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一些调整，已做了较多测试，基本稳定版本

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[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
This commit is contained in:
pxzleo 2017-07-21 11:05:07 +08:00
parent bdad49ce6d
commit 70e70e182c
14 changed files with 245 additions and 32 deletions
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10
Plane.FormationCreator/Converters/FlightTaskStatusToFillConverter.cs
View File

@ -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)

2
Plane.FormationCreator/Formation/FlightTask.cs
View File

@ -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; }

53
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -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;
@ -288,13 +296,32 @@ namespace Plane.FormationCreator.Formation
}
public void ForceNextTasks()
public async Task ForceNextTasks()
{
if (CurrentRunningTaskIndex == Tasks.Count - 1)
return;
Pause();
int i = 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++;
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;
task.Status = FlightTaskStatus.Saved;
if (IsPaused == true)
{
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;

12
Plane.FormationCreator/Formation/FlightTaskStatus.cs
View File

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

4
Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
View File

@ -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)
{

1
Plane.FormationCreator/MainWindow.xaml
View File

@ -85,6 +85,7 @@
<v:MapView x:Name="map"
/>
<v:TaskBarView
x:Name="TaskbarControl"
VerticalAlignment="Bottom"
Visibility="{Binding Source={x:Static local:AppEx.Current}, Path=AppMode, Converter={StaticResource AppModeToVisibilityConverter}, ConverterParameter=TaskBarView}" />
</Grid>

10
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -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)
{
@ -269,6 +270,7 @@ 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)
{

65
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -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++)
{

10
Plane.FormationCreator/ViewModels/TaskBarViewModel.cs
View File

@ -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.RunAsync();
if ((_flightTaskManager.IsPaused ?? false) == false)
Message.Show("任务完成");
await _flightTaskManager.RunTaskAsync();
}));
}
}

4
Plane.FormationCreator/Views/MapView.xaml
View File

@ -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"

22
Plane.FormationCreator/Views/MapView.xaml.cs
View File

@ -294,6 +294,28 @@ namespace Plane.FormationCreator.Views
}
}
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)
{
CheckBox chk = (CheckBox)sender;

21
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -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 />

5
Plane.FormationCreator/Views/TaskBarView.xaml
View File

@ -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>

46
Plane.FormationCreator/Views/TaskBarView.xaml.cs
View File

@ -42,6 +42,52 @@ namespace Plane.FormationCreator.Views
}
}
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;