brush,
StrokeThickness = 2,
Width = WAYPOINT_RADIUS * 2,
Height = WAYPOINT_RADIUS * 2
}; ;
Waypoints.Add(wp);
_map.Children.Add(wp);
MapLayer.SetZIndex(wp, 100);
ShapesContainer shapesContainer = new ShapesContainer(_brush);
shapesContainer.Tag = WAYPOINT_TAG;
Waypoints.Add(shapesContainer);
_map.Children.Add(shapesContainer);
MapLayer.SetZIndex(shapesContainer, 100);
var wpPos = _map.LocationToViewportPoint(location);
wpPos.X -= WAYPOINT_RADIUS;
wpPos.Y -= WAYPOINT_RADIUS;
MapLayer.SetPosition(wp, _map.ViewportPointToLocation(wpPos));
//wpPos.X -= WAYPOINT_RADIUS;
//wpPos.Y -= WAYPOINT_RADIUS;
MapLayer.SetPosition(shapesContainer, _map.ViewportPointToLocation(wpPos));
SetEffect(_copterManager.SelectedCopters.Contains(Copter));
@ -257,10 +277,10 @@ namespace Plane.FormationCreator.Views
Route.Locations.Add(location);
// Register event handlers.
RegisterEventHandlersForDraggingWaypoint(wp, taskIndex: Waypoints.Count);
RegisterEventHandlersForDraggingWaypoint(shapesContainer, taskIndex: Waypoints.Count);
// Register event handlers for task info.
RegisterEventHandlersForTaskInfo(wp, taskIndex: Waypoints.Count);
RegisterEventHandlersForTaskInfo(shapesContainer, taskIndex: Waypoints.Count);
}
private void RegisterEventHandlersForDraggingCopter(Grid copterElement)
@ -310,7 +330,7 @@ namespace Plane.FormationCreator.Views
private Dictionary<ICopter, Point> selectWayOriginPoint = new Dictionary<ICopter, Point>();
private Dictionary<object, bool> _dictDraggingWp = new Dictionary<object, bool>();
private void RegisterEventHandlersForDraggingWaypoint(Ellipse wp, int taskIndex)
private void RegisterEventHandlersForDraggingWaypoint(Grid wp, int taskIndex)
{
_dictDraggingWp[wp] = false;
double originX = 0;
@ -376,9 +396,9 @@ namespace Plane.FormationCreator.Views
var routePoint = this.Route.Locations[taskIndex];
var leftTopPos = new Point(eventPos.X - wpOffsetX, eventPos.Y - wpOffsetY);
var newRoutePoint = new Point(leftTopPos.X + WAYPOINT_RADIUS, leftTopPos.Y + WAYPOINT_RADIUS);
routePoint.Latitude = _map.ViewportPointToLocation(newRoutePoint).Latitude;
routePoint.Longitude = _map.ViewportPointToLocation(newRoutePoint).Longitude;
//var newRoutePoint = new Point(leftTopPos.X + WAYPOINT_RADIUS, leftTopPos.Y + WAYPOINT_RADIUS);
routePoint.Latitude = _map.ViewportPointToLocation(leftTopPos).Latitude;
routePoint.Longitude = _map.ViewportPointToLocation(leftTopPos).Longitude;
MapLayer.SetPosition(wp, _map.ViewportPointToLocation(leftTopPos));
}
};
@ -388,7 +408,7 @@ namespace Plane.FormationCreator.Views
};
}
private void RegisterEventHandlersForTaskInfo(Ellipse wp, int taskIndex)
private void RegisterEventHandlersForTaskInfo(Grid wp, int taskIndex)
{
var info = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(i => i.Copter == this.Copter);
if (info == null) return;
@ -403,7 +423,7 @@ namespace Plane.FormationCreator.Views
{
var centerLocation = new Location(info.TargetLat, info.TargetLng, info.TargetAlt);
var centerPos = _map.LocationToViewportPoint(centerLocation);
var leftTopPos = new Point(centerPos.X - WAYPOINT_RADIUS, centerPos.Y - WAYPOINT_RADIUS);
var leftTopPos = new Point(centerPos.X, centerPos.Y);
MapLayer.SetPosition(wp, _map.ViewportPointToLocation(leftTopPos));
var routePoint = Route.Locations[taskIndex];
routePoint.Latitude = info.TargetLat;
@ -426,6 +446,11 @@ namespace Plane.FormationCreator.Views
}
}
public void RemoveMap_ViewChanged()
{
_map.ViewChangeOnFrame -= Map_ViewChanged;
}
public void SetShowroute(bool? showroute)
{
@ -448,8 +473,29 @@ namespace Plane.FormationCreator.Views
public void SetEffect(bool selected)
{
Dot.Effect = selected ? _selectedEffect : null;
if (selected)
{
if (!DotContainer.Children.Contains(selectMarkup))
DotContainer.Children.Add(selectMarkup);
}
else
{
if (DotContainer.Children.Contains(selectMarkup))
DotContainer.Children.Remove(selectMarkup);
}
Waypoints.ForEach(wp => wp.Ismark = selected);
/*
Waypoints.ForEach(wp => wp.Effect = Dot.Effect);
//Dot.Effect = selected ? _selectedEffect : null;
Waypoints.ForEach(wp => wp.Effect = Dot.Effect);
*/
}
public void SetTaskEffect(int taskIndex)
@ -457,8 +503,8 @@ namespace Plane.FormationCreator.Views
var wpIndex = taskIndex - 1; // Waypoints 中没有起飞点。
if (wpIndex >= 0 && wpIndex < Waypoints.Count)
{
Waypoints.ForEach(p => p.Stroke = null);
var wp = Waypoints[wpIndex];
Waypoints.ForEach(p => p.wp.Stroke = null);
var wp = Waypoints[wpIndex].wp;
wp.Stroke = _selectedTaskStroke;
}
}
@ -490,5 +536,51 @@ namespace Plane.FormationCreator.Views
}
}
}
public class ShapesContainer : Grid
{
const double WAYPOINT_RADIUS = 6;
public ShapesContainer(Brush brush)
{
wp = new Ellipse
{
//Tag = WAYPOINT_TAG,
Fill = brush,
StrokeThickness = 2,
Width = WAYPOINT_RADIUS * 2,
Height = WAYPOINT_RADIUS * 2,
Margin = new Thickness(-WAYPOINT_RADIUS, -WAYPOINT_RADIUS, 0, 0)
};
this.Children.Add(wp);
mark = new Rectangle();
mark.Width = 6;
mark.Height = 6;
mark.HorizontalAlignment = HorizontalAlignment.Left;
mark.VerticalAlignment = VerticalAlignment.Top;
mark.Fill = new SolidColorBrush(Colors.Black);
this.Children.Add(mark);
mark.Visibility = Visibility.Hidden;
}
//public MapPolygon
private bool isMarked;
public Ellipse wp;
public Rectangle mark;
public bool Ismark
{
get
{
return isMarked;
}
set
{
isMarked = value;
mark.Visibility = value ? Visibility.Visible : Visibility.Hidden;
}
}
}
}
}

7
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -65,7 +65,12 @@
<Setter Property="Orientation" Value="Horizontal" />
</Style>
</StackPanel.Resources>
<TextBlock Margin="5" Text="航点任务"/>
<StackPanel>
<TextBlock Margin="5" Text="航点任务"/>
<Button Content="导入航点" Command="{Binding ImportWayPointCommand}" />
<Button Content="优化路线" Command="{Binding OptimizeRouteCommand}" />
</StackPanel>
<Separator/>
<StackPanel>
<Button Content="上边对齐"