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加入时间估计，兼容新飞机固件

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配置文件加入默认加速度，速度等参数
This commit is contained in:
pxzleo 2023-11-16 23:34:55 +08:00
parent 79669581f1
commit b729f6b78e
5 changed files with 487 additions and 57 deletions
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402
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -17,6 +17,7 @@ using System.Windows.Media.Media3D;
using System.Diagnostics;
using Plane.FormationCreator.Util;
using System.Collections;
using System.Windows;
namespace Plane.FormationCreator.Formation
{
@ -308,6 +309,71 @@ namespace Plane.FormationCreator.Formation
set { Set(nameof(Orientation), ref _Orientation, value); }
}
//水平加速度
private float _FC_acc_xy = 0;
public float FC_acc_xy
{
get { return _FC_acc_xy; }
set { Set(nameof(FC_acc_xy), ref _FC_acc_xy, value); }
}
//垂直加速度
private float _FC_acc_z = 0;
public float FC_acc_z
{
get { return _FC_acc_z; }
set { Set(nameof(FC_acc_z), ref _FC_acc_z, value); }
}
//水平最大速度
private float _FC_maxvel_xy = 0;
public float FC_maxvel_xy
{
get { return _FC_maxvel_xy; }
set { Set(nameof(FC_maxvel_xy), ref _FC_maxvel_xy, value); }
}
//上升最大速度
private float _FC_maxvel_up = 0;
public float FC_maxvel_up
{
get { return _FC_maxvel_up; }
set { Set(nameof(FC_maxvel_up), ref _FC_maxvel_up, value); }
}
//下降最大速度
private float _FC_maxvel_down = 0;
public float FC_maxvel_down
{
get { return _FC_maxvel_down; }
set { Set(nameof(FC_maxvel_down), ref _FC_maxvel_down, value); }
}
//水平默认速度
private float _FC_defvel_xy = 0;
public float FC_defvel_xy
{
get { return _FC_defvel_xy; }
set { Set(nameof(FC_defvel_xy), ref _FC_defvel_xy, value); }
}
//上升默认速度
private float _FC_defvel_up = 0;
public float FC_defvel_up
{
get { return _FC_defvel_up; }
set { Set(nameof(FC_defvel_up), ref _FC_defvel_up, value); }
}
//下降默认速度
private float _FC_defvel_down = 0;
public float FC_defvel_down
{
get { return _FC_defvel_down; }
set { Set(nameof(FC_defvel_down), ref _FC_defvel_down, value); }
}
private TasksStatus _TaskState = TasksStatus.Stop;
public TasksStatus TaskState
@ -1523,22 +1589,35 @@ namespace Plane.FormationCreator.Formation
Tasks[1].FlytoTime = 2;
for (int taskIndex = 2; taskIndex < Tasks.Count; taskIndex++)
SetTaskFlytime(taskIndex);
Message.Show($"任务时间计算执行完成----");
}
public void CheckAllTaskFlytime()
{
if (_copterManager.FC_VER_NO < 3)
{
Alert.Show("不支持的功能", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
//第一个航点1，是调整航点根据地面摆放情况调整，默认2+1秒
//从2开始检查
for (int taskIndex = 2; taskIndex < Tasks.Count; taskIndex++)
CheckTaskFlytime(taskIndex);
Message.Show($"任务检测执行完成----");
}
public void SetTaskFlytime(int taskIndex,bool settime=true,float currspeed=-1.0f)
public void SetTaskFlytime_v1(int taskIndex, bool settime = true)
{
double speed = 5.0f; //默认速度
if ((taskIndex > 0 )&&(taskIndex < Tasks.Count) &&( Tasks[taskIndex].TaskType == FlightTaskType.FlyTo))
if ((taskIndex > 0) && (taskIndex < Tasks.Count) && (Tasks[taskIndex].TaskType == FlightTaskType.FlyTo))
{
if (_copterManager.Copters.Count() > 0)
{
//计算之前航点有没改变速度，有就取最后一次速度
if (currspeed==-1.0)
//if (currspeed == -1.0)
{
for (int _taskIndex = taskIndex-1; _taskIndex > 1; _taskIndex--)
for (int _taskIndex = taskIndex - 1; _taskIndex > 1; _taskIndex--)
{
var curWaypoint = Tasks[_taskIndex].SingleCopterInfos.FirstOrDefault();
@ -1547,13 +1626,10 @@ namespace Plane.FormationCreator.Formation
speed = curWaypoint.LevelSpeed;
break;
}
}
}
}
double maxDistance = 0.0f;
string copterName = "";
foreach (var copter in _copterManager.Copters)
{
var prevWaypoint = Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
@ -1561,7 +1637,7 @@ namespace Plane.FormationCreator.Formation
if ((curWaypoint.IsChangeSpeed) && (curWaypoint.LevelSpeed == -1))
{
Message.Show($"任务{taskIndex + 1}飞机编号:{copter.Id}是自动速度，无法计算时间!");
return ;
return;
}
//当前航点是否改变速度，有就取修改的速度
@ -1571,29 +1647,285 @@ namespace Plane.FormationCreator.Formation
speed = curWaypoint.LevelSpeed;
}
double distance = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
if (distance > maxDistance)
{
maxDistance = distance;
copterName = copter.Name;
// speed = curWaypoint.LevelSpeed;
// speed = curWaypoint.LevelSpeed;
}
}
double time = CalculateFlyIime(maxDistance, speed);
Message.Show($"任务{taskIndex+1}最大航点间距 = {Math.Round(maxDistance, 2)}米, 水平速度={Math.Round(speed, 2)}, 飞行时间 = {Math.Round(time, 2)}秒, 飞机编号:{copterName}");
Message.Show($"任务{taskIndex + 1}最大航点间距 = {Math.Round(maxDistance, 2)}米, 水平速度={Math.Round(speed, 2)}, 飞行时间 = {Math.Round(time, 2)}秒, 飞机编号:{copterName}");
if (settime)
Tasks[taskIndex].FlytoTime = (int)Math.Round(time, 2);
}
}
}
return ;
}
return;
}
public void SetTaskFlytime_v2(int taskIndex,
float acc_xy, float acc_z,
float defvel_xy, float defvel_up, float defvel_down,
bool settime = true)
{
if ((taskIndex > 0) && (taskIndex < Tasks.Count) && (Tasks[taskIndex].TaskType == FlightTaskType.FlyTo))
{
if (_copterManager.Copters.Count() > 0)
{
string copterName = "";
double maxDistance_xy = 0.0f;
double maxDistance_z = 0.0f;
double maxDistance_up = 0.0f;
double maxDistance_down = 0.0f;
string copterName_xy = "";
string copterName_up = "";
string copterName_down = "";
foreach (var copter in _copterManager.Copters)
{
var prevWaypoint = Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var curWaypoint = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
double distance_xy = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, 0,
curWaypoint.TargetLat, curWaypoint.TargetLng, 0);
double distance_z = curWaypoint.TargetAlt - prevWaypoint.TargetAlt;
if (distance_xy > maxDistance_xy)
{
maxDistance_xy = distance_xy;
copterName_xy = copter.Name;
}
if (Math.Abs(distance_z) > maxDistance_z)
{
maxDistance_z = Math.Abs(distance_z);
}
if (distance_z > 0)
{
if (distance_z > maxDistance_up)
{
maxDistance_up = distance_z;
copterName_up = copter.Name;
}
}
else
{
if (-distance_z > maxDistance_down)
{
maxDistance_down = -distance_z;
copterName_down = copter.Name;
}
}
}//循环结束
double time_xy = getMinfligthtime((float)maxDistance_xy, acc_xy, defvel_xy);
double time_up = getMinfligthtime((float)maxDistance_up, acc_z, defvel_up);
double time_down = getMinfligthtime((float)maxDistance_down, acc_z, defvel_down);
double tasktime = time_xy;
copterName = copterName_xy;
string divstr = "水平";
if (time_up > tasktime)
{
tasktime = time_up;
copterName = copterName_up;
divstr = "上升";
}
if (time_down > tasktime)
{
tasktime = time_down;
copterName = copterName_down;
divstr = "下降";
}
tasktime = Math.Max(time_xy, time_up);
tasktime = Math.Max(tasktime, time_down);
Message.Show($"任务{taskIndex + 1}距离:水平{Math.Round(maxDistance_xy, 2)}米;垂直:{Math.Round(maxDistance_z, 2)}米, " +
$"最长耗时：{Math.Round(tasktime, 2)}秒,用于{divstr}飞行，编号:{copterName}"
);
if (settime)
Tasks[taskIndex].FlytoTime = (int)Math.Round(tasktime, 0);
}
}
return;
}
public void SetTaskFlytime(int taskIndex, bool settime = true)
{
if (taskIndex <= 1)
{
Message.Show($"无法估计起飞或2号任务飞行时间,请根据现场情况调整");
return;
}
if (_copterManager.FC_VER_NO >= 3)
{
float _acc_xy = FC_acc_xy;
float _acc_z = FC_acc_z;
float _defvel_xy = FC_defvel_xy;
float _defvel_up = FC_defvel_up;
float _defvel_down = FC_defvel_down;
if (Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().IsChangeSpeed)
{
_defvel_xy = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().LevelSpeed;
_defvel_up= Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().UpSpeed;
_defvel_down = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault().DownSpeed;
}
SetTaskFlytime_v2(taskIndex, _acc_xy, _acc_z, _defvel_xy, _defvel_up, _defvel_down, settime);
}
else SetTaskFlytime_v1(taskIndex, settime);
}
//新版本才有的功能，老版本直接提示推出了
public void CheckTaskFlytime(int taskIndex)
{
if ((taskIndex > 0) && (taskIndex < Tasks.Count) && (Tasks[taskIndex].TaskType == FlightTaskType.FlyTo))
{
if (_copterManager.Copters.Count() > 0)
{
string copterName = "";
double maxDistance_xy = 0.0f;
double maxDistance_z = 0.0f;
double maxDistance_up = 0.0f;
double maxDistance_down = 0.0f;
string copterName_xy = "";
string copterName_up = "";
string copterName_down = "";
foreach (var copter in _copterManager.Copters)
{
var prevWaypoint = Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var curWaypoint = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
double distance_xy = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, 0,
curWaypoint.TargetLat, curWaypoint.TargetLng, 0);
double distance_z = curWaypoint.TargetAlt - prevWaypoint.TargetAlt;
if (distance_xy > maxDistance_xy)
{
maxDistance_xy = distance_xy;
copterName_xy = copter.Name;
}
if (Math.Abs(distance_z) > maxDistance_z)
{
maxDistance_z = Math.Abs(distance_z);
}
if (distance_z > 0)
{
if (distance_z > maxDistance_up)
{
maxDistance_up = distance_z;
copterName_up = copter.Name;
}
}
else
{
if (-distance_z > maxDistance_down)
{
maxDistance_down = -distance_z;
copterName_down = copter.Name;
}
}
}//循环结束
double time_xy = getMinfligthtime((float)maxDistance_xy, FC_acc_xy, FC_maxvel_xy);
double time_up = getMinfligthtime((float)maxDistance_up, FC_acc_z, FC_maxvel_up);
double time_down = getMinfligthtime((float)maxDistance_down, FC_acc_z, FC_maxvel_down);
double tasktime = time_xy;
copterName = copterName_xy;
string divstr = "水平";
if (time_up > tasktime)
{
tasktime = time_up;
copterName = copterName_up;
divstr = "上升";
}
if (time_down > tasktime)
{
tasktime = time_down;
copterName = copterName_down;
divstr = "下降";
}
tasktime = Math.Max(time_xy, time_up);
tasktime = Math.Max(tasktime, time_down);
if (Tasks[taskIndex].FlytoTime < tasktime)
{
Message.Show($"任务{taskIndex + 1}距离:水平{Math.Round(maxDistance_xy, 2)}米;垂直:{Math.Round(maxDistance_z, 2)}米, " +
$"目前飞行时间:{Tasks[taskIndex].FlytoTime}秒,最少需要：{Math.Round(tasktime, 2)}秒,用于{divstr}飞行，编号:{copterName}"
);
if (Alert.Show($"任务{taskIndex + 1}时间过短，目前{Tasks[taskIndex].FlytoTime}秒至少{Math.Round(tasktime, 2)}秒才能全部飞到目标，需要更改吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
== MessageBoxResult.OK)
{
Message.Show($"任务{taskIndex + 1}飞行时间{Tasks[taskIndex].FlytoTime}秒更改为{Math.Round(tasktime, 0)}秒");
Tasks[taskIndex].FlytoTime = (int)Math.Round(tasktime, 0);
}
}
}
}
return;
}
float fabsf(float vvalue)
{
return Math.Abs(vvalue);
}
float sqrt(float vvalue)
{
return (float)Math.Sqrt(vvalue);
}
float getMinfligthtime(float Distance, float fc_acc, float fc_maxspeed)
{
if ((Distance == 0) || (fc_acc == 0) || (fc_maxspeed == 0)) return 0;
float fDis = fabsf(Distance);
float facc = fabsf(fc_acc);
float realflytime = 0.0f;
//计算一半的距离
float hafdis = (fDis / 2);
//计算最大速度
float vel = (float)sqrt(2 * facc * hafdis);
//如果速度超过最大速度
if (vel > fc_maxspeed)
//使用最大速度
vel = fc_maxspeed;
//加速时间
float acctim = vel / facc;
//加速距离
float accdis = vel * vel / (2 * facc);
//匀速段时间
float vtime = (hafdis - accdis) / vel;
//到一半的时间
float haftime = acctim + vtime;
realflytime = haftime * 2;
return realflytime;
}
public static double CalculateFlyIime(double s, double v)
{
@ -2459,6 +2791,40 @@ namespace Plane.FormationCreator.Formation
if (readvalue != "" && int.TryParse(readvalue, out intTemp))
Orientation = int.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_acc_xy");
if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
FC_acc_xy = float.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_acc_z");
if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
FC_acc_z = float.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_maxvel_xy");
if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
FC_maxvel_xy = float.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_maxvel_up");
if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
FC_maxvel_up = float.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_maxvel_down");
if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
FC_maxvel_down = float.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_defvel_xy");
if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
FC_defvel_xy = float.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_defvel_up");
if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
FC_defvel_up = float.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_defvel_down");
if (readvalue != "" && float.TryParse(readvalue, out floatTemp))
FC_defvel_down = float.Parse(readvalue);
}

48
Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs
View File

@ -61,7 +61,16 @@ namespace Plane.FormationCreator.Formation
public bool IsLandWaypoint
{
get { return _IsLandWaypoint; }
set { Set(nameof(IsLandWaypoint), ref _IsLandWaypoint, value); }
set {
Set(nameof(IsLandWaypoint), ref _IsLandWaypoint, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._IsLandWaypoint = _IsLandWaypoint;
}
}
}
private bool _IsChangeSpeed = false;
@ -72,7 +81,15 @@ namespace Plane.FormationCreator.Formation
public bool IsChangeSpeed
{
get {return _IsChangeSpeed; }
set { Set(nameof(IsChangeSpeed), ref _IsChangeSpeed, value); }
set {
Set(nameof(IsChangeSpeed), ref _IsChangeSpeed, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._IsChangeSpeed = _IsChangeSpeed;
}
}
}
@ -83,7 +100,14 @@ namespace Plane.FormationCreator.Formation
public float LevelSpeed
{
get { return _LevelSpeed; }
set { Set(nameof(LevelSpeed), ref _LevelSpeed, value); }
set {
Set(nameof(LevelSpeed), ref _LevelSpeed, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._LevelSpeed = _LevelSpeed;
}
}
}
@ -94,7 +118,14 @@ namespace Plane.FormationCreator.Formation
public float UpSpeed
{
get { return _UpSpeed; }
set { Set(nameof(UpSpeed), ref _UpSpeed, value); }
set {
Set(nameof(UpSpeed), ref _UpSpeed, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._UpSpeed = _UpSpeed;
}
}
}
private float _DownSpeed = 1.5f;
@ -104,7 +135,14 @@ namespace Plane.FormationCreator.Formation
public float DownSpeed
{
get { return _DownSpeed; }
set { Set(nameof(DownSpeed), ref _DownSpeed, value); }
set {
Set(nameof(DownSpeed), ref _DownSpeed, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._DownSpeed = _DownSpeed;
}
}
}
/*

60
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -1409,7 +1409,7 @@ namespace Plane.FormationCreator.ViewModels
DateTime MissionTime_log = DateTime.Now.AddSeconds(5);
Message.Show("任务开始:" + MissionTime_log.ToString());
//循环3次 发送起飞命令 避免通信问题
for (int i = 0; i < 20; i++)
for (int i = 0; i < 20; i++) //20
{
await _commModuleManager.DoMissionStartAsync(null,
MissionTime.Hour,
@ -1583,7 +1583,7 @@ namespace Plane.FormationCreator.ViewModels
await _RtcmInfoViewModel.RtcmManager.Close(_RtcmInfoViewModel.SerialPortsSelectdValue);
}
Alert.Show("开始写入航点，请稍等！(先关灯再开可恢复飞机灯光)", "提示");
Alert.Show("开始写入航点，飞机绿色成功红色失败！(先关灯再开灯可恢复飞机灯光)", "提示");
_commModuleManager.ClearMissionWriteState();
for (int i = 0; i < coptercount; i++)
{
@ -1615,14 +1615,14 @@ namespace Plane.FormationCreator.ViewModels
switch (_flightTaskManager.Tasks[j].TaskType)
{
case FlightTaskType.TakeOff:
int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5);
//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)
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TakeOffWaitTime, //起飞等待时间
_flightTaskManager.Tasks[j].TakeOffTime, //起飞时间
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat, //位置没用
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng, //位置没用
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt - groudAlt) //下一个航点的高度
);
break;
@ -1639,6 +1639,7 @@ namespace Plane.FormationCreator.ViewModels
double Lat = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat;
double Lng = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng;
//如果是返航点，位置写入固定值，这样直接返回起飞点
if (_flightTaskManager.Tasks[j].SingleCopterInfos[i].IsLandWaypoint)
{
Lat = 90;
@ -1665,30 +1666,37 @@ namespace Plane.FormationCreator.ViewModels
break;
}
}
//虚拟ID在排序时已经变为ID了，直接按ID写入
// var targetCopter = _copterManager.Copters.FirstOrDefault(o => o.VirtualId == (i+1));
// bool result = await _commModuleManager.WriteMissionListAsync(targetCopter, missions);
bool result = await _commModuleManager.WriteMissionListAsync(_copterManager.Copters[i], missions);
//CommWriteMissinState state = new CommWriteMissinState(result);
//_commModuleManager.missionWriteState.Add(int.Parse(_copterManager.Copters[i].Id), state);
if (!result)
//186是通讯模块的限制--张伟那边
if (missions.Count > 186)
{
if (_copterManager.SortType == CopterManager.CopterSortType.ByVID)
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 通信模块传输失败!");
else
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输失败!");
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 航点数量超过186，请减少再重写该飞机!");
}
else
{
if (_copterManager.SortType == CopterManager.CopterSortType.ByVID)
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 通信模块传输完成!");
//虚拟ID在排序时已经变为ID了，直接按ID写入
// var targetCopter = _copterManager.Copters.FirstOrDefault(o => o.VirtualId == (i+1));
// bool result = await _commModuleManager.WriteMissionListAsync(targetCopter, missions);
bool result = await _commModuleManager.WriteMissionListAsync(_copterManager.Copters[i], missions);
//CommWriteMissinState state = new CommWriteMissinState(result);
//_commModuleManager.missionWriteState.Add(int.Parse(_copterManager.Copters[i].Id), state);
if (!result)
{
if (_copterManager.SortType == CopterManager.CopterSortType.ByVID)
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 通信模块传输失败!");
else
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输失败!");
}
else
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输完成!");
{
if (_copterManager.SortType == CopterManager.CopterSortType.ByVID)
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 通信模块传输完成!");
else
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输完成!");
}
await Task.Delay(500).ConfigureAwait(false);
}
await Task.Delay(500).ConfigureAwait(false);
}
catch (Exception ex)
{

22
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -920,7 +920,7 @@ namespace Plane.FormationCreator.ViewModels
return _AutoWayPointAllTmCommand ?? (_AutoWayPointAllTmCommand = new RelayCommand<int>(async =>
{
if (Alert.Show("本操作将导致所有任务飞行时间重新计算，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
if (Alert.Show("本操作将导致2号任务以后所有任务飞行时间重新计算(不修改悬停时间)，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
== MessageBoxResult.OK)
{
_flightTaskManager.SetAllTaskFlytime();
@ -929,8 +929,24 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _OptimizeRouteCommandRet;
private ICommand _CheckTmCommand;
public ICommand CheckTmCommand
{
get
{
return _CheckTmCommand ?? (_CheckTmCommand = new RelayCommand<int>(async =>
{
if (Alert.Show("本操作将检测2号任务以后所有任务飞行时间是否合理，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
== MessageBoxResult.OK)
{
_flightTaskManager.CheckAllTaskFlytime();
}
}));
}
}
private ICommand _OptimizeRouteCommandRet;
public ICommand OptimizeRouteCommandRet
{
get

12
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -94,7 +94,7 @@
Margin="0,5,5,0" Width="105"
Command="{Binding BackTakeOffPointCommand}" />
<Button Margin="0,5,5,0" Content="估计时间" Width="105" Command="{Binding AutoWayPointTmCommand}"/>
<Button Margin="0,5,5,0" Content="计算时间" Width="105" Command="{Binding AutoWayPointTmCommand}"/>
</StackPanel>
@ -242,7 +242,7 @@
</Grid.ColumnDefinitions>
<CheckBox Content="返航点" ToolTip="勾选后航点仅高度有用，经纬度无效，无视原点自动飞回起飞点" Margin="0,5,0,0" IsChecked="{Binding IsLandWaypoint,UpdateSourceTrigger=PropertyChanged}" />
<Button Content="应用到所选" Margin="0,2,5,0" Command="{Binding SetIsLandCommand}" Grid.Column="1"/>
<Button Content="影响所有飞机" Margin="0,2,5,0" IsEnabled="False" Command="{Binding SetIsLandCommand}" Grid.Column="1"/>
</Grid>
@ -259,7 +259,7 @@
<RowDefinition/>
<RowDefinition/>
</Grid.RowDefinitions>
<CheckBox Content="改变速度" Margin="0,3"
<CheckBox Content="改变最大速度" Margin="0,3"
IsChecked="{Binding IsChangeSpeed, UpdateSourceTrigger=PropertyChanged}"/>
<StackPanel Margin="0,0" Grid.Column="1">
<TextBlock Text="水平" Margin="0,0,5,5" VerticalAlignment="Center" HorizontalAlignment="Left"/>
@ -272,7 +272,7 @@
<TextBox Width="45" Margin="5,0,5,5" VerticalAlignment="Center"
Text="{Binding DownSpeed, UpdateSourceTrigger=PropertyChanged}"/>
</StackPanel>
<Button Content="应用到所选" Margin="5,0,5,5" Grid.Row="1" Grid.Column="1" Command="{Binding SetIsChangeCommand}"/>
<Button Content="改变后需重新计算飞行时间" IsEnabled="False" Margin="5,0,5,5" Grid.Row="1" Grid.Column="1" Command="{Binding SetIsChangeCommand}"/>
</Grid>
</StackPanel>
@ -570,8 +570,10 @@
<StackPanel Orientation="Horizontal" Margin="0,5,0,5" >
<Button Width="120" Margin="10,5,0,5" Content="导入外部航点" Command="{Binding ImportBlenderWayPointCommand}"/>
<Button Width="120" Margin="10,5,0,5" Content="导入起飞位置" Command="{Binding ImportBlenderCopterPosCommand}"/>
<Button Width="120" Content="自动飞行时间" Margin="10,5,0,5"
<Button Width="120" Content="计算飞行时间" Margin="10,5,0,5"
Command="{Binding AutoWayPointAllTmCommand}" HorizontalAlignment="Right" />
<Button Width="120" Content="检查飞行时间" Margin="10,5,0,5"
Command="{Binding CheckTmCommand}" HorizontalAlignment="Right" />
<Button Width="120" Content="飞行图案" Margin="10,5,0,5"
Command="{Binding SetHorseRaceLampCommand}" Visibility="Collapsed" HorizontalAlignment="Right" Height="26"/>
</StackPanel>