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
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09da3f24ba
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@ -181,8 +181,11 @@ namespace Plane.FormationCreator.Formation
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{
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const string LoginPage = "checkforapp.php";
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const string supername = "admin";
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const string superpass = "admin0622";
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// const string supername = "admin";
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// const string superpass = "admin0622";
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const string supername = "user";
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const string superpass = "123456";
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const string TEMP_MISSIONFILE = @".\gcs.dat";
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//飞控版本控制
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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;
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@ -222,6 +222,23 @@ namespace Plane.FormationCreator.Formation
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{
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str = ts.Seconds + "秒";
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}
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if (value.ModifyingSingleCopterInfo == null)
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{
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var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
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foreach (var info in value.SingleCopterInfos)
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{
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if (info.Copter == selectedCopter)
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{
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value.ModifyingSingleCopterInfo = info;
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break;
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}
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}
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}
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Message.ShowStatus($"选中 [{value.TaskIndex+1} {value.TaskCnName }] 从{str}开始执行，需{ GetTaskTime(value.TaskIndex)}秒,共{Tasks.Count}个任务");
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}
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else Message.ShowStatus($"无任务选中");
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@ -1500,7 +1517,11 @@ namespace Plane.FormationCreator.Formation
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}
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public void SetAllTaskFlytime()
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{
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for (int taskIndex = 1; taskIndex < Tasks.Count; taskIndex++)
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//起飞航点0需要单独计算
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//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
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//从2开始自动计算
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Tasks[1].FlytoTime = 2;
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for (int taskIndex = 2; taskIndex < Tasks.Count; taskIndex++)
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SetTaskFlytime(taskIndex);
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}
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@ -2253,6 +2274,20 @@ namespace Plane.FormationCreator.Formation
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public async Task RunTaskAsync()
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{
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if (Tasks.Count == 0) return;
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//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
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foreach (var copter in _copterManager.Copters)
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{
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if (!(copter is IFakeCopter))
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{
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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");
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return ;
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}
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}
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if (CurrentRunningTaskIndex == 0)
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{
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taskStartTime = DateTime.Now;
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@ -319,11 +319,36 @@ namespace Plane.FormationCreator.Formation
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}
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private static readonly DateTime Jan1st1970 = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
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public static long CurrentTimeMillis()
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{
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return (long)(DateTime.UtcNow - Jan1st1970).TotalMilliseconds;
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}
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private async Task RtcmLoop()
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{
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int reconnecttimeout = 10;
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DateTime lastrecv = DateTime.MinValue;
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//系统毫秒数
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long ls_send_ms = CurrentTimeMillis();
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long ls_send_gps = CurrentTimeMillis();
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long ls_send_glonass = CurrentTimeMillis();
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long ls_send_baidu = CurrentTimeMillis();
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const int MSG_GPS = 1074;
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const int MSG_GLONASS = 1084;
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const int MSG_Beidou = 1124;
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int MSG_BasePos = 1005;
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int MSG_REV = 1033;
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int Send_type = 0;
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bool Ensend = false;
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int last_mag = 0;
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//新版本打包发送模式
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//await _commModuleManager.StartRtcmLoop();
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@ -356,8 +381,8 @@ namespace Plane.FormationCreator.Formation
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}
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//rtcm size=180
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byte[] buffer = new byte[180];
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byte[] buffer = new byte[180];// new byte[180];
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//一次读取180个字节
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int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
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if (read > 0)
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lastrecv = DateTime.Now;
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@ -366,15 +391,57 @@ namespace Plane.FormationCreator.Formation
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for (int a = 0; a < read; a++)
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{
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int seenmsg = -1;
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// rtcm
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// 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
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if ((seenmsg = rtcm.Read(buffer[a])) > 0)
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{
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bpsusefull += rtcm.length;
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_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
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//用于双频RTK发送
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await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
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/* 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
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switch (seenmsg)
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{
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case MSG_GPS:
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if ((CurrentTimeMillis() - ls_send_gps) > 1000)
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{
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ls_send_gps = CurrentTimeMillis();
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Ensend = true;
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}
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break;
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case MSG_GLONASS:
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if ((CurrentTimeMillis() - ls_send_glonass) > 1000)
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{
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ls_send_glonass = CurrentTimeMillis();
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Ensend = true;
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}
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break;
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case MSG_Beidou:
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if ((CurrentTimeMillis() - ls_send_baidu) > 1000)
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{
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ls_send_baidu = CurrentTimeMillis();
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Ensend = true;
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}
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break;
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}
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if ((seenmsg == MSG_REV) || (seenmsg == MSG_BasePos)) Ensend = true;
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//Plane.Windows.Messages.Message.Show("---["+ seenmsg + "]RTCM:" + rtcm.length);
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// await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
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/* if (rtcm.length <= 180)
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Ensend = true;
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else Ensend = false;
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*/
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if (Ensend)
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{
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// await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
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Ensend = false;
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}
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*/
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//老的单频rtk发送
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//await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
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await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
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string msgname = "Rtcm" + seenmsg;
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@ -166,6 +166,7 @@ namespace Plane.FormationCreator.ViewModels
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float StepDis_Row = _flightTaskManager.ColumnDistance; //行内间距-列间距
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float StepDis_Col = _flightTaskManager.RowDistance ; //列间距-行间距
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float FindDis =Math.Min(StepDis_Row, StepDis_Col)*0.8f; //查找半径
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//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
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if (_copterManager.AcceptingControlCopters.Count() >= 2)
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{
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var copters = _copterManager.AcceptingControlCopters.ToList();
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@ -173,7 +174,12 @@ namespace Plane.FormationCreator.ViewModels
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var secondCopter = copters[1];
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ICopter thirdCopter=null;
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if (_copterManager.AcceptingControlCopters.Count() > 2)
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{
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thirdCopter = copters[2];
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Message.Show($"选中了3架飞机，将自动查找所有行列的飞机");
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}
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else
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Message.Show($"选中了2架飞机，将查找一行飞机");
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//行角度(1,2) 用于查找每行的飞机位置
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@ -186,20 +192,35 @@ namespace Plane.FormationCreator.ViewModels
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ICopter LastCopter = firstCopter;
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ILocation2D LastRowHewadCopter = firstCopter;
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Message.Show($"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...");
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firstCopter.VirtualId = 1;
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int rowindex = 1;
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while (FindedCopter!=null)
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{
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//按一行找飞机
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FindedCopter = FindNextCopter(LastCopter, RowDirect, StepDis_Row, FindDis);
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//一行找不到了 找下一行的前3架飞机
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if ((FindedCopter == null) && (thirdCopter != null))
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{
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rowindex++;
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FindedCopter = FindNextColHeadCopter(out LastRowHewadCopter, LastRowHewadCopter, ColDirect, StepDis_Col, RowDirect, StepDis_Row, 3, FindDis);
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if (FindedCopter != null)
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Message.Show($"开始第{rowindex}行--找到飞机");
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else
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Message.Show($"开始第{rowindex}行--无飞机");
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}
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//如果找到了分配ID
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if (FindedCopter != null)
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{
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FindedCopter.VirtualId = GetVID(LastCopter.VirtualId);
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Message.Show($"分配飞机VID:{FindedCopter.VirtualId}");
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// Message.Show($"分配ID={FindedCopter.Id}飞机VID:={FindedCopter.VirtualId}");
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LastCopter = FindedCopter;
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}else
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{
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Message.Show($"未找到飞机，自动分配结束");
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}
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}
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}
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@ -257,7 +257,7 @@ namespace Plane.FormationCreator.ViewModels
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Array.Reverse(test);
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string data = string.Join(".", test);
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string copters = string.Join(",", kv.Value.ToArray());
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Message.Show(string.Format("返回数据{0}：{1}", data, copters));
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Message.Show(string.Format("返回数据{0}({1})：{2}", data, kv.Key,copters));
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await Task.Delay(5).ConfigureAwait(false);
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}
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Message.Show("----统计完成----");
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@ -314,8 +314,10 @@ namespace Plane.FormationCreator.ViewModels
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Message.Show($"------------");
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}
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Message.Show($"==机头方向==");
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//从小到大排个序
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Dictionary<string, List<string>> SortedHeading = Heading.OrderBy(p => p.Key).ToDictionary(p => p.Key, o => o.Value);
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foreach (var item in Heading)
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foreach (var item in SortedHeading)
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{
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Message.Show($"{item.Key} 度:{string.Join(",", item.Value)}");
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Message.Show($"------------");
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@ -770,7 +772,18 @@ namespace Plane.FormationCreator.ViewModels
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}));
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}
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}
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private ICommand _GetCommsumCommand;
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public ICommand GetCommsumCommand
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{
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get
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{
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return _GetCommsumCommand ?? (_GetCommsumCommand = new RelayCommand(async () =>
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{
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//if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
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await _commModuleManager.GetCommsumAsync();
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}));
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}
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}
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//打开校准界面
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private ICommand _CalibrationSingleCommand;
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public ICommand CalibrationSingleCommand
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@ -1690,25 +1703,33 @@ namespace Plane.FormationCreator.ViewModels
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foreach (LEDInfo ledInfo in LEDInfos)
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{
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float ledinterval=0;
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//拉烟的ID 老版本只有8种，新固件增加了
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int fireno = 8;
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Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
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int ledMode = ledInfo.LEDMode;
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//拉烟任务模式ID是50，需要改为50
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if (_copterManager.FC_VER_NO == 1)
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{
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fireno = 8;
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//老版本是闪烁频率，且不能为小数
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ledinterval = ledInfo.LEDInterval;
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//老版本ledMode == 8 对应拉烟，飞控对应50,ledinterval对应通道号
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if (ledMode==8) ledMode = 50;
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}
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else
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{
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fireno = 15;
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//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
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ledinterval = (1 / ledInfo.LEDInterval);
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}
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if (ledMode == fireno) ledMode = 50;
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//新版本 ledMode=16是抛物，飞控对应50，ledinterval对应10 --固定的
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if (ledMode == 16)
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{
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ledMode = 50;
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ledinterval = 10;
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}
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else //新版本ledMode == 15 对应拉烟，飞控对应50,ledinterval对应通道号
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if (ledMode == 15)
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{
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ledMode = 50;
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}
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}
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IMission LEDMission = Mission.CreateLEDControlMission(
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(int)(ledInfo.Delay * 10),
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ledMode,
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@ -2021,7 +2021,16 @@ public ICommand VerticlAlignmentCommand
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//必须大于1架
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if (_copterManager.SelectedCopters.Count() <= 1)
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{
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Alert.Show("必须选中多于一架飞机");
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return;
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}
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if (EndTime<= BeginTime)
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{
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Alert.Show("结束时间必须大于开始时间（非持续时间!）");
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return;
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}
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//旋转飞机矩阵
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if (CopterDirection != 0)
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@ -43,6 +43,8 @@
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<Button Content="通讯版本" Command="{Binding DetectionCommModuleVersion}" />
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<Button Content="统计返回"
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Command="{Binding DetectionReturnData}" />
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<Button Content="通讯统计"
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Command="{Binding GetCommsumCommand}" />
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<TextBlock
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Margin="5,5,5,5" Foreground ="Red" VerticalAlignment="Center"
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@ -535,7 +535,7 @@
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<TextBlock Text="时间" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
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<TextBox Height="25" MinWidth="40" MaxWidth="45" Margin="5,0,0,0"
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ToolTip="单位:秒，最小设置0.1秒"
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ToolTip="相对延迟时间,最小0.1秒"
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Text="{Binding Delay,UpdateSourceTrigger=PropertyChanged}" />
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<TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
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@ -170,6 +170,7 @@ namespace Plane.FormationCreator.Views
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cb.Items.Add("异步变色(单色)"); //13
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cb.Items.Add("异步变色(随机)"); //14
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cb.Items.Add("拉烟"); //15
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cb.Items.Add("抛物"); //16
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}
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cb.SelectedIndex = selind;
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@ -18,7 +18,7 @@
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<RowDefinition Height="32"/>
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<RowDefinition/>
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</Grid.RowDefinitions>
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<Label Content="每列数量" Margin="5,2"></Label>
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<Label Content="每行数量" Margin="5,2"></Label>
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<TextBox Name="textboxColNum" Grid.Column="1" Margin="5" Width="80" ></TextBox>
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<Label Content="列间距" Margin="5,2" Grid.Row="1"></Label>
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