1.加入垂直旋转，图形绕中心纬度轴顺时针旋转，由于没有计算高度对距离的影响所以旋转前必须是同一个高度

2.加入缩放控制，也是基于平面的，不能用于3D情况
3.加入同时起飞和同时降落数量的设置，并保存入飞行任务中
4.跑马灯飞机编号允许人工输入
5.计算距离改为两个选择的飞机航点之间，不用输入飞机序号

Plane.FormationCreator/Formation/FlightTask.cs

@@ -101,11 +101,11 @@ namespace Plane.FormationCreator.Formation
                     break;
                 case FlightTaskType.TakeOff:
                     //多架同时起飞
-                    await MutilRunTakeOffTaskAsync(5).ConfigureAwait(false);
+                    await MutilRunTakeOffTaskAsync().ConfigureAwait(false);
                     break;
                 case FlightTaskType.ReturnToLand:   // Added by ZJF
                     //多架同时返航
-                    await MutilRunReturnToLandTaskAsync(5).ConfigureAwait(false);
+                    await MutilRunReturnToLandTaskAsync().ConfigureAwait(false);
                     break;
                 default:
                     throw new InvalidOperationException();

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -81,6 +81,27 @@ namespace Plane.FormationCreator.Formation
             set { Set(nameof(OriginLat), ref _OriginLat, value); }
         }
 
+        private int _TakeOffNumAttr = 1;
+        public int TakeOffNumAttr
+        {
+            get { return _TakeOffNumAttr; }
+            set
+            {
+                Set(nameof(TakeOffNumAttr), ref _TakeOffNumAttr, value);
+
+                bool takeOffTaskExisted = Tasks.Count >= 1;
+                FlightTask takeOffTask;
+                if (takeOffTaskExisted)
+                {
+                    takeOffTask = Tasks[0];
+                    takeOffTask.TakeOffNumAttr = TakeOffNumAttr;
+                }
+
+
+            }
+        }
+
+
         private double _OriginLng;
         public double OriginLng
         {
@@ -101,6 +122,7 @@ namespace Plane.FormationCreator.Formation
             else
             {
                 takeOffTask = new FlightTask(FlightTaskType.TakeOff);
+                takeOffTask.TakeOffNumAttr = TakeOffNumAttr;
                 Tasks.Add(takeOffTask);
                 TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { AddedTask = takeOffTask });
             }
@@ -338,14 +360,16 @@ namespace Plane.FormationCreator.Formation
         }
 
         // added by ZJF
-        private void RestoreReturnToLandTask(IEnumerable<ICopter> copters)
+        private void RestoreReturnToLandTask(IEnumerable<ICopter> copters,int retnumber,int rtlalt)
         {
             if (copters == null || !copters.Any()) return;
             AppEx.Current.AppMode = AppMode.ModifyingTask;
             var lastTask = Tasks.LastOrDefault();
 
             var RTLTask = new FlightTask(FlightTaskType.ReturnToLand);
-            foreach (var copter in copters)
+            RTLTask.RetNumAttr = retnumber;
+            RTLTask.RTLAlt = rtlalt;
+             foreach (var copter in copters)
             {
                 var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForReturnToLandTask(copter, targetAlt:10);
                 RTLTask.SingleCopterInfos.Add(newSingleCopterInfo);
@@ -493,7 +517,10 @@ namespace Plane.FormationCreator.Formation
                 switch (type)
                 {
                     case FlightTaskType.TakeOff:
-                        return new { type = type };
+                        return new {
+                            type = type,
+                            takeoffnumber = TakeOffNumAttr 
+                        };
                     case FlightTaskType.FlyTo:
                         return new
                         {
@@ -594,7 +621,10 @@ namespace Plane.FormationCreator.Formation
                     case FlightTaskType.ReturnToLand:         // added by ZJF
                         return new
                         {
-                            type = type
+                            type = type,
+                            rtlalt= task.RTLAlt,
+                            retnumber = task.RetNumAttr
+
                         };
                     default:
                         throw new NotImplementedException(type + " task export not implemented.");
@@ -613,6 +643,7 @@ namespace Plane.FormationCreator.Formation
                 {
                     case FlightTaskType.TakeOff:
                         // AddTakeOffTask(copters);        // added by ZJF
+                        TakeOffNumAttr = task.takeoffnumber;
                         break;
                     case FlightTaskType.FlyTo:
                         RestoreFlyToTask((bool)task.staggerRoutes, task.singleCopterInfos);
@@ -633,7 +664,7 @@ namespace Plane.FormationCreator.Formation
                         RestoreSimpleCircleTask(task.singleCopterInfos);
                         break;
                     case FlightTaskType.ReturnToLand:
-                        RestoreReturnToLandTask(copters);
+                        RestoreReturnToLandTask(copters, (int)task.retnumber, (int)task.rtlalt);
                         break;
                 }
             }

Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs

@@ -66,6 +66,18 @@ namespace Plane.FormationCreator.Formation
                 Set(nameof(flashPeriodAttr), ref _flashPeriodAttr, value);
             }
         }
+        private string Name2Index(string name)   // 获取指定copter名字对应的序号
+        {
+            int index = -1;
+            for (int i = 0; i < SingleCopterInfos.Count; i++)
+            {
+                if (name.Equals(SingleCopterInfos[i].Copter.Name))
+                {
+                    return i.ToString();
+                }
+            }
+            return index.ToString();
+        }
 
         // 闪烁的飞机名字编号
         private string _flashCopterNameArray = "";
@@ -75,7 +87,16 @@ namespace Plane.FormationCreator.Formation
             set
             {
                 Set(nameof(flashCopterNameArray), ref _flashCopterNameArray, value);
-            }
+
+                flashCopterIndexArray = "";
+
+                string[] copterArray = flashCopterNameArray.Split(',');
+               
+                for (int i = 0; i < copterArray.Length; i++)
+                {
+                    flashCopterIndexArray += Name2Index(copterArray[i])+',';
+                }
+           }
         }
 
         // 闪烁的飞机序号编号
@@ -227,6 +248,7 @@ namespace Plane.FormationCreator.Formation
                 // LED灯一个接一个全亮
                 for (int i = 0; i < copterArray.Length; i++)
                 {
+                    if (copterArray[i] == "") break;
                     int index = int.Parse(copterArray[i]);
                     var info = infos[index];
                     await LEDFlashTaskFlySingleCopterAsync(info, true);

Plane.FormationCreator/Formation/FlightTask_ReturnToLand.cs

@@ -14,7 +14,15 @@ namespace Plane.FormationCreator.Formation
             get { return _RTLAlt; }
             set { Set(nameof(RTLAlt), ref _RTLAlt, value); }
         }
-
+        private int _RetNumAttr = 1;
+        public int RetNumAttr
+        {
+            get { return _RetNumAttr; }
+            set
+            {
+                Set(nameof(RetNumAttr), ref _RetNumAttr, value);
+            }
+        }
         public async Task RunReturnToLandTaskAsync()
         {
             int TaskCount = _flightTaskManager.Tasks.Count();
@@ -49,7 +57,7 @@ namespace Plane.FormationCreator.Formation
             }
             
         }
-        public async Task MutilRunReturnToLandTaskAsync(int ReturnCount)
+        public async Task MutilRunReturnToLandTaskAsync()
         {
             int TaskCount = _flightTaskManager.Tasks.Count();
             if (TaskCount > 1)
@@ -57,18 +65,18 @@ namespace Plane.FormationCreator.Formation
                 var infos = SingleCopterInfos;
 
                 int copterCount = infos.Count;
-                int integerPart = copterCount / ReturnCount;
+                int integerPart = copterCount / RetNumAttr;
-                int residualPart = copterCount % ReturnCount;
+                int residualPart = copterCount % RetNumAttr;
                 var tasksTmp = new Task[infos.Count];
 
                 for (int i = 0; i < integerPart; i++)
                 {
-                    var tasksRetutn = new Task[ReturnCount];
+                    var tasksRetutn = new Task[RetNumAttr];
-                    for (int j = ReturnCount * i; j < ReturnCount * (i + 1); j++)
+                    for (int j = RetNumAttr * i; j < RetNumAttr * (i + 1); j++)
                     {
                         var info = infos[j];
 
-                        int indexTmp = j - ReturnCount * i;
+                        int indexTmp = j - RetNumAttr * i;
 
                         // var copter = info.Copter;
                         if (info.RTLStage <= 1)  // 当前阶段小于等于1时进入
@@ -83,12 +91,12 @@ namespace Plane.FormationCreator.Formation
                     await Task.WhenAll(tasksRetutn).ConfigureAwait(false);
 
 
-                     var tasksRetutn1 = new Task[ReturnCount];
+                     var tasksRetutn1 = new Task[RetNumAttr];
-                    for (int j = ReturnCount * i; j < ReturnCount * (i + 1); j++)
+                    for (int j = RetNumAttr * i; j < RetNumAttr * (i + 1); j++)
                     {
                         var info = infos[j];
 
-                        int indexTmp = j - ReturnCount * i;
+                        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
@@ -108,7 +116,7 @@ namespace Plane.FormationCreator.Formation
                         if (_flightTaskManager.IsPaused == false)
                     {
 
-                        for (int j = ReturnCount * i; j < ReturnCount * (i + 1); j++)
+                        for (int j = RetNumAttr * i; j < RetNumAttr * (i + 1); j++)
                         {
                             var info = infos[j];
                             info.RTLStage = 0;
@@ -123,10 +131,10 @@ namespace Plane.FormationCreator.Formation
                 {
                     var tasksreturn = new Task[residualPart];
 
-                    for (int j = integerPart * ReturnCount; j < ReturnCount * integerPart + residualPart; j++)
+                    for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++)
                     {
                         var info = infos[j];
-                        int indexTmp = j - ReturnCount * integerPart;
+                        int indexTmp = j - RetNumAttr * integerPart;
                          // var copter = info.Copter;
                         if (info.RTLStage <= 1)  // 当前阶段小于等于1时进入
                         {
@@ -141,10 +149,10 @@ namespace Plane.FormationCreator.Formation
 
 
                     var tasksRetutn1 = new Task[residualPart];
-                    for (int j = integerPart * ReturnCount; j < ReturnCount * integerPart + residualPart; j++)
+                    for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++)
                     {
                         var info = infos[j];
-                        int indexTmp = j - ReturnCount * integerPart;
+                        int indexTmp = j - RetNumAttr * integerPart;
                         // var copter = info.Copter;
                         if (info.RTLStage == 2)  // 当前阶段小于等于1时进入
                         {
@@ -160,7 +168,7 @@ namespace Plane.FormationCreator.Formation
                    if (_flightTaskManager.IsPaused == false)
                     {
 
-                        for (int j = integerPart * ReturnCount; j < ReturnCount * integerPart + residualPart; j++)
+                        for (int j = integerPart * RetNumAttr; j < RetNumAttr * integerPart + residualPart; j++)
                         {
                             var info = infos[j];
                             info.RTLStage = 0;
@@ -177,7 +185,7 @@ namespace Plane.FormationCreator.Formation
         //原地下降高度到15米，然后返回起飞点
         private async Task ReturnToLandTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
         {
-            float takeOffAlt = 15.0f;   
+            float takeOffAlt = RTLAlt;   
             int TaskCount = _flightTaskManager.Tasks.Count();
 
             int copterIndex = SingleCopterInfos.IndexOf(info);

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -11,6 +11,18 @@ namespace Plane.FormationCreator.Formation
 {
     public partial class FlightTask
     {
+
+
+        private int _TakeOffNumAttr = 1;
+        public int TakeOffNumAttr
+        {
+            get { return _TakeOffNumAttr; }
+            set
+            {
+                Set(nameof(TakeOffNumAttr), ref _TakeOffNumAttr, value);
+            }
+        }
+
         public async Task RunTakeOffTaskAsync()
         {
             // float takeOffAlt = 15;
@@ -49,14 +61,14 @@ namespace Plane.FormationCreator.Formation
         }
 
         // 几架飞机同时起飞，参数为takeOffCount
-        public async Task MutilRunTakeOffTaskAsync(int takeCount)
+        public async Task MutilRunTakeOffTaskAsync()
         {
             int TaskCount = _flightTaskManager.Tasks.Count();
             if (TaskCount > 1)
             {
                 var infos = SingleCopterInfos;
 
-                int takeOffCount = takeCount;
+                int takeOffCount = TakeOffNumAttr;
                 int copterCount = infos.Count;
                 int integerPart = copterCount / takeOffCount;
                 int residualPart = copterCount % takeOffCount;

Plane.FormationCreator/MainWindow.xaml.cs

@@ -122,8 +122,8 @@ namespace Plane.FormationCreator
                 case Key.W:
                 case Key.S:
                     {
-                        
+
-                        if (_flightTaskManager.CurrentRunningTask==null )
+                        if ((_flightTaskManager.CurrentRunningTask == null) && (_flightTaskManager.SelectedTask != null))
                         {
 
                             var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
@@ -168,7 +168,7 @@ namespace Plane.FormationCreator
                     {
 
 
-                        if (_flightTaskManager.CurrentRunningTask == null)
+                        if ((_flightTaskManager.CurrentRunningTask == null)&&(_flightTaskManager.SelectedTask!=null))
                         {
 
                             var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -11,6 +11,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Input;
+using Plane.Geography;
 
 namespace Plane.FormationCreator.ViewModels
 {
@@ -142,7 +143,12 @@ namespace Plane.FormationCreator.ViewModels
             get { return _CanModifySingleCopterInfo; }
             set { Set(nameof(CanModifySingleCopterInfo), ref _CanModifySingleCopterInfo, value); }
         }
-
+        private double _Distancevalue;
+        public double Distancevalue
+        {
+            get { return _Distancevalue; }
+            set { Set(nameof(Distancevalue), ref _Distancevalue, value); }
+        }
         private double _FlyToLat;
         public double FlyToLat
         {
@@ -630,6 +636,9 @@ public ICommand VerticlAlignmentCommand
                 }));
             }
         }
+     
+
+
 
 
         //垂直旋转
@@ -640,6 +649,192 @@ public ICommand VerticlAlignmentCommand
             {
                 return _VerticlRotateCommand ?? (_VerticlRotateCommand = new RelayCommand<int>(async RotateLine =>
                 {
+
+
+
+                    double lngsum = 0;
+                    double latsum = 0;
+                    double altsum = 0;
+                    int selectcount = 0;
+                    double centlng = 0;
+                    double centlat = 0;
+                    double centalt = 0;
+                    var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
+                    bool copterisselect;
+                    for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
+                    {
+                        copterisselect = false;
+                        selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
+                        foreach (var capter in _copterManager.SelectedCopters)
+                        {
+                            if (capter == selectedCopter)
+                                copterisselect = true;
+
+                        }
+                        if (copterisselect)
+                        {
+
+                            lngsum += _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
+                            latsum += _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                            altsum += _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt;
+                            selectcount++;
+
+                        }
+                    }
+                    //计算旋转中心
+                    if (selectcount > 0)
+                    {
+                        centlng = lngsum / selectcount;
+                        centlat = latsum / selectcount;
+                        centalt = altsum / selectcount;
+                    }
+                    else return;
+
+
+                    //////////计算旋转，经测试用下面的函数组合计算比较准确
+                    double k = (double)RotateLine / 180 * Math.PI;
+                    double dx = 0;
+                    double dy = 0;
+                    double ax = 0;
+                    double ay = 0;
+                    double tlng = 0;
+                    double tlat = 0;
+
+                    for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
+                    {
+                        selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
+                        foreach (var capter in _copterManager.SelectedCopters)
+                        {
+                            if (capter == selectedCopter)
+                            {
+                                tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
+                                tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                                //纬度方向距离（单位m）
+                                 ax = CalculationLogLatDistance.GetDistanceOne(tlng, centlat,tlng,tlat) *1000;
+                                //方向角用于正负,0为正，180为负
+                                CalculationLogLatDistance.MyLatLng mypos1, mypos2;
+                                mypos1 = new CalculationLogLatDistance.MyLatLng(tlng,centlat);
+                                mypos2 = new CalculationLogLatDistance.MyLatLng(tlng,tlat);
+                                double lpAzimuth = CalculationLogLatDistance.getAngle(mypos1, mypos2);
+                                if (lpAzimuth > 90)
+                                    ax = -ax;
+
+
+                                 //高度方向距离（单位m）
+                                ay = (_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt - centalt);
+
+                                dx = ax  * Math.Cos(k) + ay * Math.Sin(k);  
+                                dy = -ax  * Math.Sin(k) + ay * Math.Cos(k);
+
+                                //新高度（米）
+                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt += (float) dy;
+                                //计算新纬度
+                                double lng2 = 0;
+                                double lat2 = 0;
+                                if (dx < 0)
+                                    lpAzimuth = 180;
+                                else
+                                    lpAzimuth = 0;
+                                dx=Math.Abs(dx);
+
+                                CalculationLogLatDistance.ConvertDistanceToLogLat(
+                                    tlng,
+                                    centlat, //旋转中心纬度
+                                    dx/1000,     //新距离
+                                    lpAzimuth,  //方向垂直
+                                    out lng2, 
+                                    out lat2);
+                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = lat2;
+
+                            }
+
+
+                        }
+                    }
+                    ////
+
+
+
+
+                    await Task.Delay(100);  // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
+
+                }));
+            }
+        }
+
+
+        
+        //缩放
+        private ICommand _calDistinceCommand;
+        public ICommand calDistinceCommand
+        {
+            get
+            {
+                return _calDistinceCommand ?? (_calDistinceCommand = new RelayCommand<double>(async  =>
+                {
+
+                    double lng1=0, lat1=0, alt1=0, lng2=0, lat2=0, alt2=0;
+                    double distance = 0;
+
+                    var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
+                    bool copterisselect;
+                    for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
+                    {
+                        copterisselect = false;
+                        selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
+                        foreach (var capter in _copterManager.SelectedCopters)
+                        {
+                            if (capter == selectedCopter)
+                            {
+                                if (lng1 == 0)
+                                {
+                                    lng1 = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
+                                    lat1 = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                                    alt1 = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt;
+                                }
+                                else
+                                    if (lng2 == 0)
+                                {
+                                    lng2 = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
+                                    lat2 = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                                    alt2 = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt;
+                                }
+                                else break;
+
+                            }
+
+                        }
+                       
+
+                    }
+                    if ((lng1 != 0) && (lng2 != 0))
+                    {
+
+                        distance = GeographyUtils.CalcDistance(
+                        lat1, lng1, alt1,
+                        lat2, lng2, alt2);
+                        distance = ((double)Math.Round(distance * 100) / 100);
+
+                    }
+                    Distancevalue = distance;
+
+                }));
+            }
+        }
+
+
+
+
+        //缩放
+        private ICommand _ScaleCommand;
+        public ICommand ScaleCommand
+        {
+            get
+            {
+                return _ScaleCommand ?? (_ScaleCommand = new RelayCommand<int>(async ScaleVale =>
+                {
+
+
                     double lngsum = 0;
                     double latsum = 0;
                     int selectcount = 0;
@@ -666,20 +861,16 @@ public ICommand VerticlAlignmentCommand
 
                         }
                     }
-                    //计算旋转中心
+                    //计算缩放中心
                     if (selectcount > 0)
                     {
                         centlng = lngsum / selectcount;
                         centlat = latsum / selectcount;
                     }
                     else return;
-                    double dx = 0;
+
-                    double dy = 0;
+
-                    double ax = 0;
+                    //////////计算旋转，经测试用下面的函数组合计算比较准确
-                    double ay = 0;
-                    double x = centlng;
-                    double y = centlat;
-                    double k = (double)RotateLine / 180 * Math.PI;
 
                     for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                     {
@@ -688,12 +879,21 @@ public ICommand VerticlAlignmentCommand
                         {
                             if (capter == selectedCopter)
                             {
-                                ax = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
+                                double lpDistance = CalculationLogLatDistance.GetDistanceOne(centlng, centlat,
-                                ay = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                                    _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng,
-                                dx = (ax - x) * Math.Cos(k) + (ay - y) * Math.Sin(k) + x;  //此为最后的横坐标
+                                    _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat);
-                                dy = -(ax - x) * Math.Sin(k) + (ay - y) * Math.Cos(k) + y;  //此为最后的纵坐标
+
-                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = dx;
+                                CalculationLogLatDistance.MyLatLng mypos1, mypos2;
-                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = dy;
+                                mypos1 = new CalculationLogLatDistance.MyLatLng(centlng, centlat);
+                                mypos2 = new CalculationLogLatDistance.MyLatLng(_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng
+                                    , _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat);
+                                double lpAzimuth = CalculationLogLatDistance.getAngle(mypos1, mypos2);
+                                double lng2 = 0;
+                                double lat2 = 0;
+                                CalculationLogLatDistance.ConvertDistanceToLogLat(centlng, centlat, lpDistance * (double)ScaleVale/100,
+                                    lpAzimuth , out lng2, out lat2);
+                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = lng2;
+                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = lat2;
 
                             }
 
@@ -701,17 +901,11 @@ public ICommand VerticlAlignmentCommand
                         }
                     }
 
-
-
-
                     await Task.Delay(100);  // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
 
                 }));
             }
         }
 
-
-
-
     }
 }

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -7,10 +7,9 @@
              xmlns:vm="clr-namespace:Plane.FormationCreator.ViewModels"
              xmlns:m="clr-namespace:Plane.FormationCreator.Formation"
              mc:Ignorable="d"
-             d:DesignHeight="300"
+             d:DesignWidth="300" Height="400">
-             d:DesignWidth="300">
 
-    <StackPanel Orientation="Vertical">
+    <StackPanel Orientation="Vertical" Margin="0,0,0,-28.5">
         <StackPanel.Resources>
             <Style TargetType="StackPanel">
                 <Setter Property="Orientation"
@@ -18,21 +17,30 @@
             </Style>
         </StackPanel.Resources>
         <StackPanel>
-            
+
             <Button Content="导出任务"
                     Margin="0,5,0,0"
                     Command="{Binding ExportTasksCommand}" />
             <Button Content="导入任务"
                     Margin="5,5,0,0"
                     Command="{Binding ImportTasksCommand}" />
+            <TextBlock Text="同时起飞数量：" Margin="5,10,5,0" />
+            <TextBox x:Name="txttakeoff"
+                     Width="25"
+                     Margin="0,5,5,0"
+                     VerticalContentAlignment="Center" 
+                     DataContext="{Binding FlightTaskManager}" 
+                     Text="{Binding TakeOffNumAttr, UpdateSourceTrigger=PropertyChanged}" 
+                      
+                     />
+          
 
-        
         </StackPanel>
         <StackPanel>
-            <Button Content="上对齐"
+            <Button Content="上边对齐"
                     Margin="0,5,5,0"
                     Command="{Binding LevelAlignmentCommand}" />
-            <Button Content="右对齐"
+            <Button Content="右边对齐"
                     Margin="0,5,5,0"
                     Command="{Binding VerticlAlignmentCommand}" />
             <Button Content="水平均分"
@@ -55,43 +63,46 @@
                     Command="{Binding VerticlRotateCommand}" 
                     CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
             <TextBox x:Name="txtAlignmentLine"
-                     Width="30"
+                     Width="45"
                      Margin="0,5,5,0"
                      Text="0"
                      VerticalContentAlignment="Center" />
-            <TextBlock Text="度" Margin="0, 5, 5, 0"/>
+            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
+
+        </StackPanel>
+
+        <TextBlock Text="垂直旋转前必须高度相同，需要45度表演请转-135度" Margin="0, 10, 5, 0"/>
+
 
-        </StackPanel>      
-     
         <StackPanel>
+            <Button Content="缩放比例"
+                    Margin="0,5,5,0"
+                    Command="{Binding ScaleCommand}" 
+                    CommandParameter="{Binding ElementName=txtScaleVale, Path=Text}"/>
 
+            <TextBox x:Name="txtScaleVale"
+                     Width="40"
+                     Margin="0,5,5,0"
+                     Text="100"
+                     VerticalContentAlignment="Center" />
+            <TextBlock Text="%" Margin="0, 10, 5, 0"/>
             <Button Content="计算距离"
-                    Margin="0,5,5,0" Click="Button_Click"
+                    Margin="0,5,5,0" 
+                     Command="{Binding calDistinceCommand}" 
+                    
                      />
-            <TextBox Grid.Column="1" 
-                     Width="25"
-                     Margin="0, 5, 5, 0"
-                     HorizontalContentAlignment="Right"
-                     Name="firstCopter"
-                     Text="1"   />
 
-            <TextBox Grid.Column="1" 
+            <TextBox 
-                     Width="25"
+                          Grid.Column="1" 
-                     Margin="0, 5, 5, 0"
-                     HorizontalContentAlignment="Right"
-                     Name="secondCopter"
-                     Text="2"   />
-
-            <TextBox Grid.Column="1" 
                      Width="40"
                      Margin="0, 5, 5, 0"
                      HorizontalContentAlignment="Right"
-                     Name="distanceCopters"
+                     Text="{Binding Distancevalue, UpdateSourceTrigger=PropertyChanged}" 
-                     Text=""   />
+                />
-            <TextBlock Text="米" Margin="0, 5, 5, 0"/>
+            <TextBlock Text="米" Margin="0, 10, 5, 0"/>
-
 
         </StackPanel>
+       
         <TabControl Margin="0,5"
                     Grid.IsSharedSizeScope="True"
                     DataContext="{Binding FlightTaskManager.SelectedTask}"
@@ -172,19 +183,23 @@
 
                             <TextBlock Text="纬度: " />
                             <TextBox Grid.Column="1"
+                                      Margin="0,5,10,0"
                                      Text="{Binding TargetLat, UpdateSourceTrigger=PropertyChanged}" />
 
                             <TextBlock Grid.Row="1"
                                        Text="经度: " />
                             <TextBox Grid.Row="1"
                                      Grid.Column="1"
+                                     Margin="0,5,10,0" 
                                      Text="{Binding TargetLng, UpdateSourceTrigger=PropertyChanged}" />
 
                             <TextBlock Grid.Row="2"
                                        Text="高度: " />
                             <TextBox Grid.Row="2"
                                      Grid.Column="1"
+                                     Margin="0,5,10,0"
                                      Text="{Binding TargetAlt, UpdateSourceTrigger=PropertyChanged}" />
+                            
                         </Grid>
                     </Grid>
                 </Grid>
@@ -356,7 +371,7 @@
                                      Text="{Binding oneByOnePeriodAttr, UpdateSourceTrigger=PropertyChanged}" />
                             </Grid>
 
-                            <TextBox Grid.Row="3" Grid.ColumnSpan="2" IsReadOnly="True" Text="{Binding flashCopterNameArray, UpdateSourceTrigger=PropertyChanged}" />
+                            <TextBox Grid.Row="3" Grid.ColumnSpan="2"  Text="{Binding flashCopterNameArray, UpdateSourceTrigger=PropertyChanged}" />
                             <TextBlock Grid.Row="4" Grid.Column="0" Text="机头方向: " />
                             <Grid Grid.Row="4" Grid.Column="1">
                                 <Grid.RowDefinitions>
@@ -426,13 +441,24 @@
                         </Grid.RowDefinitions>
 
                         <Grid>
+                            <Grid.RowDefinitions>
+                                <RowDefinition />
+                                <RowDefinition />
+                                
+                            </Grid.RowDefinitions>
+                            
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition />
                                 <ColumnDefinition />
                             </Grid.ColumnDefinitions>
                             <TextBlock Text="返航高度: " />
-                            <TextBox Grid.Column="1" 
+                            <TextBox Grid.Column="1"  Grid.Row="0" 
                                      Text="{Binding RTLAlt, UpdateSourceTrigger=PropertyChanged}" />
+
+                            <TextBlock Text="同时返航数量: " Grid.Row="1" Grid.Column="0"  />
+                            <TextBox Grid.Column="1"  Grid.Row="1" 
+                                     Text="{Binding RetNumAttr, UpdateSourceTrigger=PropertyChanged}" />
+
                         </Grid>
                     </Grid>
                 </Grid>

Plane.FormationCreator/Views/ModifyTaskView.xaml.cs

@@ -33,6 +33,8 @@ namespace Plane.FormationCreator.Views
 
         private void Button_Click(object sender, RoutedEventArgs e)
         {
+           // distanceCopters.Text;
+       /*
             FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
 
             int firstIndex = int.Parse( firstCopter.Text );
@@ -48,7 +50,8 @@ namespace Plane.FormationCreator.Views
                 distanceCopters.Text = ((double)Math.Round(distance*100)/100).ToString();
                 
             }
-            
+            */
+
         }