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

降落部分改为前一波降落时下一波同时返航，提高返航速度,以前需要等到上一波降落完成下一波才开始下降返航，时间太久

Browse Source
This commit is contained in:
pxzleo 2017-03-18 01:37:34 +08:00
parent 7e04c83e26
commit bfc534c504
1 changed files with 152 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

185
Plane.FormationCreator/Formation/FlightTask_ReturnToLand.cs
View File

@ -68,10 +68,11 @@ namespace Plane.FormationCreator.Formation
int integerPart = copterCount / RetNumAttr; int integerPart = copterCount / RetNumAttr;
int residualPart = copterCount % RetNumAttr; int residualPart = copterCount % RetNumAttr;
var tasksTmp = new Task[infos.Count]; var tasksTmp = new Task[infos.Count];
//整数部分执行返航降落
for (int i = 0; i < integerPart; i++) for (int i = 0; i < integerPart; i++)
{ {
var tasksRetutn = new Task[RetNumAttr]; var tasksRetutn = new Task[RetNumAttr*2];
//设置返航任务
for (int j = RetNumAttr * i; j < RetNumAttr * (i + 1); j++) for (int j = RetNumAttr * i; j < RetNumAttr * (i + 1); j++)
{ {
var info = infos[j]; var info = infos[j];
@ -87,39 +88,55 @@ namespace Plane.FormationCreator.Formation
{ {
tasksRetutn[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); }); tasksRetutn[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
} }
} }
await Task.WhenAll(tasksRetutn).ConfigureAwait(false);
//设置降落任务
var tasksRetutn1 = new Task[RetNumAttr]; if (i > 0)
for (int j = RetNumAttr * i; j < RetNumAttr * (i + 1); j++)
{
var info = infos[j];
int indexTmp = j - RetNumAttr * i;
// var copter = info.Copter;
if (info.RTLStage == 2) // 当前阶段小于等于1时进入
{
tasksRetutn1[indexTmp] = ReturnToLandSecondTaskAsync(info);
}
else
{
tasksRetutn1[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
}
}
await Task.WhenAll(tasksRetutn1).ConfigureAwait(false);
if (_flightTaskManager.IsPaused == false)
{ {
for (int j = RetNumAttr * i; j < RetNumAttr * (i + 1); j++) for (int j = RetNumAttr * (i - 1); j < RetNumAttr * (i); j++)
{ {
var info = infos[j]; var info = infos[j];
info.RTLStage = 0;
int indexTmp = RetNumAttr+ j - RetNumAttr * (i-1);
// var copter = info.Copter;
if (info.RTLStage == 2) // 当前阶段小于等于1时进入
{
tasksRetutn[indexTmp] = ReturnToLandSecondTaskAsync(info);
}
else
{
tasksRetutn[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
}
}
}
else {
//第一波返航，降落任务为空
for (int j = RetNumAttr * (i +1); j < RetNumAttr * (i+2); j++)
{
int indexTmp = j - RetNumAttr * i;
tasksRetutn[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
}
}
//开始执行这波返航和上波降落
await Task.WhenAll(tasksRetutn).ConfigureAwait(false);
//上波降落后设置为0
if (_flightTaskManager.IsPaused == false)
{
if (i > 0)
{
for (int j = RetNumAttr * (i - 1); j < RetNumAttr * (i); j++)
{
var info = infos[j];
info.RTLStage = 0;
}
} }
} }
@ -127,15 +144,22 @@ namespace Plane.FormationCreator.Formation
if (residualPart > 0) if (residualPart > 0)
{ {
var tasksreturn = new Task[residualPart]; var tasksreturn = new Task[residualPart+ RetNumAttr];
//余数部分开始返航
for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++) for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++)
{ {
var info = infos[j]; var info = infos[j];
int indexTmp = j - RetNumAttr * integerPart; int indexTmp = j - RetNumAttr * integerPart;
// var copter = info.Copter; // var copter = info.Copter;
if (info.RTLStage <= 1) // 当前阶段小于等于1时进入 if (info.RTLStage <= 1) // 当前阶段小于等于1时进入
{ {
tasksreturn[indexTmp] = ReturnToLandTaskFlySingleCopterAsync(info); tasksreturn[indexTmp] = ReturnToLandTaskFlySingleCopterAsync(info);
@ -145,8 +169,55 @@ namespace Plane.FormationCreator.Formation
tasksreturn[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); }); tasksreturn[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
} }
} }
//无余数的整数部分最后一波开始降落
// var tasksLastland = new Task[RetNumAttr];
for (int j = RetNumAttr * (integerPart - 1); j < RetNumAttr * (integerPart); j++)
{
var info = infos[j];
int indexTmp = RetNumAttr + j - RetNumAttr * integerPart;
// var copter = info.Copter;
if (info.RTLStage == 2) // 当前阶段小于等于1时进入
{
tasksreturn[residualPart + indexTmp] = ReturnToLandSecondTaskAsync(info);
}
else
{
tasksreturn[residualPart+indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
}
}
//开始执行降落和返航
await Task.WhenAll(tasksreturn).ConfigureAwait(false); await Task.WhenAll(tasksreturn).ConfigureAwait(false);
//降落后设置为0
if (_flightTaskManager.IsPaused == false)
{
for (int j = RetNumAttr * (integerPart - 1); j < RetNumAttr * (integerPart); j++)
{
var info = infos[j];
info.RTLStage = 0;
}
}
//最后余数部分降落
var tasksRetutn1 = new Task[residualPart]; var tasksRetutn1 = new Task[residualPart];
for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++) for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++)
@ -165,7 +236,7 @@ namespace Plane.FormationCreator.Formation
} }
await Task.WhenAll(tasksRetutn1).ConfigureAwait(false); await Task.WhenAll(tasksRetutn1).ConfigureAwait(false);
if (_flightTaskManager.IsPaused == false) if (_flightTaskManager.IsPaused == false)
{ {
for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++) for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++)
@ -175,6 +246,54 @@ namespace Plane.FormationCreator.Formation
} }
} }
}
else
{
//无余数的整数部分最后一波开始降落
var tasksLastland = new Task[RetNumAttr];
for (int j = RetNumAttr * (integerPart - 1); j < RetNumAttr * (integerPart); j++)
{
var info = infos[j];
int indexTmp = RetNumAttr + j - RetNumAttr * integerPart;
// var copter = info.Copter;
if (info.RTLStage == 2) // 当前阶段小于等于1时进入
{
tasksLastland[indexTmp] = ReturnToLandSecondTaskAsync(info);
}
else
{
tasksLastland[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
}
}
await Task.WhenAll(tasksLastland).ConfigureAwait(false);
//降落后设置为0
if (_flightTaskManager.IsPaused == false)
{
for (int j = RetNumAttr * (integerPart - 1); j < RetNumAttr * (integerPart); j++)
{
var info = infos[j];
info.RTLStage = 0;
}
}
} }
} }