From 725c4b6d718336630680f32040165ee19379bcbd Mon Sep 17 00:00:00 2001
From: zxd <zxdaa217@qq.com>
Date: Thu, 11 Apr 2019 13:20:32 +0800
Subject: [PATCH] =?UTF-8?q?=E9=80=9A=E4=BF=A1=E6=A8=A1=E5=9D=97=E5=8D=8F?=
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---
 .../Formation/FlightTask_FlyTo.cs             | 11 +--
 .../ViewModels/ConnectViewModel.cs            | 74 ++++++++++++++++++-
 .../Views/ConnectWindow.xaml                  | 34 ++++++++-
 3 files changed, 109 insertions(+), 10 deletions(-)

diff --git a/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs b/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
index fc01eb5..ecd4079 100644
--- a/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
+++ b/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
@@ -169,7 +169,7 @@ namespace Plane.FormationCreator.Formation
                 if (prevTask.TaskType == FlightTaskType.FlyTo && prevTask.LoiterTime == 0)
                     flyToTime += prevTask.RuningTaskRemaining;
             }
-
+            int LEDIndex = 0;
                 //while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt))    //按航点飞  ：所有Copter到达目标点开始飞下个航点
             while (ts.TotalMilliseconds < (flyToTime + loiterTime))                                         //按时间轴飞：当前任务时间到达后自动飞往下个航点
             {
@@ -212,20 +212,21 @@ namespace Plane.FormationCreator.Formation
                     double time = 0;
                     for (int i = 0; i < LedControl.Count; i++)
                     {
-                      
                         var led = LedControl[i];
                         time += led.Delay * 1000;
                         if (ts.TotalMilliseconds >= time)
+                        {
                             LEDRGB = info.LEDInfos[i].LEDRGB;
+                            LEDIndex = i;
+                            
+                        }  
                         else
                             break;
                     }
+                    Message.Show(LEDIndex.ToString());
                     info.Copter.LEDColor = LEDRGB;
-
                 }
 
-
-
                 if (ts.TotalMilliseconds / 10 > sendFlyToTimes)   // 每500ms发送一遍指点坐标
                 {
                     sendFlyToTimes++;
diff --git a/Plane.FormationCreator/ViewModels/ConnectViewModel.cs b/Plane.FormationCreator/ViewModels/ConnectViewModel.cs
index 1af61e9..9cd9151 100644
--- a/Plane.FormationCreator/ViewModels/ConnectViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/ConnectViewModel.cs
@@ -86,7 +86,7 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _SendCommand ?? (_SendCommand = new RelayCommand(async () =>
                 {
-                    await SendCommandAsync(CopterNum);
+                    await commModule.SetCommCount(CopterCount, (short)(CopterStartNum - 1));
                 }
                 ));
             }
@@ -132,6 +132,27 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(CopterColor), ref _CopterColor, value); }
         }
 
+        private byte _TransmittedPower = 5;
+        public byte TransmittedPower
+        {
+            get { return _TransmittedPower; }
+            set { Set(nameof(TransmittedPower), ref _TransmittedPower, value); }
+        }
+
+        private short _CopterCount;
+        public short CopterCount
+        {
+            get { return _CopterCount; }
+            set { Set(nameof(CopterCount), ref _CopterCount, value); }
+        }
+
+        private short _CopterStartNum;
+        public short CopterStartNum
+        {
+            get { return _CopterStartNum; }
+            set { Set(nameof(CopterStartNum), ref _CopterStartNum, value); }
+        }
+
         private ICommand _WriteIdCommand;
         public ICommand WriteIdCommand
         {
@@ -215,6 +236,9 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        /// <summary>
+        /// 全部1S一次闪灯  主要用于测试通信
+        /// </summary>
         private ICommand _CommDataAsync;
         public ICommand CommDataAsync
         {
@@ -228,6 +252,54 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        /// <summary>
+        /// 设置回传功率
+        /// </summary>
+        private ICommand _CommSetPowerAsync;
+        public ICommand CommSetPowerAsync
+        {
+            get
+            {
+                return _CommSetPowerAsync ?? (_CommSetPowerAsync = new RelayCommand(async () =>
+                {
+                    if (TransmittedPower >= 1 && TransmittedPower <= 16)
+                        await commModule.SetCopterCommBackPower((short)CopterNum, TransmittedPower);
+                    else
+                        Alert.Show("功率范围只能设置为1-16");
+                }));
+            }
+        }
+
+        /// <summary>
+        /// 获取配置
+        /// </summary>
+        private ICommand _CommGetCurrSysParmAsync;
+        public ICommand CommGetCurrSysParmAsync
+        {
+            get
+            {
+                return _CommGetCurrSysParmAsync ?? (_CommGetCurrSysParmAsync = new RelayCommand(async () =>
+                {
+                    await commModule.GetCurr_Sys_Parm();
+                }));
+            }
+        }
+
+        /// <summary>
+        /// 改写配置
+        /// </summary>
+        private ICommand _CommSetCurrSysParmAsync;
+        public ICommand CommSetCurrSysParmAsync
+        {
+            get
+            {
+                return _CommSetCurrSysParmAsync ?? (_CommSetCurrSysParmAsync = new RelayCommand(async () =>
+                {
+                    await commModule.SetCurr_Sys_Parm();
+                }));
+            }
+        }
+
         private List<IMission> CreateLEDMissions(IEnumerable<LEDInfo> LEDInfos)
         {
             List<IMission> missions = new List<IMission>();
diff --git a/Plane.FormationCreator/Views/ConnectWindow.xaml b/Plane.FormationCreator/Views/ConnectWindow.xaml
index b5a8da8..2d15135 100644
--- a/Plane.FormationCreator/Views/ConnectWindow.xaml
+++ b/Plane.FormationCreator/Views/ConnectWindow.xaml
@@ -68,6 +68,8 @@
             <RowDefinition Height="Auto" />
             <RowDefinition Height="Auto" />
             <RowDefinition Height="Auto" />
+            <RowDefinition Height="Auto" />
+            <RowDefinition Height="Auto" />
         </Grid.RowDefinitions>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="Auto" />
@@ -89,7 +91,8 @@
                     HorizontalAlignment="Center"
                     Grid.Row="1"
                     Grid.ColumnSpan="3"
-                    Name="panel1">
+                    Name="panel1"
+                    Visibility="Collapsed">
             
             <ec:ProgressButton HorizontalAlignment="Center"
                                VerticalAlignment="Center"
@@ -133,7 +136,7 @@
                     Grid.ColumnSpan="3"
                     Name="panel2">
             <Button Content="通信模块状态" Margin="5" Command="{Binding Path=StateInquireCommand}"/>
-            <Button Content="设置总数" Margin="5" Command="{Binding Path=SendCommand}" />
+            
             <Button Content="切换写航点"  Margin="5" Command="{Binding Path=ChangeWriteMissionCommand}" />
 
 
@@ -142,21 +145,44 @@
                     HorizontalAlignment="Center"
                     Grid.Row="3"
                     Grid.ColumnSpan="3">
+            <Label Content="ID:"/>
             <TextBox Margin="2,5,5,5" Width="30" Text="{Binding CopterNum}"></TextBox>
             <Button Content="    对频    "  Margin="5,5,0,5" Command="{Binding Path=WriteIdCommand}" />
-            <Button Content="闪灯"  Margin="5" Command="{Binding CommDataAsync}"/>
+            <Button Content="    闪灯    "  Margin="5" Command="{Binding CommDataAsync}"/>
             <TextBox Width="80" Text="{Binding CopterColor}"/>
 
         </StackPanel>
 
-        <StackPanel Orientation="Horizontal" 
+        <StackPanel Orientation="Horizontal"
                     HorizontalAlignment="Center"
                     Grid.Row="4"
+                    Grid.ColumnSpan="3">
+            <Button Content="设置回传功率" Command="{Binding CommSetPowerAsync}"/>
+            <TextBox Margin="5,0" Width="80" Text="{Binding TransmittedPower}"/>
+            <Button Margin="5,0" Content="读取配置" Command="{Binding CommGetCurrSysParmAsync}"/>
+            <Button Margin="5,0" Content="™写入配置" Command="{Binding CommSetCurrSysParmAsync}"/>
+        </StackPanel>
+
+        <StackPanel Orientation="Horizontal" 
+                    HorizontalAlignment="Center"
+                    Grid.Row="5"
                     Grid.ColumnSpan="3"
                     Name="panel3">
             <Button Content="空中升级" Margin="5" Command="{Binding UpdateAllCopterCommand}"></Button>
             <Button Content="搜索飞机"  Margin="5" Command="{Binding QueryAllCopterCommand}"/>
         </StackPanel>
 
+        <StackPanel Orientation="Horizontal" 
+                    HorizontalAlignment="Center"
+                    Grid.Row="6"
+                    Grid.ColumnSpan="3"
+                    >
+            <Button Content="设置总数" Margin="5" Command="{Binding Path=SendCommand}" />
+            <Label Content="总数:"/>
+            <TextBox Width="50" Text="{Binding CopterCount}"/>
+            <Label Content="起始号:"/>
+            <TextBox  Width="50" Text="{Binding CopterStartNum}"/>
+        </StackPanel>
+
     </Grid>
 </c:MetroWindow>