更新使用Vs2022编译
增加新的自动航线计算模块 任务时间检测调整
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@ -28,6 +28,8 @@ Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRoute", "..\FlyTest\FlightRoute\FlightRoute.csproj", "{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}"
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlyBase", "..\FlyCube\FlyBase\FlyBase.csproj", "{626A9BFA-07DE-4063-A178-360EB7057ED6}"
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EndProject
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Global
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GlobalSection(SharedMSBuildProjectFiles) = preSolution
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..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}*SharedItemsImports = 4
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@ -114,6 +116,14 @@ Global
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{705AAB55-ED7A-4856-8F7B-E7A78ED9E39A}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{626A9BFA-07DE-4063-A178-360EB7057ED6}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{626A9BFA-07DE-4063-A178-360EB7057ED6}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{626A9BFA-07DE-4063-A178-360EB7057ED6}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{626A9BFA-07DE-4063-A178-360EB7057ED6}.Release|Any CPU.Build.0 = Release|Any CPU
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{626A9BFA-07DE-4063-A178-360EB7057ED6}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{626A9BFA-07DE-4063-A178-360EB7057ED6}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{626A9BFA-07DE-4063-A178-360EB7057ED6}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{626A9BFA-07DE-4063-A178-360EB7057ED6}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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@ -1635,8 +1635,12 @@ namespace Plane.FormationCreator.Formation
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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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// Tasks[1].FlytoTime = 2;
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// Tasks[1].LoiterTime = 1;
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for (int taskIndex = 0; taskIndex < Tasks.Count; taskIndex++)
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SetTaskFlytime(taskIndex);
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Message.Show($"任务时间计算执行完成----");
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}
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@ -1647,6 +1651,8 @@ namespace Plane.FormationCreator.Formation
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Alert.Show("不支持的功能", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
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return;
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}
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Alert.Show("检测2号航点后的所有飞行时间是否能飞到", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
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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开始检查
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for (int taskIndex = 2; taskIndex < Tasks.Count; taskIndex++)
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@ -1738,9 +1744,8 @@ namespace Plane.FormationCreator.Formation
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float defvel_xy, float defvel_up, float defvel_down,
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bool settime = true)
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{
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if ((taskIndex > 0) && (taskIndex < Tasks.Count) && (Tasks[taskIndex].TaskType == FlightTaskType.FlyTo))
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{
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if (_copterManager.Copters.Count() > 0)
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if (_copterManager.Copters.Count() == 0) return;
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if ((taskIndex < Tasks.Count))
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{
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string copterName = "";
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double maxDistance_xy = 0.0f;
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@ -1750,7 +1755,47 @@ namespace Plane.FormationCreator.Formation
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string copterName_xy = "";
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string copterName_up = "";
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string copterName_down = "";
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int flytimetype = getflytype(taskIndex);
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int flytimetype = 1; //默认同时计算加减速
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if (Tasks[taskIndex].TaskType == FlightTaskType.TakeOff)
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{
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double tasktime = 0;
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double waittime = 0;
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double upflytime = 0;
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foreach (var copter in _copterManager.Copters)
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{
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var nextWaypoint = Tasks[taskIndex + 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
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var curWaypoint = Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
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double copter_maxDistance_up = nextWaypoint.TargetAlt;
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double time_up = getMinfligthtime((float)copter_maxDistance_up, acc_z, defvel_up, flytimetype);
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double copter_tasktime = curWaypoint.TakeOffWaitTime + time_up;
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if (copter_tasktime > tasktime)
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{
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tasktime = copter_tasktime;
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maxDistance_up = copter_maxDistance_up;
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copterName= copter.Name;
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waittime = curWaypoint.TakeOffWaitTime;
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upflytime = time_up;
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}
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}
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Message.Show($"起飞任务{taskIndex + 1}起飞高度:{Math.Round(maxDistance_up, 2)}米 " +
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$"最长耗时：{Math.Round(tasktime, 2)}秒({Math.Round(upflytime, 2)},{Math.Round(waittime, 2)})，编号:{copterName}"
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);
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if (settime)
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{
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if (tasktime > 255)
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{
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Alert.Show($"任务{taskIndex + 1}时间太长，目前{tasktime}秒不能超255秒，请调整高度或速度", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
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return;
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} else
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Tasks[taskIndex].TakeOffTime = (byte)(int)Math.Ceiling(tasktime);
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}
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}
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else if (Tasks[taskIndex].TaskType == FlightTaskType.FlyTo)
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{
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flytimetype = getflytype(taskIndex);
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foreach (var copter in _copterManager.Copters)
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{
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var prevWaypoint = Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
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@ -1827,9 +1872,9 @@ namespace Plane.FormationCreator.Formation
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public void SetTaskFlytime(int taskIndex, bool settime = true)
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{
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if (taskIndex <= 1)
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if (taskIndex== 1)
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{
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Message.Show($"无法估计起飞或2号任务飞行时间,请根据现场情况调整");
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Message.Show($"2号任务是调整航点，根据现场飞机摆放离设计位置偏差来调整");
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return;
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}
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@ -447,6 +447,10 @@
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</Page>
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</ItemGroup>
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<ItemGroup>
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<ProjectReference Include="..\..\FlyCube\FlyBase\FlyBase.csproj">
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<Project>{626a9bfa-07de-4063-a178-360eb7057ed6}</Project>
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<Name>FlyBase</Name>
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</ProjectReference>
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<ProjectReference Include="..\..\FlyTest\FlightRoute\FlightRoute.csproj">
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<Project>{705aab55-ed7a-4856-8f7b-e7a78ed9e39a}</Project>
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<Name>FlightRoute</Name>
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@ -925,7 +925,7 @@ namespace Plane.FormationCreator.ViewModels
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return _AutoWayPointAllTmCommand ?? (_AutoWayPointAllTmCommand = new RelayCommand<int>(async =>
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{
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if (Alert.Show("本操作将导致2号任务以后所有任务飞行时间重新计算(不修改悬停时间)，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
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if (Alert.Show("本操作将导致除2号任务以外所有任务飞行时间重新计算(不修改悬停时间)，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
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== MessageBoxResult.OK)
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{
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_flightTaskManager.SetAllTaskFlytime();
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