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V2.0 修改

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1重设将飞机回到起飞点
2默认悬停时间改为1秒
3解锁起飞模拟真飞机改变颜色
4自动计算所有任务飞行时间
5增加从指定任务开始模拟
6连接窗口改为设置并优化布局
7不创建所有航点，只创建要显示的，优化导入速度
8更改背景
9模拟检测碰撞的间隔改为10hz，之前是100hz,对于大量飞机拖慢速度[FlightTask_FlyTo.cs]
This commit is contained in:
xu 2020-01-28 16:06:27 +08:00
parent f49cd3c722
commit 7ac2f48500
19 changed files with 358 additions and 164 deletions
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2
Plane.FormationCreator/Formation/CopterManager.cs
View File

@ -21,7 +21,7 @@ namespace Plane.FormationCreator.Formation
public int AddCopter(ICopter entityObject)
{
////给第三方时候限制数量和时间用
DateTime dateTime2019 = DateTime.Parse("2020-01-20");
DateTime dateTime2019 = DateTime.Parse("2020-03-01");
//新增飞机区域限制：内蒙
// if (entityObject.Latitude < 37.4307185218 || entityObject.Latitude > 45.6754821756

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

@ -81,8 +81,10 @@ namespace Plane.FormationCreator.Formation
public static bool IsTooCloseTo(this ICopter copter, ICopter copter2, out double distance)
{
// distance = 0;
// return false; //效果图用 不检测碰撞
distance = Math.Round(copter.DistanceTo(copter2), 2) ;
//return false; //效果图用 不检测碰撞
if (copter.Altitude < 3 || copter2.Altitude < 3)
return false;

106
Plane.FormationCreator/Formation/FlightTaskManager.cs
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@ -380,9 +380,72 @@ namespace Plane.FormationCreator.Formation
}
}
public void ResetTasks()
//指定任务开始模拟
public async Task FlyToTasks()
{
var copters = _copterManager.Copters;
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;
CurrentRunningTaskIndex = SelectedTaskIndex;
//设置所有模拟飞机的位置
for (int j = 0; j < copters.Count; j++)
{
var copter = copters[j];
var fc = copter as FakeCopter;
fc.SetProperties(
latitude: Tasks[SelectedTaskIndex-1].SingleCopterInfos[j].TargetLat,
longitude: Tasks[SelectedTaskIndex-1].SingleCopterInfos[j].TargetLng,
altitude: Tasks[SelectedTaskIndex - 1].SingleCopterInfos[j].TargetAlt
);
}
//起飞任务需要跳过
// if (CurrentRunningTaskIndex == 0)
// CurrentRunningTaskIndex++;
await RunTaskAsync();
}
}
public async void ResetTasks()
{
var copters = _copterManager.Copters;
Pause();
//等待暂停或2s超时(80*25ms)
int k = 0;
while ((TaskState != TasksStatus.Paused) || (k > 80))
{
await Task.Delay(25).ConfigureAwait(false);
k++;
}
CurrentRunningTaskIndex = 0;
if (CurrentRunningTask != null)
{
@ -414,6 +477,24 @@ namespace Plane.FormationCreator.Formation
}
}
}
//设置所有模拟飞机的位置
for (int j = 0; j < copters.Count; j++)
{
var copter = copters[j];
var fc = copter as FakeCopter;
fc.SetProperties(
latitude: Tasks[0].SingleCopterInfos[j].TargetLat,
longitude: Tasks[0].SingleCopterInfos[j].TargetLng,
altitude:0
);
//设置灯光为默认黑色
fc.LEDColor = "000000";
}
}
public string ExportC4DFlytoTask()
@ -472,7 +553,7 @@ namespace Plane.FormationCreator.Formation
}
var lastTask = Tasks.LastOrDefault();
var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = true, FlytoTime = 10, LoiterTime = 10 };
var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = true, FlytoTime = 10, LoiterTime = 1 };
newTask.TaskCnName = taskName;
for (int k = 0; k < PointDic.Count; k++)
{
@ -504,7 +585,7 @@ namespace Plane.FormationCreator.Formation
Tasks.Add(newTask);
TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { LastTask = lastTask, AddedTask = newTask });
}
Alert.Show("导入完成！");
/*
Dictionary<int, string[]> PointDic = new Dictionary<int, string[]>();
foreach (string line in lines)
@ -664,8 +745,6 @@ namespace Plane.FormationCreator.Formation
}
Tasks.Add(newTask);
TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { LastTask = lastTask, AddedTask = newTask });
SelectedTask = newTask;
SelectedTaskIndex = Tasks.Count - 1;
}
private void RestoreTurnTask(dynamic singleCopterInfos)
@ -748,8 +827,7 @@ namespace Plane.FormationCreator.Formation
}
Tasks.Add(RTLTask);
TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { LastTask = lastTask, AddedTask = RTLTask });
SelectedTask = RTLTask;
SelectedTaskIndex = Tasks.Count - 1;
}
private void RestoreTakeOffTask(byte takeOffTime, dynamic singleCopterInfos)
@ -797,8 +875,7 @@ namespace Plane.FormationCreator.Formation
}
Tasks.Add(LandTask);
TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { LastTask = lastTask, AddedTask = LandTask });
SelectedTask = LandTask;
SelectedTaskIndex = Tasks.Count - 1;
}
// added by ZJF
@ -1753,7 +1830,7 @@ namespace Plane.FormationCreator.Formation
}
return copterStr;
}
//左键选中任务
public void Select(FlightTask flightTask)
{
this.SelectedTaskIndex = Tasks.IndexOf(flightTask);
@ -1819,6 +1896,15 @@ namespace Plane.FormationCreator.Formation
public async Task RunAsync()
{
IsPaused = false;
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.Stop;
}
AppEx.Current.AppMode = AppMode.RunningTasks;
StartAvoidingCrash(); //开始碰撞检测
TaskState = TasksStatus.Running;

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

@ -32,7 +32,7 @@ namespace Plane.FormationCreator.Formation
Set(nameof(FlytoTime), ref _FlytoTime, value);
}
}
private int _LoiterTime = 10;
private int _LoiterTime = 1;
public int LoiterTime
{
get { return _LoiterTime; }
@ -193,7 +193,7 @@ namespace Plane.FormationCreator.Formation
await info.Copter.HoverAsync();
return;
}
await Task.Delay(10).ConfigureAwait(false); //判断是否到达位置10hz
await Task.Delay(100).ConfigureAwait(false); //判断是否到达位置10hz

5
Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
View File

@ -133,6 +133,8 @@ namespace Plane.FormationCreator.Formation
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
await Task.Delay(10).ConfigureAwait(false);
}
//解锁起飞用暗紫色
info.Copter.LEDColor = "FF00FF";
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
@ -149,6 +151,9 @@ namespace Plane.FormationCreator.Formation
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
}
//起飞完成用暗蓝色
info.Copter.LEDColor = "0000FF";
}

14
Plane.FormationCreator/MainWindow.xaml
View File

@ -13,12 +13,12 @@
WindowTransitionsEnabled="False"
FontFamily="Microsoft YaHei"
WindowState="Maximized"
Title="无人机编队控制中心"
Title="飞行魔方--无人机编队控制中心 V2.0"
PreviewKeyDown="MetroWindow_PreviewKeyDown"
PreviewKeyUp="MetroWindow_PreviewKeyUp"
Style="{StaticResource VSWindowStyleKey}"
Width="800"
Height="600">
Width="1920"
Height="1080">
<c:MetroWindow.Resources>
<Style TargetType="Separator"
@ -71,7 +71,7 @@
Visibility="Collapsed"
Click="btnRefreshMap_Click" />
<Button Name="btnConnect"
Content="连接"
Content="设置"
Click="btnConnect_Click" />
<Menu Name="menuTask" Background="Transparent" VerticalAlignment="Center" >
@ -139,13 +139,17 @@
<Grid Margin="0,0,10,0"
Width="Auto" >
<Grid.ColumnDefinitions>
<ColumnDefinition Width="1371*"/>
<ColumnDefinition Width="13*"/>
</Grid.ColumnDefinitions>
<Grid.RowDefinitions>
<RowDefinition />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
</Grid.RowDefinitions>
<TabControl SelectedIndex="{Binding MapMode,UpdateSourceTrigger=PropertyChanged}" Grid.RowSpan="3">
<TabControl SelectedIndex="{Binding MapMode,UpdateSourceTrigger=PropertyChanged}" Grid.RowSpan="3" Margin="0">
<TabItem Visibility="Collapsed">
<v:MapView x:Name="map"/>
</TabItem >

2
Plane.FormationCreator/MainWindow.xaml.cs
View File

@ -81,7 +81,7 @@ namespace Plane.FormationCreator
};
var point = PointToScreen(Mouse.GetPosition(this));
point.X = Math.Min(point.X, SystemParameters.WorkArea.Width - connectWindow.Width - 30);
point.Y = Math.Min(point.Y, SystemParameters.WorkArea.Height - connectWindow.Height - 30);
point.Y = Math.Min(point.Y+10, SystemParameters.WorkArea.Height - connectWindow.Height - 30);
connectWindow.Left = point.X;
connectWindow.Top = point.Y;

2
Plane.FormationCreator/ViewModels/CopterListViewModel.cs
View File

@ -283,6 +283,8 @@ namespace Plane.FormationCreator.ViewModels
await copter.GetCopterDataAsync();
_copterManager.Copters.AddCopter(copter);
_copterManager.CopterStatus.Add(false);
if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
_flightTaskManager.SetOriginal();
}
}));
}

1
Plane.FormationCreator/ViewModels/MainViewModel.cs
View File

@ -337,6 +337,7 @@ namespace Plane.FormationCreator.ViewModels
}
Alert.Show("导入完成！", "提示");
}));
}
}

129
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -529,12 +529,54 @@ namespace Plane.FormationCreator.ViewModels
{
var tasksText = File.ReadAllText(dialog.FileName);
_flightTaskManager.ImportC4DFlytoTask(tasksText);
autoalltasktime();
//_flightTaskManager.ImportBlenderFlyToTask(tasksText);
}
}));
}
}
public void autoalltasktime()
{
for (int taskIndex = 1; taskIndex < _flightTaskManager.Tasks.Count; taskIndex++)
{
if (taskIndex != 0 || _flightTaskManager.Tasks[taskIndex].TaskType == FlightTaskType.FlyTo)
{
if (_copterManager.Copters.Count() > 0)
{
double maxDistance = 0.0f;
string copterName = "";
double speed = 0.0f;
foreach (var copter in _copterManager.Copters)
{
var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
double distance = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
if (distance > maxDistance)
{
maxDistance = distance;
copterName = copter.Name;
speed = curWaypoint.LevelSpeed;
}
}
double time = CalculateFlyIime(maxDistance, speed);
Message.Show($"任务：{taskIndex},最大航点间距 = {Math.Round(maxDistance, 2)}米, 水平速度={Math.Round(speed, 2)}, 飞行时间 = {Math.Round(time, 2)}秒, 飞机编号:{copterName}");
_flightTaskManager.Tasks[taskIndex].FlytoTime = (int)Math.Round(time, 2);
}
}
}
}
private ICommand _ExportWayPointCommand;
public ICommand ExportWayPointCommand
{
@ -558,6 +600,93 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _AutoWayPointTmCommand;
public ICommand AutoWayPointTmCommand
{
get
{
return _AutoWayPointTmCommand ?? (_AutoWayPointTmCommand = new RelayCommand<int>(async =>
{
int taskIndex = _flightTaskManager.SelectedTaskIndex;
if (taskIndex != 0 || _flightTaskManager.SelectedTask.TaskType == FlightTaskType.FlyTo)
{
if (_copterManager.Copters.Count() > 0)
{
double maxDistance = 0.0f;
string copterName = "";
double speed = 0.0f;
foreach (var copter in _copterManager.Copters)
{
var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
double distance = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
if (distance > maxDistance)
{
maxDistance = distance;
copterName = copter.Name;
speed = curWaypoint.LevelSpeed;
}
}
double time = CalculateFlyIime(maxDistance, speed);
Message.Show($"最大航点间距 = {Math.Round(maxDistance, 2)}米, 水平速度={Math.Round(speed, 2)}, 飞行时间 = {Math.Round(time, 2)}秒, 飞机编号:{copterName}");
_flightTaskManager.SelectedTask.FlytoTime = (int)Math.Round(time, 2);
}
}
}));
}
}
private ICommand _AutoWayPointAllTmCommand;
public ICommand AutoWayPointAllTmCommand
{
get
{
return _AutoWayPointAllTmCommand ?? (_AutoWayPointAllTmCommand = new RelayCommand<int>(async =>
{
if (Alert.Show("本操作将导致所有任务飞行时间重新计算，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
== MessageBoxResult.OK)
{
autoalltasktime();
}
}));
}
}
private ICommand _OptimizeRouteCommand;
public ICommand OptimizeRouteCommand
{

19
Plane.FormationCreator/ViewModels/TaskBarViewModel.cs
View File

@ -65,6 +65,25 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _flyTotaskCommand;
public ICommand flyTotaskCommand
{
get
{
return _flyTotaskCommand ?? (_flyTotaskCommand = new RelayCommand(async () =>
{
// await _flightTaskManager.RunAsync();
await _flightTaskManager.FlyToTasks();
// Message.Show("任务开始");
// await _flightTaskManager.RunAsync();
// Message.Show(_flightTaskManager.IsPaused == true ? "任务暂停" : "任务完成");
}));
}
}
private ICommand _SetOriginCommand;
public ICommand SetOriginCommand
{

168
Plane.FormationCreator/Views/ConnectWindow.xaml
View File

@ -7,157 +7,57 @@
xmlns:c="http://metro.mahapps.com/winfx/xaml/controls"
xmlns:ec="clr-namespace:Plane.Windows.Controls;assembly=Plane.Windows"
mc:Ignorable="d"
Title="连接"
Width="432.175"
Height="300.371"
Title="设置"
Width="496.634"
Height="205.942"
WindowStartupLocation="CenterScreen"
FontFamily="Microsoft YaHei"
ResizeMode="NoResize">
ResizeMode="NoResize" >
<Grid HorizontalAlignment="Center" VerticalAlignment="Center" Height="Auto" Width="Auto" >
<Grid HorizontalAlignment="Center"
VerticalAlignment="Center">
<Grid.Resources>
<Style TargetType="Label"
BasedOn="{StaticResource {x:Type Label}}">
<Setter Property="HorizontalAlignment"
Value="Right" />
<Setter Property="VerticalAlignment"
Value="Center" />
</Style>
<Style TargetType="ComboBox"
BasedOn="{StaticResource {x:Type ComboBox}}">
<Setter Property="HorizontalAlignment"
Value="Left" />
<Setter Property="VerticalAlignment"
Value="Center" />
<Setter Property="Width"
Value="150" />
</Style>
<Style TargetType="TextBox"
BasedOn="{StaticResource {x:Type TextBox}}">
<Setter Property="HorizontalAlignment"
Value="Left" />
<Setter Property="VerticalAlignment"
Value="Center" />
<Setter Property="Width"
Value="150" />
</Style>
<Style TargetType="PasswordBox"
BasedOn="{StaticResource {x:Type PasswordBox}}">
<Setter Property="HorizontalAlignment"
Value="Left" />
<Setter Property="VerticalAlignment"
Value="Center" />
<Setter Property="MinWidth"
Value="150" />
</Style>
<Style TargetType="Button"
BasedOn="{StaticResource {x:Type Button}}">
<Setter Property="HorizontalAlignment"
Value="Center" />
<Setter Property="VerticalAlignment"
Value="Center" />
</Style>
</Grid.Resources>
<Grid.RowDefinitions>
<RowDefinition />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
<RowDefinition Height="40" />
<RowDefinition Height="40" />
<RowDefinition Height="40" />
</Grid.RowDefinitions>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="Auto" />
<ColumnDefinition Width="10" />
<ColumnDefinition />
<ColumnDefinition></ColumnDefinition>
</Grid.ColumnDefinitions>
<Label Target="{Binding ElementName=txtIPs}" Visibility="Collapsed"
Content="IP" />
<TextBox Name="txtIPs"
Grid.Column="2"
AcceptsReturn="True"
MinHeight="200"
ScrollViewer.VerticalScrollBarVisibility="Auto"
Visibility="Collapsed"
Text="{Binding IPs, UpdateSourceTrigger=PropertyChanged}" />
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Center"
Grid.Row="1"
Grid.ColumnSpan="3"
Name="panel1">
<ec:ProgressButton HorizontalAlignment="Center"
VerticalAlignment="Center"
Margin="10"
Content="连接 _TCP"
IsDefault="True"
IsProcessing="{Binding IsProcessing}"
Command="{Binding Path=ConnectCommand}" />
<ec:ProgressButton HorizontalAlignment="Center"
VerticalAlignment="Center"
Margin="10"
Content="连接 _UDP"
IsDefault="True"
IsProcessing="{Binding IsProcessing}"
Command="{Binding Path=ConnectCommand}"
CommandParameter="UDP"/>
<ec:ProgressButton HorizontalAlignment="Center"
VerticalAlignment="Center"
Margin="10"
Content="连接串口"
IsProcessing="{Binding IsProcessing}"
Command="{Binding Path=ConnectCommand}"
CommandParameter="SerialPort" />
<!--<ec:ProgressButton Name="btnConnectUdp"
Grid.Row="1"
Grid.ColumnSpan="3"
HorizontalAlignment="Center"
VerticalAlignment="Center"
Margin="10"
Content="连接 _UDP"
IsDefault="True"
IsProcessing="{Binding IsProcessing}"
Command="{Binding Path=ConnectCommand}"
CommandParameter="UDP" />-->
<Button Content="关闭TCP" Margin="5" Command="{Binding CloseCommand}"/>
HorizontalAlignment="Left"
Grid.Row="0"
Name="panel2" >
<Button Content="设置总数" Width="90" Margin="5,5,5,5" Command="{Binding Path=SendCommand}" />
<Button Content="切换写航点" Width="90" Margin="5,5,5,5" Command="{Binding Path=ChangeWriteMissionCommand}" />
<Button Content="通信状态" Width="90" Margin="5,5,5,5" Command="{Binding StateInquireCommand}"/>
</StackPanel>
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Center"
Grid.Row="2"
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}" />
</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=" 对频 " Margin="5,5,0,5" Command="{Binding Path=WriteIdCommand}" />
<Button Content="闪灯" Margin="5" Command="{Binding CommDataAsync}"/>
<Button Content="拉烟" Margin="5" Command="{Binding TestFireCommandAsync}"/>
<TextBox Width="80" Text="{Binding CopterColor}"/>
HorizontalAlignment="Left"
Grid.Row="1" >
<TextBox Width="90" VerticalContentAlignment="Center" Text="{Binding CopterNum}" Margin="5,5,5,5" />
<Button Content="对频" Width="90" Margin="5,5,5,5" Command="{Binding Path=WriteIdCommand}" />
<Button Content="闪灯 " Width="90" Margin="5,5,5,5" Command="{Binding CommDataAsync}"/>
<Button Content="拉烟" Width="90" Margin="5,5,5,5" Command="{Binding TestFireCommandAsync}"/>
<TextBox Width="50" VerticalContentAlignment="Center" Text="{Binding CopterColor}" Margin="5,5,5,5"/>
</StackPanel>
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Center"
Grid.Row="4"
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}"/>
HorizontalAlignment="Left"
Grid.Row="2"
Name="panel3" >
<Button Content="空中升级" Width="90" Margin="5,5,5,5" Command="{Binding UpdateAllCopterCommand}"></Button>
<Button Content="搜索飞机" Width="90" Margin="5,5,5,5" Command="{Binding QueryAllCopterCommand}"/>
</StackPanel>
</Grid>
</c:MetroWindow>

4
Plane.FormationCreator/Views/ConnectWindow.xaml.cs
View File

@ -41,12 +41,12 @@ namespace Plane.FormationCreator.Views
if (!VersionControl.IsFullVersion)
{
panel1.Visibility = Visibility.Collapsed;
//panel1.Visibility = Visibility.Collapsed;
panel2.Visibility = Visibility.Collapsed;
panel3.Visibility = Visibility.Collapsed;
}
txtIPs.Focus();
//txtIPs.Focus();
}
}
}

7
Plane.FormationCreator/Views/MapView.xaml.cs
View File

@ -87,11 +87,18 @@ namespace Plane.FormationCreator.Views
{
switch (e.PropertyName)
{
//选中任务时触发
case nameof(FlightTaskManager.SelectedTaskIndex):
//_copterDrawings有多少架飞机（航点）
foreach (var item in _copterDrawings)
{
var copterDrawing = item.Value;
//设置选中的航点白边和下面任务块的白影
copterDrawing.ShowWaypoint(_flightTaskManager.SelectedTaskIndex);
copterDrawing.SetTaskEffect(_flightTaskManager.SelectedTaskIndex);
//重画计划航线
copterDrawing.ResetRoute(_flightTaskManager.SelectedTaskIndex);
}
break;

34
Plane.FormationCreator/Views/MapView_CopterDrawing.cs
View File

@ -294,6 +294,33 @@ namespace Plane.FormationCreator.Views
//this.Dot.Fill = _brush;
}
public void ShowWaypoint(int taskIndex)
{
var wpIndex = taskIndex - 1; // Waypoints 中没有起飞点。
foreach (var item in this.Waypoints)
{
_map.Markers.Remove(item);
}
if (wpIndex >= 0 && wpIndex < Waypoints.Count)
{
//选中的航点
GMapMarker wpmarker = (GMapMarker)(Waypoints[wpIndex]);
//航点轮廓变为白色
// wpmarker.Shape.Stroke = _selectedTaskStroke;
_map.Markers.Add(wpmarker); //消耗大量时间费时
}
}
public void AddWaypoint(Location location, FlightTaskType type)
{
// Add waypoint.
@ -305,7 +332,7 @@ namespace Plane.FormationCreator.Views
marker.Shape = shapesContainer;
Waypoints.Add(marker);
_map.Markers.Add(marker);
// _map.Markers.Add(marker); //消耗大量时间费时 ，为了提高效率改为选中才添加见ShowWaypoint
marker.ZIndex = 100;
//MapLayer.SetZIndex(shapesContainer, 100);
//var wpPos = _map.LocationToViewportPoint(location);
@ -593,18 +620,23 @@ namespace Plane.FormationCreator.Views
}
//设置选中任务航点为白色外框
public void SetTaskEffect(int taskIndex)
{
var wpIndex = taskIndex - 1; // Waypoints 中没有起飞点。
if (wpIndex >= 0 && wpIndex < Waypoints.Count)
{
//清除所有白色轮廓
Waypoints.ForEach(p => ((ShapesContainer)(p.Shape)).wp.Stroke = null);
//选中的航点
var wp = ((ShapesContainer)(Waypoints[wpIndex].Shape)).wp;
//航点轮廓变为白色
wp.Stroke = _selectedTaskStroke;
}
}
// 右击任务时触发
//显示或者隐藏任务航点
public void SetTaskRightEffect(int taskIndex, bool flag)
{
var wpIndex = taskIndex - 1; // Waypoints 中没有起飞点。

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

@ -83,6 +83,8 @@
/>
<Button Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"/>
<Button Content="导出航点" Command="{Binding ExportWayPointCommand}"/>
<Button Content="估计时间" Command="{Binding AutoWayPointTmCommand}"/>
<Button Content="自动时间" Command="{Binding AutoWayPointAllTmCommand}"/>
</StackPanel>
<Separator Margin="0,1"/>

11
Plane.FormationCreator/Views/TaskBarView.xaml
View File

@ -184,18 +184,21 @@
<StackPanel Grid.Row="1"
Orientation="Horizontal"
VerticalAlignment="Bottom">
<Button Content="添加任务"
<Button Content="添加"
Background="#232323"
Command="{Binding AddTaskCommand}" />
<Button Content="清除任务"
<Button Content="清除"
Background="#232323"
Command="{Binding ClearTasksCommand}" />
<Button Content="重置任务"
<Button Content="重置"
Background="#232323"
Command="{Binding ResetTasksCommand}" />
<Button Content="强制下一步"
<Button Content="下一步"
Background="#232323"
Command="{Binding NextTasksCommand}" />
<Button Content="飞到任务"
Background="#232323"
Command="{Binding flyTotaskCommand}" />
<Button Content="重设原点"
Background="#232323"
Command="{Binding SetOriginCommand}" />

8
Plane.FormationCreator/Views/TaskBarView.xaml.cs
View File

@ -32,6 +32,7 @@ namespace Plane.FormationCreator.Views
private FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
//用于更名
public void TaskLeftButtonDown(object sender, MouseButtonEventArgs e)
{
if (e.ClickCount > 1)
@ -48,7 +49,7 @@ namespace Plane.FormationCreator.Views
}
}
//选择任务
private void SelectTask(object sender, MouseButtonEventArgs e)
{
var elem = sender as FrameworkElement;
@ -110,9 +111,10 @@ namespace Plane.FormationCreator.Views
var elem = sender as FrameworkElement;
var task = elem.DataContext as FlightTask;
// int a = _flightTaskManager.RightSelectedTaskIndex;
//右键任务条显示橙红色
if (task.TaskType != FlightTaskType.TakeOff) // 不让选起飞任务。
{
var borderBrush = new SolidColorBrush(task.IsRightSelected ? Colors.Gray : Colors.OrangeRed);
var borderBrush = new SolidColorBrush(task.IsRightSelected ? Colors.Gray : Colors.OrangeRed);
if (elem is Rectangle)
{
(elem as Rectangle).Stroke = borderBrush;
@ -121,7 +123,7 @@ namespace Plane.FormationCreator.Views
{
(elem as Border).BorderBrush = borderBrush;
}
//显示隐藏任务航点
_flightTaskManager.RightSelect(task);
}

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