自动生成航点和飞机按方阵生成

限制卫星地图放大最大为19级
飞行航线和实际航线默认不显示，增加显示选项
可导入某些步骤

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -201,15 +201,46 @@ namespace Plane.FormationCreator.Formation
                 if (nullableCenter == null) return;
                 var center = nullableCenter.Value;
                 var newTask = new FlightTask(FlightTaskType.FlyTo);
+                int coptindex = 0;
+
+                int colnum = 5; //自动生成列数=4
+                float coldis = 5;//列相距5米
+                float rowdis = 5;//行相距5米
+                float matrixdis = 20; //生成方阵距离30米
+
+
+                int currcol = 0; //当前列号
+                int currrow = 0; //当前行
+                Tuple<double,double> colLatLng = new Tuple<double, double>(0, 0);
+                Tuple<double, double> targetLatLng = new Tuple<double, double>(0, 0);
+                FlightTaskSingleCopterInfo lastSingleCopterInfo =null;
                 foreach (var copter in copters)
                 {
-                    var lastSingleCopterInfo = lastTask.SingleCopterInfos.Find(info => info.Copter == copter);
+                    if (coptindex == 0)
-                    var direction = GeographyUtils.CalcDirection2D(center.Lat, center.Lng, lastSingleCopterInfo.TargetLat, lastSingleCopterInfo.TargetLng);
+                    {
-                    var targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(lastSingleCopterInfo.TargetLat, lastSingleCopterInfo.TargetLng, (float)GeographyUtils.RadToDeg(direction), 5);
+                        lastSingleCopterInfo = lastTask.SingleCopterInfos.Find(info => info.Copter == copter);
-                    var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, targetLatLng.Item1, targetLatLng.Item2, lastSingleCopterInfo.TargetAlt,true);
+                        targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(lastSingleCopterInfo.TargetLat, lastSingleCopterInfo.TargetLng, 0, matrixdis);
+                        colLatLng = targetLatLng;
+                       }
+                    else
+                    {
+                        if (currcol < colnum)
+                            targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Item1, colLatLng.Item2, 90, currcol* coldis);
+                        else
+                        {
+                            currrow++;
+                            currcol = 0;
+                            targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Item1, colLatLng.Item2, 180, rowdis);
+                            colLatLng = targetLatLng;
+                       }
+                    }
+                    currcol++;
+                    coptindex++;
+                    var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, targetLatLng.Item1, targetLatLng.Item2, lastSingleCopterInfo.TargetAlt, true);
                     newSingleCopterInfo.TargetHeading = lastSingleCopterInfo.TargetHeading;
                     newSingleCopterInfo.CenterDirectionDeg = lastSingleCopterInfo.TargetHeading;
                     newTask.SingleCopterInfos.Add(newSingleCopterInfo);
+                   
                 }
                 Tasks.Add(newTask);
                 try
@@ -633,6 +664,49 @@ namespace Plane.FormationCreator.Formation
             return JsonConvert.SerializeObject(tasks);
         }
 
+
+        public void ImportTasksindex(string tasksText,int startindex,int endindex)
+        {
+            dynamic tasks = JsonConvert.DeserializeObject(tasksText);
+            var copters = _copterManager.Copters;
+            int i=1;
+            foreach (var task in tasks)
+            {
+                if ((i >= startindex)&& (i <= endindex))
+                {
+                    switch ((FlightTaskType)task.type)
+                    {
+                        case FlightTaskType.TakeOff:
+                            // AddTakeOffTask(copters);        // added by ZJF
+                           // TakeOffNumAttr = task.takeoffnumber;
+                            break;
+                        case FlightTaskType.FlyTo:
+                            RestoreFlyToTask((bool)task.staggerRoutes, task.singleCopterInfos);
+                            break;
+                        case FlightTaskType.Turn:
+                            RestoreTurnTask(task.singleCopterInfos);
+                            break;
+                        case FlightTaskType.Circle:
+                            RestoreCircleTask(task.singleCopterInfos);
+                            break;
+                        case FlightTaskType.Loiter:
+                            RestoreLoiterTimeTask((float)task.loiterTimeAttr, (bool)task.flashCheck, (float)task.flashCheckPeriod,
+                                (bool)task.oneByOneCheck, (float)task.oneByOneCheckPeriod, (string)task.flashNameArray,
+                                (string)task.flashIndexArray, (bool)task.ChangeYaw, (float)task.HeadYaw, task.singleCopterInfos);
+
+                            break;
+                        case FlightTaskType.SimpleCircle:
+                            RestoreSimpleCircleTask(task.singleCopterInfos);
+                            break;
+                        case FlightTaskType.ReturnToLand:
+                           // RestoreReturnToLandTask(copters, (int)task.retnumber, (int)task.rtlalt);
+                            break;
+                    }
+                }
+                i++;
+            }
+        }
+
         public void ImportTasks(string tasksText)
         {
             dynamic tasks = JsonConvert.DeserializeObject(tasksText);

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -525,7 +525,6 @@ namespace Plane.FormationCreator.Formation
                     tasks[i] = await Task.Factory.StartNew(async () =>
                     {
                         var internalInfo = info;
-                        await info.Copter.SetShowLEDAsync(info.FlytoShowLED);
                           //if (i1 > 0)
                         //{
                         //    var prevCopter = infos[i1 - 1].Copter;
@@ -645,6 +644,7 @@ namespace Plane.FormationCreator.Formation
             if ((bool)_copterManager.CopterStatus[copterIndex])
                 return;
 
+            await info.Copter.SetShowLEDAsync(info.FlytoShowLED);
             DateTime dtNow = DateTime.Now;
             DateTime dtLastTime = DateTime.Now;
             TimeSpan ts = dtNow - dtLastTime;

Plane.FormationCreator/MainWindow.xaml

@@ -70,8 +70,8 @@
 
         <Grid Margin="10,20,10,10">
             <Grid.ColumnDefinitions>
-                <ColumnDefinition Width="75*" />
+                <ColumnDefinition Width="73*" />
-                <ColumnDefinition Width="25*" MinWidth="360" />
+                <ColumnDefinition Width="27*" MinWidth="360" />
             </Grid.ColumnDefinitions>
 
             <Grid Margin="0,0,10,0"

Plane.FormationCreator/MainWindow.xaml.cs

@@ -140,6 +140,12 @@ namespace Plane.FormationCreator
                                 }
                                 if (copterisselect)
                                 {
+                                   // double tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                                            
+                                  //  int tmplat = (int)(tlat * 100000);
+                                   // tlat = (float)(tmplat * 1.0) / 100000;
+                                   // _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = tlat;
+
                                     _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat+= e.Key == Key.W ? 0.00001 : -0.00001;
                                 }
                             }
@@ -185,6 +191,11 @@ namespace Plane.FormationCreator
                                 }
                                 if (copterisselect)
                                 {
+                                 //   double tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
+                                 //   int tmplng = (int)(tlng * 100000);
+                                  //  tlng = (float)(tmplng * 1.0) / 100000;
+                                 //   _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = tlng;
+
 
                                     _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng += e.Key == Key.D ? 0.00001 : -0.00001;
 

Plane.FormationCreator/ViewModels/CopterListViewModel.cs

@@ -14,6 +14,7 @@ using System.Windows;
 using System.Windows.Input;
 using System.Threading;
 using Plane.Communication;
+using Plane.Geography;
 
 namespace Plane.FormationCreator.ViewModels
 {
@@ -52,13 +53,71 @@ namespace Plane.FormationCreator.ViewModels
                 {
                     var center = _mapManager.Center;
                     string id;
+
+                    int colnum = 5; //自动生成列数=4
+                    float coldis = 5;//列相距5米
+                    float rowdis = 5;//行相距5米
+                    int currcol = 0; //当前列号
+                    int currrow = 0; //当前行
+                    Tuple<double, double> colheadLatLng = new Tuple<double, double>(0, 0);
+                    Tuple<double, double> targetLatLng = new Tuple<double, double>(0, 0);
+
+                    LatLng? colLatLng = new LatLng(center.Lat, center.Lng); ;
+
                     for (int i = 0; i < addcount; ++i, ++_virtualCopterId)
                     {
                         id = _virtualCopterId.ToString();
-                        _lastVirtualCopterLocation =
+
+
+ 
+                        if (i == 0)
+                        {
+                            _lastVirtualCopterLocation = new LatLng(center.Lat, center.Lng);
+
+                            colLatLng =  _lastVirtualCopterLocation;
+
+
+
+                        }
+                        else
+                        {
+                            if (currcol < colnum)
+                                targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Value.Lat, colLatLng.Value.Lng , 90, currcol * coldis);
+                            else
+                            {
+                                currrow++;
+                                currcol = 0;
+                                targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Value.Lat, colLatLng.Value.Lng, 180, rowdis);
+                                colLatLng = new LatLng(targetLatLng.Item1, targetLatLng.Item2); 
+
+                                colheadLatLng = targetLatLng;
+                            }
+                            _lastVirtualCopterLocation= new LatLng(targetLatLng.Item1, targetLatLng.Item2);
+                        }
+                        currcol++;
+   
+
+
+
+                      /*  _lastVirtualCopterLocation =
                             _lastVirtualCopterLocation == null ?
                             new LatLng(center.Lat, center.Lng) :
                             new LatLng(_lastVirtualCopterLocation.Value.Lat, _lastVirtualCopterLocation.Value.Lng + 0.0001);
+                            */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 
                         var copter = new FakeCopter(SynchronizationContext.Current);
                         copter.SetProperties(

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -149,6 +149,24 @@ namespace Plane.FormationCreator.ViewModels
             get { return _Distancevalue; }
             set { Set(nameof(Distancevalue), ref _Distancevalue, value); }
         }
+
+        private int _txtStarindex=0;
+        public int txtStarindex
+        {
+            get { return _txtStarindex; }
+            set { Set(nameof(txtStarindex), ref _txtStarindex, value); }
+        }
+
+        private int _txtendindex=0;
+        public int txtendindex
+        {
+            get { return _txtendindex; }
+            set { Set(nameof(txtendindex), ref _txtendindex, value); }
+        }
+
+
+
+
         private double _FlyToLat;
         public double FlyToLat
         {
@@ -212,8 +230,23 @@ namespace Plane.FormationCreator.ViewModels
                     };
                     if (dialog.ShowDialog() == true)
                     {
+                        int _startindex = txtStarindex;
+                        int _endindex= txtendindex;
+
                         var tasksText = File.ReadAllText(dialog.FileName);
+                        if ((txtStarindex == 0) && (txtendindex == 0))
                             _flightTaskManager.ImportTasks(tasksText);
+                        else
+                        {
+                            _endindex = txtendindex;
+                            if (_startindex == 0)
+                                _startindex = 1;
+                            if (_endindex == 0)
+                                _endindex = _startindex;
+                            _flightTaskManager.ImportTasksindex(tasksText, _startindex, _endindex);
+                        }
+
+
                     }
                 }));
             }
@@ -221,6 +254,7 @@ namespace Plane.FormationCreator.ViewModels
 
 
 
+
         private ICommand _LevelAverageCommand;
         public ICommand LevelAverageCommand
         {
@@ -355,7 +389,7 @@ namespace Plane.FormationCreator.ViewModels
                         if (copterisselect)
                         {
 
-                            _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = minlat + avgl * coptnum;
+                            _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = maxlat - avgl * coptnum;
                             coptnum++;
 
                         }

Plane.FormationCreator/Views/CopterListView.xaml

@@ -57,7 +57,7 @@
             <TextBox x:Name="txtVirtualCopterCount"
                      Width="35"
                      Margin="0,0,5,0"
-                     Text="3"
+                     Text="10"
                      VerticalContentAlignment="Center" />
             <Button Content="添加虚拟飞行器"
                     VerticalContentAlignment="Center"

Plane.FormationCreator/Views/MapView.xaml

@@ -22,12 +22,24 @@
             </bingMaps:Map.Center>
             <!--<m:OpenStreetMapTileLayer UriFormat="http://tile.openstreetmap.org/{z}/{x}/{y}.png" />-->
         </bingMaps:Map>
-        <!--<Grid HorizontalAlignment="Right"
+        <StackPanel HorizontalAlignment="Right"
-              VerticalAlignment="Top">
+              VerticalAlignment="Top" 
-            <Button Content="测距" />
+                    Orientation="Horizontal"
-        </Grid>-->
+                    >
+            <CheckBox Grid.Row="0" Content="计划航线"     Margin="5,5,0,0"
+                                     Click="showpanline_Checked" 
+                      Foreground="White"
+                      />
+
+            <CheckBox Grid.Row="0" Content="实时航线"      Margin="5,5,0,0"
+                      Foreground="White"
+                                   Click="showrealtimeline_Checked" />
+
             <ComboBox x:Name="MapSelectionComboBox"
                   HorizontalAlignment="Right"
+                     Foreground="White"
+                      Background="#232323"
+                       Margin="5,0,0,0"
                   VerticalAlignment="Top"
                   SelectionChanged="MapSelectionComboBox_SelectionChanged">
                 <ComboBoxItem Content="卫星地图"
@@ -38,5 +50,13 @@
                 <ComboBoxItem Content="OpenStreet"
                           Tag="OpenStreet" />
             </ComboBox>
+
+
+        </StackPanel>
+
+
+        
+        
+      
     </Grid>
 </UserControl>

Plane.FormationCreator/Views/MapView.xaml.cs

@@ -138,6 +138,15 @@ namespace Plane.FormationCreator.Views
             var center = _appConfig.Center;
             map.Center = new Location(center.Lat, center.Lng);
             map.ZoomLevel = _appConfig.ZoomLevel;
+            map.ViewChangeOnFrame += (object sender, MapEventArgs e) =>
+              {
+                  if ( map.Mode.GetType().ToString() == "Microsoft.Maps.MapControl.WPF.AerialMode")
+                    if (map.ZoomLevel >19)
+                      map.ZoomLevel = 19;
+              };
+
+
+
         }
 
         private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
@@ -268,6 +277,7 @@ namespace Plane.FormationCreator.Views
                     RemoveTileLayers();
                     break;
                 case "道路":
+                   // map.Mode = new GoogleMode();
                     map.Mode = new  RoadMode();
                     RemoveTileLayers();
                     break;
@@ -275,12 +285,38 @@ namespace Plane.FormationCreator.Views
                     map.Mode = new MercatorMode();
                     if (!map.Children.OfType<OpenStreetMapTileLayer>().Any())
                     {
-                        map.Children.Add(new OpenStreetMapTileLayer { UriFormat = "http://tile.openstreetmap.org/{z}/{x}/{y}.png" });
+                        map.Children.Add(new OpenStreetMapTileLayer
+                        { UriFormat =
+                              "http://tile.openstreetmap.org/{z}/{x}/{y}.png"
+                        });
                     }
                     break;
             }
         }
 
+        private void showpanline_Checked(object sender, RoutedEventArgs e)
+        {
+            CheckBox chk = (CheckBox)sender;
+            foreach (var item in _copterDrawings)
+            {
+                var copterDrawing = item.Value;
+                copterDrawing.SetShowroute(chk.IsChecked);
+            }
+           
+        }
+        private void showrealtimeline_Checked(object sender, RoutedEventArgs e)
+        {
+            CheckBox chk = (CheckBox)sender;
+            foreach (var item in _copterDrawings)
+            {
+                var copterDrawing = item.Value;
+                copterDrawing.SetShowtrack (chk.IsChecked);
+            }
+        }
+
+
+
+
         private void RemoveTileLayers()
         {
             for (int i = map.Children.Count - 1; i >= 0; i--)

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -101,7 +101,9 @@ namespace Plane.FormationCreator.Views
                         Track.Stroke = _brush;
                         Track.StrokeThickness = 3.0;
                         Track.Locations = new LocationCollection();
-                        _map.Children.Add(Track);
+                       
+                        //实时飞行航线
+                        // _map.Children.Add(Track);
 
                         Dot = new Polygon();
 
@@ -133,7 +135,12 @@ namespace Plane.FormationCreator.Views
                         this.Route = new MapPolyline { Locations = new LocationCollection { location } };
                         this.Route.Stroke = _brush;
                         this.Route.StrokeThickness = 2.0;
-                        _map.Children.Add(this.Route);
+                        //显示计划航线
+                       
+                        //     _map.Children.Add(this.Route);
+
+                     
+
                         this.LastLocation = location;
 
                         RegisterEventHandlersForDraggingCopter(DotContainer);
@@ -339,6 +346,26 @@ namespace Plane.FormationCreator.Views
                 }
             }
 
+            public void SetShowroute(bool? showroute)
+            {
+             
+                if (showroute ?? false )
+                    _map.Children.Add(this.Route); 
+                else
+                    _map.Children.Remove(this.Route);
+            }
+
+            public void SetShowtrack(bool? showtrack)
+            {
+                if (showtrack ?? false)
+                    _map.Children.Add(Track);
+                else
+                    _map.Children.Remove(Track);
+            }
+
+
+
+
             public void SetEffect(bool selected)
             {
                 Dot.Effect = selected ? _selectedEffect : null;

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -7,7 +7,7 @@
              xmlns:vm="clr-namespace:Plane.FormationCreator.ViewModels"
              xmlns:m="clr-namespace:Plane.FormationCreator.Formation"
              mc:Ignorable="d"
-             d:DesignWidth="300" Height="400">
+             d:DesignWidth="300" Height="420">
 
     <StackPanel Orientation="Vertical" Margin="0,0,0,-28.5">
         <StackPanel.Resources>
@@ -16,6 +16,9 @@
                         Value="Horizontal" />
             </Style>
         </StackPanel.Resources>
+
+        <TextBlock Text="任务操作"  FontWeight="Bold" /> 
+      
         <StackPanel>
 
             <Button Content="导出任务"
@@ -23,18 +26,24 @@
                     Command="{Binding ExportTasksCommand}" />
             <Button Content="导入任务"
                     Margin="5,5,0,0"
-                    Command="{Binding ImportTasksCommand}" />
+                    Command="{Binding ImportTasksCommand}" 
-            <TextBlock Text="同时起飞数量：" Margin="5,10,5,0" />
-            <TextBox x:Name="txttakeoff"
-                     Width="25"
-                     Margin="0,5,5,0"
-                     VerticalContentAlignment="Center" 
-                     DataContext="{Binding FlightTaskManager}" 
-                     Text="{Binding TakeOffNumAttr, UpdateSourceTrigger=PropertyChanged}" 
-                      
                     />
+            <TextBlock Text="导入起始" Margin="5, 10, 5, 0"/>
+            <TextBox x:Name="txtStarindex"
+                     Width="45"
+                     Margin="0,5,5,0"
                      
+                     VerticalContentAlignment="Center" 
+                     Text="{Binding txtStarindex, UpdateSourceTrigger=PropertyChanged}" 
+                     />
+            <TextBlock Text="结束" Margin="0, 10, 5, 0"/>
+            <TextBox x:Name="txtendindex"
+                     Width="45"
+                     Margin="0,5,5,0"
                     
+                     VerticalContentAlignment="Center"
+                     Text="{Binding txtendindex, UpdateSourceTrigger=PropertyChanged}" 
+                     />
         </StackPanel>
         <StackPanel>
             <Button Content="上边对齐"
@@ -69,12 +78,14 @@
                      VerticalContentAlignment="Center" />
             <TextBlock Text="度" Margin="0, 10, 5, 0"/>
            
+
+
         </StackPanel>
 
-        <TextBlock Text="垂直旋转前必须高度相同，需要45度表演请转-135度" Margin="0, 10, 5, 0"/>
         
 
         <StackPanel>
+
             <Button Content="缩放比例"
                     Margin="0,5,5,0"
                     Command="{Binding ScaleCommand}" 
@@ -102,6 +113,21 @@
             <TextBlock Text="米" Margin="0, 10, 5, 0"/>
         
         </StackPanel>
+        <Separator />
+        <TextBlock Text="任务属性" Margin="0, 0, 5, 0" FontWeight="Bold" />
+        <StackPanel>
+
+            <TextBlock Text="起飞数量：" Margin="5,10,5,0" />
+            <TextBox x:Name="txttakeoff"
+                     Width="25"
+                     Margin="0,5,5,0"
+                     VerticalContentAlignment="Center" 
+                     DataContext="{Binding FlightTaskManager}" 
+                     Text="{Binding TakeOffNumAttr, UpdateSourceTrigger=PropertyChanged}" 
+                      
+                     />
+
+        </StackPanel>
 
     <TabControl Margin="0,5"
                     Grid.IsSharedSizeScope="True"

Plane.FormationCreator/Views/TaskBarView.xaml

@@ -46,6 +46,7 @@
             </Button.Template>
         </Button>
         <Button HorizontalAlignment="Left"
+                Background="#232323" 
                 Visibility="{Binding FlightTaskManager.IsPaused, Converter={StaticResource IsPausedToPauseButtonVisibilityConverter}}"
                 Command="{Binding PauseTasksCommand}">
             <Button.Template>
@@ -114,10 +115,13 @@
                     Orientation="Horizontal"
                     VerticalAlignment="Bottom">
             <Button Content="添加任务"
+                   Background="#232323"
                     Command="{Binding AddTaskCommand}" />
             <Button Content="清除任务"
+                    Background="#232323"
                     Command="{Binding ClearTasksCommand}" />
             <Button Content="重置任务"
+                    Background="#232323"
                     Command="{Binding ResetTasksCommand}" />
             <!--<Button Content="保存" />
             <Button Content="取消" />-->