增加通讯统计

修改一架飞机不能修改起飞任务参数的bug
增加抛物功能
增加机头统计排序功能

Plane.FormationCreator/Formation/CopterManager.cs

@@ -181,8 +181,11 @@ namespace Plane.FormationCreator.Formation
     {
 
         const string LoginPage = "checkforapp.php";
-        const string supername = "admin";
+        // const string supername = "admin";
-        const string superpass = "admin0622";
+        // const string superpass = "admin0622";
+        const string supername = "user";
+        const string superpass = "123456";
+
         const string TEMP_MISSIONFILE = @".\gcs.dat";
         //飞控版本控制
         public int FC_VER_NO = 1;//"4.1.2" 这个版本以前版本灯光比较少no=1   //"4.5"以后no=2;

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -222,6 +222,23 @@ namespace Plane.FormationCreator.Formation
                         {
                             str = ts.Seconds + "秒";
                         }
+
+                        if (value.ModifyingSingleCopterInfo == null)
+                        {
+                            var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
+
+                            foreach (var info in value.SingleCopterInfos)
+                            {
+                                if (info.Copter == selectedCopter)
+                                {
+                                    value.ModifyingSingleCopterInfo = info;
+                                    break;
+                                }
+                            }
+
+                        }
+
+
                         Message.ShowStatus($"选中 [{value.TaskIndex+1} {value.TaskCnName }] 从{str}开始执行，需{ GetTaskTime(value.TaskIndex)}秒,共{Tasks.Count}个任务");
                     }
                     else Message.ShowStatus($"无任务选中");
@@ -1500,7 +1517,11 @@ namespace Plane.FormationCreator.Formation
         }
         public void SetAllTaskFlytime()
         {
-            for (int taskIndex = 1; taskIndex < Tasks.Count; taskIndex++)
+            //起飞航点0需要单独计算
+            //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开始自动计算
+            Tasks[1].FlytoTime = 2;
+            for (int taskIndex = 2; taskIndex < Tasks.Count; taskIndex++)
                 SetTaskFlytime(taskIndex);
         }
 
@@ -2253,6 +2274,20 @@ namespace Plane.FormationCreator.Formation
         public async Task RunTaskAsync()
         {
             if (Tasks.Count == 0) return;
+
+            //检查有没有真实飞机--真实飞机不能模拟，因为位置来自物理飞机--只能全部是模拟飞机才行
+            foreach (var copter in _copterManager.Copters)
+            {
+                if (!(copter is IFakeCopter))
+                {
+                    Alert.Show($"模拟任务需要全部是模拟飞机，编号：{copter.Id } 不是模拟飞机，请检查");
+                    return ;
+                 }
+               
+            }
+        
+
+
             if (CurrentRunningTaskIndex == 0)
             {
                 taskStartTime = DateTime.Now;

Plane.FormationCreator/Formation/RtcmManager.cs

@@ -319,11 +319,36 @@ namespace Plane.FormationCreator.Formation
 
 
         }
+        private static readonly DateTime Jan1st1970 = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
+
+        public static long CurrentTimeMillis()
+        {
+            return (long)(DateTime.UtcNow - Jan1st1970).TotalMilliseconds;
+        }
+
 
         private async Task RtcmLoop()
         {
             int reconnecttimeout = 10;
             DateTime lastrecv = DateTime.MinValue;
+            //系统毫秒数
+            long ls_send_ms = CurrentTimeMillis();
+
+            long ls_send_gps = CurrentTimeMillis();
+            long ls_send_glonass = CurrentTimeMillis();
+            long ls_send_baidu = CurrentTimeMillis();
+
+            const int MSG_GPS = 1074;
+            const int MSG_GLONASS = 1084;
+            const int MSG_Beidou = 1124;
+
+            int MSG_BasePos = 1005;
+            int MSG_REV = 1033;
+
+            int Send_type = 0;
+            bool Ensend = false;
+            int last_mag = 0;
+
 
             //新版本打包发送模式
             //await _commModuleManager.StartRtcmLoop();
@@ -356,8 +381,8 @@ namespace Plane.FormationCreator.Formation
                     }
 
                     //rtcm size=180
-                    byte[] buffer = new byte[180];
+                    byte[] buffer = new byte[180];// new byte[180];
-
+                    //一次读取180个字节
                     int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
                     if (read > 0)
                         lastrecv = DateTime.Now;
@@ -366,15 +391,57 @@ namespace Plane.FormationCreator.Formation
                     for (int a = 0; a < read; a++)
                     {
                         int seenmsg = -1;
-                        // rtcm
+                        // rtcm类解析RTCM数据  如果 rtcm.Read>0解析成功返回消息号码-1解析失败
                         if ((seenmsg = rtcm.Read(buffer[a])) > 0)
                         {
                             bpsusefull += rtcm.length;
                             _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
-                            //用于双频RTK发送
+/* 在数据量大的时候这样可以减少数据量，但测试结果是老方法更可靠，固定更快，特别是使用物理基站时
-                            await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
+                            switch (seenmsg)
+                            {
+                                case MSG_GPS:
+                                    if ((CurrentTimeMillis() - ls_send_gps) > 1000)
+                                    {
+                                        ls_send_gps = CurrentTimeMillis();
+                                        Ensend = true;
+                                    }
+                                    break;
+
+                                case MSG_GLONASS:
+                                    if ((CurrentTimeMillis() - ls_send_glonass) > 1000)
+                                    {
+                                        ls_send_glonass = CurrentTimeMillis();
+                                        Ensend = true;
+                                    }
+                                    break;
+                                case MSG_Beidou:
+                                    if ((CurrentTimeMillis() - ls_send_baidu) > 1000)
+                                    {
+                                        ls_send_baidu = CurrentTimeMillis();
+                                        Ensend = true;
+                                    }
+                                    break;
+                            }
+
+                            if ((seenmsg == MSG_REV) || (seenmsg == MSG_BasePos)) Ensend = true;
+
+                            //Plane.Windows.Messages.Message.Show("---["+ seenmsg + "]RTCM:" + rtcm.length);
+
+                            // await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
+                           /* if (rtcm.length <= 180)
+                                Ensend = true;
+                            else Ensend = false;
+                            */
+                            if (Ensend)
+                            {
+                              //  await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
+                             
+                                Ensend = false;
+
+                            }
+ */
                             //老的单频rtk发送
-                            //await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
+                            await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
 
                             string msgname = "Rtcm" + seenmsg;                          
                           

Plane.FormationCreator/ViewModels/ConfigVirtualIdViewModel.cs

@@ -166,14 +166,20 @@ namespace Plane.FormationCreator.ViewModels
                      float StepDis_Row = _flightTaskManager.ColumnDistance;  //行内间距-列间距
                      float StepDis_Col = _flightTaskManager.RowDistance ;   //列间距-行间距
                      float FindDis =Math.Min(StepDis_Row, StepDis_Col)*0.8f;     //查找半径
+                     //如果选中的飞机总数大于2--需要2-3架用来确认行列方向，只有一行飞机就选2架，多行需要3架
                      if (_copterManager.AcceptingControlCopters.Count() >= 2)
                      {
                          var copters = _copterManager.AcceptingControlCopters.ToList();
                          var firstCopter = copters[0];
                          var secondCopter = copters[1];
                          ICopter thirdCopter=null;
-                         if (_copterManager.AcceptingControlCopters.Count()>2)
+                         if (_copterManager.AcceptingControlCopters.Count() > 2)
+                         {
                              thirdCopter = copters[2];
+                             Message.Show($"选中了3架飞机，将自动查找所有行列的飞机");
+                         }
+                         else
+                             Message.Show($"选中了2架飞机，将查找一行飞机");
 
 
                          //行角度(1,2)  用于查找每行的飞机位置
@@ -185,22 +191,37 @@ namespace Plane.FormationCreator.ViewModels
                          ICopter FindedCopter = firstCopter;
                          ICopter LastCopter = firstCopter;
                          ILocation2D LastRowHewadCopter = firstCopter;
-                     
+
+                         Message.Show($"开始查找飞机：行角度{RowDirect}，列角度{ColDirect}，列间距{StepDis_Row}，行间距{StepDis_Col}，查找半径{FindDis}米...");
+
                          firstCopter.VirtualId = 1;
+                         int rowindex = 1;
                          while (FindedCopter!=null)
                         {
                                  //按一行找飞机
                                  FindedCopter = FindNextCopter(LastCopter, RowDirect, StepDis_Row, FindDis);
                                  //一行找不到了 找下一行的前3架飞机
-                                 if ((FindedCopter == null)&&(thirdCopter!=null))
+                                 if ((FindedCopter == null) && (thirdCopter != null))
-                                      FindedCopter = FindNextColHeadCopter(out LastRowHewadCopter,LastRowHewadCopter, ColDirect, StepDis_Col, RowDirect, StepDis_Row, 3, FindDis);
+                                 {
-                                 //如果找到了分配ID
+                                    rowindex++;
+                                    FindedCopter = FindNextColHeadCopter(out LastRowHewadCopter, LastRowHewadCopter, ColDirect, StepDis_Col, RowDirect, StepDis_Row, 3, FindDis);
+                                    if (FindedCopter != null)
+                                        Message.Show($"开始第{rowindex}行--找到飞机");
+                                    else
+                                      Message.Show($"开始第{rowindex}行--无飞机");
+                                }
+                                //如果找到了分配ID
                                  if (FindedCopter != null)
                                  {
                                      FindedCopter.VirtualId = GetVID(LastCopter.VirtualId);
-                                     Message.Show($"分配飞机VID:{FindedCopter.VirtualId}");
+                                  //   Message.Show($"分配ID={FindedCopter.Id}飞机VID:={FindedCopter.VirtualId}");
                                      LastCopter = FindedCopter;
-                                 }
+                                 }else
+                                {
+
+                                    Message.Show($"未找到飞机，自动分配结束");
+
+                                }
                         }
                       }
                      _copterManager.ReSort();

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -257,7 +257,7 @@ namespace Plane.FormationCreator.ViewModels
                             Array.Reverse(test);
                             string data = string.Join(".", test);
                             string copters = string.Join(",", kv.Value.ToArray());
-                            Message.Show(string.Format("返回数据{0}：{1}", data, copters));
+                            Message.Show(string.Format("返回数据{0}({1})：{2}", data, kv.Key,copters));
                             await Task.Delay(5).ConfigureAwait(false);
                         }
                         Message.Show("----统计完成----");
@@ -314,8 +314,10 @@ namespace Plane.FormationCreator.ViewModels
                             Message.Show($"------------");
                         }
                         Message.Show($"==机头方向==");
+                        //从小到大排个序
+                        Dictionary<string, List<string>> SortedHeading = Heading.OrderBy(p => p.Key).ToDictionary(p => p.Key, o => o.Value);
 
-                        foreach (var item in Heading)
+                        foreach (var item in SortedHeading)
                         {
                             Message.Show($"{item.Key} 度:{string.Join(",", item.Value)}");
                             Message.Show($"------------");
@@ -770,7 +772,18 @@ namespace Plane.FormationCreator.ViewModels
                 }));
             }
         }
-
+        private ICommand _GetCommsumCommand;
+        public ICommand GetCommsumCommand
+        {
+            get
+            {
+                return _GetCommsumCommand ?? (_GetCommsumCommand = new RelayCommand(async () =>
+                {
+                    //if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
+                    await _commModuleManager.GetCommsumAsync();
+                }));
+            }
+        }
         //打开校准界面
         private ICommand _CalibrationSingleCommand;
         public ICommand CalibrationSingleCommand
@@ -1690,25 +1703,33 @@ namespace Plane.FormationCreator.ViewModels
             foreach (LEDInfo ledInfo in LEDInfos)
             {
                 float ledinterval=0;
-                //拉烟的ID 老版本只有8种，新固件增加了
-                int fireno = 8;
                 Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
                 int ledMode = ledInfo.LEDMode;
                 //拉烟任务模式ID是50，需要改为50
                 if (_copterManager.FC_VER_NO == 1)
                 {
-                    fireno = 8;
                     //老版本是闪烁频率，且不能为小数
                     ledinterval = ledInfo.LEDInterval;
+                    //老版本ledMode == 8 对应拉烟，飞控对应50,ledinterval对应通道号
+                    if (ledMode==8) ledMode = 50;
                 }
                 else
                 {
-                    fireno = 15;
                     //新版本飞控 是闪烁间隔单位是100ms，地面站还是频率可以有1位小数,用户输入0.5hz 飞控应该是(1/0.5)*10=20
-                    ledinterval = (1/ledInfo.LEDInterval);
+                    ledinterval = (1 / ledInfo.LEDInterval);
-                }
 
-                if (ledMode == fireno) ledMode = 50;
+                    //新版本 ledMode=16是抛物，飞控对应50，ledinterval对应10 --固定的
+                    if (ledMode == 16)
+                    {
+                        ledMode = 50;
+                        ledinterval = 10;
+                    }
+                    else  //新版本ledMode == 15 对应拉烟，飞控对应50,ledinterval对应通道号
+                    if (ledMode == 15)
+                    {
+                        ledMode = 50;
+                    }
+               }
                 IMission LEDMission = Mission.CreateLEDControlMission(
                         (int)(ledInfo.Delay * 10),
                         ledMode,

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -2021,7 +2021,16 @@ public ICommand VerticlAlignmentCommand
 
                     //必须大于1架
                     if (_copterManager.SelectedCopters.Count() <= 1)
+                    {
+                        Alert.Show("必须选中多于一架飞机");
                         return;
+                    }
+                    if (EndTime<= BeginTime)
+                    {
+                        Alert.Show("结束时间必须大于开始时间（非持续时间!）");
+                        return;
+                    }
+
 
                     //旋转飞机矩阵
                     if (CopterDirection != 0)

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -43,6 +43,8 @@
                         <Button   Content="通讯版本"  Command="{Binding DetectionCommModuleVersion}" />
                         <Button Content="统计返回" 
                      Command="{Binding DetectionReturnData}" />
+                        <Button Content="通讯统计" 
+                     Command="{Binding GetCommsumCommand}" />
 
                         <TextBlock 
                    Margin="5,5,5,5"  Foreground ="Red" VerticalAlignment="Center"

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -535,7 +535,7 @@
 
                                     <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
                                     <TextBox Height="25" MinWidth="40" MaxWidth="45" Margin="5,0,0,0"
-                                                         ToolTip="单位:秒，最小设置0.1秒"
+                                                         ToolTip="相对延迟时间,最小0.1秒"
                                                          Text="{Binding Delay,UpdateSourceTrigger=PropertyChanged}" />
 
                                     <TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>

Plane.FormationCreator/Views/ModifyTaskView.xaml.cs

@@ -170,6 +170,7 @@ namespace Plane.FormationCreator.Views
                 cb.Items.Add("异步变色(单色)");   //13
                 cb.Items.Add("异步变色(随机)");   //14
                 cb.Items.Add("拉烟");             //15
+                cb.Items.Add("抛物");             //16
             }
             cb.SelectedIndex = selind;
 

Plane.FormationCreator/Views/SetCoptersPutView.xaml

@@ -18,7 +18,7 @@
             <RowDefinition Height="32"/>
             <RowDefinition/>
         </Grid.RowDefinitions>
-        <Label Content="每列数量" Margin="5,2"></Label>
+        <Label Content="每行数量" Margin="5,2"></Label>
         <TextBox Name="textboxColNum" Grid.Column="1" Margin="5" Width="80" ></TextBox>
 
         <Label Content="列间距" Margin="5,2" Grid.Row="1"></Label>