V2.0 修改

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]

Plane.FormationCreator/Formation/CopterManager.cs

@@ -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

Plane.FormationCreator/Formation/Extensions.cs

@@ -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;
 

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -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;  

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -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
 
 
 

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -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";
+
         }
 
 

Plane.FormationCreator/MainWindow.xaml

@@ -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"
+               Width="1920"
-               Height="600">
+               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 >

Plane.FormationCreator/MainWindow.xaml.cs

@@ -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;
 

Plane.FormationCreator/ViewModels/CopterListViewModel.cs

@@ -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();
                     }
                 }));
             }

Plane.FormationCreator/ViewModels/MainViewModel.cs

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

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -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
         {

Plane.FormationCreator/ViewModels/TaskBarViewModel.cs

@@ -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
         {

Plane.FormationCreator/Views/ConnectWindow.xaml

@@ -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"
+               Title="设置"
-               Width="432.175"
+               Width="496.634"
-               Height="300.371"
+               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="40"  />
-            <RowDefinition Height="Auto" />
+            <RowDefinition Height="40"  />
-            <RowDefinition Height="Auto" />
+            <RowDefinition Height="40" />
-            <RowDefinition Height="Auto" />
-            <RowDefinition Height="Auto" />
         </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"
+                    HorizontalAlignment="Left"
-                    Grid.Row="1"
+                    Grid.Row="0"
-                    Grid.ColumnSpan="3"
+                    Name="panel2"    >
-                    Name="panel1">
+            <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}" />
-            <ec:ProgressButton HorizontalAlignment="Center"
+            <Button Content="通信状态" Width="90" Margin="5,5,5,5" Command="{Binding StateInquireCommand}"/>
-                               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}"/>
         </StackPanel>
+
         <StackPanel Orientation="Horizontal"
-                    HorizontalAlignment="Center"
+                    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="Left"
                     Grid.Row="2"
-                    Grid.ColumnSpan="3"
+                    Name="panel3" >
-                    Name="panel2">
+            <Button Content="空中升级" Width="90" Margin="5,5,5,5"  Command="{Binding UpdateAllCopterCommand}"></Button>
-            <Button Content="通信模块状态" Margin="5" Command="{Binding Path=StateInquireCommand}"/>
+            <Button Content="搜索飞机" Width="90"  Margin="5,5,5,5"  Command="{Binding QueryAllCopterCommand}"/>
-            <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}"/>
-
         </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}"/>
-        </StackPanel>
 
     </Grid>
 </c:MetroWindow>

Plane.FormationCreator/Views/ConnectWindow.xaml.cs

@@ -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();
         }
     }
 }

Plane.FormationCreator/Views/MapView.xaml.cs

@@ -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;

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -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。

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -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"/>

Plane.FormationCreator/Views/TaskBarView.xaml

@@ -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}" />

Plane.FormationCreator/Views/TaskBarView.xaml.cs

@@ -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;
@@ -110,6 +111,7 @@ 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);  
@@ -121,7 +123,7 @@ namespace Plane.FormationCreator.Views
                 {
                     (elem as Border).BorderBrush = borderBrush;
                 }
-
+                //显示隐藏任务航点
                 _flightTaskManager.RightSelect(task);
             }