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增加保存读取虚拟编号

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多次写入参数
加入测试灯光和灯光频率可以为小数---需要升级飞控

修改3D颜色和编号刷新的bug
This commit is contained in:
xu 2020-05-03 12:14:27 +08:00
parent 9b5b3bb22c
commit e1c81f28ff
8 changed files with 289 additions and 94 deletions
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64
Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_LED.cs
View File

@ -1,4 +1,5 @@
using GalaSoft.MvvmLight.Command;
using Plane.CommunicationManagement;
using Plane.Copters;
using Plane.Windows.Messages;
using System;
@ -6,6 +7,7 @@ using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Input;
@ -13,6 +15,7 @@ namespace Plane.FormationCreator.Formation
{
public partial class FlightTaskSingleCopterInfo
{
public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter)
{
var info = new FlightTaskSingleCopterInfo(copter)
@ -57,6 +60,7 @@ namespace Plane.FormationCreator.Formation
}));
}
}
private CommModuleManager _commModuleManager = CommModuleManager.Instance;
private ICommand _SetAllCopterLEDCommand;
public ICommand SetAllCopterLEDCommand
@ -81,8 +85,58 @@ namespace Plane.FormationCreator.Formation
}));
}
}
bool LEDTestRun = false;
/*
private string _TestLEDtxt = "测试";
public string TestLEDtxt
{
get { return _TestLEDtxt; }
set { Set(nameof(TestLEDtxt), ref _TestLEDtxt, value); }
}
LEDMode 0 = "常亮"
1="同步闪烁(单色)" />
2 = "异步闪烁(随机)" />
3="渐亮" />
4 = "渐暗" />
5="呼吸灯" />
6 = "同步闪烁(随机)" />
7="异步闪烁(单色)" />
8 = "拉烟" />(飞控是50 ? )
*/
//测试灯光
private ICommand _TestCopterLEDCommand;
public ICommand TestCopterLEDCommand
{
get
{
return _TestCopterLEDCommand ?? (_TestCopterLEDCommand = new RelayCommand<double>(async =>
{
if (!LEDTestRun)
{
Task.Run(() =>
{
LEDTestRun = true;
foreach (LEDInfo vLEDInfo in LEDInfos)
{
Thread.Sleep((int)vLEDInfo.Delay * 1000);
if (!LEDTestRun) break;
_commModuleManager.LED_TaskAsync(vLEDInfo.LEDMode, vLEDInfo.LEDRate, vLEDInfo.LEDTimes, vLEDInfo.LEDRGB, this.Copter);
}
//LEDTestRun = false;
});
}else
{
LEDTestRun = false;
_commModuleManager.LED_TaskAsync(99, 0, 0, "000000", this.Copter);
}
}));
}
}
private ICommand _SetSelectedCopterLEDCommand;
public ICommand SetSelectedCopterLEDCommand
@ -116,7 +170,7 @@ namespace Plane.FormationCreator.Formation
{
private double delay = 1; //灯光延时 单位：100ms （从当前任务开为0，延时几秒后设置LED）
private int ledmode = 0; //灯光模式 0常亮 1闪烁 2随机闪烁(RGB无意义)
private int ledrate = 0; //闪烁延时 单位：100ms
private float ledRate = 0; //闪烁延时 单位：100ms
private int ledtimes = 0; //次数 (预留、暂取消其意义)
private string ledRGB = "FFFFFF"; //灯光颜色
@ -129,7 +183,7 @@ namespace Plane.FormationCreator.Formation
{
delay = led.delay;
ledmode = led.ledmode;
ledrate = led.ledrate;
ledRate = led.ledRate;
ledRGB = led.ledRGB;
}
public double Delay
@ -143,10 +197,10 @@ namespace Plane.FormationCreator.Formation
get { return ledmode; }
set { ledmode = value; }
}
public int LEDRate
public float LEDRate
{
get { return ledrate; }
set { ledrate = value; }
get { return ledRate; }
set { ledRate = value; }
}
public int LEDTimes
{

67
Plane.FormationCreator/ViewModels/ConfigVirtualIdViewModel.cs
View File

@ -11,6 +11,7 @@ using System.Text;
using System.Threading.Tasks;
using System.Windows.Input;
using Microsoft.Practices.ServiceLocation;
using System.IO;
namespace Plane.FormationCreator.ViewModels
{
@ -52,6 +53,71 @@ namespace Plane.FormationCreator.ViewModels
/// <summary>
/// 清除所有编号
/// </summary>
private ICommand _SaveVirtualIdCommand;
public ICommand SaveVirtualIdCommand
{
get
{
return _SaveVirtualIdCommand ?? (_SaveVirtualIdCommand = new RelayCommand(() =>
{
string Savestr = "";
foreach (var c in _copterManager.Copters)
{
Savestr += c.Id + "=" + c.VirtualId + ';';
}
StreamWriter writer = new StreamWriter("vid.dat");
writer.Write(Savestr);
writer.Close();
Message.Show($"保存成功");
}));
}
}
/// <summary>
/// 清除所有编号
/// </summary>
private ICommand _LoadVirtualIdCommand;
public ICommand LoadVirtualIdCommand
{
get
{
return _LoadVirtualIdCommand ?? (_LoadVirtualIdCommand = new RelayCommand(() =>
{
if (!File.Exists("vid.dat"))
return;
// string str = System.IO.File.ReadAllText(@"vid.dat");
string str = File.ReadAllText("vid.dat");
string[] arr = str.Split(';');
foreach (string s in arr)
{
string[] arrs = s.Split('=');
var copter = _copterManager.Copters.FirstOrDefault(c => c.Id == arrs[0]);
if (copter != null)
{
copter.VirtualId = int.Parse(arrs[1]);
}
}
Message.Show($"读入成功");
}));
}
}
/// <summary>
/// 设置单个虚拟ID
@ -75,6 +141,7 @@ namespace Plane.FormationCreator.ViewModels
copter.VirtualId = SingleVirtualId;
Message.Show($"飞机{copter.Name} 设置编号={SingleVirtualId}");
}
}));
}
}

72
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -652,11 +652,55 @@ namespace Plane.FormationCreator.ViewModels
foreach (string name in paramlist.Keys)
{
float value = float.Parse( paramlist[name].ToString());
await Task.WhenAll(_copterManager.AcceptingControlCopters.Select
(copter => copter.SetParamAsync(name, value)));
//写5次
for (int i = 0; i < 5; i++)
{
if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
await _commModuleManager.SetParamAsync(name, value, _copterManager.AcceptingControlCopters);
else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
{
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.SetParamAsync(name, value);
}
// await Task.WhenAll(_copterManager.AcceptingControlCopters.Select
// (copter => copter.SetParamAsync(name, value)));
}
await Task.Delay(2000);
//发送读取5次
for (int i = 0; i < 5; i++)
{
if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
await _commModuleManager.ReadParamAsnyc(name, _copterManager.AcceptingControlCopters);
else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
await _commModuleManager.ReadParamAsnyc(name);
}
await Task.Delay(1000);
//开始检查飞机返回参数是否正确
foreach (ICopter copter in _copterManager.AcceptingControlCopters)
{
if (value != copter.RetainInt)
{
ifallok = false;
Alert.Show(copter.Id + "参数[" + name + "]设置失败,读取的值是[" + copter.RetainInt + "]", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
}
}
/*
await Task.WhenAll(
await Task.WhenAll(
_copterManager.AcceptingControlCopters.Select(async copter =>
{
@ -669,7 +713,8 @@ namespace Plane.FormationCreator.ViewModels
}
));
*/
*/
}
@ -702,14 +747,20 @@ namespace Plane.FormationCreator.ViewModels
{
float paramvalue = Convert.ToSingle(ModifyParamWindow.textParamValue.Text);
int num = 0;
if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
num = await _commModuleManager.SetParamAsync(paramstr, paramvalue, _copterManager.AcceptingControlCopters);
else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
int writeTime = 0;
//连续写5次，为了都写成功
for ( writeTime=0; writeTime<5; writeTime++)
{
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
num = await _commModuleManager.SetParamAsync(paramstr, paramvalue);
if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
num = await _commModuleManager.SetParamAsync(paramstr, paramvalue, _copterManager.AcceptingControlCopters);
else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
{
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
num = await _commModuleManager.SetParamAsync(paramstr, paramvalue);
}
}
Alert.Show($"广播完成！ 当前序列号：{num}");
Alert.Show($"广播完成！ 序列号从：{num-writeTime+1}到{num}");
}
else
{
@ -1462,6 +1513,7 @@ namespace Plane.FormationCreator.ViewModels
{
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 (ledMode == 8) ledMode = 50;
IMission LEDMission = Mission.CreateLEDControlMission(
(int)(ledInfo.Delay * 10),

8
Plane.FormationCreator/ViewModels/CopterListViewModel.cs
View File

@ -21,6 +21,7 @@ using Newtonsoft.Json;
using System.IO;
using Newtonsoft.Json.Linq;
using Plane.Windows.Messages;
using Plane.Collections;
namespace Plane.FormationCreator.ViewModels
{
@ -176,7 +177,8 @@ namespace Plane.FormationCreator.ViewModels
copter.DisplayVirtualId = true;
copter.DisplayID = false;
}
//强制刷新飞机显示
// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
}));
@ -197,6 +199,8 @@ namespace Plane.FormationCreator.ViewModels
copter.DisplayVirtualId = false;
copter.DisplayID = true;
}
//强制刷新飞机显示
// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
}));
}
@ -252,6 +256,8 @@ namespace Plane.FormationCreator.ViewModels
copter.DisplayVirtualId = true;
copter.DisplayID = true;
}
//强制刷新飞机显示
// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
}));
}

13
Plane.FormationCreator/ViewModels/View3DViewModel.cs
View File

@ -200,13 +200,16 @@ namespace Plane.FormationCreator.ViewModels
Color color;
if (copter.LEDColor != null && copter.LEDColor != "")
{
color = (Color)ColorConverter.ConvertFromString("#" + copter.LEDColor);
else
color = (Color)ColorConverter.ConvertFromString("#" + CopterManager.CopterDefaultColor);
panle3D.Material = MaterialHelper.CreateMaterial(color);
panle3D.BackMaterial = MaterialHelper.CreateMaterial(color);
panle3D.Material = MaterialHelper.CreateMaterial(color);
panle3D.BackMaterial = MaterialHelper.CreateMaterial(color);
}
//else
// color = (Color)ColorConverter.ConvertFromString("#" + CopterManager.CopterDefaultColor);
}
}
//Message.Show("添加3D飞机：" + copter.Name);
}

9
Plane.FormationCreator/Views/ConfigVirtualIdView.xaml
View File

@ -29,9 +29,12 @@
</StackPanel>
</StackPanel>
<StackPanel>
<TextBlock Margin="10,5" Text="清除所有编号"/>
<Button Margin="0,0" Width="100" Content = "清除编号" VerticalAlignment="Center" Command="{Binding ClearVirtualIdCommand}"/>
<StackPanel Margin="5" Orientation="Horizontal" HorizontalAlignment="Center">
<Button Margin="5" Width="95" Content = "清除编号" Command="{Binding ClearVirtualIdCommand}"/>
<Button Margin="5" Width="95" Content = "保存编号" Command="{Binding SaveVirtualIdCommand}"/>
<Button Margin="5" Width="95" Content = "读入编号" Command="{Binding LoadVirtualIdCommand}"/>
</StackPanel>
</StackPanel>

6
Plane.FormationCreator/Views/CopterListView.xaml
View File

@ -19,13 +19,13 @@
<MenuItem Header="显示所有飞机"
Foreground="White"
Command="{Binding ShowAllCoptersCommand}"/>
<MenuItem Header="显示所有编号"
<MenuItem Header="所有编号(虚拟排序)"
Foreground="White"
Command="{Binding ShowAllIDCommand}"/>
<MenuItem Header="显示虚拟编号"
<MenuItem Header="虚拟编号(虚拟排序)"
Foreground="White"
Command="{Binding SortbyVIdCommand}"/>
<MenuItem Header="显示飞机编号"
<MenuItem Header="真实编号(真实排序)"
Foreground="White"
Command="{Binding SortbyIdCommand}"/>
</ContextMenu>

144
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -73,7 +73,7 @@
<Button Margin="0,5,5,0" Content="优化路线" Width="105" Command="{Binding OptimizeRouteCommand}"
/>
<Button Margin="0,5,5,0" Content="导出到C4D" Width="105" Command="{Binding ExportWayPointCommand}"/>
<Button Margin="0,5,5,0" Content="估计飞行时间" Width="105" Command="{Binding AutoWayPointTmCommand}"/>
<Button Margin="0,5,5,0" Content="估计时间" Width="105" Command="{Binding AutoWayPointTmCommand}"/>
</StackPanel>
<StackPanel>
@ -85,7 +85,7 @@
<Button Content="回前一高度"
Margin="0,5,5,0" Width="105"
Command="{Binding PrealtCommand}" />
<Button Content="回起飞点"
Margin="0,5,5,0" Width="105"
Command="{Binding BackTakeOffPointCommand}" />
@ -109,7 +109,7 @@
<Button Content="垂直均分"
Margin="0,5,5,0"
Command="{Binding VerticlAverageCommand}" />
</StackPanel>
<StackPanel>
@ -144,7 +144,7 @@
</StackPanel>
<StackPanel>
<Button Content="调整高度"
@ -333,7 +333,7 @@
<Button Width="80" Content="跑马灯" Margin="10,0,0,0"
Command="{Binding SetStrokesLampCommamd}" HorizontalAlignment="Right"/>
</StackPanel>
</Grid>
<Separator Margin="5,5,5,5" />
<StackPanel Orientation="Horizontal">
@ -349,36 +349,46 @@
<Separator Margin="5,5,5,5" />
</StackPanel>
<StackPanel DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}">
<Grid >
<Grid.ColumnDefinitions>
<ColumnDefinition/>
<ColumnDefinition/>
<ColumnDefinition/>
<ColumnDefinition/>
</Grid.ColumnDefinitions>
<TextBlock Text="灯光控制" Margin="5, 10, 5, 0" VerticalAlignment="Center"/>
<Grid Grid.Column="1" Grid.ColumnSpan="3" VerticalAlignment="Center">
<Grid >
<Grid.ColumnDefinitions>
<ColumnDefinition />
<ColumnDefinition />
<ColumnDefinition />
<ColumnDefinition Width="33*"/>
<ColumnDefinition Width="89*"/>
<ColumnDefinition Width="61*"/>
<ColumnDefinition Width="61*"/>
</Grid.ColumnDefinitions>
<Button Content="应用到全部" VerticalAlignment="Center"
<TextBlock Text="灯光控制" Margin="5,7,5,2" VerticalAlignment="Center" Height="15"/>
<Grid Grid.Column="1" Grid.ColumnSpan="3" VerticalAlignment="Center" Height="34">
<Grid.ColumnDefinitions>
<ColumnDefinition />
<ColumnDefinition />
<ColumnDefinition />
<ColumnDefinition />
</Grid.ColumnDefinitions>
<Button Content="应用到全部" VerticalAlignment="Center"
Margin="0,5,5,0"
Command="{Binding SetAllCopterLEDCommand}" />
<Button Content="应用到所选" VerticalAlignment="Center"
<Button Content="应用到所选" VerticalAlignment="Center"
Margin="0,5,5,0"
Grid.Column="1"
Command="{Binding SetSelectedCopterLEDCommand}" />
<Button Content="添加" VerticalAlignment="Center"
Grid.Column="2"
<Button Content="测试/停止" VerticalAlignment="Center"
Margin="0,5,5,0"
Grid.Column="2"
Command="{Binding TestCopterLEDCommand}"
/>
<Button Content="添加" VerticalAlignment="Center"
Grid.Column="3"
Margin="0,5,5,0"
Command="{Binding AddLEDCommand}" />
</Grid>
</Grid>
</Grid>
<ItemsControl Name="LEDItems" Margin="5"
<ItemsControl Name="LEDItems" Margin="5"
Grid.Row="1"
Grid.ColumnSpan="2"
MinHeight="100"
@ -387,63 +397,63 @@
ScrollViewer.VerticalScrollBarVisibility="Visible"
ScrollViewer.HorizontalScrollBarVisibility="Hidden"
ItemsSource="{Binding Path= LEDInfos}">
<ItemsControl.Template>
<ControlTemplate>
<ScrollViewer x:Name="ScrollViewer" Padding="{TemplateBinding Padding}">
<ItemsPresenter />
</ScrollViewer>
</ControlTemplate>
</ItemsControl.Template>
<ItemsControl.ItemsPanel>
<ItemsPanelTemplate>
<StackPanel Orientation="Vertical" />
</ItemsPanelTemplate>
</ItemsControl.ItemsPanel>
<ItemsControl.ItemTemplate>
<DataTemplate>
<StackPanel Margin="0,5,0,0" Orientation="Horizontal" >
<TextBlock Text="类型" Margin="0,0,0,0" VerticalAlignment="Center" ></TextBlock>
<ComboBox MinWidth="125" Width="125" Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
<ItemsControl.Template>
<ControlTemplate>
<ScrollViewer x:Name="ScrollViewer" Padding="{TemplateBinding Padding}">
<ItemsPresenter />
</ScrollViewer>
</ControlTemplate>
</ItemsControl.Template>
<ItemsControl.ItemsPanel>
<ItemsPanelTemplate>
<StackPanel Orientation="Vertical" />
</ItemsPanelTemplate>
</ItemsControl.ItemsPanel>
<ItemsControl.ItemTemplate>
<DataTemplate>
<StackPanel Margin="0,5,0,0" Orientation="Horizontal" >
<TextBlock Text="类型" Margin="0,0,0,0" VerticalAlignment="Center" ></TextBlock>
<ComboBox MinWidth="125" Width="125" Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
SelectedIndex="{Binding Path=LEDMode}">
<ComboBox.ItemContainerStyle>
<Style>
<Setter Property="ComboBoxItem.Foreground" Value="White"/>
</Style>
</ComboBox.ItemContainerStyle>
<ComboBoxItem Content="常亮" />
<ComboBoxItem Content="同步闪烁(单色)" />
<ComboBoxItem Content="异步闪烁(随机)" />
<ComboBoxItem Content="渐亮" />
<ComboBoxItem Content="渐暗" />
<ComboBoxItem Content="呼吸灯" />
<ComboBoxItem Content="同步闪烁(随机)" />
<ComboBoxItem Content="异步闪烁(单色)" />
<ComboBoxItem Content="拉烟"/>
</ComboBox>
<ComboBox.ItemContainerStyle>
<Style>
<Setter Property="ComboBoxItem.Foreground" Value="White"/>
</Style>
</ComboBox.ItemContainerStyle>
<ComboBoxItem Content="常亮" />
<ComboBoxItem Content="同步闪烁(单色)" />
<ComboBoxItem Content="异步闪烁(随机)" />
<ComboBoxItem Content="渐亮" />
<ComboBoxItem Content="渐暗" />
<ComboBoxItem Content="呼吸灯" />
<ComboBoxItem Content="同步闪烁(随机)" />
<ComboBoxItem Content="异步闪烁(单色)" />
<ComboBoxItem Content="拉烟"/>
</ComboBox>
<TextBlock Text="时间" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
<TextBox MinWidth="40" MaxWidth="45" Margin="5,0,0,0"
<TextBlock Text="时间" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
<TextBox MinWidth="40" MaxWidth="45" Margin="5,0,0,0"
ToolTip="单位:秒，最小设置0.1秒"
Text="{Binding Delay,UpdateSourceTrigger=PropertyChanged}" />
<TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
<TextBox MinWidth="40" MaxWidth="45" Margin="5,0,0,0"
<TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
<TextBox MinWidth="40" MaxWidth="45" 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" MinWidth="50" Width="50"
<TextBlock Text="颜色" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
<TextBox Margin="5,0,0,0" MinWidth="50" Width="50"
Text="{Binding LEDRGB, UpdateSourceTrigger=PropertyChanged}" />
<Button Content="删除" Margin="12,0,0,0"
<Button Content="删除" Margin="12,0,0,0"
Command="{Binding RemoveLEDCommand}"/>
</StackPanel>
</DataTemplate>
</ItemsControl.ItemTemplate>
</StackPanel>
</DataTemplate>
</ItemsControl.ItemTemplate>
</ItemsControl>
</ItemsControl>
</StackPanel>
</StackPanel>
</TabItem>
@ -518,7 +528,7 @@
</StackPanel>