试飞相对航点，单架飞机成功

LED修改完成，待验证

Plane.FormationCreator/Formation/FlightTask.cs

@@ -73,13 +73,13 @@ namespace Plane.FormationCreator.Formation
 
 
         //同一个任务每一架飞机的FlytoTime和LoiterTime保持统一
-        private int _FlytoTime = 123;
+        private int _FlytoTime = 10;
         public int FlytoTime
         {
             get { return _FlytoTime; }
             set { Set(nameof(FlytoTime), ref _FlytoTime, value); }
         }
-        private int _LoiterTime = 321;
+        private int _LoiterTime = 10;
         public int LoiterTime
         {
             get { return _LoiterTime; }

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -396,6 +396,9 @@ namespace Plane.FormationCreator.Formation
                     newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(
                         copter, new LatLng((double)singleCopterInfoObj.latOffset,
                         (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt);
+                    
+                    var jsonArray = singleCopterInfoObj.ledInfos as Newtonsoft.Json.Linq.JArray;
+                    newSingleCopterInfo.LEDInfos = jsonArray.ToObject<ObservableCollection<LEDInfo>>();
 
                 }
                 else
@@ -654,7 +657,8 @@ namespace Plane.FormationCreator.Formation
                                     latOffset = offset.Lat,
                                     lngOffset = offset.Lng,
                                     targetAlt = info.TargetAlt,
-                                    showLED = info.FlytoShowLED,
+                                    //showLED = info.FlytoShowLED,
+                                    ledInfos = info.LEDInfos
                                 };
                             })
                         };

Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs

@@ -58,20 +58,7 @@ namespace Plane.FormationCreator.Formation
         }
         */
 
-        //设置飞机航点中灯光
+        
-        private ICommand _ModiFlytoLEDCommand;
-        public ICommand ModiFlytoLEDCommand
-        {
-            get
-            {
-                return _ModiFlytoLEDCommand ?? (_ModiFlytoLEDCommand = new RelayCommand<double>(async =>
-                {
-                    //Alert.Show("灯光控制");
-                    Views.modiLED LEDConfig = new Views.modiLED();
-                    LEDConfig.ShowDialog();
-                }));
-            }
-        }
 
     }
 }

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -111,6 +111,7 @@
     <Compile Include="Converters\HeartbeatCountToBrushConverter.cs" />
     <Compile Include="Formation\AppMode.cs" />
     <Compile Include="Formation\Copter.cs" />
+    <Compile Include="Formation\FlightTaskSingleCopterInfo_LED.cs" />
     <Compile Include="Formation\FlightTaskSingleCopterInfo_LoiterTime.cs" />
     <Compile Include="Formation\FlightTaskSingleCopterInfo_ReturnToLand.cs" />
     <Compile Include="Formation\FlightTaskSingleCopterInfo_SimpleCircle.cs" />
@@ -173,9 +174,6 @@
     <Compile Include="Views\ModifyTaskView.xaml.cs">
       <DependentUpon>ModifyTaskView.xaml</DependentUpon>
     </Compile>
-    <Compile Include="Views\ModiLEDWindow.xaml.cs">
-      <DependentUpon>ModiLEDWindow.xaml</DependentUpon>
-    </Compile>
     <Compile Include="Views\TaskBarView.xaml.cs">
       <DependentUpon>TaskBarView.xaml</DependentUpon>
     </Compile>
@@ -279,10 +277,6 @@
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
-    <Page Include="Views\ModiLEDWindow.xaml">
-      <SubType>Designer</SubType>
-      <Generator>MSBuild:Compile</Generator>
-    </Page>
     <Page Include="Views\TaskBarView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -17,6 +17,7 @@ using System.Windows.Input;
 using Plane.Communication;
 using Microsoft.Win32;
 using Plane.Util;
+using System.Windows.Media;
 
 namespace Plane.FormationCreator.ViewModels
 {
@@ -577,17 +578,28 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _MissionStartCommand ?? (_MissionStartCommand = new RelayCommand(async () =>
                 {
+                    FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+                    if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
+                    {
+                        Alert.Show("作为参照的原点未设置，无法开始任务！", "提示");
+                        return;
+                    }
                     int utchour = DateTime.UtcNow.AddSeconds(5).Hour;
                     int utcminute = DateTime.UtcNow.AddSeconds(5).Minute;
                     int utcsecond = DateTime.UtcNow.AddSeconds(5).Second;
+                    
                     foreach (var vcopter in _copterManager.Copters)
                     {
 
                         await vcopter.MissionStartAsync(utchour,
                             utcminute,
                             utcsecond,
-                            110.23456,
+                            _flightTaskManager.OriginLng,
-                            40.23432);
+                            _flightTaskManager.OriginLat
+                            //110.23456,
+                            //40.23432
+
+                            );
                     }
                 }));
             }
@@ -635,7 +647,8 @@ 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 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>();
                         int missindex = 0;
 
                         for (int j = 0; j < _flightTaskManager.Tasks.Count; j++)
@@ -647,12 +660,13 @@ namespace Plane.FormationCreator.ViewModels
                                     //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[missindex++] = Mission.CreateTakeoffMission(
+                                    missions.Add(Mission.CreateTakeoffMission(
-                                       1,//1,
+                                        1,//1,
-                                       5,//takeofftime,
+                                        5,//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].TargetLng - _flightTaskManager.OriginLng,
-                                     _flightTaskManager.Tasks[j+1].SingleCopterInfos[i].TargetAlt);
+                                        _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt)
+                                     );
                                     
                                     //要起飞任务
              
@@ -660,25 +674,42 @@ namespace Plane.FormationCreator.ViewModels
 
                                 case FlightTaskType.FlyTo:
 
-                                    missions[missindex++] = Mission.CreateWaypointMission(
+                                    missions.Add(Mission.CreateWaypointMission(
-                                        //5,//_flightTaskManager.Tasks[j].SingleCopterInfos[i].LoiterTime, 
+                                            //5,//_flightTaskManager.Tasks[j].SingleCopterInfos[i].LoiterTime, 
-                                        //5,// _flightTaskManager.Tasks[j].SingleCopterInfos[i].FlytoTime,
+                                            //5,// _flightTaskManager.Tasks[j].SingleCopterInfos[i].FlytoTime,
-                                        _flightTaskManager.Tasks[j].LoiterTime,
+                                            _flightTaskManager.Tasks[j].LoiterTime,
-                                        _flightTaskManager.Tasks[j].FlytoTime,
+                                            _flightTaskManager.Tasks[j].FlytoTime,
-                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
+                                            _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
-                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng, 
+                                            _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
-                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
+                                            //_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
+                                            //_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng,
+                                            _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt)
+                                        );
+                                        foreach(LEDInfo ledInfo in _flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)
+                                        {
+                                            Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
+                                            IMission LEDMission = Mission.CreateLEDControlMission(
+                                                    ledInfo.Delay,
+                                                    ledInfo.LEDMode,
+                                                    ledInfo.LEDRate,
+                                                    0,   //ledInfo.LEDTimes,
+                                                    color.R,
+                                                    color.G,
+                                                    color.B
+                                                    );
+                                            missions.Add(LEDMission);
+                                        }
                                     break;
                                 case FlightTaskType.Loiter:
-                                  //  missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
+                                    //  missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
-                                  //   _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
+                                    //   _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,
+                                    //  missions[missindex++] = Mission.CreateWaypointMission(_flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLat,
-                                 //   _flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLng, 3);
+                                    //   _flightTaskManager.Tasks[j - 1].SingleCopterInfos[i].TargetLng, 3);
                                     //返航
-                                    missions[missindex++] = Mission.CreateReturnToLaunchMission();
+                                    missions.Add(Mission.CreateReturnToLaunchMission());
                                     break;
    
                                 default:

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -728,6 +728,7 @@ public ICommand VerticlAlignmentCommand
             WGS84,
         }
 
+
         //水平旋转
         private ICommand _LevelRotateCommand;
         public ICommand LevelRotateCommand

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -214,11 +214,61 @@
                                     <ColumnDefinition />
                                     <ColumnDefinition />
                                 </Grid.ColumnDefinitions>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition />
+                                    <RowDefinition />
+                                </Grid.RowDefinitions>
                                 <TextBlock  Text="灯光控制: " />
-                                <Button Content="设置"
+                                <Button Content="添加"
                                      Grid.Column="1" 
                                     Margin="0,5,5,0"
-                                    Command="{Binding ModiFlytoLEDCommand}"  />
+                                    Command="{Binding AddLEDCommand}"  />
+                                <ItemsControl Name="LEDItems"
+                                              Grid.Row="1" 
+                                              Grid.ColumnSpan="2"
+                                              Height="Auto"
+                                              MaxHeight="200"
+                                              ScrollViewer.VerticalScrollBarVisibility="Auto"
+                                              ScrollViewer.HorizontalScrollBarVisibility="Disabled"
+                                              ItemsSource="{Binding Path= LEDInfos}">
+                                    <ItemsControl.ItemsPanel>
+                                        <ItemsPanelTemplate>
+                                            <StackPanel Orientation="Vertical" />
+                                        </ItemsPanelTemplate>
+                                    </ItemsControl.ItemsPanel>
+                                    <ItemsControl.ItemTemplate>
+                                        <DataTemplate>
+                                            <StackPanel Margin="0,8,0,0" Orientation="Horizontal" >
+                                                <TextBlock Text="类型" Margin="0,0,0,0" VerticalAlignment="Center" ></TextBlock>
+                                                <ComboBox  MinWidth="80"  Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
+                                                           SelectedIndex="{Binding Path=LEDMode}">
+                                                    <ComboBoxItem Content="常亮" Foreground="White" />
+                                                    <ComboBoxItem Content="闪烁" Foreground="White"/>
+                                                    <ComboBoxItem Content="随机" Foreground="White"/>
+                                                </ComboBox>
+
+                                                <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
+                                                <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
+                                                         Text="{Binding Delay, UpdateSourceTrigger=PropertyChanged}" />
+
+                                                <TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
+                                                <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
+                                                         Text="{Binding Path=LEDRate, UpdateSourceTrigger=PropertyChanged}" />
+
+                                                <TextBlock Text="颜色" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
+                                                <TextBox Margin="5,0,0,0" 
+                                                         Text="{Binding LEDRGB, UpdateSourceTrigger=PropertyChanged}" />
+
+                                                <Button Content="删除" Margin="12,0,0,0" 
+                                                        Command="{Binding RemoveLEDCommand}"/>
+
+                                            </StackPanel>
+                                        </DataTemplate>
+                                    </ItemsControl.ItemTemplate>
+                                    
+                                    
+                                    
+                                </ItemsControl>
                             </Grid>
                             <Separator Grid.Row="3" />
                             <Grid Grid.Row="4"