一些调整，已做了较多测试，基本稳定版本

[FlightTaskManager.cs]加入强制下一个
[ModifyTaskViewModel.cs]加入调整所有任务高度
[MapView.xaml.cs]加入是否显示所有点

Plane.FormationCreator/Converters/FlightTaskStatusToFillConverter.cs

@@ -16,10 +16,18 @@ namespace Plane.FormationCreator.Converters
     {
         static SolidColorBrush _normalFill = new SolidColorBrush(Colors.LightGray);
         static SolidColorBrush _runningFill = new SolidColorBrush(Colors.OrangeRed);
+        static SolidColorBrush _PausedFill = new SolidColorBrush(Colors.Yellow);
         public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
         {
             var status = (FlightTaskStatus)value;
-            return status == FlightTaskStatus.Running ? _runningFill : _normalFill;
+            if (status == FlightTaskStatus.Running)
+                return _runningFill;
+
+            if (status == FlightTaskStatus.Paused)
+                return _PausedFill;
+
+
+            return _normalFill;
         }
 
         public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)

Plane.FormationCreator/Formation/FlightTask.cs

@@ -22,7 +22,7 @@ namespace Plane.FormationCreator.Formation
 
         private ILogger _logger = ServiceLocator.Current.GetInstance<ILogger>();
 
-        private FlightTaskStatus _Status = FlightTaskStatus.Created;
+        private FlightTaskStatus _Status = FlightTaskStatus.Stop;
         public FlightTaskStatus Status
         {
             get { return _Status; }

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -189,6 +189,14 @@ namespace Plane.FormationCreator.Formation
             private set { Set(nameof(CurrentRunningTaskIndex), ref _CurrentRunningTaskIndex, value); }
         }
 
+
+        private TasksStatus _TaskState = TasksStatus.Stop;
+        public TasksStatus TaskState
+        {
+            get { return _TaskState; }
+            private set { Set(nameof(TaskState), ref _TaskState, value); }
+        }
+
         public event EventHandler<FlightTaskAddedEventArgs> TaskAdded;
 
         public event EventHandler<SingleCopterInfoChangedEventArgs> SingleCopterInfoChanged;
@@ -288,14 +296,33 @@ namespace Plane.FormationCreator.Formation
         }
 
 
-        public void ForceNextTasks()
+
+        public async Task ForceNextTasks()
         {
+            if (CurrentRunningTaskIndex == Tasks.Count - 1)
+                return;
+
             Pause();
-            //起飞任务需要跳过
+            int i = 0;
-            if (CurrentRunningTaskIndex == 0)
+            //等待暂停或2s超时(80*25ms)
+            while ((TaskState != TasksStatus.Paused)||(i>80))
+            {
+                await Task.Delay(25).ConfigureAwait(false);
+                i++;
+            }
+
+            if (TaskState == TasksStatus.Paused)
+            {
+                CurrentRunningTask.Status = FlightTaskStatus.Stop;
+                CurrentRunningTask = null;
+
+                //起飞任务需要跳过
+                if (CurrentRunningTaskIndex == 0)
+                    CurrentRunningTaskIndex++;
                 CurrentRunningTaskIndex++;
-            CurrentRunningTaskIndex++;
+                await RunTaskAsync();
-         }
+            }
+        }
 
         public void ResetTasks()
         {
@@ -303,7 +330,7 @@ namespace Plane.FormationCreator.Formation
             CurrentRunningTaskIndex = 0;
             if (CurrentRunningTask != null)
             {
-                CurrentRunningTask.Status = FlightTaskStatus.Saved;
+                CurrentRunningTask.Status = FlightTaskStatus.Stop;
                 CurrentRunningTask = null;
             }
             
@@ -914,25 +941,41 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        public async Task RunTaskAsync()
+
+        {
+            Message.Show("任务开始");
+            await RunAsync();
+            if ((IsPaused ?? false) == false)
+                Message.Show("任务完成");
+        }
+
         public async Task RunAsync()
         {
             IsPaused = false;
             AppEx.Current.AppMode = AppMode.RunningTasks;
             StartAvoidingCrash(); //开始碰撞检测
+            TaskState = TasksStatus.Running;  
             for (int i = CurrentRunningTaskIndex; i < Tasks.Count; i++)
             {
                 var task = Tasks[i];
+                //task.Status目前只用于任务条下面状态显示不同颜色
                 task.Status = FlightTaskStatus.Running;
                 CurrentRunningTask = task;
                 CurrentRunningTaskIndex = i;
                 await task.RunAsync().ConfigureAwait(false);
                 // 1. 被暂停时，中断 RunAsync。继续运行时将把此时运行了一半的 CurrentRunningTask 重新运行一遍。
-                if (IsPaused == true) return;
+                if (IsPaused == true)
-
+                {
-                task.Status = FlightTaskStatus.Saved;
+                    task.Status = FlightTaskStatus.Paused;
+                    TaskState = TasksStatus.Paused;
+                    return;
+                }
+                task.Status = FlightTaskStatus.Stop;
             }
 
             // 2. 正常结束时，重置 CurrentRunningTask、CurrentRunningTaskIndex 和 IsPaused。
+            TaskState = TasksStatus.Stop;
             CurrentRunningTask = null;
             CurrentRunningTaskIndex = 0;
             IsPaused = null;

Plane.FormationCreator/Formation/FlightTaskStatus.cs

@@ -1,6 +1,12 @@
 public enum FlightTaskStatus
 {
-    Created,
+    Stop,
-    Saved,
+    Running,
-    Running
+    Paused
+}
+public enum TasksStatus
+{
+    Stop,
+    Running,
+    Paused
 }

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -163,10 +163,10 @@ namespace Plane.FormationCreator.Formation
                 //{
                 //    return;
                 //}
-                //5秒内每1000毫秒尝试解锁一次
+                //8秒内每1000毫秒尝试解锁一次
                 //解锁间隔一定要超过1s否则导致飞控以后无法解锁
 
-                if (i > 200)
+                if (i > 320)
                     return;  //无法解锁后面不用执行了
                 if (i % (1000 / 25) == 1000 / 25 - 1)
                 {

Plane.FormationCreator/MainWindow.xaml

@@ -85,7 +85,8 @@
                 <v:MapView x:Name="map"
                       />
                 <v:TaskBarView 
-                           VerticalAlignment="Bottom"
+                    x:Name="TaskbarControl"       
+                    VerticalAlignment="Bottom"
                            Visibility="{Binding Source={x:Static local:AppEx.Current}, Path=AppMode, Converter={StaticResource AppModeToVisibilityConverter}, ConverterParameter=TaskBarView}" />
             </Grid>    
 

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -255,12 +255,13 @@ namespace Plane.FormationCreator.ViewModels
         {
             await SingleCopter.UnlockAsync();
             await Task.Delay(25).ConfigureAwait(false);
+
             for (int i = 0; !SingleCopter.IsUnlocked; i++)
             {
-               //5秒内每1000毫秒尝试解锁一次
+               //8秒内每1000毫秒尝试解锁一次
                 //解锁间隔一定要超过1s否则导致飞控以后无法解锁
 
-                if (i > 200)
+                if (i >320)
                     return;  //无法解锁后面不用执行了
                 if (i % (1000 / 25) == 1000 / 25 - 1)
                 {
@@ -268,6 +269,7 @@ namespace Plane.FormationCreator.ViewModels
                 }
                 await Task.Delay(25).ConfigureAwait(false);
             }
+            
 
             await Task.Delay(1000);
             if (SingleCopter.IsUnlocked)
@@ -284,10 +286,10 @@ namespace Plane.FormationCreator.ViewModels
             await Task.Delay(25).ConfigureAwait(false);
             for (int i = 0; SingleCopter.IsUnlocked; i++)
             {
-                //5秒内每1000毫秒尝试解锁一次
+                //8秒内每1000毫秒尝试解锁一次
                 //解锁间隔一定要超过1s否则导致飞控以后无法解锁
 
-                if (i > 200)
+                if (i > 320)
                     return;  //无法解锁后面不用执行了
                 if (i % (1000 / 25) == 1000 / 25 - 1)
                 {

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -12,6 +12,7 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Input;
 using Plane.Geography;
+using Plane.Windows.Messages;
 
 namespace Plane.FormationCreator.ViewModels
 {
@@ -150,6 +151,15 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(Distancevalue), ref _Distancevalue, value); }
         }
 
+
+        private float _Modialtvalue;
+        public float Modialtvalue
+        {
+            get { return _Modialtvalue; }
+            set { Set(nameof(Modialtvalue), ref _Modialtvalue, value); }
+        }
+
+
         private int _txtStarindex=0;
         public int txtStarindex
         {
@@ -863,6 +873,59 @@ public ICommand VerticlAlignmentCommand
             }
         }
 
+        //调整所有任务高度
+        private ICommand _ModiAltCommand;
+        public ICommand ModiAltCommand
+        {
+            get
+            {
+                return _ModiAltCommand ?? (_ModiAltCommand = new RelayCommand<double>(async =>
+                {
+                    if (_flightTaskManager.Tasks.Count < 2) return;
+                    
+                    float lowalt = 200;
+
+
+                    int _startindex = 0;
+                    int _endindex = _flightTaskManager.Tasks.Count-1;
+                    int lowtask = 0;
+                    int lowCopter = 0;
+
+                    if ((txtStarindex != 0) && (txtendindex != 0))
+                    {
+                        _startindex = txtStarindex;
+                        _endindex = txtendindex;
+                    }
+
+                    for (int i = _startindex; i <= _endindex; i++)
+                    {
+
+                        if ((_flightTaskManager.Tasks[i].TaskType == FlightTaskType.TakeOff) ||
+                            (_flightTaskManager.Tasks[i].TaskType == FlightTaskType.ReturnToLand))
+                            continue;
+
+
+                        for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
+                        {
+                            _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt += Modialtvalue;
+                            if (lowalt > _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt)
+                            {
+                                lowalt = _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt;
+                                lowtask = i;
+                                lowCopter = j;
+                            }
+
+                        }
+                    }
+                    Alert.Show("指定步骤任务高度已改变"+ Modialtvalue + "米，步骤["+ lowtask + "],ID["+
+                        _flightTaskManager.Tasks[lowtask].SingleCopterInfos[lowCopter].Copter.Id
+                        + "]最低飞行高度"+ lowalt + "米，注意是否太低!");
+
+                }));
+            }
+        }
+
+
 
 
 
@@ -880,6 +943,8 @@ public ICommand VerticlAlignmentCommand
                     double distance = 0;
 
                     var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
+                    if (_flightTaskManager.SelectedTask == null) return;
+
                     for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                     {
 

Plane.FormationCreator/ViewModels/TaskBarViewModel.cs

@@ -54,9 +54,10 @@ namespace Plane.FormationCreator.ViewModels
         {
             get
             {
-                return _NextTasksCommand ?? (_NextTasksCommand = new RelayCommand( () =>
+                return _NextTasksCommand ?? (_NextTasksCommand = new RelayCommand(async () =>
                 {
-                    _flightTaskManager.ForceNextTasks();
+                   // await _flightTaskManager.RunAsync();
+                    await _flightTaskManager.ForceNextTasks();
                       //  Message.Show("任务开始");
                      //   await _flightTaskManager.RunAsync();
                       //  Message.Show(_flightTaskManager.IsPaused == true ? "任务暂停" : "任务完成");
@@ -101,10 +102,7 @@ namespace Plane.FormationCreator.ViewModels
                     //    });
                     //    Alert.Show(s);
                     //    return;
-                    Message.Show("任务开始");
+                    await _flightTaskManager.RunTaskAsync();
-                    await _flightTaskManager.RunAsync();
-                    if ((_flightTaskManager.IsPaused ?? false) == false)
-                        Message.Show("任务完成");
                 }));
             }
         }

Plane.FormationCreator/Views/MapView.xaml

@@ -26,6 +26,10 @@
               VerticalAlignment="Top" 
                     Orientation="Horizontal"
                     >
+            <CheckBox Grid.Row="0" Content="所有航点"     Margin="5,5,0,0"
+                                     Click="showallpoint_Checked" 
+                      Foreground="White"
+                      />
             <CheckBox Grid.Row="0" Content="计划航线"     Margin="5,5,0,0"
                                      Click="showpanline_Checked" 
                       Foreground="White"

Plane.FormationCreator/Views/MapView.xaml.cs

@@ -293,6 +293,28 @@ namespace Plane.FormationCreator.Views
                     break;
             }
         }
+        
+        private void showallpoint_Checked(object sender, RoutedEventArgs e)
+        {
+            CheckBox chk = (CheckBox)sender;
+            bool ischecked= chk.IsChecked ?? false;
+
+            foreach (var taskitme in _flightTaskManager.Tasks)
+            {
+                //  if taskitme.IsRightSelected = chk.IsChecked ?? true;
+
+                if ((taskitme.IsRightSelected == ischecked) && (!taskitme.IsSelected))
+                {
+                    _flightTaskManager.RightSelect(taskitme);
+                   // TaskbarControl.setRightSelect(taskitme, ischecked);
+                }
+
+            }
+
+
+
+        }
+
 
         private void showpanline_Checked(object sender, RoutedEventArgs e)
         {

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -9,7 +9,7 @@
              mc:Ignorable="d"
              d:DesignWidth="300" Height="420">
 
-    <StackPanel Orientation="Vertical" Margin="0,0,0,-28.5">
+    <StackPanel Orientation="Vertical" Margin="0,0,0,-30">
         <StackPanel.Resources>
             <Style TargetType="StackPanel">
                 <Setter Property="Orientation"
@@ -28,7 +28,7 @@
                     Margin="5,5,0,0"
                     Command="{Binding ImportTasksCommand}" 
                     />
-            <TextBlock Text="导入起始" Margin="5, 10, 5, 0"/>
+            <TextBlock Text="起始步骤" Margin="5, 10, 5, 0"/>
             <TextBox x:Name="txtStarindex"
                      Width="45"
                      Margin="0,5,5,0"
@@ -122,6 +122,23 @@
                     Margin="0,5,5,0"
                     Command="{Binding PrealtCommand}" />
 
+            <Button Content="修改任务高度"
+                    Margin="0,5,5,0" 
+                     Command="{Binding ModiAltCommand}" 
+                    
+                     />
+
+            <TextBox 
+                     Grid.Column="1" 
+                     Width="40"
+                     Margin="0, 5, 5, 0"
+                     HorizontalContentAlignment="Right"
+                     Text="{Binding Modialtvalue, UpdateSourceTrigger=PropertyChanged}" 
+                />
+            <TextBlock Text="米" Margin="0, 10, 5, 0"/>
+
+
+
         </StackPanel>
 
         <Separator />

Plane.FormationCreator/Views/TaskBarView.xaml

@@ -72,7 +72,8 @@
 
         <ItemsControl Grid.Column="1"
                       VerticalAlignment="Bottom"
-                      ItemsSource="{Binding Tasks}">
+                      ItemsSource="{Binding Tasks}"
+                      Name="TasksControl">
             <ItemsControl.ItemsPanel>
                 <ItemsPanelTemplate>
                     <WrapPanel Orientation="Horizontal" />
@@ -80,7 +81,7 @@
             </ItemsControl.ItemsPanel>
             <ItemsControl.ItemTemplate>
                 <DataTemplate>
-                    <Grid>
+                    <Grid x:Name="itemgrid">
                         <Grid.RowDefinitions>
                             <RowDefinition />
                         </Grid.RowDefinitions>

Plane.FormationCreator/Views/TaskBarView.xaml.cs

@@ -41,7 +41,53 @@ namespace Plane.FormationCreator.Views
                 _flightTaskManager.Select(task);
             }
         }
-		
+
+        public void setRightSelect(FlightTask task, bool vRightSelect)
+        {
+
+            //            var borderBrush = new SolidColorBrush(vRightSelect ? Colors.Gray : Colors.OrangeRed);
+            var borderBrush = new SolidColorBrush( Colors.OrangeRed);
+
+            if (task.TaskType == FlightTaskType.TakeOff) return;
+
+            for (int i = 0; i < VisualTreeHelper.GetChildrenCount(TasksControl); i++)
+            {
+                DependencyObject child = VisualTreeHelper.GetChild(TasksControl, i);
+                if (child != null && child is FrameworkElement)
+                {
+                    var taskdata = (child as FrameworkElement).DataContext as FlightTask;
+                    if (taskdata == task)
+                    {
+                        if (child is Rectangle)
+                        {
+                            (child as Rectangle).Stroke = borderBrush;
+                        }
+                        else if (child is Border)
+                        {
+                            (child as Border).BorderBrush = borderBrush;
+                        }
+                    }
+                }
+            }
+
+
+              
+
+            /*
+
+                        if (elem is Rectangle)
+                        {
+                            (elem as Rectangle).Stroke = borderBrush;
+                        }
+                        else if (elem is Border)
+                        {
+                            (elem as Border).BorderBrush = borderBrush;
+                        }
+                        */
+
+        }
+
+
         private void HideTask(object sender, MouseButtonEventArgs e)
         {
             var elem = sender as FrameworkElement;