加入飞行任务时间和悬停时间保存到航点文件
加入从文件读取的设置 灯光控制改到设置按钮里面,还没有做
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@ -262,7 +262,7 @@ namespace Plane.FormationCreator.Formation
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coptindex++;
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var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, targetLatLng.Item1, targetLatLng.Item2, preSingleCopterInfo.TargetAlt, true);
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var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, targetLatLng.Item1, targetLatLng.Item2, preSingleCopterInfo.TargetAlt, 10,10);
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newSingleCopterInfo.TargetHeading = lastSingleCopterInfo.TargetHeading;
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newSingleCopterInfo.CenterDirectionDeg = lastSingleCopterInfo.TargetHeading;
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newTask.SingleCopterInfos.Add(newSingleCopterInfo);
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@ -380,13 +380,19 @@ namespace Plane.FormationCreator.Formation
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{
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var singleCopterInfoObj = singleCopterInfos[i];
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tagalt = (float)singleCopterInfoObj.targetAlt;
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newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt, (bool)singleCopterInfoObj.showLED);
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newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(
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copter, new LatLng((double)singleCopterInfoObj.latOffset,
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(double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt,
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(int)singleCopterInfoObj.flytoTime,
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(int)singleCopterInfoObj.loiterTime);
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}
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else
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{
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//实际飞机比保存的任务计划的飞机多，多的飞机设置默认航点
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newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask
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(copter, (double)copter.Latitude, (double)copter.Longitude, tagalt, (bool)false);
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(copter, (double)copter.Latitude, (double)copter.Longitude, tagalt, 10,10
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);
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}
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newTask.SingleCopterInfos.Add(newSingleCopterInfo);
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@ -519,6 +525,7 @@ namespace Plane.FormationCreator.Formation
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SelectedTaskIndex = Tasks.Count - 1;
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}
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//导出任务
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public string ExportTasks()
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{
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// For reference.
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@ -635,7 +642,9 @@ namespace Plane.FormationCreator.Formation
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latOffset = offset.Lat,
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lngOffset = offset.Lng,
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targetAlt = info.TargetAlt,
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showLED = info.FlytoShowLED
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showLED = info.FlytoShowLED,
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flytoTime = info.FlytoTime,
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loiterTime = info.LoiterTime
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};
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})
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};
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@ -735,6 +744,7 @@ namespace Plane.FormationCreator.Formation
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}
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//导入任务,可设置导入哪些步骤
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public void ImportTasksindex(string tasksText,int startindex,int endindex)
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{
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dynamic tasks = JsonConvert.DeserializeObject(tasksText);
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@ -781,7 +791,7 @@ namespace Plane.FormationCreator.Formation
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i++;
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}
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}
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// 导入任务
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public void ImportTasks(string tasksText)
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{
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dynamic tasks = JsonConvert.DeserializeObject(tasksText);
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@ -1,35 +1,38 @@
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using Plane.Copters;
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using GalaSoft.MvvmLight.Command;
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using Plane.Copters;
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using Plane.Windows.Messages;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Input;
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namespace Plane.FormationCreator.Formation
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{
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public partial class FlightTaskSingleCopterInfo
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{
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public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, double targetLat, double targetLng, float targetAlt,bool showLED)
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public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, double targetLat, double targetLng, float targetAlt,int flytoTime,int loiterTime)
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{
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var info = new FlightTaskSingleCopterInfo(copter)
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{
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TargetLat = targetLat,
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TargetLng = targetLng,
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TargetAlt = targetAlt,
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FlytoShowLED= showLED,
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// FlytoTime= flytoTime,
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// LoiterTime = loiterTime
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FlytoTime= flytoTime,
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LoiterTime = loiterTime
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};
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return info;
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}
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public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, LatLng latLngOffset, float targetAlt, bool showLED)
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public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, LatLng latLngOffset, float targetAlt, int flytoTime, int loiterTime)
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{
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var info = new FlightTaskSingleCopterInfo(copter)
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{
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LatLngOffset = latLngOffset,
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TargetAlt = targetAlt,
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FlytoShowLED = showLED
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FlytoTime = flytoTime,
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LoiterTime = loiterTime
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};
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return info;
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}
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@ -52,7 +55,18 @@ namespace Plane.FormationCreator.Formation
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get { return _LoiterTime; }
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set { Set(nameof(LoiterTime), ref _LoiterTime, value); }
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}
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//设置飞机航点中灯光
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private ICommand _ModiFlytoLEDCommand;
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public ICommand ModiFlytoLEDCommand
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{
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get
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{
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return _ModiFlytoLEDCommand ?? (_ModiFlytoLEDCommand = new RelayCommand<double>(async =>
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{
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Alert.Show("sfsdf");
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}));
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}
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}
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}
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}
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@ -152,6 +152,7 @@
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<Compile Include="ViewModels\MainViewModel.cs" />
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<Compile Include="ViewModels\MapViewModel.cs" />
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<Compile Include="ViewModels\ModifyTaskViewModel.cs" />
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<Compile Include="ViewModels\ModiLEDModel.cs" />
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<Compile Include="ViewModels\TaskBarViewModel.cs" />
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<Compile Include="Views\ControlPanelView.xaml.cs">
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<DependentUpon>ControlPanelView.xaml</DependentUpon>
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@ -172,6 +173,9 @@
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<Compile Include="Views\ModifyTaskView.xaml.cs">
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<DependentUpon>ModifyTaskView.xaml</DependentUpon>
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</Compile>
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<Compile Include="Views\ModiLEDWindow.xaml.cs">
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<DependentUpon>ModiLEDWindow.xaml</DependentUpon>
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</Compile>
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<Compile Include="Views\TaskBarView.xaml.cs">
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<DependentUpon>TaskBarView.xaml</DependentUpon>
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</Compile>
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@ -275,6 +279,10 @@
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<SubType>Designer</SubType>
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<Generator>MSBuild:Compile</Generator>
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</Page>
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<Page Include="Views\ModiLEDWindow.xaml">
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<SubType>Designer</SubType>
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<Generator>MSBuild:Compile</Generator>
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</Page>
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<Page Include="Views\TaskBarView.xaml">
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<SubType>Designer</SubType>
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<Generator>MSBuild:Compile</Generator>
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@ -205,6 +205,7 @@ namespace Plane.FormationCreator.ViewModels
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await Task.WhenAll(_copterManager.AcceptingControlCopters.Select
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(copter => copter.SetParamAsync(name, value)));
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/*
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await Task.WhenAll(
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_copterManager.AcceptingControlCopters.Select(async copter =>
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@ -218,6 +219,7 @@ namespace Plane.FormationCreator.ViewModels
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}
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));
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*/
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}
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@ -606,7 +608,7 @@ namespace Plane.FormationCreator.ViewModels
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var _flightTaskManager = _taskmodimodel.FlightTaskManager;
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int coptercount = _copterManager.Copters.Count;
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int taskcount = _flightTaskManager.Tasks.Count;
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bool havewritefault = true;
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// bool havewritefault = true;
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if (taskcount < 2) return;
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for (int i = 0; i < coptercount; i++)
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@ -622,15 +624,24 @@ namespace Plane.FormationCreator.ViewModels
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switch (_flightTaskManager.Tasks[j].TaskType)
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{
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case FlightTaskType.TakeOff:
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missions[missindex++] = Mission.CreateTakeoffMission(2,5,_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j+1].SingleCopterInfos[i].TargetAlt);
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//计算起飞需要的时间,5秒是上升加速和最后稳定时间
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int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5);
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missions[missindex++] = Mission.CreateTakeoffMission(1,
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takeofftime,
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_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng,
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_flightTaskManager.Tasks[j+1].SingleCopterInfos[i].TargetAlt);
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//要起飞任务
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break;
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case FlightTaskType.FlyTo:
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missions[missindex++] = Mission.CreateWaypointMission(5,15,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
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missions[missindex++] = Mission.CreateWaypointMission(
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5,//_flightTaskManager.Tasks[j].SingleCopterInfos[i].LoiterTime,
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20,// _flightTaskManager.Tasks[j].SingleCopterInfos[i].FlytoTime,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
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break;
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case FlightTaskType.Loiter:
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// missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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@ -206,7 +206,8 @@
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<RowDefinition />
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</Grid.RowDefinitions>
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<Grid Grid.Row="0">
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<Grid Grid.Row="0" DataContext="{Binding ModifyingSingleCopterInfo}">
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<Grid.RowDefinitions>
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<RowDefinition />
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<RowDefinition />
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@ -219,19 +220,26 @@
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<TextBlock Grid.Row="0" Text="飞行时间: " />
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<TextBox Grid.Column="1"
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Margin="0,5,10,0"
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Text="{Binding FlytoTime, UpdateSourceTrigger=PropertyChanged}" />
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<TextBlock Grid.Row="1" Text="悬停时间: " />
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<TextBox Grid.Row="1" Grid.Column="1"
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Margin="0,5,10,0"
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Text="{Binding LoiterTime, UpdateSourceTrigger=PropertyChanged}" />
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<TextBlock Grid.Row="2" Text="灯光控制: " />
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<CheckBox Grid.Row="2" Grid.Column="1"
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DataContext="{Binding ModifyingSingleCopterInfo}"
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IsChecked="{Binding FlytoShowLED}" />
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<Button Content="设置"
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Grid.Row="2" Grid.Column="1"
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Margin="0,5,5,0"
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Command="{Binding ModiFlytoLEDCommand}" />
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</Grid>
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