Flybase库加入工程
加入2d自动计算航线--待测试 加入3d自动计算航线--未完成 主界面顶部调整 导入检测飞机数量并提示 加入多个任务垂直旋转用于自动计算的航线
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@ -4,6 +4,9 @@ Microsoft Visual Studio Solution File, Format Version 12.00
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VisualStudioVersion = 14.0.25420.1
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MinimumVisualStudioVersion = 10.0.40219.1
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.FormationCreator", "Plane.FormationCreator\Plane.FormationCreator.csproj", "{61E2F31E-220A-4E3F-A64D-F7CDC2135008}"
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ProjectSection(ProjectDependencies) = postProject
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{BE3280E8-8C7F-4961-9685-1124C5B990CB} = {BE3280E8-8C7F-4961-9685-1124C5B990CB}
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EndProjectSection
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Windows", "..\Plane.Libraries\Plane.Windows\Plane.Windows.csproj", "{06848293-9B17-4068-9B35-44D0ED713CD4}"
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EndProject
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@ -23,6 +26,8 @@ Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk_Shared", "..\Pl
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EndProject
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Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.shproj", "{695733D7-99FF-4707-8C89-474E949CADCB}"
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "flyBase", "..\Tools\flyBase\flyBase.csproj", "{BE3280E8-8C7F-4961-9685-1124C5B990CB}"
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EndProject
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Global
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GlobalSection(SharedMSBuildProjectFiles) = preSolution
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..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}*SharedItemsImports = 4
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@ -101,6 +106,14 @@ Global
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Release|Any CPU.Build.0 = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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@ -36,6 +36,25 @@
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False="【飞行模式】"
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True="【设计模式】" />
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<cnv:BooleanToStringConverter x:Key="MainColorConverterDes"
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False="White"
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True="DeepSkyBlue" />
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<cnv:BooleanToStringConverter x:Key="MainFontSizeConverterDes"
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False="12"
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True="14" />
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<cnv:BooleanToStringConverter x:Key="MainColorConverterFly"
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False="DeepSkyBlue"
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True="White" />
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<cnv:BooleanToStringConverter x:Key="MainFontSizeConverterFly"
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False="14"
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True="12" />
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<cnv:BooleanToStringConverter x:Key="Show2d3dButtonContentConverter"
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False="平面视图"
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True="立体视图" />
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@ -13,6 +13,10 @@ using System.Threading.Tasks;
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using Plane.CommunicationManagement;
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using FlightRoute;
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using System.IO;
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using System.Windows.Media.Media3D;
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using System.Diagnostics;
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using Plane.FormationCreator.Util;
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using System.Collections;
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namespace Plane.FormationCreator.Formation
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{
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@ -993,7 +997,6 @@ namespace Plane.FormationCreator.Formation
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if (copters == null || !copters.Any()) return;
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AppEx.Current.AppMode = AppMode.ModifyingTask;
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var lastTask = Tasks.LastOrDefault();
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FlightTask takeOffTask = Tasks[0];
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takeOffTask.TakeOffTime = takeOffTime;
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for (int i = 0; i < copters.Count; i++)
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@ -1307,11 +1310,250 @@ namespace Plane.FormationCreator.Formation
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}
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}
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//计算中心点 (三维的)
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private Point3D CenterFormMeter(List<Point3D> point1, List<Point3D> point2)
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{
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Point3D centerPoint = new Point3D(0, 0, 0);
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if (point1.Count != point2.Count) return centerPoint;
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double minX = point1[0].X;
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double maxX = point1[0].X;
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double minY = point1[0].Y;
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double maxY = point1[0].Y;
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double minZ = point1[0].Z;
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double maxZ = point1[0].Z;
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int count = point1.Count;
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for (int i = 0; i < count; i++)
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{
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minX = Math.Min(minX, Math.Min(point1[i].X, point2[i].X));
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maxX = Math.Max(maxX, Math.Min(point1[i].X, point2[i].X));
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minY = Math.Min(minY, Math.Min(point1[i].Y, point2[i].Y));
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maxY = Math.Max(maxY, Math.Max(point1[i].Y, point2[i].Y));
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minZ = Math.Min(minZ, Math.Min(point1[i].Z, point2[i].Z));
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maxZ = Math.Max(maxZ, Math.Max(point1[i].Z, point2[i].Z));
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}
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centerPoint.X = (minX + maxX) / 2;
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centerPoint.Y = (minY + maxY) / 2;
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centerPoint.Z = (minZ + maxZ) / 2;
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return centerPoint;
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}
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public double SumFlyLines(List<FlightTaskSingleCopterInfo> preinfos, List<FlightTaskSingleCopterInfo> currinfos)
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{
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double sumdis = 0;
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for (int i = 0; i < _copterManager.Copters.Count; i++)
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{
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//当前任务
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Point3D preLoc = new Point3D(preinfos[i].X, preinfos[i].Y, preinfos[i].TargetAlt);
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Point3D curLoc = new Point3D(currinfos[i].X, currinfos[i].Y, currinfos[i].TargetAlt);
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//算距离
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sumdis += Point3D.Subtract(curLoc, preLoc).Length;
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}
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return sumdis;
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}
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public void SetAllTaskFlytime()
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{
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for (int taskIndex = 1; taskIndex < Tasks.Count; taskIndex++)
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SetTaskFlytime(taskIndex);
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}
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public void SetTaskFlytime(int taskIndex,bool settime=true)
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{
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if ((taskIndex > 0 )&&(taskIndex < Tasks.Count) &&( Tasks[taskIndex].TaskType == FlightTaskType.FlyTo))
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{
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if (_copterManager.Copters.Count() > 0)
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{
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double maxDistance = 0.0f;
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string copterName = "";
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double speed = 0.0f;
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foreach (var copter in _copterManager.Copters)
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{
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var prevWaypoint = Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
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var curWaypoint = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
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if ((curWaypoint.IsChangeSpeed) && (curWaypoint.LevelSpeed == -1))
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{
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Message.Show($"任务{taskIndex + 1}飞机编号:{copter.Id}是自动速度，无法计算时间!");
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return ;
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}
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double distance = GeographyUtils.CalcDistance(
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prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
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curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
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if (distance > maxDistance)
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{
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maxDistance = distance;
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copterName = copter.Name;
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speed = curWaypoint.LevelSpeed;
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}
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}
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double time = CalculateFlyIime(maxDistance, speed);
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Message.Show($"任务{taskIndex+1}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}");
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if (settime)
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Tasks[taskIndex].FlytoTime = (int)Math.Round(time, 2);
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}
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}
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return ;
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}
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public static double CalculateFlyIime(double s, double v)
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{
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double t;
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double a = 1; //加速度1米每秒
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double at = v / a;
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double a_s = 0.5f * a * at * at;
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if (a_s > (s / 2)) //还没到特定速度就到了中点了
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{
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t = (float)System.Math.Sqrt(s / a) * 2;
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}
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else
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{
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t = (s - a_s * 2) / v + at * 2;
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}
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return t;
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} //计算优化线路，采用米计算
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public void OptimizeRouteMeter(bool Is3d=false)
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{
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Dictionary<int, Point3D> curTaskPoint = new Dictionary<int, Point3D>();
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Dictionary<int, Point3D> prevTaskPoint = new Dictionary<int, Point3D>();
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var stopWatch = new Stopwatch();
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stopWatch.Start();
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//获取当前航点与前一航点所有经纬高
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for (int i = 0; i < _copterManager.Copters.Count; i++)
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{
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//当前任务
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var curinfo = SelectedTask.SingleCopterInfos[i];
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Point3D curLoc = new Point3D(curinfo.X, curinfo.Y, curinfo.TargetAlt);
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curTaskPoint.Add(i, curLoc);
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//前一任务
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var prevInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i];
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Point3D prevLoc = new Point3D(prevInfo.X, prevInfo.Y, prevInfo.TargetAlt);
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prevTaskPoint.Add(i, prevLoc);
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}
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//Dictionary<int, Point3D> RouteRes = Util.OptimizeRoute.GenRoute(curTaskPoint, prevTaskPoint);
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if (Is3d)
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{
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ArrayList resarray = Util.OptimizeRoute.Gen3DRoute(curTaskPoint.Values.ToArray(), prevTaskPoint.Values.ToArray());
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Vector3[] RouteRes;
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//最终
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RouteRes = (Vector3[])resarray[0];
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for (int i = 0; i < _copterManager.Copters.Count; i++)
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{
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SelectedTask.SingleCopterInfos[i].X = RouteRes[i].x;
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SelectedTask.SingleCopterInfos[i].Y = RouteRes[i].y;
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SelectedTask.SingleCopterInfos[i].TargetAlt = (float)RouteRes[i].z;
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}
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SetTaskFlytime(SelectedTaskIndex);
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}
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else
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{
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ArrayList resarray = Util.OptimizeRoute.Gen2DRoute(curTaskPoint.Values.ToArray(), prevTaskPoint.Values.ToArray());
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Vector3[] RouteRes;
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//有错层，需要插入2个错层任务
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if (resarray.Count == 3)
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{
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//选中前一个任务，插入错层
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SelectTask(SelectedTaskIndex - 1);
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AddTask();
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//第一个错层
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RouteRes = (Vector3[])resarray[0];
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for (int i = 0; i < _copterManager.Copters.Count; i++)
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{
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SelectedTask.SingleCopterInfos[i].X = RouteRes[i].x;
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SelectedTask.SingleCopterInfos[i].Y = RouteRes[i].y;
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SelectedTask.SingleCopterInfos[i].TargetAlt = (float)RouteRes[i].z;
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}
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SetTaskFlytime(SelectedTaskIndex);
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//第二个错层
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AddTask();
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RouteRes = (Vector3[])resarray[1];
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for (int i = 0; i < _copterManager.Copters.Count; i++)
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{
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SelectedTask.SingleCopterInfos[i].X = RouteRes[i].x;
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SelectedTask.SingleCopterInfos[i].Y = RouteRes[i].y;
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SelectedTask.SingleCopterInfos[i].TargetAlt = (float)RouteRes[i].z;
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}
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SetTaskFlytime(SelectedTaskIndex);
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SelectTask(SelectedTaskIndex + 1);
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//最终
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RouteRes = (Vector3[])resarray[2];
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for (int i = 0; i < _copterManager.Copters.Count; i++)
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{
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SelectedTask.SingleCopterInfos[i].X = RouteRes[i].x;
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SelectedTask.SingleCopterInfos[i].Y = RouteRes[i].y;
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SelectedTask.SingleCopterInfos[i].TargetAlt = (float)RouteRes[i].z;
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}
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SetTaskFlytime(SelectedTaskIndex);
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}
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else
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{
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//最终
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RouteRes = (Vector3[])resarray[0];
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for (int i = 0; i < _copterManager.Copters.Count; i++)
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{
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SelectedTask.SingleCopterInfos[i].X = RouteRes[i].x;
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SelectedTask.SingleCopterInfos[i].Y = RouteRes[i].y;
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SelectedTask.SingleCopterInfos[i].TargetAlt = (float)RouteRes[i].z;
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}
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SetTaskFlytime(SelectedTaskIndex);
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}
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}
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stopWatch.Stop();
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double sumlength = SumFlyLines(Tasks[SelectedTaskIndex - 1].SingleCopterInfos, SelectedTask.SingleCopterInfos);
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Message.Show($"计算用时：{stopWatch.Elapsed.TotalMilliseconds}ms,总飞行距离{sumlength}米");
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return;
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}
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//计算优化线路，采用经纬度计算
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public void OptimizeRouteNew()
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{
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Dictionary<int, PLLocation> curTaskPoint = new Dictionary<int, PLLocation>();
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Dictionary<int, PLLocation> prevTaskPoint = new Dictionary<int, PLLocation>();
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var stopWatch = new Stopwatch();
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stopWatch.Start();
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//获取当前航点与前一航点所有经纬高
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for (int i = 0; i < _copterManager.Copters.Count; i++)
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{
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@ -1326,72 +1568,74 @@ namespace Plane.FormationCreator.Formation
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prevTaskPoint.Add(i, prevLoc);
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}
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// int sss = Plane.AutoLine.CalAutoLine(curTaskPoint, prevTaskPoint);
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// Message.Show($"中心点：{sss}");
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// int sss = Plane.AutoLine.CalAutoLine(curTaskPoint, prevTaskPoint);
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// Message.Show($"中心点：{sss}");
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double farDistance;
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double nearDistance;
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int index;
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Dictionary<int, LatLng> recordLatLng = new Dictionary<int, LatLng>();
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Dictionary<int, PLLocation> recordLatLng = new Dictionary<int, PLLocation>();
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while (curTaskPoint.Count > 0)
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{
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farDistance = double.MinValue;
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PLLocation centerLatLng = CenterLatLng(curTaskPoint.Values.ToList(), prevTaskPoint.Values.ToList());
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index = 0;
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LatLng centerLatLng = CenterLatLng(curTaskPoint.Values.ToList(), prevTaskPoint.Values.ToList());
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//计算两个列表距离中心最远距离
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// Message.Show($"有{curTaskPoint.Count}个点，当前中心点：{centerLatLng.Longitude},{centerLatLng.Latitude},{centerLatLng.Altitude}");
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double distance1;
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bool farIsCurTaskPoint = true;
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foreach (var item in curTaskPoint)
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{
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distance1 = GeographyUtils.CalcDistance(centerLatLng.Lat, centerLatLng.Lng, 1,
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item.Value.Latitude, item.Value.Longitude, 1);
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distance1 =Math.Round(GeographyUtils.CalcDistance(centerLatLng,item.Value),4);
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if (distance1 > farDistance)
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{
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index = item.Key;
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farDistance = distance1;
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farIsCurTaskPoint = true;
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// Message.Show($"调整距离{farDistance}是{farIsCurTaskPoint}的{index}");
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}
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}
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foreach (var item in prevTaskPoint)
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{
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distance1 = GeographyUtils.CalcDistance(centerLatLng.Lat, centerLatLng.Lng, 1,
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item.Value.Latitude, item.Value.Longitude, 1);
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distance1 = Math.Round(GeographyUtils.CalcDistance(centerLatLng,item.Value),4);
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if (distance1 > farDistance)
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{
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index = item.Key;
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farDistance = distance1;
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farIsCurTaskPoint = false;
|
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// Message.Show($"调整距离{farDistance}是{farIsCurTaskPoint}的{index}");
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|
||||
}
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}
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// Message.Show($"最远{farDistance}是{farIsCurTaskPoint}的{index}");
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double tempDistance1;
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nearDistance = double.MaxValue;
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int nearIndex = 0;
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if (farIsCurTaskPoint)
|
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{
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double curLat = curTaskPoint[index].Latitude;
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double curLng = curTaskPoint[index].Longitude;
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//最远的航点在当前任务
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foreach (var item in prevTaskPoint)
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||||
{
|
||||
tempDistance1 = GeographyUtils.CalcDistance(curLat, curLng, 1,
|
||||
item.Value.Latitude, item.Value.Longitude, 1);
|
||||
tempDistance1 = Math.Round(GeographyUtils.CalcDistance(curTaskPoint[index],item.Value),4);
|
||||
if (tempDistance1 < nearDistance)
|
||||
{
|
||||
nearDistance = tempDistance1;
|
||||
nearIndex = item.Key;
|
||||
}
|
||||
}
|
||||
//最远的航点在当前任务
|
||||
// Message.Show($"最远是当前任务{index}距离它最近的前一任务点：ind={nearIndex},记录前一任务序号和当前任务位置");
|
||||
|
||||
recordLatLng.Add(nearIndex, new LatLng(curLat, curLng));
|
||||
recordLatLng.Add(nearIndex, curTaskPoint[index]);
|
||||
curTaskPoint.Remove(index);
|
||||
prevTaskPoint.Remove(nearIndex);
|
||||
|
||||
@ -1401,20 +1645,20 @@ namespace Plane.FormationCreator.Formation
|
||||
//最远的航点在前一任务
|
||||
double prevLat = prevTaskPoint[index].Latitude;
|
||||
double prevLng = prevTaskPoint[index].Longitude;
|
||||
float prevAlt = prevTaskPoint[index].Altitude;
|
||||
//最远的航点在当前任务
|
||||
//Message.Show($"最远点在前一任务：ind={index},距离{farDistance}");
|
||||
foreach (var item in curTaskPoint)
|
||||
{
|
||||
tempDistance1 = GeographyUtils.CalcDistance(prevLat, prevLng, 1,
|
||||
item.Value.Latitude, item.Value.Longitude, 1);
|
||||
tempDistance1 = Math.Round(GeographyUtils.CalcDistance(prevTaskPoint[index],item.Value),4);
|
||||
if (tempDistance1 < nearDistance)
|
||||
{
|
||||
nearDistance = tempDistance1;
|
||||
nearIndex = item.Key;
|
||||
}
|
||||
}
|
||||
|
||||
recordLatLng.Add(index, new LatLng(curTaskPoint[nearIndex].Latitude, curTaskPoint[nearIndex].Longitude));
|
||||
|
||||
// Message.Show($"最远是前一任务{index}距离它最近的当前任务点：ind={nearIndex},记录前一任务序号和当前任务位置");
|
||||
recordLatLng.Add(index, curTaskPoint[nearIndex]);
|
||||
curTaskPoint.Remove(nearIndex);
|
||||
prevTaskPoint.Remove(index);
|
||||
}
|
||||
@ -1424,16 +1668,81 @@ namespace Plane.FormationCreator.Formation
|
||||
|
||||
for (int i = 0; i < _copterManager.Copters.Count; i++)
|
||||
{
|
||||
SelectedTask.SingleCopterInfos[i].TargetLat = recordLatLng[i].Lat;
|
||||
SelectedTask.SingleCopterInfos[i].TargetLng = recordLatLng[i].Lng;
|
||||
SelectedTask.SingleCopterInfos[i].TargetLat = recordLatLng[i].Latitude;
|
||||
SelectedTask.SingleCopterInfos[i].TargetLng = recordLatLng[i].Longitude ;
|
||||
SelectedTask.SingleCopterInfos[i].TargetAlt = recordLatLng[i].Altitude;
|
||||
}
|
||||
stopWatch.Stop();
|
||||
double sumlength = SumFlyLines(Tasks[SelectedTaskIndex - 1].SingleCopterInfos, SelectedTask.SingleCopterInfos);
|
||||
|
||||
|
||||
|
||||
|
||||
double Dist;
|
||||
int crosscount = 0;
|
||||
for (int i = 0; i < _copterManager.Copters.Count; i++)
|
||||
|
||||
{
|
||||
for (int j = i + 1; j < _copterManager.Copters.Count; j++)
|
||||
{
|
||||
|
||||
|
||||
Dist = Util.OptimizeRoute.SqureDistanceSegmentToSegment(
|
||||
new Point3D(Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i].X,
|
||||
Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i].Y,
|
||||
Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i].TargetAlt),
|
||||
|
||||
new Point3D(Tasks[SelectedTaskIndex].SingleCopterInfos[i].X,
|
||||
Tasks[SelectedTaskIndex].SingleCopterInfos[i].Y,
|
||||
Tasks[SelectedTaskIndex].SingleCopterInfos[i].TargetAlt),
|
||||
|
||||
new Point3D(Tasks[SelectedTaskIndex - 1].SingleCopterInfos[j].X,
|
||||
Tasks[SelectedTaskIndex - 1].SingleCopterInfos[j].Y,
|
||||
Tasks[SelectedTaskIndex - 1].SingleCopterInfos[j].TargetAlt),
|
||||
|
||||
new Point3D(Tasks[SelectedTaskIndex].SingleCopterInfos[j].X,
|
||||
Tasks[SelectedTaskIndex].SingleCopterInfos[j].Y,
|
||||
Tasks[SelectedTaskIndex].SingleCopterInfos[j].TargetAlt)
|
||||
);
|
||||
//交叉
|
||||
if (Dist < 0.01)
|
||||
{
|
||||
crosscount++;
|
||||
// Message.Show($"飞机{i}和飞机{j}有交叉，距离{Dist}");
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Message.Show($"经纬方式计算用时：{stopWatch.Elapsed.TotalMilliseconds}ms,总飞行距离{sumlength}米,有{crosscount}个交叉");
|
||||
|
||||
}
|
||||
|
||||
//计算中心点 (二维的-只算水平面)
|
||||
private LatLng CenterLatLng(List<PLLocation> point1, List<PLLocation> point2)
|
||||
//计算中心点 (三维的)
|
||||
private PLLocation CenterLatLng(List<PLLocation> point1, List<PLLocation> point2)
|
||||
{
|
||||
LatLng centerLatLng = new LatLng(0, 0);
|
||||
PLLocation centerLatLng = new PLLocation(0,0,0);
|
||||
if (point1.Count != point2.Count) return centerLatLng;
|
||||
|
||||
double minLat = point1[0].Latitude;
|
||||
@ -1442,18 +1751,29 @@ namespace Plane.FormationCreator.Formation
|
||||
double minLng = point1[0].Longitude;
|
||||
double maxLng = point1[0].Longitude;
|
||||
|
||||
|
||||
double minAlt = point1[0].Altitude;
|
||||
double maxAlt = point1[0].Altitude;
|
||||
|
||||
|
||||
|
||||
int count = point1.Count;
|
||||
for (int i = 0; i < count; i++)
|
||||
{
|
||||
minLat = Math.Min(minLat, Math.Min(point1[i].Latitude, point2[i].Latitude));
|
||||
maxLat = Math.Min(maxLat, Math.Min(point1[i].Latitude, point2[i].Latitude));
|
||||
maxLat = Math.Max(maxLat, Math.Min(point1[i].Latitude, point2[i].Latitude));
|
||||
|
||||
minLng = Math.Min(minLng, Math.Min(point1[i].Longitude, point2[i].Longitude));
|
||||
maxLng = Math.Max(maxLng, Math.Max(point1[i].Longitude, point2[i].Longitude));
|
||||
}
|
||||
|
||||
centerLatLng.Lat = (minLat + maxLat) / 2;
|
||||
centerLatLng.Lng = (minLng + maxLng) / 2;
|
||||
minAlt = Math.Min(minAlt, Math.Min(point1[i].Altitude, point2[i].Altitude));
|
||||
maxAlt = Math.Max(maxAlt, Math.Max(point1[i].Altitude, point2[i].Altitude));
|
||||
|
||||
|
||||
}
|
||||
centerLatLng.Latitude = (minLat + maxLat) / 2;
|
||||
centerLatLng.Longitude = (minLng + maxLng) / 2;
|
||||
centerLatLng.Altitude =(float)(minAlt + maxAlt) / 2;
|
||||
return centerLatLng;
|
||||
}
|
||||
|
||||
|
||||
@ -48,11 +48,39 @@
|
||||
|
||||
<Button Content="{Binding LoginDisp}"
|
||||
Command="{Binding LoginCommand}" />
|
||||
<Button Content="飞行面板"
|
||||
Foreground="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource MainColorConverterFly}}"
|
||||
FontSize="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource MainFontSizeConverterFly}}"
|
||||
Command="{Binding HideModifyTaskViewCommand}" />
|
||||
|
||||
|
||||
<Button Content="设计面板"
|
||||
Foreground="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource MainColorConverterDes}}"
|
||||
FontSize="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource MainFontSizeConverterDes}}"
|
||||
Command="{Binding ShowModifyTaskViewCommand}" />
|
||||
|
||||
|
||||
<Button Content="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource ShowModifyTaskViewButtonContentConverter}}"
|
||||
Command="{Binding ShowOrHideModifyTaskViewCommand}" />
|
||||
Command="{Binding ShowOrHideModifyTaskViewCommand}" Visibility="Collapsed" />
|
||||
|
||||
<Button Content="平面编辑"
|
||||
|
||||
Foreground="{Binding b2DMapMode, Converter={StaticResource MainColorConverterDes}}"
|
||||
FontSize="{Binding b2DMapMode, Converter={StaticResource MainFontSizeConverterDes}}"
|
||||
|
||||
|
||||
Command="{Binding Map2DCommand}"/>
|
||||
<Button Content="实景效果"
|
||||
Foreground="{Binding b2DMapMode, Converter={StaticResource MainColorConverterFly}}"
|
||||
FontSize="{Binding b2DMapMode, Converter={StaticResource MainFontSizeConverterFly}}"
|
||||
Command="{Binding Map3DCommand}"/>
|
||||
|
||||
|
||||
<Button Content="{Binding b2DMapMode, Converter={StaticResource Show2d3dButtonContentConverter}}"
|
||||
Command="{Binding ChangeMapModeCommand}"/>
|
||||
Command="{Binding ChangeMapModeCommand}" Visibility="Collapsed"/>
|
||||
|
||||
|
||||
|
||||
<Button Content="重启监听"
|
||||
Visibility="Collapsed"
|
||||
Command="{Binding RestartListeningCommand}" />
|
||||
@ -236,7 +264,7 @@
|
||||
<Grid>
|
||||
<StackPanel Orientation="Horizontal" HorizontalAlignment="Left">
|
||||
<TextBlock Margin="10,4"
|
||||
Text="{Binding Message}" Width="400" MouseUp="LogShowHide"/>
|
||||
Text="{Binding Message}" Width="480" MouseUp="LogShowHide"/>
|
||||
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
|
||||
<TextBlock Margin="10,4"
|
||||
Width="300" Text="{Binding SysStatusText}" />
|
||||
|
||||
@ -51,9 +51,6 @@
|
||||
<HintPath>..\packages\EntityFramework.6.2.0\lib\net45\EntityFramework.SqlServer.dll</HintPath>
|
||||
<Private>True</Private>
|
||||
</Reference>
|
||||
<Reference Include="flyBase">
|
||||
<HintPath>..\..\Tools\flyBase.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="GalaSoft.MvvmLight, Version=5.2.0.37222, Culture=neutral, PublicKeyToken=e7570ab207bcb616, processorArchitecture=MSIL">
|
||||
<HintPath>..\packages\MvvmLightLibs.5.2.0.0\lib\net45\GalaSoft.MvvmLight.dll</HintPath>
|
||||
<Private>True</Private>
|
||||
@ -197,6 +194,7 @@
|
||||
</Compile>
|
||||
<Compile Include="Util\ICommsSerial.cs" />
|
||||
<Compile Include="Util\ICorrections.cs" />
|
||||
<Compile Include="Util\OptimizeRoute.cs" />
|
||||
<Compile Include="Util\ParamFile.cs" />
|
||||
<Compile Include="Util\PasswordBoxHelper.cs" />
|
||||
<Compile Include="Util\rtcm3.cs" />
|
||||
@ -451,6 +449,10 @@
|
||||
<Project>{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}</Project>
|
||||
<Name>PlaneGcsSdk_Private_NET46</Name>
|
||||
</ProjectReference>
|
||||
<ProjectReference Include="..\..\Tools\flyBase\flyBase.csproj">
|
||||
<Project>{be3280e8-8c7f-4961-9685-1124c5b990cb}</Project>
|
||||
<Name>flyBase</Name>
|
||||
</ProjectReference>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Resource Include="gcs.ico" />
|
||||
|
||||
@ -18,6 +18,7 @@ using Plane.FormationCreator.Views;
|
||||
using System.Windows;
|
||||
using Plane.Collections;
|
||||
using Plane.Copters;
|
||||
using Newtonsoft.Json.Linq;
|
||||
|
||||
namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
@ -219,6 +220,30 @@ namespace Plane.FormationCreator.ViewModels
|
||||
}));
|
||||
}
|
||||
}
|
||||
private ICommand _ShowModifyTaskViewCommand;
|
||||
public ICommand ShowModifyTaskViewCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _ShowModifyTaskViewCommand ?? (_ShowModifyTaskViewCommand = new RelayCommand(() =>
|
||||
{
|
||||
AppEx.Current.ShowModifyTaskView = true;
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
private ICommand _HideModifyTaskViewCommand;
|
||||
public ICommand HideModifyTaskViewCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _HideModifyTaskViewCommand ?? (_HideModifyTaskViewCommand = new RelayCommand(() =>
|
||||
{
|
||||
AppEx.Current.ShowModifyTaskView =false;
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
private ICommand _ShowOrHideModifyTaskViewCommand;
|
||||
public ICommand ShowOrHideModifyTaskViewCommand
|
||||
@ -256,6 +281,54 @@ namespace Plane.FormationCreator.ViewModels
|
||||
|
||||
|
||||
|
||||
private ICommand _Map2DCommand;
|
||||
public ICommand Map2DCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _Map2DCommand ?? (_Map2DCommand = new RelayCommand(() =>
|
||||
{
|
||||
MainWindow mainw = (MainWindow)App.Current.MainWindow;
|
||||
|
||||
mainw.map.Visibility = System.Windows.Visibility.Visible;
|
||||
mainw.map3D.Visibility = System.Windows.Visibility.Collapsed;
|
||||
MapMode = 0;
|
||||
b2DMapMode = true;
|
||||
_flightTaskManager.TaskRun_2D = b2DMapMode; //2D模式模拟显示
|
||||
//强制刷新飞机位置
|
||||
_copterManager.Copters.ForEach(copter => copter.RefreashLoc());
|
||||
|
||||
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
private ICommand _Map3DCommand;
|
||||
public ICommand Map3DCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _Map3DCommand ?? (_Map3DCommand = new RelayCommand(() =>
|
||||
{
|
||||
MainWindow mainw = (MainWindow)App.Current.MainWindow;
|
||||
mainw.map.Visibility = System.Windows.Visibility.Collapsed;
|
||||
mainw.map3D.Visibility = System.Windows.Visibility.Visible;
|
||||
MapMode = 1;
|
||||
b2DMapMode = false;
|
||||
_flightTaskManager.TaskRun_2D = b2DMapMode; //3D模式模拟显示
|
||||
|
||||
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private ICommand _ChangeMapModeCommand;
|
||||
public ICommand ChangeMapModeCommand
|
||||
{
|
||||
@ -500,8 +573,22 @@ namespace Plane.FormationCreator.ViewModels
|
||||
|
||||
//int task Newtonsoft.Json.Linq.JArray
|
||||
|
||||
|
||||
|
||||
|
||||
if (taskinfo.Count == 0)
|
||||
{
|
||||
|
||||
Alert.Show($"导入的文件没有飞行任务！", "提示");
|
||||
return;
|
||||
|
||||
|
||||
}
|
||||
if ((taskinfo[0].singleCopterInfos.Count != _copterManager.Copters.Count))
|
||||
{
|
||||
Alert.Show($"导入的飞机数量不符！导入飞机{taskinfo[0].singleCopterInfos.Count}，实际飞机{ _copterManager.Copters.Count}", "提示");
|
||||
return;
|
||||
|
||||
}
|
||||
|
||||
|
||||
if ((txtStarindex == 0) && (txtendindex == 0))
|
||||
{
|
||||
|
||||
@ -191,6 +191,34 @@ namespace Plane.FormationCreator.ViewModels
|
||||
set { Set(nameof(directionvalueall), ref _directionvalueall, value); }
|
||||
}
|
||||
|
||||
|
||||
private int _taskstartno = 0;
|
||||
public int taskstartno
|
||||
{
|
||||
get { return _taskstartno; }
|
||||
set { Set(nameof(taskstartno), ref _taskstartno, value); }
|
||||
}
|
||||
|
||||
private int _taskendno = 0;
|
||||
public int taskendno
|
||||
{
|
||||
get { return _taskendno; }
|
||||
set { Set(nameof(taskendno), ref _taskendno, value); }
|
||||
}
|
||||
|
||||
|
||||
private float _taskdirection = 0;
|
||||
public float taskdirection
|
||||
{
|
||||
get { return _taskdirection; }
|
||||
set { Set(nameof(taskdirection), ref _taskdirection, value); }
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private double _FlyToLat;
|
||||
public double FlyToLat
|
||||
{
|
||||
@ -226,9 +254,121 @@ namespace Plane.FormationCreator.ViewModels
|
||||
set { Set(nameof(OnlySelected), ref _OnlySelected, value); }
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 垂直旋转多个任务
|
||||
/// </summary>
|
||||
private ICommand _MitTaskVrotationCommand;
|
||||
public ICommand MitTaskVrotationCommand
|
||||
|
||||
{
|
||||
get
|
||||
{
|
||||
return _MitTaskVrotationCommand ?? (_MitTaskVrotationCommand = new RelayCommand<float>(async =>
|
||||
{
|
||||
|
||||
|
||||
double lngsum = 0;
|
||||
double latsum = 0;
|
||||
double altsum = 0;
|
||||
int selectcount = 0;
|
||||
// double centlng = 0;
|
||||
double centlat = 0;
|
||||
double centalt = 0;
|
||||
|
||||
|
||||
if ((taskstartno<=1)||(taskendno> _flightTaskManager.Tasks.Count()))
|
||||
{
|
||||
Alert.Show("任务范围不正确", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
|
||||
return;
|
||||
|
||||
}
|
||||
//计算旋转中心轴
|
||||
for (int i = taskstartno-1; i < taskendno; i++)
|
||||
{
|
||||
for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
|
||||
{
|
||||
|
||||
lngsum += _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng;
|
||||
latsum += _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat;
|
||||
altsum += _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt;
|
||||
selectcount++;
|
||||
}
|
||||
}
|
||||
if (selectcount > 0)
|
||||
{
|
||||
// centlng = lngsum / selectcount;
|
||||
centlat = latsum / selectcount;
|
||||
centalt = altsum / selectcount;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//////////计算旋转，经测试用下面的函数组合计算比较准确
|
||||
double k = (double)taskdirection / 180 * Math.PI;
|
||||
double dx = 0;
|
||||
double dy = 0;
|
||||
double ax = 0;
|
||||
double ay = 0;
|
||||
double tlng = 0;
|
||||
double tlat = 0;
|
||||
|
||||
|
||||
for (int i = taskstartno-1; i < taskendno; i++)
|
||||
{
|
||||
for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
|
||||
{
|
||||
|
||||
|
||||
tlng = _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng;
|
||||
tlat = _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat;
|
||||
//纬度方向距离（单位m）
|
||||
ax = CalculationLogLatDistance.GetDistanceOne(tlng, centlat, tlng, tlat) * 1000;
|
||||
//方向角用于正负,0为正，180为负
|
||||
CalculationLogLatDistance.MyLatLng mypos1, mypos2;
|
||||
mypos1 = new CalculationLogLatDistance.MyLatLng(tlng, centlat);
|
||||
mypos2 = new CalculationLogLatDistance.MyLatLng(tlng, tlat);
|
||||
double lpAzimuth = CalculationLogLatDistance.getAngle(mypos1, mypos2);
|
||||
if (lpAzimuth > 90)
|
||||
ax = -ax;
|
||||
|
||||
|
||||
//高度方向距离（单位m）
|
||||
ay = (_flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt - centalt);
|
||||
|
||||
dx = ax * Math.Cos(k) + ay * Math.Sin(k);
|
||||
dy = -ax * Math.Sin(k) + ay * Math.Cos(k);
|
||||
|
||||
//新高度（米）
|
||||
_flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt = (float)(centalt + dy);
|
||||
//计算新纬度
|
||||
double lng2 = 0;
|
||||
double lat2 = 0;
|
||||
if (dx < 0)
|
||||
lpAzimuth = 180;
|
||||
else
|
||||
lpAzimuth = 0;
|
||||
dx = Math.Abs(dx);
|
||||
|
||||
CalculationLogLatDistance.ConvertDistanceToLogLat(
|
||||
tlng,
|
||||
centlat, //旋转中心纬度
|
||||
dx / 1000, //新距离
|
||||
lpAzimuth, //方向垂直
|
||||
out lng2,
|
||||
out lat2);
|
||||
_flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat = lat2;
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
// await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
private ICommand _ShowallTaskpointCommand;
|
||||
public ICommand ShowallTaskpointCommand
|
||||
|
||||
@ -243,10 +383,6 @@ namespace Plane.FormationCreator.ViewModels
|
||||
//_flightTaskManager.SelectedTask = null;
|
||||
}));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
//调整所有任务经度
|
||||
private ICommand _ModiAllPosCommand;
|
||||
@ -559,7 +695,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
var tasksText = File.ReadAllText(dialog.FileName);
|
||||
_flightTaskManager.ImportC4DFlytoTask(tasksText);
|
||||
autoalltasktime();
|
||||
_flightTaskManager.SetAllTaskFlytime();
|
||||
}else
|
||||
if ((extname == ".svg")|| (extname == ".obj"))
|
||||
{
|
||||
@ -575,43 +711,8 @@ namespace Plane.FormationCreator.ViewModels
|
||||
|
||||
|
||||
|
||||
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($"任务：{taskIndex},最大航点间距 = {Math.Round(maxDistance, 2)}米, 水平速度={Math.Round(speed, 2)}, 飞行时间 = {Math.Round(time, 2)}秒, 飞机编号:{copterName}");
|
||||
_flightTaskManager.Tasks[taskIndex].FlytoTime = (int)Math.Round(time, 2);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
private ICommand _ExportWayPointCommand;
|
||||
@ -621,6 +722,9 @@ namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
return _ExportWayPointCommand ?? (_ExportWayPointCommand = new RelayCommand<int>(async =>
|
||||
{
|
||||
|
||||
// _flightTaskManager.OptimizeRouteNew();
|
||||
// return;
|
||||
var dialog = new SaveFileDialog
|
||||
{
|
||||
DefaultExt = "txt",
|
||||
@ -645,58 +749,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
return _AutoWayPointTmCommand ?? (_AutoWayPointTmCommand = new RelayCommand<int>(async =>
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
int taskIndex = _flightTaskManager.SelectedTaskIndex;
|
||||
if (taskIndex != 0 || _flightTaskManager.SelectedTask.TaskType == FlightTaskType.FlyTo)
|
||||
{
|
||||
if (_copterManager.Copters.Count() > 0)
|
||||
{
|
||||
double maxDistance = 0.0f;
|
||||
string copterName = "";
|
||||
double speed = 0.0f;
|
||||
foreach (var copter in _copterManager.Copters)
|
||||
{
|
||||
var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
|
||||
var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
|
||||
|
||||
double distance = GeographyUtils.CalcDistance(
|
||||
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
|
||||
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
|
||||
if (distance > maxDistance)
|
||||
{
|
||||
maxDistance = distance;
|
||||
copterName = copter.Name;
|
||||
speed = curWaypoint.LevelSpeed;
|
||||
}
|
||||
}
|
||||
|
||||
double time = CalculateFlyIime(maxDistance, speed);
|
||||
Message.Show($"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);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
_flightTaskManager.SetTaskFlytime(_flightTaskManager.SelectedTaskIndex);
|
||||
}));
|
||||
}
|
||||
}
|
||||
@ -714,16 +767,26 @@ namespace Plane.FormationCreator.ViewModels
|
||||
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();
|
||||
|
||||
|
||||
_flightTaskManager.SetAllTaskFlytime();
|
||||
}
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
private ICommand _OptimizeRouteCommand3D;
|
||||
public ICommand OptimizeRouteCommand3D
|
||||
{
|
||||
get
|
||||
{
|
||||
return _OptimizeRouteCommand3D ?? (_OptimizeRouteCommand3D = new RelayCommand<int>(async =>
|
||||
{
|
||||
//_flightTaskManager.OptimizeRoute2();
|
||||
// _flightTaskManager.OptimizeRouteNew (); //最后可用的，但是经纬度计算，
|
||||
_flightTaskManager.OptimizeRouteMeter(true); //采用米计算逻辑和OptimizeRouteNew一样
|
||||
}));
|
||||
}
|
||||
}
|
||||
private ICommand _OptimizeRouteCommand;
|
||||
public ICommand OptimizeRouteCommand
|
||||
{
|
||||
@ -732,7 +795,8 @@ namespace Plane.FormationCreator.ViewModels
|
||||
return _OptimizeRouteCommand ?? (_OptimizeRouteCommand = new RelayCommand<int>(async =>
|
||||
{
|
||||
//_flightTaskManager.OptimizeRoute2();
|
||||
_flightTaskManager.OptimizeRouteNew();
|
||||
// _flightTaskManager.OptimizeRouteNew (); //最后可用的，但是经纬度计算，
|
||||
_flightTaskManager.OptimizeRouteMeter(); //采用米计算逻辑和OptimizeRouteNew一样
|
||||
}));
|
||||
}
|
||||
}
|
||||
@ -919,23 +983,7 @@ 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;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -1546,35 +1594,8 @@ public ICommand VerticlAlignmentCommand
|
||||
{
|
||||
return _MaxDistinceAndTimeCommand ?? (_MaxDistinceAndTimeCommand = new RelayCommand<double>(async =>
|
||||
{
|
||||
int taskIndex = _flightTaskManager.SelectedTaskIndex;
|
||||
if (taskIndex != 0 || _flightTaskManager.SelectedTask.TaskType == FlightTaskType.FlyTo)
|
||||
{
|
||||
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);
|
||||
|
||||
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}");
|
||||
}
|
||||
}
|
||||
|
||||
//不设置时间，只是计算
|
||||
_flightTaskManager.SetTaskFlytime(_flightTaskManager.SelectedTaskIndex, false);
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
@ -70,7 +70,9 @@
|
||||
<TextBlock Margin="0,5,5,0" Text="所有：" VerticalAlignment="Center" HorizontalAlignment="Center"/>
|
||||
<Button Margin="0,5,5,0" Content="导入航点" Command="{Binding ImportWayPointCommand}"
|
||||
Visibility="Collapsed"/>
|
||||
<Button Margin="0,5,5,0" Content="优化路线" Width="105" Command="{Binding OptimizeRouteCommand}"
|
||||
<Button Margin="0,5,5,0" Content="计算航线2D" Width="105" Command="{Binding OptimizeRouteCommand}"
|
||||
/>
|
||||
<Button Margin="0,5,5,0" Content="计算航线3D" Width="105" Command="{Binding OptimizeRouteCommand3D}"
|
||||
/>
|
||||
<Button Margin="0,5,5,0" Content="导出到C4D" Width="105" Command="{Binding ExportWayPointCommand}"/>
|
||||
<Button Margin="0,5,5,0" Content="估计时间" Width="105" Command="{Binding AutoWayPointTmCommand}"/>
|
||||
@ -569,8 +571,9 @@
|
||||
|
||||
<StackPanel x:Name="PanelDesign2">
|
||||
<StackPanel Orientation="Horizontal" Margin="0,5,0,5" >
|
||||
<Button Content="整体旋转" Width="120"
|
||||
<Button Content="整体水平旋转" Width="120"
|
||||
Margin="10,5,0,5" Height="26"
|
||||
ToolTip="用于整体飞行方向调整，地面飞机矩阵同时旋转"
|
||||
Command="{Binding TaskRotateCommand}"
|
||||
CommandParameter="{Binding ElementName=txtAlignmentLine1, Path=Text}"/>
|
||||
<TextBox x:Name="txtAlignmentLine1"
|
||||
@ -620,7 +623,36 @@
|
||||
Margin="10,5,0,5" Height="26"
|
||||
Command="{Binding ShowallTaskpointCommand}"
|
||||
/>
|
||||
</StackPanel>
|
||||
<StackPanel Orientation="Horizontal" Margin="0,0,0,5" >
|
||||
|
||||
<Button Content="垂直旋转" Width="120"
|
||||
Margin="10,5,5,5" Height="26"
|
||||
ToolTip="用于多个任务同时倾斜角度，旋转中心为各任务的共同中心，各任务图案位置尽量重叠"
|
||||
Command="{Binding MitTaskVrotationCommand}"
|
||||
/>
|
||||
<TextBlock Text="开始任务" Margin="5, 10, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
|
||||
<TextBox
|
||||
Width="35"
|
||||
Margin="5,5,0,5" Height="26"
|
||||
HorizontalContentAlignment="Right"
|
||||
Text="{Binding taskstartno, UpdateSourceTrigger=PropertyChanged}"/>
|
||||
|
||||
<TextBlock Text="结束任务" Margin="5, 10, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
|
||||
|
||||
<TextBox
|
||||
Width="35"
|
||||
Margin="0,5,0,5" Height="26"
|
||||
HorizontalContentAlignment="Right"
|
||||
Text="{Binding taskendno, UpdateSourceTrigger=PropertyChanged}"/>
|
||||
<TextBlock Text="角度" Margin="5, 10, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
|
||||
|
||||
<TextBox
|
||||
Width="35"
|
||||
Margin="0,5,0,5" Height="26"
|
||||
HorizontalContentAlignment="Right"
|
||||
Text="{Binding taskdirection, UpdateSourceTrigger=PropertyChanged}"/>
|
||||
<TextBlock Text="度" Margin="5, 10, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
|
||||
|
||||
|
||||
</StackPanel>
|
||||
@ -630,6 +662,7 @@
|
||||
|
||||
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</TabItem>
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user