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

间隔选中

Browse Source 
通信模式测试的一些修改(目前未启用)
This commit is contained in:
zxd 2018-08-04 17:06:22 +08:00
parent cb188feb48
commit b427d32b44
6 changed files with 158 additions and 62 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

138
Plane.FormationCreator/ViewModels/ConnectViewModel.cs
View File

@ -92,18 +92,38 @@ namespace Plane.FormationCreator.ViewModels
}
}
// private ICommand _WriteCommand;
// public ICommand WriteCommand
// {
// get
// {
// return _WriteCommand ?? (_WriteCommand = new RelayCommand(async () =>
// {
// await WriteCommandAsync();
// }
// ));
// }
// }
// private ICommand _WriteCommand;
// public ICommand WriteCommand
// {
// get
// {
// return _WriteCommand ?? (_WriteCommand = new RelayCommand(async () =>
// {
// await WriteCommandAsync();
// }
// ));
// }
// }
private ICommand _CloseCommand;
public ICommand CloseCommand
{
get
{
return _CloseCommand ?? (_CloseCommand = new RelayCommand(() =>
{
commModule.Close();
}
));
}
}
private int _CopterNum;
public int CopterNum
{
get { return _CopterNum; }
set { Set(nameof(CopterNum), ref _CopterNum, value); }
}
private ICommand _WriteIdCommand;
public ICommand WriteIdCommand
@ -112,7 +132,7 @@ namespace Plane.FormationCreator.ViewModels
{
return _WriteIdCommand ?? (_WriteIdCommand = new RelayCommand(async () =>
{
await WriteIdCommandAsync();
await WriteIdCommandAsync(CopterNum);
}
));
}
@ -143,22 +163,27 @@ namespace Plane.FormationCreator.ViewModels
///写航线开始
//var missions = new IMission[taskcount]; //不要起飞任务但增加一个起飞后低空航点，见起飞任务,再增加一个降落低空航点，见降落部分
var missions = new List<IMission>();
missions.Add(PLCopter.PRE_TAKE_OFF_MISSION);
int missindex = 0;
ICopter copter = _copterManager.Copters[i];
if (copter is PLCopter)
//if (copter is PLCopter)
{
for (int j = 0; j < _flightTaskManager.Tasks.Count; j++)
{
switch (_flightTaskManager.Tasks[j].TaskType)
{
case FlightTaskType.TakeOff:
//计算起飞需要的时间,5秒是上升加速和最后稳定时间
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(
1,//1,
5,//takeofftime,
_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)
@ -169,42 +194,44 @@ namespace Plane.FormationCreator.ViewModels
break;
case FlightTaskType.FlyTo:
missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos));
foreach (LEDInfo ledInfo in _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)
{
Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
IMission LEDMission = Mission.CreateLEDControlMission(
(int)(ledInfo.Delay * 10),
ledInfo.LEDMode,
ledInfo.LEDRate,
0, //ledInfo.LEDTimes,
color.R,
color.G,
color.B
);
missions.Add(LEDMission);
Lat = 90;
Lng = 180;
}
missions.Add(Mission.CreateWaypointMission(
//5,//_flightTaskManager.Tasks[j].SingleCopterInfos[i].LoiterTime,
//5,// _flightTaskManager.Tasks[j].SingleCopterInfos[i].FlytoTime,
_flightTaskManager.Tasks[j].LoiterTime,
_flightTaskManager.Tasks[j].FlytoTime,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
Lat,
Lng,
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt)
);
break;
case FlightTaskType.Loiter:
// missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
// _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
break;
case FlightTaskType.ReturnToLand:
//降落低空航点
// missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLat,
// _flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLng, 3);
//返航
missions.Add(Mission.CreateReturnToLaunchMission());
break;
case FlightTaskType.Land:
missions.Add(Mission.CreateLandMission(5));
missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos));
missions.Add(Mission.CreateLandMission(
_flightTaskManager.Tasks[j].SingleCopterInfos[i].LandWaitTime)
);
break;
default:
break;
@ -231,10 +258,30 @@ namespace Plane.FormationCreator.ViewModels
}
}
private async Task WriteIdCommandAsync()
private List<IMission> CreateLEDMissions(IEnumerable<LEDInfo> LEDInfos)
{
await commModule.GeneratePacketAsync(3, (byte)Protocols.MavComm.COMMANDTYPE4);
List<IMission> missions = new List<IMission>();
foreach (LEDInfo ledInfo in LEDInfos)
{
Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
IMission LEDMission = Mission.CreateLEDControlMission(
(int)(ledInfo.Delay * 10),
ledInfo.LEDMode,
ledInfo.LEDRate,
0, //ledInfo.LEDTimes,
color.R,
color.G,
color.B
);
missions.Add(LEDMission);
}
return missions;
}
private async Task WriteIdCommandAsync(int num)
{
await commModule.GeneratePacketAsync((short)num, (byte)Protocols.MavComm.COMMANDTYPE4);
}
@ -254,9 +301,11 @@ namespace Plane.FormationCreator.ViewModels
var req = new MAVLink.mavlink_mission_item_t();
PLCopter plCopter = (PLCopter)copter;
req.target_system = plCopter._internalCopter.sysid;
req.target_component = plCopter._internalCopter.compid;
//PLCopter plCopter = (PLCopter)copter;
//req.target_system = plCopter._internalCopter.sysid;
//req.target_component = plCopter._internalCopter.compid;
req.target_system = 1;
req.target_component = 1;
req.command = (byte)mission.Command;
@ -295,7 +344,12 @@ namespace Plane.FormationCreator.ViewModels
private async Task ConnectAsync()
{
await commModule.ConnectAsync();
}
}
private async Task DisConnetAsync()
{
await Task.Delay(20).ConfigureAwait(false);
}
private Action _closeWindowCallback;
public void SetCloseWindowAction(Action closeWindowAction)

4
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -624,10 +624,12 @@ namespace Plane.FormationCreator.ViewModels
{
return _ConnectCommand ?? (_ConnectCommand = new RelayCommand(async () =>
{
//await ConnectAsync();
await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(async copter =>
{
//await commModule.ConnectAsync();
await copter.ConnectAsync();
await copter.GetCopterDataAsync();
//await copter.GetCopterDataAsync();
}));
}));
}

30
Plane.FormationCreator/ViewModels/CopterListViewModel.cs
View File

@ -81,6 +81,36 @@ namespace Plane.FormationCreator.ViewModels
set { Set(nameof(Communinfo), ref _Communinfo, value); }
}
private int _IntervalNum;
public int IntervalNum
{
get { return _IntervalNum; }
set { Set(nameof(IntervalNum), ref _IntervalNum, value); }
}
private ICommand _IntervalSelectCoptersCommand;
public ICommand IntervalSelectCoptersCommand
{
get
{
return _IntervalSelectCoptersCommand ?? (_IntervalSelectCoptersCommand = new RelayCommand(() =>
{
if (_copterManager.AcceptingControlCopters.Count() == 0 || IntervalNum == 0)
return;
ICopter copter = _copterManager.AcceptingControlCopters.FirstOrDefault();
_copterManager.Select(null);
int index = _copterManager.Copters.IndexOf(copter);
_copterManager.shiftkeydown = true;
for (; index < _copterManager.Copters.Count; index += IntervalNum + 1)
{
_copterManager.Select(_copterManager.Copters[index]);
}
_copterManager.shiftkeydown = false;
}));
}
}
private ICommand _AddVirtualCopterCommand;
public ICommand AddVirtualCopterCommand

8
Plane.FormationCreator/Views/ConnectWindow.xaml
View File

@ -124,9 +124,11 @@
HorizontalAlignment="Center"
Grid.Row="2"
Grid.ColumnSpan="3">
<Button Content="设置20台" Margin="10" Command="{Binding Path=SendCommand}" />
<Button Content="写入航点" Margin="10" Command="{Binding Path=CommWriteMissionCommand}" />
<Button Content="广播编号3" Margin="10" Command="{Binding Path=WriteIdCommand}" />
<Button Content="关闭TCP" Margin="5" Command="{Binding CloseCommand}"/>
<Button Content="设置20台" Margin="5" Command="{Binding Path=SendCommand}" />
<Button Content="写入航点" Margin="5" Command="{Binding Path=CommWriteMissionCommand}" />
<Button Content="广播编号" Margin="5,5,0,5" Command="{Binding Path=WriteIdCommand}" />
<TextBox Margin="2,5,5,5" Width="30" Text="{Binding CopterNum}"></TextBox>
</StackPanel>
</Grid>

32
Plane.FormationCreator/Views/CopterListView.xaml
View File

@ -1,10 +1,11 @@
<UserControl x:Class="Plane.FormationCreator.Views.CopterListView"
<UserControl
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
xmlns:m="clr-namespace:Plane.FormationCreator.Formation"
xmlns:ControlzEx="clr-namespace:ControlzEx;assembly=MahApps.Metro" x:Class="Plane.FormationCreator.Views.CopterListView"
mc:Ignorable="d"
d:DesignHeight="600"
d:DesignWidth="300">
@ -13,11 +14,12 @@
<Grid.RowDefinitions>
<RowDefinition />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
</Grid.RowDefinitions>
<ListBox x:Name="lvwDrones"
ItemsSource="{Binding Path=CopterManager.Copters}"
SelectedItem="{Binding Path=SelectedCopter}"
ItemsSource="{Binding CopterManager.Copters}"
SelectedItem="{Binding SelectedCopter}"
Background="Transparent"
BorderThickness="0"
SelectionMode="Extended"
@ -32,9 +34,8 @@
<DataTemplate>
<StackPanel Orientation="Horizontal">
<CheckBox Width="20"
IsChecked="{Binding Path=IsConnected, Mode=OneWay}"
IsEnabled="False">
</CheckBox>
IsChecked="{Binding IsConnected, Mode=OneWay}"
IsEnabled="False"/>
<Rectangle Width="15"
Height="15"
Margin="3,0">
@ -46,31 +47,38 @@
</Rectangle.Fill>
</Rectangle>
<TextBlock MaxWidth="100"
Text="{Binding Path=Name}" />
Text="{Binding Name}" />
</StackPanel>
</DataTemplate>
</ListBox.ItemTemplate>
</ListBox>
<StackPanel Grid.Row="1"
<StackPanel Grid.Row="1" Margin="0,0,0,5"
Orientation="Horizontal">
<Button Content="间隔选中" Command="{Binding IntervalSelectCoptersCommand}"/>
<TextBlock Text="间隔数量" Margin="5,5,0,0"/>
<TextBox Width="30" Margin="5,0,0,0" Text="{Binding IntervalNum}"/>
</StackPanel>
<StackPanel Grid.Row="2"
Orientation="Horizontal">
<TextBox x:Name="txtVirtualCopterCount"
Width="35"
Margin="0,0,5,0"
Text="10"
VerticalContentAlignment="Center" />
<Button Content="添加虚拟飞行器"
<Button Content="添加虚拟飞机"
VerticalContentAlignment="Center"
Command="{Binding AddVirtualCopterCommand}"
CommandParameter="{Binding ElementName=txtVirtualCopterCount, Path=Text}" />
CommandParameter="{Binding Text, ElementName=txtVirtualCopterCount}" />
<Button Content="清除"
Margin="5,0,5,0"
Command="{Binding ClearCoptersCommand}" />
<TextBlock Text="总数"
Margin="5,5,0,0"/>
<TextBlock Text="{Binding Path=CopterManager.Copters.Count}"
<TextBlock Text="{Binding CopterManager.Copters.Count}"
Margin="0,5,0,0"/>
<TextBlock Text="{Binding Path=Communinfo}"
<TextBlock Text="{Binding Communinfo}"
Margin="5,5,0,0"/>
</StackPanel>

8
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -29,16 +29,16 @@
</StackPanel.Resources>
<TextBlock Margin="5" Text="起飞任务"/>
<Separator/>
<!-- <StackPanel>
<StackPanel>
<TextBlock Text="起飞数量：" Margin="5,10,5,0" />
<TextBox x:Name="txttakeoff"
Width="25"
Margin="0,10,5,0"
VerticalContentAlignment="Center"
Text="{Binding FlightTaskManager.TakeOffNumAttr, UpdateSourceTrigger=PropertyChanged}"/>
</StackPanel>-->
</StackPanel>
<Separator />
<Grid DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
>