将Src0918的部分功能移植进来，还有倒计时，任务启动检查灯没有移植

1.shift多选航点
2.任务整体移动

Plane.FormationCreator/App.xaml.cs

@@ -113,19 +113,27 @@ namespace Plane.FormationCreator
 */
             MainWindow = new MainWindow();
             MainWindow.Show();
-
+            try
-            TcpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
-            if (!TcpServerConnectionManager.Instance.StartListening())
             {
-                Alert.Show("网络连接不正常，无法启动监听。");
+
+                TcpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
+                if (!TcpServerConnectionManager.Instance.StartListening())
+                {
+                    Alert.Show("网络连接不正常，无法连接飞机。");
+                    return;
+                }
+                UdpServerConnectionManager.Instance.ExceptionThrown += (sender, e1) =>
+                {
+                    _logger.Log(e1.Exception);
+                };
+                UdpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
+                UdpServerConnectionManager.Instance.StartReceiving();
+            }
+            catch (Exception ex)
+            {
+                Alert.Show("网络连接不正常，无法连接飞机。");
                 return;
             }
-            UdpServerConnectionManager.Instance.ExceptionThrown += (sender, e1) =>
-            {
-                _logger.Log(e1.Exception);
-            };
-            UdpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
-            UdpServerConnectionManager.Instance.StartReceiving();
         }
         private void Copter_TextReceived(object sender, MessageCreatedEventArgs e)
         {

Plane.FormationCreator/AppConfig.cs

@@ -69,7 +69,8 @@ namespace Plane.FormationCreator
             }
             set
             {
-                _config.Center = $"{value.Lat},{value.Lng}";
+                if (_config != null)
+                    _config.Center = $"{value.Lat},{value.Lng}";
             }
         }
 
@@ -89,7 +90,8 @@ namespace Plane.FormationCreator
             }
             set
             {
-                _config.ZoomLevel = value;
+                if (_config != null)
+                    _config.ZoomLevel = value;
             }
         }
 
@@ -99,7 +101,8 @@ namespace Plane.FormationCreator
             {
                 Directory.CreateDirectory(_dirPath);
             }
-            File.WriteAllText(_filePath, JsonConvert.SerializeObject(_config));
+            if (_config != null)
+                File.WriteAllText(_filePath, JsonConvert.SerializeObject(_config));
         }
     }
 }

Plane.FormationCreator/Formation/CopterManager.cs

@@ -86,7 +86,7 @@ namespace Plane.FormationCreator.Formation
         //    }
         //}
 
-
+        public bool shiftkeydown;
         public IEnumerable<ICopter> SelectedCopters { get { return _selectedCoptersGetter().Cast<ICopter>(); } }
 
         /// <summary>

Plane.FormationCreator/Formation/Extensions.cs

@@ -62,8 +62,6 @@ namespace Plane.FormationCreator.Formation
 
         public static bool ArrivedTarget(this ICopter copter, double targetLat, double targetLng, float targetAlt)
         {
-  //          return copter.DistanceTo(targetLat, targetLng, targetAlt) < 0.6;   //到达航点精度
-
             if (copter.GpsFixType == GpsFixType.RTKFIXED)
                 return copter.DistanceTo(targetLat, targetLng, targetAlt) < RTKArrivedDis;   //RTK到达航点精度0.6米
             else

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -224,7 +224,7 @@ namespace Plane.FormationCreator.Formation
                 var newTask = new FlightTask(FlightTaskType.FlyTo);
                 int coptindex = 0;
 
-                int colnum = 4; //自动生成列数=4
+                int colnum = 5; //自动生成列数=4
                 float coldis = 5;//列相距5米
                 float rowdis = 5;//行相距5米
                 float matrixdis = 20; //生成方阵距离30米
@@ -363,6 +363,7 @@ namespace Plane.FormationCreator.Formation
         public void RestoreFlyToTask(bool staggerRoutes, dynamic singleCopterInfos)
         {
             var copters = _copterManager.Copters;
+            float tagalt = 15;
             if (!copters.Any()) return;
             AppEx.Current.AppMode = AppMode.ModifyingTask;
             var lastTask = Tasks.LastOrDefault();
@@ -371,11 +372,23 @@ namespace Plane.FormationCreator.Formation
             var center = nullableCenter.Value;
             var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = staggerRoutes };
             // TODO: 林俊清, 20150801, 处理实际飞行器数目与记录中数目不一致的情况。
-            for (int i = 0; i < copters.Count && i < singleCopterInfos.Count; i++)
+            for (int i = 0; i < copters.Count; i++)
             {
                 var copter = copters[i];
-                var singleCopterInfoObj = singleCopterInfos[i];
+                FlightTaskSingleCopterInfo newSingleCopterInfo;
-                var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt,(bool)singleCopterInfoObj.showLED);
+                if (i < singleCopterInfos.Count)
+                {
+                    var singleCopterInfoObj = singleCopterInfos[i];
+                    tagalt = (float)singleCopterInfoObj.targetAlt;
+                    newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt, (bool)singleCopterInfoObj.showLED);
+
+                }
+                else
+                {
+                    newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask
+                        (copter, (double)copter.Latitude, (double)copter.Longitude, tagalt, (bool)false);
+
+                }
                 newTask.SingleCopterInfos.Add(newSingleCopterInfo);
             }
             Tasks.Add(newTask);
@@ -493,7 +506,7 @@ namespace Plane.FormationCreator.Formation
             loiterTimeTask.HeadYaw = HeadYaw;
 
             // foreach (var copter in copters)
-            for (int i=0; i < copters.Count && i < singleCopterInfos.Count; i++)
+            for (int i = 0; i < copters.Count; i++)
             {
                 var copter = copters[i];
                 var singleCopterInfoObj = singleCopterInfos[i];

Plane.FormationCreator/MainWindow.xaml.cs

@@ -107,7 +107,9 @@ namespace Plane.FormationCreator
 
                 case Key.LeftShift:
                    {
+                        var copters = _copterManager.AcceptingControlCopters;
                         Shiftkeydown = true;
+                        _copterManager.shiftkeydown = true;
                         break;
                    }
                 //开关SHOWLED
@@ -359,6 +361,7 @@ namespace Plane.FormationCreator
                 case Key.LeftShift:
                     {
                         Shiftkeydown = false;
+                        _copterManager.shiftkeydown = false;
                         break;
                     }
                 case Key.W:

Plane.FormationCreator/ViewModels/CopterListViewModel.cs

@@ -54,7 +54,7 @@ namespace Plane.FormationCreator.ViewModels
                     var center = _mapManager.Center;
                     string id;
 
-                    int colnum = 4; //自动生成列数=4
+                    int colnum = 5; //自动生成列数=4
                     float coldis = 3;//列相距5米
                     float rowdis = 3;//行相距5米
                     int currcol = 0; //当前列号

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -175,6 +175,12 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(txtendindex), ref _txtendindex, value); }
         }
 
+        private float _directionvalue = 0;
+        public float directionvalue
+        {
+            get { return _directionvalue; }
+            set { Set(nameof(directionvalue), ref _directionvalue, value); }
+        }
 
 
 
@@ -263,7 +269,57 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        //调整所有任务经度
+        private ICommand _ModiAllPosCommand;
+        public ICommand ModiAllPosCommand
+        {
+            get
+            {
+                return _ModiAllPosCommand ?? (_ModiAllPosCommand = new RelayCommand<double>(async =>
+                {
+                    if (_flightTaskManager.Tasks.Count < 2) return;
 
+                    float lowalt = 200;
+
+
+                    int _startindex = 0;
+                    int _endindex = _flightTaskManager.Tasks.Count - 1;
+                    int lowtask = 0;
+                    int lowCopter = 0;
+
+                    if ((txtStarindex != 0) && (txtendindex != 0))
+                    {
+                        _startindex = txtStarindex;
+                        _endindex = txtendindex;
+                    }
+
+                    for (int i = _startindex; i <= _endindex; i++)
+                    {
+
+                        if ((_flightTaskManager.Tasks[i].TaskType == FlightTaskType.TakeOff) ||
+                            (_flightTaskManager.Tasks[i].TaskType == FlightTaskType.ReturnToLand))
+                            continue;
+
+
+                        for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
+                        {
+                            Tuple<double, double> targetLatLng = new Tuple<double, double>(0, 0);
+
+                            targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
+                                _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat,
+                                _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng,
+                                directionvalue,
+                                Modialtvalue
+                                );
+                            _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat = targetLatLng.Item1;
+                            _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng = targetLatLng.Item2;
+                        }
+                    }
+                    Alert.Show("指定步骤任务位置已向" + directionvalue + "度改变" + Modialtvalue + "米，注意是否有障碍物!");
+
+                }));
+            }
+        }
 
 
         private ICommand _LevelAverageCommand;
@@ -366,56 +422,59 @@ namespace Plane.FormationCreator.ViewModels
                         //////////////////////
 
                         var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
-                        bool copterisselect;
+                        if (_flightTaskManager.SelectedTask != null)
-                        int selectednumber = _copterManager.SelectedCopters.Count() - 1;
-                        for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                         {
-                            copterisselect = false;
+                            bool copterisselect;
-                            selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
+                            int selectednumber = _copterManager.SelectedCopters.Count() - 1;
-                            foreach (var capter in _copterManager.SelectedCopters)
+                            for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                             {
-                                if (capter == selectedCopter)
+                                copterisselect = false;
-                                    copterisselect = true;
+                                selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
+                                foreach (var capter in _copterManager.SelectedCopters)
+                                {
+                                    if (capter == selectedCopter)
+                                        copterisselect = true;
 
+                                }
+                                if (copterisselect)
+                                {
+
+                                    tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                                    if (minlat == 0)
+                                        minlat = tlat;
+                                    if (tlat > maxlat)
+                                        maxlat = tlat;
+                                    else if (tlat < minlat)
+                                        minlat = tlat;
+
+                                }
                             }
-                            if (copterisselect)
+                            avgl = (maxlat - minlat) / selectednumber;
+                            int coptnum = 0;
+
+                            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;
 
-                                tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                                }
-                                if (minlat == 0)
+                                if (copterisselect)
-                                    minlat = tlat;
+                                {
-                                if (tlat > maxlat)
-                                    maxlat = tlat;
-                                else if (tlat < minlat)
-                                    minlat = tlat;
 
+                                    _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = maxlat - avgl * coptnum;
+                                    coptnum++;
+
+                                }
                             }
+
+                            ///////////////////////
+
+                            // 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。
                         }
-                        avgl = (maxlat - minlat) / selectednumber;
-                        int coptnum = 0;
-
-                        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)
-                            {
-
-                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = maxlat - avgl * coptnum;
-                                coptnum++;
-
-                            }
-                        }
-
-                        ///////////////////////
-
-                        // 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。
                     }
                 }));
             }
@@ -437,7 +496,9 @@ namespace Plane.FormationCreator.ViewModels
                 
 
                         var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
-                        bool copterisselect;
+                if (_flightTaskManager.SelectedTask != null)
+                {
+                    bool copterisselect;
                         for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                         {
                             copterisselect = false;
@@ -477,10 +538,33 @@ namespace Plane.FormationCreator.ViewModels
 
                             }
                         }
-                   
+                    }
+                    else
+                    //调整飞机
+                    {
+                        //模拟飞机才能调整
+                        if (selectedCopter is FakeCopter)
+                        {
+                            foreach (var capter in _copterManager.SelectedCopters)
+                            {
+                                tlat = capter.Latitude;
+                                if (tlat > maxlat)
+                                    maxlat = tlat;
+                            }
+
+                            foreach (var capter in _copterManager.SelectedCopters)
+                            {
+                                var copterfk = (FakeCopter)capter;
+                                copterfk.SetProperties(
+                                latitude: maxlat,
+                                 longitude: copterfk.Longitude);
+                            }
+                        }
+                    }
+
+
 
 
-                 
                     //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。
 
                 }));
@@ -505,7 +589,9 @@ public ICommand VerticlAlignmentCommand
             double tlng = 0;
                var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
                 bool copterisselect;
-                for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
+        if (_flightTaskManager.SelectedTask != null)
+        {
+            for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                 {
                     copterisselect = false;
                     selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
@@ -544,11 +630,37 @@ 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。
 
-                }));
+                //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。
+
+                //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。
             }
+            else
+            //调整飞机
+            {
+                //模拟飞机才能调整
+                if (selectedCopter is FakeCopter)
+                {
+                    foreach (var capter in _copterManager.SelectedCopters)
+                    {
+                        tlng = capter.Longitude;
+                        if (tlng > maxlng)
+                            maxlng = tlng;
+                    }
+
+                    foreach (var capter in _copterManager.SelectedCopters)
+                    {
+                        var copterfk = (FakeCopter)capter;
+                        copterfk.SetProperties(
+                        latitude: copterfk.Latitude,
+                         longitude: maxlng);
+                    }
+                }
+            }
+
+        }));
+            }
+
         }
 
 
@@ -623,6 +735,8 @@ public ICommand VerticlAlignmentCommand
                     double centlng = 0;
                     double centlat = 0;
                     var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
+                if (_flightTaskManager.SelectedTask != null)
+                {
                     bool copterisselect;
                     for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                     {
@@ -685,6 +799,56 @@ 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。
 
+
+                    }
+                    else
+                    //调整飞机
+                    {
+                        //模拟飞机才能调整
+                        if (selectedCopter is FakeCopter)
+                        {
+                            foreach (var capter in _copterManager.SelectedCopters)
+                            {
+                                lngsum += capter.Longitude;
+                                latsum += capter.Latitude;
+                                selectcount++;
+                            }
+
+                            //计算旋转中心
+                            if (selectcount > 0)
+                            {
+                                centlng = lngsum / selectcount;
+                                centlat = latsum / selectcount;
+                            }
+                            else return;
+
+                            foreach (var capter in _copterManager.SelectedCopters)
+                            {
+
+
+                                double lpDistance = CalculationLogLatDistance.GetDistanceOne(centlng, centlat,
+                                      capter.Longitude,
+                                      capter.Latitude);
+
+                                CalculationLogLatDistance.MyLatLng mypos1, mypos2;
+                                mypos1 = new CalculationLogLatDistance.MyLatLng(centlng, centlat);
+                                mypos2 = new CalculationLogLatDistance.MyLatLng(
+                                    capter.Longitude
+                                    , capter.Latitude);
+                                double lpAzimuth = CalculationLogLatDistance.getAngle(mypos1, mypos2);
+                                double lng2 = 0;
+                                double lat2 = 0;
+                                CalculationLogLatDistance.ConvertDistanceToLogLat(centlng, centlat, lpDistance,
+                                    lpAzimuth + (double)RotateLine, out lng2, out lat2);
+
+                                var copterfk = (FakeCopter)capter;
+                                copterfk.SetProperties(
+                                latitude: lat2,
+                                 longitude: lng2);
+                            }
+                        }
+                    }
+
                 }));
             }
         }
@@ -791,6 +955,8 @@ public ICommand VerticlAlignmentCommand
                     double centlat = 0;
                     double centalt = 0;
                     var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
+                if (_flightTaskManager.SelectedTask != null)
+                {
                     bool copterisselect;
                     for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                     {
@@ -888,7 +1054,7 @@ 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/CopterListView.xaml.cs

@@ -32,7 +32,7 @@ namespace Plane.FormationCreator.Views
 
             _copterManager.SetSelectionDelegates(
                 () => lvwDrones.SelectedItems,
-                copter => lvwDrones.SelectedItem = copter
+                SelectitemMessage
             );
             lvwDrones.SelectionChanged += (sender, e) =>
             {
@@ -41,5 +41,14 @@ namespace Plane.FormationCreator.Views
         }
 
         private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
+        private void SelectitemMessage(ICopter copter)
+        {
+
+
+            if (!_copterManager.shiftkeydown)
+                lvwDrones.SelectedItem = copter;
+            else
+                lvwDrones.SelectedItems.Add(copter);
+        }
     }
 }

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -336,6 +336,7 @@ namespace Plane.FormationCreator.Views
             private void RegisterEventHandlersForTaskInfo(Ellipse wp, int taskIndex)
             {
                 var info = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(i => i.Copter == this.Copter);
+                if (info == null) return;
                 info.PropertyChanged += (sender, e) =>
                 {
                     switch (e.PropertyName)

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -71,18 +71,18 @@
                     Margin="0,5,5,0"
                     Command="{Binding VerticlRotateCommand}" 
                     CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
-            <TextBox x:Name="txtAlignmentLine"
+
-                     Width="45"
+            <Button Content="整体旋转"
-                     Margin="0,5,5,0"
-                     Text="0"
-                     VerticalContentAlignment="Center" />
-            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
-            <Button Content="任务整体旋转"
                     Margin="0,5,5,0"
                     Command="{Binding TaskRotateCommand}" 
                     CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
 
-
+            <TextBox x:Name="txtAlignmentLine"
+                     Width="35"
+                     Margin="0,5,5,0"
+                     Text="0"
+                     VerticalContentAlignment="Center" />
+            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
 
         </StackPanel>
 
@@ -96,7 +96,7 @@
                     CommandParameter="{Binding ElementName=txtScaleVale, Path=Text}"/>
 
             <TextBox x:Name="txtScaleVale"
-                     Width="40"
+                     Width="35"
                      Margin="0,5,5,0"
                      Text="100"
                      VerticalContentAlignment="Center" />
@@ -109,29 +109,27 @@
 
             <TextBox 
                           Grid.Column="1" 
-                     Width="40"
+                     Width="35"
                      Margin="0, 5, 5, 0"
                      HorizontalContentAlignment="Right"
                      Text="{Binding Distancevalue, UpdateSourceTrigger=PropertyChanged}" 
                 />
             <TextBlock Text="米" Margin="0, 10, 5, 0"/>
-        
-        </StackPanel>
-        <StackPanel>
-
-            <Button Content="自动高度"
-                    Margin="0,5,5,0"
-                    Command="{Binding AutoaltCommand}" />
             <Button Content="前一高度"
                     Margin="0,5,5,0"
                     Command="{Binding PrealtCommand}" />
 
-            <Button Content="修改任务高度"
+        </StackPanel>
+        <StackPanel>
+
+            <Button Content="整体提高"
                     Margin="0,5,5,0" 
                      Command="{Binding ModiAltCommand}" 
                     
                      />
-
+            <Button Content="整体移动"
+                    Margin="0,5,5,0" 
+                     Command="{Binding ModiAllPosCommand}"  />
             <TextBox 
                      Grid.Column="1" 
                      Width="40"
@@ -139,8 +137,16 @@
                      HorizontalContentAlignment="Right"
                      Text="{Binding Modialtvalue, UpdateSourceTrigger=PropertyChanged}" 
                 />
-            <TextBlock Text="米" Margin="0, 10, 5, 0"/>
+            <TextBlock Text="米 方向" Margin="0, 10, 5, 0"/>
 
+            <TextBox 
+                     Grid.Column="1" 
+                     Width="35"
+                     Margin="0, 5, 5, 0"
+                     HorizontalContentAlignment="Right"
+                     Text="{Binding directionvalue, UpdateSourceTrigger=PropertyChanged}" 
+                />
+            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
 
 
         </StackPanel>