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添加了航点导出用于C4D

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测试自动计算路线
导入航点数量不一致报错
写入航点错误提示
This commit is contained in:
zxd 2019-11-23 22:59:05 +08:00
parent e5ded3d92a
commit b098acc7d0
6 changed files with 303 additions and 97 deletions
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184
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -1070,17 +1070,161 @@ namespace Plane.FormationCreator.Formation
} }
} }
public void OptimizeRouteNew()
{
Dictionary<int, PLLocation> curTaskPoint = new Dictionary<int, PLLocation>();
Dictionary<int, PLLocation> prevTaskPoint = new Dictionary<int, PLLocation>();
//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<int, LatLng> recordLatLng = new Dictionary<int, LatLng>();
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<PLLocation> point1, List<PLLocation> 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() public void OptimizeRoute2()
{ {
double minLat = SelectedTask.SingleCopterInfos[0].TargetLat; double minLat = SelectedTask.SingleCopterInfos[0].TargetLat;
double maxLat = SelectedTask.SingleCopterInfos[0].TargetLat; double maxLat = SelectedTask.SingleCopterInfos[0].TargetLat;
double minLng = SelectedTask.SingleCopterInfos[0].TargetLng; double minLng = SelectedTask.SingleCopterInfos[0].TargetLng;
double maxLng = SelectedTask.SingleCopterInfos[0].TargetLng; double maxLng = SelectedTask.SingleCopterInfos[0].TargetLng;
Dictionary<int, LatLng> recordLatLng = new Dictionary<int, LatLng>();
for (int i = 0; i < _copterManager.Copters.Count; i++) for (int i = 0; i < _copterManager.Copters.Count; i++)
{ {
var curinfo = SelectedTask.SingleCopterInfos[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]; var lastInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i];
minLat = Math.Min(minLat, Math.Min(curinfo.TargetLat, lastInfo.TargetLat)); minLat = Math.Min(minLat, Math.Min(curinfo.TargetLat, lastInfo.TargetLat));
maxLat = Math.Max(maxLat, Math.Max(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)); minLng = Math.Min(minLng, Math.Min(curinfo.TargetLng, lastInfo.TargetLng));
maxLng = Math.Max(maxLng, Math.Max(curinfo.TargetLng, lastInfo.TargetLng)); maxLng = Math.Max(maxLng, Math.Max(curinfo.TargetLng, lastInfo.TargetLng));
} }
double CenterLat = (maxLat - minLat) / 2; double CenterLat = (maxLat + minLat) / 2;
double CenterLng = (maxLng - minLng) / 2; double CenterLng = (maxLng + minLng) / 2;
Message.Show($"中心点：{CenterLat} {CenterLng}");
Dictionary<int, double> distanceDic = new Dictionary<int, double>(); Dictionary<int, double> distanceDic = new Dictionary<int, double>();
for (int i = 0; i < _copterManager.Copters.Count; i++) for (int i = 0; i < _copterManager.Copters.Count; i++)
@ -1110,6 +1256,8 @@ namespace Plane.FormationCreator.Formation
} }
distanceDic = distanceDic.OrderByDescending(o => o.Value).ToDictionary(p => p.Key, o => o.Value); distanceDic = distanceDic.OrderByDescending(o => o.Value).ToDictionary(p => p.Key, o => o.Value);
Dictionary<int, LatLng> recordLatLng = new Dictionary<int, LatLng>();
while (distanceDic.Count > 0) while (distanceDic.Count > 0)
{ {
KeyValuePair<int, double> kv = distanceDic.First(); KeyValuePair<int, double> kv = distanceDic.First();
@ -1121,6 +1269,8 @@ namespace Plane.FormationCreator.Formation
double mindistance = double.MaxValue; double mindistance = double.MaxValue;
int index = 0; int index = 0;
for (int i = 0; i < Tasks[taskIndex - 1].SingleCopterInfos.Count; i++) for (int i = 0; i < Tasks[taskIndex - 1].SingleCopterInfos.Count; i++)
{
if (distanceDic.ContainsKey((taskIndex - 1) << 16 ^ i))
{ {
var destInfo = Tasks[taskIndex - 1].SingleCopterInfos[i]; var destInfo = Tasks[taskIndex - 1].SingleCopterInfos[i];
double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1, double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1,
@ -1131,8 +1281,12 @@ namespace Plane.FormationCreator.Formation
index = i; index = i;
} }
} }
Tasks[taskIndex].SingleCopterInfos[index].TargetLat = recordLatLng[copterID].Lat; }
Tasks[taskIndex].SingleCopterInfos[index].TargetLng = recordLatLng[copterID].Lng; recordLatLng.Add(index,
new LatLng(SelectedTask.SingleCopterInfos[copterID].TargetLat,
SelectedTask.SingleCopterInfos[copterID].TargetLng));
Message.Show($"航点{taskIndex} ID{copterID + 1} --航点{taskIndex - 1} id{index + 1}");
distanceDic.Remove(kv.Key); distanceDic.Remove(kv.Key);
distanceDic.Remove(( taskIndex - 1) << 16 ^ index ); distanceDic.Remove(( taskIndex - 1) << 16 ^ index );
} }
@ -1141,24 +1295,36 @@ namespace Plane.FormationCreator.Formation
double mindistance = double.MaxValue; double mindistance = double.MaxValue;
int index = 0; int index = 0;
for (int i = 0; i < Tasks[taskIndex + 1].SingleCopterInfos.Count; i++) for (int i = 0; i < Tasks[taskIndex + 1].SingleCopterInfos.Count; i++)
{
if (distanceDic.ContainsKey((taskIndex + 1) << 16 ^ i))
{ {
var destInfo = Tasks[taskIndex + 1].SingleCopterInfos[i]; var destInfo = Tasks[taskIndex + 1].SingleCopterInfos[i];
double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1, double distance = GeographyUtils.CalcDistance(curInfo.TargetLat, curInfo.TargetLng, 1,
destInfo.TargetLat, destInfo.TargetLng, 1); destInfo.TargetLat, destInfo.TargetLng, 1);
if (distance < mindistance) if (distance < mindistance && distanceDic.ContainsKey((SelectedTaskIndex) << 16 ^ i))
{ {
mindistance = distance; mindistance = distance;
index = i; 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(kv.Key);
distanceDic.Remove(( taskIndex + 1) << 16 ^ index ); 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() public void OptimizeRoute()
{ {

3
Plane.FormationCreator/ViewModels/ConnectViewModel.cs
View File

@ -182,11 +182,10 @@ namespace Plane.FormationCreator.ViewModels
if (commModule.CommModuleCopterCount > 0) if (commModule.CommModuleCopterCount > 0)
{ {
short queryCount = 40; short queryCount = 40;
short begin = 1; short begin = 1;
while (begin < commModule.CommModuleCopterCount) while (begin < commModule.CommModuleCopterCount)
{ {
short end = (short)(begin + queryCount -1); short end = (short)(begin + queryCount - 1);
if (end > commModule.CommModuleCopterCount) if (end > commModule.CommModuleCopterCount)
end = (short)commModule.CommModuleCopterCount; end = (short)commModule.CommModuleCopterCount;
byte[] beginByte = BitConverter.GetBytes(begin); byte[] beginByte = BitConverter.GetBytes(begin);

17
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
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@ -901,6 +901,8 @@ namespace Plane.FormationCreator.ViewModels
} }
else//停止RTK else//停止RTK
{ {
await _commModuleManager.CloseRtcmLoop();
trkthreadrun = false; trkthreadrun = false;
Rtkport.Close(); Rtkport.Close();
Rtkport = null; Rtkport = null;
@ -968,7 +970,7 @@ namespace Plane.FormationCreator.ViewModels
{ {
//rtcmDatas.Add(rtcm3.packet); //rtcmDatas.Add(rtcm3.packet);
//await SendRtcmData(); //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); await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length);
} }
} }
@ -1318,10 +1320,15 @@ namespace Plane.FormationCreator.ViewModels
/// <returns></returns> /// <returns></returns>
private async Task CollectMissions(int i) private async Task CollectMissions(int i)
{ {
int j = 0;
try
{
float groudAlt = _copterManager.Copters[i].GroundAlt; float groudAlt = _copterManager.Copters[i].GroundAlt;
var missions = new List<IMission>(); var missions = new List<IMission>();
var _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>(); var _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
for (int j = 0; j < _flightTaskManager.Tasks.Count; j++) for (j = 0; j < _flightTaskManager.Tasks.Count; j++)
{ {
switch (_flightTaskManager.Tasks[j].TaskType) switch (_flightTaskManager.Tasks[j].TaskType)
@ -1395,6 +1402,12 @@ namespace Plane.FormationCreator.ViewModels
} }
await Task.Delay(500).ConfigureAwait(false); await Task.Delay(500).ConfigureAwait(false);
} }
catch (Exception ex)
{
Message.Show(ex.ToString());
}
}
private List<IMission> CreateLEDMissions(IEnumerable<LEDInfo> LEDInfos) private List<IMission> CreateLEDMissions(IEnumerable<LEDInfo> LEDInfos)
{ {

31
Plane.FormationCreator/ViewModels/MainViewModel.cs
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@ -206,6 +206,8 @@ namespace Plane.FormationCreator.ViewModels
{ {
var groupObject = _groupManager.ExportGroups(); var groupObject = _groupManager.ExportGroups();
var locateObject = ExportLocate(); var locateObject = ExportLocate();
object obj = new object obj = new
{ {
groups = groupObject, groups = groupObject,
@ -243,6 +245,21 @@ namespace Plane.FormationCreator.ViewModels
return locateList; return locateList;
} }
//导出航点 单位米
private List<object> ExportLocateToMeter()
{
List<object> locateList = new List<object>();
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; private int _txtStarindex = 0;
public int txtStarindex public int txtStarindex
@ -301,6 +318,8 @@ namespace Plane.FormationCreator.ViewModels
taskinfo = importInfo; taskinfo = importInfo;
} }
//int task Newtonsoft.Json.Linq.JArray
if ((txtStarindex == 0) && (txtendindex == 0)) if ((txtStarindex == 0) && (txtendindex == 0))
{ {
@ -372,9 +391,7 @@ namespace Plane.FormationCreator.ViewModels
}; };
if (dialog.ShowDialog() == true) if (dialog.ShowDialog() == true)
{ {
var importText = File.ReadAllText(dialog.FileName); var importText = File.ReadAllText(dialog.FileName);
dynamic importInfo = JsonConvert.DeserializeObject(importText); dynamic importInfo = JsonConvert.DeserializeObject(importText);
dynamic taskinfo = null; dynamic taskinfo = null;
if (importInfo is Newtonsoft.Json.Linq.JObject) if (importInfo is Newtonsoft.Json.Linq.JObject)
@ -395,6 +412,9 @@ namespace Plane.FormationCreator.ViewModels
} }
private void ImportCoptersLocate(dynamic coptersLocate) private void ImportCoptersLocate(dynamic coptersLocate)
{
//if (Newtonsoft.Json.Linq.JArray)
try
{ {
int index = 0; int index = 0;
foreach (var locate in coptersLocate) foreach (var locate in coptersLocate)
@ -404,6 +424,13 @@ namespace Plane.FormationCreator.ViewModels
} }
} }
catch (Exception)
{
}
}
private ICommand _ClearLogs; private ICommand _ClearLogs;
public ICommand ClearLogs public ICommand ClearLogs

3
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -565,7 +565,8 @@ namespace Plane.FormationCreator.ViewModels
{ {
return _OptimizeRouteCommand ?? (_OptimizeRouteCommand = new RelayCommand<int>(async => return _OptimizeRouteCommand ?? (_OptimizeRouteCommand = new RelayCommand<int>(async =>
{ {
_flightTaskManager.OptimizeRoute2(); //_flightTaskManager.OptimizeRoute2();
_flightTaskManager.OptimizeRouteNew();
})); }));
} }
} }

2
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -80,7 +80,7 @@
<Button Content="导入航点" Command="{Binding ImportWayPointCommand}" <Button Content="导入航点" Command="{Binding ImportWayPointCommand}"
Visibility="Collapsed"/> Visibility="Collapsed"/>
<Button Content="优化路线" Command="{Binding OptimizeRouteCommand}" <Button Content="优化路线" Command="{Binding OptimizeRouteCommand}"
Visibility="Collapsed"/> />
<Button Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"/> <Button Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"/>
<Button Content="导出航点" Command="{Binding ExportWayPointCommand}"/> <Button Content="导出航点" Command="{Binding ExportWayPointCommand}"/>
</StackPanel> </StackPanel>