From 9133800b62285beae4fd1f63246c67cfb4e3944a Mon Sep 17 00:00:00 2001 From: zxd Date: Wed, 11 Dec 2019 20:41:07 +0800 Subject: [PATCH] =?UTF-8?q?=E8=87=AA=E5=8A=A8=E6=8C=89=E7=85=A7=E4=BD=8D?= =?UTF-8?q?=E7=BD=AE=E6=8E=92=E5=BA=8F=E8=99=9A=E6=8B=9FID?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ViewModels/ConfigVirtualIdViewModel.cs | 222 ++++++++++++++++++ .../Views/ConfigVirtualIdView.xaml | 44 ++++ .../Views/ConfigVirtualIdView.xaml.cs | 31 +++ 3 files changed, 297 insertions(+) create mode 100644 Plane.FormationCreator/ViewModels/ConfigVirtualIdViewModel.cs create mode 100644 Plane.FormationCreator/Views/ConfigVirtualIdView.xaml create mode 100644 Plane.FormationCreator/Views/ConfigVirtualIdView.xaml.cs diff --git a/Plane.FormationCreator/ViewModels/ConfigVirtualIdViewModel.cs b/Plane.FormationCreator/ViewModels/ConfigVirtualIdViewModel.cs new file mode 100644 index 0000000..b783e52 --- /dev/null +++ b/Plane.FormationCreator/ViewModels/ConfigVirtualIdViewModel.cs @@ -0,0 +1,222 @@ +using GalaSoft.MvvmLight; +using GalaSoft.MvvmLight.Command; +using Plane.Copters; +using Plane.FormationCreator.Formation; +using Plane.Geography; +using Plane.Windows.Messages; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Input; + +namespace Plane.FormationCreator.ViewModels +{ + public class ConfigVirtualIdViewModel: ViewModelBase + { + CopterManager _copterManager; + public ConfigVirtualIdViewModel(CopterManager copterManager) + { + _copterManager = copterManager; + } + + private int _SingleVirtualId = 0; + public int SingleVirtualId + { + get { return _SingleVirtualId; } + set { Set(nameof(SingleVirtualId), ref _SingleVirtualId, value); } + } + + private int _SingleRowCount = 0; + public int SingleRowCount + { + get { return _SingleRowCount; } + set { Set(nameof(SingleRowCount), ref _SingleRowCount, value); } + } + + /// + /// 清除所有编号 + /// + private ICommand _ClearVirtualIdCommand; + public ICommand ClearVirtualIdCommand + { + get + { + return _ClearVirtualIdCommand ?? (_ClearVirtualIdCommand = new RelayCommand(() => + { + foreach (var c in _copterManager.Copters) + { + c.VirtualId = 0; + } + Message.Show($"已清除所有飞机编号"); + })); + } + } + + + + + /// + /// 设置单个虚拟ID + /// + private ICommand _SetSingleVirtualIdCommand; + public ICommand SetSingleVirtualIdCommand + { + get + { + return _SetSingleVirtualIdCommand ?? (_SetSingleVirtualIdCommand = new RelayCommand(() => + { + if (SingleVirtualId <= 0) + { + System.Windows.MessageBox.Show("编号必须大于0"); + return; + } + + if (_copterManager.AcceptingControlCopters.Count() == 1) + { + var copter = _copterManager.AcceptingControlCopters.FirstOrDefault(); + copter.VirtualId = SingleVirtualId; + Message.Show($"飞机{copter.Name} 设置编号={SingleVirtualId}"); + } + })); + } + } + + private ICommand _AutoLocationNumsCommand; + public ICommand AutoLocationNumsCommand + { + get + { + return _AutoLocationNumsCommand ?? (_AutoLocationNumsCommand = new RelayCommand(async () => + { + + int colCount = SingleRowCount; + int copterCount = _copterManager.Copters.Count; + + if (copterCount % colCount != 0) + { + Alert.Show($"列数设置错误！"); + return; + } + + int rowCount = copterCount / colCount; + int num = 1; + if (_copterManager.AcceptingControlCopters.Count() == 4) + { + var copters = _copterManager.AcceptingControlCopters.ToList(); + var firstCopter = copters[0]; + var secondCopter = copters[1]; + var thirdCopter = copters[2]; + var fourthCopter = copters[3]; + + //第一列角度 + double firstColazimuth = GeographyUtils.RadToDeg(GeographyUtils.CalcDirection2D( + firstCopter.Latitude, firstCopter.Longitude, + thirdCopter.Latitude, thirdCopter.Longitude)); + //最后列角度 + double lastColazimuth = GeographyUtils.RadToDeg(GeographyUtils.CalcDirection2D( + secondCopter.Latitude, secondCopter.Longitude, + fourthCopter.Latitude, fourthCopter.Longitude)); + + ICopter destCopter = null; + ICopter rowfirstCopter = null; + ICopter rowlastCopter = null; + for (int i = 0; i < rowCount; i++) + { + + if (i == 0) + { + rowfirstCopter = firstCopter; + rowlastCopter = secondCopter; + } + else if (i == rowCount - 1) + { + rowfirstCopter = thirdCopter; + rowlastCopter = fourthCopter; + } + else + { + rowfirstCopter = FindNextCopter(rowfirstCopter, firstColazimuth); + rowlastCopter = FindNextCopter(rowlastCopter, lastColazimuth); + } + + if (rowfirstCopter == null || rowlastCopter == null) + { + Alert.Show($"在确认第{i+1}列时候无法找到起始或结束飞机"); + return; + } + + + for (int j = 0; j < colCount; j++) + { + + double curRowAzimuth = GeographyUtils.RadToDeg(GeographyUtils.CalcDirection2D( + rowfirstCopter.Latitude, rowfirstCopter.Longitude, + rowlastCopter.Latitude, rowlastCopter.Longitude)); + if (j == 0) + { + destCopter = rowfirstCopter; + } + else if (j == colCount - 1) + { + destCopter = rowlastCopter; + } + else + { + destCopter = FindNextCopter(destCopter, curRowAzimuth); + + if (destCopter == null) + { + Alert.Show($"在寻找第{num}号位置时候无法找到对应位置飞机"); + return; + } + + } + destCopter.VirtualId = num; + + Message.Show($"飞机{destCopter.Name} 虚拟ID = {destCopter.VirtualId}"); + num++; + } + } + } + await Task.Delay(10); + })); + } + } + + + private ICopter FindNextCopter(ICopter startCopter, double azimuth) + { + ICopter retCopter = null; + bool foundCopter = false; + float stepLength = 0; + while (!foundCopter) + { + stepLength += 1.5f; + Tuple targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D( + startCopter.Latitude, startCopter.Longitude, (float)azimuth, stepLength); + + List remainCopters = _copterManager.Copters.Where(o => o.VirtualId == 0).ToList(); + + foreach (var copter in remainCopters) + { + double temp = GeographyUtils.CalcDistance2D(copter.Latitude, copter.Longitude, + targetLatLng.Item1, targetLatLng.Item2); + if (temp < 1.5) + { + foundCopter = true; + retCopter = copter; + break; + } + } + + if (stepLength > 15) + { + break; + } + } + return retCopter; + } + } +} diff --git a/Plane.FormationCreator/Views/ConfigVirtualIdView.xaml b/Plane.FormationCreator/Views/ConfigVirtualIdView.xaml new file mode 100644 index 0000000..92e5e1b --- /dev/null +++ b/Plane.FormationCreator/Views/ConfigVirtualIdView.xaml @@ -0,0 +1,44 @@ + + + + + + + + +