From b098acc7d0b8720ae44b316c1541f2a277a10dba Mon Sep 17 00:00:00 2001 From: zxd Date: Sat, 23 Nov 2019 22:59:05 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=86=E8=88=AA=E7=82=B9?= =?UTF-8?q?=E5=AF=BC=E5=87=BA=E7=94=A8=E4=BA=8EC4D=20=E6=B5=8B=E8=AF=95?= =?UTF-8?q?=E8=87=AA=E5=8A=A8=E8=AE=A1=E7=AE=97=E8=B7=AF=E7=BA=BF=20?= =?UTF-8?q?=E5=AF=BC=E5=85=A5=E8=88=AA=E7=82=B9=E6=95=B0=E9=87=8F=E4=B8=8D?= =?UTF-8?q?=E4=B8=80=E8=87=B4=E6=8A=A5=E9=94=99=20=E5=86=99=E5=85=A5?= =?UTF-8?q?=E8=88=AA=E7=82=B9=E9=94=99=E8=AF=AF=E6=8F=90=E7=A4=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Formation/FlightTaskManager.cs | 208 ++++++++++++++++-- .../ViewModels/ConnectViewModel.cs | 3 +- .../ViewModels/ControlPanelViewModel.cs | 145 ++++++------ .../ViewModels/MainViewModel.cs | 39 +++- .../ViewModels/ModifyTaskViewModel.cs | 3 +- .../Views/ModifyTaskView.xaml | 2 +- 6 files changed, 303 insertions(+), 97 deletions(-) diff --git a/Plane.FormationCreator/Formation/FlightTaskManager.cs b/Plane.FormationCreator/Formation/FlightTaskManager.cs index da60aa2..fdc7882 100644 --- a/Plane.FormationCreator/Formation/FlightTaskManager.cs +++ b/Plane.FormationCreator/Formation/FlightTaskManager.cs @@ -1070,17 +1070,161 @@ namespace Plane.FormationCreator.Formation } } + public void OptimizeRouteNew() + { + Dictionary curTaskPoint = new Dictionary(); + Dictionary prevTaskPoint = new Dictionary(); + + //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]; + PLLocation curLoc = new PLLocation(curinfo.TargetLat, curinfo.TargetLng, curinfo.TargetAlt); + curTaskPoint.Add(i, curLoc); + + //前一任务 + var prevInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i]; + PLLocation prevLoc = new PLLocation(prevInfo.TargetLat, prevInfo.TargetLng, prevInfo.TargetAlt); + prevTaskPoint.Add(i, prevLoc); + } + double farDistance; + double nearDistance; + int index; + + Dictionary recordLatLng = new Dictionary(); + while (curTaskPoint.Count > 0) + { + farDistance = double.MinValue; + + index = 0; + LatLng centerLatLng = CenterLatLng(curTaskPoint.Values.ToList(), prevTaskPoint.Values.ToList()); + //计算两个列表距离中心最远距离 + + double distance1; + bool farIsCurTaskPoint = true; + + foreach (var item in curTaskPoint) + { + distance1 = GeographyUtils.CalcDistance(centerLatLng.Lat, centerLatLng.Lng, 1, + item.Value.Latitude, item.Value.Longitude, 1); + if (distance1 > farDistance) + { + index = item.Key; + farDistance = distance1; + farIsCurTaskPoint = true; + } + } + + foreach (var item in prevTaskPoint) + { + distance1 = GeographyUtils.CalcDistance(centerLatLng.Lat, centerLatLng.Lng, 1, + item.Value.Latitude, item.Value.Longitude, 1); + if (distance1 > farDistance) + { + index = item.Key; + farDistance = distance1; + farIsCurTaskPoint = false; + } + } + + double tempDistance1; + nearDistance = double.MaxValue; + int nearIndex = 0; + if (farIsCurTaskPoint) + { + double curLat = curTaskPoint[index].Latitude; + double curLng = curTaskPoint[index].Longitude; + //最远的航点在当前任务 + + foreach (var item in prevTaskPoint) + { + tempDistance1 = GeographyUtils.CalcDistance(curLat, curLng, 1, + item.Value.Latitude, item.Value.Longitude, 1); + if (tempDistance1 < nearDistance) + { + nearDistance = tempDistance1; + nearIndex = item.Key; + } + } + + recordLatLng.Add(nearIndex, new LatLng(curLat, curLng)); + curTaskPoint.Remove(index); + prevTaskPoint.Remove(nearIndex); + + } + else + { + //最远的航点在前一任务 + double prevLat = prevTaskPoint[index].Latitude; + double prevLng = prevTaskPoint[index].Longitude; + //最远的航点在当前任务 + foreach (var item in curTaskPoint) + { + tempDistance1 = GeographyUtils.CalcDistance(prevLat, prevLng, 1, + item.Value.Latitude, item.Value.Longitude, 1); + if (tempDistance1 < nearDistance) + { + nearDistance = tempDistance1; + nearIndex = item.Key; + } + } + + recordLatLng.Add(index, new LatLng(curTaskPoint[nearIndex].Latitude, curTaskPoint[nearIndex].Longitude)); + + curTaskPoint.Remove(nearIndex); + prevTaskPoint.Remove(index); + } + + + } + + for (int i = 0; i < _copterManager.Copters.Count; i++) + { + SelectedTask.SingleCopterInfos[i].TargetLat = recordLatLng[i].Lat; + SelectedTask.SingleCopterInfos[i].TargetLng = recordLatLng[i].Lng; + } + + } + + //计算中心点 (二维的-只算水平面) + private LatLng CenterLatLng(List point1, List point2) + { + LatLng centerLatLng = new LatLng(0, 0); + if (point1.Count != point2.Count) return centerLatLng; + + double minLat = point1[0].Latitude; + double maxLat = point1[0].Latitude; + + double minLng = point1[0].Longitude; + double maxLng = point1[0].Longitude; + + 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)); + + 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; + return centerLatLng; + } + public void OptimizeRoute2() { double minLat = SelectedTask.SingleCopterInfos[0].TargetLat; double maxLat = SelectedTask.SingleCopterInfos[0].TargetLat; double minLng = SelectedTask.SingleCopterInfos[0].TargetLng; double maxLng = SelectedTask.SingleCopterInfos[0].TargetLng; - Dictionary recordLatLng = new Dictionary(); + for (int i = 0; i < _copterManager.Copters.Count; i++) { var curinfo = SelectedTask.SingleCopterInfos[i]; - recordLatLng.Add(i, new LatLng(curinfo.TargetLat, curinfo.TargetLng)); + //recordLatLng.Add(i, new LatLng(curinfo.TargetLat, curinfo.TargetLng)); var lastInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i]; minLat = Math.Min(minLat, Math.Min(curinfo.TargetLat, lastInfo.TargetLat)); maxLat = Math.Max(maxLat, Math.Max(curinfo.TargetLat, lastInfo.TargetLat)); @@ -1088,8 +1232,10 @@ namespace Plane.FormationCreator.Formation minLng = Math.Min(minLng, Math.Min(curinfo.TargetLng, lastInfo.TargetLng)); maxLng = Math.Max(maxLng, Math.Max(curinfo.TargetLng, lastInfo.TargetLng)); } - double CenterLat = (maxLat - minLat) / 2; - double CenterLng = (maxLng - minLng) / 2; + double CenterLat = (maxLat + minLat) / 2; + double CenterLng = (maxLng + minLng) / 2; + + Message.Show($"中心点：{CenterLat} {CenterLng}"); Dictionary distanceDic = new Dictionary(); for (int i = 0; i < _copterManager.Copters.Count; i++) @@ -1109,7 +1255,9 @@ namespace Plane.FormationCreator.Formation distanceDic.Add(nums, distance2); } distanceDic = distanceDic.OrderByDescending(o => o.Value).ToDictionary(p => p.Key, o => o.Value); - + + + Dictionary recordLatLng = new Dictionary(); while (distanceDic.Count > 0) { KeyValuePair kv = distanceDic.First(); @@ -1122,17 +1270,23 @@ namespace Plane.FormationCreator.Formation int index = 0; for (int i = 0; i < Tasks[taskIndex - 1].SingleCopterInfos.Count; i++) { - var destInfo = Tasks[taskIndex - 1].SingleCopterInfos[i]; - double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1, - destInfo.TargetLat, destInfo.TargetLng, 1); - if (distance < mindistance) + if (distanceDic.ContainsKey((taskIndex - 1) << 16 ^ i)) { - mindistance = distance; - index = i; + var destInfo = Tasks[taskIndex - 1].SingleCopterInfos[i]; + double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1, + destInfo.TargetLat, destInfo.TargetLng, 1); + if (distance < mindistance) + { + mindistance = distance; + index = i; + } } } - Tasks[taskIndex].SingleCopterInfos[index].TargetLat = recordLatLng[copterID].Lat; - Tasks[taskIndex].SingleCopterInfos[index].TargetLng = recordLatLng[copterID].Lng; + recordLatLng.Add(index, + new LatLng(SelectedTask.SingleCopterInfos[copterID].TargetLat, + SelectedTask.SingleCopterInfos[copterID].TargetLng)); + + Message.Show($"航点{taskIndex} ID{copterID + 1} --航点{taskIndex - 1} id{index + 1}"); distanceDic.Remove(kv.Key); distanceDic.Remove(( taskIndex - 1) << 16 ^ index ); } @@ -1142,22 +1296,34 @@ namespace Plane.FormationCreator.Formation int index = 0; for (int i = 0; i < Tasks[taskIndex + 1].SingleCopterInfos.Count; i++) { - var destInfo = Tasks[taskIndex + 1].SingleCopterInfos[i]; - double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1, - destInfo.TargetLat, destInfo.TargetLng, 1); - if (distance < mindistance) + if (distanceDic.ContainsKey((taskIndex + 1) << 16 ^ i)) { - mindistance = distance; - index = i; + var destInfo = Tasks[taskIndex + 1].SingleCopterInfos[i]; + double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1, + destInfo.TargetLat, destInfo.TargetLng, 1); + if (distance < mindistance && distanceDic.ContainsKey((SelectedTaskIndex) << 16 ^ i)) + { + mindistance = distance; + index = i; + } } } - Tasks[taskIndex + 1].SingleCopterInfos[copterID].TargetLat = recordLatLng[index].Lat; - Tasks[taskIndex + 1].SingleCopterInfos[copterID].TargetLng = recordLatLng[index].Lng; + recordLatLng.Add(copterID, + new LatLng(SelectedTask.SingleCopterInfos[index].TargetLat, + SelectedTask.SingleCopterInfos[index].TargetLng)); + + Message.Show($"航点{taskIndex} ID{copterID + 1} --航点{taskIndex + 1} id{index + 1}"); distanceDic.Remove(kv.Key); distanceDic.Remove(( taskIndex + 1) << 16 ^ index ); } } + + for (int i = 0; i < _copterManager.Copters.Count; i++) + { + SelectedTask.SingleCopterInfos[i].TargetLat = recordLatLng[i].Lat; + SelectedTask.SingleCopterInfos[i].TargetLng = recordLatLng[i].Lng; + } } public void OptimizeRoute() diff --git a/Plane.FormationCreator/ViewModels/ConnectViewModel.cs b/Plane.FormationCreator/ViewModels/ConnectViewModel.cs index e7c6207..905bdb9 100644 --- a/Plane.FormationCreator/ViewModels/ConnectViewModel.cs +++ b/Plane.FormationCreator/ViewModels/ConnectViewModel.cs @@ -182,11 +182,10 @@ namespace Plane.FormationCreator.ViewModels if (commModule.CommModuleCopterCount > 0) { short queryCount = 40; - short begin = 1; while (begin < commModule.CommModuleCopterCount) { - short end = (short)(begin + queryCount -1); + short end = (short)(begin + queryCount - 1); if (end > commModule.CommModuleCopterCount) end = (short)commModule.CommModuleCopterCount; byte[] beginByte = BitConverter.GetBytes(begin); diff --git a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs index 9140b69..d3457e4 100644 --- a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs +++ b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs @@ -901,6 +901,8 @@ namespace Plane.FormationCreator.ViewModels } else//停止RTK { + await _commModuleManager.CloseRtcmLoop(); + trkthreadrun = false; Rtkport.Close(); Rtkport = null; @@ -968,7 +970,7 @@ namespace Plane.FormationCreator.ViewModels { //rtcmDatas.Add(rtcm3.packet); //await SendRtcmData(); - Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---rtcm3.length = {rtcm3.length}"); + //Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---rtcm3.length = {rtcm3.length}"); await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length); } } @@ -1318,82 +1320,93 @@ namespace Plane.FormationCreator.ViewModels /// private async Task CollectMissions(int i) { - float groudAlt = _copterManager.Copters[i].GroundAlt; - var missions = new List(); - var _flightTaskManager = ServiceLocator.Current.GetInstance(); - for (int j = 0; j < _flightTaskManager.Tasks.Count; j++) + int j = 0; + try { - switch (_flightTaskManager.Tasks[j].TaskType) + + float groudAlt = _copterManager.Copters[i].GroundAlt; + var missions = new List(); + var _flightTaskManager = ServiceLocator.Current.GetInstance(); + for (j = 0; j < _flightTaskManager.Tasks.Count; j++) { - case FlightTaskType.TakeOff: - int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5); - missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)); - missions.Add(Mission.CreateTakeoffMission( - _flightTaskManager.Tasks[j].SingleCopterInfos[i].TakeOffWaitTime, - _flightTaskManager.Tasks[j].TakeOffTime, - _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat, - _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng, - _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt - groudAlt) - ); - break; - case FlightTaskType.FlyTo: - if (_flightTaskManager.Tasks[j].SingleCopterInfos[i].IsChangeSpeed) - { - missions.Add(Mission.CreateChangeSpeedMission( - _flightTaskManager.Tasks[j].SingleCopterInfos[i].LevelSpeed, - _flightTaskManager.Tasks[j].SingleCopterInfos[i].UpSpeed, - _flightTaskManager.Tasks[j].SingleCopterInfos[i].DownSpeed) + switch (_flightTaskManager.Tasks[j].TaskType) + { + case FlightTaskType.TakeOff: + int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5); + missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)); + missions.Add(Mission.CreateTakeoffMission( + _flightTaskManager.Tasks[j].SingleCopterInfos[i].TakeOffWaitTime, + _flightTaskManager.Tasks[j].TakeOffTime, + _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat, + _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng, + _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt - groudAlt) + ); + break; + + case FlightTaskType.FlyTo: + if (_flightTaskManager.Tasks[j].SingleCopterInfos[i].IsChangeSpeed) + { + missions.Add(Mission.CreateChangeSpeedMission( + _flightTaskManager.Tasks[j].SingleCopterInfos[i].LevelSpeed, + _flightTaskManager.Tasks[j].SingleCopterInfos[i].UpSpeed, + _flightTaskManager.Tasks[j].SingleCopterInfos[i].DownSpeed) + ); + } + missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)); + + double Lat = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat; + double Lng = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng; + if (_flightTaskManager.Tasks[j].SingleCopterInfos[i].IsLandWaypoint) + { + Lat = 90; + Lng = 180; + } + + missions.Add(Mission.CreateWaypointMission( + _flightTaskManager.Tasks[j].LoiterTime, + _flightTaskManager.Tasks[j].FlytoTime, + Lat, + Lng, + _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt - groudAlt) ); - } - missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)); - - double Lat = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat; - double Lng = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng; - if (_flightTaskManager.Tasks[j].SingleCopterInfos[i].IsLandWaypoint) - { - Lat = 90; - Lng = 180; - } + break; + case FlightTaskType.Loiter: + break; + case FlightTaskType.ReturnToLand: + missions.Add(Mission.CreateReturnToLaunchMission()); + break; - missions.Add(Mission.CreateWaypointMission( - _flightTaskManager.Tasks[j].LoiterTime, - _flightTaskManager.Tasks[j].FlytoTime, - Lat, - Lng, - _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt - groudAlt) - ); - break; - case FlightTaskType.Loiter: - break; - case FlightTaskType.ReturnToLand: - missions.Add(Mission.CreateReturnToLaunchMission()); - break; + case FlightTaskType.Land: + missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)); - case FlightTaskType.Land: - missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)); - - missions.Add(Mission.CreateLandMission( - _flightTaskManager.Tasks[j].SingleCopterInfos[i].LandWaitTime) - ); - break; - default: - break; + missions.Add(Mission.CreateLandMission( + _flightTaskManager.Tasks[j].SingleCopterInfos[i].LandWaitTime) + ); + break; + default: + break; + } } + bool result = await _commModuleManager.WriteMissionListAsync(short.Parse(_copterManager.Copters[i].Id), missions); + //CommWriteMissinState state = new CommWriteMissinState(result); + //_commModuleManager.missionWriteState.Add(int.Parse(_copterManager.Copters[i].Id), state); + if (!result) + { + Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输失败!"); + } + else + { + Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输完成!"); + } + await Task.Delay(500).ConfigureAwait(false); } - bool result = await _commModuleManager.WriteMissionListAsync(short.Parse(_copterManager.Copters[i].Id), missions); - //CommWriteMissinState state = new CommWriteMissinState(result); - //_commModuleManager.missionWriteState.Add(int.Parse(_copterManager.Copters[i].Id), state); - if (!result) + catch (Exception ex) { - Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输失败!"); + Message.Show(ex.ToString()); } - else - { - Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输完成!"); - } - await Task.Delay(500).ConfigureAwait(false); + } private List CreateLEDMissions(IEnumerable LEDInfos) diff --git a/Plane.FormationCreator/ViewModels/MainViewModel.cs b/Plane.FormationCreator/ViewModels/MainViewModel.cs index e01a2f0..28ee8b8 100644 --- a/Plane.FormationCreator/ViewModels/MainViewModel.cs +++ b/Plane.FormationCreator/ViewModels/MainViewModel.cs @@ -206,6 +206,8 @@ namespace Plane.FormationCreator.ViewModels { var groupObject = _groupManager.ExportGroups(); var locateObject = ExportLocate(); + + object obj = new { groups = groupObject, @@ -243,6 +245,21 @@ namespace Plane.FormationCreator.ViewModels return locateList; } + //导出航点 单位米 + private List ExportLocateToMeter() + { + List locateList = new List(); + foreach (var copter in _copterManager.Copters) + { + double[] locate = new double[3]; + locate[0] = copter.Latitude - _flightTaskManager.OriginLat; + locate[1] = copter.Longitude - _flightTaskManager.OriginLng; + locate[2] = copter.GroundAlt; + locateList.Add(locate); + } + return locateList; + } + private int _txtStarindex = 0; public int txtStarindex @@ -301,6 +318,8 @@ namespace Plane.FormationCreator.ViewModels taskinfo = importInfo; } + //int task Newtonsoft.Json.Linq.JArray + if ((txtStarindex == 0) && (txtendindex == 0)) { @@ -372,9 +391,7 @@ namespace Plane.FormationCreator.ViewModels }; if (dialog.ShowDialog() == true) { - var importText = File.ReadAllText(dialog.FileName); - dynamic importInfo = JsonConvert.DeserializeObject(importText); dynamic taskinfo = null; if (importInfo is Newtonsoft.Json.Linq.JObject) @@ -396,13 +413,23 @@ namespace Plane.FormationCreator.ViewModels private void ImportCoptersLocate(dynamic coptersLocate) { - int index = 0; - foreach (var locate in coptersLocate) + //if (Newtonsoft.Json.Linq.JArray) + try { - _copterManager.Copters[index].GroundAlt = Convert.ToSingle(locate[2]); - index++; + int index = 0; + foreach (var locate in coptersLocate) + { + _copterManager.Copters[index].GroundAlt = Convert.ToSingle(locate[2]); + index++; + } } + catch (Exception) + { + + + } + } private ICommand _ClearLogs; diff --git a/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs b/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs index ff4a309..a4fa852 100644 --- a/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs +++ b/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs @@ -565,7 +565,8 @@ namespace Plane.FormationCreator.ViewModels { return _OptimizeRouteCommand ?? (_OptimizeRouteCommand = new RelayCommand(async => { - _flightTaskManager.OptimizeRoute2(); + //_flightTaskManager.OptimizeRoute2(); + _flightTaskManager.OptimizeRouteNew(); })); } } diff --git a/Plane.FormationCreator/Views/ModifyTaskView.xaml b/Plane.FormationCreator/Views/ModifyTaskView.xaml index c63aeb8..38e9420 100644 --- a/Plane.FormationCreator/Views/ModifyTaskView.xaml +++ b/Plane.FormationCreator/Views/ModifyTaskView.xaml @@ -80,7 +80,7 @@