group/Plane.FormationCreator
1
0
Fork 0
Code Issues 3 Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: group:Dev
Branches Tags
group:Dev
group:release_2.1
group:发布兼容版5.28
group:Xu-V2.0
group:兼容老版_1
group:兼容4.1.2以前的版本
group:Branch_noflytobug
group:能导入C4D的版本
group:自动位置前最后一版
group:Branch_waypoint_mode
group:master
group:Branch_估计无航点问题版本
..
compare: group:兼容老版_1
Branches Tags
group:Dev
group:release_2.1
group:发布兼容版5.28
group:Xu-V2.0
group:兼容老版_1
group:兼容4.1.2以前的版本
group:Branch_noflytobug
group:能导入C4D的版本
group:自动位置前最后一版
group:Branch_waypoint_mode
group:master
group:Branch_估计无航点问题版本

1 Commits
Dev ... 兼容老版_1

Author SHA1 Message Date
xu
5296137208 修改为兼容老版固件 
登录界面增加版本号
 2020-05-05 18:59:09 +08:00
59 changed files with 13669 additions and 18531 deletions
Show Stats Expand all files Collapse all files

39
Plane.FormationCreator.sln
View File

@ -1,12 +1,9 @@

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.7.34202.233
# Visual Studio 14
VisualStudioVersion = 14.0.25420.1
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.FormationCreator", "Plane.FormationCreator\Plane.FormationCreator.csproj", "{61E2F31E-220A-4E3F-A64D-F7CDC2135008}"
ProjectSection(ProjectDependencies) = postProject
{9BFB2123-2239-4A85-B5BC-0328CE7640D7} = {9BFB2123-2239-4A85-B5BC-0328CE7640D7}
EndProjectSection
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Windows", "..\Plane.Libraries\Plane.Windows\Plane.Windows.csproj", "{06848293-9B17-4068-9B35-44D0ED713CD4}"
EndProject
@ -26,11 +23,13 @@ Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk_Shared", "..\Pl
EndProject
Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.shproj", "{695733D7-99FF-4707-8C89-474E949CADCB}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRoute", "..\FlyTest\FlightRoute\FlightRoute.csproj", "{9BFB2123-2239-4A85-B5BC-0328CE7640D7}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlightRouteV2", "..\FlyCube\FlightRouteV2\FlightRouteV2.csproj", "{626A9BFA-07DE-4063-A178-360EB7057ED6}"
EndProject
Global
GlobalSection(SharedMSBuildProjectFiles) = preSolution
..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}*SharedItemsImports = 4
..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{2be393dc-21a4-48b3-83fd-f21cbe8b038b}*SharedItemsImports = 13
..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.projitems*{47141894-ece3-48ca-8dcf-ca751bda231e}*SharedItemsImports = 4
..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.projitems*{695733d7-99ff-4707-8c89-474e949cadcb}*SharedItemsImports = 13
EndGlobalSection
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
@ -102,30 +101,8 @@ Global
{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
{9BFB2123-2239-4A85-B5BC-0328CE7640D7}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{9BFB2123-2239-4A85-B5BC-0328CE7640D7}.Debug|Any CPU.Build.0 = Debug|Any CPU
{9BFB2123-2239-4A85-B5BC-0328CE7640D7}.Release|Any CPU.ActiveCfg = Release|Any CPU
{9BFB2123-2239-4A85-B5BC-0328CE7640D7}.Release|Any CPU.Build.0 = Release|Any CPU
{9BFB2123-2239-4A85-B5BC-0328CE7640D7}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
{9BFB2123-2239-4A85-B5BC-0328CE7640D7}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
{9BFB2123-2239-4A85-B5BC-0328CE7640D7}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
{9BFB2123-2239-4A85-B5BC-0328CE7640D7}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
{626A9BFA-07DE-4063-A178-360EB7057ED6}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{626A9BFA-07DE-4063-A178-360EB7057ED6}.Debug|Any CPU.Build.0 = Debug|Any CPU
{626A9BFA-07DE-4063-A178-360EB7057ED6}.Release|Any CPU.ActiveCfg = Release|Any CPU
{626A9BFA-07DE-4063-A178-360EB7057ED6}.Release|Any CPU.Build.0 = Release|Any CPU
{626A9BFA-07DE-4063-A178-360EB7057ED6}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
{626A9BFA-07DE-4063-A178-360EB7057ED6}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
{626A9BFA-07DE-4063-A178-360EB7057ED6}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
{626A9BFA-07DE-4063-A178-360EB7057ED6}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(SharedMSBuildProjectFiles) = preSolution
..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}*SharedItemsImports = 4
..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{2be393dc-21a4-48b3-83fd-f21cbe8b038b}*SharedItemsImports = 13
..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.projitems*{47141894-ece3-48ca-8dcf-ca751bda231e}*SharedItemsImports = 4
..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.projitems*{695733d7-99ff-4707-8c89-474e949cadcb}*SharedItemsImports = 13
EndGlobalSection
EndGlobal

32
Plane.FormationCreator/App.config
View File

@ -1,28 +1,28 @@
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<configuration>
<configSections>
<sectionGroup name="userSettings" type="System.Configuration.UserSettingsGroup, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<section name="Plane.FormationCreator.Properties.Settings" type="System.Configuration.ClientSettingsSection, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" allowExeDefinition="MachineToLocalUser" requirePermission="false"/>
<section name="Plane.FormationCreator.Properties.Settings" type="System.Configuration.ClientSettingsSection, System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" allowExeDefinition="MachineToLocalUser" requirePermission="false" />
</sectionGroup>
<!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 -->
<section name="entityFramework" type="System.Data.Entity.Internal.ConfigFile.EntityFrameworkSection, EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" requirePermission="false"/>
<section name="entityFramework" type="System.Data.Entity.Internal.ConfigFile.EntityFrameworkSection, EntityFramework, Version=6.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" requirePermission="false" />
</configSections>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6" />
</startup>
<runtime>
<assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
<dependentAssembly>
<assemblyIdentity name="System.Windows.Interactivity" publicKeyToken="31bf3856ad364e35" culture="neutral"/>
<bindingRedirect oldVersion="0.0.0.0-4.5.0.0" newVersion="4.5.0.0"/>
<assemblyIdentity name="System.Windows.Interactivity" publicKeyToken="31bf3856ad364e35" culture="neutral" />
<bindingRedirect oldVersion="0.0.0.0-4.5.0.0" newVersion="4.5.0.0" />
</dependentAssembly>
<dependentAssembly>
<assemblyIdentity name="System.Data.SQLite" publicKeyToken="db937bc2d44ff139" culture="neutral"/>
<bindingRedirect oldVersion="0.0.0.0-1.0.109.0" newVersion="1.0.109.0"/>
<assemblyIdentity name="System.Data.SQLite" publicKeyToken="db937bc2d44ff139" culture="neutral" />
<bindingRedirect oldVersion="0.0.0.0-1.0.109.0" newVersion="1.0.109.0" />
</dependentAssembly>
<dependentAssembly>
<assemblyIdentity name="Newtonsoft.Json" publicKeyToken="30ad4fe6b2a6aeed" culture="neutral"/>
<bindingRedirect oldVersion="0.0.0.0-9.0.0.0" newVersion="9.0.0.0"/>
<assemblyIdentity name="Newtonsoft.Json" publicKeyToken="30ad4fe6b2a6aeed" culture="neutral" />
<bindingRedirect oldVersion="0.0.0.0-9.0.0.0" newVersion="9.0.0.0" />
</dependentAssembly>
</assemblyBinding>
</runtime>
@ -36,18 +36,18 @@
<entityFramework>
<defaultConnectionFactory type="System.Data.Entity.Infrastructure.LocalDbConnectionFactory, EntityFramework">
<parameters>
<parameter value="mssqllocaldb"/>
<parameter value="mssqllocaldb" />
</parameters>
</defaultConnectionFactory>
<providers>
<provider invariantName="System.Data.SqlClient" type="System.Data.Entity.SqlServer.SqlProviderServices, EntityFramework.SqlServer"/>
<provider invariantName="System.Data.SQLite.EF6" type="System.Data.SQLite.EF6.SQLiteProviderServices, System.Data.SQLite.EF6"/>
<provider invariantName="System.Data.SqlClient" type="System.Data.Entity.SqlServer.SqlProviderServices, EntityFramework.SqlServer" />
<provider invariantName="System.Data.SQLite.EF6" type="System.Data.SQLite.EF6.SQLiteProviderServices, System.Data.SQLite.EF6" />
</providers>
</entityFramework>
<system.data>
<DbProviderFactories>
<remove invariant="System.Data.SQLite.EF6"/>
<add name="SQLite Data Provider (Entity Framework 6)" invariant="System.Data.SQLite.EF6" description=".NET Framework Data Provider for SQLite (Entity Framework 6)" type="System.Data.SQLite.EF6.SQLiteProviderFactory, System.Data.SQLite.EF6"/>
<remove invariant="System.Data.SQLite"/><add name="SQLite Data Provider" invariant="System.Data.SQLite" description=".NET Framework Data Provider for SQLite" type="System.Data.SQLite.SQLiteFactory, System.Data.SQLite"/></DbProviderFactories>
<remove invariant="System.Data.SQLite.EF6" />
<add name="SQLite Data Provider (Entity Framework 6)" invariant="System.Data.SQLite.EF6" description=".NET Framework Data Provider for SQLite (Entity Framework 6)" type="System.Data.SQLite.EF6.SQLiteProviderFactory, System.Data.SQLite.EF6" />
<remove invariant="System.Data.SQLite" /><add name="SQLite Data Provider" invariant="System.Data.SQLite" description=".NET Framework Data Provider for SQLite" type="System.Data.SQLite.SQLiteFactory, System.Data.SQLite" /></DbProviderFactories>
</system.data>
</configuration>

42
Plane.FormationCreator/App.xaml
View File

@ -11,14 +11,6 @@
ShutdownMode="OnMainWindowClose">
<Application.Resources>
<materialDesign:PackIcon x:Key="ConnectIcon"
x:Shared="False"
Kind="LanConnect"
Foreground="#2196F3" />
<materialDesign:PackIcon x:Key="DisconnectIcon"
x:Shared="False"
Kind="LanDisconnect"
Foreground="White" />
<materialDesign:PackIcon x:Key="CheckIcon"
x:Shared="False"
Kind="Check"
@ -27,7 +19,6 @@
x:Shared="False"
Kind="Close"
Foreground="White" />
<cnv:BooleanToVisibilityConverter x:Key="BooleanToVisibilityConverter" />
<cnv:BooleanToVisibilityConverter x:Key="InversiveBooleanToVisibilityConverter"
False="Visible"
@ -45,25 +36,6 @@
False="【飞行模式】"
True="【设计模式】" />
<cnv:BooleanToStringConverter x:Key="MainColorConverterDes"
False="White"
True="DeepSkyBlue" />
<cnv:BooleanToStringConverter x:Key="MainFontSizeConverterDes"
False="12"
True="14" />
<cnv:BooleanToStringConverter x:Key="MainColorConverterFly"
False="DeepSkyBlue"
True="White" />
<cnv:BooleanToStringConverter x:Key="MainFontSizeConverterFly"
False="14"
True="12" />
<cnv:BooleanToStringConverter x:Key="Show2d3dButtonContentConverter"
False="平面视图"
True="立体视图" />
@ -73,8 +45,8 @@
FalseKey="CloseIcon"
TrueKey="CheckIcon" />
<cnv:BooleanToResourceConverter x:Key="CheckSignConverter2"
FalseKey="DisconnectIcon"
TrueKey="ConnectIcon" />
FalseKey="CloseIcon"
TrueKey="CheckIcon" />
<cnv:BooleanToStringConverter x:Key="ColorConverter"
False="Red"
True="Green" />
@ -84,16 +56,6 @@
<lcnv:HeartbeatCountToBrushConverter x:Key="HeartbeatCountToBrushConverter" />
<lcnv:AppModeToVisibilityConverter x:Key="AppModeToVisibilityConverter" />
<lcnv:FlightTaskStatusToFillConverter x:Key="FlightTaskStatusToFillConverter" />
<lcnv:ErrorCodeToColorConverter x:Key="ErrorCodeToColorConverter" />
<lcnv:PrecheckToColorConverter x:Key="PrecheckToColorConverter" />
<lcnv:FlightTaskStatusAndTransitionToFillConverter x:Key="FlightTaskStatusAndTransitionToFillConverter" />
<lcnv:FlightTaskIsSelectedToEffectConverter x:Key="FlightTaskIsSelectedToEffectConverter" />
</Application.Resources>
</Application>

15
Plane.FormationCreator/App.xaml.cs
View File

@ -18,9 +18,8 @@ using System.Reflection;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using Plane.FormationCreator.Util;
using Plane.CommunicationManagement;
using Plane.FormationCreator.Util;
namespace Plane.FormationCreator
{
@ -202,7 +201,7 @@ namespace Plane.FormationCreator
Name = vIPID // ip.Substring(ip.LastIndexOf('.') + 1)
};
int _index;
_index = copters.AddCopter(copter, _copterManager.SortType);
_index = copters.AddCopter(copter);
copterStatus.Insert(_index, false);
copter.TextReceived += Copter_TextReceived;
@ -262,13 +261,6 @@ namespace Plane.FormationCreator
lock(locker)
{
var copter = _copterManager.Copters.FirstOrDefault(c => c.Id == id.ToString());
if ((copter != null)&&(copter is FakeCopter))
{
_copterManager.Copters.Remove(copter);
copter = null;
}
if (copter == null)
{
if (_copterManager.EnAddCopter_Real())
@ -281,9 +273,8 @@ namespace Plane.FormationCreator
Id = id.ToString(),
Name = id.ToString(),
};
copter.VirtualId = 0;
int _index;
_index = _copterManager.Copters.AddCopter(copter, _copterManager.SortType);
_index = _copterManager.Copters.AddCopter(copter);
copterStatus.Insert(_index, false);
copter.TextReceived += Copter_TextReceived;
}

55
Plane.FormationCreator/Converters/HeartbeatCountToBrushConverter.cs
View File

@ -15,68 +15,15 @@ namespace Plane.FormationCreator.Converters
public class HeartbeatCountToBrushConverter : IMultiValueConverter
{
private static SolidColorBrush _zeroBrush = new SolidColorBrush(Color.FromArgb(125, 125, 125, 125));
private static SolidColorBrush _zeroBrush_fault = new SolidColorBrush(Color.FromRgb(160, 140, 0));
private static SolidColorBrush _oneBrush = Copter.DefaultBrush;
private static SolidColorBrush _FakeCopterBrush = Copter.DefaultFakeBrush;
private static SolidColorBrush _PreCheckNopassBrush = Copter.YellowBrush;
private static SolidColorBrush _NoconnectedBrush = Copter.RedBrush;
public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
{
if (values[0] == DependencyProperty.UnsetValue) return _zeroBrush;
var heartbeatCount = (ulong)values[0];
/* //绑定的是心跳，所以连接断开时不会调用这个转换器
//如果是真飞机，并且断开了，直接显示红色
if (values[1] is PLCopter)
{
var plcopter = values[1] as PLCopter;
if (!plcopter.CommModuleConnected)
return _NoconnectedBrush;
}
*/
//用于显示收到心跳的闪烁
if (heartbeatCount % 2 == 0)
{
//真飞机如果异常显示暗淡黄色
if (values[1] is PLCopter)
{
var plcopter = values[1] as PLCopter;
if (plcopter.CopterPreCheckPass)
return _zeroBrush;
else return _zeroBrush_fault;
}
else
return _zeroBrush;
}
if (values[1] is FakeCopter)
{
var fkcopter = values[1] as FakeCopter;
if (fkcopter.CopterPreCheckPass)
return _FakeCopterBrush;
else return _PreCheckNopassBrush;
}
if (values[1] is PLCopter)
{
var plcopter = values[1] as PLCopter;
if (plcopter.CopterPreCheckPass)
return _oneBrush;
else return _PreCheckNopassBrush;
}
if (heartbeatCount % 2 == 0) return _zeroBrush;
var copter = values[1] as Copter;
return copter == null ? _oneBrush : copter.Brush;
}
public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)

24
Plane.FormationCreator/Formation/Copter.cs
View File

@ -28,14 +28,6 @@ namespace Plane.FormationCreator.Formation
//RaiseLocationChangedIfNeeded();
}
internal static SolidColorBrush BlueBrush { get; } = new SolidColorBrush(Color.FromRgb(28, 151, 234));
internal static SolidColorBrush RedBrush { get; } = new SolidColorBrush(Color.FromRgb(255, 100, 100));
internal static SolidColorBrush GreenBrush { get; } = new SolidColorBrush(Color.FromRgb(100, 255, 100));
internal static SolidColorBrush YellowBrush { get; } = new SolidColorBrush(Color.FromRgb(255, 215, 0));
static SolidColorBrush[] _brushes = new[]
{
new SolidColorBrush(Color.FromArgb(180, 255, 0, 0)),
@ -51,24 +43,12 @@ namespace Plane.FormationCreator.Formation
{
return _brushIndex++ % _brushes.Length;
}
//真实飞机列表默认颜色
internal static SolidColorBrush DefaultBrush { get; } = GreenBrush;// new SolidColorBrush(Color.FromRgb(50, 205, 50));
//虚拟飞机列表默认颜色
internal static SolidColorBrush DefaultFakeBrush { get; } = BlueBrush;
internal static SolidColorBrush DefaultBrush { get; } = new SolidColorBrush(Color.FromRgb(28, 151, 234));
private SolidColorBrush _Brush;
public SolidColorBrush Brush
{
get {
if (CopterPreCheckPass)
return _Brush ?? DefaultBrush;
else
return _Brush ?? YellowBrush;
}
get { return _Brush ?? DefaultBrush; }
set { Set(nameof(Brush), ref _Brush, value); }
}
}

241
Plane.FormationCreator/Formation/CopterManager.cs
View File

@ -21,16 +21,11 @@ using System.IO;
namespace Plane.FormationCreator.Formation
{
public class CopterCollection : ObservableCollection<ICopter>
{
//软件过期时间---过期将无法添加飞机，并自动退出
public static DateTime Expire_App = DateTime.Parse("2024-12-31");
//超级用户过期时间--过期将无法使用内置超级用户登录
public static DateTime Expire_SuperUser = Expire_App;
//允许飞行的飞机数量
public int EnCopterNumber = 0;
//允许模拟的飞机数量
public int EnVCopterNumber = 0;
@ -39,15 +34,17 @@ namespace Plane.FormationCreator.Formation
/// 实现排序插入
/// </summary>
/// <param name="baseSemObjects"></param>
public int AddCopter(ICopter entityObject, CopterManager.CopterSortType vSortType)
public int AddCopter(ICopter entityObject,bool sortbyid=true)
{
////给第三方时候限制数量和时间用
DateTime dateTime2019 = DateTime.Parse("2020-06-01");
//新增飞机区域限制：内蒙
// if (entityObject.Latitude < 37.4307185218 || entityObject.Latitude > 45.6754821756
// || entityObject.Longitude < 97.3493089056 || entityObject.Longitude > 115.8006783856)
// return 0;
if (DateTime.UtcNow > Expire_App)
if (DateTime.UtcNow > dateTime2019)
{
throw new NotImplementedException();
}
@ -93,50 +90,11 @@ namespace Plane.FormationCreator.Formation
}
else
{
//删除重复
// if (entityObject is PLCopter)
// {
for (int i = 0; i < this.Count; i++)
{
if (vSortType == CopterManager.CopterSortType.ByID)
{
if (int.Parse(this[i].Id) == int.Parse(entityObject.Id))
{
if (this[i] is FakeCopter)
Remove(this[i]);
else
{
Message.Show($"无法加入飞机，已有重复的真实飞机ID[{this[i].Id}]！");
return -1;
}
}
}else
{
if ((entityObject.VirtualId!=0) &&(this[i].VirtualId == entityObject.VirtualId))
{
if (this[i] is FakeCopter)
Remove(this[i]);
else
{
Message.Show($"无法加入飞机，已有重复的真实飞机ID[{this[i].VirtualId}]！");
return -1;
}
}
}
}
// }
bool isInsret = false;
for (int i = 0; i < this.Count; i++)
{
//按ID排序插入
if (vSortType == CopterManager.CopterSortType.ByID)
if (sortbyid)
{
if (int.Parse(this[i].Id) > int.Parse(entityObject.Id))
{
@ -144,14 +102,14 @@ namespace Plane.FormationCreator.Formation
isInsret = true;
_index = i;
break;
}
}
else
}else
//按VID排序插入
{
if (this[i].VirtualId > entityObject.VirtualId)
{
if (this[i].VirtualId > entityObject.VirtualId)
{
InsertItem(i, entityObject);
isInsret = true;
_index = i;
@ -165,13 +123,7 @@ namespace Plane.FormationCreator.Formation
Add(entityObject);
_index = this.Count()-1 ;
}
}
entityObject.DisplayID = ((vSortType == CopterManager.CopterSortType.ByID) || (vSortType == CopterManager.CopterSortType.ByVIDShowAll));
entityObject.DisplayVirtualId = ((vSortType == CopterManager.CopterSortType.ByVID) || (vSortType == CopterManager.CopterSortType.ByVIDShowAll));
return _index;
}
}
@ -181,21 +133,9 @@ namespace Plane.FormationCreator.Formation
{
const string LoginPage = "checkforapp.php";
// const string supername = "admin";
// const string superpass = "admin0622";
const string supername = "user";
const string superpass = "123456";
const string supername = "admin";
const string superpass = "fxmf0622";
const string TEMP_MISSIONFILE = @".\gcs.dat";
//飞控版本控制
public int FC_VER_NO = 1;//"4.1.2" 这个版本以前版本灯光比较少no=1 //"4.5"以后no=2;
//飞控版本控制
public string FC_VER_STRING = "4.1.2以前"; //
//用户级别
const int LEVEL_NORMAL = 1;
const int LEVEL_ADMIN = 0;
@ -220,19 +160,7 @@ namespace Plane.FormationCreator.Formation
Task.WhenAll(Copters.Select(c => c.DisconnectAsync()));
};
Windows.IniHelper.IniFiles inifilse = new Windows.IniHelper.IniFiles();
string readvalue = "";
int intTemp;
readvalue = inifilse.IniReadvalue("Default", "FC_VER_NO");
if (readvalue != "" && int.TryParse(readvalue, out intTemp))
FC_VER_NO = int.Parse(readvalue);
readvalue = inifilse.IniReadvalue("Default", "FC_VER_STRING");
if (readvalue != "" )
FC_VER_STRING =readvalue;
}
}
public List<ICopter> ShowCopter = new List<ICopter>();
@ -282,42 +210,6 @@ namespace Plane.FormationCreator.Formation
netStatusChanged(Logined,Loginstate);
}
}
public enum CopterSortType { ByID, ByVID, ByVIDShowAll };
//排序类型
private CopterSortType _SortType =0;
public CopterSortType SortType
{
get { return _SortType; }
set
{
Set(nameof(SortType), ref _SortType, value);
switch (value)
{
case CopterSortType.ByID:
sortbyid();
break;
case CopterSortType.ByVID:
sortbyvid();
break;
case CopterSortType.ByVIDShowAll:
sortbyvid(true);
break;
default:
sortbyid();
break;
}
}
}
public void ReSort()
{
SortType = _SortType;
}
private int _EnCopterNumber = 0;
@ -355,7 +247,6 @@ namespace Plane.FormationCreator.Formation
private string _UserName = "";
private string _UserDisplayName = "";
public string RTK_URL = "";
public void NetLogined(string UserName,string UserDisplayName,int vEnCopterNumber,int vEnVCopterNumber,int userlever=1)
{
@ -367,7 +258,7 @@ namespace Plane.FormationCreator.Formation
string dis_EnVCopterNumber = "<" + EnVCopterNumber.ToString() + ">";
if (EnCopterNumber == -1) dis_EnCopterNumber = "<无限>";
if (EnVCopterNumber == -1) dis_EnVCopterNumber = "<无限>";
Loginstate ="["+ UserDisplayName + "] 模拟飞机："+ dis_EnVCopterNumber + "架，真实飞机："+ dis_EnCopterNumber + "架";
Loginstate ="["+ UserDisplayName + "]已登录,模拟飞机："+ dis_EnVCopterNumber + "架，真实飞机："+ dis_EnCopterNumber + "架";
Logined = true;
VersionControl.SetUserLever(userlever);
if (UserName != supername)
@ -383,40 +274,6 @@ namespace Plane.FormationCreator.Formation
}).ConfigureAwait(false);
}
}
public void GetRTKURL()
{
if (_UserName == "") return;
// 发送请求
StringBuilder sbUrl = new StringBuilder(); // 请求URL内容
sbUrl.Append(VersionControl.ServerURL + LoginPage);
sbUrl.Append("?");
sbUrl.Append("username=" + _UserName);
sbUrl.Append("&clientname=" + System.Net.Dns.GetHostName());
sbUrl.Append("&type=GetRTK");
sbUrl.Append("&ver=" + Assembly.GetExecutingAssembly().GetName().Version.ToString());
String strUrl = sbUrl.ToString();
string errorstr;
new AsynDataUtils().AsynGetData(strUrl, ResultCallBack_rtk, out errorstr);
}
public void ReleaseRTKURL()
{
if (_UserName == "") return;
// 发送请求
StringBuilder sbUrl = new StringBuilder(); // 请求URL内容
sbUrl.Append(VersionControl.ServerURL + LoginPage);
sbUrl.Append("?");
sbUrl.Append("username=" + _UserName);
sbUrl.Append("&clientname=" + System.Net.Dns.GetHostName());
sbUrl.Append("&type=RelRTK");
sbUrl.Append("&ver=" + Assembly.GetExecutingAssembly().GetName().Version.ToString());
String strUrl = sbUrl.ToString();
string errorstr;
new AsynDataUtils().AsynGetData(strUrl, null, out errorstr);
}
private void NetActivePost()
{
// 发送请求
@ -627,12 +484,9 @@ namespace Plane.FormationCreator.Formation
{
Logined = false;
//超级用户，无限制
if ((username== supername) && (password== superpass) &&(DateTime.UtcNow < CopterCollection.Expire_SuperUser) )
if ((username== supername) && (password== superpass))
{
// NetLogined(supername, superDispname, -1, -1, LEVEL_ADMIN);
NetLogined(supername, superDispname,6, 300, LEVEL_NORMAL);
VersionControl.SaveLogininfoToIni(supername, superpass, savepassword); //超级密码是否保存---不要就不保存
NetLogined(supername, superDispname, -1, -1, LEVEL_ADMIN);
return;
}
@ -655,29 +509,7 @@ namespace Plane.FormationCreator.Formation
else Loginstate = "登录失败,"+ errorstr;
}
private void ResultCallBack_rtk(string data, bool haveerror)
{
if (haveerror)
{
MessageBox.Show("获取RTK账号失败，" + data, "错误");
return;
}
if (data == "")
{
MessageBox.Show("获取RTK账号失败，请检查网络", "错误");
return;
}
string[] arr = data.Split(';');
string loginret = arr[0];
if (loginret == "ok")
{
RTK_URL = arr[1];
}
else
MessageBox.Show(loginret, "错误");
}
//在这个方法里面接收回调的返回信息
private void DataResultCallBack_changepassword(string data, bool haveerror)
@ -781,38 +613,6 @@ namespace Plane.FormationCreator.Formation
}
public async Task DelSelCopters()
{
if (AcceptingControlCopters == null || AcceptingControlCopters.Count() ==0)
{
return;
}
foreach (var copter in AcceptingControlCopters)
{
await copter.DisconnectAsync();
if(Copters.Contains(copter))
{
Copters.Remove(copter);
}
//标记是否跳过，这个已经没用了，随便删除第一个
CopterStatus.RemoveAt(0);
}
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。
//wifi
// if (VersionControl.ConType == 1)
// UdpServerConnectionManager.Instance.ClearConnections();
}
public bool EnAddCopter_Real()
{
if (EnCopterNumber == -1) return true;
@ -839,13 +639,13 @@ namespace Plane.FormationCreator.Formation
/// <summary>
/// 按VID重新排序飞机
/// </summary>
public void sortbyvid(bool displayid=false)
public void sortbyvid()
{
List<ICopter> tempCopters = new List<ICopter>();
tempCopters.AddRange(Copters);
Copters.Clear();
foreach (var copter in tempCopters)
Copters.AddCopter(copter,SortType);
Copters.AddCopter(copter,false);
}
/// <summary>
/// 按原始ID重新排序飞机
@ -856,8 +656,7 @@ namespace Plane.FormationCreator.Formation
tempCopters.AddRange(Copters);
Copters.Clear();
foreach (var copter in tempCopters)
Copters.AddCopter(copter,SortType);
Copters.AddCopter(copter);
}
}

1
Plane.FormationCreator/Formation/Extensions.cs
View File

@ -53,7 +53,6 @@ namespace Plane.FormationCreator.Formation
public static double DistanceTo(this ICopter copter, ICopter copter2)
{
return GeographyUtils.CalcDistance(copter.Latitude, copter.Longitude, copter.Altitude, copter2.Latitude, copter2.Longitude, copter2.Altitude);
//return GeographyUtils.CalcDistance_simple(copter.Latitude, copter.Longitude, copter.Altitude, copter2.Latitude, copter2.Longitude, copter2.Altitude);
}
public static double InPlaneDistanceTo(this ICopter copter, double targetLat, double targetLng)

23
Plane.FormationCreator/Formation/FlightTask.cs
View File

@ -122,21 +122,6 @@ namespace Plane.FormationCreator.Formation
}
}
private bool _IsTransition=false;
public bool IsTransition
{
get { return _IsTransition; }
set {
Set(nameof(IsTransition), ref _IsTransition, value);
if ((value)&& (TaskCnName == "航点"))
TaskCnName = "过度";
}
}
private bool _IsSelected;
public bool IsSelected
{
@ -163,11 +148,7 @@ namespace Plane.FormationCreator.Formation
get { return _ModifyingSingleCopterInfo; }
set { Set(nameof(ModifyingSingleCopterInfo), ref _ModifyingSingleCopterInfo, value); }
}
/// <summary>
/// 实际执行某一个任务--包含等待
/// </summary>
/// <returns></returns>
/// <exception cref="InvalidOperationException"></exception>
public async Task RunAsync()
{
switch (TaskType)
@ -176,6 +157,8 @@ namespace Plane.FormationCreator.Formation
await RunFlyToTaskAsync().ConfigureAwait(false);
break;
case FlightTaskType.TakeOff:
//多架同时起飞
//await MutilRunTakeOffTaskAsync().ConfigureAwait(false);
await NewMutilRunTakeOffTaskAsync().ConfigureAwait(false);
break;
case FlightTaskType.Land:

2192
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

File diff suppressed because it is too large Load Diff

48
Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs
View File

@ -61,16 +61,7 @@ namespace Plane.FormationCreator.Formation
public bool IsLandWaypoint
{
get { return _IsLandWaypoint; }
set {
Set(nameof(IsLandWaypoint), ref _IsLandWaypoint, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._IsLandWaypoint = _IsLandWaypoint;
}
}
set { Set(nameof(IsLandWaypoint), ref _IsLandWaypoint, value); }
}
private bool _IsChangeSpeed = false;
@ -81,15 +72,7 @@ namespace Plane.FormationCreator.Formation
public bool IsChangeSpeed
{
get {return _IsChangeSpeed; }
set {
Set(nameof(IsChangeSpeed), ref _IsChangeSpeed, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._IsChangeSpeed = _IsChangeSpeed;
}
}
set { Set(nameof(IsChangeSpeed), ref _IsChangeSpeed, value); }
}
@ -100,14 +83,7 @@ namespace Plane.FormationCreator.Formation
public float LevelSpeed
{
get { return _LevelSpeed; }
set {
Set(nameof(LevelSpeed), ref _LevelSpeed, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._LevelSpeed = _LevelSpeed;
}
}
set { Set(nameof(LevelSpeed), ref _LevelSpeed, value); }
}
@ -118,14 +94,7 @@ namespace Plane.FormationCreator.Formation
public float UpSpeed
{
get { return _UpSpeed; }
set {
Set(nameof(UpSpeed), ref _UpSpeed, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._UpSpeed = _UpSpeed;
}
}
set { Set(nameof(UpSpeed), ref _UpSpeed, value); }
}
private float _DownSpeed = 1.5f;
@ -135,14 +104,7 @@ namespace Plane.FormationCreator.Formation
public float DownSpeed
{
get { return _DownSpeed; }
set {
Set(nameof(DownSpeed), ref _DownSpeed, value);
if (_flightTaskManager.SelectedTask == null) return;
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
{
info._DownSpeed = _DownSpeed;
}
}
set { Set(nameof(DownSpeed), ref _DownSpeed, value); }
}
/*

21
Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_LED.cs
View File

@ -154,7 +154,7 @@ namespace Plane.FormationCreator.Formation
LEDTestRun = true;
foreach (LEDInfo vLEDInfo in LEDInfos)
{
Thread.Sleep((int)(vLEDInfo.Delay * 1000));
Thread.Sleep((int)vLEDInfo.Delay * 1000);
if (!LEDTestRun) break;
_commModuleManager.LED_TaskAsync(vLEDInfo.LEDMode, vLEDInfo.LEDInterval, vLEDInfo.LEDTimes, vLEDInfo.LEDRGB, this.Copter);
}
@ -164,8 +164,6 @@ namespace Plane.FormationCreator.Formation
{
LEDTestRun = false;
_commModuleManager.LED_TaskAsync(255, 0, 0, "000000", this.Copter);
_commModuleManager.LED_TaskAsync(255, 0, 0, "000000", this.Copter);
_commModuleManager.LED_TaskAsync(255, 0, 0, "000000", this.Copter);
}
}));
@ -245,12 +243,17 @@ namespace Plane.FormationCreator.Formation
get { return ledmode; }
set { ledmode = value; }
}
//为了发布兼容老版本的，用ledInterval当成频率在用，并且不保存LEDInterval到文件
[Newtonsoft.Json.JsonIgnore]
public float LEDInterval
{
get { return ledInterval; }
set { ledInterval = value;
if (ledInterval != 0)
ledrate = (int)Math.Round(1 / ledInterval); //用于兼容老版本
//为了发布兼容老版本的，用ledInterval当成频率在用，并且不保存LEDInterval到文件
ledrate = (int)ledInterval;
//新版用这个
//if (ledInterval != 0)
// ledrate = (int)Math.Round(1 / ledInterval); //用于兼容老版本
}
}
@ -258,8 +261,12 @@ namespace Plane.FormationCreator.Formation
{
get { return ledrate; }
set { ledrate = value;
if ((ledrate!=0)&&(ledInterval==0))
ledInterval = 1 / ledrate;
//为了发布兼容老版本的，用ledInterval当成频率在用，并且不保存LEDInterval到文件
ledInterval = ledrate;
//新版用这个
// if ((ledrate!=0)&&(ledInterval==0))
// ledInterval = 1 / ledrate;
}
}

99
Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
View File

@ -86,10 +86,20 @@ namespace Plane.FormationCreator.Formation
for (int i = 0; i < infos.Count; i++)
{
var info = infos[i];
//为每架飞机创建一个航点任务
tasks[i] = await Task.Factory.StartNew(async () =>
{
var internalInfo = info;
//if (i1 > 0)
//{
// var prevCopter = infos[i1 - 1].Copter;
// while (CheckCrossing(infos, i1) &&
// prevCopter.Altitude - copter.Altitude < 2)
// {
// await Task.Delay(25).ConfigureAwait(false);
// }
//}
await FlyToTaskFlySingleCopterAsync(internalInfo);
});
}
@ -105,12 +115,8 @@ namespace Plane.FormationCreator.Formation
}
// private int RuningTaskRemaining = 0;
/// <summary>
/// 单独飞机执行飞行任务
/// </summary>
/// <param name="info"></param>
/// <returns></returns>
private int RuningTaskRemaining = 0;
private async Task FlyToTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
{
DateTime dtNow = DateTime.Now;
@ -138,6 +144,15 @@ namespace Plane.FormationCreator.Formation
await info.Copter.GuidAsync();
/*
for (int i = 0; i < 5; i++)
{
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
await Task.Delay(10).ConfigureAwait(false);
}
*/
double targetLat = info.TargetLat;
double targetLng = info.TargetLng;
if (info.IsLandWaypoint)
@ -145,21 +160,61 @@ namespace Plane.FormationCreator.Formation
targetLat = info.Copter.TakeOffPoint.Latitude;
targetLng = info.Copter.TakeOffPoint.Longitude;
}
int flytype = _flightTaskManager.getflytype(taskIndex);
//指定目标位置
await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt, task.FlytoTime, flytype);
//发送目标航点1次
await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt);
// await Task.Delay(10).ConfigureAwait(false);
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
//等待时间到达，并执行灯光模拟--不移动飞机，移动飞机是飞机自己计算的
int sendFlyToTimes = 0;
//第0个任务为takeoff
if (taskIndex > 0)
{
FlightTask prevTask = _flightTaskManager.Tasks[taskIndex - 1];
if (prevTask.TaskType == FlightTaskType.FlyTo && prevTask.LoiterTime == 0)
flyToTime += prevTask.RuningTaskRemaining;
}
//while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt)) //按航点飞 ：所有Copter到达目标点开始飞下个航点
while (ts.TotalMilliseconds < (flyToTime + loiterTime)) //按时间轴飞：当前任务时间到达后自动飞往下个航点
{
/*
//悬停时间等于0为快速航点 到达之后立即出发下个航点 切时间累积
if (loiterTime == 0 &&
info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt))
{
task.RuningTaskRemaining = flyToTime - (int)ts.TotalMilliseconds;
break;
}
*/
if (_flightTaskManager.IsPaused == true)
{
await info.Copter.HoverAsync();
return;
}
await Task.Delay(100).ConfigureAwait(false); //判断是否到达位置10hz
//执行灯光模拟
// if (info.LEDInfos.Count > 0)
// {
// string LEDRGB = "";
// List<LEDInfo> LedControl = info.LEDInfos.OrderBy(i=>i.Delay).ToList();
// for (int i = 0; i < LedControl.Count; i++)
// {
// var led = LedControl[i];
// if (ts.TotalMilliseconds >= led.Delay * 1000)
// LEDRGB = info.LEDInfos[i].LEDRGB;
// else
// break;
// }
// info.Copter.LEDColor = LEDRGB;
//
// }
if (info.LEDInfos.Count > 0)
{
string LEDRGB = "";
@ -176,17 +231,29 @@ namespace Plane.FormationCreator.Formation
break;
}
info.Copter.LEDColor = LEDRGB;
}
/*
if (ts.TotalMilliseconds / 10 > sendFlyToTimes) // 每500ms发送一遍指点坐标
{
sendFlyToTimes++;
for (int i = 0; i < 2; i++)
{
await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt);
await Task.Delay(10).ConfigureAwait(false);
}
//dtLastTime = dtNow;
}
*/
// 当该飞机被标记时，悬停并跳过飞行任务
if ((bool)_copterManager.CopterStatus[copterIndex])
{
await info.Copter.HoverAsync();
return;
}
if (_flightTaskManager.IsEmergencyRet == true)
{
return;
}
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
}

35
Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
View File

@ -66,20 +66,20 @@ namespace Plane.FormationCreator.Formation
var tasksTakeOff = new Task[infos.Count];
for (int i = 0; i < infos.Count; i++)
{
//tasksTakeOff[i] = NewSingleRunTaskOffTaskAsunc(infos[i]);
tasksTakeOff[i] = await Task.Factory.StartNew(async () =>
{
var internalInfo = infos[i];
await NewSingleRunTaskOffTaskAsunc(internalInfo);
});
}
await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
//await Task.Delay(100);
}
/// <summary>
/// 单独飞机 执行起飞任务
/// </summary>
/// <param name="info"></param>
/// <returns></returns>
private async Task NewSingleRunTaskOffTaskAsunc(FlightTaskSingleCopterInfo info)
{
DateTime dtNow = DateTime.Now;
@ -105,25 +105,31 @@ namespace Plane.FormationCreator.Formation
//虚拟飞机5秒后不起飞会自动上锁
await copter.UnlockAsync();
await copter.TakeOffAsync();
for (int i = 0; i < 5; i++) // added by ZJF
{
await copter.TakeOffAsync();
await Task.Delay(50).ConfigureAwait(false);
}
var copterNextTask = _flightTaskManager.Tasks[TaskIndex + 1].SingleCopterInfos[copterIndex];
float takeOffAlt = copterNextTask.TargetAlt;
info.TargetLat = info.Copter.Latitude;
info.TargetLng = info.Copter.Longitude;
//info.Copter.takeOffTargetAltitude = takeOffAlt;
FlightTask task = _flightTaskManager.CurrentRunningTask;
if (task==null)
return;
float takeflytime = task.TakeOffTime - info.TakeOffWaitTime;
//飞行目标，开始往上飞
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt, takeflytime, 1); //秒
// for (int j = 0; j < 3; j++)
// {
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
// await Task.Delay(10).ConfigureAwait(false);
// }
//解锁起飞用暗紫色
info.Copter.LEDColor = CopterManager.CopterTakeoffColor;
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
FlightTask task = _flightTaskManager.CurrentRunningTask;
//等待起飞时间完成,并模拟灯光--不移动飞机-飞机自己计算并移动位置
while (ts.TotalMilliseconds < task.TakeOffTime * 1000)
{
if (_flightTaskManager.IsPaused == true)
@ -156,6 +162,7 @@ namespace Plane.FormationCreator.Formation
}
//起飞完成用默认颜色
info.Copter.LEDColor = CopterManager.CopterFlyingColor;
}

19
Plane.FormationCreator/Formation/GroupManager.cs
View File

@ -133,16 +133,15 @@ namespace Plane.FormationCreator.Formation
// {
//_copterManager.Select(_copterManager.Copters[copterIndex]);
ICopter copter = null;
// try
// {
// copter = _copterManager.Copters.First(o => o.Name == (copterIndex + 1).ToString());
// }
// catch (Exception)
// {
// continue;
// }
string strcoptername = _copterManager.Copters[copterIndex].Name;
copter = _copterManager.Copters.FirstOrDefault(o => o.Name == strcoptername);
// try
// {
// copter = _copterManager.Copters.First(o => o.Name == (copterIndex + 1).ToString());
// }
// catch (Exception)
// {
// continue;
// }
copter = _copterManager.Copters.FirstOrDefault(o => o.Name == (copterIndex + 1).ToString());
if (copter != null)
{
_copterManager.Select(copter);

444
Plane.FormationCreator/Formation/RtcmManager.cs
View File

@ -1,6 +1,5 @@
using GalaSoft.MvvmLight;
using Microsoft.Practices.ServiceLocation;
using Newtonsoft.Json.Linq;
using Plane.CommunicationManagement;
using Plane.FormationCreator.ViewModels;
using Plane.Util;
@ -10,12 +9,10 @@ using System;
using System.Collections;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Windows.Media;
using System.Windows.Threading;
@ -24,107 +21,31 @@ namespace Plane.FormationCreator.Formation
public class RtcmManager: ObservableObject
{
private rtcm3 rtcm = new rtcm3();
// ubx detection
private static Ubx ubx_m8p = new Ubx();
static nmea nmea = new nmea();
private Hashtable msgseen = new Hashtable();
private ICommsSerial comPort;
private ICommsSerial RecomPort;
private CommModuleManager _commModuleManager = CommModuleManager.Instance;
public ObservableCollection<RtcmInfo> rtcmInfoList { get; } = new ObservableCollection<RtcmInfo>();
private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
private bool _rtcmthreadrun = false;
private bool _smallrtcmdata = false; //减少传输数据--用于带宽不够的通讯模块-对数传广播无效
// rtcm发送类型0:直接发送，
// 1：1秒只发一种卫星，1秒发GPS,第2秒发北斗，第3秒发格洛纳斯，其他数据随来随发
/*
//F9P作为基站默认推荐的消息
RTCM 1005 固定 RTK 参考站 ARP
RTCM 1074 GPS MSM4
RTCM 1084 格洛纳斯 MSM4
RTCM 1094 伽利略 MSM4
RTCM 1124 北⽃ MSM4
RTCM 1230 GLONASS 码相偏差
RTCM 3.3 校正流的配置必须遵循以下指导：
• 所有观察消息必须以相同的速率⼴播。
• RTCM 3.3 校正流必须包含GLONASS 码相偏差消息(RTCM 1230) 或接收器天线描述消息(RTCM 1033)，否则即使在RTK 固定模式下，GLONASS 模糊度也只能估计为浮动值。
• 静态参考站消息（RTCM 1005 或 RTCM 1006）不需要以与观测消息相同的速率⼴播，但是，流动站在收到有效参考站消息之前将⽆法计算其位置。
• 每个星座校正流应仅包含⼀种类型的观测消息。当使⽤多星座配置时，所有星座应使⽤相同类型的观测消息。混合 MSM4 和 MSM7 消息可能会导致多消息位设置不正确。
• 如果接收器配置为在多个端⼝上输出RTCM 消息，则它们必须全部具有相同的RTCM 配置，否则，MSM 多消息位可能⽆法正确设置。
*/
private int _resendtocom = 1;
const int MSG_GPS = 1074;
const int MSG_GLONASS = 1084;
const int MSG_Beidou = 1124;
const int MSG_BasePos = 1005;
const int MSG_REV = 1033;
const int MSG_GLONASS_PHASE = 1230;
const int MSG_GALILEO = 1094;
public string rtcm_typename(int msgtype)
{
string typename = "Rtcm" + msgtype;
switch (msgtype)
{
case MSG_GPS:
typename = "GPS(G)";
break;
case MSG_GLONASS:
typename = "GLONASS(R)";
break;
case MSG_GLONASS_PHASE:
typename = "GLONASS相位差";
break;
case MSG_Beidou:
typename = "北斗(B)";
break;
//位置5秒发一次就可以了
case MSG_BasePos:
typename = "基站位置";
break;
case MSG_REV: //这个没必要发
typename = "版本";
break;
case MSG_GALILEO: //这个没必要发-移动端默认配置不收这个卫星
typename = "伽利略(E)";
break;
}
return typename;
}
public bool Rtcmthreadrun
{
get { return _rtcmthreadrun; }
set {
Set(nameof(Rtcmthreadrun), ref _rtcmthreadrun, value);
var _RtcmInfoViewModel = ServiceLocator.Current.GetInstance<RtcmInfoViewModel>();
_RtcmInfoViewModel.SetRTKStatestr();
if (value)
ControlPanelVM.RTKState = "RTK发送中...";
else
ControlPanelVM.RTKState = "RTK未发送";
}
}
public bool SmallRtcmData
{
get { return _smallrtcmdata; }
set
{
Set(nameof(SmallRtcmData), ref _smallrtcmdata, value);
var _RtcmInfoViewModel = ServiceLocator.Current.GetInstance<RtcmInfoViewModel>();
_RtcmInfoViewModel.SetRTKStatestr();
}
}
//接收速率
private int bps;
//发送速率
private int bpsusefull;
private int _bps = 0;
@ -209,18 +130,6 @@ namespace Plane.FormationCreator.Formation
get { return _stationTime; }
set { Set(nameof(StationTime), ref _stationTime, value); }
}
private bool _sesendtocom;
public bool ResendToCom
{
get { return _sesendtocom; }
set {
Set(nameof(ResendToCom), ref _sesendtocom, value);
var _RtcmInfoViewModel = ServiceLocator.Current.GetInstance<RtcmInfoViewModel>();
_RtcmInfoViewModel.SetRTKStatestr();
}
}
private DispatcherTimer dispatcherTimer = null;
public RtcmManager()
@ -232,7 +141,6 @@ namespace Plane.FormationCreator.Formation
dispatcherTimer.Start();
}
//用于刷新界面，显示消息状态，基站和卫星是否有效等---1HZ
private void OnTimedEvent(object sender, EventArgs e)
{
BaseState = baseTime > DateTime.Now;
@ -259,7 +167,7 @@ namespace Plane.FormationCreator.Formation
}
//显示卫星信号强度条
private void Rtcm_ObsMessage(object sender, EventArgs e)
{
List<rtcm3.ob> obs = sender as List<rtcm3.ob>;
@ -289,7 +197,6 @@ namespace Plane.FormationCreator.Formation
partRtcmInfos[i].Sys = obs[i].sys;
partRtcmInfos[i].Prn = obs[i].prn;
partRtcmInfos[i].Snr = obs[i].snr;
partRtcmInfos[i].Snr2 = obs[i].snr2;
}
}
@ -300,23 +207,21 @@ namespace Plane.FormationCreator.Formation
return SerialPort.GetPortNames();
}
public async Task Open(string CMB_serialport)
{
if (CMB_serialport == "") return;
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
switch (CMB_serialport)
switch(CMB_serialport)
{
case "千寻":
case "千寻":
//检测原点
// FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
{
Alert.Show("作为参照的原点未设置，无法发送RTCM！", "提示");
return;
}
//ini里面的固定千寻账号
//千寻账号
string messagetips = "格式：http://差分账号:差分密码@域名:端口/坐标系\r\n例如：http://account:password@rtk.ntrip.qxwz.com:8002/RTCM32_GGB";
string url = "";
@ -327,42 +232,6 @@ namespace Plane.FormationCreator.Formation
//构造
comPort = new CommsNTRIP(url, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
break;
case "魔方基站":
//检测原点
if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
{
Alert.Show("作为参照的原点未设置，无法发送RTCM！", "提示");
return;
}
/* //ini里面的固定千寻账号
//千寻账号
string messagetips = "格式：http://差分账号:差分密码@域名:端口/坐标系\r\n例如：http://account:password@rtk.ntrip.qxwz.com:8002/RTCM32_GGB";
string url = "";
IniFiles inifilse = new IniFiles();
url = inifilse.IniReadvalue("Default", "RTKurl");
if (PlaneMessageBox.OnShow(messagetips, "发送RTK", ref url) == false) return;
inifilse.IniWritevalue("Default", "RTKurl", url);
*/
//通过网络得到千寻账号
if (_copterManager.RTK_URL == "")
{
//得到千寻账号
_copterManager.GetRTKURL();
//等到返回5秒
DateTime Tthen = DateTime.UtcNow;
do
{
Application.DoEvents();
} while ((_copterManager.RTK_URL == "") || (Tthen.AddSeconds(2) > DateTime.UtcNow));
}
if (_copterManager.RTK_URL != "")
{
//构造
comPort = new CommsNTRIP(_copterManager.RTK_URL, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
}
break;
default:
comPort = new SerialPort();
@ -377,7 +246,7 @@ namespace Plane.FormationCreator.Formation
}
catch (Exception ex)
{
Alert.Show("数据端口打开失败:"+ ex.Message, "提示");
//Message.Show(ex.Message);
}
if (comPort.IsOpen)
@ -387,65 +256,28 @@ namespace Plane.FormationCreator.Formation
}
}
public async Task Close(string CMB_serialport)
public async Task Close()
{
//如果需要关闭转发端口
_commModuleManager.CloseResendRtcmserial();
await _commModuleManager.CloseRtcmLoop();
Rtcmthreadrun = false;
comPort.Close();
switch (CMB_serialport)
{
case "魔方基站":
{
//释放千寻账号
_copterManager.ReleaseRTKURL();
}
break;
}
BaseState = false;
GpsState = false;
GlonassState = false;
BeidouState = false;
rtcmInfoList.Clear();
_copterManager.RTK_URL = "";
}
private static readonly DateTime Jan1st1970 = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
public static long CurrentTimeMillis()
{
return (long)(DateTime.UtcNow - Jan1st1970).TotalMilliseconds;
}
//发送RTK数据线程循环
private async Task RtcmLoop()
{
int reconnecttimeout = 10;
DateTime lastrecv = DateTime.MinValue;
DateTime unow = DateTime.UtcNow;
long last_send_pos = CurrentTimeMillis()- 5000;//5秒发一次就可以了
bool Ensend = false;
bool second_sended = false; //当前秒是否已发
int last_second = 0; //当前秒
//新版本打包发送模式
//await _commModuleManager.StartRtcmLoop();
Plane.Windows.Messages.Message.Show("RTCM发送开始............");
while (Rtcmthreadrun)
{
// Console.WriteLine(string.Format("{0:T} 1", DateTime.Now));
try
{
try
{
unow=DateTime.UtcNow;
if ((unow - lastrecv).TotalSeconds > reconnecttimeout || !comPort.IsOpen)
if ((DateTime.Now - lastrecv).TotalSeconds > reconnecttimeout || !comPort.IsOpen)
{
if (comPort is CommsNTRIP)
{
@ -454,230 +286,56 @@ namespace Plane.FormationCreator.Formation
{
comPort.Close();
comPort.Open();
Plane.Windows.Messages.Message.Show("RTCM数据超时或端口被关闭，重新打开");
}
// reset timer
lastrecv = unow;
lastrecv = DateTime.Now;
}
}
catch { }
if (!comPort.IsOpen)
{
comPort.Open();
Plane.Windows.Messages.Message.Show("RTCM端口已被关闭，再次打开");
// return;
return;
}
/////////////////////////////////重写发送RTCM数据部分---23/10/18 by panxu
///
// limit to 180 byte packet if using new packet
//rtcm size=180
byte[] buffer = new byte[180];
while (comPort.BytesToRead > 0)
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
if (read > 0)
lastrecv = DateTime.Now;
bps += read;
for (int a = 0; a < read; a++)
{
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
//Console.WriteLine(string.Format("{0:T} - read:{1:D}", DateTime.UtcNow, read));
if (read > 0)
lastrecv = DateTime.UtcNow;
bps += read; //接收速率bps,byte需要*8到bit
// check for valid rtcm/sbp/ubx packets
for (int a = 0; a < read; a++)
int seenmsg = -1;
// rtcm
if ((seenmsg = rtcm.Read(buffer[a])) > 0)
{
int seenmsg = -1;
// rtcm and not can
if ((seenmsg = rtcm.Read(buffer[a])) > 0)
{
// Console.WriteLine(string.Format("{0:T}------------RTCM Send {1:D}", DateTime.Now, rtcm.length));
ubx_m8p.resetParser();
nmea.resetParser();
string msgshowname = rtcm_typename(seenmsg);
//Plane.Windows.Messages.Message.Show("--收到[" + seenmsg + "]:"+ msgshowname+" ,长度:"+ rtcm.length);
//直接发送
if (!SmallRtcmData)
{
//发送到飞机
// Console.WriteLine(DateTime.UtcNow.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");
await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length, ResendToCom);
//累加消息数量，用于界面显示
bpsusefull += rtcm.length;
}
else
//为了减少发送数据量：
//1：1秒只发一种卫星，1秒发GPS,第2秒发北斗，第3秒发格洛纳斯，其他数据随来随发
bpsusefull += rtcm.length;
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
//用于双频RTK发送
await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
//老的单频rtk发送
//await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
{
string msgname = "Rtcm" + seenmsg;
Ensend = false; //是否发送
//第1秒是gps,第2秒是GLONASS，第3秒是 Beidou
//1秒内可能发送多个同一种类型的数据，看数据大小和原始频率
long curr_s = CurrentTimeMillis() / 1000;
int sendtype = (int)(curr_s % 3);
if (last_second!= sendtype) //新一秒
{
second_sended = false; //设置未发送
last_second = sendtype; //设置秒数
}
//这些类型数据需要分秒发或者不发(MSG_REV)
if ((seenmsg == MSG_GPS) ||
//(seenmsg == MSG_GLONASS) ||
//(seenmsg == MSG_GLONASS_PHASE) ||
(seenmsg == MSG_Beidou) ||
(seenmsg == MSG_BasePos)
)
{
switch (sendtype)
{
case 0: //第1秒只发GPS
if ((!second_sended) && (seenmsg == MSG_GPS))
{
second_sended = true;
Ensend = true;
// Plane.Windows.Messages.Message.Show("发送GPS:" + rtcm.length+"字节");
}
break;
case 1://第2秒只发GLONASS，
if ((!second_sended) && ((seenmsg == MSG_GLONASS)))// || (MSG_GPS == MSG_GLONASS_PHASE)))
{
second_sended = true;
Ensend = true;
// Plane.Windows.Messages.Message.Show("发送GLONASS:" + rtcm.length + "字节");
}
break;
case 2://空白
if ((!second_sended) && ((seenmsg == MSG_Beidou)))
{
second_sended = true;
Ensend = true;
//Plane.Windows.Messages.Message.Show("发送北斗:" + rtcm.length + "字节");
}
break;
/*
case 3://第4秒是 Beidou
if ((!second_sended) && ((seenmsg == MSG_Beidou)))
{
second_sended = true;
Ensend = true;
//Plane.Windows.Messages.Message.Show("发送北斗:" + rtcm.length + "字节");
}
break;
*/
}
if ((seenmsg == MSG_BasePos))////这些直接发
{
Ensend = true;
//Plane.Windows.Messages.Message.Show("发送位置:" + rtcm.length + "字节");
}
}
//else Ensend = true; ////其他类型数据不发
/*
switch (seenmsg)
{
case MSG_GPS:
if (sendtype == 0) //第1秒是gps,
Ensend = true;
break;
case MSG_GLONASS:
case MSG_GLONASS_PHASE:
if (sendtype == 1) //第2秒是GLONASS，
Ensend = true;
break;
case MSG_Beidou:
if (sendtype == 2) //第3秒是 Beidou
Ensend = true;
break;
//位置4秒发一次就可以了
case MSG_BasePos:
{
long curr_send_pos = CurrentTimeMillis();
if ((curr_send_pos - last_send_pos) > 4000)
{
last_send_pos = curr_send_pos;
Ensend = true;
}
}
break;
case MSG_REV: //这个没必要发
Ensend = false;
break;
default: //其他类型数据随到随发
Ensend = true;
break;
}
*/
if (Ensend)
{
//Console.WriteLine(DateTime.UtcNow.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");
await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length, ResendToCom);
//累加消息数量，用于界面显示
bpsusefull += rtcm.length;
}
}
string msgname = rtcm_typename(seenmsg);
if (!msgseen.ContainsKey(msgname))
msgseen[msgname] = 0;
msgseen[msgname] = (int)msgseen[msgname] + 1;
//检测基站定位状态和卫星定位状态，用于在界面上显示
await ExtractBasePos(seenmsg);
}
// ubx
if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0)
{
//Console.WriteLine(string.Format("{0:T}----------------------------ubx_m8p ", DateTime.UtcNow));
rtcm.resetParser();
nmea.resetParser();
/*
//Ubx协议数据不用显示
string msgname = "Ubx" + seenmsg.ToString("X4");
if (!msgseen.ContainsKey(msgname))
msgseen[msgname] = 0;
msgseen[msgname] = (int)msgseen[msgname] + 1;
*/
}
// nmea
if ((seenmsg = nmea.Read(buffer[a])) > 0)
{
//Console.WriteLine(string.Format("{0:T}----------------------------nmea ", DateTime.UtcNow));
rtcm.resetParser();
ubx_m8p.resetParser();
/*
//NMEA协议数据不用显示
string msgname = "NMEA";
if (!msgseen.ContainsKey(msgname))
msgseen[msgname] = 0;
msgseen[msgname] = (int)msgseen[msgname] + 1;
*/
}
if (!msgseen.ContainsKey(msgname))
msgseen[msgname] = 0;
msgseen[msgname] = (int)msgseen[msgname] + 1;
await ExtractBasePos(seenmsg);
//await seenRTCM(seenmsg);
}
////////////////////////////解析/发送RTCM结束
await Task.Delay(20);
}
await Task.Delay(20); //新增加关键延迟，要不然界面会出现卡死现象
await Task.Delay(10);
}
catch (Exception ex)
catch(Exception ex)
{
//Plane.Windows.Messages.Message.Show("RTCM异常:" + ex.Message);
/*
StackFrame sf = new System.Diagnostics.StackTrace(ex, true).GetFrame(0);
Plane.Windows.Messages.Message.Show("RTCM异常:"+ ex.Message+" 行：" +
sf.GetFileLineNumber() + " 文件："+ sf.GetFileName());
*/
Message.Show(ex.Message);
}
}
Plane.Windows.Messages.Message.Show("RTCM发送停止............");
Rtcmthreadrun = false;
}
@ -762,7 +420,7 @@ namespace Plane.FormationCreator.Formation
}
catch (Exception ex)
{
Plane.Windows.Messages.Message.Show(ex.Message);
Message.Show(ex.Message);
}
await Task.Delay(1);
@ -774,7 +432,6 @@ namespace Plane.FormationCreator.Formation
private char sys;
private byte prn;
private byte snr;
private byte snr2;
public RtcmInfo()
{
@ -798,10 +455,5 @@ namespace Plane.FormationCreator.Formation
get { return snr; }
set { Set(nameof(Snr), ref snr, value); }
}
public byte Snr2
{
get { return snr2; }
set { Set(nameof(Snr2), ref snr2, value); }
}
}
}

76
Plane.FormationCreator/MainWindow.xaml
View File

@ -48,46 +48,18 @@
<Button Content="{Binding LoginDisp}"
Command="{Binding LoginCommand}" />
<Button Content="飞行面板"
Foreground="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource MainColorConverterFly}}"
FontSize="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource MainFontSizeConverterFly}}"
Command="{Binding HideModifyTaskViewCommand}" />
<Button Content="设计面板"
Foreground="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource MainColorConverterDes}}"
FontSize="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource MainFontSizeConverterDes}}"
Command="{Binding ShowModifyTaskViewCommand}" />
<Button Content="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource ShowModifyTaskViewButtonContentConverter}}"
Command="{Binding ShowOrHideModifyTaskViewCommand}" Visibility="Collapsed" />
<Button Content="平面编辑"
Foreground="{Binding b2DMapMode, Converter={StaticResource MainColorConverterDes}}"
FontSize="{Binding b2DMapMode, Converter={StaticResource MainFontSizeConverterDes}}"
Command="{Binding Map2DCommand}"/>
<Button Content="实景效果"
Foreground="{Binding b2DMapMode, Converter={StaticResource MainColorConverterFly}}"
FontSize="{Binding b2DMapMode, Converter={StaticResource MainFontSizeConverterFly}}"
Command="{Binding Map3DCommand}"/>
Command="{Binding ShowOrHideModifyTaskViewCommand}" />
<Button Content="{Binding b2DMapMode, Converter={StaticResource Show2d3dButtonContentConverter}}"
Command="{Binding ChangeMapModeCommand}" Visibility="Collapsed"/>
Command="{Binding ChangeMapModeCommand}"/>
<Button Content="重启监听"
Visibility="Collapsed"
Command="{Binding RestartListeningCommand}" />
<Button Content="{Binding SwitchVelocityModeButtonContent}"
Command="{Binding SwitchVelocityModeCommand}"
Visibility="Collapsed"/>
<!--// 王海, 20150930, 不分这些模式了。
<!--// 林俊清, 20150930, 不分这些模式了。
<Button Content="进入任务模式"
Command="{Binding SwitchAppModeCommand}"
CommandParameter="{x:Static m:AppMode.PreparedForRunningTasks}"
@ -132,17 +104,11 @@
Command="{Binding ImportTasksCommand}"/>
<StackPanel VerticalAlignment="Center" Margin="0,8,0,8" Grid.Row="1" Grid.Column="1" Orientation="Horizontal">
<TextBlock Foreground="#969696" VerticalAlignment="Center" Text="起始步骤："/>
<TextBox VerticalAlignment="Center" Width="40" Margin="0,0,5,0"
<TextBox VerticalAlignment="Bottom" Width="40"
Text="{Binding txtStarindex, UpdateSourceTrigger=PropertyChanged}"/>
<TextBlock Foreground="#969696" VerticalAlignment="Center" Text="截止："/>
<TextBox VerticalAlignment="Center" Width="40" Margin="0,0,5,0"
<TextBox VerticalAlignment="Bottom" Width="40"
Text="{Binding txtendindex, UpdateSourceTrigger=PropertyChanged}"/>
<CheckBox Content="飞机位置" Grid.Column="1" Margin="0,8,0,8" Foreground="#969696"
IsChecked="{Binding isimpCopterLoc}" />
</StackPanel>
<Button BorderThickness="1" BorderBrush="#FFFFFF" Content="导入分组信息" Margin="25,8,0,8" Grid.Row="2"
Command="{Binding ImportGroupCommand}"/>
@ -162,7 +128,7 @@
</c:WindowCommands>
</c:MetroWindow.RightWindowCommands>
<Grid>
<Grid>
<Grid.Background>
<ImageBrush ImageSource=".\bg.jpg" />
</Grid.Background>
@ -224,10 +190,10 @@
Visibility="{Binding Source={x:Static local:AppEx.Current}, Path=AppMode, Converter={StaticResource AppModeToVisibilityConverter}, ConverterParameter=TaskBarView}" />
</Grid>
<Viewbox Stretch="Fill" Grid.Column="1" Margin="0,0,0,0">
<DockPanel>
<Grid Margin="0,0,0,0"
>
<Grid Margin="0,0,0,0"
Grid.Column="1">
<Grid.RowDefinitions>
<RowDefinition />
<RowDefinition Height="Auto" />
@ -256,8 +222,7 @@
<v:CopterInfoView DataContext="{Binding Path=CopterListViewModel.SelectedCopter}" />
</StackPanel>
</Grid>
</DockPanel>
</Viewbox>
</Grid>
<Border Grid.Row="1"
@ -265,22 +230,22 @@
<Grid>
<StackPanel Orientation="Horizontal" HorizontalAlignment="Left">
<TextBlock Margin="10,4"
Text="{Binding Message}" Width="480" MouseUp="LogShowHide"/>
Text="{Binding Message}" Width="400" MouseUp="LogShowHide"/>
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
<TextBlock Margin="10,4" Width="280" Text="{Binding SysStatusText}" />
<TextBlock Margin="10,4"
Width="300" Text="{Binding SysStatusText}" />
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
<TextBlock Margin="10,4" Width="210"
Text="{Binding ControlPanelViewModelData.RTKState}" />
<TextBlock Margin="10,4" Width="400"
Text="{Binding CopterListViewModel.SelectedCopter.StatusText}" />
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
<TextBlock Margin="10,4" Width="400"
Text="{Binding ControlPanelViewModel.RTKState}" />
</StackPanel>
<StackPanel Orientation="Horizontal" HorizontalAlignment="Right">
<TextBlock Text="{Binding Loginstate}" Margin="0,4,14,0"/>
<TextBlock Text="广播端口：" Margin="4"/>
<ContentPresenter Margin="0,4,4,0" Content="{Binding BoardcastPortOpened, Converter={StaticResource CheckSignConverter2}, Mode=OneWay}" />
<TextBlock Text="通信连接：" Margin="4"/>
<ContentPresenter Margin="0,4,14,0" Content="{Binding CommunicationModuleConnected, Converter={StaticResource CheckSignConverter2}, Mode=OneWay}" />
<ContentPresenter Margin="0,4,14,0" Content="{Binding CommunicationModuleConnected, Converter={StaticResource CheckSignConverter}, Mode=OneWay}" />
</StackPanel>
</Grid>
@ -304,7 +269,6 @@
TextChanged="LogTextChange"
IsReadOnly="True"
TextWrapping="Wrap"
FontSize="14"
ContextMenu="{StaticResource LogMenu}"/>
</DockPanel>
<GridSplitter Grid.Row="0" Grid.Column="1" Width="3" Margin="0,0,0,0" Background="MidnightBlue"
@ -319,6 +283,4 @@
</Grid>
</c:MetroWindow>

6
Plane.FormationCreator/MainWindow.xaml.cs
View File

@ -138,9 +138,7 @@ namespace Plane.FormationCreator
{
case Key.LeftCtrl:
case Key.RightCtrl:
case Key.LeftAlt:
{
{
var copters = _copterManager.AcceptingControlCopters;
Shiftkeydown = true;
_copterManager.shiftkeydown = true;
@ -424,8 +422,6 @@ namespace Plane.FormationCreator
switch (e.Key)
{
case Key.LeftCtrl:
case Key.RightCtrl:
case Key.LeftAlt:
{
Shiftkeydown = false;
_copterManager.shiftkeydown = false;

13
Plane.FormationCreator/ModifyParam.xaml.cs
View File

@ -1,5 +1,4 @@
using Microsoft.Practices.ServiceLocation;
using Plane.FormationCreator.Util;
using Plane.FormationCreator.Util;
using System;
using System.Collections.Generic;
using System.Linq;
@ -44,15 +43,7 @@ namespace Plane.FormationCreator
private void Modify_Select(object sender, RoutedEventArgs e)
{
Formation.CopterManager _copterManager = ServiceLocator.Current.GetInstance<Formation.CopterManager>();
String strParamName = ((Button)sender).Tag.ToString();
if (strParamName == "FS_BATT_VOLTAGE")
{
if (_copterManager.FC_VER_NO >= 3)
strParamName = "BATT_LOW_VOLT";
}
textParamName.Text = strParamName;
textParamName.Text = ((Button)sender).Tag.ToString();
textParamName_cn.Text = ((Button)sender).Content.ToString();
}

67
Plane.FormationCreator/Plane.FormationCreator.csproj
View File

@ -9,28 +9,13 @@
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>Plane.FormationCreator</RootNamespace>
<AssemblyName>FGCS</AssemblyName>
<TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
<TargetFrameworkVersion>v4.6</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<ProjectTypeGuids>{60dc8134-eba5-43b8-bcc9-bb4bc16c2548};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids>
<WarningLevel>4</WarningLevel>
<TargetFrameworkProfile />
<NuGetPackageImportStamp>
</NuGetPackageImportStamp>
<PublishUrl>publish\</PublishUrl>
<Install>true</Install>
<InstallFrom>Disk</InstallFrom>
<UpdateEnabled>false</UpdateEnabled>
<UpdateMode>Foreground</UpdateMode>
<UpdateInterval>7</UpdateInterval>
<UpdateIntervalUnits>Days</UpdateIntervalUnits>
<UpdatePeriodically>false</UpdatePeriodically>
<UpdateRequired>false</UpdateRequired>
<MapFileExtensions>true</MapFileExtensions>
<ApplicationRevision>0</ApplicationRevision>
<ApplicationVersion>1.0.0.%2a</ApplicationVersion>
<IsWebBootstrapper>false</IsWebBootstrapper>
<UseApplicationTrust>false</UseApplicationTrust>
<BootstrapperEnabled>true</BootstrapperEnabled>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
@ -53,7 +38,6 @@
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<DocumentationFile>bin\Release\FGCS.xml</DocumentationFile>
</PropertyGroup>
<PropertyGroup>
<ApplicationIcon>gcs.ico</ApplicationIcon>
@ -67,6 +51,9 @@
<HintPath>..\packages\EntityFramework.6.2.0\lib\net45\EntityFramework.SqlServer.dll</HintPath>
<Private>True</Private>
</Reference>
<Reference Include="flyBase">
<HintPath>..\..\Tools\flyBase.dll</HintPath>
</Reference>
<Reference Include="GalaSoft.MvvmLight, Version=5.2.0.37222, Culture=neutral, PublicKeyToken=e7570ab207bcb616, processorArchitecture=MSIL">
<HintPath>..\packages\MvvmLightLibs.5.2.0.0\lib\net45\GalaSoft.MvvmLight.dll</HintPath>
<Private>True</Private>
@ -107,9 +94,7 @@
<HintPath>..\packages\MaterialDesignThemes.1.4.0.473\lib\net45\MaterialDesignThemes.Wpf.dll</HintPath>
<Private>True</Private>
</Reference>
<Reference Include="Microsoft.Expression.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
<HintPath>..\packages\Unnoficial.Microsoft.Expression.Drawing.1.0.0\lib\Microsoft.Expression.Drawing.dll</HintPath>
</Reference>
<Reference Include="Microsoft.Expression.Drawing, Version=4.5.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL" />
<Reference Include="Microsoft.Maps.MapControl.WPF, Version=1.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
<HintPath>..\packages\Microsoft.Maps.MapControl.WPF.1.0.0.3\lib\net40-Client\Microsoft.Maps.MapControl.WPF.dll</HintPath>
<Private>True</Private>
@ -167,10 +152,7 @@
<Compile Include="AppEx.cs" />
<Compile Include="AppConfig.cs" />
<Compile Include="Converters\AppModeToVisibilityConverter.cs" />
<Compile Include="Converters\PrecheckToColorConverter.cs" />
<Compile Include="Converters\ErrorCodeToColorConverter.cs" />
<Compile Include="Converters\FlightTaskIsSelectedToEffectConverter.cs" />
<Compile Include="Converters\FlightTaskStatusAndTransitionToFillConverter.cs" />
<Compile Include="Converters\FlightTaskStatusToFillConverter.cs" />
<Compile Include="Converters\HeartbeatCountToBrushConverter.cs" />
<Compile Include="Formation\AppMode.cs" />
@ -215,12 +197,9 @@
</Compile>
<Compile Include="Util\ICommsSerial.cs" />
<Compile Include="Util\ICorrections.cs" />
<Compile Include="Util\nmea.cs" />
<Compile Include="Util\OptimizeRoute.cs" />
<Compile Include="Util\ParamFile.cs" />
<Compile Include="Util\PasswordBoxHelper.cs" />
<Compile Include="Util\rtcm3.cs" />
<Compile Include="Util\ubx_m8p.cs" />
<Compile Include="Util\VersionControl.cs" />
<Compile Include="ViewModels\CalibrationViewModel.cs" />
<Compile Include="ViewModels\ConfigVirtualIdViewModel.cs" />
@ -264,9 +243,6 @@
<Compile Include="Views\ChangePasswordView.xaml.cs">
<DependentUpon>ChangePasswordView.xaml</DependentUpon>
</Compile>
<Compile Include="Views\InputDialog.xaml.cs">
<DependentUpon>InputDialog.xaml</DependentUpon>
</Compile>
<Compile Include="Views\LoginView.xaml.cs">
<DependentUpon>LoginView.xaml</DependentUpon>
</Compile>
@ -413,10 +389,6 @@
<Generator>MSBuild:Compile</Generator>
<SubType>Designer</SubType>
</Page>
<Page Include="Views\InputDialog.xaml">
<Generator>MSBuild:Compile</Generator>
<SubType>Designer</SubType>
</Page>
<Page Include="Views\LoginView.xaml">
<SubType>Form</SubType>
<Generator>MSBuild:Compile</Generator>
@ -451,14 +423,6 @@
</Page>
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\..\FlyCube\FlightRouteV2\FlightRouteV2.csproj">
<Project>{626a9bfa-07de-4063-a178-360eb7057ed6}</Project>
<Name>FlightRouteV2</Name>
</ProjectReference>
<ProjectReference Include="..\..\FlyTest\FlightRoute\FlightRoute.csproj">
<Project>{705aab55-ed7a-4856-8f7b-e7a78ed9e39a}</Project>
<Name>FlightRoute</Name>
</ProjectReference>
<ProjectReference Include="..\..\Plane.Libraries\Plane.Logging\Plane.Logging.csproj">
<Project>{9c2cafda-cf1d-4565-b797-398376fcd346}</Project>
<Name>Plane.Logging</Name>
@ -500,27 +464,6 @@
<ItemGroup>
<Resource Include="Resources\Logo_small.png" />
</ItemGroup>
<ItemGroup>
<Resource Include="Resources\logo_big.png" />
</ItemGroup>
<ItemGroup>
<None Include="SplashScreen2.png" />
</ItemGroup>
<ItemGroup>
<BootstrapperPackage Include=".NETFramework,Version=v4.6">
<Visible>False</Visible>
<ProductName>Microsoft .NET Framework 4.6 %28x86 和 x64%29</ProductName>
<Install>true</Install>
</BootstrapperPackage>
<BootstrapperPackage Include="Microsoft.Net.Framework.3.5.SP1">
<Visible>False</Visible>
<ProductName>.NET Framework 3.5 SP1</ProductName>
<Install>false</Install>
</BootstrapperPackage>
</ItemGroup>
<ItemGroup>
<WCFMetadata Include="Connected Services\" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<Import Project="..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets" Condition="Exists('..\packages\System.Data.SQLite.Core.1.0.109.1\build\net46\System.Data.SQLite.Core.targets')" />
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">

6
Plane.FormationCreator/Properties/AssemblyInfo.cs
View File

@ -12,7 +12,7 @@ using System.Windows;
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("北京飞行魔方科技有限公司")]
[assembly: AssemblyProduct("无人机编队地面控制系统")]
[assembly: AssemblyCopyright("Copyright © 2024")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
@ -51,5 +51,5 @@ using System.Windows;
// You can specify all the values or you can default the Build and Revision Numbers
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("2.2.0.*")]
[assembly: AssemblyFileVersion("2.2.0.0")]
[assembly: AssemblyVersion("2.0.*")]
[assembly: AssemblyFileVersion("2.0.0.0")]

6
Plane.FormationCreator/Properties/Resources.Designer.cs generated
View File

@ -19,7 +19,7 @@ namespace Plane.FormationCreator.Properties {
// 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
// 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
// (以 /str 作为命令选项)，或重新生成 VS 项目。
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources {
@ -47,8 +47,8 @@ namespace Plane.FormationCreator.Properties {
}
/// <summary>
/// 重写当前线程的 CurrentUICulture 属性，对
/// 使用此强类型资源类的所有资源查找执行重写。
/// 使用此强类型资源类，为所有资源查找
/// 重写当前线程的 CurrentUICulture 属性。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Globalization.CultureInfo Culture {

2
Plane.FormationCreator/Properties/Settings.Designer.cs generated
View File

@ -12,7 +12,7 @@ namespace Plane.FormationCreator.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.7.0.0")]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "14.0.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));

BIN
Plane.FormationCreator/Resources/logo_big.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 8.8 KiB

11
Plane.FormationCreator/Util/CommNTRIP.cs
View File

@ -188,21 +188,22 @@ namespace Plane.Util
{
if (lat != 0 || lng != 0)
{
DateTime currentUtcTime = DateTime.UtcNow;
if (_lastnmea.AddSeconds(30) < currentUtcTime)
if (_lastnmea.AddSeconds(30) < DateTime.Now)
{
double latdms = (int)lat + ((lat - (int)lat) * .6f);
double lngdms = (int)lng + ((lng - (int)lng) * .6f);
var line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
"$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA",
currentUtcTime, Math.Abs(latdms * 100).ToString("0000.00"), lat < 0 ? "S" : "N",
DateTime.Now.ToUniversalTime(), Math.Abs(latdms * 100).ToString("0000.00"), lat < 0 ? "S" : "N",
Math.Abs(lngdms * 100).ToString("00000.00"), lng < 0 ? "W" : "E", 1, 10,
1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0");
string checksum = GetChecksum(line);
WriteLine(line + "*" + checksum);
_lastnmea = currentUtcTime;
_lastnmea = DateTime.Now;
}
}
@ -260,7 +261,7 @@ namespace Plane.Util
retrys--;
}
throw new Exception("网络RTK基站通讯已关闭!");
throw new Exception("The ntrip is closed");
}
}

123
Plane.FormationCreator/Util/nmea.cs
View File

@ -1,123 +0,0 @@
using System;
using uint8_t = System.Byte;
using uint16_t = System.UInt16;
using int32_t = System.Int32;
using uint32_t = System.UInt32;
using int8_t = System.SByte;
using System.Runtime.InteropServices;
namespace Plane.Util
{
public class nmea : ICorrections
{
int step = 0;
public byte[] buffer = new byte[1024 * 1];
int payloadlen = 0;
int msglencount = 0;
public int length
{
get
{
return 2 + 2 + 2 + 2 + payloadlen; // header2, class,subclass,length2,data,crc2
}
}
public byte[] packet
{
get
{
return buffer;
}
}
public bool resetParser()
{
step = 0;
return true;
}
public int Read(byte data)
{
switch (step)
{
default:
case 0:
if (data == '$')
{
step = 1;
msglencount = 0;
buffer[0] = data;
}
break;
case 1:
if (data == 'G')
{
buffer[1] = data;
step++;
}
else
step = 0;
break;
case 2:
if (msglencount > 1000)
{
step = 0;
}
buffer[msglencount + 2] = data;
msglencount++;
if(data == '\n')
{
var line = System.Text.ASCIIEncoding.ASCII.GetString(buffer, 0, msglencount + 2);
string[] items = line.Trim().Split(',', '*');
if (items[items.Length-1] == GetChecksum(line))
{
return 1;
}
step = 0;
}
break;
}
return -1;
}
// Calculates the checksum for a sentence
string GetChecksum(string sentence)
{
// Loop through all chars to get a checksum
int Checksum = 0;
foreach (char Character in sentence.ToCharArray())
{
switch (Character)
{
case '$':
// Ignore the dollar sign
break;
case '*':
// Stop processing before the asterisk
return Checksum.ToString("X2");
default:
// Is this the first value for the checksum?
if (Checksum == 0)
{
// Yes. Set the checksum to the value
Checksum = Convert.ToByte(Character);
}
else
{
// No. XOR the checksum with this character's value
Checksum = Checksum ^ Convert.ToByte(Character);
}
break;
}
}
// Return the checksum formatted as a two-character hexadecimal
return Checksum.ToString("X2");
}
}
}

1807
Plane.FormationCreator/Util/rtcm3.cs
View File

File diff suppressed because it is too large Load Diff

573
Plane.FormationCreator/Util/ubx_m8p.cs
View File

@ -1,573 +0,0 @@
using System;
using uint8_t = System.Byte;
using uint16_t = System.UInt16;
using int32_t = System.Int32;
using uint32_t = System.UInt32;
using int8_t = System.SByte;
using System.Runtime.InteropServices;
using System.Threading;
namespace Plane.Util
{
public class Ubx : ICorrections
{
int step = 0;
public byte[] buffer = new byte[1024 * 8];
int payloadlen = 0;
int msglencount = 0;
public byte @class
{
get { return buffer[2]; }
}
public byte subclass
{
get { return buffer[3]; }
}
public int length
{
get
{
return 2 + 2 + 2 + 2 + payloadlen; // header2, class,subclass,length2,data,crc2
}
}
public byte[] packet
{
get { return buffer; }
}
public bool resetParser()
{
step = 0;
return true;
}
public int Read(byte data)
{
switch (step)
{
default:
case 0:
if (data == 0xb5)
{
step = 1;
buffer[0] = data;
}
break;
case 1:
if (data == 0x62)
{
buffer[1] = data;
step++;
}
else
step = 0;
break;
case 2:
buffer[2] = data;
step++;
break;
case 3:
buffer[3] = data;
step++;
break;
case 4:
buffer[4] = data;
payloadlen = data;
step++;
break;
case 5:
buffer[5] = data;
step++;
payloadlen += (data << 8);
msglencount = 0;
// reset on oversize packet
if (payloadlen > buffer.Length)
step = 0;
break;
case 6:
if (msglencount < (payloadlen))
{
buffer[msglencount + 6] = data;
msglencount++;
if (msglencount == payloadlen)
step++;
}
break;
case 7:
buffer[msglencount + 6] = data;
step++;
break;
case 8:
buffer[msglencount + 6 + 1] = data;
var crc = ubx_checksum(buffer, payloadlen + 6);
var crcpacket = new byte[] { buffer[msglencount + 6], data };
if (crc[0] == crcpacket[0] && crc[1] == crcpacket[1])
{
step = 0;
return (@class << 8) + subclass;
}
step = 0;
break;
}
return -1;
}
private static byte[] ubx_checksum(byte[] packet, int size, int offset = 2)
{
uint a = 0x00;
uint b = 0x00;
var i = offset;
while (i < size)
{
a += packet[i++];
b += a;
}
var ans = new byte[2];
ans[0] = (byte)(a & 0xFF);
ans[1] = (byte)(b & 0xFF);
return ans;
}
public static byte[] generate(byte cl, byte subclass, byte[] payload)
{
var data = new byte[2 + 2 + 2 + 2 + payload.Length];
data[0] = 0xb5;
data[1] = 0x62;
data[2] = cl;
data[3] = subclass;
data[4] = (byte)(payload.Length & 0xff);
data[5] = (byte)((payload.Length >> 8) & 0xff);
Array.ConstrainedCopy(payload, 0, data, 6, payload.Length);
var checksum = ubx_checksum(data, data.Length - 2);
data[data.Length - 2] = checksum[0];
data[data.Length - 1] = checksum[1];
return data;
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ubx_mon_ver
{
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 30)]
public byte[] swVersion;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
public Byte[] hwVersion;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 30)]
public byte[] extension;
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ubx_mon_hw
{
public int pinSel;
public int pinBank;
public int pinDir;
public int pinVal;
public ushort noisePerMS;
public ushort agcCnt;
public byte aStatus;
public byte aPower;
public byte flags;
public byte reserved1;
public int usedMask;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 17)]
public byte[] VP;
public byte jamInd;
public ushort reserved3;
public int pinIrq;
public int pullH;
public int pullL;
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ubx_nav_pvt
{
public uint32_t itow;
public uint16_t year;
public uint8_t month, day, hour, min, sec;
public uint8_t valid;
public uint32_t t_acc;
public int32_t nano;
public uint8_t fix_type;
public uint8_t flags;
public uint8_t flags2;
public uint8_t num_sv;
public int32_t lon, lat;
public int32_t height, h_msl;
public uint32_t h_acc, v_acc;
public int32_t velN, velE, velD, gspeed;
public int32_t head_mot;
public uint32_t s_acc;
public uint32_t head_acc;
public uint16_t p_dop;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
public uint8_t[] reserved1;
public uint32_t headVeh;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
public uint8_t[] reserved2;
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ubx_nav_svin
{
public uint8_t version;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
public uint8_t[] reserved1;
public uint32_t iTOW;
public uint32_t dur;
public int32_t meanX;
public int32_t meanY;
public int32_t meanZ;
public int8_t meanXHP;
public int8_t meanYHP;
public int8_t meanZHP;
public uint8_t reserved2;
public uint32_t meanAcc;
public uint32_t obs;
public uint8_t valid;
public uint8_t active;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
public uint8_t[] reserved3;
public double[] getECEF()
{
var X = meanX / 100.0 + meanXHP * 0.0001;
var Y = meanY / 100.0 + meanYHP * 0.0001;
var Z = meanZ / 100.0 + meanZHP * 0.0001;
return new double[] { X, Y, Z };
}
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ubx_nav_velned
{
public uint iTOW;
public int velN;
public int velE;
public int velD;
public uint speed;
public uint gSpeed;
public int heading;
public uint sAcc;
public uint cAcc;
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ubx_cfg_nav5_getset_s
{
public uint16_t mask;
public uint8_t dynModel;
public uint8_t fixMode;
public int32_t fixedAlt;
public uint32_t fixedAltVar;
public int8_t minElev;
public uint8_t drLimit;
public uint16_t pDop;
public uint16_t tDop;
public uint16_t pAcc;
public uint16_t tAcc;
public uint8_t staticHoldThresh;
public uint8_t dgnssTimeout;
public uint8_t cnoThreshNumSVs;
public uint8_t cnoThresh;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
public uint8_t[] reserved1;
public uint16_t staticHoldMaxDist;
public uint8_t utcStandard;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 5)]
public uint8_t[] reserved2;
}
[StructLayout(LayoutKind.Sequential, Pack = 1, Size = 40)]
public struct ubx_cfg_tmode3
{
public ubx_cfg_tmode3(double lat, double lng, double alt, double acc = 0.001)
{
version = 0;
reserved1 = 0;
if (Math.Abs(lat) > 90)
{
flags = 2; // fixed mode ecef
ecefXorLat = (int)(lat * 100);
ecefYorLon = (int)(lng * 100);
ecefZorAlt = (int)(alt * 100);
ecefXOrLatHP = (sbyte)((lat * 100 - ecefXorLat) * 100.0);
ecefYOrLonHP = (sbyte)((lng * 100 - ecefYorLon) * 100.0);
ecefZOrAltHP = (sbyte)((alt * 100 - ecefZorAlt) * 100.0);
}
else
{
flags = 256 + 2; // lla + fixed mode
ecefXorLat = (int)(lat * 1e7);
ecefYorLon = (int)(lng * 1e7);
ecefZorAlt = (int)(alt * 100.0);
ecefXOrLatHP = (sbyte)((lat * 1e7 - ecefXorLat) * 100.0);
ecefYOrLonHP = (sbyte)((lng * 1e7 - ecefYorLon) * 100.0);
ecefZOrAltHP = (sbyte)((alt * 100.0 - ecefZorAlt) * 100.0);
}
reserved2 = 0;
fixedPosAcc = (uint)(acc * 1000.0);
svinMinDur = 60;
svinAccLimit = 2000;
reserved3 = new byte[8];
}
public ubx_cfg_tmode3(uint DurationS, double AccLimit)
{
version = 0;
reserved1 = 0;
flags = 1; // surveyin mode
ecefXorLat = 0;
ecefYorLon = 0;
ecefZorAlt = 0;
ecefXOrLatHP = (sbyte)0;
ecefYOrLonHP = (sbyte)0;
ecefZOrAltHP = (sbyte)0;
reserved2 = 0;
fixedPosAcc = 0;
svinMinDur = DurationS;
svinAccLimit = (uint)(AccLimit * 10000);
reserved3 = new byte[8];
}
public static ubx_cfg_tmode3 Disable
{
get
{
return new ubx_cfg_tmode3()
{
flags = 0, // disable
reserved3 = new byte[8]
};
}
}
public static implicit operator byte[] (ubx_cfg_tmode3 input)
{
return null;// MavlinkUtil.StructureToByteArray(input);
}
public enum modeflags
{
Disabled = 0,
SurveyIn = 1,
FixedECEF = 2,
LLA = 256,
FixedLLA = 258
}
public byte version;
public byte reserved1;
public ushort flags;
public int ecefXorLat; // 1e7
public int ecefYorLon;
public int ecefZorAlt;
public sbyte ecefXOrLatHP;
public sbyte ecefYOrLonHP;
public sbyte ecefZOrAltHP;
public byte reserved2;
public uint fixedPosAcc;
public uint svinMinDur;
public uint svinAccLimit;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
public byte[] reserved3;
public void SetupM8P(ICommsSerial port, bool m8p_130plus = false, bool movingbase = false)
{
port.BaseStream.Flush();
var bauds = new[] { port.BaudRate, 9600, 38400, 57600, 115200, 230400, 460800 };
// change the baudrate
foreach (var baud in bauds)
{
port.BaudRate = baud;
System.Threading.Thread.Sleep(50);
// U = bit 01010101 - often used for autobaud
port.Write("UU");
// port config - 460800 - uart1
var packet = generate(0x6, 0x00, new byte[]
{
0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0x08,
0x07, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00
});
port.Write(packet, 0, packet.Length);
port.BaseStream.Flush();
System.Threading.Thread.Sleep(100);
}
{
// port config - usb
var packet = generate(0x6, 0x00, new byte[]
{
0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00
});
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(300);
port.BaseStream.Flush();
port.BaudRate = 460800;
}
{
// set rate to 1hz
var packet = generate(0x6, 0x8, new byte[] { 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00 });
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(200);
// set navmode to stationary
{
packet = generate(0x6, 0x24,
new byte[]
{
0xFF, 0xFF, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x0F, 0x00, 0xFA,
0x00,
0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x23, 0x10, 0x27, 0x00, 0x00, 0x00,
0x00,
0x00, 0x00, 0x00, 0x00
});
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(200);
}
}
// turn off all nmea
for (int a = 0; a <= 0xf; a++)
{
if (a == 0xb || a == 0xc || a == 0xe)
continue;
turnon_off(port, 0xf0, (byte)a, 0);
}
// mon-ver
poll_msg(port, 0xa, 0x4);
// surveyin msg - for feedback
turnon_off(port, 0x01, 0x3b, 1);
// pvt msg - for feedback
turnon_off(port, 0x01, 0x07, 1);
// 1005 - 5s
turnon_off(port, 0xf5, 0x05, 5);
byte rate1 = 1;
byte rate2 = 0;
if (m8p_130plus)
{
rate1 = 0;
rate2 = 1;
}
// 1074 - 1s
turnon_off(port, 0xf5, 0x4a, rate2);
// 1077 - 1s
turnon_off(port, 0xf5, 0x4d, rate1);
// 1084 - 1s
turnon_off(port, 0xf5, 0x54, rate2);
// 1087 - 1s
turnon_off(port, 0xf5, 0x57, rate1);
// 1094 - 1s
turnon_off(port, 0xf5, 0x5e, rate2);
// 1097 - 1s
turnon_off(port, 0xf5, 0x61, rate1);
// 1124 - 1s
turnon_off(port, 0xf5, 0x7c, rate2);
// 1127 - 1s
turnon_off(port, 0xf5, 0x7f, rate1);
// 4072
turnon_off(port, 0xf5, 0xFE, 0);
// 1230 - 5s
turnon_off(port, 0xf5, 0xE6, 5);
// NAV-VELNED - 1s
turnon_off(port, 0x01, 0x12, 1);
// rxm-raw/rawx - 1s
turnon_off(port, 0x02, 0x15, 1);
turnon_off(port, 0x02, 0x10, 1);
// rxm-sfrb/sfrb - 2s
turnon_off(port, 0x02, 0x13, 2);
turnon_off(port, 0x02, 0x11, 2);
// mon-hw - 2s
turnon_off(port, 0x0a, 0x09, 2);
System.Threading.Thread.Sleep(100);
}
public void turnon_off(ICommsSerial port, byte clas, byte subclass, byte every_xsamples)
{
byte[] datastruct1 = { clas, subclass, 0, every_xsamples, 0, every_xsamples, 0, 0 };
var packet = generate(0x6, 0x1, datastruct1);
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(10);
}
public void poll_msg(ICommsSerial port, byte clas, byte subclass)
{
byte[] datastruct1 = { };
var packet = generate(clas, subclass, datastruct1);
port.Write(packet, 0, packet.Length);
System.Threading.Thread.Sleep(10);
}
}
}
}

41
Plane.FormationCreator/ViewModels/CalibrationViewModel.cs
View File

@ -139,47 +139,6 @@ namespace Plane.FormationCreator.ViewModels
}
public bool IsCalibration { get; set; }
/// <summary>
/// 重启飞控
/// </summary>
private ICommand _RestartFCCommand;
public ICommand RestartFCCommand
{
get
{
return _RestartFCCommand ?? (_RestartFCCommand = new RelayCommand(async () =>
{
if (_copterManager.SelectedCopters.Count() == 0) return;
Message.Show("重启飞控");
await commModule.DoRestartFCAsync(_copterManager.SelectedCopters);
await Task.Delay(50).ConfigureAwait(false);
}));
}
}
/// <summary>
/// 陀螺仪校准
/// </summary>
private ICommand _CalibrationPreflightCommand;
public ICommand CalibrationPreflightCommand
{
get
{
return _CalibrationPreflightCommand ?? (_CalibrationPreflightCommand = new RelayCommand(async () =>
{
if (_copterManager.SelectedCopters.Count() == 0) return;
Message.Show("开始校准陀螺仪");
await commModule.DoCalibrationPreflightAsync(_copterManager.SelectedCopters);
await Task.Delay(50).ConfigureAwait(false);
}));
}
}
/// <summary>
/// 校准指南针
/// </summary>

39
Plane.FormationCreator/ViewModels/ConfigVirtualIdViewModel.cs
View File

@ -108,9 +108,7 @@ namespace Plane.FormationCreator.ViewModels
copter.VirtualId = int.Parse(arrs[1]);
}
}
_copterManager.SortType = CopterManager.CopterSortType.ByVID;// .sortbyvid();
Message.Show($"读入成功");
Message.Show($"读入成功");
}));
}
}
@ -143,7 +141,6 @@ namespace Plane.FormationCreator.ViewModels
copter.VirtualId = SingleVirtualId;
Message.Show($"飞机{copter.Name} 设置编号={SingleVirtualId}");
}
_copterManager.ReSort();
}));
}
@ -166,20 +163,14 @@ namespace Plane.FormationCreator.ViewModels
float StepDis_Row = _flightTaskManager.ColumnDistance; //行内间距-列间距
float StepDis_Col = _flightTaskManager.RowDistance ; //列间距-行间距
float FindDis =Math.Min(StepDis_Row, StepDis_Col)*0.8f; //查找半径
//如果选中的飞机总数大于2--需要2-3架用来确认行列方向，只有一行飞机就选2架，多行需要3架
if (_copterManager.AcceptingControlCopters.Count() >= 2)
{
var copters = _copterManager.AcceptingControlCopters.ToList();
var firstCopter = copters[0];
var secondCopter = copters[1];
ICopter thirdCopter=null;
if (_copterManager.AcceptingControlCopters.Count() > 2)
{
if (_copterManager.AcceptingControlCopters.Count()>2)
thirdCopter = copters[2];
Message.Show($"选中了3架飞机，将自动查找所有行列的飞机");
}
else
Message.Show($"选中了2架飞机，将查找一行飞机");
//行角度(1,2) 用于查找每行的飞机位置
@ -192,39 +183,23 @@ namespace Plane.FormationCreator.ViewModels
ICopter LastCopter = firstCopter;
ILocation2D LastRowHewadCopter = firstCopter;
Message.Show($"开始查找飞机：行角度{RowDirect}，列角度{ColDirect}，列间距{StepDis_Row}，行间距{StepDis_Col}，查找半径{FindDis}米...");
firstCopter.VirtualId = 1;
int rowindex = 1;
while (FindedCopter!=null)
{
//按一行找飞机
FindedCopter = FindNextCopter(LastCopter, RowDirect, StepDis_Row, FindDis);
//一行找不到了 找下一行的前3架飞机
if ((FindedCopter == null) && (thirdCopter != null))
{
rowindex++;
FindedCopter = FindNextColHeadCopter(out LastRowHewadCopter, LastRowHewadCopter, ColDirect, StepDis_Col, RowDirect, StepDis_Row, 3, FindDis);
if (FindedCopter != null)
Message.Show($"开始第{rowindex}行--找到飞机");
else
Message.Show($"开始第{rowindex}行--无飞机");
}
//如果找到了分配ID
if ((FindedCopter == null)&&(thirdCopter!=null))
FindedCopter = FindNextColHeadCopter(out LastRowHewadCopter,LastRowHewadCopter, ColDirect, StepDis_Col, RowDirect, StepDis_Row, 3, FindDis);
//如果找到了分配ID
if (FindedCopter != null)
{
FindedCopter.VirtualId = GetVID(LastCopter.VirtualId);
// Message.Show($"分配ID={FindedCopter.Id}飞机VID:={FindedCopter.VirtualId}");
Message.Show($"分配飞机VID:{FindedCopter.VirtualId}");
LastCopter = FindedCopter;
}else
{
Message.Show($"未找到飞机，自动分配结束");
}
}
}
}
_copterManager.ReSort();
}));
}
}

153
Plane.FormationCreator/ViewModels/ConnectViewModel.cs
View File

@ -25,31 +25,16 @@ using Plane.Protocols;
using Microsoft.Practices.ServiceLocation;
using System.Windows.Media;
using Plane.FormationCreator.Views;
using System.Collections.ObjectModel;
using Plane.Util;
using System.IO.Ports;
using SerialPort = Plane.Util.SerialPort;
namespace Plane.FormationCreator.ViewModels
{
public class ConnectViewModel : ViewModelBase
{
public ConnectViewModel(CopterManager copterManager)
{
_copterManager = copterManager;
RefreshPorts();
}
public void RefreshPorts()
{
serialRePorts.Clear();
string[] commports = SerialPort.GetPortNames();
foreach (var item in commports)
{
serialRePorts.Add(item);
}
}
private CommModuleManager _commModuleManager = CommModuleManager.Instance;
private CopterManager _copterManager;
private const int PORT = 5250;
@ -82,16 +67,6 @@ namespace Plane.FormationCreator.ViewModels
set { Set(nameof(IsProcessing), ref _IsProcessing, value); }
}
public ObservableCollection<string> serialRePorts { get; } = new ObservableCollection<string>();
private string _serialPortResend;
public string SerialPortResend
{
get { return _serialPortResend; }
set { Set(nameof(SerialPortResend), ref _serialPortResend, value); }
}
private ICommand _ConnectCommand;
public ICommand ConnectCommand
{
@ -104,66 +79,6 @@ namespace Plane.FormationCreator.ViewModels
));
}
}
RtcmInfoViewModel _rtcmInfoViewModel = ServiceLocator.Current.GetInstance<RtcmInfoViewModel>();
private ICommand _Openboardport;
public ICommand Openboardport
{
get
{
return _Openboardport ?? (_Openboardport = new RelayCommand<string>(async connectionType =>
{
if (btnBoardPortStr== "关闭广播端口")
{
//关闭广播端口
//正在发送rtcm数据并且使用了广播端口
if (_rtcmInfoViewModel.RtcmManager.Rtcmthreadrun&& _rtcmInfoViewModel.ResendToComMK)
{
if (Alert.Show("正在使用广播端口发送RTCM数据，关闭后广播端口将停止发送,继续吗？", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
== MessageBoxResult.OK)
{
// _rtcmInfoViewModel.ResendToComMK = false;
}
else
{
return;
}
}
//关闭同时清除广播端口，这样就不会重试打开
_commModuleManager.CloseResendRtcmserial(true);
btnBoardPortStr = "打开广播端口";
BoardPortStatusStr = _commModuleManager.BoardPortStatusStr;
Message.BoardOpen(false);
}
else
{ //打开广播端口
if ((SerialPortResend != null))
{
if (!_commModuleManager.OpenResendRtcmserial(SerialPortResend))
{
Alert.Show($"打开串口失败", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
}
else
{
btnBoardPortStr = "关闭广播端口";
Message.BoardOpen(true);
}
BoardPortStatusStr = _commModuleManager.BoardPortStatusStr;
}
else
{
Alert.Show($"请选择需要广播的端口", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
return;
}
}
_rtcmInfoViewModel.SetRTKStatestr();
}
));
}
}
private ICommand _SendCommand;
public ICommand SendCommand
@ -234,20 +149,6 @@ namespace Plane.FormationCreator.ViewModels
set { Set(nameof(CopterColor), ref _CopterColor, value); }
}
private string _BoardPortStatusStr = "广播端口未打开";
public string BoardPortStatusStr
{
get { return _BoardPortStatusStr; }
set { Set(nameof(BoardPortStatusStr), ref _BoardPortStatusStr, value); }
}
private string _btnBoardPortStr = "打开广播端口";
public string btnBoardPortStr
{
get { return _btnBoardPortStr; }
set { Set(nameof(btnBoardPortStr), ref _btnBoardPortStr, value); }
}
private ICommand _WriteIdCommand;
public ICommand WriteIdCommand
{
@ -341,35 +242,6 @@ namespace Plane.FormationCreator.ViewModels
}));
}
}
private ICommand _TestModuleCommand;
public ICommand TestModuleCommand
{
get
{
return _TestModuleCommand ?? (_TestModuleCommand = new RelayCommand(async () =>
{
await commModule.TestModule((short)scale3d);
}));
}
}
private ICommand _SetModulePowerCommand;
public ICommand SetModulePowerCommand
{
get
{
return _SetModulePowerCommand ?? (_SetModulePowerCommand = new RelayCommand(async () =>
{
int mPower = int.Parse(CopterColor);
await commModule.SetModulePower((short)CopterNum, (short)mPower);
}));
}
}
private ICommand _CommDataAsync;
public ICommand CommDataAsync
{
@ -383,27 +255,6 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _TestPWMCommandAsync;
public ICommand TestPWMCommandAsync
{
get
{
return _TestPWMCommandAsync ?? (_TestPWMCommandAsync = new RelayCommand(async () =>
{
try
{
int channel = 10; //固定10是控制PWM舵机
await commModule.TestFire((short)CopterNum, channel);
}
catch
{ }
}
));
}
}
private ICommand _TestFireCommandAsync;
public ICommand TestFireCommandAsync
{
@ -415,7 +266,7 @@ namespace Plane.FormationCreator.ViewModels
{
int channel = int.Parse(CopterColor);
if (channel >= 0 && channel <= 4)
await commModule.TestFire((short)CopterNum, channel);
await commModule.TestFire((short)CopterNum, channel);
}
catch
{ }

423
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -119,77 +119,38 @@ namespace Plane.FormationCreator.ViewModels
{
return _DetectionVoltage ?? (_DetectionVoltage = new RelayCommand(async () =>
{
Message.Show("--------------开始检测电压--------------");
Dictionary<string, float> dic_voltage = new Dictionary<string, float>();
await Task.WhenAll(_copterManager.Copters.Select(async c =>
{
float voltageSum = 0.0f;
string name = c.Name;
float minVol;
InputDialog inputDialog = new InputDialog("最低检测电压( 0 恢复灯光):", "15.6");
if (inputDialog.ShowDialog() == true)
minVol = float.Parse(inputDialog.Answer);
else return;
//测试电池
await _commModuleManager.TestBattery((short)0, minVol);
if (minVol == 0.0) return;
Message.Show("---请检查飞机灯光---");
Message.Show(string.Format("---绿 色 电压高于 {0:F2}v (单节高于 {1:F2}v)--- ", minVol, minVol / 4.0f));
Message.Show(string.Format("---黄 色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol, minVol / 4.0f));
Message.Show(string.Format("---棕 色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.2, (minVol - 0.2) / 4.0f));
Message.Show(string.Format("---洋红色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.4, (minVol - 0.4) / 4.0f));
Message.Show(string.Format("---亮红色 电压低于 {0:F2}v (单节低于 {1:F2}v)--- ", minVol - 0.6, (minVol - 0.6) / 4.0f));
Message.Show("---输入0恢复灯光---");
Message.Show("--------------开始检测单机电压--------------");
Dictionary<string, float> dic_voltage = new Dictionary<string, float>();
await Task.WhenAll(_copterManager.Copters.Select(async c =>
for (int i = 0; i < 5; i++)
{
float voltageSum = 0.0f;
string name = c.Name;
for (int i = 0; i < 5; i++)
voltageSum += c.Voltage;
await Task.Delay(1000).ConfigureAwait(false);
}
float voltageAverage = voltageSum / 5;
if (name != null && name != "")
{
lock(locker)
{
voltageSum += c.Voltage;
await Task.Delay(1000).ConfigureAwait(false);
dic_voltage.Add(name, voltageAverage);
}
float voltageAverage = voltageSum / 5;
if (name != null && name != "")
{
lock (locker)
{
dic_voltage.Add(name, voltageAverage);
}
}
})).ConfigureAwait(false);
}
})).ConfigureAwait(false);
await Task.Run(async () => {
Dictionary<string, float> dic_voltage_Order = dic_voltage.OrderByDescending(o => o.Value).ToDictionary(o => o.Key, o => o.Value);
bool showch = false;
ICopter vcopter = null;
_copterManager.shiftkeydown = true;
//清除选择
_copterManager.Select(null);
foreach (KeyValuePair<string, float> kv in dic_voltage_Order)
{
if ((!showch) && (minVol > 0.00) && (kv.Value <= minVol))
{
Message.Show(string.Format("以下飞机电压低于[{0}V，单节{1:F2}]", minVol, minVol / 4));
showch = true;
}
Message.Show(string.Format("{0} --> 5秒平均电压：{1:F2},单节{2:F2}", kv.Key, kv.Value, kv.Value / 4));
//选中低电压飞机
if ((minVol > 0.00) && (kv.Value <= minVol))
{
vcopter = _copterManager.Copters.FirstOrDefault(o => o.Name == kv.Key);
if (vcopter != null)
_copterManager.Select(vcopter); //需要访问UI线程
}
Message.Show(string.Format("{0} --> 5秒平均电压：{1}", kv.Key, kv.Value));
await Task.Delay(5).ConfigureAwait(false);
}
await Task.Delay(500).ConfigureAwait(false);
_copterManager.shiftkeydown = false;
Message.Show(string.Format("----检测电压完成,检测总数：{0}----", dic_voltage.Count));
//todo:增加电压阈值变成不同颜色灯
}).ConfigureAwait(false);
}));
}
}
@ -257,7 +218,7 @@ namespace Plane.FormationCreator.ViewModels
Array.Reverse(test);
string data = string.Join(".", test);
string copters = string.Join(",", kv.Value.ToArray());
Message.Show(string.Format("返回数据{0}({1})：{2}", data, kv.Key,copters));
Message.Show(string.Format("返回数据{0}：{1}", data, copters));
await Task.Delay(5).ConfigureAwait(false);
}
Message.Show("----统计完成----");
@ -277,9 +238,6 @@ namespace Plane.FormationCreator.ViewModels
if (_copterManager.Copters.Count > 0)
{
Dictionary<string, List<string>> GPSTypes = new Dictionary<string, List<string>>();
Dictionary<string, List<string>> Heading = new Dictionary<string, List<string>>();
foreach (var copter in _copterManager.Copters)
{
string name = copter.Name;
@ -291,39 +249,12 @@ namespace Plane.FormationCreator.ViewModels
}
else
GPSTypes[copter.GpsFixType.ToString()].Add(name);
if (!Heading.Keys.Contains(copter.Heading.ToString()))
{
List<string> copterNames = new List<string>();
copterNames.Add(name);
Heading.Add(copter.Heading.ToString(), copterNames);
}
else
Heading[copter.Heading.ToString()].Add(name);
}
Message.Show($"==定位状态==");
foreach (var item in GPSTypes)
{
Message.Show($"{item.Key}:{string.Join(",", item.Value)}");
Message.Show($"------------");
}
Message.Show($"==机头方向==");
//从小到大排个序
Dictionary<string, List<string>> SortedHeading = Heading.OrderBy(p => p.Key).ToDictionary(p => p.Key, o => o.Value);
foreach (var item in SortedHeading)
{
Message.Show($"{item.Key} 度:{string.Join(",", item.Value)}");
Message.Show($"------------");
}
}
await Task.Delay(10);
}));
@ -395,86 +326,6 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _ResetRealMissionCommand;
public ICommand ResetRealMissionCommand
{
get
{
return _ResetRealMissionCommand ?? (_ResetRealMissionCommand = new RelayCommand(async () =>
{
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
_flightTaskManager.RealResetTask();
AllowMissionStart = true;
}));
}
}
/// <summary>
/// 紧急返航：计算当前图案中心点，起飞图案中心点，图案距离起飞图案中心点最近距离
/// 条件：任务已经开始，且飞行器已经飞行
/// 可用于模拟和实际飞行，
/// 1首先需要导入最后的飞行任务文件，
/// 2实际飞机需要执行解锁和开始任务
/// 3模拟任务需要开始任务并且暂停任务才能计算
/// </summary>
private ICommand _EmergencyRetCommand;
public ICommand EmergencyRetCommand
{
get
{
return _EmergencyRetCommand ?? (_EmergencyRetCommand = new RelayCommand(async () =>
{
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
if (_flightTaskManager.Tasks.Count==0)
{
Alert.Show("没有航点无法紧急返航！", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
if ((_flightTaskManager.TaskState_real == TasksStatus.Stop)
&&((_flightTaskManager.IsPaused ?? false) == false))
{
Alert.Show("没有开始真实任务，模拟紧急返航需要先暂停模拟任务！", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
//if (Alert.Show("您确定要紧急返航吗？紧急返航可能导致飞行器碰撞！！！！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
// != MessageBoxResult.OK)
// return;
//计算当前图案中心点，起飞图案中心点，图案距离起飞图案中心点最近距离
//计算无人机返航方向和最近的飞机距离
PLLocation takeoffcentloc;
PLLocation taskcentloc;
double mindistance; //单位米
bool overlapping; //图案否重叠
int rettime=0;
if (_flightTaskManager.TaskState_real!= TasksStatus.Stop)
//计算实际飞行时间
rettime = (int)(DateTime.UtcNow - _flightTaskManager.TaskStartTime_real).TotalSeconds;
else
if (_flightTaskManager.TaskState!= TasksStatus.Stop)
//计算模拟飞行时间
rettime = (int)_flightTaskManager.taskflyTime.TotalSeconds;
if (!_flightTaskManager.EmergencyRet(rettime,out takeoffcentloc,out taskcentloc, out mindistance,out overlapping))
{
Alert.Show("紧急返航数据计算失败！", "提示");
return;
}
//模拟测试
if (_flightTaskManager.TaskState != TasksStatus.Stop)
await _flightTaskManager.sim_DoMissionEmergencyRetAsync(takeoffcentloc, taskcentloc, (float)mindistance, rettime, overlapping);
for (int i = 0; i < 10; i++)
{
await _commModuleManager.DoMissionEmergencyRetAsync(takeoffcentloc,taskcentloc,(float)mindistance, rettime, overlapping);
}
}));
}
}
private ICommand _LEDFlickerCommand;
public ICommand LEDFlickerCommand
{
@ -487,30 +338,6 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _DelCommand;
public ICommand DelCommand
{
get
{
return _DelCommand ?? (_DelCommand = new RelayCommand(async () =>
{
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
{
if (_flightTaskManager.Tasks.Count > 0)
{
Alert.Show("有航点任务无法删除飞机,请先清除航点！", "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
await _copterManager.DelSelCopters();
}
}));
}
}
private ICommand _MotorTestCommand;
public ICommand MotorTestCommand
{
@ -588,8 +415,7 @@ namespace Plane.FormationCreator.ViewModels
await Task.Delay(1000).ConfigureAwait(false);
}
await Task.Delay(100);
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
AllowMissionStart = (_flightTaskManager.TaskState_real == TasksStatus.Stop);
AllowMissionStart = true;
/*
await Task.WhenAll(_copterManager.Copters.Select(async c => {
@ -728,72 +554,7 @@ namespace Plane.FormationCreator.ViewModels
{
return _TakeOffCommand ?? (_TakeOffCommand = new RelayCommand(async () =>
{
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
{
Alert.Show("作为参照的原点未设置，无法开始任务！", "提示");
return;
}
//飞机用UTC时间，日志用本地时间记录
DateTime MissionTime = DateTime.UtcNow.AddSeconds(5);
DateTime MissionTime_log = DateTime.Now.AddSeconds(5);
Message.Show("任务开始:" + MissionTime_log.ToString());
IEnumerable<ICopter> selcopters = _copterManager.AcceptingControlCopters;
//循环3次 发送起飞命令 避免通信问题
for (int i = 0; i < 20; i++)
{
/*await _commModuleManager.DoMissionStartAsync(_copterManager.Copters,
MissionTime.Hour,
MissionTime.Minute,
MissionTime.Second,
_flightTaskManager.OriginLng,
_flightTaskManager.OriginLat
);
*/
await _commModuleManager.DoMissionStartAsync(selcopters,
MissionTime.Hour,
MissionTime.Minute,
MissionTime.Second,
_flightTaskManager.OriginLng,
_flightTaskManager.OriginLat
);
/* await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.MissionStartAsync(
MissionTime.Hour,
MissionTime.Minute,
MissionTime.Second,
_flightTaskManager.OriginLng,
_flightTaskManager.OriginLat
)));
*/
await Task.Delay(20).ConfigureAwait(false);
}
//_copterManager.Net_LogStartMission(MissionTime_log, _flightTaskManager.OriginLng, _flightTaskManager.OriginLat);
Alert.Show("所有选中飞机开始执行航点任务。请勿多次开始任务！", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
}));
}
}
private ICommand _ThrowoutCommand;
public ICommand ThrowoutCommand
{
get
{
return _ThrowoutCommand ?? (_ThrowoutCommand = new RelayCommand( () =>
{
// await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.UnlockAsync()));
if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
_commModuleManager.ThrowoutAsync(_copterManager.AcceptingControlCopters);
await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.TakeOffAsync()));
}));
}
}
@ -853,18 +614,7 @@ namespace Plane.FormationCreator.ViewModels
}));
}
}
private ICommand _GetCommsumCommand;
public ICommand GetCommsumCommand
{
get
{
return _GetCommsumCommand ?? (_GetCommsumCommand = new RelayCommand(async () =>
{
//if (_copterManager.AcceptingControlCopters != null && _copterManager.AcceptingControlCopters.Count() > 0)
await _commModuleManager.GetCommsumAsync();
}));
}
}
//打开校准界面
private ICommand _CalibrationSingleCommand;
public ICommand CalibrationSingleCommand
@ -1485,27 +1235,14 @@ namespace Plane.FormationCreator.ViewModels
Alert.Show("作为参照的原点未设置，无法开始任务！", "提示");
return;
}
if (_flightTaskManager.Tasks.Count == 0 )
{
if (Alert.Show("没有导入任务，紧急返航功能不能使用，继续吗？", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
!= MessageBoxResult.OK)
return;
}
//飞机用UTC时间，日志用本地时间记录
DateTime MissionTime = DateTime.UtcNow.AddSeconds(5);
DateTime MissionTime_log = DateTime.Now.AddSeconds(5);
if (!_flightTaskManager.RealRunTask(MissionTime))
{
Alert.Show("任务已经开始，请先重设任务！", "提示");
return;
}
AllowMissionStart = false;
Message.Show("任务开始:" + MissionTime_log.ToString());
//循环3次 发送起飞命令 避免通信问题
for (int i = 0; i < 20; i++) //20
for (int i = 0; i < 10; i++)
{
await _commModuleManager.DoMissionStartAsync(null,
await _commModuleManager.DoMissionStartAsync(_copterManager.Copters,
MissionTime.Hour,
MissionTime.Minute,
MissionTime.Second,
@ -1525,7 +1262,7 @@ namespace Plane.FormationCreator.ViewModels
}
*/
await Task.Delay(20).ConfigureAwait(false);
await Task.Delay(10).ConfigureAwait(false);
}
_copterManager.Net_LogStartMission(MissionTime_log, _flightTaskManager.OriginLng, _flightTaskManager.OriginLat);
@ -1596,14 +1333,6 @@ namespace Plane.FormationCreator.ViewModels
Alert.Show("作为参照的原点未设置，无法写入相对位置！", "提示");
return;
}
var _RtcmInfoViewModel = ServiceLocator.Current.GetInstance<RtcmInfoViewModel>();
if (_RtcmInfoViewModel.RtcmManager.Rtcmthreadrun)
{
Alert.Show("RTK数据正在发送，将自动关闭！", "提示");
await _RtcmInfoViewModel.RtcmManager.Close(_RtcmInfoViewModel.SerialPortsSelectdValue);
}
int taskcount = _flightTaskManager.Tasks.Count;
if (taskcount < 2) return;
foreach (var copter in _copterManager.AcceptingControlCopters)
@ -1629,13 +1358,6 @@ namespace Plane.FormationCreator.ViewModels
Alert.Show("作为参照的原点未设置，无法写入相对位置！", "提示");
return;
}
var _RtcmInfoViewModel = ServiceLocator.Current.GetInstance<RtcmInfoViewModel>();
if (_RtcmInfoViewModel.RtcmManager.Rtcmthreadrun)
{
Alert.Show("RTK数据正在发送，将自动关闭！", "提示");
await _RtcmInfoViewModel.RtcmManager.Close(_RtcmInfoViewModel.SerialPortsSelectdValue);
}
int coptercount = _copterManager.Copters.Count;
int taskcount = _flightTaskManager.Tasks.Count;
if (taskcount < 2) return;
@ -1674,15 +1396,13 @@ namespace Plane.FormationCreator.ViewModels
if (_RtcmInfoViewModel.RtcmManager.Rtcmthreadrun)
{
Alert.Show("RTK数据正在发送，将自动关闭！", "提示");
await _RtcmInfoViewModel.RtcmManager.Close(_RtcmInfoViewModel.SerialPortsSelectdValue);
await _RtcmInfoViewModel.RtcmManager.Close();
}
Alert.Show("开始写入航点，飞机绿色成功红色失败！(先关灯再开灯可恢复飞机灯光)", "提示");
Alert.Show("开始写入航点，请稍等！", "提示");
_commModuleManager.ClearMissionWriteState();
for (int i = 0; i < coptercount; i++)
{
//虚拟飞机不用写航点跳过
if (_copterManager.Copters[i] is FakeCopter) continue;
///写航线开始
await CollectMissions(i).ConfigureAwait(false);
}
@ -1691,8 +1411,8 @@ namespace Plane.FormationCreator.ViewModels
}
}
/// <summary>
/// 用通讯模块 写入航点信息
/// <summary>
/// 收集航点信息
/// </summary>
/// <param name="i">copterIndex</param>
/// <returns></returns>
@ -1711,14 +1431,14 @@ namespace Plane.FormationCreator.ViewModels
switch (_flightTaskManager.Tasks[j].TaskType)
{
case FlightTaskType.TakeOff:
//int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5);
int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5);
missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos));
missions.Add(Mission.CreateTakeoffMission(
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TakeOffWaitTime, //起飞等待时间
_flightTaskManager.Tasks[j].TakeOffTime, //起飞时间
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat, //位置没用
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng, //位置没用
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt - groudAlt) //下一个航点的高度
_flightTaskManager.Tasks[j].SingleCopterInfos[i].TakeOffWaitTime,
_flightTaskManager.Tasks[j].TakeOffTime,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt - groudAlt)
);
break;
@ -1735,7 +1455,6 @@ namespace Plane.FormationCreator.ViewModels
double Lat = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat;
double Lng = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng;
//如果是返航点，位置写入固定值，这样直接返回起飞点
if (_flightTaskManager.Tasks[j].SingleCopterInfos[i].IsLandWaypoint)
{
Lat = 90;
@ -1762,37 +1481,23 @@ namespace Plane.FormationCreator.ViewModels
break;
}
}
//186是通讯模块的限制--张伟那边
if (missions.Count > 186)
//虚拟ID在排序时已经变为ID了，直接按ID写入
// var targetCopter = _copterManager.Copters.FirstOrDefault(o => o.VirtualId == (i+1));
// bool result = await _commModuleManager.WriteMissionListAsync(targetCopter, missions);
bool result = await _commModuleManager.WriteMissionListAsync(_copterManager.Copters[i], missions);
//CommWriteMissinState state = new CommWriteMissinState(result);
//_commModuleManager.missionWriteState.Add(int.Parse(_copterManager.Copters[i].Id), state);
if (!result)
{
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 航点数量超过186，请减少再重写该飞机!");
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输失败!");
}
else
{
//虚拟ID在排序时已经变为ID了，直接按ID写入
// var targetCopter = _copterManager.Copters.FirstOrDefault(o => o.VirtualId == (i+1));
// bool result = await _commModuleManager.WriteMissionListAsync(targetCopter, missions);
bool result = await _commModuleManager.WriteMissionListAsync(_copterManager.Copters[i], missions);
//CommWriteMissinState state = new CommWriteMissinState(result);
//_commModuleManager.missionWriteState.Add(int.Parse(_copterManager.Copters[i].Id), state);
if (!result)
{
if (_copterManager.SortType == CopterManager.CopterSortType.ByVID)
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 通信模块传输失败!");
else
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输失败!");
}
else
{
if (_copterManager.SortType == CopterManager.CopterSortType.ByVID)
Message.Show($"飞机：{_copterManager.Copters[i].VirtualId} 通信模块传输完成!");
else
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输完成!");
}
await Task.Delay(500).ConfigureAwait(false);
Message.Show($"飞机：{_copterManager.Copters[i].Id} 通信模块传输完成!");
}
await Task.Delay(500).ConfigureAwait(false);
}
catch (Exception ex)
{
@ -1806,38 +1511,14 @@ namespace Plane.FormationCreator.ViewModels
List<IMission> missions = new List<IMission>();
foreach (LEDInfo ledInfo in LEDInfos)
{
float ledinterval=0;
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 (_copterManager.FC_VER_NO == 1)
{
//老版本是闪烁频率，且不能为小数
ledinterval = ledInfo.LEDInterval;
//老版本ledMode == 8 对应拉烟，飞控对应50,ledinterval对应通道号
if (ledMode==8) ledMode = 50;
}
else
{
//新版本飞控 是闪烁间隔单位是100ms，地面站还是频率可以有1位小数,用户输入0.5hz 飞控应该是(1/0.5)*10=20
ledinterval = (1 / ledInfo.LEDInterval);
//新版本 ledMode=16是抛物，飞控对应50，ledinterval对应10 --固定的
if (ledMode == 16)
{
ledMode = 50;
ledinterval = 10;
}
else //新版本ledMode == 15 对应拉烟，飞控对应50,ledinterval对应通道号
if (ledMode == 15)
{
ledMode = 50;
}
}
if (ledMode == 8) ledMode = 50;
IMission LEDMission = Mission.CreateLEDControlMission(
(int)(ledInfo.Delay * 10),
ledMode,
ledinterval,
ledInfo.LEDInterval,
0, //ledInfo.LEDTimes,
color.R,
color.G,

91
Plane.FormationCreator/ViewModels/CopterListViewModel.cs
View File

@ -93,12 +93,6 @@ namespace Plane.FormationCreator.ViewModels
get { return _IntervalNum; }
set { Set(nameof(IntervalNum), ref _IntervalNum, value); }
}
private int _RowNum;
public int RowNum
{
get { return _RowNum; }
set { Set(nameof(RowNum), ref _RowNum, value); }
}
private int _ContinuousNum;
public int ContinuousNum
@ -117,19 +111,6 @@ namespace Plane.FormationCreator.ViewModels
public ObservableCollection<string[]> CopterGroups { get; } = new ObservableCollection<string[]>();
private int getNextcopterindex( int currindex)
{
//每行数量
int colcount = _flightTaskManager.ColumnCount;
int newind = currindex;
for (int i = 0;i< IntervalNum;i++)
{
newind +=1;
if ((newind % colcount) == 0)
newind += RowNum * colcount;
}
return newind;
}
private ICommand _IntervalSelectCoptersCommand;
public ICommand IntervalSelectCoptersCommand
@ -145,21 +126,6 @@ namespace Plane.FormationCreator.ViewModels
_copterManager.Select(null);
int index = _copterManager.Copters.IndexOf(copter);
_copterManager.shiftkeydown = true;
int colcount = _flightTaskManager.ColumnCount;
for (; index < _copterManager.Copters.Count; index= getNextcopterindex( index) )
{
for (int i = 0; i < ContinuousNum; i++)
{
if (index >= _copterManager.Copters.Count) break;
_copterManager.Select(_copterManager.Copters[index]);
index += 1;
if ((index % colcount) == 0)
index += RowNum * colcount;
getNextcopterindex(index);
}
}
/*
for (; index < _copterManager.Copters.Count; index += IntervalNum)
{
for (int i = 0; i < ContinuousNum; i++)
@ -169,7 +135,6 @@ namespace Plane.FormationCreator.ViewModels
index++;
}
}
*/
_copterManager.shiftkeydown = false;
}));
@ -204,9 +169,16 @@ namespace Plane.FormationCreator.ViewModels
{
return _SortbyVIdCommand ?? (_SortbyVIdCommand = new RelayCommand( () =>
{
_copterManager.SortType = CopterManager.CopterSortType.ByVID;
_copterManager.sortbyvid();
foreach (var copter in _copterManager.Copters)
{
copter.DisplayVirtualId = true;
copter.DisplayID = false;
}
//强制刷新飞机显示
// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
}));
@ -221,10 +193,14 @@ namespace Plane.FormationCreator.ViewModels
{
return _SortbyIdCommand ?? (_SortbyVIdCommand = new RelayCommand(() =>
{
_copterManager.SortType = CopterManager.CopterSortType.ByID;
_copterManager.sortbyid();
foreach (var copter in _copterManager.Copters)
{
copter.DisplayVirtualId = false;
copter.DisplayID = true;
}
//强制刷新飞机显示
// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
}));
}
@ -247,6 +223,24 @@ namespace Plane.FormationCreator.ViewModels
}
}
bool showVirtualId = false;
private ICommand _SwitchIdVirtualIdCommand;
public ICommand SwitchIdVirtualIdCommand
{
get
{
return _SwitchIdVirtualIdCommand ?? (_SwitchIdVirtualIdCommand = new RelayCommand(() =>
{
showVirtualId = !showVirtualId;
foreach (var copter in _copterManager.Copters)
{
copter.DisplayVirtualId = showVirtualId;
}
}));
}
}
@ -257,9 +251,11 @@ namespace Plane.FormationCreator.ViewModels
{
return _ShowAllIDCommand ?? (_ShowAllIDCommand = new RelayCommand(() =>
{
_copterManager.SortType = CopterManager.CopterSortType.ByVIDShowAll;
foreach (var copter in _copterManager.Copters)
{
copter.DisplayVirtualId = true;
copter.DisplayID = true;
}
//强制刷新飞机显示
// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
@ -371,15 +367,10 @@ namespace Plane.FormationCreator.ViewModels
id: id,
name: id
);
if (_copterManager.FC_VER_NO >= 3)
copter.FlightControlMode = 1;
else copter.FlightControlMode = 0;
//不再预先分配VID
// copter.VirtualId = _virtualCopterId;
await copter.ConnectAsync();
await copter.GetCopterDataAsync();
_copterManager.Copters.AddCopter(copter);
_copterManager.CopterStatus.Add(false);
_copterManager.Copters.AddCopter(copter, _copterManager.SortType);
}
}
if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
@ -476,8 +467,6 @@ namespace Plane.FormationCreator.ViewModels
_lastVirtualCopterLocation = null;
_flightTaskManager.OriginLat = 0;
_flightTaskManager.OriginLng = 0;
_flightTaskManager.ObserverLat = 0;
_flightTaskManager.ObserverLng = 0;
}));
}
}

247
Plane.FormationCreator/ViewModels/MainViewModel.cs
View File

@ -17,8 +17,6 @@ using Plane.Geography;
using Plane.FormationCreator.Views;
using System.Windows;
using Plane.Collections;
using Plane.Copters;
using Newtonsoft.Json.Linq;
namespace Plane.FormationCreator.ViewModels
{
@ -35,15 +33,10 @@ namespace Plane.FormationCreator.ViewModels
//连接信息
Plane.Windows.Messages.Message.Configure(connectAction: connected => this.CommunicationModuleConnected = connected);
//广播是否打开
Plane.Windows.Messages.Message.Configureboard(boardportAction: opened => this.BoardcastPortOpened = opened);
this.SwitchVelocityModeButtonContent = GetSwitchVelocityModeButtonContent();
AppEx.Current.PropertyChanged += AppEx_PropertyChanged;
_copterManager.netStatusChanged += CopterManagernetStatusChanged;
ControlPanelViewModelData = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
}
private CopterListViewModel _copterListViewModel;
@ -93,18 +86,10 @@ namespace Plane.FormationCreator.ViewModels
Logs += (Environment.NewLine + value);
}
}
private ControlPanelViewModel _controlPanelViewModelData;
public ControlPanelViewModel ControlPanelViewModelData
{
get { return _controlPanelViewModelData; }
set
{
Set(nameof(ControlPanelViewModelData), ref _controlPanelViewModelData, value);
}
}
// public ControlPanelViewModel ControlPanelViewModelData = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
private bool _CommunicationModuleConnected;
public bool CommunicationModuleConnected
@ -116,18 +101,6 @@ namespace Plane.FormationCreator.ViewModels
}
}
private bool _BoardcastPortOpened=false;
public bool BoardcastPortOpened
{
get { return _BoardcastPortOpened; }
set
{
Set(nameof(BoardcastPortOpened), ref _BoardcastPortOpened, value);
}
}
private string _SysStatusText="系统信息";
public string SysStatusText
{
@ -245,30 +218,6 @@ namespace Plane.FormationCreator.ViewModels
}));
}
}
private ICommand _ShowModifyTaskViewCommand;
public ICommand ShowModifyTaskViewCommand
{
get
{
return _ShowModifyTaskViewCommand ?? (_ShowModifyTaskViewCommand = new RelayCommand(() =>
{
AppEx.Current.ShowModifyTaskView = true;
}));
}
}
private ICommand _HideModifyTaskViewCommand;
public ICommand HideModifyTaskViewCommand
{
get
{
return _HideModifyTaskViewCommand ?? (_HideModifyTaskViewCommand = new RelayCommand(() =>
{
AppEx.Current.ShowModifyTaskView =false;
}));
}
}
private ICommand _ShowOrHideModifyTaskViewCommand;
public ICommand ShowOrHideModifyTaskViewCommand
@ -306,55 +255,6 @@ namespace Plane.FormationCreator.ViewModels
private ICommand _Map2DCommand;
public ICommand Map2DCommand
{
get
{
return _Map2DCommand ?? (_Map2DCommand = new RelayCommand(() =>
{
MainWindow mainw = (MainWindow)App.Current.MainWindow;
mainw.map.Visibility = System.Windows.Visibility.Visible;
mainw.map3D.Visibility = System.Windows.Visibility.Collapsed;
MapMode = 0;
b2DMapMode = true;
_flightTaskManager.TaskRun_2D = b2DMapMode; //2D模式模拟显示
//强制刷新飞机位置
_copterManager.Copters.ForEach(copter => copter.RefreashLoc());
}));
}
}
private ICommand _Map3DCommand;
public ICommand Map3DCommand
{
get
{
return _Map3DCommand ?? (_Map3DCommand = new RelayCommand(() =>
{
MainWindow mainw = (MainWindow)App.Current.MainWindow;
mainw.map.Visibility = System.Windows.Visibility.Collapsed;
mainw.map3D.Visibility = System.Windows.Visibility.Visible;
MapMode = 1;
b2DMapMode = false;
_flightTaskManager.TaskRun_2D = b2DMapMode; //3D模式模拟显示
mainw.map3D.ResetCamera();
}));
}
}
private ICommand _ChangeMapModeCommand;
public ICommand ChangeMapModeCommand
{
@ -397,22 +297,6 @@ namespace Plane.FormationCreator.ViewModels
set { Set(nameof(OnlyImpotWaypointS), ref _OnlyImpotWaypointS, value); }
}
//导入飞机的位置
private bool _isimpCopterLoc =true;
public bool isimpCopterLoc
{
get { return _isimpCopterLoc; }
set { Set(nameof(isimpCopterLoc), ref _isimpCopterLoc, value); }
}
//导出飞机和航点等
private ICommand _ExportTasksCommand;
public ICommand ExportTasksCommand
{
@ -425,7 +309,7 @@ namespace Plane.FormationCreator.ViewModels
Alert.Show("作为参照的原点未设置，无法导出相对位置！", "提示");
return;
}
bool isToMeter = false;
var dialog = new SaveFileDialog
{
DefaultExt = "fcgm",
@ -435,16 +319,11 @@ namespace Plane.FormationCreator.ViewModels
{
IEnumerable<object> taskObject;
string extension = Path.GetExtension(dialog.FileName);
isToMeter = (extension == ".fcgm");
if (isToMeter)
if (extension == ".fcgm")
taskObject = _flightTaskManager.ExportTasksToMeter();
else
taskObject = _flightTaskManager.ExportTasks();
string exportedText;
if (OnlyImpotWaypointS)
@ -454,15 +333,11 @@ namespace Plane.FormationCreator.ViewModels
else
{
var groupObject = _groupManager.ExportGroups();
var locateObject = ExportLocate(isToMeter);
var locateObject = ExportLocate();
object obj = new
{
ID="flycube.com",
ver = "2.0",
coptercount = _copterManager.Copters.Count,
taskcount = _flightTaskManager.Tasks.Count,
groups = groupObject,
locate = locateObject,
tasks = taskObject
@ -479,41 +354,21 @@ namespace Plane.FormationCreator.ViewModels
}
}
private List<object> ExportLocate(bool isToMeter)
private List<object> ExportLocate()
{
List<object> locateList = new List<object>();
foreach (var copter in _copterManager.Copters)
{
double[] locate = new double[3];
if (isToMeter)
{
double x = GeographyUtils.CalcDistance(_flightTaskManager.OriginLat, _flightTaskManager.OriginLng, 0,
_flightTaskManager.OriginLat, copter.Longitude, 0);
if (copter.Longitude < _flightTaskManager.OriginLng) x = -x;
double y = GeographyUtils.CalcDistance(_flightTaskManager.OriginLat, _flightTaskManager.OriginLng, 0,
copter.Latitude, _flightTaskManager.OriginLng, 0);
if (copter.Latitude < _flightTaskManager.OriginLat) y = -y;
locate[0] = x;
locate[1] = y;
}
else
{
//为了和老版本兼容
locate[1] = copter.Longitude - _flightTaskManager.OriginLng;
locate[0] = copter.Latitude - _flightTaskManager.OriginLat;
}
locate[0] = copter.Latitude - _flightTaskManager.OriginLat;
locate[1] = copter.Longitude - _flightTaskManager.OriginLng;
locate[2] = copter.GroundAlt;
locateList.Add(locate);
}
return locateList;
}
private int _txtStarindex = 0;
public int txtStarindex
{
@ -528,7 +383,6 @@ namespace Plane.FormationCreator.ViewModels
set { Set(nameof(txtendindex), ref _txtendindex, value); }
}
//导入航点
private ICommand _ImportTasksCommand;
public ICommand ImportTasksCommand
{
@ -550,8 +404,7 @@ namespace Plane.FormationCreator.ViewModels
{
string extension = Path.GetExtension(dialog.FileName);
bool isMeter = extension == ".fcgm";
int _startindex = txtStarindex;
int _endindex = txtendindex;
@ -561,31 +414,10 @@ namespace Plane.FormationCreator.ViewModels
dynamic taskinfo = null;
if (importInfo is Newtonsoft.Json.Linq.JObject)
{
int ? filecoptercount = importInfo.coptercount;
string ver = importInfo.ver;
string ID = importInfo.ID;
if ((ID!=null)&&(ID!="flycube.com"))
{
Alert.Show($"文件格式不正确", "提示");
return;
}
if ((filecoptercount != null)&&(filecoptercount != _copterManager.Copters.Count ))
{
Alert.Show($"导入的飞机数量不符！导入飞机{filecoptercount}，实际飞机{ _copterManager.Copters.Count}", "提示");
return;
}
taskinfo = importInfo.tasks;
if (importInfo.locate != null)
{
//老版本无论是fcgm还是fcg格式这个地方都存的经纬差，新版fcgm才用米为单位保存
if ((ver != null) && (ver == "2.0"))
ImportCoptersLocate(importInfo.locate, isMeter);
else
ImportCoptersLocate(importInfo.locate, false);
ImportCoptersLocate(importInfo.locate);
}
if (importInfo.groups != null)
{
@ -599,21 +431,8 @@ namespace Plane.FormationCreator.ViewModels
//int task Newtonsoft.Json.Linq.JArray
if (taskinfo.Count == 0)
{
Alert.Show($"导入的文件没有飞行任务！", "提示");
return;
}
if ((taskinfo[0].singleCopterInfos.Count != _copterManager.Copters.Count))
{
Alert.Show($"导入的飞机数量不符！导入飞机{taskinfo[0].singleCopterInfos.Count}，实际飞机{ _copterManager.Copters.Count}", "提示");
return;
}
string extension = Path.GetExtension(dialog.FileName);
bool isMeter = extension == ".fcgm";
if ((txtStarindex == 0) && (txtendindex == 0))
@ -707,53 +526,15 @@ namespace Plane.FormationCreator.ViewModels
}
}
private void ImportCoptersLocate(dynamic coptersLocate,bool isMeter)
private void ImportCoptersLocate(dynamic coptersLocate)
{
//if (Newtonsoft.Json.Linq.JArray)
try
{
int index = 0;
bool loadxyLocate = isimpCopterLoc;
foreach (var locate in coptersLocate)
{
_copterManager.Copters[index].GroundAlt = Convert.ToSingle(locate[2]);
//虚拟飞机将读入保存时的位置
if (loadxyLocate&&(_copterManager.Copters[index] is FakeCopter))
{
var fc = _copterManager.Copters[index] as FakeCopter;
if (isMeter)
{
Tuple<double, double> observationLatLng = null;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat,
_flightTaskManager.OriginLng,
90,
Convert.ToSingle(locate[0]));
double TargetLng = observationLatLng.Item2;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat,
_flightTaskManager.OriginLng,
0,
Convert.ToSingle(locate[1]));
double TargetLat = observationLatLng.Item1;
fc.SetProperties(
latitude: TargetLat,
longitude: TargetLng
);
}else
{
double TargetLng = _flightTaskManager.OriginLng + Convert.ToSingle(locate[1]);
double TargetLat = _flightTaskManager.OriginLat + Convert.ToSingle(locate[0]);
fc.SetProperties(
latitude:TargetLat,
longitude: TargetLng
);
}
}
index++;
}

745
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -37,7 +37,7 @@ namespace Plane.FormationCreator.ViewModels
// }
// }
//};
// TODO: 王海, 20150803, 没什么问题就把这段以及 FlyToLat 等属性删了。
// TODO: 林俊清, 20150803, 没什么问题就把这段以及 FlyToLat 等属性删了。
//_flightTaskManager.PropertyChanged += (sender, e) =>
//{
// switch (e.PropertyName)
@ -66,7 +66,7 @@ namespace Plane.FormationCreator.ViewModels
//};
//_copterManager.SelectedCoptersChanged += (sender, e) =>
//{
// // TODO: 王海, 20150731, 处理多选飞行器时的情况。
// // TODO: 林俊清, 20150731, 处理多选飞行器时的情况。
// var selectedCopters = _copterManager.SelectedCopters;
// if (selectedCopters.Count() > 1)
// {
@ -129,13 +129,13 @@ namespace Plane.FormationCreator.ViewModels
//private void InvokeForSelectedSingleCopterInfos(Action<FlightTaskSingleCopterInfo> action)
//{
// var modifyingTask = _flightTaskManager.SelectedTask as FlyToFlightTask;
// if (modifyingTask != null && _copterManager.SelectedCopters.Count() == 1) // 王海, 20150731, 目前不处理多选的情况。
// if (modifyingTask != null && _copterManager.SelectedCopters.Count() == 1) // 林俊清, 20150731, 目前不处理多选的情况。
// {
// modifyingTask.FlyToFlightTaskSingleCopterInfos
// .Where(i => _copterManager.SelectedCopters.FirstOrDefault() == i.Copter)
// .ForEach(action);
// // TODO: 王海, 20150731, 添加同时改多个 SingleCopterInfo 的程序。
// // TODO: 林俊清, 20150731, 添加同时改多个 SingleCopterInfo 的程序。
// //.Where(i => _copterManager.SelectedCopters.Contains(i.Copter))
// }
//}
@ -191,34 +191,6 @@ namespace Plane.FormationCreator.ViewModels
set { Set(nameof(directionvalueall), ref _directionvalueall, value); }
}
private int _taskstartno = 0;
public int taskstartno
{
get { return _taskstartno; }
set { Set(nameof(taskstartno), ref _taskstartno, value); }
}
private int _taskendno = 0;
public int taskendno
{
get { return _taskendno; }
set { Set(nameof(taskendno), ref _taskendno, value); }
}
private float _taskdirection = 0;
public float taskdirection
{
get { return _taskdirection; }
set { Set(nameof(taskdirection), ref _taskdirection, value); }
}
private double _FlyToLat;
public double FlyToLat
{
@ -256,135 +228,6 @@ namespace Plane.FormationCreator.ViewModels
/// <summary>
/// 垂直旋转多个任务
/// </summary>
private ICommand _MitTaskVrotationCommand;
public ICommand MitTaskVrotationCommand
{
get
{
return _MitTaskVrotationCommand ?? (_MitTaskVrotationCommand = new RelayCommand<float>(async =>
{
double lngsum = 0;
double latsum = 0;
double altsum = 0;
int selectcount = 0;
// double centlng = 0;
double centlat = 0;
double centalt = 0;
int _taskstartno = 0;
int _taskendno = 0;
if (taskstartno == 0)
_taskstartno = 0;
else _taskstartno = taskstartno - 1;
if (taskendno == 0)
_taskendno = _flightTaskManager.Tasks.Count()-1;
else _taskendno = taskendno - 1;
//计算旋转中心轴
for (int i = _taskstartno ; i <= _taskendno; i++)
{
if ((_flightTaskManager.Tasks[i].TaskType == FlightTaskType.TakeOff) || (_flightTaskManager.Tasks[i].TaskType == FlightTaskType.Land))
continue;
for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
{
lngsum += _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng;
latsum += _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat;
altsum += _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt;
selectcount++;
}
}
if (selectcount > 0)
{
// centlng = lngsum / selectcount;
centlat = latsum / selectcount;
centalt = altsum / selectcount;
}
//////////计算旋转，经测试用下面的函数组合计算比较准确
double k = (double)taskdirection / 180 * Math.PI;
double dx = 0;
double dy = 0;
double ax = 0;
double ay = 0;
double tlng = 0;
double tlat = 0;
for (int i = _taskstartno; i <= _taskendno; i++)
{
if ((_flightTaskManager.Tasks[i].TaskType == FlightTaskType.TakeOff) || (_flightTaskManager.Tasks[i].TaskType == FlightTaskType.Land))
continue;
for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
{
tlng = _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng;
tlat = _flightTaskManager.Tasks[i].SingleCopterInfos[j].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.Tasks[i].SingleCopterInfos[j].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.Tasks[i].SingleCopterInfos[j].TargetAlt = (float)(centalt + 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.Tasks[i].SingleCopterInfos[j].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。
}));
}
}
private ICommand _ShowallTaskpointCommand;
public ICommand ShowallTaskpointCommand
@ -400,87 +243,11 @@ namespace Plane.FormationCreator.ViewModels
//_flightTaskManager.SelectedTask = null;
}));
}
}
private void GetMaxMissions()
{
int missiontmp = 0;
string maxCopterName = "";
int maxmission = 0;
string minCopterName = "";
int minmission = 65535;
ICopter vcopter = _copterManager.SelectedCopters.FirstOrDefault();
if (vcopter == null)
{
Alert.Show($"请先选中飞机!", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
return;
}
int coptercount = _copterManager.Copters.Count;
for (int i = 0; i < coptercount; i++)
{
missiontmp = 0;
var currcopter = _copterManager.Copters[i];
foreach (var capter in _copterManager.SelectedCopters)
{
if (currcopter == capter)
{
for (int j = 0; j < _flightTaskManager.Tasks.Count; j++)
{
missiontmp++;
missiontmp += _flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos.Count();
}
if (missiontmp > maxmission)
{
maxCopterName = _copterManager.Copters[i].Name;
maxmission = missiontmp;
}
if (missiontmp < minmission)
{
minCopterName = _copterManager.Copters[i].Name;
minmission = missiontmp;
}
}
}
}
if (maxmission>256)
Alert.Show($"飞机：[ {maxCopterName} ] 有最多任务数量：{maxmission} 已超出256的最大航点限制，请减少灯光; \n飞机：[ {minCopterName} ] 有最少任务数量：{minmission}", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
else
Alert.Show($"飞机：[ {maxCopterName} ] 有最多任务数量：{maxmission} \n飞机：[ {minCopterName} ] 有最少任务数量：{minmission} \n (航点加灯光不能超过256个任务)", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
return ;
}
private ICommand _CheckMissionCountCommand;
public ICommand CheckMissionCountCommand
{
get
{
return _CheckMissionCountCommand ?? (_CheckMissionCountCommand = new RelayCommand<float>(async =>
{
GetMaxMissions();
}));
}
}
//调整所有任务经度
private ICommand _ModiAllPosCommand;
public ICommand ModiAllPosCommand
@ -493,22 +260,9 @@ namespace Plane.FormationCreator.ViewModels
float lowalt = 200;
int itaskendno = taskendno;
if (taskendno == 0) itaskendno = _flightTaskManager.Tasks.Count - 1;
else itaskendno = taskendno - 1;
if (itaskendno > _flightTaskManager.Tasks.Count-1) itaskendno = _flightTaskManager.Tasks.Count-1;
// for (int i = taskstartno; i < itaskendno; i++)
int _startindex = taskstartno;
if (taskstartno == 0)
_startindex = 0;
else
_startindex = taskstartno - 1;
int _endindex = itaskendno;
int _startindex = 0;
int _endindex = _flightTaskManager.Tasks.Count - 1;
int lowtask = 0;
int lowCopter = 0;
@ -521,7 +275,7 @@ namespace Plane.FormationCreator.ViewModels
for (int i = _startindex; i <= _endindex; i++)
{
if ((_flightTaskManager.Tasks[i].TaskType == FlightTaskType.TakeOff)|| (_flightTaskManager.Tasks[i].TaskType == FlightTaskType.Land))
if ((_flightTaskManager.Tasks[i].TaskType == FlightTaskType.TakeOff))
continue;
@ -805,13 +559,8 @@ namespace Plane.FormationCreator.ViewModels
{
var tasksText = File.ReadAllText(dialog.FileName);
_flightTaskManager.ImportC4DFlytoTask(tasksText);
if (_copterManager.FC_VER_NO >= 3)
Alert.Show($"导入的第一个航点默认为0,需要重新计算时间", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
else
_flightTaskManager.SetAllTaskFlytime();
}
else
autoalltasktime();
}else
if ((extname == ".svg")|| (extname == ".obj"))
{
_flightTaskManager.ImportDlltoTask(dialog.FileName);
@ -826,56 +575,45 @@ namespace Plane.FormationCreator.ViewModels
private ICommand _ImportBlenderrCopterPosCommand;
public ICommand ImportBlenderCopterPosCommand
public void autoalltasktime()
{
get
for (int taskIndex = 1; taskIndex < _flightTaskManager.Tasks.Count; taskIndex++)
{
return _ImportBlenderrCopterPosCommand ?? (_ImportBlenderrCopterPosCommand = new RelayCommand<int>(async =>
if (taskIndex != 0 || _flightTaskManager.Tasks[taskIndex].TaskType == FlightTaskType.FlyTo)
{
//有不是虚拟飞机的直接退出
foreach (var copter in _copterManager.Copters)
if (_copterManager.Copters.Count() > 0)
{
if (!(copter is FakeCopter))
double maxDistance = 0.0f;
string copterName = "";
double speed = 0.0f;
foreach (var copter in _copterManager.Copters)
{
Alert.Show($"导入起飞位置只能用于虚拟飞机，{copter.Id}不是虚拟飞机", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
return;
var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
double distance = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
if (distance > maxDistance)
{
maxDistance = distance;
copterName = copter.Name;
speed = curWaypoint.LevelSpeed;
}
}
double time = CalculateFlyIime(maxDistance, speed);
Message.Show($"任务：{taskIndex},最大航点间距 = {Math.Round(maxDistance, 2)}米, 水平速度={Math.Round(speed, 2)}, 飞行时间 = {Math.Round(time, 2)}秒, 飞机编号:{copterName}");
_flightTaskManager.Tasks[taskIndex].FlytoTime = (int)Math.Round(time, 2);
}
var dialog = new OpenFileDialog
{
DefaultExt = "txt",
Filter = "航点文件(*.txt,*.svg,*.obj) |*.txt;*.svg;*.obj" // "图片文件(*.jpg, *.gif, *.bmp, *.png) | *.jpg; *.gif; *.bmp; *.png"
};
if (dialog.ShowDialog() == true)
{
string extname = Path.GetExtension(dialog.FileName);
if (extname == ".txt")
{
var tasksText = File.ReadAllText(dialog.FileName);
_flightTaskManager.ImportC4DFlytoVCopter(tasksText);
}
else
if ((extname == ".svg") || (extname == ".obj"))
{
_flightTaskManager.ImportDlltoVCopter(dialog.FileName);
};
}
}));
}
}
}
private ICommand _ExportWayPointCommand;
public ICommand ExportWayPointCommand
{
@ -883,9 +621,6 @@ namespace Plane.FormationCreator.ViewModels
{
return _ExportWayPointCommand ?? (_ExportWayPointCommand = new RelayCommand<int>(async =>
{
// _flightTaskManager.OptimizeRouteNew();
// return;
var dialog = new SaveFileDialog
{
DefaultExt = "txt",
@ -910,7 +645,58 @@ namespace Plane.FormationCreator.ViewModels
{
return _AutoWayPointTmCommand ?? (_AutoWayPointTmCommand = new RelayCommand<int>(async =>
{
_flightTaskManager.SetTaskFlytime(_flightTaskManager.SelectedTaskIndex);
int taskIndex = _flightTaskManager.SelectedTaskIndex;
if (taskIndex != 0 || _flightTaskManager.SelectedTask.TaskType == FlightTaskType.FlyTo)
{
if (_copterManager.Copters.Count() > 0)
{
double maxDistance = 0.0f;
string copterName = "";
double speed = 0.0f;
foreach (var copter in _copterManager.Copters)
{
var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
double distance = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
if (distance > maxDistance)
{
maxDistance = distance;
copterName = copter.Name;
speed = curWaypoint.LevelSpeed;
}
}
double time = CalculateFlyIime(maxDistance, speed);
Message.Show($"最大航点间距 = {Math.Round(maxDistance, 2)}米, 水平速度={Math.Round(speed, 2)}, 飞行时间 = {Math.Round(time, 2)}秒, 飞机编号:{copterName}");
_flightTaskManager.SelectedTask.FlytoTime = (int)Math.Round(time, 2);
}
}
}));
}
}
@ -925,80 +711,19 @@ namespace Plane.FormationCreator.ViewModels
return _AutoWayPointAllTmCommand ?? (_AutoWayPointAllTmCommand = new RelayCommand<int>(async =>
{
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)
if (Alert.Show("本操作将导致所有任务飞行时间重新计算，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
== MessageBoxResult.OK)
{
_flightTaskManager.SetAllTaskFlytime();
autoalltasktime();
}
}));
}
}
private ICommand _CheckTmCommand;
public ICommand CheckTmCommand
{
get
{
return _CheckTmCommand ?? (_CheckTmCommand = new RelayCommand<int>(async =>
{
if (Alert.Show("本操作将检测2号任务以后所有任务飞行时间是否合理，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
== MessageBoxResult.OK)
{
_flightTaskManager.CheckAllTaskFlytime();
}
}));
}
}
//2D计算，不改变ID，拉开层
private ICommand _OptimizeRouteCommandRet;
public ICommand OptimizeRouteCommandRet
{
get
{
return _OptimizeRouteCommandRet ?? (_OptimizeRouteCommandRet = new RelayCommand<int>(async =>
{
if (_copterManager.FC_VER_NO >= 3)
//2D计算，不改变ID，不用错层
_flightTaskManager.OptimizeRouteMeter(false, false, false); //采用米计算逻辑，用3D生成，不改变ID，可拉开层(2D回起飞矩阵专用)
else
_flightTaskManager.OptimizeRouteMeter(false, false); //采用米计算逻辑，用2D生成，不改变ID，不拉开层
}));
}
}
//3D计算，不改变ID，不拉开层
private ICommand _OptimizeRouteCommandRet3D;
public ICommand OptimizeRouteCommandRet3D
{
get
{
return _OptimizeRouteCommandRet3D ?? (_OptimizeRouteCommandRet3D = new RelayCommand<int>(async =>
{
if (_copterManager.FC_VER_NO >= 3)
//3D计算，不改变ID，可以错层
_flightTaskManager.OptimizeRouteMeter(true, false, true); //采用米计算逻辑，用3D生成，不改变ID，拉开层(3D回起飞矩阵专用,结束必须是矩阵)
else
_flightTaskManager.OptimizeRouteMeter(false, false); //采用米计算逻辑，用2D生成，不改变ID，不拉开层
}));
}
}
private ICommand _OptimizeRouteCommand3D;
public ICommand OptimizeRouteCommand3D
{
get
{
return _OptimizeRouteCommand3D ?? (_OptimizeRouteCommand3D = new RelayCommand<int>(async =>
{
//_flightTaskManager.OptimizeRoute2();
// _flightTaskManager.OptimizeRouteNew (); //最后可用的，但是经纬度计算，
_flightTaskManager.OptimizeRouteMeter(true); //采用米计算逻辑和OptimizeRouteNew一样
}));
}
}
private ICommand _OptimizeRouteCommand;
public ICommand OptimizeRouteCommand
{
@ -1007,8 +732,7 @@ namespace Plane.FormationCreator.ViewModels
return _OptimizeRouteCommand ?? (_OptimizeRouteCommand = new RelayCommand<int>(async =>
{
//_flightTaskManager.OptimizeRoute2();
// _flightTaskManager.OptimizeRouteNew (); //最后可用的，但是经纬度计算，
_flightTaskManager.OptimizeRouteMeter(); //采用米计算逻辑和OptimizeRouteNew一样
_flightTaskManager.OptimizeRouteNew();
}));
}
}
@ -1195,7 +919,23 @@ public ICommand VerticlAlignmentCommand
}
public static double CalculateFlyIime(double s, double v)
{
double t;
double a = 1; //加速度1米每秒
double at = v / a;
double a_s = 0.5f * a * at * at;
if (a_s > (s / 2)) //还没到特定速度就到了中点了
{
t = (float)System.Math.Sqrt(s / a) * 2;
}
else
{
t = (s - a_s * 2) / v + at * 2;
}
return t;
}
@ -1417,20 +1157,11 @@ public ICommand VerticlAlignmentCommand
double copterlat = 0;
double lng_out1 = 0;
double lat_out1 = 0;
int itaskendno = taskendno;
if (itaskendno == 0) itaskendno = _flightTaskManager.Tasks.Count - 1;
else itaskendno = taskendno - 1;
if (itaskendno > _flightTaskManager.Tasks.Count-1) itaskendno = _flightTaskManager.Tasks.Count-1;
int _taskstartno = 0;
if (taskstartno == 0) _taskstartno = 0;
else _taskstartno = taskstartno - 1;
for (int i = _taskstartno; i <= itaskendno; i++)
for (int i = 0; i < _flightTaskManager.Tasks.Count; i++)
{
for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
{
copterlng=_flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng;
copterlat = _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat;
@ -1716,15 +1447,8 @@ public ICommand VerticlAlignmentCommand
float lowalt = 200;
int itaskendno = taskendno;
if (itaskendno == 0) itaskendno = _flightTaskManager.Tasks.Count - 1;
else itaskendno = taskendno - 1;
if (itaskendno > _flightTaskManager.Tasks.Count-1) itaskendno = _flightTaskManager.Tasks.Count-1;
// for (int i = taskstartno; i < itaskendno; i++)
int _startindex = taskstartno;
if (_startindex != 0) _startindex = taskstartno - 1;
int _endindex = itaskendno ;
int _startindex = 0;
int _endindex = _flightTaskManager.Tasks.Count-1;
int lowtask = 0;
int lowCopter = 0;
@ -1737,8 +1461,10 @@ public ICommand VerticlAlignmentCommand
for (int i = _startindex; i <= _endindex; i++)
{
if ((_flightTaskManager.Tasks[i].TaskType == FlightTaskType.TakeOff)|| (_flightTaskManager.Tasks[i].TaskType == FlightTaskType.Land))
if ((_flightTaskManager.Tasks[i].TaskType == FlightTaskType.TakeOff))
continue;
for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
{
_flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt +=(float) cModialtvalue;
@ -1769,85 +1495,44 @@ public ICommand VerticlAlignmentCommand
{
get
{
return _calDistinceCommand ?? (_calDistinceCommand = new RelayCommand<double>(async =>
return _calDistinceCommand ?? (_calDistinceCommand = new RelayCommand<double>(async =>
{
if (_copterManager.AcceptingControlCopters.Count() < 2)
return;
double minDistance = double.MaxValue;
string currselectstr = "";
for (int tsi = 1; tsi < _flightTaskManager.Tasks.Count ; tsi++)
var flightTask = _flightTaskManager.SelectedTask;
List<ICopter> selectedCopter = new List<ICopter>();
selectedCopter.AddRange(_copterManager.AcceptingControlCopters);
string minCopterId1 = "0";
string minCopterId2 = "0";
for (int i = 0; i < selectedCopter.Count; i++)
{
var copter1 = selectedCopter[i];
var copterInfo1 = _flightTaskManager.SelectedTask.SingleCopterInfos.FirstOrDefault(c =>c.Copter == copter1);
if ((_flightTaskManager.Tasks[tsi].TaskType == FlightTaskType.TakeOff) || (_flightTaskManager.Tasks[tsi].TaskType == FlightTaskType.Land))
continue;
double minDistance = double.MaxValue;
double maxDistance = 0.0;
var flightTask = _flightTaskManager.Tasks[tsi];
List<ICopter> selectedCopter = new List<ICopter>();
selectedCopter.AddRange(_copterManager.AcceptingControlCopters);
string minCopterId1 = "0";
string minCopterId2 = "0";
string maxCopterId1 = "0";
string maxCopterId2 = "0";
for (int i = 0; i < selectedCopter.Count; i++)
for (int j = i + 1; j < selectedCopter.Count; j++)
{
var copter1 = selectedCopter[i];
var copterInfo1 = flightTask.SingleCopterInfos.FirstOrDefault(c => c.Copter == copter1);
var copter2 = selectedCopter[j];
var copterInfo2 = _flightTaskManager.SelectedTask.SingleCopterInfos.FirstOrDefault(c => c.Copter == copter2);
for (int j = i + 1; j < selectedCopter.Count; j++)
double distance = GeographyUtils.CalcDistance(
copterInfo1.TargetLat, copterInfo1.TargetLng, copterInfo1.TargetAlt,
copterInfo2.TargetLat, copterInfo2.TargetLng, copterInfo2.TargetAlt);
//minDistance = Math.Min(minDistance, distance);
if (distance < minDistance)
{
var copter2 = selectedCopter[j];
var copterInfo2 = flightTask.SingleCopterInfos.FirstOrDefault(c => c.Copter == copter2);
double distance = GeographyUtils.CalcDistance(
copterInfo1.TargetLat, copterInfo1.TargetLng, copterInfo1.TargetAlt,
copterInfo2.TargetLat, copterInfo2.TargetLng, copterInfo2.TargetAlt);
//minDistance = Math.Min(minDistance, distance);
if (distance < minDistance)
{
minDistance = distance;
minCopterId1 = copter1.Id;
minCopterId2 = copter2.Id;
}
if (distance > maxDistance)
{
maxDistance = distance;
maxCopterId1 = copter1.Id;
maxCopterId2 = copter2.Id;
}
minDistance = distance;
minCopterId1 = copter1.Id;
minCopterId2 = copter2.Id;
}
}
minDistance = Math.Round(minDistance, 2);
maxDistance = Math.Round(maxDistance, 2);
string showstr = string.Format("[{0}{1}] 最小距离 = {2:F2} 飞机: {3} 和 {4}; 最大距离 = {5:F2} 飞机: {6} 和 {7}",
flightTask.TaskIndex + 1, flightTask.TaskCnName, minDistance, minCopterId1, minCopterId2, maxDistance,
maxCopterId1, maxCopterId2);
Message.Show(showstr);
// Message.Show($"[{0:flightTask.TaskIndex + 1}{flightTask.TaskCnName}]最小距离 = {minDistance} 飞机:{minCopterId1}和{minCopterId2} ; 最大距离 = {maxDistance} 飞机:{maxCopterId1}和{maxCopterId2}");
if (flightTask == _flightTaskManager.SelectedTask)
currselectstr = showstr;
}
Message.Show("选中任务：");
Message.Show(currselectstr);
//Distancevalue = minDistance;
Message.Show($"最小距离 = {minDistance} 飞机:{minCopterId1}和{minCopterId2}");
}));
}
@ -1861,8 +1546,35 @@ public ICommand VerticlAlignmentCommand
{
return _MaxDistinceAndTimeCommand ?? (_MaxDistinceAndTimeCommand = new RelayCommand<double>(async =>
{
//不设置时间，只是计算
_flightTaskManager.SetTaskFlytime(_flightTaskManager.SelectedTaskIndex, false);
int taskIndex = _flightTaskManager.SelectedTaskIndex;
if (taskIndex != 0 || _flightTaskManager.SelectedTask.TaskType == FlightTaskType.FlyTo)
{
if (_copterManager.AcceptingControlCopters.Count() > 0)
{
double maxDistance = 0.0f;
string copterName = "";
double speed = 0.0f;
foreach (var copter in _copterManager.AcceptingControlCopters)
{
var prevWaypoint = _flightTaskManager.Tasks[taskIndex - 1].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
var curWaypoint = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(c => c.Copter == copter);
double distance = GeographyUtils.CalcDistance(
prevWaypoint.TargetLat, prevWaypoint.TargetLng, prevWaypoint.TargetAlt,
curWaypoint.TargetLat, curWaypoint.TargetLng, curWaypoint.TargetAlt);
if (distance > maxDistance)
{
maxDistance = distance;
copterName = copter.Name;
speed = curWaypoint.LevelSpeed;
}
}
double time = CalculateFlyIime(maxDistance, speed);
Message.Show($"最大航点间距 = {Math.Round(maxDistance, 2)}米, 水平速度={Math.Round(speed, 2)}, 飞行时间 = {Math.Round(time, 2)}秒, 飞机编号:{copterName}");
}
}
}));
}
}
@ -2062,18 +1774,8 @@ public ICommand VerticlAlignmentCommand
{
float CopterDirection =90- (float)BeltDirection ;
//必须大于1架
if (_copterManager.SelectedCopters.Count() <= 1)
{
Alert.Show("必须选中多于一架飞机");
if (_copterManager.SelectedCopters.Count() <= 0)
return;
}
if (EndTime<= BeginTime)
{
Alert.Show("结束时间必须大于开始时间（非持续时间!）");
return;
}
//旋转飞机矩阵
if (CopterDirection != 0)
@ -2191,8 +1893,7 @@ public ICommand VerticlAlignmentCommand
{
return _SetStrokesLampCommamd ?? (_SetStrokesLampCommamd = new RelayCommand(async () =>
{
//必须大于1架
if (_copterManager.SelectedCopters.Count() <= 1)
if (_copterManager.SelectedCopters.Count() <= 0)
return;
@ -2248,7 +1949,7 @@ public ICommand VerticlAlignmentCommand
#region 渐变灯参数
private double _GradientRampTime = 1;
private double _GradientRampTime = 10;
public double GradientRampTime
{
get { return _GradientRampTime; }
@ -2405,12 +2106,8 @@ public ICommand VerticlAlignmentCommand
LEDInfo endLed = new LEDInfo();
endLed.LEDMode = 0;
endLed.Delay = AlignmentTime - leddelay;
if (copterInfo.LEDInfos.Count > 0)
endLed.LEDRGB = copterInfo.LEDInfos[copterInfo.LEDInfos.Count - 1].LEDRGB;
else
endLed.LEDRGB = "FFFFFF";
copterInfo.AddLEDInfo(endLed);
endLed.LEDRGB = copterInfo.LEDInfos[copterInfo.LEDInfos.Count - 1].LEDRGB;
copterInfo.AddLEDInfo(endLed);
}
}
}));
@ -2434,46 +2131,15 @@ public ICommand VerticlAlignmentCommand
{
float CopterDirection = 90 - (float)GradualDirection;
//渐变需要2架以上
if (_copterManager.SelectedCopters.Count() <= 1)
return;
List<FlightTaskSingleCopterInfo> TempSingleCopterInfos = new List<FlightTaskSingleCopterInfo>();
if (_copterManager.SelectedCopters.Count() <= 0)
return;
//旋转飞机矩阵
if (CopterDirection != 0)
{
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
if (_flightTaskManager.SelectedTask != null)
{
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
{
//得到每个选择的飞机
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
//根据飞机查找任务中的位置信息
foreach (var capter in _copterManager.SelectedCopters)
{
//如果是选择的那架飞机
if (capter == selectedCopter)
{
FlightTaskSingleCopterInfo vFlightTaskSingleCopterInfo = new FlightTaskSingleCopterInfo(capter);
vFlightTaskSingleCopterInfo.TargetLng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
vFlightTaskSingleCopterInfo.TargetAlt = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt;
vFlightTaskSingleCopterInfo.TargetLat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
TempSingleCopterInfos.Add(vFlightTaskSingleCopterInfo);
}
}
}
}
LevelRotateCommand.Execute(CopterDirection);
await Task.Delay(100);
LevelRotateCommand.Execute(CopterDirection);
await Task.Delay(100);
}
@ -2518,55 +2184,16 @@ public ICommand VerticlAlignmentCommand
LEDInfo led = new LEDInfo();
led.LEDMode = 0;
led.Delay = GradientRampTime;
led.LEDRGB = "000000";
//led.LEDRGB = Convert.ToString(R, 16) + Convert.ToString(G, 16) + Convert.ToString(B, 16);
try
{
led.LEDRGB = R.ToString("X2") + G.ToString("X2") + B.ToString("X2");
}
catch (Exception)
{
//throw;
}
led.LEDRGB = R.ToString("X2") + G.ToString("X2") + B.ToString("X2");
copterInfo.AddLEDInfo(led);
}
await Task.Delay(100);
//使用之前保存的位置回到飞机原来的位置，不使用旋转因为转回去和原来的位置有一点点偏差
if (CopterDirection != 0)
{
int j = 0;
var selectedCopter1 = _copterManager.SelectedCopters.FirstOrDefault();
if (_flightTaskManager.SelectedTask != null)
{
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
{
selectedCopter1 = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
foreach (var capter in _copterManager.SelectedCopters)
{
if (capter == selectedCopter1)
{
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = TempSingleCopterInfos[j].TargetLat;
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = TempSingleCopterInfos[j].TargetLng;
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt = TempSingleCopterInfos[j].TargetAlt;
j++;
}
}
}
}
// LevelRotateCommand.Execute(0 - CopterDirection);
}
//旋转飞机矩阵
if (CopterDirection != 0)
LevelRotateCommand.Execute(0 - CopterDirection);
}));
}

89
Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs
View File

@ -1,7 +1,5 @@
using GalaSoft.MvvmLight;
using GalaSoft.MvvmLight.Command;
using Microsoft.Practices.ServiceLocation;
using Plane.CommunicationManagement;
using Plane.FormationCreator.Formation;
using Plane.Windows.Messages;
using System;
@ -10,7 +8,6 @@ using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Input;
namespace Plane.FormationCreator.ViewModels
@ -20,41 +17,9 @@ namespace Plane.FormationCreator.ViewModels
private RtcmManager _rtcmManager;
public RtcmManager RtcmManager { get { return _rtcmManager; } }
//方式
public ObservableCollection<string> serialPorts { get; } = new ObservableCollection<string>();
private CommModuleManager _commModuleManager = CommModuleManager.Instance;
public string BoardPortsStatus
{
get
{
return _commModuleManager.BoardPortStatusStr;
}
}
private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
public void SetRTKStatestr()
{
string rtksstr = "";
// ResendToCom
if (_rtcmManager.Rtcmthreadrun)
{
rtksstr = "RTK发送中 ";
if (_rtcmManager.SmallRtcmData)
rtksstr += ",低带宽模式 ";
if (_rtcmManager.ResendToCom && _commModuleManager.Recomisopen)
rtksstr += ",双通道模式 ";
rtksstr += "...";
}
else
rtksstr = "RTK未发送";
ControlPanelVM.RTKState = rtksstr;
}
private string _serialPortsSelectdValue;
public string SerialPortsSelectdValue
{
@ -64,57 +29,15 @@ namespace Plane.FormationCreator.ViewModels
}
private bool _smalldatamk;
public bool SmalldataMK
{
get { return _smalldatamk; }
set
{
Set(nameof(SmalldataMK), ref _smalldatamk, value);
_rtcmManager.SmallRtcmData= value;
}
}
private bool _resendtocommk=true;
public bool ResendToComMK
{
get { return _resendtocommk; }
set
{
if (value)
{
//发送
if (_commModuleManager.last_reserialport == "")
{
Alert.Show($"先在设置里打开广播端口", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
}else
if (!_commModuleManager.Recomisopen)
{
Alert.Show($"广播端口未打开，无法发送", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
}
}
Set(nameof(ResendToComMK), ref _resendtocommk, value);
_rtcmManager.ResendToCom = value;
}
}
public RtcmInfoViewModel(RtcmManager rtcmManager)
{
_rtcmManager = rtcmManager;
serialPorts.Add("魔方基站");
serialPorts.Add("千寻");
string[] commports = _rtcmManager.GetPortNames();
foreach (var item in commports)
{
serialPorts.Add(item);
}
serialPorts.Add("千寻");
SerialPortsSelectdValue = serialPorts[0];
}
@ -124,13 +47,12 @@ namespace Plane.FormationCreator.ViewModels
{
string lastSelectValue = SerialPortsSelectdValue;
serialPorts.Clear();
serialPorts.Add("魔方基站");
serialPorts.Add("千寻");
string[] commports = _rtcmManager.GetPortNames();
foreach (var item in commports)
{
serialPorts.Add(item);
}
serialPorts.Add("千寻");
if (serialPorts.Contains(lastSelectValue))
SerialPortsSelectdValue = lastSelectValue;
}
@ -142,13 +64,10 @@ namespace Plane.FormationCreator.ViewModels
{
return _ConnectRtcmCommand ?? (_ConnectRtcmCommand = new RelayCommand(async() =>
{
//是否转发到特定端口
string resendserial = "";
_rtcmManager.ResendToCom = ResendToComMK;
if (!_rtcmManager.Rtcmthreadrun)
await _rtcmManager.Open(SerialPortsSelectdValue);
else
await _rtcmManager.Close(SerialPortsSelectdValue);
await _rtcmManager.Close();
}));
}
}

109
Plane.FormationCreator/ViewModels/View3DViewModel.cs
View File

@ -93,7 +93,6 @@ namespace Plane.FormationCreator.ViewModels
planeModel3Ds.Clear();
planeGroup.Children.Clear();
observationLatLng = null;
SelectTask();
}
private void Copter_LocationChanged(object sender, EventArgs e)
@ -110,31 +109,7 @@ namespace Plane.FormationCreator.ViewModels
}
private Dictionary<ICopter, GeometryModel3D> planeModel3Ds = new Dictionary<ICopter, GeometryModel3D>();
private Tuple<double, double> observationLatLng = null;
//得到观测位置
//observationLatLng 观察点坐标,第一列的中间再往前2个中间距离)
//观测点的位置放到最后排飞机的中间位置
private void getobservationpos()
{
observationLatLng = new Tuple<double, double>(_flightTaskManager.ObserverLat, _flightTaskManager.ObserverLng);
/*
//第一列到中间的距离
float midColDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat,
_flightTaskManager.OriginLng,
_flightTaskManager.Orientation + 90,
midColDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1,
observationLatLng.Item2,
_flightTaskManager.Orientation + 180,
midColDistance * 4);
*/
}
Tuple<double, double> observationLatLng = null;
private void AddOrMove3DCopter(ICopter copter)
{
@ -142,16 +117,29 @@ namespace Plane.FormationCreator.ViewModels
//var copternum1 = _copterManager.Copters.FirstOrDefault();
if (_flightTaskManager.OriginLat == 0 || _flightTaskManager.OriginLng == 0)
return;
//得到观测位置
//第一列到中间的距离
float midColDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
if (observationLatLng == null)
{
getobservationpos();
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat,
_flightTaskManager.OriginLng,
_flightTaskManager.Orientation + 90,
midColDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1,
observationLatLng.Item2,
_flightTaskManager.Orientation + 180,
midColDistance * 2);
}
//没有这架飞机就加入
if (!planeModel3Ds.ContainsKey(copter))
{
//观测点的位置放到最后排飞机的中间位置
var meshBuilderwaypoint = new MeshBuilder(false, false);
//meshBuilderwaypoint.AddTriangle(new Point3D(-0.1, -0.1, 0), new Point3D(0.1, -0.1, 0), new Point3D(0, 0.2, 0));
@ -159,13 +147,12 @@ namespace Plane.FormationCreator.ViewModels
meshBuilderwaypoint.AddSphere(new Point3D(0, 0, 0), 0.3* _copterManager.scale3d);
var meshwaypoint = meshBuilderwaypoint.ToMesh(true);
//离观测点距离y
double y = GeographyUtils.CalcDistance(0, observationLatLng.Item1, 0, 0, copter.Latitude, 0) / 2;
if (observationLatLng.Item1 > copter.Latitude) y = -y;
//离观测点距离x
double x = GeographyUtils.CalcDistance(observationLatLng.Item2, 0, 0, copter.Longitude, 0, 0) / 2;
if (observationLatLng.Item2 > copter.Longitude) x = -x;
//离观测点距离z
double z = copter.Altitude + 0.1;
x *= _copterManager.scale3d;
@ -180,9 +167,8 @@ namespace Plane.FormationCreator.ViewModels
{
Geometry = meshwaypoint,
Transform = new TranslateTransform3D(x, y, z),
Material = new DiffuseMaterial(new SolidColorBrush(color)),
//Material = MaterialHelper.CreateMaterial(color),
// BackMaterial = MaterialHelper.CreateMaterial(color)
Material = MaterialHelper.CreateMaterial(color),
BackMaterial = MaterialHelper.CreateMaterial(color)
};
planeModel3Ds.Add(copter, model3D);
@ -191,7 +177,7 @@ namespace Plane.FormationCreator.ViewModels
//有飞机在视图里就移动位置
else
{
//计算和观测点的相对位置
double y = GeographyUtils.CalcDistance(0, observationLatLng.Item1, 0, 0, copter.Latitude, 0) / 2;
if (observationLatLng.Item1 > copter.Latitude) y = -y;
@ -202,45 +188,30 @@ namespace Plane.FormationCreator.ViewModels
x = Math.Round(x, 2);//按照四舍五入的国际标准
y = Math.Round(y, 2);
double z = Math.Round(copter.Altitude / 2, 2);
GeometryModel3D panle3D = planeModel3Ds[copter];
x *= _copterManager.scale3d;
y *= _copterManager.scale3d;
z *= _copterManager.scale3d;
//移动飞机到新位置
GeometryModel3D panle3D = planeModel3Ds[copter];
if (x != panle3D.Transform.Value.OffsetX || y != panle3D.Transform.Value.OffsetY || z != panle3D.Transform.Value.OffsetZ)
{
var trans = panle3D.Transform as TranslateTransform3D;
trans.OffsetX = x;
trans.OffsetY = y;
trans.OffsetZ = z;
panle3D.Transform = new TranslateTransform3D(x, y, z);
}
//设置灯光
Color color;
if (copter.LEDColor != null && copter.LEDColor != "")
{
color = (Color)ColorConverter.ConvertFromString("#" + copter.LEDColor);
panle3D.Material = MaterialHelper.CreateMaterial(color);
// panle3D.BackMaterial = MaterialHelper.CreateMaterial(color);
panle3D.BackMaterial = MaterialHelper.CreateMaterial(color);
}
//else
// color = (Color)ColorConverter.ConvertFromString("#" + CopterManager.CopterDefaultColor);
}
/*
// Color color;
if (copter.LEDShowColor != null)
{
Color currcolor = System.Windows.Media.Color.FromArgb(
copter.LEDShowColor.A, copter.LEDShowColor.R, copter.LEDShowColor.G, copter.LEDShowColor.B);
{
((panle3D.Material as DiffuseMaterial).Brush as SolidColorBrush).Color = currcolor;
}
}
*/
}
//Message.Show("添加3D飞机：" + copter.Name);
}
@ -251,12 +222,16 @@ namespace Plane.FormationCreator.ViewModels
waypointGroup.Children.Clear();
if (_flightTaskManager.SelectedTaskIndex > 0)
{
//观测点的位置放到最后排飞机的中间位置
Tuple<double, double> observationLatLng;
//得到观测位置
if (observationLatLng == null)
{
getobservationpos();
}
//列的中间位置
float midDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat, _flightTaskManager.OriginLng, _flightTaskManager.Orientation + 90, midDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1, observationLatLng.Item2, _flightTaskManager.Orientation + 180, midDistance * 2);
//modelGroup.Children.Clear();

14
Plane.FormationCreator/Views/CalibrationWindow.xaml
View File

@ -6,8 +6,8 @@
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
mc:Ignorable="d"
WindowStartupLocation="CenterScreen"
Title="校准" Height="329" Width="455">
<Grid Margin="0,0,0,7">
Title="校准" Height="320" Width="450">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="70*"/>
<RowDefinition Height="30*"/>
@ -25,16 +25,12 @@
</StackPanel>
<StackPanel Grid.Row="1" Margin="10,0,10,10">
<Label Content="其他" Margin="0,0,0,10" FontWeight="Bold" FontSize="14"/>
<Label Content="指南针" Margin="0,0,0,10" FontWeight="Bold" FontSize="14"/>
<WrapPanel HorizontalAlignment="Center">
<Button Content="开始校准" Width="100" Margin="10, 0"
Command="{Binding CalibrationCompassCommand}"/>
<Button Content="放弃校准" Width="100" Margin="10, 0"
Command="{Binding CancelCalibrationCompassCommand}" Visibility="Collapsed"/>
<Button Content="校准指南针" Width="120"
Command="{Binding CalibrationCompassCommand}"/>
<Button Content="校准陀螺仪" Width="120" Margin="20, 0"
Command="{Binding CalibrationPreflightCommand}"/>
<Button Content="重启飞控" Width="100" Margin="10, 0"
Command="{Binding RestartFCCommand}"/>
</WrapPanel>
<ProgressBar Margin="0,20" Height="18" Width="220" Value="{Binding CompassPercent, UpdateSourceTrigger=PropertyChanged}"/>

41
Plane.FormationCreator/Views/ConnectWindow.xaml
View File

@ -8,7 +8,7 @@
xmlns:ec="clr-namespace:Plane.Windows.Controls;assembly=Plane.Windows"
mc:Ignorable="d"
Title=""
Width="565.58"
Width="500"
Height="325.107"
WindowStartupLocation="CenterScreen"
@ -24,10 +24,11 @@
<RowDefinition Height="40" />
<RowDefinition Height="40" />
<RowDefinition Height="40" />
<RowDefinition Height="40" />
<RowDefinition Height="50" />
<RowDefinition Height="30" />
<RowDefinition Height="30" />
<RowDefinition Height="30"/>
<RowDefinition Height="30"/>
</Grid.RowDefinitions>
<Grid.ColumnDefinitions>
@ -43,11 +44,9 @@
<TextBox Width="30" VerticalContentAlignment="Center" Text="{Binding CopterNum}" Margin="5,5,5,5" />
<TextBlock Margin="5" VerticalAlignment="Center" Text="参数:" />
<TextBox Width="56" VerticalContentAlignment="Center" Text="{Binding CopterColor}" Margin="5,5,5,5"/>
<Button Content="对频" Width="67" Margin="5,5,5,5" Command="{Binding Path=WriteIdCommand}" ToolTip="ID框输入新编号" />
<Button Content="闪灯 " Width="67" Margin="5,5,5,5" Command="{Binding CommDataAsync}" ToolTip="参数为十六进制颜色"/>
<Button Content="拉烟" Width="67" Margin="5,5,5,5" Command="{Binding TestFireCommandAsync}" ToolTip="参数为通道号1-4"/>
<Button Content="抛物" Width="67" Margin="5,5,5,5" Command="{Binding TestPWMCommandAsync}" ToolTip="接入舵机控制"/>
<Button Content="功率" Width="67" Margin="5,5,5,5" Command="{Binding SetModulePowerCommand}" ToolTip="设置模块回传功率"/>
<Button Content="对频" Width="67" Margin="5,5,5,5" Command="{Binding Path=WriteIdCommand}" />
<Button Content="闪灯 " Width="67" Margin="5,5,5,5" Command="{Binding CommDataAsync}"/>
<Button Content="拉烟" Width="67" Margin="5,5,5,5" Command="{Binding TestFireCommandAsync}"/>
</StackPanel>
@ -56,27 +55,15 @@
Grid.Row="1"
Name="panel4" >
<Button Content="立体缩放" Width="90" Margin="5,5,5,5" Command="{Binding UpdateAllCopterCommand}"></Button>
<TextBlock Margin="5" VerticalAlignment="Center" Text="比例/模块号:" />
<TextBlock Margin="5" VerticalAlignment="Center" Text="比例:" />
<TextBox Width="30" VerticalContentAlignment="Center" Text="{Binding scale3d}" Margin="5,5,5,5" />
<Button Content="更改密码" Width="90" Margin="5,5,5,5" Command="{Binding ChangepasswordCommand}"></Button>
<Button Content="测试模块" Width="90" Margin="5,5,5,5" Command="{Binding TestModuleCommand}" ToolTip="测试地面站通讯模块1-8"></Button>
</StackPanel>
<StackPanel Orientation="Horizontal" HorizontalAlignment="Left" Grid.Row="2" Name="panel7" >
<Button Content="{Binding btnBoardPortStr}" Width="115" Margin="5,5,5,5" Command="{Binding Openboardport}"/>
<ComboBox Width="90" Height="25" Foreground="White" SelectedIndex="0"
ItemsSource="{Binding serialRePorts, Mode=OneWay}"
SelectedValue="{Binding SerialPortResend}"
DropDownOpened="ComboBox_DropDownOpened"/>
<TextBlock Margin="10,5,5,5" VerticalAlignment="Center" Text="{Binding BoardPortStatusStr}" />
</StackPanel>
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Left"
Grid.Row="3"
Grid.Row="2"
Name="panel2" >
<TextBlock Margin="5" VerticalAlignment="Center" Text="总数：" />
<TextBox Width="45" VerticalContentAlignment="Center" Text="{Binding CopterSum}" Margin="5,5,5,5" />
@ -87,7 +74,7 @@
</StackPanel>
<StackPanel Orientation="Horizontal"
HorizontalAlignment="Left"
Grid.Row="4"
Grid.Row="3"
Name="panel3" >
<Button Content="空中升级" Width="90" Margin="5,5,5,5" Command="{Binding UpdateAllCopterCommand}"></Button>
<Button Content="搜索飞机" Width="90" Margin="5,5,5,5" Command="{Binding QueryAllCopterCommand}"/>
@ -97,9 +84,9 @@
<Image Margin="0,0,0,0" x:Name="image1" Grid.RowSpan="2" Grid.Row="5" Source="/Resources/Logo_small.png" HorizontalAlignment="Left" />
<TextBlock Margin="5" Grid.Row="6" x:Name="about_ver" HorizontalAlignment="Right" VerticalAlignment="Bottom" Text="版本：V2.0.1213" />
<TextBlock Margin="5" Grid.Row="7" HorizontalAlignment="Right" x:Name="about_buildtm" VerticalAlignment="Bottom" Text="编译日期：2020.12.12" />
<Image Margin="0,0,0,0" x:Name="image1" Grid.RowSpan="2" Grid.Row="4" Source="/Resources/Logo_small.png" HorizontalAlignment="Left" />
<TextBlock Margin="5" Grid.Row="5" x:Name="about_ver" HorizontalAlignment="Right" VerticalAlignment="Bottom" Text="版本：V2.0.1213" />
<TextBlock Margin="5" Grid.Row="6" HorizontalAlignment="Right" x:Name="about_buildtm" VerticalAlignment="Bottom" Text="编译日期：2020.12.12" />

12
Plane.FormationCreator/Views/ConnectWindow.xaml.cs
View File

@ -46,20 +46,14 @@ namespace Plane.FormationCreator.Views
panel2.Visibility = Visibility.Collapsed;
panel3.Visibility = Visibility.Collapsed;
}
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
var version = Assembly.GetExecutingAssembly().GetName().Version;
about_ver.Text = "版本：" + version.ToString() + "(飞控兼容:" + _copterManager.FC_VER_STRING + ")";
about_buildtm .Text= "编译时间：" + System.IO.File.GetLastWriteTime(this.GetType().Assembly.Location).ToString();
about_ver.Text = "版本：" + version.ToString();
about_buildtm .Text= "编译时间：" + System.IO.File.GetLastWriteTime(this.GetType().Assembly.Location).ToString()+"(兼容4.1.2之前固件)";
//txtIPs.Focus();
}
ConnectViewModel _ConnectViewModel = ServiceLocator.Current.GetInstance<ConnectViewModel>();
private void ComboBox_DropDownOpened(object sender, EventArgs e)
{
_ConnectViewModel.RefreshPorts();
}
}
}

28
Plane.FormationCreator/Views/ControlPanelView.xaml
View File

@ -43,8 +43,11 @@
<Button Content="通讯版本" Command="{Binding DetectionCommModuleVersion}" />
<Button Content="统计返回"
Command="{Binding DetectionReturnData}" />
<Button Content="通讯统计"
Command="{Binding GetCommsumCommand}" />
<TextBlock
Margin="5,5,5,5" Foreground ="Red" VerticalAlignment="Center"
Text="{Binding RTKState}"
/>
</WrapPanel>
<WrapPanel>
@ -52,20 +55,15 @@
Command="{Binding ParamModify}" />
<Button Content="读入参数"
Command="{Binding LoadParamfile}" />
<Button Content="状态统计" Command="{Binding ReportGPSTypeCommand}"/>
<Button Content="定位统计" Command="{Binding ReportGPSTypeCommand}"/>
<Button Content="飞机校准"
Command="{Binding CalibrationSingleCommand}" />
<Button Content="正式参数" Command="{Binding TurnOffTestLightsCommand}" Visibility="Collapsed" />
<Button Content="电机" Visibility="Collapsed"
<Button Content="电机测试"
Command="{Binding MotorTestCommand}" />
<Button Content="删除飞机"
Command="{Binding DelCommand}" />
<Label Visibility="Collapsed" Content="Lat"/>
<TextBox Visibility="Collapsed" Text="{Binding LatOffset}" Width="50"/>
<Label Visibility="Collapsed" Content="Lng"/>
@ -113,11 +111,10 @@
Command="{Binding UnlockCommand}" />
<Button Content="加锁"
Command="{Binding LockCommand}" />
<Button Content="单独任务"
<Button Content="起飞" Visibility="Collapsed"
Command="{Binding TakeOffCommand}" />
<Button Content="抛物"
Command="{Binding ThrowoutCommand}" />
</WrapPanel>
<WrapPanel>
@ -193,13 +190,10 @@
<WrapPanel>
<Button Content="全部降落"
<Button Content="全部降落"
Command="{Binding AllLandCommand}" />
<Button Content="紧急返航"
Command="{Binding EmergencyRetCommand}" />
<Button Content="重设任务"
Command="{Binding ResetRealMissionCommand}" />
</WrapPanel>
</StackPanel>

2
Plane.FormationCreator/Views/CopterAttributeView.xaml
View File

@ -17,7 +17,7 @@
<Label Margin="5,0,0,0" Content="属性设置" VerticalAlignment="Center"/>
<Separator></Separator>
<StackPanel Margin="5,0,0,5" Orientation="Horizontal" HorizontalAlignment="Left">
<Label Margin="0" Content="摆放高度(米)" ></Label>
<Label Margin="0" Content="摆放高度" ></Label>
<TextBox
Margin="30,0"
Width="80"

104
Plane.FormationCreator/Views/CopterInfoView.xaml
View File

@ -12,12 +12,9 @@
d:DataContext="{d:DesignInstance Type=ec:FakeCopter, IsDesignTimeCreatable=True}">
<UserControl.Resources>
<Style TargetType="TextBlock">
<Setter Property="FontSize" Value="14" />
</Style>
@ -178,10 +175,9 @@
<StackPanel>
<TextBlock Text="飞行信息" />
<TextBlock Text="飞行信息" />
<Grid>
<Grid.Resources>
<Grid.Resources>
<Style x:Key="CopterInfo_ComboBox"
TargetType="ComboBox"
BasedOn="{StaticResource {x:Type ComboBox}}">
@ -204,7 +200,7 @@
<ColumnDefinition Width="Auto" />
</Grid.ColumnDefinitions>
<StackPanel Orientation="Vertical" >
<StackPanel Orientation="Vertical">
<StackPanel.Resources>
<Style TargetType="ComboBox"
BasedOn="{StaticResource CopterInfo_ComboBox}" />
@ -254,19 +250,36 @@
<TextBlock Text="高度：" />
<TextBlock Text="{Binding Altitude, StringFormat=0.##}" />
</StackPanel>
<StackPanel>
<TextBlock Text="距离：" />
<TextBlock Text="{Binding FlightDistance, StringFormat=0.##}" />
</StackPanel>
<StackPanel>
<TextBlock Text="锁定类型：" />
<TextBlock Text="{Binding GpsFixType}" />
</StackPanel>
<StackPanel>
<TextBlock Text="预检查状态：" />
<TextBlock Text="{Binding CopterPreCheckPassStr}"
Foreground="{Binding CopterPreCheckPass, Converter={StaticResource PrecheckToColorConverter}}" />
</StackPanel>
</StackPanel>
<TextBlock Text="返回数据：" />
<StackPanel ToolTip="{Binding RetainInt}">
<TextBlock Text="{Binding Retain[3]}" />
<TextBlock Text="." />
<TextBlock Text="{Binding Retain[2]}" />
<TextBlock Text="." />
<TextBlock Text="{Binding Retain[1]}" />
<TextBlock Text="." />
<TextBlock Text="{Binding Retain[0]}" />
</StackPanel>
</StackPanel>
<!--
<StackPanel>
<TextBlock Text="固件版本：" />
<TextBlock Text="{Binding FirmwareVersionText}" />
</StackPanel>-->
</StackPanel>
<StackPanel Grid.Row="1"
Grid.Column="1"
Orientation="Vertical">
@ -276,12 +289,28 @@
<Style TargetType="StackPanel"
BasedOn="{StaticResource CopterInfo_StackPanel}" />
</StackPanel.Resources>
<StackPanel Visibility="Hidden">
<TextBlock Text="电压值：" />
<TextBlock Text="{Binding Path=Voltage}" />
</StackPanel>
<StackPanel>
<StackPanel>
<TextBlock Text="电压：" />
<Slider x:Name="sldChannel3"
Width="75"
Minimum="1100"
Maximum="1900"
Value="{Binding Channel3, Mode=OneWay}"
ValueChanged="sldChannel3_ValueChanged">
<Slider.Resources>
<ResourceDictionary>
<ResourceDictionary.MergedDictionaries>
<ResourceDictionary Source="pack://application:,,,/MaterialDesignThemes.Wpf;component/Themes/MaterialDesignTheme.Light.xaml" />
<ResourceDictionary Source="pack://application:,,,/MaterialDesignThemes.Wpf;component/Themes/MaterialDesignTheme.Defaults.xaml" />
<ResourceDictionary Source="pack://application:,,,/MaterialDesignColors;component/Themes/Recommended/Primary/MaterialDesignColor.Blue.xaml" />
<ResourceDictionary Source="pack://application:,,,/MaterialDesignColors;component/Themes/Recommended/Accent/MaterialDesignColor.Lime.xaml" />
</ResourceDictionary.MergedDictionaries>
</ResourceDictionary>
</Slider.Resources>
</Slider>
</StackPanel>
<StackPanel>
<TextBlock Text="电压值：" />
<TextBlock Text="{Binding Path=Voltage}" />
</StackPanel>
@ -302,30 +331,29 @@
<TextBlock Text="经度：" />
<TextBlock Text="{Binding Longitude}" />
</StackPanel>
<StackPanel>
<TextBlock Text="通道3：" />
<TextBlock Text="{Binding Channel3}" />
</StackPanel>
<StackPanel>
<TextBlock Text="通道4：" />
<TextBlock Text="{Binding Channel4}" />
</StackPanel>
<StackPanel>
<TextBlock Text="定位精度：" />
<TextBlock Text="{Binding GpsHdop, StringFormat=0.##}" />
</StackPanel>
<StackPanel>
<TextBlock Text="通信模块版本：" />
<TextBlock Text="{Binding CommModuleVersion}" />
</StackPanel>
<StackPanel>
<TextBlock Text="返回数据：" />
<StackPanel Margin="0,0,0,0" Height="14" ToolTip="{Binding RetainInt}">
<TextBlock Margin="0,-1,0,0" Text="{Binding Retain[3]}" />
<TextBlock Margin="0,-1,0,0" Text="." />
<TextBlock Margin="0,-1,0,0" Text="{Binding Retain[2]}" />
<TextBlock Margin="0,-1,0,0" Text="." />
<TextBlock Margin="0,-1,0,0" Text="{Binding Retain[1]}" />
<TextBlock Margin="0,-1,0,0" Text="." />
<TextBlock Margin="0,-1,0,0" Text="{Binding Retain[0]}" />
</StackPanel>
</StackPanel>
<StackPanel >
<TextBlock Text="最后异常：" />
<TextBlock Text="{Binding CopterErrorString}"/>
</StackPanel>
</StackPanel>
</Grid>
</StackPanel>
</UserControl>

7
Plane.FormationCreator/Views/CopterListView.xaml
View File

@ -31,9 +31,9 @@
</ContextMenu>
</UserControl.Resources>
<Grid Width="550">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="540"/>
<RowDefinition />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
</Grid.RowDefinitions>
@ -91,9 +91,6 @@
<TextBox Width="30" Margin="5,0" VerticalContentAlignment="Center" Text="{Binding ContinuousNum}"/>
<TextBlock Text="间隔数量" Margin="5,5,0,0"/>
<TextBox Width="30" Margin="5,0" VerticalContentAlignment="Center" Text="{Binding IntervalNum}"/>
<TextBlock Text="间隔排数" Margin="5,5,0,0"/>
<TextBox Width="30" Margin="5,0" VerticalContentAlignment="Center" Text="{Binding RowNum}"/>
<TextBlock Text="选中个数" Margin="5,5,0,0"/>
<TextBlock Width="30" Margin="5,5,0,0" Text="{Binding CopterManager.SeletedCopterCount, UpdateSourceTrigger=PropertyChanged}"/>

45
Plane.FormationCreator/Views/CopterListView.xaml.cs
View File

@ -16,8 +16,6 @@ using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using System.Threading;
using System.Windows.Threading;
namespace Plane.FormationCreator.Views
{
@ -46,46 +44,21 @@ namespace Plane.FormationCreator.Views
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
private void SelectitemMessage(ICopter copter)
{
////需要访问UI线程，可能在其他线程里面
Dispatcher dispatcher = Dispatcher.FromThread(Thread.CurrentThread);
if (dispatcher != null)
if (copter == null)
{
if (copter == null)
lvwDrones.SelectedItems.Clear();
}
else
{
if (!_copterManager.shiftkeydown)
{
lvwDrones.SelectedItems.Clear();
lvwDrones.SelectedItem = copter;
}
else
{
if (!_copterManager.shiftkeydown)
{
lvwDrones.SelectedItems.Clear();
lvwDrones.SelectedItem = copter;
}
else
lvwDrones.SelectedItems.Add(copter);
}
}else
lvwDrones.SelectedItems.Add(copter);
}
lvwDrones.Dispatcher.BeginInvoke(new Action(() =>
{
if (copter == null)
{
lvwDrones.SelectedItems.Clear();
}
else
{
if (!_copterManager.shiftkeydown)
{
lvwDrones.SelectedItems.Clear();
lvwDrones.SelectedItem = copter;
}
else
lvwDrones.SelectedItems.Add(copter);
}
}));
}

30
Plane.FormationCreator/Views/InputDialog.xaml
View File

@ -1,30 +0,0 @@
<Window x:Class="Plane.FormationCreator.Views.InputDialog"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:ignore="http://www.galasoft.ch/ignore"
Title="输入窗口" SizeToContent="WidthAndHeight" WindowStartupLocation="CenterScreen"
ContentRendered="Window_ContentRendered" ResizeMode="NoResize">
<Grid Margin="15">
<Grid.ColumnDefinitions>
<ColumnDefinition Width="Auto" />
<ColumnDefinition Width="*" />
</Grid.ColumnDefinitions>
<Grid.RowDefinitions>
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
<RowDefinition Height="Auto" />
</Grid.RowDefinitions>
<Image Source="/FGCS;component/Resources/logo_big.png" Width="40" Height="40" Grid.RowSpan="2" Margin="20,0" />
<Label Name="lblQuestion" Grid.Column="1">最低更换电压:</Label>
<TextBox Name="txtAnswer" Grid.Column="1" Grid.Row="1" MinWidth="250">15.6</TextBox>
<WrapPanel Grid.Row="2" Grid.ColumnSpan="2" HorizontalAlignment="Right" Margin="0,15,0,0">
<Button IsDefault="True" Name="btnDialogOk" Click="btnDialogOk_Click" MinWidth="60" Margin="0,0,10,0">确定</Button>
<Button IsCancel="True" MinWidth="60">取消</Button>
</WrapPanel>
</Grid>
</Window>

31
Plane.FormationCreator/Views/InputDialog.xaml.cs
View File

@ -1,31 +0,0 @@
using System;
using System.Windows;
namespace Plane.FormationCreator.Views
{
public partial class InputDialog : Window
{
public InputDialog(string question, string defaultAnswer = "")
{
InitializeComponent();
lblQuestion.Content = question;
txtAnswer.Text = defaultAnswer;
}
private void btnDialogOk_Click(object sender, RoutedEventArgs e)
{
this.DialogResult = true;
}
private void Window_ContentRendered(object sender, EventArgs e)
{
txtAnswer.SelectAll();
txtAnswer.Focus();
}
public string Answer
{
get { return txtAnswer.Text; }
}
}
}

4
Plane.FormationCreator/Views/LoginView.xaml.cs
View File

@ -1,5 +1,4 @@
using Microsoft.Practices.ServiceLocation;
using Plane.FormationCreator.Formation;
using Plane.FormationCreator.ViewModels;
using System.Reflection;
using System.Windows;
@ -21,8 +20,7 @@ namespace Plane.FormationCreator.Views
LoginViewModel loginViewModel = ServiceLocator.Current.GetInstance<LoginViewModel>();
this.DataContext = loginViewModel;
var version = Assembly.GetExecutingAssembly().GetName().Version;
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
about_ver.Content = "版本：" + version.ToString() + "(飞控兼容:"+ _copterManager.FC_VER_STRING + ")";
about_ver.Content = "版本：" + version.ToString()+ "(兼容版)";
}
}

170
Plane.FormationCreator/Views/MapView.xaml.cs
View File

@ -140,7 +140,30 @@ namespace Plane.FormationCreator.Views
gmap.MouseDoubleClick += async (sender, e) =>
{
};
e.Handled = true;
//// Test
//var pos = map.ViewportPointToLocation(e.GetPosition(map));
//AddOrMoveCopter(new FakeCopter(pos.Latitude, pos.Longitude));
// 林俊清, 20150930, AppMode 存在意义已不大；只有正在运行任务的时候才不允许指点。
//if (AppEx.Current.AppMode != AppMode.ControllingCopters) return;
if (_flightTaskManager.IsPaused == false) return;
var copters = _copterManager.AcceptingControlCopters;
if (!copters.Any()) return;
Point clickPoint = e.GetPosition(gmap);
var pos = gmap.FromLocalToLatLng((int)clickPoint.X, (int)clickPoint.Y);
var centerLat = copters.Average(c => c.Latitude);
var centerLng = copters.Average(c => c.Longitude);
var latDelta = pos.Lat - centerLat;
var lngDelta = pos.Lng - centerLng;
await Task.WhenAll(copters.Select(copter => copter.FlyToAsync(copter.Latitude + latDelta, copter.Longitude + lngDelta, copter.Altitude)));
};
var center = _appConfig.Center;
gmap.Position = new LatLng(center.Lat, center.Lng).ToGCJ02();
@ -162,19 +185,6 @@ namespace Plane.FormationCreator.Views
originalMarker.Position = gmap.FromLocalToLatLng((int)wpPos.X, (int)wpPos.Y);
//MapLayer.SetPosition(original, gmap.ViewportPointToLocation(wpPos));
}
if (observerMarker != null && gmap.Markers.Contains(observerMarker))
{
PointLatLng location = new LatLng(_flightTaskManager.ObserverLat, _flightTaskManager.ObserverLng).ToGCJ02();
GPoint wpPos = gmap.FromLatLngToLocal(location);
//Point wpPos = gmap.LocationToViewportPoint(location);
wpPos.X -= (long)ORIGIN_RADIUS;
wpPos.Y -= (long)ORIGIN_RADIUS;
observerMarker.Position = gmap.FromLocalToLatLng((int)wpPos.X, (int)wpPos.Y);
//MapLayer.SetPosition(original, gmap.ViewportPointToLocation(wpPos));
}
};
GMapMarker rectangleMarker = null;
@ -268,9 +278,6 @@ namespace Plane.FormationCreator.Views
gmap.MouseMove += new MouseEventHandler(OriginalMove);
gmap.MouseLeftButtonUp += new MouseButtonEventHandler(OriginalMouseUp);
gmap.MouseMove += new MouseEventHandler(observerMove);
gmap.MouseLeftButtonUp += new MouseButtonEventHandler(observerMouseUp);
}
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
@ -281,7 +288,6 @@ namespace Plane.FormationCreator.Views
const string COPTER_TAG = "Copter";
const string WAYPOINT_TAG = "Waypoint";
const string ORIGINALPOINT_TAG = "Originalpoint";
const string OBSERVER_TAG = "Observerpoint";
public void Refresh()
{
@ -331,8 +337,6 @@ namespace Plane.FormationCreator.Views
private void Copter_LocationChanged(object sender, EventArgs e)
{
if (!_flightTaskManager.TaskRun_2D) return; //不在3D模式运行直接退出
var copter = sender as ICopter;
if (App.Current.CheckAccess())
{
@ -440,8 +444,7 @@ namespace Plane.FormationCreator.Views
// }
}
GMapMarker observerMarker = null;
Microsoft.Expression.Shapes.RegularPolygon observer = null;
GMapMarker originalMarker = null;
Microsoft.Expression.Shapes.RegularPolygon original = null;
const double ORIGIN_RADIUS = 12;
@ -480,131 +483,8 @@ namespace Plane.FormationCreator.Views
_flightTaskManager.OriginLng = location.Lng;
original.MouseLeftButtonDown += new MouseButtonEventHandler(OriginalMouseDown);
///加入或者改变观测点用于3D模拟
if (gmap.Markers.Contains(observerMarker))
gmap.Markers.Remove(observerMarker);
observer = new Microsoft.Expression.Shapes.RegularPolygon
{
Tag = OBSERVER_TAG,
Fill = new SolidColorBrush(Color.FromArgb(200, 3, 155, 3)),
Stroke = new SolidColorBrush(Color.FromArgb(200, 3, 80, 238)),
StrokeThickness = 1,
Width = ORIGIN_RADIUS *2,
Height = ORIGIN_RADIUS * 2,
InnerRadius = 1,
PointCount = 6,
};
if (_flightTaskManager.ObserverLat == 0)
{
Tuple<double, double> observationLatLng = null;
//第一列到中间的距离
float midColDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
_flightTaskManager.OriginLat,
_flightTaskManager.OriginLng,
_flightTaskManager.Orientation + 90,
midColDistance);
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
observationLatLng.Item1,
observationLatLng.Item2,
_flightTaskManager.Orientation + 180,
midColDistance * 4);
_flightTaskManager.ObserverLat = observationLatLng.Item1;
_flightTaskManager.ObserverLng = observationLatLng.Item2;
}
//_flightTaskManager.ObserverLat = _flightTaskManager.OriginLat;
//_flightTaskManager.ObserverLng = _flightTaskManager.OriginLng;
PointLatLng Observerlocation = new LatLng(_flightTaskManager.ObserverLat, _flightTaskManager.ObserverLng).ToGCJ02();
GPoint opoint = gmap.FromLatLngToLocal(Observerlocation);
opoint.X -= (long)ORIGIN_RADIUS;
opoint.Y -= (long)ORIGIN_RADIUS;
mapLocation = gmap.FromLocalToLatLng((int)opoint.X, (int)opoint.Y);
observerMarker = new GMapMarker(mapLocation);
observerMarker.ZIndex = 200;
observerMarker.Shape = observer;
observerDrag = false;
observer.MouseLeftButtonDown += new MouseButtonEventHandler(observerMouseDown);
gmap.Markers.Add(observerMarker);
}
private bool observerDrag = false;
double observerX = 0;
double observerY = 0;
private void observerMouseDown(object sender, MouseButtonEventArgs e)
{
observerDrag = true;
gmap.CanDragMap = false;
var originPoint = e.GetPosition(gmap);
observerX = originPoint.X;
observerX = originPoint.Y;
var posInObject = e.GetPosition(observer);
wpOffsetX = posInObject.X;
wpOffsetY = posInObject.Y;
}
private void observerMove(object sender, MouseEventArgs e)
{
if (observerDrag)
{
Point eventPos = e.GetPosition(gmap);
var leftTopPos = new Point(eventPos.X - wpOffsetX, eventPos.Y - wpOffsetY);
observerMarker.Position = gmap.FromLocalToLatLng((int)leftTopPos.X, (int)leftTopPos.Y);
//MapLayer.SetPosition(original, map.ViewportPointToLocation(leftTopPos));
}
}
private void observerMouseUp(object sender, MouseButtonEventArgs e)
{
if (observerDrag)
{
Point eventPos = e.GetPosition(gmap);
var centrePos = new Point(eventPos.X - wpOffsetX + ORIGIN_RADIUS, eventPos.Y - wpOffsetY + ORIGIN_RADIUS);
PointLatLng location = gmap.FromLocalToLatLng((int)centrePos.X, (int)centrePos.Y);
_flightTaskManager.ObserverLat = location.Lat;
_flightTaskManager.ObserverLng = location.Lng;
// original.ToolTip = location.ToString();
//Clipboard.SetDataObject(string.Format("{0},{1}", location.Lat, location.Lng), true);
observerDrag = false;
gmap.CanDragMap = true;
}
}
private bool originaDrag = false;
double originX = 0;
double originY = 0;

27
Plane.FormationCreator/Views/MapView_CopterDrawing.cs
View File

@ -269,24 +269,16 @@ namespace Plane.FormationCreator.Views
}
}
switch (_copterManager.SortType)
if (Copter.DisplayVirtualId)
{
case CopterManager.CopterSortType.ByID:
CopterText.Text = Copter.Name;
CopterText.Foreground = new SolidColorBrush(Colors.White);
break;
case CopterManager.CopterSortType.ByVID:
case CopterManager.CopterSortType.ByVIDShowAll:
CopterText.Text = Copter.VirtualId.ToString();
CopterText.Foreground = new SolidColorBrush(Colors.Yellow);
break;
default:
CopterText.Text = Copter.Name;
CopterText.Foreground = new SolidColorBrush(Colors.White);
break;
CopterText.Text = Copter.VirtualId.ToString();
CopterText.Foreground = new SolidColorBrush(Colors.Yellow);
}
else
{
CopterText.Text = Copter.Name;
CopterText.Foreground = new SolidColorBrush(Colors.White);
}
if (Copter.GetShowLEDAsync())
@ -578,8 +570,7 @@ namespace Plane.FormationCreator.Views
// routePoint.Lng = info.TargetLng;
if (Route != null)
{
if (Route.Points.Count>1)
Route.Points.RemoveAt(1);
Route.Points.RemoveAt(1);
Route.Points.Add(marker.Position);
this.Route.RegenerateShape(_map);
}

116
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -70,17 +70,10 @@
<TextBlock Margin="0,5,5,0" Text="所有：" VerticalAlignment="Center" HorizontalAlignment="Center"/>
<Button Margin="0,5,5,0" Content="导入航点" Command="{Binding ImportWayPointCommand}"
Visibility="Collapsed"/>
<Button Margin="0,5,5,0" Content="2D航线" Width="82" Command="{Binding OptimizeRouteCommand}"
<Button Margin="0,5,5,0" Content="优化路线" Width="105" Command="{Binding OptimizeRouteCommand}"
/>
<Button Margin="0,5,5,0" Content="3D航线" Width="82" Command="{Binding OptimizeRouteCommand3D}"
/>
<Button Margin="0,5,5,0" Content="2D对应" Width="82" Command="{Binding OptimizeRouteCommandRet}"
/>
<Button Margin="0,5,5,0" Content="3D对应" Width="82" Command="{Binding OptimizeRouteCommandRet3D}"
/>
<Button Margin="0,5,5,0" Content="导出到C4D" Width="105" Command="{Binding ExportWayPointCommand}"/>
<Button Margin="0,5,5,0" Content="估计时间" Width="105" Command="{Binding AutoWayPointTmCommand}"/>
</StackPanel>
<StackPanel>
@ -97,7 +90,6 @@
Margin="0,5,5,0" Width="105"
Command="{Binding BackTakeOffPointCommand}" />
<Button Margin="0,5,5,0" Content="计算时间" Width="105" Command="{Binding AutoWayPointTmCommand}"/>
</StackPanel>
@ -245,7 +237,7 @@
</Grid.ColumnDefinitions>
<CheckBox Content="返航点" ToolTip="勾选后航点仅高度有用，经纬度无效，无视原点自动飞回起飞点" Margin="0,5,0,0" IsChecked="{Binding IsLandWaypoint,UpdateSourceTrigger=PropertyChanged}" />
<Button Content="影响所有飞机" Margin="0,2,5,0" IsEnabled="False" Command="{Binding SetIsLandCommand}" Grid.Column="1"/>
<Button Content="应用到所选" Margin="0,2,5,0" Command="{Binding SetIsLandCommand}" Grid.Column="1"/>
</Grid>
@ -262,7 +254,7 @@
<RowDefinition/>
<RowDefinition/>
</Grid.RowDefinitions>
<CheckBox Content="改变最大速度" Margin="0,3"
<CheckBox Content="改变速度" Margin="0,3"
IsChecked="{Binding IsChangeSpeed, UpdateSourceTrigger=PropertyChanged}"/>
<StackPanel Margin="0,0" Grid.Column="1">
<TextBlock Text="水平" Margin="0,0,5,5" VerticalAlignment="Center" HorizontalAlignment="Left"/>
@ -275,7 +267,7 @@
<TextBox Width="45" Margin="5,0,5,5" VerticalAlignment="Center"
Text="{Binding DownSpeed, UpdateSourceTrigger=PropertyChanged}"/>
</StackPanel>
<Button Content="改变后需重新计算飞行时间" IsEnabled="False" Margin="5,0,5,5" Grid.Row="1" Grid.Column="1" Command="{Binding SetIsChangeCommand}"/>
<Button Content="应用到所选" Margin="5,0,5,5" Grid.Row="1" Grid.Column="1" Command="{Binding SetIsChangeCommand}"/>
</Grid>
</StackPanel>
@ -500,23 +492,17 @@
</ItemsPanelTemplate>
</ItemsControl.ItemsPanel>
<ItemsControl.ItemTemplate>
<DataTemplate x:Name="LEDTemplate">
<DataTemplate>
<StackPanel Margin="0,5,0,0" Orientation="Horizontal" >
<TextBlock Text="类型" Margin="0,0,0,0" VerticalAlignment="Center" ></TextBlock>
<ComboBox x:Name="cmbTemplateLEDMode" Height="25" MinWidth="125" Width="110" Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
SelectedIndex="{Binding Path=LEDMode}"
Loaded="OnCBLoaded" Initialized="cmbTemplateLEDMode_Initialized"
>
<ComboBox Height="25" MinWidth="125" Width="110" 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="代码里面动态添加--这里数量要够" />
<ComboBoxItem Content="常亮" />
<ComboBoxItem Content="同步闪烁(单色)" />
<ComboBoxItem Content="异步闪烁(随机)" />
<ComboBoxItem Content="渐亮" />
@ -525,25 +511,17 @@
<ComboBoxItem Content="同步闪烁(随机)" />
<ComboBoxItem Content="异步闪烁(单色)" />
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
<ComboBoxItem Content="拉烟"/>
</ComboBox>
<TextBlock Text="时间" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
<TextBox Height="25" MinWidth="40" MaxWidth="45" Margin="5,0,0,0"
ToolTip="相对延迟时间,最小0.1秒"
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 Height="25" MinWidth="35" MaxWidth="40" Margin="5,0,0,0"
ToolTip="单位:HZ，最小设置0.1HZ"
ToolTip="单位:HZ，最小设置1HZ"
Text="{Binding Path=LEDInterval, UpdateSourceTrigger=PropertyChanged}" />
<TextBlock Text="颜色" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
@ -572,65 +550,37 @@
<StackPanel x:Name="PanelDesign1">
<StackPanel Orientation="Horizontal" Margin="0,5,0,5" >
<Button Width="120" Margin="10,5,0,5" Content="导入外部航点" Command="{Binding ImportBlenderWayPointCommand}"/>
<Button Width="120" Margin="10,5,0,5" Content="导入起飞位置" Command="{Binding ImportBlenderCopterPosCommand}"/>
<Button Width="120" Content="计算飞行时间" Margin="10,5,0,5"
<Button Width="120" Content="自动飞行时间" Margin="10,5,0,5"
Command="{Binding AutoWayPointAllTmCommand}" HorizontalAlignment="Right" />
<Button Width="120" Content="检查飞行时间" Margin="10,5,0,5"
Command="{Binding CheckTmCommand}" HorizontalAlignment="Right" />
<Button Width="120" Content="飞行图案" Margin="10,5,0,5"
Command="{Binding SetHorseRaceLampCommand}" Visibility="Collapsed" HorizontalAlignment="Right" Height="26"/>
<Button Width="120" Content="飞行图案设计" Margin="10,5,0,5"
Command="{Binding SetHorseRaceLampCommand}" HorizontalAlignment="Right" Height="26"/>
</StackPanel>
<Separator Margin="5,0,5,0" />
</StackPanel>
<StackPanel x:Name="PanelDesign2">
<StackPanel Orientation="Horizontal" Margin="0,5,0,5" >
<TextBlock Text="开始任务" Margin="10, 5, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
<TextBox
Width="35"
Margin="6,5,0,5" Height="26"
HorizontalContentAlignment="Right"
Text="{Binding taskstartno, UpdateSourceTrigger=PropertyChanged}"/>
<TextBlock Text="结束任务" Margin="20, 5, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
<TextBox
Width="35"
Margin="0,5,0,5" Height="26"
HorizontalContentAlignment="Right"
Text="{Binding taskendno, UpdateSourceTrigger=PropertyChanged}"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="0,0,0,5" >
<Button Content="水平旋转" Width="120"
<Button Content="整体旋转" Width="120"
Margin="10,5,0,5" Height="26"
ToolTip="用于整体飞行方向调整，地面飞机矩阵同时旋转"
Command="{Binding TaskRotateCommand}"
CommandParameter="{Binding ElementName=txtAlignmentLine1, Path=Text}"/>
<Button Content="垂直旋转" Width="120"
Margin="10,5,5,5" Height="26"
ToolTip="用于多个任务同时倾斜角度，旋转中心为各任务的共同中心，各任务图案位置尽量重叠"
Command="{Binding MitTaskVrotationCommand}"
CommandParameter="{Binding ElementName=txtAlignmentLine1, Path=Text}" />
<TextBox x:Name="txtAlignmentLine1"
Width="40"
Margin="6,5,0,5" Height="26"
HorizontalContentAlignment="Right"
VerticalContentAlignment="Center"
Text="{Binding taskdirection, UpdateSourceTrigger=PropertyChanged}" />
<TextBlock Text="度" Margin="10, 5, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
Width="120"
Margin="10,5,0,5" Height="26"
Text="0"
VerticalContentAlignment="Center" />
<TextBlock Text="度" Margin="10, 10, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="0,0,0,5" >
<Button Content="调整高度"
<Button Content="整体调整高度"
Width="120"
Margin="10,5,0,5" Height="26"
Command="{Binding ModiAltCommand}"
CommandParameter="{Binding ElementName=txtModialtvalue, Path=Text}"
/>
<Button Content="移动"
<Button Content="整体移动"
Width="120"
Margin="10,5,0,5" Height="26"
Command="{Binding ModiAllPosCommand}"
@ -639,24 +589,20 @@
<TextBox x:Name="txtModialtvalue"
Grid.Column="1"
Width="40"
Width="35"
Margin="10,5,0,5" Height="26"
HorizontalContentAlignment="Right"
Text="0"/>
<TextBlock Text="米 方向" Margin="10, 5, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
<TextBlock Text="米 方向" Margin="5, 10, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
<TextBox Grid.Column="1" x:Name="txtdirectionvalue"
Width="40"
Width="35"
Margin="0,5,0,5" Height="26"
HorizontalContentAlignment="Right"
Text="{Binding directionvalueall, UpdateSourceTrigger=PropertyChanged}"/>
<TextBlock Text="度" Margin="5, 5, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
<TextBlock Text="度" Margin="5, 10, 5, 0" VerticalAlignment="Center" HorizontalAlignment="Left"/>
</StackPanel>
<Separator Margin="5,0,5,0" />
</StackPanel>
<StackPanel Orientation="Horizontal" Margin="0,0,0,5" >
@ -666,10 +612,8 @@
Command="{Binding ShowallTaskpointCommand}"
/>
<Button Content="计算任务数" Width="120"
Margin="10,5,0,5" Height="26"
Command="{Binding CheckMissionCountCommand}"
/>
</StackPanel>
@ -677,8 +621,6 @@
</StackPanel>
</TabItem>

122
Plane.FormationCreator/Views/ModifyTaskView.xaml.cs
View File

@ -29,36 +29,11 @@ namespace Plane.FormationCreator.Views
{
private int[] defcolor= { 255, 65280, 16711680, 65535 , 16711935, 16776960,0 };
ModifyTaskViewModel _modifyTaskViewModel = ServiceLocator.Current.GetInstance<ModifyTaskViewModel>();
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
private childItem FindVisualChild<childItem>(DependencyObject obj)
where childItem : DependencyObject
{
for (int i = 0; i < VisualTreeHelper.GetChildrenCount(obj); i++)
{
DependencyObject child = VisualTreeHelper.GetChild(obj, i);
if (child != null && child is childItem)
{
return (childItem)child;
}
else
{
childItem childOfChild = FindVisualChild<childItem>(child);
if (childOfChild != null)
return childOfChild;
}
}
return null;
}
public ModifyTaskView()
{
InitializeComponent();
this.DataContext = _modifyTaskViewModel;
if (!VersionControl.IsFullVersion)
{
//lightDesign.Visibility = Visibility.Collapsed;
@ -67,48 +42,27 @@ namespace Plane.FormationCreator.Views
private void Button_Click(object sender, RoutedEventArgs e)
{
/*
DependencyObject myListItem = LEDItems.ItemContainerGenerator.ContainerFromItem(LEDItems.Items.CurrentItem);
ContentPresenter myContentPresenter = FindVisualChild<ContentPresenter>(myListItem);
DataTemplate myDataTemplate = myContentPresenter.ContentTemplate;
ComboBox ledcomb = (ComboBox)myDataTemplate.FindName("cmbTemplateLEDMode", myContentPresenter);
// ledcomb.SelectedIndex = 2;
// distanceCopters.Text;
/*
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
int firstIndex = int.Parse( firstCopter.Text );
int secondIndex = int.Parse( secondCopter.Text );
if (_flightTaskManager.SelectedTask != null)
{
var firstCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[firstIndex-1];
var secondCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[secondIndex-1];
double distance = GeographyUtils.CalcDistance(firstCopterInfo.TargetLat, firstCopterInfo.TargetLng, firstCopterInfo.TargetAlt,
secondCopterInfo.TargetLat, secondCopterInfo.TargetLng, secondCopterInfo.TargetAlt);
distanceCopters.Text = ((double)Math.Round(distance*100)/100).ToString();
}
*/
// distanceCopters.Text;
/*
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
int firstIndex = int.Parse( firstCopter.Text );
int secondIndex = int.Parse( secondCopter.Text );
if (_flightTaskManager.SelectedTask != null)
{
var firstCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[firstIndex-1];
var secondCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[secondIndex-1];
double distance = GeographyUtils.CalcDistance(firstCopterInfo.TargetLat, firstCopterInfo.TargetLng, firstCopterInfo.TargetAlt,
secondCopterInfo.TargetLat, secondCopterInfo.TargetLng, secondCopterInfo.TargetAlt);
distanceCopters.Text = ((double)Math.Round(distance*100)/100).ToString();
}
*/
}
void OnCBLoaded(object sender, EventArgs e)
{
}
private void TextBox_MouseDoubleClick(object sender, MouseButtonEventArgs e)
{
System.Windows.Forms.ColorDialog colorDialog = new System.Windows.Forms.ColorDialog();
@ -133,47 +87,5 @@ namespace Plane.FormationCreator.Views
}
}
private void cmbTemplateLEDMode_Initialized(object sender, EventArgs e)
{
int selind = 0;
ComboBox cb = (ComboBox)sender;
selind = cb.SelectedIndex;
cb.Items.Clear();
if (_copterManager.FC_VER_NO == 1)
{
cb.Items.Add("常亮"); //0
cb.Items.Add("同步闪烁(单色)"); //1
cb.Items.Add("异步闪烁(随机)"); //2
cb.Items.Add("渐亮"); //3
cb.Items.Add("渐暗"); //4
cb.Items.Add("呼吸灯(单色)"); //5
cb.Items.Add("同步闪烁(随机)"); //6
cb.Items.Add("异步闪烁(单色)"); //7
cb.Items.Add("拉烟"); //8
}
else
{
cb.Items.Add("常亮"); //0
cb.Items.Add("同步闪烁(单色)"); //1
cb.Items.Add("异步闪烁(随机)"); //2
cb.Items.Add("同步闪烁(随机)"); //3
cb.Items.Add("异步闪烁(单色)"); //4
cb.Items.Add("渐亮"); //5
cb.Items.Add("渐暗"); //6
cb.Items.Add("同步呼吸灯(单色)"); //7
cb.Items.Add("同步呼吸灯(随机色)"); //8
cb.Items.Add("异步呼吸(单色)"); //9
cb.Items.Add("异步呼吸(随机色)"); //10
cb.Items.Add("变色(单色)"); //11
cb.Items.Add("变色(随机)"); //12
cb.Items.Add("异步变色(单色)"); //13
cb.Items.Add("异步变色(随机)"); //14
cb.Items.Add("拉烟"); //15
cb.Items.Add("抛物"); //16
}
cb.SelectedIndex = selind;
}
}
}

85
Plane.FormationCreator/Views/RtcmInfoView.xaml
View File

@ -5,45 +5,24 @@
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
xmlns:c="http://metro.mahapps.com/winfx/xaml/controls"
mc:Ignorable="d" d:DesignWidth="800"
Height="426" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize">
mc:Ignorable="d"
d:DesignHeight="300" d:DesignWidth="800"
Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize" Topmost="True">
<Grid Margin="0,0,0,0">
<Grid.RowDefinitions>
<RowDefinition Height="Auto"/>
<RowDefinition />
</Grid.RowDefinitions>
<StackPanel Margin="5" Orientation="Horizontal" VerticalAlignment="Center">
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
<StackPanel Margin="0" Orientation="Vertical">
<StackPanel Margin="0" Orientation="Horizontal">
<ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0"
<ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0"
Margin="10" ItemsSource="{Binding serialPorts, Mode=OneWay}"
SelectedValue="{Binding SerialPortsSelectdValue}"
DropDownOpened="ComboBox_DropDownOpened"/>
<Button Margin="6" Width="90" Height="28"
<Button Margin="6" Width="80" Height="28"
Content="{Binding RtcmManager.Rtcmthreadrun,Converter={StaticResource SendConverter}}"
Command="{Binding ConnectRtcmCommand}"/>
<Label Margin="6,6,0,6" Height="28" Content="卫星数："/>
<Label Margin="0,6,6,6" Height="28" Content="{Binding RtcmManager.rtcmInfoList.Count,UpdateSourceTrigger=PropertyChanged}"></Label>
</StackPanel>
<StackPanel Margin="6,0,0,2" Orientation="Horizontal">
<CheckBox x:Name="checkBox" Content="双通道模式 (同时发到广播端口)"
Margin="4,5,5,0" Width="190"
IsChecked="{Binding ResendToComMK}"/>
<CheckBox x:Name="cBsmalldata" Content="低带宽模式"
Margin="20,5,5,0" Width="95"
IsChecked="{Binding SmalldataMK}"/>
</StackPanel>
<StackPanel Margin="6,0,0,2" Orientation="Horizontal">
<TextBlock Margin="23,1,0,0" Text="{Binding BoardPortsStatus}"/>
</StackPanel>
</StackPanel>
</Border>
<Label Margin="6,6,0,6" Height="28" Content="总数："/>
<Label Margin="0,6,6,6" Height="28" Content="{Binding RtcmManager.rtcmInfoList.Count,UpdateSourceTrigger=PropertyChanged}"></Label>
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
<StackPanel Margin="5" Orientation="Vertical">
@ -51,30 +30,17 @@
<TextBlock Text="接收速率： "/>
<TextBlock TextAlignment="Right" Width="30"
Text="{Binding RtcmManager.Bps}"/>
<TextBlock Text=" 字节/秒；发送速率："/>
<TextBlock Text=" bps；发送速率："/>
<TextBlock TextAlignment="Right" Width="30"
Text="{Binding RtcmManager.Bpsusefull}"/>
<TextBlock Text=" 字节/秒"/>
<TextBlock Text=" bps"/>
</StackPanel>
<StackPanel Margin="5" Orientation="Horizontal">
<TextBlock Text="消息： "/>
<TextBlock Text="{Binding RtcmManager.Messages_seen}"/>
<TextBlock Text="{Binding RtcmManager.Messages_seen}"
/>
</StackPanel>
<StackPanel Margin="0" Orientation="Horizontal">
<TextBlock Margin="5" Text="L1信号强度"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20" Fill="#3EBE55"/>
<TextBlock Margin="5" Text="L2信号强度"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20" Fill="#ACACEC"/>
<TextBlock Margin="5" Text="L1/L2重合"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20" Fill="#04845C"/>
</StackPanel>
</StackPanel>
@ -88,10 +54,10 @@
Fill="{Binding RtcmManager.BaseState,Converter={StaticResource ColorConverter}}"/>
<TextBlock Margin="5" Text="Gps"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.GpsState ,Converter={StaticResource ColorConverter}}"/>
Fill="{Binding RtcmManager.GlonassState,Converter={StaticResource ColorConverter}}"/>
<TextBlock Margin="5" Text="Glonass"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.GlonassState,Converter={StaticResource ColorConverter}}"/>
Fill="{Binding RtcmManager.GpsState,Converter={StaticResource ColorConverter}}"/>
<TextBlock Margin="5" Text="北斗"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.BeidouState,Converter={StaticResource ColorConverter}}"/>
@ -107,12 +73,10 @@
</StackPanel>
</Border>
</StackPanel>
<ItemsControl Grid.Row="1"
ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}" Margin="0,0.333,-0.333,-80" Height="303" VerticalAlignment="Top"
ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}"
>
<ItemsControl.ItemsPanel>
<ItemsPanelTemplate>
@ -131,28 +95,13 @@
Minimum="25"
Maximum="55"
Grid.RowSpan="2"
Value="{Binding Snr, UpdateSourceTrigger=PropertyChanged}"
/>
<ProgressBar x:Name="BarSnr2"
Margin="0.5"
Orientation="Vertical"
Minimum="25"
Maximum="55"
Grid.RowSpan="2"
Foreground="Blue"
Value="{Binding Snr2, UpdateSourceTrigger=PropertyChanged}"
Opacity="0.25"
/>
<StackPanel Orientation ="Vertical" VerticalAlignment="Top" HorizontalAlignment="Center">
Value="{Binding Snr, UpdateSourceTrigger=PropertyChanged}"/>
<StackPanel Orientation ="Vertical" VerticalAlignment="Center" HorizontalAlignment="Center">
<StackPanel Orientation ="Horizontal">
<TextBlock Text="{Binding Sys,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
<TextBlock Text="{Binding Prn,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
</StackPanel>
<TextBlock Margin="0,5,0,0" Text="{Binding Snr,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
<TextBlock Margin="0,5,0,0" Text="{Binding Snr2,UpdateSourceTrigger=PropertyChanged}" Foreground="Blue" ></TextBlock>
<TextBlock Margin="0,20,0,0" Text="{Binding Snr,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
</StackPanel>
<StackPanel Grid.Row="1" Orientation ="Vertical" HorizontalAlignment="Center">
<Line Stroke="Red" X2="1000" StrokeThickness="3" />

2
Plane.FormationCreator/Views/SetCoptersPutView.xaml
View File

@ -18,7 +18,7 @@
<RowDefinition Height="32"/>
<RowDefinition/>
</Grid.RowDefinitions>
<Label Content="每行数量" Margin="5,2"></Label>
<Label Content="每列数量" Margin="5,2"></Label>
<TextBox Name="textboxColNum" Grid.Column="1" Margin="5" Width="80" ></TextBox>
<Label Content="列间距" Margin="5,2" Grid.Row="1"></Label>

16
Plane.FormationCreator/Views/TaskBarView.xaml
View File

@ -90,7 +90,7 @@
<ColumnDefinition />
</Grid.ColumnDefinitions>
<Border
<Border Background="{Binding Status, Converter={StaticResource FlightTaskStatusToFillConverter}}"
Width="88"
Height="19"
BorderThickness="1"
@ -99,12 +99,6 @@
MouseLeftButtonDown="TaskLeftButtonDown"
MouseLeftButtonUp="SelectTask"
MouseRightButtonUp="HideTask">
<Border.Background>
<MultiBinding Converter="{StaticResource FlightTaskStatusAndTransitionToFillConverter}">
<Binding Path="Status" />
<Binding Path="IsTransition" />
</MultiBinding>
</Border.Background>
<WrapPanel VerticalAlignment="Center"
HorizontalAlignment="Center" >
@ -131,7 +125,7 @@
<RowDefinition/>
<RowDefinition Height="28"/>
</Grid.RowDefinitions>
<StackPanel Height="120" Background="#FF2D2D2D" VerticalAlignment="Bottom">
<StackPanel Height="100" Background="#FF2D2D2D" VerticalAlignment="Bottom">
<TextBlock x:Name="hintaddtask" Margin="0,25,0,0" Text="请添加或选择飞行任务" Visibility="Collapsed" FontSize="18" TextAlignment="Center"/>
@ -157,7 +151,7 @@
<TabItem.Header>
<Label x:Name="flytoLabel" Content="航点" HorizontalAlignment="Stretch" MouseLeftButtonDown="TaskLabelLeftButtonDown"
ToolTip="双击修改名称" />
ToolTip="双击修改名称" />
</TabItem.Header>
@ -165,7 +159,6 @@
<Grid.RowDefinitions>
<RowDefinition />
<RowDefinition />
<RowDefinition />
</Grid.RowDefinitions>
<Grid.ColumnDefinitions>
<ColumnDefinition />
@ -179,9 +172,6 @@
<TextBox Grid.Row="1" Grid.Column="1" Margin="2" VerticalAlignment="Center"
MaxLength="4"
Text="{Binding LoiterTime, UpdateSourceTrigger=PropertyChanged}" />
<CheckBox Grid.Row="2" Grid.Column="2" x:Name="tranBox" Content="过度航点" HorizontalAlignment="Left" Width="75.353"
IsChecked="{Binding IsTransition}"/>
</Grid>
</TabItem>

8
Plane.FormationCreator/Views/View3D.xaml.cs
View File

@ -39,7 +39,7 @@ namespace Plane.FormationCreator.Views
}
public void ResetCamera()
private void ResetCamera()
{
// view3d.CameraController.CameraPosition = new Point3D(0, 40, 1);
// view3d.CameraController.CameraUpDirection = new Vector3D(0, -1, 10);
@ -49,10 +49,8 @@ namespace Plane.FormationCreator.Views
var camera = view3d.Camera as PerspectiveCamera;
camera.Position = new Point3D(0, 0, 1);
//用于朝向180度
// camera.LookDirection = new Vector3D(-0.025, -0.911, 0.411);
//用于朝向9度
camera.LookDirection = new Vector3D(0, 1, 0.8);
//用于180度
camera.LookDirection = new Vector3D(-0.025, -0.911, 0.411);
camera.UpDirection = new Vector3D(0.011, 0.411, 0.912);
//用于0度

1
Plane.FormationCreator/packages.config
View File

@ -15,5 +15,4 @@
<package id="System.Data.SQLite.Core" version="1.0.109.1" targetFramework="net46" />
<package id="System.Data.SQLite.EF6" version="1.0.109.0" targetFramework="net46" />
<package id="System.Data.SQLite.Linq" version="1.0.109.0" targetFramework="net46" />
<package id="Unnoficial.Microsoft.Expression.Drawing" version="1.0.0" targetFramework="net46" />
</packages>

BIN
packages/GMap.NET.Windows.1.8.5/lib/net40/GMap.NET.Core.dll vendored
View File

Binary file not shown.