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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）

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pxzleo 2024-01-08 20:39:33 +08:00
parent ff37f4fa04
commit 9cfd7db051
10 changed files with 1888 additions and 1497 deletions
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18
Plane.FormationCreator.sln
View File

@ -1,7 +1,7 @@

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 14
VisualStudioVersion = 14.0.25420.1
# Visual Studio Version 17
VisualStudioVersion = 17.7.34202.233
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.FormationCreator", "Plane.FormationCreator\Plane.FormationCreator.csproj", "{61E2F31E-220A-4E3F-A64D-F7CDC2135008}"
ProjectSection(ProjectDependencies) = postProject
@ -28,15 +28,9 @@ Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRoute", "..\FlyTest\FlightRoute\FlightRoute.csproj", "{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}"
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
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
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
@ -128,4 +122,10 @@ Global
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
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

4
Plane.FormationCreator/App.config
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@ -1,4 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<configuration>
<configSections>
<sectionGroup name="userSettings" type="System.Configuration.UserSettingsGroup, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@ -8,7 +8,7 @@
<section name="entityFramework" type="System.Data.Entity.Internal.ConfigFile.EntityFrameworkSection, EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" requirePermission="false"/>
</configSections>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6" />
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
</startup>
<runtime>
<assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">

3
Plane.FormationCreator/App.xaml.cs
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@ -18,8 +18,9 @@ using System.Reflection;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using Plane.CommunicationManagement;
using Plane.FormationCreator.Util;
using Plane.CommunicationManagement;
namespace Plane.FormationCreator
{

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

@ -25,7 +25,7 @@ namespace Plane.FormationCreator.Formation
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
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
public static DateTime Expire_SuperUser = Expire_App;
//允许飞行的飞机数量

424
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.Windows.Messages;
using GalaSoft.MvvmLight;
@ -10,14 +9,19 @@ using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Plane.CommunicationManagement;
using FlightRoute;
using FlightRouteV2;
using System.IO;
using System.Windows.Media.Media3D;
using System.Diagnostics;
using Plane.FormationCreator.Util;
using System.Collections;
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
{
@ -906,7 +910,7 @@ namespace Plane.FormationCreator.Formation
public void ImportDlltoVCopter(string filename)
{
Vector3[] vc;
FlightRoute.Vector3[] vc;
@ -928,7 +932,7 @@ namespace Plane.FormationCreator.Formation
return;
}
int id = 0;
foreach (Vector3 item in vc)
foreach (FlightRoute.Vector3 item in vc)
{
Tuple<double, double> observationLatLng = null;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
@ -962,7 +966,7 @@ namespace Plane.FormationCreator.Formation
//导入外部航点
public void ImportDlltoTask(string filename)
{
Vector3[] vc;
FlightRoute.Vector3[] vc;
string extname = Path.GetExtension(filename);
@ -987,7 +991,7 @@ namespace Plane.FormationCreator.Formation
if (vname.Length > 6) vname = vname.Substring(0, 6);
newTask.TaskCnName = vname;
int id = 0;
foreach (Vector3 item in vc)
foreach (FlightRoute.Vector3 item in vc)
{
Tuple<double, double> observationLatLng = null;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
@ -2107,12 +2111,123 @@ namespace Plane.FormationCreator.Formation
return t;
} //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>
/// <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)
static public FlightRouteV2.Vector3[] GetFlyBase3d_V2(Point3D[] vPoints)
{
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> prevTaskPoint = new Dictionary<int, Point3D>();
@ -2135,9 +2250,9 @@ namespace Plane.FormationCreator.Formation
if (Is3d)
{
ArrayList resarray = Util.OptimizeRoute.Gen3DRoute(curTaskPoint.Values.ToArray(), prevTaskPoint.Values.ToArray());
Vector3[] RouteRes;
FlightRoute.Vector3[] RouteRes;
//最终
RouteRes = (Vector3[])resarray[0];
RouteRes = (FlightRoute.Vector3[])resarray[0];
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
@ -2153,7 +2268,7 @@ namespace Plane.FormationCreator.Formation
else
{
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
if (resarray.Count == 3)
{
@ -2162,7 +2277,7 @@ namespace Plane.FormationCreator.Formation
AddTask();
//第一个错层
RouteRes = (Vector3[])resarray[0];
RouteRes = (FlightRoute.Vector3[])resarray[0];
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
@ -2176,7 +2291,7 @@ namespace Plane.FormationCreator.Formation
//第二个错层
AddTask();
RouteRes = (Vector3[])resarray[1];
RouteRes = (FlightRoute.Vector3[])resarray[1];
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
@ -2191,7 +2306,7 @@ namespace Plane.FormationCreator.Formation
SelectTask(SelectedTaskIndex + 1);
//最终
RouteRes = (Vector3[])resarray[2];
RouteRes = (FlightRoute.Vector3[])resarray[2];
for (int i = 0; i < _copterManager.Copters.Count; i++)
{
@ -2206,7 +2321,7 @@ namespace Plane.FormationCreator.Formation
else
{
//最终
RouteRes = (Vector3[])resarray[0];
RouteRes = (FlightRoute.Vector3[])resarray[0];
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);
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($"任务{SelectedTaskIndex + 1}无法生成3D航线");
return;
}
Message.Show($"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>
<RootNamespace>Plane.FormationCreator</RootNamespace>
<AssemblyName>FGCS</AssemblyName>
<TargetFrameworkVersion>v4.6</TargetFrameworkVersion>
<TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<ProjectTypeGuids>{60dc8134-eba5-43b8-bcc9-bb4bc16c2548};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids>
<WarningLevel>4</WarningLevel>
@ -447,9 +447,9 @@
</Page>
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\..\FlyCube\FlyBase\FlyBase.csproj">
<ProjectReference Include="..\..\FlyCube\FlightRouteV2\FlightRouteV2.csproj">
<Project>{626a9bfa-07de-4063-a178-360eb7057ed6}</Project>
<Name>FlyBase</Name>
<Name>FlightRouteV2</Name>
</ProjectReference>
<ProjectReference Include="..\..\FlyTest\FlightRoute\FlightRoute.csproj">
<Project>{705aab55-ed7a-4856-8f7b-e7a78ed9e39a}</Project>
@ -514,6 +514,9 @@
<Install>false</Install>
</BootstrapperPackage>
</ItemGroup>
<ItemGroup>
<WCFMetadata Include="Connected Services\" />
</ItemGroup>
<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')" />
<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。
// 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。
[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.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources {
@ -47,8 +47,8 @@ namespace Plane.FormationCreator.Properties {
}
/// <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。
/// 重写当前线程的 CurrentUICulture 属性，对
/// 使用此强类型资源类的所有资源查找执行重写。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
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.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 {
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 =>
{
_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
}));
}
}