group/Plane.FormationCreator
1
0
Fork 0
Code Issues 3 Pull Requests Actions Packages Projects Releases Wiki Activity

采用新的算法计算航线，可以全流程生成，起飞到图案（用3d生成），2d图案到2d图案(用2d错层生成)，2d或3d回起飞矩阵（用3d，加2d拉开层，对应ID生成）

Browse Source
This commit is contained in:
pxzleo 2024-01-08 20:39:33 +08:00
parent ff37f4fa04
commit 9cfd7db051
10 changed files with 1888 additions and 1497 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
Plane.FormationCreator.sln
View File

@ -1,7 +1,7 @@
 
Microsoft Visual Studio Solution File, Format Version 12.00 Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 14 # Visual Studio Version 17
VisualStudioVersion = 14.0.25420.1 VisualStudioVersion = 17.7.34202.233
MinimumVisualStudioVersion = 10.0.40219.1 MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.FormationCreator", "Plane.FormationCreator\Plane.FormationCreator.csproj", "{61E2F31E-220A-4E3F-A64D-F7CDC2135008}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.FormationCreator", "Plane.FormationCreator\Plane.FormationCreator.csproj", "{61E2F31E-220A-4E3F-A64D-F7CDC2135008}"
ProjectSection(ProjectDependencies) = postProject ProjectSection(ProjectDependencies) = postProject
@ -28,15 +28,9 @@ Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRoute", "..\FlyTest\FlightRoute\FlightRoute.csproj", "{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRoute", "..\FlyTest\FlightRoute\FlightRoute.csproj", "{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}"
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlyBase", "..\FlyCube\FlyBase\FlyBase.csproj", "{626A9BFA-07DE-4063-A178-360EB7057ED6}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRouteV2", "..\FlyCube\FlightRouteV2\FlightRouteV2.csproj", "{626A9BFA-07DE-4063-A178-360EB7057ED6}"
EndProject EndProject
Global Global
GlobalSection(SharedMSBuildProjectFiles) = preSolution
..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}*SharedItemsImports = 4
..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{2be393dc-21a4-48b3-83fd-f21cbe8b038b}*SharedItemsImports = 13
..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.projitems*{47141894-ece3-48ca-8dcf-ca751bda231e}*SharedItemsImports = 4
..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.projitems*{695733d7-99ff-4707-8c89-474e949cadcb}*SharedItemsImports = 13
EndGlobalSection
GlobalSection(SolutionConfigurationPlatforms) = preSolution GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU Release|Any CPU = Release|Any CPU
@ -128,4 +122,10 @@ Global
GlobalSection(SolutionProperties) = preSolution GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE HideSolutionNode = FALSE
EndGlobalSection EndGlobalSection
GlobalSection(SharedMSBuildProjectFiles) = preSolution
..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}*SharedItemsImports = 4
..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{2be393dc-21a4-48b3-83fd-f21cbe8b038b}*SharedItemsImports = 13
..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.projitems*{47141894-ece3-48ca-8dcf-ca751bda231e}*SharedItemsImports = 4
..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.projitems*{695733d7-99ff-4707-8c89-474e949cadcb}*SharedItemsImports = 13
EndGlobalSection
EndGlobal EndGlobal

32
Plane.FormationCreator/App.config
View File

@ -1,28 +1,28 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<configuration> <configuration>
<configSections> <configSections>
<sectionGroup name="userSettings" type="System.Configuration.UserSettingsGroup, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <sectionGroup name="userSettings" type="System.Configuration.UserSettingsGroup, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<section name="Plane.FormationCreator.Properties.Settings" type="System.Configuration.ClientSettingsSection, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" allowExeDefinition="MachineToLocalUser" requirePermission="false" /> <section name="Plane.FormationCreator.Properties.Settings" type="System.Configuration.ClientSettingsSection, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" allowExeDefinition="MachineToLocalUser" requirePermission="false"/>
</sectionGroup> </sectionGroup>
<!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 --> <!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 -->
<section name="entityFramework" type="System.Data.Entity.Internal.ConfigFile.EntityFrameworkSection, EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" requirePermission="false" /> <section name="entityFramework" type="System.Data.Entity.Internal.ConfigFile.EntityFrameworkSection, EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" requirePermission="false"/>
</configSections> </configSections>
<startup> <startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6" /> <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
</startup> </startup>
<runtime> <runtime>
<assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1"> <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
<dependentAssembly> <dependentAssembly>
<assemblyIdentity name="System.Windows.Interactivity" publicKeyToken="31bf3856ad364e35" culture="neutral" /> <assemblyIdentity name="System.Windows.Interactivity" publicKeyToken="31bf3856ad364e35" culture="neutral"/>
<bindingRedirect oldVersion="0.0.0.0-4.5.0.0" newVersion="4.5.0.0" /> <bindingRedirect oldVersion="0.0.0.0-4.5.0.0" newVersion="4.5.0.0"/>
</dependentAssembly> </dependentAssembly>
<dependentAssembly> <dependentAssembly>
<assemblyIdentity name="System.Data.SQLite" publicKeyToken="db937bc2d44ff139" culture="neutral" /> <assemblyIdentity name="System.Data.SQLite" publicKeyToken="db937bc2d44ff139" culture="neutral"/>
<bindingRedirect oldVersion="0.0.0.0-1.0.109.0" newVersion="1.0.109.0" /> <bindingRedirect oldVersion="0.0.0.0-1.0.109.0" newVersion="1.0.109.0"/>
</dependentAssembly> </dependentAssembly>
<dependentAssembly> <dependentAssembly>
<assemblyIdentity name="Newtonsoft.Json" publicKeyToken="30ad4fe6b2a6aeed" culture="neutral" /> <assemblyIdentity name="Newtonsoft.Json" publicKeyToken="30ad4fe6b2a6aeed" culture="neutral"/>
<bindingRedirect oldVersion="0.0.0.0-9.0.0.0" newVersion="9.0.0.0" /> <bindingRedirect oldVersion="0.0.0.0-9.0.0.0" newVersion="9.0.0.0"/>
</dependentAssembly> </dependentAssembly>
</assemblyBinding> </assemblyBinding>
</runtime> </runtime>
@ -36,18 +36,18 @@
<entityFramework> <entityFramework>
<defaultConnectionFactory type="System.Data.Entity.Infrastructure.LocalDbConnectionFactory, EntityFramework"> <defaultConnectionFactory type="System.Data.Entity.Infrastructure.LocalDbConnectionFactory, EntityFramework">
<parameters> <parameters>
<parameter value="mssqllocaldb" /> <parameter value="mssqllocaldb"/>
</parameters> </parameters>
</defaultConnectionFactory> </defaultConnectionFactory>
<providers> <providers>
<provider invariantName="System.Data.SqlClient" type="System.Data.Entity.SqlServer.SqlProviderServices, EntityFramework.SqlServer" /> <provider invariantName="System.Data.SqlClient" type="System.Data.Entity.SqlServer.SqlProviderServices, EntityFramework.SqlServer"/>
<provider invariantName="System.Data.SQLite.EF6" type="System.Data.SQLite.EF6.SQLiteProviderServices, System.Data.SQLite.EF6" /> <provider invariantName="System.Data.SQLite.EF6" type="System.Data.SQLite.EF6.SQLiteProviderServices, System.Data.SQLite.EF6"/>
</providers> </providers>
</entityFramework> </entityFramework>
<system.data> <system.data>
<DbProviderFactories> <DbProviderFactories>
<remove invariant="System.Data.SQLite.EF6" /> <remove invariant="System.Data.SQLite.EF6"/>
<add name="SQLite Data Provider (Entity Framework 6)" invariant="System.Data.SQLite.EF6" description=".NET Framework Data Provider for SQLite (Entity Framework 6)" type="System.Data.SQLite.EF6.SQLiteProviderFactory, System.Data.SQLite.EF6" /> <add name="SQLite Data Provider (Entity Framework 6)" invariant="System.Data.SQLite.EF6" description=".NET Framework Data Provider for SQLite (Entity Framework 6)" type="System.Data.SQLite.EF6.SQLiteProviderFactory, System.Data.SQLite.EF6"/>
<remove invariant="System.Data.SQLite" /><add name="SQLite Data Provider" invariant="System.Data.SQLite" description=".NET Framework Data Provider for SQLite" type="System.Data.SQLite.SQLiteFactory, System.Data.SQLite" /></DbProviderFactories> <remove invariant="System.Data.SQLite"/><add name="SQLite Data Provider" invariant="System.Data.SQLite" description=".NET Framework Data Provider for SQLite" type="System.Data.SQLite.SQLiteFactory, System.Data.SQLite"/></DbProviderFactories>
</system.data> </system.data>
</configuration> </configuration>

3
Plane.FormationCreator/App.xaml.cs
View File

@ -18,8 +18,9 @@ using System.Reflection;
using System.Threading; using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows; using System.Windows;
using Plane.CommunicationManagement;
using Plane.FormationCreator.Util; using Plane.FormationCreator.Util;
using Plane.CommunicationManagement;
namespace Plane.FormationCreator namespace Plane.FormationCreator
{ {

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

@ -25,7 +25,7 @@ namespace Plane.FormationCreator.Formation
public class CopterCollection : ObservableCollection<ICopter> public class CopterCollection : ObservableCollection<ICopter>
{ {
//软件过期时间---过期将无法添加飞机，并自动退出 //软件过期时间---过期将无法添加飞机，并自动退出
public static DateTime Expire_App = DateTime.Parse("2023-12-31"); public static DateTime Expire_App = DateTime.Parse("2024-12-31");
//超级用户过期时间--过期将无法使用内置超级用户登录 //超级用户过期时间--过期将无法使用内置超级用户登录
public static DateTime Expire_SuperUser = Expire_App; public static DateTime Expire_SuperUser = Expire_App;
//允许飞行的飞机数量 //允许飞行的飞机数量

502
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -1,5 +1,4 @@
using Plane.Collections; using Plane.Copters;
using Plane.Copters;
using Plane.Geography; using Plane.Geography;
using Plane.Windows.Messages; using Plane.Windows.Messages;
using GalaSoft.MvvmLight; using GalaSoft.MvvmLight;
@ -10,14 +9,19 @@ using System.Collections.ObjectModel;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading.Tasks; using System.Threading.Tasks;
using Plane.CommunicationManagement;
using FlightRoute; using FlightRoute;
using FlightRouteV2;
using System.IO; using System.IO;
using System.Windows.Media.Media3D; using System.Windows.Media.Media3D;
using System.Diagnostics; using System.Diagnostics;
using Plane.FormationCreator.Util;
using System.Collections; using System.Collections;
using System.Windows; using System.Windows;
using System.Threading;
using Plane.CommunicationManagement;
using Microsoft.Practices.ServiceLocation;
using Plane.FormationCreator.ViewModels;
using MahApps.Metro.Controls;
namespace Plane.FormationCreator.Formation namespace Plane.FormationCreator.Formation
{ {
@ -66,7 +70,7 @@ namespace Plane.FormationCreator.Formation
} }
} }
} }
if (selectedCopter!=null) if (selectedCopter != null)
selectedCopter.SetShowLEDFlashAsync(1, 100); selectedCopter.SetShowLEDFlashAsync(1, 100);
//if (selectedCopter != null) //if (selectedCopter != null)
@ -98,7 +102,7 @@ namespace Plane.FormationCreator.Formation
private string _MessageText="test"; private string _MessageText = "test";
public string MessageText public string MessageText
{ {
get { return _MessageText; } get { return _MessageText; }
@ -155,7 +159,7 @@ namespace Plane.FormationCreator.Formation
public int GetTaskTime(int TaskIndex) public int GetTaskTime(int TaskIndex)
{ {
int tasktime = 0; int tasktime = 0;
if ((Tasks==null)|| TaskIndex> Tasks.Count-1) return tasktime; if ((Tasks == null) || TaskIndex > Tasks.Count - 1) return tasktime;
FlightTask value = Tasks[TaskIndex]; FlightTask value = Tasks[TaskIndex];
switch (value.TaskType) switch (value.TaskType)
@ -165,12 +169,12 @@ namespace Plane.FormationCreator.Formation
//降落时间计算前一个任务目标高度最高的飞机的降落时间按1.5米/秒下降 //降落时间计算前一个任务目标高度最高的飞机的降落时间按1.5米/秒下降
case FlightTaskType.Land: case FlightTaskType.Land:
float maxalt = 0.0f; float maxalt = 0.0f;
for (int i = 0; i < Tasks[TaskIndex-1].SingleCopterInfos.Count; i++) for (int i = 0; i < Tasks[TaskIndex - 1].SingleCopterInfos.Count; i++)
{ {
var copterInfo = Tasks[TaskIndex - 1].SingleCopterInfos[i]; var copterInfo = Tasks[TaskIndex - 1].SingleCopterInfos[i];
if (maxalt < copterInfo.TargetAlt) maxalt = copterInfo.TargetAlt; if (maxalt < copterInfo.TargetAlt) maxalt = copterInfo.TargetAlt;
} }
tasktime =(int) Math.Round(maxalt / 1.5,0); tasktime = (int)Math.Round(maxalt / 1.5, 0);
break; break;
} }
return tasktime; return tasktime;
@ -188,7 +192,7 @@ namespace Plane.FormationCreator.Formation
{ {
if (_SelectedTask != value) if (_SelectedTask != value)
{ {
int starttime=0; int starttime = 0;
if (_SelectedTask != null) if (_SelectedTask != null)
{ {
@ -203,7 +207,7 @@ namespace Plane.FormationCreator.Formation
value.IsSelected = true; value.IsSelected = true;
value.IsRightSelected = true; value.IsRightSelected = true;
RightSelect(value); RightSelect(value);
if (TaskState== TasksStatus.Stop) if (TaskState == TasksStatus.Stop)
value.Status = FlightTaskStatus.Selected; value.Status = FlightTaskStatus.Selected;
for (int i = 0; i < value.TaskIndex; i++) for (int i = 0; i < value.TaskIndex; i++)
@ -240,7 +244,7 @@ namespace Plane.FormationCreator.Formation
} }
Message.ShowStatus($"选中 [{value.TaskIndex+1} {value.TaskCnName }] 从{str}开始执行，需{ GetTaskTime(value.TaskIndex)}秒,共{Tasks.Count}个任务"); Message.ShowStatus($"选中 [{value.TaskIndex + 1} {value.TaskCnName}] 从{str}开始执行，需{GetTaskTime(value.TaskIndex)}秒,共{Tasks.Count}个任务");
} }
else Message.ShowStatus($"无任务选中"); else Message.ShowStatus($"无任务选中");
@ -385,11 +389,11 @@ namespace Plane.FormationCreator.Formation
public event EventHandler<FlightTaskAddedEventArgs> TaskAdded; public event EventHandler<FlightTaskAddedEventArgs> TaskAdded;
public event EventHandler<FlightTaskDeledEventArgs> TaskDeled; public event EventHandler<FlightTaskDeledEventArgs> TaskDeled;
public void RaiseTaskDeled(FlightTask vDeledTask,int vTaskIndex) public void RaiseTaskDeled(FlightTask vDeledTask, int vTaskIndex)
{ {
try try
{ {
TaskDeled?.Invoke(this, new FlightTaskDeledEventArgs { DeledTask = vDeledTask, TaskIndex= vTaskIndex }); TaskDeled?.Invoke(this, new FlightTaskDeledEventArgs { DeledTask = vDeledTask, TaskIndex = vTaskIndex });
} }
catch (Exception ex) catch (Exception ex)
{ {
@ -398,7 +402,7 @@ namespace Plane.FormationCreator.Formation
} }
public void RaiseTaskAdded(FlightTask lastTask ,FlightTask newTask) public void RaiseTaskAdded(FlightTask lastTask, FlightTask newTask)
{ {
try try
{ {
@ -451,7 +455,7 @@ namespace Plane.FormationCreator.Formation
if (Tasks.Count == 0) if (Tasks.Count == 0)
AddTakeOffTask(copters); AddTakeOffTask(copters);
var lastTask = Tasks.LastOrDefault(); var lastTask = Tasks.LastOrDefault();
if (SelectedTask !=null) if (SelectedTask != null)
lastTask = SelectedTask; lastTask = SelectedTask;
var nullableCenter = copters.GetCenter(); var nullableCenter = copters.GetCenter();
if (nullableCenter == null) return; if (nullableCenter == null) return;
@ -501,8 +505,8 @@ namespace Plane.FormationCreator.Formation
newTask.SingleCopterInfos.Add(newSingleCopterInfo); newTask.SingleCopterInfos.Add(newSingleCopterInfo);
} }
int selindex = SelectedTaskIndex+1; int selindex = SelectedTaskIndex + 1;
Tasks.Insert(SelectedTaskIndex+1, newTask); Tasks.Insert(SelectedTaskIndex + 1, newTask);
RaiseTaskAdded(lastTask, newTask); RaiseTaskAdded(lastTask, newTask);
SelectTask(selindex); SelectTask(selindex);
@ -613,7 +617,7 @@ namespace Plane.FormationCreator.Formation
// ResetTasks(); // ResetTasks();
SelectedTask.SingleCopterInfos.Clear(); SelectedTask.SingleCopterInfos.Clear();
Tasks.RemoveAt(SelectedTaskIndex); Tasks.RemoveAt(SelectedTaskIndex);
RaiseTaskDeled(SelectedTask,SelectedTaskIndex); RaiseTaskDeled(SelectedTask, SelectedTaskIndex);
SelectTask(selindex - 1); SelectTask(selindex - 1);
@ -631,7 +635,7 @@ namespace Plane.FormationCreator.Formation
Pause(); Pause();
int i = 0; int i = 0;
//等待暂停或2s超时(80*25ms) //等待暂停或2s超时(80*25ms)
while ((TaskState != TasksStatus.Paused)||(i>80)) while ((TaskState != TasksStatus.Paused) || (i > 80))
{ {
await Task.Delay(25).ConfigureAwait(false); await Task.Delay(25).ConfigureAwait(false);
i++; i++;
@ -643,8 +647,8 @@ namespace Plane.FormationCreator.Formation
CurrentRunningTask = null; CurrentRunningTask = null;
//起飞任务需要跳过 //起飞任务需要跳过
// if (CurrentRunningTaskIndex == 0) // if (CurrentRunningTaskIndex == 0)
// CurrentRunningTaskIndex++; // CurrentRunningTaskIndex++;
CurrentRunningTaskIndex++; CurrentRunningTaskIndex++;
await RunTaskAsync(); await RunTaskAsync();
} }
@ -654,10 +658,10 @@ namespace Plane.FormationCreator.Formation
public async Task FlyToTasks() public async Task FlyToTasks()
{ {
var copters = _copterManager.Copters; var copters = _copterManager.Copters;
if ((SelectedTaskIndex==-1) ||(TaskState == TasksStatus.Stop)) if ((SelectedTaskIndex == -1) || (TaskState == TasksStatus.Stop))
return; return;
int vSelectedTaskIndex= SelectedTaskIndex; int vSelectedTaskIndex = SelectedTaskIndex;
Pause(); Pause();
int i = 0; int i = 0;
@ -793,7 +797,7 @@ namespace Plane.FormationCreator.Formation
fc.SetProperties( fc.SetProperties(
latitude: Tasks[0].SingleCopterInfos[j].TargetLat, latitude: Tasks[0].SingleCopterInfos[j].TargetLat,
longitude: Tasks[0].SingleCopterInfos[j].TargetLng, longitude: Tasks[0].SingleCopterInfos[j].TargetLng,
altitude: 0 ); altitude: 0);
//设置灯光为默认颜色 //设置灯光为默认颜色
fc.LEDColor = CopterManager.CopterDefaultColor;// "000000"; fc.LEDColor = CopterManager.CopterDefaultColor;// "000000";
fc.LEDMode = 0; fc.LEDMode = 0;
@ -906,7 +910,7 @@ namespace Plane.FormationCreator.Formation
public void ImportDlltoVCopter(string filename) public void ImportDlltoVCopter(string filename)
{ {
Vector3[] vc; FlightRoute.Vector3[] vc;
@ -928,7 +932,7 @@ namespace Plane.FormationCreator.Formation
return; return;
} }
int id = 0; int id = 0;
foreach (Vector3 item in vc) foreach (FlightRoute.Vector3 item in vc)
{ {
Tuple<double, double> observationLatLng = null; Tuple<double, double> observationLatLng = null;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D( observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
@ -962,7 +966,7 @@ namespace Plane.FormationCreator.Formation
//导入外部航点 //导入外部航点
public void ImportDlltoTask(string filename) public void ImportDlltoTask(string filename)
{ {
Vector3[] vc; FlightRoute.Vector3[] vc;
string extname = Path.GetExtension(filename); string extname = Path.GetExtension(filename);
@ -976,18 +980,18 @@ namespace Plane.FormationCreator.Formation
} }
else return; else return;
if (vc.Count()!= _copterManager.Copters.Count) if (vc.Count() != _copterManager.Copters.Count)
{ {
Alert.Show($"飞机数量不匹配！导入{vc.Count()}架，实际{_copterManager.Copters.Count}"); Alert.Show($"飞机数量不匹配！导入{vc.Count()}架，实际{_copterManager.Copters.Count}");
return; return;
} }
var lastTask = Tasks.LastOrDefault(); var lastTask = Tasks.LastOrDefault();
var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = true, FlytoTime = 10, LoiterTime = 1 }; var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = true, FlytoTime = 10, LoiterTime = 1 };
string vname=Path.GetFileNameWithoutExtension(filename); string vname = Path.GetFileNameWithoutExtension(filename);
if (vname.Length>6) vname= vname.Substring(0, 6); if (vname.Length > 6) vname = vname.Substring(0, 6);
newTask.TaskCnName = vname; newTask.TaskCnName = vname;
int id =0; int id = 0;
foreach (Vector3 item in vc) foreach (FlightRoute.Vector3 item in vc)
{ {
Tuple<double, double> observationLatLng = null; Tuple<double, double> observationLatLng = null;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D( observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
@ -1035,10 +1039,10 @@ namespace Plane.FormationCreator.Formation
{ {
//去掉前后的"[]" //去掉前后的"[]"
string taskName_temp = taskName.Substring(1); string taskName_temp = taskName.Substring(1);
taskName_temp= taskName_temp.Remove(taskName_temp.Length - 1); taskName_temp = taskName_temp.Remove(taskName_temp.Length - 1);
//新版用":"分割时间 //新版用":"分割时间
string[] words = taskName_temp.Split(':'); string[] words = taskName_temp.Split(':');
if (words.Count()==2) if (words.Count() == 2)
{ {
taskName = words[0]; taskName = words[0];
flytime = int.Parse(words[1]); flytime = int.Parse(words[1]);
@ -1148,7 +1152,7 @@ namespace Plane.FormationCreator.Formation
public void ImportBlenderFlyToTask(string blenderVectors) public void ImportBlenderFlyToTask(string blenderVectors)
{ {
string[] lineVectors = blenderVectors.Replace("\r\n","\n").Split('\n'); string[] lineVectors = blenderVectors.Replace("\r\n", "\n").Split('\n');
var lastTask = Tasks.LastOrDefault(); var lastTask = Tasks.LastOrDefault();
float alt = lastTask.SingleCopterInfos[0].TargetAlt; float alt = lastTask.SingleCopterInfos[0].TargetAlt;
@ -1203,7 +1207,7 @@ namespace Plane.FormationCreator.Formation
if (nullableCenter == null) return; if (nullableCenter == null) return;
var center = nullableCenter.Value; var center = nullableCenter.Value;
var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = staggerRoutes, FlytoTime = flytoTime, LoiterTime = loiterTime }; var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = staggerRoutes, FlytoTime = flytoTime, LoiterTime = loiterTime };
if(taskName != null) newTask.TaskCnName = taskName; if (taskName != null) newTask.TaskCnName = taskName;
// TODO: 王海, 20150801, 处理实际飞行器数目与记录中数目不一致的情况。 // TODO: 王海, 20150801, 处理实际飞行器数目与记录中数目不一致的情况。
for (int i = 0; i < copters.Count; i++) for (int i = 0; i < copters.Count; i++)
{ {
@ -1228,7 +1232,7 @@ namespace Plane.FormationCreator.Formation
var jsonArray = singleCopterInfoObj.ledInfos as Newtonsoft.Json.Linq.JArray; var jsonArray = singleCopterInfoObj.ledInfos as Newtonsoft.Json.Linq.JArray;
ObservableCollection<LEDInfo> ledList = jsonArray.ToObject<ObservableCollection<LEDInfo>>(); ObservableCollection<LEDInfo> ledList = jsonArray.ToObject<ObservableCollection<LEDInfo>>();
foreach(LEDInfo info in ledList) foreach (LEDInfo info in ledList)
{ {
newSingleCopterInfo.AddLEDInfo(info); newSingleCopterInfo.AddLEDInfo(info);
} }
@ -1270,7 +1274,7 @@ namespace Plane.FormationCreator.Formation
{ {
var singleCopterInfoObj = singleCopterInfos[i]; var singleCopterInfoObj = singleCopterInfos[i];
takeOffTask.SingleCopterInfos[i].TakeOffWaitTime = (ushort)singleCopterInfoObj.waitTime; takeOffTask.SingleCopterInfos[i].TakeOffWaitTime = (ushort)singleCopterInfoObj.waitTime;
if (singleCopterInfoObj.ledInfos!= null) if (singleCopterInfoObj.ledInfos != null)
{ {
var jsonArray = singleCopterInfoObj.ledInfos as Newtonsoft.Json.Linq.JArray; var jsonArray = singleCopterInfoObj.ledInfos as Newtonsoft.Json.Linq.JArray;
ObservableCollection<LEDInfo> ledList = jsonArray.ToObject<ObservableCollection<LEDInfo>>(); ObservableCollection<LEDInfo> ledList = jsonArray.ToObject<ObservableCollection<LEDInfo>>();
@ -1544,7 +1548,7 @@ namespace Plane.FormationCreator.Formation
//导入任务,可设置导入哪些步骤 //导入任务,可设置导入哪些步骤
public void ImportTasksindex(dynamic tasks, int startindex,int endindex, bool isMeter) public void ImportTasksindex(dynamic tasks, int startindex, int endindex, bool isMeter)
{ {
var copters = _copterManager.Copters; var copters = _copterManager.Copters;
@ -1552,10 +1556,10 @@ namespace Plane.FormationCreator.Formation
AddTakeOffTask(copters); AddTakeOffTask(copters);
int i =1; int i = 1;
foreach (var task in tasks) foreach (var task in tasks)
{ {
if ((i >= startindex)&& (i <= endindex)) if ((i >= startindex) && (i <= endindex))
{ {
switch ((FlightTaskType)task.type) switch ((FlightTaskType)task.type)
{ {
@ -1775,7 +1779,7 @@ namespace Plane.FormationCreator.Formation
{ {
tasktime = copter_tasktime; tasktime = copter_tasktime;
maxDistance_up = copter_maxDistance_up; maxDistance_up = copter_maxDistance_up;
copterName= copter.Name; copterName = copter.Name;
waittime = curWaypoint.TakeOffWaitTime; waittime = curWaypoint.TakeOffWaitTime;
upflytime = time_up; upflytime = time_up;
} }
@ -1872,7 +1876,7 @@ namespace Plane.FormationCreator.Formation
public void SetTaskFlytime(int taskIndex, bool settime = true) public void SetTaskFlytime(int taskIndex, bool settime = true)
{ {
if (taskIndex== 1) if (taskIndex == 1)
{ {
Message.Show($"2号任务是调整航点，根据现场飞机摆放离设计位置偏差来调整"); Message.Show($"2号任务是调整航点，根据现场飞机摆放离设计位置偏差来调整");
return; return;
@ -1888,7 +1892,7 @@ namespace Plane.FormationCreator.Formation
if (Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().IsChangeSpeed) if (Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().IsChangeSpeed)
{ {
_defvel_xy = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().LevelSpeed; _defvel_xy = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().LevelSpeed;
_defvel_up= Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().UpSpeed; _defvel_up = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().UpSpeed;
_defvel_down = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().DownSpeed; _defvel_down = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().DownSpeed;
} }
@ -1953,7 +1957,7 @@ namespace Plane.FormationCreator.Formation
} }
}//循环结束 }//循环结束
double time_xy = getMinfligthtime((float)maxDistance_xy, FC_acc_xy, FC_maxvel_xy,flytimetype); double time_xy = getMinfligthtime((float)maxDistance_xy, FC_acc_xy, FC_maxvel_xy, flytimetype);
double time_up = getMinfligthtime((float)maxDistance_up, FC_acc_z, FC_maxvel_up, flytimetype); double time_up = getMinfligthtime((float)maxDistance_up, FC_acc_z, FC_maxvel_up, flytimetype);
double time_down = getMinfligthtime((float)maxDistance_down, FC_acc_z, FC_maxvel_down, flytimetype); double time_down = getMinfligthtime((float)maxDistance_down, FC_acc_z, FC_maxvel_down, flytimetype);
double tasktime = time_xy; double tasktime = time_xy;
@ -2073,7 +2077,7 @@ namespace Plane.FormationCreator.Formation
return realflytime; return realflytime;
} }
float getMinfligthtime(float Distance, float fc_acc, float fc_maxspeed,int timetype) float getMinfligthtime(float Distance, float fc_acc, float fc_maxspeed, int timetype)
{ {
switch (timetype) switch (timetype)
{ {
@ -2107,12 +2111,123 @@ namespace Plane.FormationCreator.Formation
return t; return t;
} //计算优化线路，采用米计算 } //计算优化线路，采用米计算
/// <summary>
/// 自动生成航线2D和3D都用这个--------目前使用----------------
/// </summary> static public FlightRouteV2.Vector3[] GetFlyBase3d_V2(Point3D[] vPoints)
/// <param name="Is3d">3D计算</param> {
/// <param name="Ischange">是否改变线路的结束点顺序--返回起飞点航线不能交换</param>
public void OptimizeRouteMeter(bool Is3d=false,bool Ischange=true) FlightRouteV2.Vector3[] ret3d = new FlightRouteV2.Vector3[vPoints.Count()];
for (int i = 0; i < vPoints.Count(); i++)
{
ret3d[i].X = vPoints[i].X;
ret3d[i].Y = vPoints[i].Y;
ret3d[i].Z = vPoints[i].Z;
}
return ret3d;
}
//计算中状态信息
public void Routecallback(string str)
{
// Application.Current.Dispatcher.InvokeAsync(() =>
Application.Current.Dispatcher.Invoke(() =>
{
Message.Show(str);
});
}
//计算进度
public void Cronograma(int val)
{
// Application.Current.Dispatcher.InvokeAsync(() =>
Application.Current.Dispatcher.Invoke(() =>
{
ServiceLocator.Current.GetInstance<MainViewModel>().SysStatusText = "计算进度："+val+"%";
});
}
//新开线程异步调用ContactABOut并等待返回
public async Task<FlightRouteV2.Vector3[]> ContactABOutAsync(FlightRouteV2.Vector3[] aVecs, FlightRouteV2.Vector3[] bVecs)
{
FlightRouteV2.Vector3[] ret=null;
var task = Task.Run(() =>
{
ret = FlyVecFun.ContactABOut(aVecs, bVecs, Routecallback);
});
try
{
await task;
}
catch (System.TimeoutException)
{
Message.Show("目标计算失败");
}
return ret;
}
//新开线程异步调用ABypassB并等待返回
public async Task<(List<List<FlightRouteV2.Vector3>>,bool)> ABypassBAsync(FlightRouteV2.Vector3[] aVecs, FlightRouteV2.Vector3[] bVecs)
{
List<List<FlightRouteV2.Vector3>> ret = null;
bool isPasstmp = false;
var task = Task.Run(() =>
{
ret = FlyVecFun.ABypassB(aVecs, bVecs, Routecallback, Cronograma, out isPasstmp);
});
try
{
await task;
}
catch (System.TimeoutException)
{
Message.Show("绕行计算失败");
}
return (ret,isPasstmp);
}
public async Task<FlightRouteV2.Vector3[]> NormalPullsync(FlightRouteV2.Vector3[] aVecs, FlightRouteV2.Vector3[] bVecs)
{
FlightRouteV2.Vector3[] ret = null;
var task = Task.Run(() =>
{
ret = FlyVecFun.NormalPull(aVecs, bVecs, Routecallback);
});
try
{
await task;
}
catch (System.TimeoutException)
{
Message.Show("绕行计算失败");
}
return ret;
}
public async Task<List<List<FlightRouteV2.Vector3>>> CollisionLayersync(FlightRouteV2.Vector3[] aVecs, FlightRouteV2.Vector3[] bVecs,string taskname_a,string taskname_b)
{
List<List<FlightRouteV2.Vector3>> ret = null;
var task = Task.Run(() =>
{
ret = FlyVecFun.CollisionLayer(aVecs, bVecs, taskname_a, taskname_b, Routecallback);
});
try
{
await task;
}
catch (System.TimeoutException)
{
Message.Show("2D计算失败");
}
return ret;
}
public void OptimizeRouteMeterV1(bool Is3d = false, bool Ischange = true, bool Is3dstagger = false)
{ {
Dictionary<int, Point3D> curTaskPoint = new Dictionary<int, Point3D>(); Dictionary<int, Point3D> curTaskPoint = new Dictionary<int, Point3D>();
Dictionary<int, Point3D> prevTaskPoint = new Dictionary<int, Point3D>(); Dictionary<int, Point3D> prevTaskPoint = new Dictionary<int, Point3D>();
@ -2135,9 +2250,9 @@ namespace Plane.FormationCreator.Formation
if (Is3d) if (Is3d)
{ {
ArrayList resarray = Util.OptimizeRoute.Gen3DRoute(curTaskPoint.Values.ToArray(), prevTaskPoint.Values.ToArray()); ArrayList resarray = Util.OptimizeRoute.Gen3DRoute(curTaskPoint.Values.ToArray(), prevTaskPoint.Values.ToArray());
Vector3[] RouteRes; FlightRoute.Vector3[] RouteRes;
//最终 //最终
RouteRes = (Vector3[])resarray[0]; RouteRes = (FlightRoute.Vector3[])resarray[0];
for (int i = 0; i < _copterManager.Copters.Count; i++) for (int i = 0; i < _copterManager.Copters.Count; i++)
{ {
@ -2153,7 +2268,7 @@ namespace Plane.FormationCreator.Formation
else else
{ {
ArrayList resarray = Util.OptimizeRoute.Gen2DRoute(curTaskPoint.Values.ToArray(), prevTaskPoint.Values.ToArray(), Ischange); ArrayList resarray = Util.OptimizeRoute.Gen2DRoute(curTaskPoint.Values.ToArray(), prevTaskPoint.Values.ToArray(), Ischange);
Vector3[] RouteRes; FlightRoute.Vector3[] RouteRes;
//有错层，需要插入2个错层任务 //有错层，需要插入2个错层任务
if (resarray.Count == 3) if (resarray.Count == 3)
{ {
@ -2162,7 +2277,7 @@ namespace Plane.FormationCreator.Formation
AddTask(); AddTask();
//第一个错层 //第一个错层
RouteRes = (Vector3[])resarray[0]; RouteRes = (FlightRoute.Vector3[])resarray[0];
for (int i = 0; i < _copterManager.Copters.Count; i++) for (int i = 0; i < _copterManager.Copters.Count; i++)
{ {
@ -2176,7 +2291,7 @@ namespace Plane.FormationCreator.Formation
//第二个错层 //第二个错层
AddTask(); AddTask();
RouteRes = (Vector3[])resarray[1]; RouteRes = (FlightRoute.Vector3[])resarray[1];
for (int i = 0; i < _copterManager.Copters.Count; i++) for (int i = 0; i < _copterManager.Copters.Count; i++)
{ {
@ -2191,7 +2306,7 @@ namespace Plane.FormationCreator.Formation
SelectTask(SelectedTaskIndex + 1); SelectTask(SelectedTaskIndex + 1);
//最终 //最终
RouteRes = (Vector3[])resarray[2]; RouteRes = (FlightRoute.Vector3[])resarray[2];
for (int i = 0; i < _copterManager.Copters.Count; i++) for (int i = 0; i < _copterManager.Copters.Count; i++)
{ {
@ -2206,7 +2321,7 @@ namespace Plane.FormationCreator.Formation
else else
{ {
//最终 //最终
RouteRes = (Vector3[])resarray[0]; RouteRes = (FlightRoute.Vector3[])resarray[0];
for (int i = 0; i < _copterManager.Copters.Count; i++) for (int i = 0; i < _copterManager.Copters.Count; i++)
{ {
@ -2223,10 +2338,277 @@ namespace Plane.FormationCreator.Formation
double sumlength = SumFlyLines(Tasks[SelectedTaskIndex - 1].SingleCopterInfos, SelectedTask.SingleCopterInfos); double sumlength = SumFlyLines(Tasks[SelectedTaskIndex - 1].SingleCopterInfos, SelectedTask.SingleCopterInfos);
Message.Show($"计算用时：{stopWatch.Elapsed.TotalMilliseconds}ms,总飞行距离{sumlength}米"); Message.Show($"计算用时：{stopWatch.Elapsed.TotalMilliseconds}ms,总飞行距离{sumlength}米");
}
/// <summary>
/// 自动生成航线2D和3D都用这个-------V2版使用新的碰撞检测和绕行，用flybase.cs库，只用于新版固件--------------
/// </summary>
/// <param name="Is3d">3D计算</param>
/// <param name="Ischange">是否改变线路的结束点顺序--返回起飞点航线不能交换</param>
/// <param name="Is3dstagger">3D是否自动插入拉开层，用于2D画面回起飞矩阵，拉开2D画面</param>
public async Task OptimizeRouteMeterV2(bool Is3d = false, bool Ischange = true,bool Is3dstagger=false)
{
Dictionary<int, Point3D> curTaskPoint = new Dictionary<int, Point3D>();
Dictionary<int, Point3D> prevTaskPoint = new Dictionary<int, Point3D>();
var stopWatch = new Stopwatch();
stopWatch.Start();
//设置随机数种子
FlyVecFun.RandomSeed = (int)DateTime.Now.Ticks;
Message.Show($"开始自动生成任务，种子数：{FlyVecFun.RandomSeed}");
//获取当前航点与前一航点所有经纬高
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
//当前任务
var curinfo = SelectedTask.SingleCopterInfos[i];
Point3D curLoc = new Point3D(curinfo.X * 100, curinfo.TargetAlt * 100, curinfo.Y * 100);
curTaskPoint.Add(i, curLoc);
//前一任务
var prevInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i];
Point3D prevLoc = new Point3D(prevInfo.X * 100, prevInfo.TargetAlt * 100, prevInfo.Y * 100);
prevTaskPoint.Add(i, prevLoc);
}
string taskname_a = SelectedTaskIndex.ToString() + Tasks[SelectedTaskIndex - 1].TaskCnName;
string taskname_b = (SelectedTaskIndex+1).ToString()+SelectedTask.TaskCnName;
FlightRouteV2.Vector3[] aVecs = GetFlyBase3d_V2(prevTaskPoint.Values.ToArray());
FlightRouteV2.Vector3[] bVecs = GetFlyBase3d_V2(curTaskPoint.Values.ToArray());
List<FlightRouteV2.Vector3> firstMiddleVecs;
List<FlightRouteV2.Vector3> middleVecs;
List<FlightRouteV2.Vector3> lastMiddleVecs;
//如果是true表示目标图案可以修改ID,false就是按ID飞行
if (Ischange)
{
//通过交换改变目标航点的对应关系，减少碰撞
bVecs = await ContactABOutAsync(aVecs, bVecs);
//得到当前航点的名称
string taskname = SelectedTask.TaskCnName;
int loitertime=SelectedTask.LoiterTime;
DelSelectedTask();
AddTask();
SelectedTask.TaskCnName = taskname;
SelectedTask.LoiterTime = loitertime;
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = bVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = bVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)bVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
}
if (Is3d)
{
bool isPass = false;
var result= await ABypassBAsync(aVecs, bVecs);
List<List<FlightRouteV2.Vector3>> flyret = result.Item1;
isPass= result.Item2;
if ((flyret.Count == 0)&&(!isPass))
{
FlightRouteV2.Vector3[] cVecs=null;
if (Is3dstagger)
{
Message.Show($"任务{SelectedTaskIndex + 1}无法直接生成3D航线，尝试拉开画面");
cVecs = await NormalPullsync(aVecs, bVecs);
Message.Show($"任务{SelectedTaskIndex + 1}后插入拉开层...");
//插入错层航点
SelectTask(SelectedTaskIndex - 1);
AddTask();
SelectedTask.LoiterTime = 0;
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = cVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = cVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)cVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
//选到最后一个航点
SelectTask(SelectedTaskIndex + 1);
var result1= await ABypassBAsync(cVecs, bVecs);
flyret = result1.Item1;
isPass = result1.Item2;
}
if ((flyret.Count == 0) && (!isPass))
{
Message.Show($"任务{SelectedTaskIndex + 1}无法生成3D航线");
return; return;
} }
Message.Show($"任务{SelectedTaskIndex + 1}后插入新层...");
//插入错层航点
SelectTask(SelectedTaskIndex - 1);
AddTask();
SelectedTask.LoiterTime = 0;
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = cVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = cVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)cVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
//选到最后一个航点
SelectTask(SelectedTaskIndex + 1);
}
Message.Show($"任务{SelectedTaskIndex + 1}需要再插入{flyret.Count}个中间层");
switch (flyret.Count)
{
case 1:
middleVecs = flyret[0];
//选中前一个任务，插入错层
SelectTask(SelectedTaskIndex - 1);
AddTask();
SelectedTask.LoiterTime = 0;
//第一个中间航点
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = middleVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = middleVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)middleVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
break;
case 2:
firstMiddleVecs = flyret[0];
middleVecs = flyret[1];
//选中前一个任务，插入错层
SelectTask(SelectedTaskIndex - 1);
AddTask();
SelectedTask.LoiterTime = 0;
//第一个中间航点
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = firstMiddleVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = firstMiddleVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)firstMiddleVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
//第二个中间航点
AddTask();
SelectedTask.LoiterTime = 0;
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = middleVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = middleVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)middleVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
break;
case 3:
firstMiddleVecs = flyret[0];
middleVecs = flyret[1];
lastMiddleVecs = flyret[2];
//选中前一个任务，插入错层
SelectTask(SelectedTaskIndex - 1);
AddTask();
SelectedTask.LoiterTime = 0;
//第一个中间航点
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = firstMiddleVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = firstMiddleVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)firstMiddleVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
//第二个中间航点
AddTask();
SelectedTask.LoiterTime = 0;
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = middleVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = middleVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)middleVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
//第三个中间航点
AddTask();
SelectedTask.LoiterTime = 0;
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = lastMiddleVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = lastMiddleVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)lastMiddleVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
break;
}
//选中最后一个任务
SelectTask(SelectedTaskIndex + 1);
//计算最后一个任务时间
SetTaskFlytime(SelectedTaskIndex);
}else //计算2D错层--固定两个中间航点
{
List<List<FlightRouteV2.Vector3>> flyret = await CollisionLayersync(aVecs, bVecs, taskname_a, taskname_b);
if (flyret.Count == 0)
{
Message.Show($"任务{SelectedTaskIndex + 1}无法生成2D航线");
return;
}
firstMiddleVecs = flyret[0];
lastMiddleVecs = flyret[1];
SelectTask(SelectedTaskIndex - 1);
//第一个中间航点
AddTask();
SelectedTask.LoiterTime = 0;
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = firstMiddleVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = firstMiddleVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)firstMiddleVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
//第二个中间航点
AddTask();
SelectedTask.LoiterTime = 0;
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
SelectedTask.SingleCopterInfos[i].X = lastMiddleVecs[i].X / 100;
SelectedTask.SingleCopterInfos[i].Y = lastMiddleVecs[i].Z / 100;
SelectedTask.SingleCopterInfos[i].TargetAlt = (float)lastMiddleVecs[i].Y / 100;
}
SetTaskFlytime(SelectedTaskIndex);
//选中最后一个任务
SelectTask(SelectedTaskIndex + 1);
//计算最后一个任务时间
SetTaskFlytime(SelectedTaskIndex);
}
stopWatch.Stop();
Message.Show($"计算用时：{Math.Round(stopWatch.Elapsed.TotalMilliseconds/1000,2)}秒");
}
/// <summary>
/// 自动生成航线2D和3D都用这个--------目前使用----------------
/// </summary>
/// <param name="Is3d">3D计算</param>
/// <param name="Ischange">是否改变线路的结束点顺序--返回起飞点航线不能交换</param>
/// 按个按钮，计算航线2D,计算航线3D，计算返航
/// 老版本只用2D计算，计算返航要ID对应,Ischange=false
public void OptimizeRouteMeter(bool Is3d=false,bool Ischange=true, bool Is3dstagger = false)
{
if (_copterManager.FC_VER_NO >= 3)
//新固件使用V2版
OptimizeRouteMeterV2(Is3d, Ischange, Is3dstagger);
else
OptimizeRouteMeterV1(Is3d, Ischange, Is3dstagger);
}

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

@ -9,7 +9,7 @@
<AppDesignerFolder>Properties</AppDesignerFolder> <AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>Plane.FormationCreator</RootNamespace> <RootNamespace>Plane.FormationCreator</RootNamespace>
<AssemblyName>FGCS</AssemblyName> <AssemblyName>FGCS</AssemblyName>
<TargetFrameworkVersion>v4.6</TargetFrameworkVersion> <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment> <FileAlignment>512</FileAlignment>
<ProjectTypeGuids>{60dc8134-eba5-43b8-bcc9-bb4bc16c2548};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids> <ProjectTypeGuids>{60dc8134-eba5-43b8-bcc9-bb4bc16c2548};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>
@ -447,9 +447,9 @@
</Page> </Page>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ProjectReference Include="..\..\FlyCube\FlyBase\FlyBase.csproj"> <ProjectReference Include="..\..\FlyCube\FlightRouteV2\FlightRouteV2.csproj">
<Project>{626a9bfa-07de-4063-a178-360eb7057ed6}</Project> <Project>{626a9bfa-07de-4063-a178-360eb7057ed6}</Project>
<Name>FlyBase</Name> <Name>FlightRouteV2</Name>
</ProjectReference> </ProjectReference>
<ProjectReference Include="..\..\FlyTest\FlightRoute\FlightRoute.csproj"> <ProjectReference Include="..\..\FlyTest\FlightRoute\FlightRoute.csproj">
<Project>{705aab55-ed7a-4856-8f7b-e7a78ed9e39a}</Project> <Project>{705aab55-ed7a-4856-8f7b-e7a78ed9e39a}</Project>
@ -514,6 +514,9 @@
<Install>false</Install> <Install>false</Install>
</BootstrapperPackage> </BootstrapperPackage>
</ItemGroup> </ItemGroup>
<ItemGroup>
<WCFMetadata Include="Connected Services\" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<Import Project="..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets" Condition="Exists('..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets')" /> <Import Project="..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets" Condition="Exists('..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets')" />
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild"> <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">

6
Plane.FormationCreator/Properties/Resources.Designer.cs generated
View File

@ -19,7 +19,7 @@ namespace Plane.FormationCreator.Properties {
// 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。 // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
// 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen // 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
// (以 /str 作为命令选项)，或重新生成 VS 项目。 // (以 /str 作为命令选项)，或重新生成 VS 项目。
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")] [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()] [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources { internal class Resources {
@ -47,8 +47,8 @@ namespace Plane.FormationCreator.Properties {
} }
/// <summary> /// <summary>
/// 使用此强类型资源类，为所有资源查找 /// 重写当前线程的 CurrentUICulture 属性，对
/// 重写当前线程的 CurrentUICulture 属性。 /// 使用此强类型资源类的所有资源查找执行重写。
/// </summary> /// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Globalization.CultureInfo Culture { internal static global::System.Globalization.CultureInfo Culture {

2
Plane.FormationCreator/Properties/Settings.Designer.cs generated
View File

@ -12,7 +12,7 @@ namespace Plane.FormationCreator.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "14.0.0.0")] [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.7.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase { internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings()))); private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));

7
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -958,7 +958,12 @@ namespace Plane.FormationCreator.ViewModels
{ {
return _OptimizeRouteCommandRet ?? (_OptimizeRouteCommandRet = new RelayCommand<int>(async => return _OptimizeRouteCommandRet ?? (_OptimizeRouteCommandRet = new RelayCommand<int>(async =>
{ {
_flightTaskManager.OptimizeRouteMeter(false,false); //采用米计算逻辑和OptimizeRouteNew一样 if (_copterManager.FC_VER_NO >= 3)
//3D计算，不改变ID，可以错层
_flightTaskManager.OptimizeRouteMeter(true, false, true); //采用米计算逻辑，用3D生成，不改变ID，可拉开层(2D回起飞矩阵专用)
else
_flightTaskManager.OptimizeRouteMeter(false, false); //采用米计算逻辑，用2D生成，不改变ID，不拉开层
})); }));
} }
} }