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1增加观测者位置图标，修改后直接可以使用

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2增加配置FC_VER_NO = 3 使用小航点同时达到模式计算模拟飞行
3增加灯光框架，可实现闪烁等，但实际使用太慢，暂时不用
This commit is contained in:
pxzleo 2023-11-21 21:16:32 +08:00
parent b729f6b78e
commit c2d26dd62c
10 changed files with 258 additions and 68 deletions
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2
Plane.FormationCreator/Formation/CopterManager.cs
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@ -631,7 +631,7 @@ namespace Plane.FormationCreator.Formation
if ((username== supername) && (password== superpass) &&(DateTime.UtcNow < CopterCollection.Expire_SuperUser) )
{
// NetLogined(supername, superDispname, -1, -1, LEVEL_ADMIN);
NetLogined(supername, superDispname,6, 50, LEVEL_NORMAL);
NetLogined(supername, superDispname,6, 300, LEVEL_NORMAL);
VersionControl.SaveLogininfoToIni(supername, superpass, savepassword); //超级密码是否保存---不要就不保存
return;
}

1
Plane.FormationCreator/Formation/Extensions.cs
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@ -53,6 +53,7 @@ namespace Plane.FormationCreator.Formation
public static double DistanceTo(this ICopter copter, ICopter copter2)
{
return GeographyUtils.CalcDistance(copter.Latitude, copter.Longitude, copter.Altitude, copter2.Latitude, copter2.Longitude, copter2.Altitude);
//return GeographyUtils.CalcDistance_simple(copter.Latitude, copter.Longitude, copter.Altitude, copter2.Latitude, copter2.Longitude, copter2.Altitude);
}
public static double InPlaneDistanceTo(this ICopter copter, double targetLat, double targetLng)

23
Plane.FormationCreator/Formation/FlightTaskManager.cs
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@ -541,6 +541,24 @@ namespace Plane.FormationCreator.Formation
set { Set(nameof(OriginLng), ref _OriginLng, value); }
}
private double _ObserverLat = 0;
public double ObserverLat
{
get { return _ObserverLat; }
set { Set(nameof(ObserverLat), ref _ObserverLat, value); }
}
private double _ObserverLng = 0;
public double ObserverLng
{
get { return _ObserverLng; }
set { Set(nameof(ObserverLng), ref _ObserverLng, value); }
}
/// <summary>
/// 起始点作为参考，设置起始点后飞行写入的数据将为相对坐标
/// </summary>
@ -767,6 +785,8 @@ namespace Plane.FormationCreator.Formation
altitude: 0 );
//设置灯光为默认颜色
fc.LEDColor = CopterManager.CopterDefaultColor;// "000000";
fc.LEDMode = 0;
fc.LEDInterval = 0;
}
}
@ -2626,6 +2646,7 @@ namespace Plane.FormationCreator.Formation
Message.Show($"{DateTime.Now.ToString("HH:mm:ss")}：任务开始");
}
/*
//设置模拟飞行更新间隔，都是I7配置下
int update_int = 50; //300以内50流畅
if ((_copterManager.Copters.Count() > 300) && ((_copterManager.Copters.Count() <= 500)))
@ -2634,7 +2655,7 @@ namespace Plane.FormationCreator.Formation
update_int = 150; //极限了 500-1000可以用
foreach (var copter in _copterManager.Copters)
copter.sim_update_int = update_int;
*/
await RunAsync();

8
Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
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@ -115,7 +115,7 @@ namespace Plane.FormationCreator.Formation
}
private int RuningTaskRemaining = 0;
// private int RuningTaskRemaining = 0;
private async Task FlyToTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
{
@ -162,14 +162,15 @@ namespace Plane.FormationCreator.Formation
}
//发送目标航点1次
await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt);
await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt, task.FlytoTime);
// await Task.Delay(10).ConfigureAwait(false);
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
int sendFlyToTimes = 0;
// int sendFlyToTimes = 0;
/*
//第0个任务为takeoff
if (taskIndex > 0)
{
@ -177,6 +178,7 @@ namespace Plane.FormationCreator.Formation
if (prevTask.TaskType == FlightTaskType.FlyTo && prevTask.LoiterTime == 0)
flyToTime += prevTask.RuningTaskRemaining;
}
*/
//while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt)) //按航点飞 ：所有Copter到达目标点开始飞下个航点
while (ts.TotalMilliseconds < (flyToTime + loiterTime)) //按时间轴飞：当前任务时间到达后自动飞往下个航点

20
Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
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@ -105,30 +105,20 @@ namespace Plane.FormationCreator.Formation
//虚拟飞机5秒后不起飞会自动上锁
await copter.UnlockAsync();
for (int i = 0; i < 5; i++) // added by ZJF
{
await copter.TakeOffAsync();
await Task.Delay(50).ConfigureAwait(false);
}
await copter.TakeOffAsync();
var copterNextTask = _flightTaskManager.Tasks[TaskIndex + 1].SingleCopterInfos[copterIndex];
float takeOffAlt = copterNextTask.TargetAlt;
info.TargetLat = info.Copter.Latitude;
info.TargetLng = info.Copter.Longitude;
// for (int j = 0; j < 3; j++)
// {
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
// await Task.Delay(10).ConfigureAwait(false);
// }
FlightTask task = _flightTaskManager.CurrentRunningTask;
//开始往上飞
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt, task.TakeOffTime- info.TakeOffWaitTime); //秒
//解锁起飞用暗紫色
info.Copter.LEDColor = CopterManager.CopterTakeoffColor;
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
FlightTask task = _flightTaskManager.CurrentRunningTask;
while (ts.TotalMilliseconds < task.TakeOffTime * 1000)
{

7
Plane.FormationCreator/ViewModels/CopterListViewModel.cs
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@ -371,8 +371,11 @@ namespace Plane.FormationCreator.ViewModels
id: id,
name: id
);
if (_copterManager.FC_VER_NO >= 3)
copter.FlightControlMode = 1;
else copter.FlightControlMode = 0;
//不再预先分配VID
// copter.VirtualId = _virtualCopterId;
// copter.VirtualId = _virtualCopterId;
await copter.ConnectAsync();
await copter.GetCopterDataAsync();
_copterManager.CopterStatus.Add(false);
@ -473,6 +476,8 @@ namespace Plane.FormationCreator.ViewModels
_lastVirtualCopterLocation = null;
_flightTaskManager.OriginLat = 0;
_flightTaskManager.OriginLng = 0;
_flightTaskManager.ObserverLat = 0;
_flightTaskManager.ObserverLng = 0;
}));
}
}

1
Plane.FormationCreator/ViewModels/MainViewModel.cs
View File

@ -317,6 +317,7 @@ namespace Plane.FormationCreator.ViewModels
MapMode = 1;
b2DMapMode = false;
_flightTaskManager.TaskRun_2D = b2DMapMode; //3D模式模拟显示
mainw.map3D.ResetCamera();

109
Plane.FormationCreator/ViewModels/View3DViewModel.cs
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@ -93,6 +93,7 @@ namespace Plane.FormationCreator.ViewModels
planeModel3Ds.Clear();
planeGroup.Children.Clear();
observationLatLng = null;
SelectTask();
}
private void Copter_LocationChanged(object sender, EventArgs e)
@ -109,7 +110,31 @@ namespace Plane.FormationCreator.ViewModels
}
private Dictionary<ICopter, GeometryModel3D> planeModel3Ds = new Dictionary<ICopter, GeometryModel3D>();
Tuple<double, double> observationLatLng = null;
private Tuple<double, double> observationLatLng = null;
//得到观测位置
//observationLatLng 观察点坐标,第一列的中间再往前2个中间距离)
//观测点的位置放到最后排飞机的中间位置
private void getobservationpos()
{
observationLatLng = new Tuple<double, double>(_flightTaskManager.ObserverLat, _flightTaskManager.ObserverLng);
/*
//第一列到中间的距离
float midColDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat,
_flightTaskManager.OriginLng,
_flightTaskManager.Orientation + 90,
midColDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1,
observationLatLng.Item2,
_flightTaskManager.Orientation + 180,
midColDistance * 4);
*/
}
private void AddOrMove3DCopter(ICopter copter)
{
@ -117,29 +142,16 @@ namespace Plane.FormationCreator.ViewModels
//var copternum1 = _copterManager.Copters.FirstOrDefault();
if (_flightTaskManager.OriginLat == 0 || _flightTaskManager.OriginLng == 0)
return;
//第一列到中间的距离
float midColDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
//得到观测位置
if (observationLatLng == null)
{
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat,
_flightTaskManager.OriginLng,
_flightTaskManager.Orientation + 90,
midColDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1,
observationLatLng.Item2,
_flightTaskManager.Orientation + 180,
midColDistance * 2);
getobservationpos();
}
//没有这架飞机就加入
if (!planeModel3Ds.ContainsKey(copter))
{
//观测点的位置放到最后排飞机的中间位置
var meshBuilderwaypoint = new MeshBuilder(false, false);
//meshBuilderwaypoint.AddTriangle(new Point3D(-0.1, -0.1, 0), new Point3D(0.1, -0.1, 0), new Point3D(0, 0.2, 0));
@ -147,12 +159,13 @@ namespace Plane.FormationCreator.ViewModels
meshBuilderwaypoint.AddSphere(new Point3D(0, 0, 0), 0.3* _copterManager.scale3d);
var meshwaypoint = meshBuilderwaypoint.ToMesh(true);
//离观测点距离y
double y = GeographyUtils.CalcDistance(0, observationLatLng.Item1, 0, 0, copter.Latitude, 0) / 2;
if (observationLatLng.Item1 > copter.Latitude) y = -y;
//离观测点距离x
double x = GeographyUtils.CalcDistance(observationLatLng.Item2, 0, 0, copter.Longitude, 0, 0) / 2;
if (observationLatLng.Item2 > copter.Longitude) x = -x;
//离观测点距离z
double z = copter.Altitude + 0.1;
x *= _copterManager.scale3d;
@ -167,8 +180,9 @@ namespace Plane.FormationCreator.ViewModels
{
Geometry = meshwaypoint,
Transform = new TranslateTransform3D(x, y, z),
Material = MaterialHelper.CreateMaterial(color),
BackMaterial = MaterialHelper.CreateMaterial(color)
Material = new DiffuseMaterial(new SolidColorBrush(color)),
//Material = MaterialHelper.CreateMaterial(color),
// BackMaterial = MaterialHelper.CreateMaterial(color)
};
planeModel3Ds.Add(copter, model3D);
@ -177,7 +191,7 @@ namespace Plane.FormationCreator.ViewModels
//有飞机在视图里就移动位置
else
{
//计算和观测点的相对位置
double y = GeographyUtils.CalcDistance(0, observationLatLng.Item1, 0, 0, copter.Latitude, 0) / 2;
if (observationLatLng.Item1 > copter.Latitude) y = -y;
@ -188,30 +202,45 @@ namespace Plane.FormationCreator.ViewModels
x = Math.Round(x, 2);//按照四舍五入的国际标准
y = Math.Round(y, 2);
double z = Math.Round(copter.Altitude / 2, 2);
GeometryModel3D panle3D = planeModel3Ds[copter];
x *= _copterManager.scale3d;
y *= _copterManager.scale3d;
z *= _copterManager.scale3d;
y *= _copterManager.scale3d;
z *= _copterManager.scale3d;
//移动飞机到新位置
GeometryModel3D panle3D = planeModel3Ds[copter];
if (x != panle3D.Transform.Value.OffsetX || y != panle3D.Transform.Value.OffsetY || z != panle3D.Transform.Value.OffsetZ)
{
panle3D.Transform = new TranslateTransform3D(x, y, z);
var trans = panle3D.Transform as TranslateTransform3D;
trans.OffsetX = x;
trans.OffsetY = y;
trans.OffsetZ = z;
}
//设置灯光
Color color;
if (copter.LEDColor != null && copter.LEDColor != "")
{
color = (Color)ColorConverter.ConvertFromString("#" + copter.LEDColor);
panle3D.Material = MaterialHelper.CreateMaterial(color);
panle3D.BackMaterial = MaterialHelper.CreateMaterial(color);
// panle3D.BackMaterial = MaterialHelper.CreateMaterial(color);
}
//else
// color = (Color)ColorConverter.ConvertFromString("#" + CopterManager.CopterDefaultColor);
/*
// Color color;
if (copter.LEDShowColor != null)
{
Color currcolor = System.Windows.Media.Color.FromArgb(
copter.LEDShowColor.A, copter.LEDShowColor.R, copter.LEDShowColor.G, copter.LEDShowColor.B);
{
((panle3D.Material as DiffuseMaterial).Brush as SolidColorBrush).Color = currcolor;
}
}
//Message.Show("添加3D飞机：" + copter.Name);
*/
}
}
@ -222,16 +251,12 @@ namespace Plane.FormationCreator.ViewModels
waypointGroup.Children.Clear();
if (_flightTaskManager.SelectedTaskIndex > 0)
{
//观测点的位置放到最后排飞机的中间位置
Tuple<double, double> observationLatLng;
//列的中间位置
float midDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat, _flightTaskManager.OriginLng, _flightTaskManager.Orientation + 90, midDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1, observationLatLng.Item2, _flightTaskManager.Orientation + 180, midDistance * 2);
//得到观测位置
if (observationLatLng == null)
{
getobservationpos();
}
//modelGroup.Children.Clear();

145
Plane.FormationCreator/Views/MapView.xaml.cs
View File

@ -185,6 +185,19 @@ namespace Plane.FormationCreator.Views
originalMarker.Position = gmap.FromLocalToLatLng((int)wpPos.X, (int)wpPos.Y);
//MapLayer.SetPosition(original, gmap.ViewportPointToLocation(wpPos));
}
if (observerMarker != null && gmap.Markers.Contains(observerMarker))
{
PointLatLng location = new LatLng(_flightTaskManager.ObserverLat, _flightTaskManager.ObserverLng).ToGCJ02();
GPoint wpPos = gmap.FromLatLngToLocal(location);
//Point wpPos = gmap.LocationToViewportPoint(location);
wpPos.X -= (long)ORIGIN_RADIUS;
wpPos.Y -= (long)ORIGIN_RADIUS;
observerMarker.Position = gmap.FromLocalToLatLng((int)wpPos.X, (int)wpPos.Y);
//MapLayer.SetPosition(original, gmap.ViewportPointToLocation(wpPos));
}
};
GMapMarker rectangleMarker = null;
@ -278,6 +291,9 @@ namespace Plane.FormationCreator.Views
gmap.MouseMove += new MouseEventHandler(OriginalMove);
gmap.MouseLeftButtonUp += new MouseButtonEventHandler(OriginalMouseUp);
gmap.MouseMove += new MouseEventHandler(observerMove);
gmap.MouseLeftButtonUp += new MouseButtonEventHandler(observerMouseUp);
}
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
@ -288,6 +304,7 @@ namespace Plane.FormationCreator.Views
const string COPTER_TAG = "Copter";
const string WAYPOINT_TAG = "Waypoint";
const string ORIGINALPOINT_TAG = "Originalpoint";
const string OBSERVER_TAG = "Observerpoint";
public void Refresh()
{
@ -337,6 +354,8 @@ namespace Plane.FormationCreator.Views
private void Copter_LocationChanged(object sender, EventArgs e)
{
if (!_flightTaskManager.TaskRun_2D) return; //不在3D模式运行直接退出
var copter = sender as ICopter;
if (App.Current.CheckAccess())
{
@ -444,7 +463,8 @@ namespace Plane.FormationCreator.Views
// }
}
GMapMarker observerMarker = null;
Microsoft.Expression.Shapes.RegularPolygon observer = null;
GMapMarker originalMarker = null;
Microsoft.Expression.Shapes.RegularPolygon original = null;
const double ORIGIN_RADIUS = 12;
@ -483,8 +503,131 @@ namespace Plane.FormationCreator.Views
_flightTaskManager.OriginLng = location.Lng;
original.MouseLeftButtonDown += new MouseButtonEventHandler(OriginalMouseDown);
///加入或者改变观测点用于3D模拟
if (gmap.Markers.Contains(observerMarker))
gmap.Markers.Remove(observerMarker);
observer = new Microsoft.Expression.Shapes.RegularPolygon
{
Tag = OBSERVER_TAG,
Fill = new SolidColorBrush(Color.FromArgb(200, 3, 155, 3)),
Stroke = new SolidColorBrush(Color.FromArgb(200, 3, 80, 238)),
StrokeThickness = 1,
Width = ORIGIN_RADIUS *2,
Height = ORIGIN_RADIUS * 2,
InnerRadius = 1,
PointCount = 6,
};
if (_flightTaskManager.ObserverLat == 0)
{
Tuple<double, double> observationLatLng = null;
//第一列到中间的距离
float midColDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat,
_flightTaskManager.OriginLng,
_flightTaskManager.Orientation + 90,
midColDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1,
observationLatLng.Item2,
_flightTaskManager.Orientation + 180,
midColDistance * 4);
_flightTaskManager.ObserverLat = observationLatLng.Item1;
_flightTaskManager.ObserverLng = observationLatLng.Item2;
}
//_flightTaskManager.ObserverLat = _flightTaskManager.OriginLat;
//_flightTaskManager.ObserverLng = _flightTaskManager.OriginLng;
PointLatLng Observerlocation = new LatLng(_flightTaskManager.ObserverLat, _flightTaskManager.ObserverLng).ToGCJ02();
GPoint opoint = gmap.FromLatLngToLocal(Observerlocation);
opoint.X -= (long)ORIGIN_RADIUS;
opoint.Y -= (long)ORIGIN_RADIUS;
mapLocation = gmap.FromLocalToLatLng((int)opoint.X, (int)opoint.Y);
observerMarker = new GMapMarker(mapLocation);
observerMarker.ZIndex = 200;
observerMarker.Shape = observer;
observerDrag = false;
observer.MouseLeftButtonDown += new MouseButtonEventHandler(observerMouseDown);
gmap.Markers.Add(observerMarker);
}
private bool observerDrag = false;
double observerX = 0;
double observerY = 0;
private void observerMouseDown(object sender, MouseButtonEventArgs e)
{
observerDrag = true;
gmap.CanDragMap = false;
var originPoint = e.GetPosition(gmap);
observerX = originPoint.X;
observerX = originPoint.Y;
var posInObject = e.GetPosition(observer);
wpOffsetX = posInObject.X;
wpOffsetY = posInObject.Y;
}
private void observerMove(object sender, MouseEventArgs e)
{
if (observerDrag)
{
Point eventPos = e.GetPosition(gmap);
var leftTopPos = new Point(eventPos.X - wpOffsetX, eventPos.Y - wpOffsetY);
observerMarker.Position = gmap.FromLocalToLatLng((int)leftTopPos.X, (int)leftTopPos.Y);
//MapLayer.SetPosition(original, map.ViewportPointToLocation(leftTopPos));
}
}
private void observerMouseUp(object sender, MouseButtonEventArgs e)
{
if (observerDrag)
{
Point eventPos = e.GetPosition(gmap);
var centrePos = new Point(eventPos.X - wpOffsetX + ORIGIN_RADIUS, eventPos.Y - wpOffsetY + ORIGIN_RADIUS);
PointLatLng location = gmap.FromLocalToLatLng((int)centrePos.X, (int)centrePos.Y);
_flightTaskManager.ObserverLat = location.Lat;
_flightTaskManager.ObserverLng = location.Lng;
// original.ToolTip = location.ToString();
//Clipboard.SetDataObject(string.Format("{0},{1}", location.Lat, location.Lng), true);
observerDrag = false;
gmap.CanDragMap = true;
}
}
private bool originaDrag = false;
double originX = 0;
double originY = 0;

10
Plane.FormationCreator/Views/View3D.xaml.cs
View File

@ -39,7 +39,7 @@ namespace Plane.FormationCreator.Views
}
private void ResetCamera()
public void ResetCamera()
{
// view3d.CameraController.CameraPosition = new Point3D(0, 40, 1);
// view3d.CameraController.CameraUpDirection = new Vector3D(0, -1, 10);
@ -49,10 +49,12 @@ namespace Plane.FormationCreator.Views
var camera = view3d.Camera as PerspectiveCamera;
camera.Position = new Point3D(0, 0, 1);
//用于180度
camera.LookDirection = new Vector3D(-0.025, -0.911, 0.411);
//用于朝向180度
// camera.LookDirection = new Vector3D(-0.025, -0.911, 0.411);
//用于朝向9度
camera.LookDirection = new Vector3D(0, 1, 0.8);
camera.UpDirection = new Vector3D(0.011, 0.411, 0.912);
//用于0度
//camera.LookDirection = new Vector3D(0, 1, 0);
//camera.UpDirection = new Vector3D(0,0, 1);