修改起飞点任务错乱bug,修改飞机加入排序后起飞任务错乱问题

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -24,7 +24,7 @@ namespace Plane.FormationCreator.Formation
             _copterManager.Copters.CollectionChanged += (sender, e) =>
             {
                 // TODO: 林俊清, 20150724, 需要改为正确的做法（清除旧飞机的任务，补充新飞机的任务）。
-                AddTakeOffTask(e.NewItems?.Cast<ICopter>());
+                //AddTakeOffTask(e.NewItems?.Cast<ICopter>());
             };
 
             _copterManager.SelectedCoptersChanged += (sender, e) =>
@@ -101,7 +101,18 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
-
+        private string _MessageText="test";
+        public string MessageText
+        {
+            get { return _MessageText; }
+            set
+            {
+                if (Set(nameof(MessageText), ref _MessageText, value))
+                {
+                   // _lastUpdateStatusTextTime = DateTime.Now;
+                }
+            }
+        }
         private double _OriginLng;
         public double OriginLng
         {
@@ -196,6 +207,8 @@ namespace Plane.FormationCreator.Formation
                 var copters = _copterManager.Copters;
                 if (!copters.Any()) return;
                 AppEx.Current.AppMode = AppMode.ModifyingTask;
+                if (Tasks.Count == 0)
+                    AddTakeOffTask(copters);
                 var lastTask = Tasks.LastOrDefault();
                 var nullableCenter = copters.GetCenter();
                 if (nullableCenter == null) return;
@@ -211,9 +224,10 @@ namespace Plane.FormationCreator.Formation
 
                 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> colLatLng = new Tuple<double, double>(0, 0);
                 Tuple<double, double> targetLatLng = new Tuple<double, double>(0, 0);
-                FlightTaskSingleCopterInfo lastSingleCopterInfo =null;
+                FlightTaskSingleCopterInfo lastSingleCopterInfo = null;
+
                 foreach (var copter in copters)
                 {
                     if (coptindex == 0)
@@ -221,28 +235,30 @@ namespace Plane.FormationCreator.Formation
                         lastSingleCopterInfo = lastTask.SingleCopterInfos.Find(info => info.Copter == copter);
                         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);
+                            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,
+
-                        lastTask.SingleCopterInfos.Find(info => info.Copter == copter).TargetAlt, true);
+
+                    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
                 {
@@ -258,6 +274,7 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+
         public void ClearTasks()
         {
             ResetTasks();
@@ -679,7 +696,12 @@ namespace Plane.FormationCreator.Formation
         {
             dynamic tasks = JsonConvert.DeserializeObject(tasksText);
             var copters = _copterManager.Copters;
-            int i=1;
+
+            if (Tasks.Count == 0)
+                AddTakeOffTask(copters);
+
+
+            int i =1;
             foreach (var task in tasks)
             {
                 if ((i >= startindex)&& (i <= endindex))
@@ -721,6 +743,8 @@ namespace Plane.FormationCreator.Formation
         {
             dynamic tasks = JsonConvert.DeserializeObject(tasksText);
             var copters = _copterManager.Copters;
+            if (Tasks.Count == 0)
+                AddTakeOffTask(copters);
             foreach (var task in tasks)
             {
                 switch ((FlightTaskType)task.type)
@@ -870,14 +894,28 @@ namespace Plane.FormationCreator.Formation
         public bool? IsPaused
         {
             get { return _IsPaused; }
-            private set { Set(nameof(IsPaused), ref _IsPaused, value); }
+            private set {
+                if (Set(nameof(IsPaused), ref _IsPaused, value))
+                {
+                    if (_IsPaused??false)
+                    {
+                        MessageText = "任务暂停！";
+
+                    }else
+                    {
+                        MessageText = "任务运行中";
+                    } 
+                }
+
+ 
+            }
         }
 
         public async Task RunAsync()
         {
             IsPaused = false;
             AppEx.Current.AppMode = AppMode.RunningTasks;
-            StartAvoidingCrash();
+            StartAvoidingCrash(); //开始碰撞检测
             for (int i = CurrentRunningTaskIndex; i < Tasks.Count; i++)
             {
                 var task = Tasks[i];
@@ -928,7 +966,8 @@ namespace Plane.FormationCreator.Formation
                                 if (copter != anotherCopter && copter.IsTooCloseTo(anotherCopter))
                                 {
                                     Pause();
-                                    Alert.Show($"{copter.Name} 与 {anotherCopter.Name} 距离过近，已中止任务。");
+                                    Message.Show($"{copter.Name} 与 {anotherCopter.Name} 距离过近，已中止任务。");
+                                    //  Alert.Show($"{copter.Name} 与 {anotherCopter.Name} 距离过近，已中止任务。");
                                     return;
                                 }
                             }

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -12,6 +12,8 @@ namespace Plane.FormationCreator.Formation
     public partial class FlightTask
     {
         private bool _StaggerRoutes = true;
+        
+        //是否有交错
         public bool StaggerRoutes
         {
             get { return _StaggerRoutes; }
@@ -513,7 +515,7 @@ namespace Plane.FormationCreator.Formation
 
         public async Task RunFlyToTaskAsync()          // 全部飞到指定航点
         {
-            
+            //是否有交错
             if (StaggerRoutes)
             {
                 var infos = SingleCopterInfos;

Plane.FormationCreator/ViewModels/TaskBarViewModel.cs

@@ -103,7 +103,8 @@ namespace Plane.FormationCreator.ViewModels
                     //    return;
                     Message.Show("任务开始");
                     await _flightTaskManager.RunAsync();
-                    Message.Show(_flightTaskManager.IsPaused == true ? "任务暂停" : "任务完成");
+                    if ((_flightTaskManager.IsPaused ?? false) == false)
+                        Message.Show("任务完成");
                 }));
             }
         }