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2D模拟简单灯光

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3D模拟移动和简单灯光和观测点
添加校准指南针
修改摆放角度
修改模拟飞行中起飞的方案
通信模块：多条mavlink指令采用一起发送的方式
This commit is contained in:
zxd 2018-12-21 11:27:53 +08:00
parent de05946d2c
commit 7f0fad0112
23 changed files with 772 additions and 148 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
Plane.FormationCreator/Formation/CopterManager.cs
View File

@ -19,18 +19,20 @@ namespace Plane.FormationCreator.Formation
/// <param name="baseSemObjects"></param>
public int AddCopter(ICopter entityObject)
{
DateTime dateTime2019 = DateTime.Parse("2019-06-20");
if (DateTime.UtcNow > dateTime2019)
{
throw new NotImplementedException();
}
if (this.Count >= 50)
{
return 0;
}
////给第三方时候限制数量和时间用
// DateTime dateTime2019 = DateTime.Parse("2019-06-20");
//
// if (DateTime.UtcNow > dateTime2019)
// {
// throw new NotImplementedException();
// }
//
//
// if (this.Count >= 50)
// {
// return 0;
// }
int _index = 0;
if (this.Count == 0)

3
Plane.FormationCreator/Formation/FlightTask.cs
View File

@ -156,7 +156,8 @@ namespace Plane.FormationCreator.Formation
break;
case FlightTaskType.TakeOff:
//多架同时起飞
await MutilRunTakeOffTaskAsync().ConfigureAwait(false);
//await MutilRunTakeOffTaskAsync().ConfigureAwait(false);
await NewMutilRunTakeOffTaskAsync().ConfigureAwait(false);
break;
case FlightTaskType.ReturnToLand: // Added by ZJF
//多架同时返航

7
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -262,6 +262,7 @@ namespace Plane.FormationCreator.Formation
float coldis = ColumnDistance;//列相距5米
float rowdis = RowDistance;//行相距5米
float matrixdis = 20; //生成方阵距离30米
int orientation = Orientation;
int currcol = 0; //当前列号
int currrow = 0; //当前行
@ -276,18 +277,18 @@ namespace Plane.FormationCreator.Formation
if (coptindex == 0)
{
lastSingleCopterInfo = lastTask.SingleCopterInfos.Find(info => info.Copter == copter);
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(lastSingleCopterInfo.TargetLat, lastSingleCopterInfo.TargetLng, 0, matrixdis);
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(lastSingleCopterInfo.TargetLat, lastSingleCopterInfo.TargetLng, orientation, matrixdis);
colLatLng = targetLatLng;
}
else
{
if (currcol < colnum)
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Item1, colLatLng.Item2, 90, currcol * coldis);
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Item1, colLatLng.Item2, orientation + 90, currcol * coldis);
else
{
currrow++;
currcol = 0;
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Item1, colLatLng.Item2, 180, rowdis);
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Item1, colLatLng.Item2, orientation + 180, rowdis);
colLatLng = targetLatLng;
}
}

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

@ -82,6 +82,8 @@ namespace Plane.FormationCreator.Formation
}
}
private ICommand _SetSelectedCopterLEDCommand;
public ICommand SetSelectedCopterLEDCommand
{

27
Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
View File

@ -122,14 +122,15 @@ namespace Plane.FormationCreator.Formation
DateTime dtNow = DateTime.Now;
DateTime dtLastTime = DateTime.Now;
TimeSpan ts = dtNow - dtLastTime;
FlightTask task = _flightTaskManager.CurrentRunningTask;
int flyToTime = task.FlytoTime * 1000;
int loiterTime = task.LoiterTime * 1000;
int taskIndex = _flightTaskManager.CurrentRunningTaskIndex;
int copterIndex = SingleCopterInfos.IndexOf(info);
// 当该飞机被标记时，悬停并跳过飞行任务
if ((bool)_copterManager.CopterStatus[copterIndex])
{
@ -184,9 +185,29 @@ namespace Plane.FormationCreator.Formation
await info.Copter.HoverAsync();
return;
}
await Task.Delay(100).ConfigureAwait(false); //判断是否到达位置10hz
await Task.Delay(10).ConfigureAwait(false); //判断是否到达位置10hz
if (ts.TotalMilliseconds / 500 > sendFlyToTimes) // 每500ms发送一遍指点坐标
if (info.LEDInfos.Count > 0)
{
string LEDRGB = "";
List<LEDInfo> LedControl = info.LEDInfos.OrderBy(i=>i.Delay).ToList();
for (int i = 0; i < LedControl.Count; i++)
{
var led = LedControl[i];
if (ts.TotalMilliseconds >= led.Delay * 1000)
LEDRGB = info.LEDInfos[i].LEDRGB;
else
break;
}
info.Copter.LEDColor = LEDRGB;
}
if (ts.TotalMilliseconds / 10 > sendFlyToTimes) // 每500ms发送一遍指点坐标
{
sendFlyToTimes++;
for (int i = 0; i < 2; i++)

90
Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
View File

@ -69,6 +69,80 @@ namespace Plane.FormationCreator.Formation
}
}
//新版的起飞方案
public async Task NewMutilRunTakeOffTaskAsync()
{
var infos = SingleCopterInfos;
var tasksTakeOff = new Task[infos.Count];
for (int i = 0; i < infos.Count; i++)
{
tasksTakeOff[i] = NewSingleRunTaskOffTaskAsunc(infos[i]);
}
await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
//await Task.Delay(100);
}
private async Task NewSingleRunTaskOffTaskAsunc(FlightTaskSingleCopterInfo info)
{
DateTime dtNow = DateTime.Now;
DateTime dtLastTime = DateTime.Now;
TimeSpan ts = dtNow - dtLastTime;
int copterIndex = SingleCopterInfos.IndexOf(info);
var copter = info.Copter;
await copter.UnlockAsync();
for (int i = 0; !copter.IsUnlocked; i++)
{
//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 > 320)
return; //无法解锁后面不用执行了
if (i % (1000 / 25) == 1000 / 25 - 1)
{
await copter.UnlockAsync(); // 每 1000 毫秒重试一次。
}
await Task.Delay(25).ConfigureAwait(false);
}
//等待起飞时间
while (ts.TotalMilliseconds < info.TakeOffWaitTime * 1000)
{
await Task.Delay(100);
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
}
for (int i = 0; i < 5; i++) // added by ZJF
{
await copter.TakeOffAsync();
await Task.Delay(50).ConfigureAwait(false);
}
var copterNextTask = _flightTaskManager.Tasks[TaskIndex + 1].SingleCopterInfos[copterIndex];
float takeOffAlt = copterNextTask.TargetAlt;
for (int j = 0; j < 3; j++)
{
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
await Task.Delay(10).ConfigureAwait(false);
}
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
FlightTask task = _flightTaskManager.CurrentRunningTask;
while (ts.TotalMilliseconds < task.TakeOffTime * 1000)
{
await Task.Delay(100).ConfigureAwait(false);
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
}
}
//老方案 ----- 按起飞数量起飞
// 几架飞机同时起飞，参数为takeOffCount-----------------使用中
//起飞分三个阶段：
//1阶段：分批起飞到15米(目前15米高度是飞控起飞航点决定)，上一批起飞超过5米下一批开始起飞，
@ -81,12 +155,14 @@ namespace Plane.FormationCreator.Formation
//2.直接飞往第一个航点的高度
public async Task MutilRunTakeOffTaskAsync()
{
int TaskCount = _flightTaskManager.Tasks.Count();
if (TaskCount > 1)
{
var infos = SingleCopterInfos;
int takeOffCount = TakeOffNumAttr;
//不再使用起飞数量 强制设置起飞总数等于所有飞机
int takeOffCount = _copterManager.Copters.Count();
int copterCount = infos.Count;
int integerPart = copterCount / takeOffCount;
int residualPart = copterCount % takeOffCount;
@ -167,6 +243,10 @@ namespace Plane.FormationCreator.Formation
//执行第一阶段解锁起飞任务---使用中
private async Task TakeOffTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
{
DateTime dtNow = DateTime.Now;
DateTime dtLastTime = DateTime.Now;
TimeSpan ts = dtNow - dtLastTime;
int copterIndex = SingleCopterInfos.IndexOf(info);
var copter = info.Copter;
var copterNextTask = _flightTaskManager.Tasks[1].SingleCopterInfos[copterIndex];
@ -208,6 +288,14 @@ namespace Plane.FormationCreator.Formation
info.TargetLat = info.Copter.Latitude;
info.TargetLng = info.Copter.Longitude;
//等待起飞时间
while (ts.TotalMilliseconds < info.TakeOffWaitTime * 1000 )
{
await Task.Delay(100);
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
}
//开始起飞
for (int i = 0; i < 5; i++) // added by ZJF
{

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

@ -1,4 +1,5 @@
using System;
using Plane.Copters;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@ -25,5 +26,7 @@ namespace Plane.FormationCreator.Formation
{
this.MapView.ClearCopters();
}
}
}

23
Plane.FormationCreator/MainWindow.xaml
View File

@ -42,14 +42,14 @@
<c:MetroWindow.RightWindowCommands>
<c:WindowCommands>
<Button Content="切换地图" Visibility="Collapsed" Command="{Binding ChangeMapModeCommand}"></Button>
<Button Content="切换地图" Command="{Binding ChangeMapModeCommand}"></Button>
<Button Content="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource ShowModifyTaskViewButtonContentConverter}}"
Command="{Binding ShowOrHideModifyTaskViewCommand}" />
<Button Content="重启监听"
Visibility="Collapsed"
Command="{Binding RestartListeningCommand}" />
<Button Content="{Binding SwitchVelocityModeButtonContent}"
Visibility="Collapsed"
Command="{Binding SwitchVelocityModeCommand}" />
<!--// 林俊清, 20150930, 不分这些模式了。
<Button Content="进入任务模式"
@ -60,18 +60,8 @@
Command="{Binding SwitchAppModeCommand}"
CommandParameter="{x:Static m:AppMode.ControllingCopters}"
Visibility="{Binding Source={x:Static local:AppEx.Current}, Path=AppMode, Converter={StaticResource AppModeToVisibilityConverter}, ConverterParameter=SwitchToControllingCoptersModeButton}" />-->
<Button Name="btnShowLog"
Content="日志"
Visibility="Collapsed"
Click="btnShowLog_Click"
/>
<Button Content="地图透明"
Visibility="Collapsed"
Click="Map_Opacity_Click"
/>
<Button Name="btnGoHome"
Content="回家"
Visibility="Collapsed"
Click="btnGoHome_Click" />
<Button Name="btnRefreshMap"
Content="刷新地图"
@ -139,7 +129,7 @@
<RowDefinition Height="Auto" />
</Grid.RowDefinitions>
<!--
<TabControl SelectedIndex="{Binding MapMode,UpdateSourceTrigger=PropertyChanged}">
<TabItem Visibility="Collapsed">
<v:MapView x:Name="map"/>
@ -148,10 +138,11 @@
<v:View3D/>
</TabItem>
</TabControl>
-->
<!--
<v:MapView x:Name="map"/>
-->

4
Plane.FormationCreator/MainWindow.xaml.cs
View File

@ -107,7 +107,7 @@ namespace Plane.FormationCreator
switch (e.Key)
{
case Key.LeftShift:
case Key.LeftCtrl:
{
var copters = _copterManager.AcceptingControlCopters;
Shiftkeydown = true;
@ -391,7 +391,7 @@ namespace Plane.FormationCreator
switch (e.Key)
{
case Key.LeftShift:
case Key.LeftCtrl:
{
Shiftkeydown = false;
_copterManager.shiftkeydown = false;

20
Plane.FormationCreator/ModifyParam.xaml
View File

@ -5,7 +5,7 @@
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:local="clr-namespace:Plane.FormationCreator"
mc:Ignorable="d"
Title="修改参数" Height="242.765" Width="618.987" ResizeMode="NoResize" WindowStartupLocation="CenterScreen">
Title="修改参数" Height="418.215" Width="715.206" ResizeMode="NoResize" WindowStartupLocation="CenterScreen">
<Grid Margin="0,0,5,3.5">
<Grid.ColumnDefinitions>
<ColumnDefinition/>
@ -13,7 +13,7 @@
</Grid.ColumnDefinitions>
<WrapPanel>
<StackPanel Orientation="Horizontal" Margin="2" Visibility="Collapsed">
<StackPanel Orientation="Horizontal" Margin="2" >
<Button Content="检测通信" Tag="FS_GCS_ENABLE" Click="Modify_Select" Width="130"/>
<Label Content="_FS_GCS_ENABLE 0:关闭 1开启"/>
</StackPanel>
@ -28,17 +28,17 @@
<Label Content="_NTF_LED_BRIGHT 1-3"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="2" Visibility="Collapsed">
<StackPanel Orientation="Horizontal" Margin="2" >
<Button Content="GPS类型灯光" Tag="NTF_G_RTKTEST" Click="Modify_Select" Width="130"/>
<Label Content="_NTF_G_RTKTEST 0:关闭 1:开启"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="2" Visibility="Collapsed">
<StackPanel Orientation="Horizontal" Margin="2" >
<Button Content="š‹气压计‹GPS类型" Tag="EK2_ALT_GPS" Click="Modify_Select" Width="130"/>
<Label Content="_EK2_ALT_GPS 1-6"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="2" Visibility="Collapsed">
<StackPanel Orientation="Horizontal" Margin="2" >
<Button Content="š最低解锁电压" Tag="ARMING_VOLT_MIN" Click="Modify_Select" Width="130"/>
<Label Content="_ARMING_VOLT_MIN"/>
</StackPanel>
@ -48,22 +48,22 @@
<Label Content="_NTF_G_RTLOFF"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="2" Visibility="Collapsed">
<StackPanel Orientation="Horizontal" Margin="2" >
<Button Content="š航点灯光" Tag="WAYPOINT_GLED" Click="Modify_Select" Width="130"/>
<Label Content="_WAYPOINT_GLED"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="2" Visibility="Collapsed">
<StackPanel Orientation="Horizontal" Margin="2" >
<Button Content="š解锁检查" Tag="ARMING_CHECK" Click="Modify_Select" Width="130"/>
<Label Content="_ARMING_CHECK 414"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="2" Visibility="Collapsed">
<StackPanel Orientation="Horizontal" Margin="2" >
<Button Content="š解锁GPS类型" Tag="ARMING_GPS_LEVEL" Click="Modify_Select" Width="130"/>
<Label Content="_ARMING_GPS_LEVEL 1-6"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="2" Visibility="Collapsed">
<StackPanel Orientation="Horizontal" Margin="2" >
<Button Content="š返航GPS类型" Tag="FS_GPS_RTL" Click="Modify_Select" Width="130"/>
<Label Content="_FS_GPS_RTL 1-6"/>
</StackPanel>
@ -77,7 +77,7 @@
<StackPanel Grid.Column="1" HorizontalAlignment="Center" Orientation ="Horizontal">
<WrapPanel VerticalAlignment="Center" Orientation="Vertical" >
<Label x:Name="label" Content="参数名称" Margin="5,0,5,5"/>
<TextBox x:Name="textParamName" Width="160" Margin="5" IsReadOnly="True"/>
<TextBox x:Name="textParamName" Width="160" Margin="5" IsReadOnly="False"/>
<Label x:Name="label_Copy" Content="参数值" Margin="5"/>
<TextBox x:Name="textParamValue" Margin="5"/>
<Button x:Name="btnModify" Content="修改" Width="100" Margin="10" Click="btnModify_Click"/>

9
Plane.FormationCreator/Plane.FormationCreator.csproj
View File

@ -181,6 +181,7 @@
<Compile Include="Formation\FlightTaskManager.cs" />
<Compile Include="Formation\PropertyChangedEventArgs.cs" />
<Compile Include="Formation\FlightTask_TakeOff.cs" />
<Compile Include="Formation\View3DManager.cs" />
<Compile Include="GMap.cs" />
<Compile Include="Maps\MapConverter.cs" />
<Compile Include="ModifyParam.xaml.cs">
@ -190,6 +191,7 @@
<Compile Include="Test.cs" />
<Compile Include="CalculationLogLatDistance.cs" />
<Compile Include="Util\ParamFile.cs" />
<Compile Include="ViewModels\CalibrationViewModel.cs" />
<Compile Include="ViewModels\ConnectViewModel.cs" />
<Compile Include="ViewModels\ControlPanelViewModel.cs" />
<Compile Include="ViewModels\CopterListViewModel.cs" />
@ -199,6 +201,9 @@
<Compile Include="ViewModels\ModiLEDModel.cs" />
<Compile Include="ViewModels\TaskBarViewModel.cs" />
<Compile Include="ViewModels\View3DViewModel.cs" />
<Compile Include="Views\CalibrationWindow.xaml.cs">
<DependentUpon>CalibrationWindow.xaml</DependentUpon>
</Compile>
<Compile Include="Views\ControlPanelView.xaml.cs">
<DependentUpon>ControlPanelView.xaml</DependentUpon>
</Compile>
@ -311,6 +316,10 @@
<SubType>Designer</SubType>
<Generator>MSBuild:Compile</Generator>
</Page>
<Page Include="Views\CalibrationWindow.xaml">
<SubType>Designer</SubType>
<Generator>MSBuild:Compile</Generator>
</Page>
<Page Include="Views\ControlPanelView.xaml">
<SubType>Designer</SubType>
<Generator>MSBuild:Compile</Generator>

2
Plane.FormationCreator/ServiceLocatorConfigurer.cs
View File

@ -33,11 +33,13 @@ namespace Plane.FormationCreator
_container.Register<TaskBarViewModel>();
_container.Register<View3DViewModel>();
_container.Register<ModifyTaskViewModel>();
_container.Register<CalibrationViewModel>();
_container.Register<ILogger>(() => new LocalFileLogger(new DebugLogger()));
_container.Register<CopterManager>();
_container.Register<MapManager>();
_container.Register<View3DManager>();
_container.Register<FlightTaskManager>();
_container.Register<FormationController>();

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

@ -202,6 +202,7 @@ namespace Plane.FormationCreator.ViewModels
{
return _UpdateAllCopterCommand ?? (_UpdateAllCopterCommand = new RelayCommand(async () =>
{
Message.Show("-----开始空中升级------");
await commModule.UpdateCommModule();
}));
}

25
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -19,6 +19,7 @@ using Microsoft.Win32;
using Plane.Util;
using System.Windows.Media;
using Plane.CommunicationManagement;
using Plane.FormationCreator.Views;
namespace Plane.FormationCreator.ViewModels
{
@ -294,11 +295,7 @@ namespace Plane.FormationCreator.ViewModels
{
if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
{
for (int i = 1; i <= 4; i++)
{
await _commModuleManager.MotorTestAsync(i, _copterManager.AcceptingControlCopters);
await Task.Delay(10);
}
await _commModuleManager.MotorTestAsync(_copterManager.AcceptingControlCopters);
}
/*
@ -325,7 +322,7 @@ namespace Plane.FormationCreator.ViewModels
return _GuidAsyncCommand ?? (_GuidAsyncCommand = new RelayCommand(async () =>
{
if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
await _commModuleManager.TakeOffAsync(1);
await _commModuleManager.TakeOffAsync(1, _copterManager.AcceptingControlCopters);
/*
await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(async c =>
{
@ -518,6 +515,22 @@ namespace Plane.FormationCreator.ViewModels
}));
}
}
//打开校准界面
private ICommand _CalibrationSingleCommand;
public ICommand CalibrationSingleCommand
{
get
{
return _CalibrationSingleCommand ?? (_CalibrationSingleCommand = new RelayCommand(async () =>
{
CalibrationWindow calibrationWindow = new CalibrationWindow();
calibrationWindow.ShowDialog();
await Task.Delay(100);
}));
}
}
private ICommand _LoadParamfile;
public ICommand LoadParamfile
{

21
Plane.FormationCreator/ViewModels/CopterListViewModel.cs
View File

@ -15,6 +15,7 @@ using System.Windows.Input;
using System.Threading;
using Plane.Communication;
using Plane.Geography;
using Microsoft.Practices.ServiceLocation;
namespace Plane.FormationCreator.ViewModels
{
@ -56,6 +57,7 @@ namespace Plane.FormationCreator.ViewModels
private CopterManager _copterManager;
private MapManager _mapManager;
private FlightTaskManager _flightTaskManager;
private View3DManager _view3DManager = ServiceLocator.Current.GetInstance<View3DManager>();
public CopterManager CopterManager { get { return _copterManager; } }
@ -128,10 +130,11 @@ namespace Plane.FormationCreator.ViewModels
{
return _AddVirtualCopterCommand ?? (_AddVirtualCopterCommand = new RelayCommand<int>(async addcount =>
{
if (_copterManager.Copters.Count() >= 50)
{
return;
}
//给第三方时候限制数量用
// if (_copterManager.Copters.Count() >= 50)
// {
// return;
// }
var center = _mapManager.Center;
string id;
@ -139,6 +142,11 @@ namespace Plane.FormationCreator.ViewModels
int colnum = _flightTaskManager.ColumnCount; //自动生成列数=4
float coldis = _flightTaskManager.ColumnDistance;//列相距5米
float rowdis = _flightTaskManager.RowDistance;//行相距5米
int orientation = _flightTaskManager.Orientation; //矩阵朝向
int currcol = 0; //当前列号
int currrow = 0; //当前行
Tuple<double, double> colheadLatLng = new Tuple<double, double>(0, 0);
@ -162,12 +170,12 @@ namespace Plane.FormationCreator.ViewModels
else
{
if (currcol < colnum)
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Value.Lat, colLatLng.Value.Lng , 90, currcol * coldis);
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Value.Lat, colLatLng.Value.Lng , orientation + 90, currcol * coldis);
else
{
currrow++;
currcol = 0;
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Value.Lat, colLatLng.Value.Lng, 180, rowdis);
targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Value.Lat, colLatLng.Value.Lng, orientation + 180, rowdis);
colLatLng = new LatLng(targetLatLng.Item1, targetLatLng.Item2);
colheadLatLng = targetLatLng;
@ -245,6 +253,7 @@ namespace Plane.FormationCreator.ViewModels
_copterManager.Copters.Clear();
_copterManager.CopterStatus.Clear();
_mapManager.ClearCopters();
_view3DManager.ClearCopters();
_flightTaskManager.ClearTasks();
//UdpServerConnectionManager.Instance.ClearConnections();
_virtualCopterId = 1;

329
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -14,6 +14,7 @@ using System.Windows.Input;
using Plane.Geography;
using Plane.Windows.Messages;
using System.Windows;
using System.Windows.Media;
namespace Plane.FormationCreator.ViewModels
{
@ -698,25 +699,23 @@ public ICommand VerticlAlignmentCommand
}
public static double CalculateFlyIime(double s, double v)
{
double t;
double a = 1; //加速度1米每秒
double at = v / a;
double a_s = 0.5f * a * at * at;
if (a_s > (s / 2)) //还没到特定速度就到了中点了
{
t = (float)System.Math.Sqrt(s / a) * 2;
}
else
{
t = (s - a_s * 2) / v + at * 2;
}
return t;
}
@ -752,6 +751,8 @@ public ICommand VerticlAlignmentCommand
WGS84,
}
//水平旋转
private ICommand _LevelRotateCommand;
@ -923,6 +924,8 @@ public ICommand VerticlAlignmentCommand
);
}
_flightTaskManager.Orientation += RotateLine;
}
@ -1267,30 +1270,43 @@ public ICommand VerticlAlignmentCommand
}
}
private ICommand _WayPointDistinceCommand;
public ICommand WayPointDistinceCommand
private ICommand _MaxDistinceAndTimeCommand;
public ICommand MaxDistinceAndTimeCommand
{
get
{
return _WayPointDistinceCommand ?? (_WayPointDistinceCommand = new RelayCommand<double>(async =>
return _MaxDistinceAndTimeCommand ?? (_MaxDistinceAndTimeCommand = new RelayCommand<double>(async =>
{
if (_copterManager.AcceptingControlCopters.Count() != 1)
return;
int taskIndex = _flightTaskManager.SelectedTaskIndex;
if (taskIndex != 0 || _flightTaskManager.SelectedTask.TaskType == FlightTaskType.FlyTo)
{
var curCopter = _copterManager.AcceptingControlCopters.First();
if (_copterManager.AcceptingControlCopters.Count() > 0)
{
double maxDistance = 0.0f;
string copterName = "";
double speed = 0.0f;
foreach (var copter in _copterManager.AcceptingControlCopters)
{
var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == curCopter);
var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == curCopter);
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 distance = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
Message.Show($"航点间距 = {distance}");
double time = CalculateFlyIime(maxDistance, speed);
Message.Show($"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}");
}
}
}));
}
}
@ -1298,6 +1314,7 @@ public ICommand VerticlAlignmentCommand
//缩放
private ICommand _ScaleCommand;
public ICommand ScaleCommand
@ -1380,6 +1397,7 @@ public ICommand VerticlAlignmentCommand
}
}
private ICommand _BackToPreviousTaskPoint;
public ICommand BackToPreviousTaskPoint
{
@ -1391,5 +1409,252 @@ public ICommand VerticlAlignmentCommand
}));
}
}
#region 跑马灯参数
private double _BeginTime = 10;
public double BeginTime
{
get { return _BeginTime; }
set { Set(nameof(BeginTime), ref _BeginTime, value); }
}
private double _EndTime = 11;
public double EndTime
{
get { return _EndTime; }
set { Set(nameof(EndTime), ref _EndTime, value); }
}
private double _AverageSum = 10;
public double AverageSum
{
get { return _AverageSum; }
set { Set(nameof(AverageSum), ref _AverageSum, value); }
}
private string _ChangeRGB = "FFFFFF";
public string ChangeRGB
{
get { return _ChangeRGB; }
set { Set(nameof(ChangeRGB), ref _ChangeRGB, value); }
}
private string _EndRGB = "";
public string EndRGB
{
get { return _EndRGB; }
set { Set(nameof(EndRGB), ref _EndRGB, value); }
}
#endregion
//跑马灯--按照经纬度变换灯光
private ICommand _SetHorseRaceLampCommand;
public ICommand SetHorseRaceLampCommand
{
get
{
return _SetHorseRaceLampCommand ?? (_SetHorseRaceLampCommand = new RelayCommand(async () =>
{
if (_copterManager.SelectedCopters.Count() <= 0)
return;
double minLat, maxLat;
double minLng, maxLng;
//所以选中飞行当前任务信息
var selectCopterInfos = _flightTaskManager.SelectedTask.SingleCopterInfos.FindAll(delegate (FlightTaskSingleCopterInfo p)
{
return _copterManager.SelectedCopters.Contains(p.Copter);
});
minLat = selectCopterInfos.Min(c => c.TargetLat);
maxLat = selectCopterInfos.Max(c => c.TargetLat);
minLng = selectCopterInfos.Min(c => c.TargetLng);
maxLng = selectCopterInfos.Max(c => c.TargetLng);
double averagelngCount = maxLng - minLng;
foreach (var copterInfo in selectCopterInfos)
{
double interval = copterInfo.TargetLng - minLng;
int time = (int)(interval / (averagelngCount / AverageSum));
LEDInfo led = new LEDInfo();
led.LEDMode = 0;
led.Delay = BeginTime + time * (EndTime - BeginTime) / AverageSum;
led.LEDRGB = ChangeRGB;
copterInfo.AddLEDInfo(led);
//跑马灯变化后改变颜色 效果类似灯带
if (EndRGB != "")
{
LEDInfo endLed = new LEDInfo();
endLed.LEDMode = 0;
endLed.Delay = BeginTime + (time + 1) * (EndTime - BeginTime) / AverageSum;
endLed.LEDRGB = EndRGB;
copterInfo.AddLEDInfo(endLed);
}
}
await Task.Delay(100);
}));
}
}
private double _StrokesTime = 10;
public double StrokesTime
{
get { return _StrokesTime; }
set { Set(nameof(StrokesTime), ref _StrokesTime, value); }
}
private double _IntervalTime = 0.1;
public double IntervalTime
{
get { return _IntervalTime; }
set { Set(nameof(IntervalTime), ref _IntervalTime, value); }
}
private double _SingleNum = 1;
public double SingleNum
{
get { return _SingleNum; }
set { Set(nameof(SingleNum), ref _SingleNum, value); }
}
private string _StrokesRGB = "FFFFFF";
public string StrokesRGB
{
get { return _StrokesRGB; }
set { Set(nameof(StrokesRGB), ref _StrokesRGB, value); }
}
//跑马灯(笔画顺序用)--按照选择航点顺序变换灯光
private ICommand _SetStrokesLampCommamd;
public ICommand SetStrokesLampCommamd
{
get
{
return _SetStrokesLampCommamd ?? (_SetStrokesLampCommamd = new RelayCommand(async () =>
{
if (_copterManager.SelectedCopters.Count() <= 0)
return;
double curTime = StrokesTime;
int curcount = 1;
foreach (var copter in _copterManager.SelectedCopters)
{
if (curcount > SingleNum)
{
curTime += IntervalTime;
curcount = 1;
}
var copterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos.FirstOrDefault(c=>c.Copter == copter);
LEDInfo led = new LEDInfo();
led.LEDMode = 0;
led.Delay = curTime;
led.LEDRGB = StrokesRGB;
copterInfo.AddLEDInfo(led);
curcount++;
}
await Task.Delay(100);
}));
}
}
#region 渐变灯参数
private double _GradientRampTime = 10;
public double GradientRampTime
{
get { return _GradientRampTime; }
set { Set(nameof(GradientRampTime), ref _GradientRampTime, value); }
}
private string _RightRGB = "FFFFFF";
public string RightRGB
{
get { return _RightRGB; }
set { Set(nameof(RightRGB), ref _RightRGB, value); }
}
private string _LeftRGB = "FFFFFF";
public string LeftRGB
{
get { return _LeftRGB; }
set { Set(nameof(LeftRGB), ref _LeftRGB, value); }
}
#endregion
//渐变色
private ICommand _SetGradientRampCommand;
public ICommand SetGradientRampCommand
{
get
{
return _SetGradientRampCommand ?? (_SetGradientRampCommand = new RelayCommand(async () =>
{
if (_copterManager.SelectedCopters.Count() <= 0)
return;
double minLat, maxLat;
double minLng, maxLng;
//所以选中飞行当前任务信息
var selectCopterInfos = _flightTaskManager.SelectedTask.SingleCopterInfos.FindAll(delegate (FlightTaskSingleCopterInfo p)
{
return _copterManager.SelectedCopters.Contains(p.Copter);
});
minLat = selectCopterInfos.Min(c => c.TargetLat);
maxLat = selectCopterInfos.Max(c => c.TargetLat);
minLng = selectCopterInfos.Min(c => c.TargetLng);
maxLng = selectCopterInfos.Max(c => c.TargetLng);
double averagelngCount = maxLng - minLng;
Color rightColor = (Color)ColorConverter.ConvertFromString("#" + RightRGB);
Color leftColor = (Color)ColorConverter.ConvertFromString("#" + LeftRGB);
int diffR = rightColor.R - leftColor.R;
int diffG = rightColor.G - leftColor.G;
int diffB = rightColor.B - leftColor.B;
foreach (var copterInfo in selectCopterInfos)
{
double interval = copterInfo.TargetLng - minLng;
double percent = (interval / averagelngCount );
int R = (int)(diffR * percent) + leftColor.R;
int G = (int)(diffG * percent) + leftColor.G;
int B = (int)(diffB * percent) + leftColor.B;
Color c = Color.FromRgb((byte)R, (byte)G, (byte)B);
LEDInfo led = new LEDInfo();
led.LEDMode = 0;
led.Delay = GradientRampTime;
//led.LEDRGB = Convert.ToString(R, 16) + Convert.ToString(G, 16) + Convert.ToString(B, 16);
led.LEDRGB = R.ToString("X2") + G.ToString("X2") + B.ToString("X2");
copterInfo.AddLEDInfo(led);
}
await Task.Delay(100);
}));
}
}
}
}

179
Plane.FormationCreator/ViewModels/View3DViewModel.cs
View File

@ -1,10 +1,15 @@
using GalaSoft.MvvmLight;
using GalaSoft.MvvmLight.Command;
using HelixToolkit.Wpf;
using Microsoft.Practices.ServiceLocation;
using Plane.Collections;
using Plane.Copters;
using Plane.FormationCreator.Formation;
using Plane.Geography;
using Plane.Windows.Messages;
using System;
using System.Collections.Generic;
using System.Collections.Specialized;
using System.ComponentModel;
using System.Linq;
using System.Text;
@ -18,17 +23,25 @@ namespace Plane.FormationCreator.ViewModels
public class View3DViewModel : ViewModelBase
{
private FlightTaskManager _flightTaskManager;
private CopterManager _copterManager;
public View3DViewModel(FlightTaskManager flightTaskManager)
private View3DManager _view3DManager = ServiceLocator.Current.GetInstance<View3DManager>();
public View3DViewModel(FlightTaskManager flightTaskManager, CopterManager copterManager)
{
modelGroup = new Model3DGroup();
planeGroup = new Model3DGroup();
waypointGroup = new Model3DGroup();
modelGroup.Children.Add(planeGroup);
modelGroup.Children.Add(waypointGroup);
modelGroup.Children.Add(planeGroup);
this.Model = modelGroup;
_flightTaskManager = flightTaskManager;
_copterManager = copterManager;
_flightTaskManager.PropertyChanged += new PropertyChangedEventHandler(flightTaskPropertyChanged);
_view3DManager._view3DViewModel = this;
_copterManager.Copters.CollectionChanged += Copters_CollectionChanged;
}
private void flightTaskPropertyChanged(object sender, PropertyChangedEventArgs e)
@ -43,32 +56,174 @@ namespace Plane.FormationCreator.ViewModels
}
}
private void Copters_CollectionChanged(object sender, NotifyCollectionChangedEventArgs e)
{
e.OldItems?.ForEach<ICopter>(async copter =>
{
copter.LocationChanged -= Copter_LocationChanged;
await Task.Delay(100); // 如果不等待一段时间，Copter_DataStreamReceived 很可能再被调用一次。
Remove3DCopter(copter);
});
e.NewItems?.ForEach<ICopter>(copter => copter.LocationChanged += Copter_LocationChanged);
}
private void Remove3DCopter(ICopter copter)
{
if (planeModel3Ds.ContainsKey(copter))
{
GeometryModel3D panle3D = planeModel3Ds[copter];
planeGroup.Children.Remove(panle3D);
planeModel3Ds.Remove(copter);
panle3D = null;
}
}
public void Clear3DCopters()
{
planeModel3Ds.Clear();
planeGroup.Children.Clear();
observationLatLng = null;
}
private void Copter_LocationChanged(object sender, EventArgs e)
{
var copter = sender as ICopter;
if (App.Current.CheckAccess())
{
AddOrMove3DCopter(copter);
}
else
{
App.Current.Dispatcher.InvokeAsync(() => AddOrMove3DCopter(copter));
}
}
private Dictionary<ICopter, GeometryModel3D> planeModel3Ds = new Dictionary<ICopter, GeometryModel3D>();
Tuple<double, double> observationLatLng = null;
private void AddOrMove3DCopter(ICopter copter)
{
var copternum1 = _copterManager.Copters.FirstOrDefault();
//第一列到中间的距离
float midColDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
if (observationLatLng == null)
{
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
copternum1.Latitude,
copternum1.Longitude,
_flightTaskManager.Orientation + 90,
midColDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1,
observationLatLng.Item2,
_flightTaskManager.Orientation + 180,
midColDistance * 2);
}
if (!planeModel3Ds.ContainsKey(copter))
{
//观测点的位置放到最后排飞机的中间位置
var meshBuilderwaypoint = new MeshBuilder(false, false);
//meshBuilderwaypoint.AddTriangle(new Point3D(-0.1, -0.1, 0), new Point3D(0.1, -0.1, 0), new Point3D(0, 0.2, 0));
meshBuilderwaypoint.AddSphere(new Point3D(0, 0, 0), 0.2);
var meshwaypoint = meshBuilderwaypoint.ToMesh(true);
double y = GeographyUtils.CalcDistance(0, observationLatLng.Item1, 0, 0, copter.Latitude, 0) / 2;
if (observationLatLng.Item1 > copter.Latitude) y = -y;
double x = GeographyUtils.CalcDistance(observationLatLng.Item2, 0, 0, copter.Longitude, 0, 0) / 2;
if (observationLatLng.Item2 > copter.Longitude) x = -x;
var model3D = new GeometryModel3D
{
Geometry = meshwaypoint,
Transform = new TranslateTransform3D(x, y, copter.Altitude + 0.1),
Material = MaterialHelper.CreateMaterial(Color.FromRgb(238, 210, 238)),
BackMaterial = MaterialHelper.CreateMaterial(Color.FromRgb(238, 210, 238))
};
planeModel3Ds.Add(copter, model3D);
planeGroup.Children.Add(model3D);
}
else
{
double y = GeographyUtils.CalcDistance(0, observationLatLng.Item1, 0, 0, copter.Latitude, 0) / 2;
if (observationLatLng.Item1 > copter.Latitude) y = -y;
double x = GeographyUtils.CalcDistance(observationLatLng.Item2, 0, 0, copter.Longitude, 0, 0) / 2;
if (observationLatLng.Item2 > copter.Longitude) x = -x;
//保留小数后2位，精确到1cm
x = Math.Round(x, 2);//按照四舍五入的国际标准
y = Math.Round(y, 2);
double z = Math.Round(copter.Altitude / 2, 2);
GeometryModel3D panle3D = planeModel3Ds[copter];
if (x != panle3D.Transform.Value.OffsetX || y != panle3D.Transform.Value.OffsetY || z != panle3D.Transform.Value.OffsetZ)
{
panle3D.Transform = new TranslateTransform3D(x, y, z);
}
if (copter.LEDColor != null && copter.LEDColor != "")
{
Color color = (Color)ColorConverter.ConvertFromString("#" + copter.LEDColor);
panle3D.Material = MaterialHelper.CreateMaterial(color);
panle3D.BackMaterial = MaterialHelper.CreateMaterial(color);
}
}
//Message.Show("添加3D飞机：" + copter.Name);
}
private void SelectTask()
{
if (waypointGroup == null) waypointGroup = new Model3DGroup();
waypointGroup.Children.Clear();
if (_flightTaskManager.SelectedTaskIndex > 0)
{
//观测点的位置放到最后排飞机的中间位置
Tuple<double, double> observationLatLng;
//列的中间位置
float midDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat, _flightTaskManager.OriginLng, _flightTaskManager.Orientation + 90, midDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1, observationLatLng.Item2, _flightTaskManager.Orientation + 180, midDistance * 2);
//modelGroup.Children.Clear();
if (waypointGroup == null) waypointGroup = new Model3DGroup();
waypointGroup.Children.Clear();
var meshBuilderwaypoint = new MeshBuilder(false, false);
meshBuilderwaypoint.AddSphere(new Point3D(0, 0, 0), 0.3);
meshBuilderwaypoint.AddSphere(new Point3D(0, 0, 0), 0.2);
var meshwaypoint = meshBuilderwaypoint.ToMesh(true);
var greenMaterial = MaterialHelper.CreateMaterial(Color.FromRgb(0,255,0));
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.Tasks[_flightTaskManager.SelectedTaskIndex].SingleCopterInfos)
{
double x = GeographyUtils.CalcDistance(_flightTaskManager.OriginLng, 0, 0, info.TargetLng, 0, 0);
if (_flightTaskManager.OriginLng > info.TargetLng) x = -x;
double y = GeographyUtils.CalcDistance(0, _flightTaskManager.OriginLat, 0, 0, info.TargetLat, 0);
if (_flightTaskManager.OriginLat > info.TargetLat) y = -y;
double y = GeographyUtils.CalcDistance(0, observationLatLng.Item1, 0, 0, info.TargetLat, 0)/2;
if (observationLatLng.Item1 > info.TargetLat) y = -y;
double x = GeographyUtils.CalcDistance(observationLatLng.Item2, 0, 0, info.TargetLng, 0, 0)/2;
if (observationLatLng.Item2 > info.TargetLng) x = -x;
waypointGroup.Children.Add(new GeometryModel3D
{
Geometry = meshwaypoint,
Transform = new TranslateTransform3D(x, y, info.TargetAlt),
Transform = new TranslateTransform3D(x, y, info.TargetAlt/2),
Material = greenMaterial,
BackMaterial = greenMaterial
});

12
Plane.FormationCreator/Views/ConnectWindow.xaml
View File

@ -85,7 +85,7 @@
Visibility="Collapsed"
Text="{Binding IPs, UpdateSourceTrigger=PropertyChanged}" />
<StackPanel Orientation="Horizontal" Visibility="Collapsed"
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Center"
Grid.Row="1"
Grid.ColumnSpan="3">
@ -125,7 +125,7 @@
CommandParameter="UDP" />-->
<Button Content="关闭TCP" Margin="5" Command="{Binding CloseCommand}"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Visibility="Collapsed"
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Center"
Grid.Row="2"
Grid.ColumnSpan="3">
@ -140,12 +140,12 @@
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" Visibility="Collapsed" Margin="5" Command="{Binding CommDataAsync}"/>
<Button Content="搜索飞机" Visibility="Collapsed" Margin="5" Command="{Binding QueryAllCopterCommand}"/>
<Button Content=" 对频 " Margin="5,5,0,5" Command="{Binding Path=WriteIdCommand}" />
<Button Content="闪灯" Margin="5" Command="{Binding CommDataAsync}"/>
<Button Content="搜索飞机" Margin="5" Command="{Binding QueryAllCopterCommand}"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Visibility="Collapsed"
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Center"
Grid.Row="4"
Grid.ColumnSpan="3">

15
Plane.FormationCreator/Views/ControlPanelView.xaml
View File

@ -40,14 +40,16 @@
Command="{Binding GuidAsyncCommand}" />
<Button Content="悬停"
Command="{Binding HoverCommand}" />
<Button Content="手动" Visibility="Collapsed"
<Button Content="手动"
Command="{Binding FloatCommand}" />
<Button Content="参数"
Command="{Binding ParamModify}" />
<Button Content="参数文件" Visibility="Collapsed"
Command="{Binding LoadParamfile}" />
<Button Content="版本" Visibility="Collapsed"
<Button Content="版本"
Command="{Binding GetVersionsCommand}" />
<Button Content="校准"
Command="{Binding CalibrationSingleCommand}" />
</WrapPanel>
<WrapPanel>
<Button Content="返航"
@ -62,14 +64,14 @@
Command="{Binding LEDFlickerCommand}" />
<Button Content="测试" Visibility="Collapsed"
Command="{Binding TestCommand}" />
<Button Content="开灯" Visibility="Collapsed"
<Button Content="开灯"
Command="{Binding LEDOnOffCommand}"
CommandParameter="0"/>
<Button Content="关灯" Visibility="Collapsed"
<Button Content="关灯"
Command="{Binding LEDOnOffCommand}"
CommandParameter="1"/>
<Button Content="电机"
Visibility="Collapsed"
Command="{Binding MotorTestCommand}" />
<TextBox Width="50"
@ -77,9 +79,10 @@
Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
</WrapPanel>
<WrapPanel>
<Button Content="选写航点"
Command="{Binding WriteMissionSingleCommand}" />
<Button Content="统计模块" Visibility="Collapsed"
<Button Content="统计模块"
Command="{Binding DetectionCommModuleVersion}" />
</WrapPanel>
<Separator/>

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

@ -215,7 +215,8 @@ namespace Plane.FormationCreator.Views
if (rectangleMarker != null && gmap.Markers.Contains(rectangleMarker))
{
gmap.Markers.Remove(rectangleMarker);
_copterManager.Select(null);
if (!_copterManager.shiftkeydown)
_copterManager.Select(null);
if (_flightTaskManager.SelectedTask != null && _flightTaskManager.SelectedTask.TaskType != FlightTaskType.TakeOff)
{
_copterManager.shiftkeydown = true;
@ -233,6 +234,7 @@ namespace Plane.FormationCreator.Views
}
_copterManager.shiftkeydown = false;
}
}
rectangle = null;
rectangleMarker = null;

26
Plane.FormationCreator/Views/MapView_CopterDrawing.cs
View File

@ -40,6 +40,8 @@ namespace Plane.FormationCreator.Views
_brush = new SolidColorBrush(_color);
}
_brush = new SolidColorBrush(Color.FromRgb(45,45,45));
_flightTaskManager.TasksCleared += (sender, e) =>
{
Route.Points.Clear();
@ -102,7 +104,7 @@ namespace Plane.FormationCreator.Views
GoogleMap.GMap _map;
Color _color;
Brush _brush;
public Brush _brush;
ILogger _logger = ServiceLocator.Current.GetInstance<ILogger>();
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
@ -139,7 +141,19 @@ namespace Plane.FormationCreator.Views
this.Dot.Fill = new SolidColorBrush(Color.FromRgb(0, 0, 0));
else
this.Dot.Fill = _brush;
if (Copter.LEDColor != null && Copter.LEDColor!="")
{
Color color = (Color)ColorConverter.ConvertFromString("#" + Copter.LEDColor);
_brush = new SolidColorBrush(color);
if (this.Dot.Fill != _brush)
{
this.Dot.Fill = _brush;
}
}
}
PointLatLng gmapLatLng = new LatLng(location.Latitude, location.Longitude).ToGCJ02();
GPoint center = _map.FromLatLngToLocal(gmapLatLng);
@ -259,6 +273,14 @@ namespace Plane.FormationCreator.Views
}
}
public void ChangeBrush(string RGB)
{
//Color color = (Color)ColorConverter.ConvertFromString("#" + RGB);
//_brush = new SolidColorBrush(Color.FromRgb(255, 0, 255));
//this.Dot.Fill = _brush;
}
public void AddWaypoint(Location location, FlightTaskType type)
{
// Add waypoint.
@ -593,7 +615,7 @@ namespace Plane.FormationCreator.Views
mark.Height = 6;
mark.HorizontalAlignment = HorizontalAlignment.Left;
mark.VerticalAlignment = VerticalAlignment.Top;
mark.Fill = new SolidColorBrush(Colors.Black);
mark.Fill = new SolidColorBrush(Colors.GreenYellow);
this.Children.Add(mark);
mark.Visibility = Visibility.Hidden;

80
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -6,9 +6,8 @@
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
xmlns:vm="clr-namespace:Plane.FormationCreator.ViewModels"
xmlns:m="clr-namespace:Plane.FormationCreator.Formation"
mc:Ignorable="d"
d:DesignWidth="300" Height="420">
<TabControl Margin="0,0,-120,-11">
mc:Ignorable="d" Height="420" Width="Auto" MinWidth="350">
<TabControl Margin="0,0,0,0">
<TabItem Header="航点设计">
<TabControl SelectedIndex="{Binding FlightTaskManager.SelectedTask.TaskTypeIndex,UpdateSourceTrigger=PropertyChanged}">
@ -29,7 +28,7 @@
</StackPanel.Resources>
<TextBlock Margin="5" Text="起飞任务"/>
<Separator/>
<StackPanel>
<StackPanel Visibility="Collapsed">
<TextBlock Text="起飞数量：" Margin="5,10,5,0" />
<TextBox x:Name="txttakeoff"
@ -55,7 +54,7 @@
<Button Content="应用所选" Margin="5" Grid.Column="3"
Command="{Binding SetSelTakeOffWaitCommand}"/>
</Grid>
</StackPanel>
</TabItem>
<TabItem Header="航点">
@ -70,7 +69,7 @@
<Button Content="导入航点" Command="{Binding ImportWayPointCommand}" />
<Button Content="优化路线" Command="{Binding OptimizeRouteCommand}" />
</StackPanel>
<Separator Margin="0,1"/>
<StackPanel>
<Button Content="上边对齐"
@ -132,10 +131,9 @@
<Button Content="最小距离"
Margin="0,5,5,0"
Command="{Binding calDistinceCommand}"/>
<Button Content="航点间距"
Margin="0,5,5,0"
Command="{Binding WayPointDistinceCommand}"/>
<Button Content="最长航距"
Margin="0,5,5,0"
Command="{Binding MaxDistinceAndTimeCommand}"/>
<Button Content="前一高度"
Margin="0,5,5,0"
Command="{Binding PrealtCommand}" />
@ -161,6 +159,7 @@
HorizontalContentAlignment="Right"
Text="{Binding directionvalue, UpdateSourceTrigger=PropertyChanged}"/>
<TextBlock Text="度" Margin="0, 10, 5, 0"/>
</StackPanel>
<Separator Margin="0,2" />
@ -221,7 +220,7 @@
<CheckBox Content="返航点" ToolTip="勾选后航点仅高度有用，经纬度无效，无视原点自动飞回起飞点" Margin="0,2,0,0" IsChecked="{Binding IsLandWaypoint,UpdateSourceTrigger=PropertyChanged}" />
<Button Content="应用到所选" Margin="0,2,0,0" Command="{Binding SetIsLandCommand}" Grid.Column="1"/>
</Grid>
<Separator/>
<Grid Margin="0,2"
@ -230,7 +229,7 @@
<Grid.ColumnDefinitions>
<ColumnDefinition/>
<ColumnDefinition/>
</Grid.ColumnDefinitions>
<Grid.RowDefinitions>
<RowDefinition/>
@ -250,7 +249,7 @@
Text="{Binding DownSpeed, UpdateSourceTrigger=PropertyChanged}"/>
</StackPanel>
<Button Content="应用到所选" Grid.Row="1" Grid.Column="1" Command="{Binding SetIsChangeCommand}"/>
</Grid>
</StackPanel>
</TabItem>
@ -273,11 +272,11 @@
<ColumnDefinition/>
</Grid.ColumnDefinitions>
<TextBlock Margin="5" Text="降落延时"/>
<TextBox Margin="5" Grid.Column="2"
Text="{Binding LandWaitTime, UpdateSourceTrigger=PropertyChanged}"/>
<Button Content="应用所选" Command="{Binding SetSelLandWaitTimeCommand}" Grid.Column="3"/>
</Grid>
</StackPanel>
@ -286,20 +285,50 @@
</TabItem>
<TabItem Header="灯光设计">
<StackPanel DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}">
<StackPanel Visibility="Collapsed">
<TextBlock Margin="5,5,0,0" Text="跑马灯"/>
<StackPanel >
<StackPanel >
<StackPanel Orientation="Horizontal" Margin="0,5,0,5" >
<TextBlock Margin="5,7,0,0" Text="起始时间"/>
<TextBox Margin="5,5,0,3" Width="30" Text="{Binding BeginTime}"/>
<TextBlock Margin="5,7,0,0" Text="结束时间"/>
<TextBox Margin="5,5,0,3" Width="30" Text="{Binding EndTime}"/>
<TextBlock Margin="5,7,0,0" Text="分层"/>
<TextBox Margin="5,5,0,3" Width="30" Text="{Binding AverageSum}"/>
<TextBlock Margin="5,7,0,0" Text="变换颜色"/>
<TextBox Margin="5,5,0,3" Width="60" Text="{Binding ChangeRGB}"/>
<TextBlock Margin="5,7,0,0" Text="结束颜色"/>
<TextBox Margin="5,5,0,3" Width="60" Text="{Binding EndRGB}"/>
</StackPanel>
<Grid >
<StackPanel Orientation="Horizontal">
<TextBlock Margin="5,7,0,0" Text="起始时间"/>
<TextBox Margin="5,5,0,3" Width="30" Text="{Binding StrokesTime}"/>
<TextBlock Margin="5,7,0,0" Text="频率•"/>
<TextBox Margin="5,5,0,3" Width="30" Text="{Binding IntervalTime}"/>
<TextBlock Margin="5,7,0,0" Text="œ˜变换数量"/>
<TextBox Margin="5,5,0,3" Width="30" Text="{Binding SingleNum}"/>
<TextBlock Margin="5,7,0,0" Text="颜色"/>
<TextBox Margin="5,5,0,3" Width="60" Text="{Binding StrokesRGB}"/>
<Button Width="70" Content="灯光"
Command="{Binding SetStrokesLampCommamd}" HorizontalAlignment="Right"/>
</StackPanel>
<Button Width="80" Content="跑马灯"
Command="{Binding SetHorseRaceLampCommand}" HorizontalAlignment="Right"/>
</Grid>
<Separator/>
<StackPanel Orientation="Horizontal">
<TextBlock Margin="5,5,0,0" Text="起始时间"/>
<TextBox Margin="5,3,0,3" Width="50"/>
<TextBlock Margin="10,5,0,0" Text="结束时间"/>
<TextBox Margin="5,3,0,3" Width="50" />
<TextBlock Margin="10,5,0,0" Text="等分数量"/>
<TextBox Margin="5,3,0,3" Width="50" />
<Button Margin="10,3,0,3" Width="80" Content="设置"/>
<TextBlock Margin="5,7,0,0" Text="时间"/>
<TextBox Margin="5,5,0,3" Width="30" Text="{Binding GradientRampTime}"/>
<TextBlock Margin="5,7,0,0" Text="起始色"/>
<TextBox Margin="5,5,0,3" Width="60" Text="{Binding LeftRGB}"/>
<TextBlock Margin="5,7,0,0" Text="结束色"/>
<TextBox Margin="5,5,0,3" Width="60" Text="{Binding RightRGB}"/>
<Button Margin="10,5,0,3" Width="120" Content="设置渐变灯"
Command="{Binding SetGradientRampCommand}" />
</StackPanel>
<Separator/>
</StackPanel>
<StackPanel DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}">
<Grid >
<Grid.ColumnDefinitions>
<ColumnDefinition/>
@ -393,6 +422,7 @@
</ItemsControl>
</StackPanel>
</StackPanel>
</TabItem>
</TabControl>

12
Plane.FormationCreator/Views/View3D.xaml.cs
View File

@ -26,6 +26,7 @@ namespace Plane.FormationCreator.Views
public partial class View3D : UserControl
{
private FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
private View3DViewModel _view3DManager = ServiceLocator.Current.GetInstance<View3DViewModel>();
public View3D()
{
InitializeComponent();
@ -35,10 +36,11 @@ namespace Plane.FormationCreator.Views
camera.LookDirection = new Vector3D(0, 1, 0);
camera.UpDirection = new Vector3D(0, 0, 1);
camera.FieldOfView = 120;
this.DataContext = ServiceLocator.Current.GetInstance<View3DViewModel>();
view3d.ShowCameraInfo = true;
view3d.ShowFieldOfView = true;
_flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
_view3DManager = ServiceLocator.Current.GetInstance<View3DViewModel>();
this.DataContext = _view3DManager;
//view3d.ShowCameraInfo = true;
//view3d.ShowFieldOfView = true;
}
@ -55,6 +57,8 @@ namespace Plane.FormationCreator.Views
camera.LookDirection = new Vector3D(0, 1, 0);
camera.UpDirection = new Vector3D(0, 0, 1);
camera.FieldOfView = 120;
_view3DManager.Clear3DCopters();
}
}
}