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| 4dba5da8fd |
@ -1,121 +1,131 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio 14
|
||||
VisualStudioVersion = 14.0.25420.1
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
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||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.FormationCreator", "Plane.FormationCreator\Plane.FormationCreator.csproj", "{61E2F31E-220A-4E3F-A64D-F7CDC2135008}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{BE3280E8-8C7F-4961-9685-1124C5B990CB} = {BE3280E8-8C7F-4961-9685-1124C5B990CB}
|
||||
EndProjectSection
|
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EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Windows", "..\Plane.Libraries\Plane.Windows\Plane.Windows.csproj", "{06848293-9B17-4068-9B35-44D0ED713CD4}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Reflection", "..\Plane.Libraries\Plane.Reflection\Plane.Reflection.csproj", "{98755514-C2E9-4ABE-8A25-007804577558}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Windows.Messages", "..\Plane.Libraries\Plane.Windows.Messages\Plane.Windows.Messages.csproj", "{413C18E2-235F-4E15-B5C1-633657DE5D7A}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Logging", "..\Plane.Libraries\Plane.Logging\Plane.Logging.csproj", "{9C2CAFDA-CF1D-4565-B797-398376FCD346}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane", "..\Plane.Libraries\Plane\Plane.csproj", "{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "PlaneGcsSdk_Private_NET46", "..\Plane.Sdk3\PlaneGcsSdk_Private_NET46\PlaneGcsSdk_Private_NET46.csproj", "{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}"
|
||||
EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "PlaneGcsSdk.Contract_Private", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Private\PlaneGcsSdk.Contract_Private.csproj", "{47141894-ECE3-48CA-8DCF-CA751BDA231E}"
|
||||
EndProject
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Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk_Shared", "..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.shproj", "{2BE393DC-21A4-48B3-83FD-F21CBE8B038B}"
|
||||
EndProject
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Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.shproj", "{695733D7-99FF-4707-8C89-474E949CADCB}"
|
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "flyBase", "..\flyBase\flyBase.csproj", "{BE3280E8-8C7F-4961-9685-1124C5B990CB}"
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EndProject
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Global
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GlobalSection(SharedMSBuildProjectFiles) = preSolution
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..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}*SharedItemsImports = 4
|
||||
..\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
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Debug|Any CPU = Debug|Any CPU
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v4.0-Release|Any CPU = v4.0-Release|Any CPU
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{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.Release|Any CPU.Build.0 = Release|Any CPU
|
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|
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{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{61E2F31E-220A-4E3F-A64D-F7CDC2135008}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.Release|Any CPU.Build.0 = Release|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{98755514-C2E9-4ABE-8A25-007804577558}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{98755514-C2E9-4ABE-8A25-007804577558}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{98755514-C2E9-4ABE-8A25-007804577558}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{98755514-C2E9-4ABE-8A25-007804577558}.Release|Any CPU.Build.0 = Release|Any CPU
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{98755514-C2E9-4ABE-8A25-007804577558}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{98755514-C2E9-4ABE-8A25-007804577558}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{98755514-C2E9-4ABE-8A25-007804577558}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{98755514-C2E9-4ABE-8A25-007804577558}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{413C18E2-235F-4E15-B5C1-633657DE5D7A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{413C18E2-235F-4E15-B5C1-633657DE5D7A}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{413C18E2-235F-4E15-B5C1-633657DE5D7A}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{413C18E2-235F-4E15-B5C1-633657DE5D7A}.Release|Any CPU.Build.0 = Release|Any CPU
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{413C18E2-235F-4E15-B5C1-633657DE5D7A}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{413C18E2-235F-4E15-B5C1-633657DE5D7A}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{413C18E2-235F-4E15-B5C1-633657DE5D7A}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
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{413C18E2-235F-4E15-B5C1-633657DE5D7A}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{9C2CAFDA-CF1D-4565-B797-398376FCD346}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
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{9C2CAFDA-CF1D-4565-B797-398376FCD346}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{9C2CAFDA-CF1D-4565-B797-398376FCD346}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{9C2CAFDA-CF1D-4565-B797-398376FCD346}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{9C2CAFDA-CF1D-4565-B797-398376FCD346}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{9C2CAFDA-CF1D-4565-B797-398376FCD346}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{9C2CAFDA-CF1D-4565-B797-398376FCD346}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{9C2CAFDA-CF1D-4565-B797-398376FCD346}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
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{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.Release|Any CPU.Build.0 = Release|Any CPU
|
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{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
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{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
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{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.Release|Any CPU.Build.0 = Release|Any CPU
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{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
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{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
|
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{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
|
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{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.Release|Any CPU.Build.0 = Release|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
|
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{47141894-ECE3-48CA-8DCF-CA751BDA231E}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
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{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{BE3280E8-8C7F-4961-9685-1124C5B990CB}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{BE3280E8-8C7F-4961-9685-1124C5B990CB}.v4.0-Release|Any CPU.Build.0 = Release|Any CPU
|
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EndGlobalSection
|
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GlobalSection(SolutionProperties) = preSolution
|
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HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio Version 17
|
||||
VisualStudioVersion = 17.7.34202.233
|
||||
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
|
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Windows", "..\Plane.Libraries\Plane.Windows\Plane.Windows.csproj", "{06848293-9B17-4068-9B35-44D0ED713CD4}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Reflection", "..\Plane.Libraries\Plane.Reflection\Plane.Reflection.csproj", "{98755514-C2E9-4ABE-8A25-007804577558}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Windows.Messages", "..\Plane.Libraries\Plane.Windows.Messages\Plane.Windows.Messages.csproj", "{413C18E2-235F-4E15-B5C1-633657DE5D7A}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane.Logging", "..\Plane.Libraries\Plane.Logging\Plane.Logging.csproj", "{9C2CAFDA-CF1D-4565-B797-398376FCD346}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Plane", "..\Plane.Libraries\Plane\Plane.csproj", "{6CCE2AEB-3B38-4C00-B32D-433A990AE2AD}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "PlaneGcsSdk_Private_NET46", "..\Plane.Sdk3\PlaneGcsSdk_Private_NET46\PlaneGcsSdk_Private_NET46.csproj", "{0111EB6E-72E3-499C-A3BA-022F5BBC4CAF}"
|
||||
EndProject
|
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "PlaneGcsSdk.Contract_Private", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Private\PlaneGcsSdk.Contract_Private.csproj", "{47141894-ECE3-48CA-8DCF-CA751BDA231E}"
|
||||
EndProject
|
||||
Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk_Shared", "..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.shproj", "{2BE393DC-21A4-48B3-83FD-F21CBE8B038B}"
|
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EndProject
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Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.shproj", "{695733D7-99FF-4707-8C89-474E949CADCB}"
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EndProject
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||||
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
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Global
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Debug|Any CPU = Debug|Any CPU
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Release|Any CPU = Release|Any CPU
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v4.0-Debug|Any CPU = v4.0-Debug|Any CPU
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v4.0-Release|Any CPU = v4.0-Release|Any CPU
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EndGlobalSection
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
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{06848293-9B17-4068-9B35-44D0ED713CD4}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.Release|Any CPU.Build.0 = Release|Any CPU
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{06848293-9B17-4068-9B35-44D0ED713CD4}.v4.0-Debug|Any CPU.ActiveCfg = Debug|Any CPU
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
<!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 -->
|
||||
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<!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 -->
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|
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||||
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||||
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|
||||
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||||
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||||
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||||
|
||||
@ -1,80 +1,99 @@
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
|
||||
|
||||
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|
||||
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|
||||
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|
||||
|
||||
|
||||
<cnv:BooleanToResourceConverter x:Key="CheckSignConverter"
|
||||
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|
||||
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|
||||
<cnv:BooleanToResourceConverter x:Key="CheckSignConverter2"
|
||||
FalseKey="CloseIcon"
|
||||
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|
||||
<cnv:BooleanToStringConverter x:Key="ColorConverter"
|
||||
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|
||||
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|
||||
<cnv:BooleanToStringConverter x:Key="SendConverter"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<lcnv:FlightTaskIsSelectedToEffectConverter x:Key="FlightTaskIsSelectedToEffectConverter" />
|
||||
</Application.Resources>
|
||||
<Application x:Class="Plane.FormationCreator.App"
|
||||
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
|
||||
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
|
||||
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|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
d1p1:Ignorable="d"
|
||||
xmlns:d1p1="http://schemas.openxmlformats.org/markup-compatibility/2006"
|
||||
xmlns:cnv="clr-namespace:Plane.Windows.Converters;assembly=Plane.Windows"
|
||||
xmlns:lcnv="clr-namespace:Plane.FormationCreator.Converters"
|
||||
xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
|
||||
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"
|
||||
Foreground="#2196F3" />
|
||||
<materialDesign:PackIcon x:Key="CloseIcon"
|
||||
x:Shared="False"
|
||||
Kind="Close"
|
||||
Foreground="White" />
|
||||
|
||||
<cnv:BooleanToVisibilityConverter x:Key="BooleanToVisibilityConverter" />
|
||||
<cnv:BooleanToVisibilityConverter x:Key="InversiveBooleanToVisibilityConverter"
|
||||
False="Visible"
|
||||
True="Collapsed" />
|
||||
<cnv:NullableBooleanToVisibilityConverter x:Key="IsPausedToRunButtonVisibilityConverter"
|
||||
False="Collapsed"
|
||||
Null="Visible"
|
||||
True="Visible" />
|
||||
<cnv:NullableBooleanToVisibilityConverter x:Key="IsPausedToPauseButtonVisibilityConverter"
|
||||
False="Visible"
|
||||
Null="Collapsed"
|
||||
True="Collapsed" />
|
||||
<cnv:InverseBooleanConverter x:Key="InverseBooleanConverter" />
|
||||
<cnv:BooleanToStringConverter x:Key="ShowModifyTaskViewButtonContentConverter"
|
||||
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" />
|
||||
|
||||
|
||||
<cnv:BooleanToResourceConverter x:Key="CheckSignConverter"
|
||||
FalseKey="CloseIcon"
|
||||
TrueKey="CheckIcon" />
|
||||
<cnv:BooleanToResourceConverter x:Key="CheckSignConverter2"
|
||||
FalseKey="DisconnectIcon"
|
||||
TrueKey="ConnectIcon" />
|
||||
<cnv:BooleanToStringConverter x:Key="ColorConverter"
|
||||
False="Red"
|
||||
True="Green" />
|
||||
<cnv:BooleanToStringConverter x:Key="SendConverter"
|
||||
False="发送"
|
||||
True="关闭" />
|
||||
<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>
|
||||
@ -1,312 +1,313 @@
|
||||
using Plane.Communication;
|
||||
using Plane.Copters;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using Plane.Logging;
|
||||
using Plane.Windows;
|
||||
using Plane.Windows.Messages;
|
||||
using GalaSoft.MvvmLight.Ioc;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Configuration;
|
||||
using System.Data;
|
||||
using System.Diagnostics;
|
||||
using System.Globalization;
|
||||
using System.Linq;
|
||||
using System.Net;
|
||||
using System.Reflection;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows;
|
||||
using Plane.CommunicationManagement;
|
||||
using Plane.FormationCreator.Util;
|
||||
|
||||
namespace Plane.FormationCreator
|
||||
{
|
||||
/// <summary>
|
||||
/// Interaction logic for App.xaml
|
||||
/// </summary>
|
||||
public partial class App : Application
|
||||
{
|
||||
public App()
|
||||
{
|
||||
VersionControl.GetSettingFromIni();
|
||||
Thread.CurrentThread.CurrentUICulture = CultureInfo.GetCultureInfo("en-US");
|
||||
|
||||
ServiceLocatorConfigurer.Instance.Configure();
|
||||
_logger = ServiceLocator.Current.GetInstance<ILogger>();
|
||||
_copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
_formationController = ServiceLocator.Current.GetInstance<FormationController>();
|
||||
_mapManager = ServiceLocator.Current.GetInstance<MapManager>();
|
||||
|
||||
AppDomain.CurrentDomain.AssemblyResolve += (s, e) =>
|
||||
{
|
||||
var simpleName = new AssemblyName(e.Name).Name;
|
||||
if (simpleName.EndsWith(".resources"))
|
||||
{
|
||||
return null;
|
||||
}
|
||||
return LoadAssembly(simpleName);
|
||||
};
|
||||
this.DispatcherUnhandledException += (s, e) =>
|
||||
{
|
||||
_logger.Log(e.Exception);
|
||||
// await _formationController.AllStop();
|
||||
TcpServerConnectionManager.Instance.StopListening();
|
||||
UdpServerConnectionManager.Instance.StopReceiving();
|
||||
};
|
||||
this.Exit += (s, e) =>
|
||||
{
|
||||
try
|
||||
{
|
||||
// TcpServerConnectionManager.Instance.StopListening();
|
||||
UdpServerConnectionManager.Instance.StopReceiving();
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
// RaiseExceptionThrown(ex);
|
||||
}
|
||||
|
||||
};
|
||||
//new Test().Prepare().Run();
|
||||
|
||||
|
||||
}
|
||||
|
||||
private ILogger _logger;
|
||||
private CopterManager _copterManager;
|
||||
private FormationController _formationController;
|
||||
private MapManager _mapManager;
|
||||
|
||||
private Assembly LoadAssembly(string simpleName)
|
||||
{
|
||||
String resourceName = this.GetType().Namespace + ".AssemblyLoadingAndReflection." + simpleName + ".dll";
|
||||
using (var stream = Assembly.GetExecutingAssembly().GetManifestResourceStream(resourceName))
|
||||
{
|
||||
Byte[] assemblyData = new Byte[stream.Length];
|
||||
stream.Read(assemblyData, 0, assemblyData.Length);
|
||||
return Assembly.Load(assemblyData);
|
||||
}
|
||||
}
|
||||
|
||||
protected override void OnStartup(StartupEventArgs e)
|
||||
{
|
||||
base.OnStartup(e);
|
||||
|
||||
var md = Resources.MergedDictionaries;
|
||||
// md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Controls.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Fonts.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Colors.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/VS/Colors.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/VS/Styles.xaml") });
|
||||
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/Plane.Windows.Messages;component/Styles.xaml") });
|
||||
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/Styles/Colors.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/Styles.xaml") });
|
||||
/*
|
||||
new UpdateChecker("http://dl.Plane.com/tools/ver.php?app=FormationCreator", _logger)
|
||||
.CheckAsync(ver =>
|
||||
{
|
||||
var currentVersion = this.GetType().Assembly.GetName().Version;
|
||||
if (currentVersion < ver
|
||||
&& Alert.Show("检测到新版本，请下载。", "更新提示", MessageBoxButton.YesNo) == MessageBoxResult.Yes)
|
||||
{
|
||||
Process.Start("http://dl.Plane.com/tools/FormationCreatorSetup.exe");
|
||||
this.Shutdown();
|
||||
}
|
||||
});
|
||||
*/
|
||||
System.Windows.FrameworkCompatibilityPreferences.KeepTextBoxDisplaySynchronizedWithTextProperty = false;
|
||||
|
||||
MainWindow = new MainWindow();
|
||||
MainWindow.Show();
|
||||
|
||||
|
||||
try
|
||||
{
|
||||
/* by panxu tcp 不使用了 --使用TCP监听在自动获取IP的情况下，刚开始会导致界面无响应，过一会就好
|
||||
TcpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
|
||||
if (!TcpServerConnectionManager.Instance.StartListening())
|
||||
{
|
||||
Alert.Show("网络连接不正常，无法连接飞机。");
|
||||
return;
|
||||
}
|
||||
*/
|
||||
|
||||
if (VersionControl.ConType == 1)
|
||||
{
|
||||
CommModuleManager.Instance.UseTransModule = false;
|
||||
UdpServerConnectionManager.Instance.ExceptionThrown += (sender, e1) =>
|
||||
{
|
||||
_logger.Log(e1.Exception);
|
||||
};
|
||||
UdpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
|
||||
UdpServerConnectionManager.Instance.StartReceiving();
|
||||
}
|
||||
else
|
||||
{
|
||||
CommModuleManager.Instance.UseTransModule = true;
|
||||
//初始化地面站连接
|
||||
CommModuleManager.Instance.CommunicationReceived += CommtionReceivedCopterInfo;
|
||||
CommModuleManager.Instance.CommunicationCopterDisconnect += CommCopterDisconnect;
|
||||
CommModuleManager.Instance.CommunicationConnected += CommCopterconnected;
|
||||
CommModuleManager.Instance.Connect();
|
||||
}
|
||||
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Alert.Show("网络连接不正常，无法连接飞机。");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
protected override void OnExit(ExitEventArgs e)
|
||||
{
|
||||
CommModuleManager.Instance.CloseConnection();
|
||||
base.OnExit(e);
|
||||
}
|
||||
|
||||
|
||||
private void Copter_TextReceived(object sender, MessageCreatedEventArgs e)
|
||||
{
|
||||
_logger.Log(e.Message );
|
||||
}
|
||||
//wifi模式添加飞机
|
||||
private async Task AddOrUpdateCopter(string ip, IConnection Connection)
|
||||
{
|
||||
var copters = _copterManager.Copters;
|
||||
var copterStatus = _copterManager.CopterStatus;
|
||||
|
||||
string[] iparr = ip.Split('.');
|
||||
string vIPID = String.Format("{0:D3}", int.Parse(iparr[2])) + String.Format("{0:D3}", int.Parse(iparr[3]));
|
||||
|
||||
var copter = copters.FirstOrDefault(c => c.Id == vIPID);
|
||||
if (copter == null)
|
||||
{
|
||||
if (!_copterManager.EnAddCopter_Real())
|
||||
{
|
||||
UdpServerConnectionManager.Instance.DeleteConnections(ip);
|
||||
}
|
||||
else
|
||||
{
|
||||
await Dispatcher.BeginInvoke(new Action(() =>
|
||||
{
|
||||
|
||||
|
||||
copter = new Copter(Connection, SynchronizationContext.Current, _mapManager.Center.Lat, _mapManager.Center.Lng)
|
||||
{
|
||||
Id = vIPID,
|
||||
Name = vIPID // ip.Substring(ip.LastIndexOf('.') + 1)
|
||||
};
|
||||
int _index;
|
||||
_index = copters.AddCopter(copter, _copterManager.SortType);
|
||||
copterStatus.Insert(_index, false);
|
||||
copter.TextReceived += Copter_TextReceived;
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
copter.Connection = Connection;
|
||||
}
|
||||
if (copter!=null)
|
||||
await copter.ConnectAsync().ConfigureAwait(false);
|
||||
}
|
||||
|
||||
private async void ConnectionManager_ConnectionEstablished(object sender, ConnectionEstablishedEventArgs e)
|
||||
{
|
||||
await AddOrUpdateCopter(e.RemoteAddress, e.Connection);
|
||||
}
|
||||
|
||||
private async void CommtionReceivedCopterInfo(object sender, CommunicationReceiveCopterInfoEventArgs e)
|
||||
{
|
||||
await UpdateCommCopterInfo(e.Id, e.Package, e.CommModuleVersion);
|
||||
//await TaskUtils.CompletedTask;
|
||||
}
|
||||
|
||||
private async void CommCopterDisconnect(object sender, CommunicationCopterDisconnectEventArgs e)
|
||||
{
|
||||
await DisconnectCopter(e.Id);
|
||||
}
|
||||
|
||||
private async void CommCopterconnected(object sender, CommunicationConnectEventArgs e)
|
||||
{
|
||||
await AddCommCopter(e.Id);
|
||||
}
|
||||
|
||||
private async Task DisconnectCopter(int id)
|
||||
{
|
||||
var copters = _copterManager.Copters;
|
||||
var copter = copters.FirstOrDefault(c => c.Id == id.ToString());
|
||||
if (copter != null)
|
||||
{
|
||||
if (copter is PLCopter)
|
||||
{
|
||||
PLCopter plcopter = (PLCopter)copter;
|
||||
plcopter.CommModuleConnected = false;
|
||||
}
|
||||
}
|
||||
await TaskUtils.CompletedTask;
|
||||
}
|
||||
|
||||
|
||||
private static readonly object locker = new object();
|
||||
private async Task AddCommCopter(int id)
|
||||
{
|
||||
await Dispatcher.BeginInvoke(new Action(() =>
|
||||
{
|
||||
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())
|
||||
{
|
||||
|
||||
var copterStatus = _copterManager.CopterStatus;
|
||||
var connection = new CommConnection();
|
||||
copter = new Copter(connection, SynchronizationContext.Current, _mapManager.Center.Lat, _mapManager.Center.Lng)
|
||||
{
|
||||
Id = id.ToString(),
|
||||
Name = id.ToString(),
|
||||
};
|
||||
copter.VirtualId = 0;
|
||||
int _index;
|
||||
_index = _copterManager.Copters.AddCopter(copter, _copterManager.SortType);
|
||||
copterStatus.Insert(_index, false);
|
||||
copter.TextReceived += Copter_TextReceived;
|
||||
}
|
||||
}
|
||||
}
|
||||
}));
|
||||
}
|
||||
|
||||
private async Task UpdateCommCopterInfo(int id, byte[] package, byte CommModuleVersion)
|
||||
{
|
||||
await AddCommCopter(id);
|
||||
lock (locker)
|
||||
{
|
||||
var copter = _copterManager.Copters.FirstOrDefault(c => c.Id == id.ToString());
|
||||
if (copter!= null && copter is PLCopter)
|
||||
{
|
||||
PLCopter plcopter = (PLCopter)copter;
|
||||
if (!plcopter.CommModuleConnected) plcopter.CommModuleConnected = true;
|
||||
plcopter.InternalCopter.AnalyzeCommMouldePositionIntPacket(package, CommModuleVersion);
|
||||
plcopter.CommModuleConnected = true;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
using Plane.Communication;
|
||||
using Plane.Copters;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using Plane.Logging;
|
||||
using Plane.Windows;
|
||||
using Plane.Windows.Messages;
|
||||
using GalaSoft.MvvmLight.Ioc;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Configuration;
|
||||
using System.Data;
|
||||
using System.Diagnostics;
|
||||
using System.Globalization;
|
||||
using System.Linq;
|
||||
using System.Net;
|
||||
using System.Reflection;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows;
|
||||
|
||||
using Plane.FormationCreator.Util;
|
||||
using Plane.CommunicationManagement;
|
||||
|
||||
namespace Plane.FormationCreator
|
||||
{
|
||||
/// <summary>
|
||||
/// Interaction logic for App.xaml
|
||||
/// </summary>
|
||||
public partial class App : Application
|
||||
{
|
||||
public App()
|
||||
{
|
||||
VersionControl.GetSettingFromIni();
|
||||
Thread.CurrentThread.CurrentUICulture = CultureInfo.GetCultureInfo("en-US");
|
||||
|
||||
ServiceLocatorConfigurer.Instance.Configure();
|
||||
_logger = ServiceLocator.Current.GetInstance<ILogger>();
|
||||
_copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
_formationController = ServiceLocator.Current.GetInstance<FormationController>();
|
||||
_mapManager = ServiceLocator.Current.GetInstance<MapManager>();
|
||||
|
||||
AppDomain.CurrentDomain.AssemblyResolve += (s, e) =>
|
||||
{
|
||||
var simpleName = new AssemblyName(e.Name).Name;
|
||||
if (simpleName.EndsWith(".resources"))
|
||||
{
|
||||
return null;
|
||||
}
|
||||
return LoadAssembly(simpleName);
|
||||
};
|
||||
this.DispatcherUnhandledException += (s, e) =>
|
||||
{
|
||||
_logger.Log(e.Exception);
|
||||
// await _formationController.AllStop();
|
||||
TcpServerConnectionManager.Instance.StopListening();
|
||||
UdpServerConnectionManager.Instance.StopReceiving();
|
||||
};
|
||||
this.Exit += (s, e) =>
|
||||
{
|
||||
try
|
||||
{
|
||||
// TcpServerConnectionManager.Instance.StopListening();
|
||||
UdpServerConnectionManager.Instance.StopReceiving();
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
// RaiseExceptionThrown(ex);
|
||||
}
|
||||
|
||||
};
|
||||
//new Test().Prepare().Run();
|
||||
|
||||
|
||||
}
|
||||
|
||||
private ILogger _logger;
|
||||
private CopterManager _copterManager;
|
||||
private FormationController _formationController;
|
||||
private MapManager _mapManager;
|
||||
|
||||
private Assembly LoadAssembly(string simpleName)
|
||||
{
|
||||
String resourceName = this.GetType().Namespace + ".AssemblyLoadingAndReflection." + simpleName + ".dll";
|
||||
using (var stream = Assembly.GetExecutingAssembly().GetManifestResourceStream(resourceName))
|
||||
{
|
||||
Byte[] assemblyData = new Byte[stream.Length];
|
||||
stream.Read(assemblyData, 0, assemblyData.Length);
|
||||
return Assembly.Load(assemblyData);
|
||||
}
|
||||
}
|
||||
|
||||
protected override void OnStartup(StartupEventArgs e)
|
||||
{
|
||||
base.OnStartup(e);
|
||||
|
||||
var md = Resources.MergedDictionaries;
|
||||
// md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Controls.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Fonts.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Colors.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/VS/Colors.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/VS/Styles.xaml") });
|
||||
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/Plane.Windows.Messages;component/Styles.xaml") });
|
||||
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/Styles/Colors.xaml") });
|
||||
md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/Styles.xaml") });
|
||||
/*
|
||||
new UpdateChecker("http://dl.Plane.com/tools/ver.php?app=FormationCreator", _logger)
|
||||
.CheckAsync(ver =>
|
||||
{
|
||||
var currentVersion = this.GetType().Assembly.GetName().Version;
|
||||
if (currentVersion < ver
|
||||
&& Alert.Show("检测到新版本，请下载。", "更新提示", MessageBoxButton.YesNo) == MessageBoxResult.Yes)
|
||||
{
|
||||
Process.Start("http://dl.Plane.com/tools/FormationCreatorSetup.exe");
|
||||
this.Shutdown();
|
||||
}
|
||||
});
|
||||
*/
|
||||
System.Windows.FrameworkCompatibilityPreferences.KeepTextBoxDisplaySynchronizedWithTextProperty = false;
|
||||
|
||||
MainWindow = new MainWindow();
|
||||
MainWindow.Show();
|
||||
|
||||
|
||||
try
|
||||
{
|
||||
/* by panxu tcp 不使用了 --使用TCP监听在自动获取IP的情况下，刚开始会导致界面无响应，过一会就好
|
||||
TcpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
|
||||
if (!TcpServerConnectionManager.Instance.StartListening())
|
||||
{
|
||||
Alert.Show("网络连接不正常，无法连接飞机。");
|
||||
return;
|
||||
}
|
||||
*/
|
||||
|
||||
if (VersionControl.ConType == 1)
|
||||
{
|
||||
CommModuleManager.Instance.UseTransModule = false;
|
||||
UdpServerConnectionManager.Instance.ExceptionThrown += (sender, e1) =>
|
||||
{
|
||||
_logger.Log(e1.Exception);
|
||||
};
|
||||
UdpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
|
||||
UdpServerConnectionManager.Instance.StartReceiving();
|
||||
}
|
||||
else
|
||||
{
|
||||
CommModuleManager.Instance.UseTransModule = true;
|
||||
//初始化地面站连接
|
||||
CommModuleManager.Instance.CommunicationReceived += CommtionReceivedCopterInfo;
|
||||
CommModuleManager.Instance.CommunicationCopterDisconnect += CommCopterDisconnect;
|
||||
CommModuleManager.Instance.CommunicationConnected += CommCopterconnected;
|
||||
CommModuleManager.Instance.Connect();
|
||||
}
|
||||
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Alert.Show("网络连接不正常，无法连接飞机。");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
protected override void OnExit(ExitEventArgs e)
|
||||
{
|
||||
CommModuleManager.Instance.CloseConnection();
|
||||
base.OnExit(e);
|
||||
}
|
||||
|
||||
|
||||
private void Copter_TextReceived(object sender, MessageCreatedEventArgs e)
|
||||
{
|
||||
_logger.Log(e.Message );
|
||||
}
|
||||
//wifi模式添加飞机
|
||||
private async Task AddOrUpdateCopter(string ip, IConnection Connection)
|
||||
{
|
||||
var copters = _copterManager.Copters;
|
||||
var copterStatus = _copterManager.CopterStatus;
|
||||
|
||||
string[] iparr = ip.Split('.');
|
||||
string vIPID = String.Format("{0:D3}", int.Parse(iparr[2])) + String.Format("{0:D3}", int.Parse(iparr[3]));
|
||||
|
||||
var copter = copters.FirstOrDefault(c => c.Id == vIPID);
|
||||
if (copter == null)
|
||||
{
|
||||
if (!_copterManager.EnAddCopter_Real())
|
||||
{
|
||||
UdpServerConnectionManager.Instance.DeleteConnections(ip);
|
||||
}
|
||||
else
|
||||
{
|
||||
await Dispatcher.BeginInvoke(new Action(() =>
|
||||
{
|
||||
|
||||
|
||||
copter = new Copter(Connection, SynchronizationContext.Current, _mapManager.Center.Lat, _mapManager.Center.Lng)
|
||||
{
|
||||
Id = vIPID,
|
||||
Name = vIPID // ip.Substring(ip.LastIndexOf('.') + 1)
|
||||
};
|
||||
int _index;
|
||||
_index = copters.AddCopter(copter, _copterManager.SortType);
|
||||
copterStatus.Insert(_index, false);
|
||||
copter.TextReceived += Copter_TextReceived;
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
copter.Connection = Connection;
|
||||
}
|
||||
if (copter!=null)
|
||||
await copter.ConnectAsync().ConfigureAwait(false);
|
||||
}
|
||||
|
||||
private async void ConnectionManager_ConnectionEstablished(object sender, ConnectionEstablishedEventArgs e)
|
||||
{
|
||||
await AddOrUpdateCopter(e.RemoteAddress, e.Connection);
|
||||
}
|
||||
|
||||
private async void CommtionReceivedCopterInfo(object sender, CommunicationReceiveCopterInfoEventArgs e)
|
||||
{
|
||||
await UpdateCommCopterInfo(e.Id, e.Package, e.CommModuleVersion);
|
||||
//await TaskUtils.CompletedTask;
|
||||
}
|
||||
|
||||
private async void CommCopterDisconnect(object sender, CommunicationCopterDisconnectEventArgs e)
|
||||
{
|
||||
await DisconnectCopter(e.Id);
|
||||
}
|
||||
|
||||
private async void CommCopterconnected(object sender, CommunicationConnectEventArgs e)
|
||||
{
|
||||
await AddCommCopter(e.Id);
|
||||
}
|
||||
|
||||
private async Task DisconnectCopter(int id)
|
||||
{
|
||||
var copters = _copterManager.Copters;
|
||||
var copter = copters.FirstOrDefault(c => c.Id == id.ToString());
|
||||
if (copter != null)
|
||||
{
|
||||
if (copter is PLCopter)
|
||||
{
|
||||
PLCopter plcopter = (PLCopter)copter;
|
||||
plcopter.CommModuleConnected = false;
|
||||
}
|
||||
}
|
||||
await TaskUtils.CompletedTask;
|
||||
}
|
||||
|
||||
|
||||
private static readonly object locker = new object();
|
||||
private async Task AddCommCopter(int id)
|
||||
{
|
||||
await Dispatcher.BeginInvoke(new Action(() =>
|
||||
{
|
||||
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())
|
||||
{
|
||||
|
||||
var copterStatus = _copterManager.CopterStatus;
|
||||
var connection = new CommConnection();
|
||||
copter = new Copter(connection, SynchronizationContext.Current, _mapManager.Center.Lat, _mapManager.Center.Lng)
|
||||
{
|
||||
Id = id.ToString(),
|
||||
Name = id.ToString(),
|
||||
};
|
||||
copter.VirtualId = 0;
|
||||
int _index;
|
||||
_index = _copterManager.Copters.AddCopter(copter, _copterManager.SortType);
|
||||
copterStatus.Insert(_index, false);
|
||||
copter.TextReceived += Copter_TextReceived;
|
||||
}
|
||||
}
|
||||
}
|
||||
}));
|
||||
}
|
||||
|
||||
private async Task UpdateCommCopterInfo(int id, byte[] package, byte CommModuleVersion)
|
||||
{
|
||||
await AddCommCopter(id);
|
||||
lock (locker)
|
||||
{
|
||||
var copter = _copterManager.Copters.FirstOrDefault(c => c.Id == id.ToString());
|
||||
if (copter!= null && copter is PLCopter)
|
||||
{
|
||||
PLCopter plcopter = (PLCopter)copter;
|
||||
if (!plcopter.CommModuleConnected) plcopter.CommModuleConnected = true;
|
||||
plcopter.InternalCopter.AnalyzeCommMouldePositionIntPacket(package, CommModuleVersion);
|
||||
plcopter.CommModuleConnected = true;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,44 +1,87 @@
|
||||
using Plane.Copters;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Globalization;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows;
|
||||
using System.Windows.Data;
|
||||
using System.Windows.Media;
|
||||
|
||||
namespace Plane.FormationCreator.Converters
|
||||
{
|
||||
public class HeartbeatCountToBrushConverter : IMultiValueConverter
|
||||
{
|
||||
private static SolidColorBrush _zeroBrush = new SolidColorBrush(Color.FromArgb(125, 125, 125, 125));
|
||||
private static SolidColorBrush _oneBrush = Copter.DefaultBrush;
|
||||
|
||||
private static SolidColorBrush _FakeCopterBrush = Copter.DefaultFakeBrush;
|
||||
|
||||
public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
|
||||
{
|
||||
if (values[0] == DependencyProperty.UnsetValue) return _zeroBrush;
|
||||
var heartbeatCount = (ulong)values[0];
|
||||
if (heartbeatCount % 2 == 0) return _zeroBrush;
|
||||
|
||||
if (values[1] is FakeCopter)
|
||||
return _FakeCopterBrush;
|
||||
|
||||
if (values[1] is PLCopter)
|
||||
return _oneBrush;
|
||||
|
||||
var copter = values[1] as Copter;
|
||||
|
||||
return copter == null ? _oneBrush : copter.Brush;
|
||||
}
|
||||
|
||||
public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
|
||||
{
|
||||
throw new NotSupportedException();
|
||||
}
|
||||
}
|
||||
}
|
||||
using Plane.Copters;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Globalization;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows;
|
||||
using System.Windows.Data;
|
||||
using System.Windows.Media;
|
||||
|
||||
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;
|
||||
|
||||
}
|
||||
var copter = values[1] as Copter;
|
||||
return copter == null ? _oneBrush : copter.Brush;
|
||||
|
||||
}
|
||||
|
||||
public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
|
||||
{
|
||||
throw new NotSupportedException();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,59 +1,75 @@
|
||||
using Plane.Copters;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using Plane.Communication;
|
||||
using System.Threading;
|
||||
using System.Windows.Media;
|
||||
|
||||
namespace Plane.FormationCreator.Formation
|
||||
{
|
||||
class Copter : PLCopter
|
||||
{
|
||||
public Copter(IConnection Connection, SynchronizationContext uiThreadContext) : base(Connection, uiThreadContext,false)
|
||||
{
|
||||
Brush = _brushes[NextBrushIndex()];
|
||||
|
||||
}
|
||||
|
||||
public Copter(IConnection Connection, SynchronizationContext uiThreadContext, double lat, double lng) : base(Connection, uiThreadContext, false)
|
||||
{
|
||||
Brush = _brushes[NextBrushIndex()];
|
||||
RecordLat = lat;
|
||||
RecordLng = lng;
|
||||
Latitude = lat;
|
||||
Longitude = lng;
|
||||
//RaiseLocationChangedIfNeeded();
|
||||
}
|
||||
|
||||
static SolidColorBrush[] _brushes = new[]
|
||||
{
|
||||
new SolidColorBrush(Color.FromArgb(180, 255, 0, 0)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 235, 97, 0)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 255, 255, 0)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 0, 255, 0)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 0, 198, 255)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 0, 122, 204)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 174, 0, 255))
|
||||
};
|
||||
static int _brushIndex = 0;
|
||||
static int NextBrushIndex()
|
||||
{
|
||||
return _brushIndex++ % _brushes.Length;
|
||||
}
|
||||
//真实飞机列表默认颜色
|
||||
internal static SolidColorBrush DefaultBrush { get; } = new SolidColorBrush(Color.FromRgb(50, 205, 50));
|
||||
//虚拟飞机列表默认颜色
|
||||
internal static SolidColorBrush DefaultFakeBrush { get; } = new SolidColorBrush(Color.FromRgb(28, 151, 234));
|
||||
|
||||
|
||||
private SolidColorBrush _Brush;
|
||||
public SolidColorBrush Brush
|
||||
{
|
||||
get { return _Brush ?? DefaultBrush; }
|
||||
set { Set(nameof(Brush), ref _Brush, value); }
|
||||
}
|
||||
}
|
||||
}
|
||||
using Plane.Copters;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using Plane.Communication;
|
||||
using System.Threading;
|
||||
using System.Windows.Media;
|
||||
|
||||
namespace Plane.FormationCreator.Formation
|
||||
{
|
||||
class Copter : PLCopter
|
||||
{
|
||||
public Copter(IConnection Connection, SynchronizationContext uiThreadContext) : base(Connection, uiThreadContext,false)
|
||||
{
|
||||
Brush = _brushes[NextBrushIndex()];
|
||||
|
||||
}
|
||||
|
||||
public Copter(IConnection Connection, SynchronizationContext uiThreadContext, double lat, double lng) : base(Connection, uiThreadContext, false)
|
||||
{
|
||||
Brush = _brushes[NextBrushIndex()];
|
||||
RecordLat = lat;
|
||||
RecordLng = lng;
|
||||
Latitude = lat;
|
||||
Longitude = lng;
|
||||
//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)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 235, 97, 0)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 255, 255, 0)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 0, 255, 0)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 0, 198, 255)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 0, 122, 204)),
|
||||
new SolidColorBrush(Color.FromArgb(180, 174, 0, 255))
|
||||
};
|
||||
static int _brushIndex = 0;
|
||||
static int NextBrushIndex()
|
||||
{
|
||||
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;
|
||||
|
||||
|
||||
|
||||
|
||||
private SolidColorBrush _Brush;
|
||||
public SolidColorBrush Brush
|
||||
{
|
||||
get {
|
||||
if (CopterPreCheckPass)
|
||||
return _Brush ?? DefaultBrush;
|
||||
else
|
||||
return _Brush ?? YellowBrush;
|
||||
|
||||
}
|
||||
set { Set(nameof(Brush), ref _Brush, value); }
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -53,6 +53,7 @@ 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)
|
||||
|
||||
@ -1,179 +1,196 @@
|
||||
using Plane.Copters;
|
||||
using Plane.Logging;
|
||||
using GalaSoft.MvvmLight;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Collections.Specialized;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace Plane.FormationCreator.Formation
|
||||
{
|
||||
public partial class FlightTask : ObservableObject
|
||||
{
|
||||
public FlightTask(FlightTaskType type)
|
||||
{
|
||||
TaskType = type;
|
||||
}
|
||||
|
||||
private FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
|
||||
|
||||
private ILogger _logger = ServiceLocator.Current.GetInstance<ILogger>();
|
||||
|
||||
private FlightTaskStatus _Status = FlightTaskStatus.Stop;
|
||||
public FlightTaskStatus Status
|
||||
{
|
||||
get { return _Status; }
|
||||
set { Set(nameof(Status), ref _Status, value); }
|
||||
}
|
||||
|
||||
private FlightTaskType _TaskType;
|
||||
public FlightTaskType TaskType
|
||||
{
|
||||
get { return _TaskType; }
|
||||
set
|
||||
{
|
||||
Set(nameof(TaskType), ref _TaskType, value);
|
||||
RaisePropertyChanged(nameof(TaskTypeIndex));
|
||||
RaisePropertyChanged(nameof(TaskCnName));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
public int TaskTypeIndex
|
||||
{
|
||||
get { return (int)TaskType; }
|
||||
set
|
||||
{
|
||||
TaskType = (FlightTaskType)value;
|
||||
VerticalLift = false;
|
||||
if ( (value == (int)FlightTaskType.Loiter) || (value == (int)FlightTaskType.Circle) )
|
||||
{
|
||||
VerticalLift = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
private string _TaskName = "";
|
||||
public string TaskCnName
|
||||
{
|
||||
get
|
||||
{
|
||||
string name = "";
|
||||
switch (TaskType)
|
||||
{
|
||||
case FlightTaskType.TakeOff: name = "起飞"; break;
|
||||
case FlightTaskType.FlyTo: name = _TaskName == "" ? "航点" : _TaskName; break;
|
||||
case FlightTaskType.Land: name = "降落"; break;
|
||||
}
|
||||
//name = (TaskIndex + 1).ToString() + "." + name;
|
||||
return name;
|
||||
}
|
||||
set {
|
||||
|
||||
Set(nameof(TaskCnName), ref _TaskName, value);
|
||||
RaisePropertyChanged(nameof(TaskCnName));
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public int TaskTypeIndex
|
||||
{
|
||||
get {
|
||||
int index = 1;
|
||||
switch (TaskType)
|
||||
{
|
||||
case FlightTaskType.TakeOff:index = 0; break;
|
||||
case FlightTaskType.FlyTo: index = 1; break;
|
||||
case FlightTaskType.Land: index = 2; break;
|
||||
}
|
||||
return index;
|
||||
}
|
||||
set
|
||||
{
|
||||
switch (value)
|
||||
{
|
||||
case 0: TaskType = FlightTaskType.TakeOff; break;
|
||||
case 1: TaskType = FlightTaskType.FlyTo; break;
|
||||
case 2: TaskType = FlightTaskType.Land; break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//task在所以任务中的index
|
||||
public int TaskIndex
|
||||
{
|
||||
get
|
||||
{
|
||||
return _flightTaskManager.Tasks.IndexOf(this);
|
||||
}
|
||||
}
|
||||
|
||||
public int TaskNum
|
||||
{
|
||||
get
|
||||
{
|
||||
return TaskIndex + 1;
|
||||
}
|
||||
}
|
||||
|
||||
private bool _IsSelected;
|
||||
public bool IsSelected
|
||||
{
|
||||
get { return _IsSelected; }
|
||||
set { Set(nameof(IsSelected), ref _IsSelected, value); }
|
||||
}
|
||||
|
||||
// 右键单击任务，用于隐藏任务图标, added by ZJF
|
||||
private bool _IsRightSelected;
|
||||
public bool IsRightSelected
|
||||
{
|
||||
get { return _IsRightSelected; }
|
||||
set { Set(nameof(IsRightSelected), ref _IsRightSelected, value); }
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public List<FlightTaskSingleCopterInfo> SingleCopterInfos { get; set; } = new List<FlightTaskSingleCopterInfo>();
|
||||
|
||||
private FlightTaskSingleCopterInfo _ModifyingSingleCopterInfo;
|
||||
public FlightTaskSingleCopterInfo ModifyingSingleCopterInfo
|
||||
{
|
||||
get { return _ModifyingSingleCopterInfo; }
|
||||
set { Set(nameof(ModifyingSingleCopterInfo), ref _ModifyingSingleCopterInfo, value); }
|
||||
}
|
||||
|
||||
public async Task RunAsync()
|
||||
{
|
||||
switch (TaskType)
|
||||
{
|
||||
case FlightTaskType.FlyTo:
|
||||
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:
|
||||
await MutilLandTaskAsync().ConfigureAwait(false);
|
||||
break;
|
||||
default:
|
||||
throw new InvalidOperationException();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public enum FlightTaskType
|
||||
{
|
||||
FlyTo = 0,
|
||||
Land = 6,
|
||||
TakeOff = 100
|
||||
}
|
||||
}
|
||||
using Plane.Copters;
|
||||
using Plane.Logging;
|
||||
using GalaSoft.MvvmLight;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Collections.Specialized;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace Plane.FormationCreator.Formation
|
||||
{
|
||||
public partial class FlightTask : ObservableObject
|
||||
{
|
||||
public FlightTask(FlightTaskType type)
|
||||
{
|
||||
TaskType = type;
|
||||
}
|
||||
|
||||
private FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
|
||||
|
||||
private ILogger _logger = ServiceLocator.Current.GetInstance<ILogger>();
|
||||
|
||||
private FlightTaskStatus _Status = FlightTaskStatus.Stop;
|
||||
public FlightTaskStatus Status
|
||||
{
|
||||
get { return _Status; }
|
||||
set { Set(nameof(Status), ref _Status, value); }
|
||||
}
|
||||
|
||||
private FlightTaskType _TaskType;
|
||||
public FlightTaskType TaskType
|
||||
{
|
||||
get { return _TaskType; }
|
||||
set
|
||||
{
|
||||
Set(nameof(TaskType), ref _TaskType, value);
|
||||
RaisePropertyChanged(nameof(TaskTypeIndex));
|
||||
RaisePropertyChanged(nameof(TaskCnName));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
public int TaskTypeIndex
|
||||
{
|
||||
get { return (int)TaskType; }
|
||||
set
|
||||
{
|
||||
TaskType = (FlightTaskType)value;
|
||||
VerticalLift = false;
|
||||
if ( (value == (int)FlightTaskType.Loiter) || (value == (int)FlightTaskType.Circle) )
|
||||
{
|
||||
VerticalLift = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
private string _TaskName = "";
|
||||
public string TaskCnName
|
||||
{
|
||||
get
|
||||
{
|
||||
string name = "";
|
||||
switch (TaskType)
|
||||
{
|
||||
case FlightTaskType.TakeOff: name = "起飞"; break;
|
||||
case FlightTaskType.FlyTo: name = _TaskName == "" ? "航点" : _TaskName; break;
|
||||
case FlightTaskType.Land: name = "降落"; break;
|
||||
}
|
||||
//name = (TaskIndex + 1).ToString() + "." + name;
|
||||
return name;
|
||||
}
|
||||
set {
|
||||
|
||||
Set(nameof(TaskCnName), ref _TaskName, value);
|
||||
RaisePropertyChanged(nameof(TaskCnName));
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public int TaskTypeIndex
|
||||
{
|
||||
get {
|
||||
int index = 1;
|
||||
switch (TaskType)
|
||||
{
|
||||
case FlightTaskType.TakeOff:index = 0; break;
|
||||
case FlightTaskType.FlyTo: index = 1; break;
|
||||
case FlightTaskType.Land: index = 2; break;
|
||||
}
|
||||
return index;
|
||||
}
|
||||
set
|
||||
{
|
||||
switch (value)
|
||||
{
|
||||
case 0: TaskType = FlightTaskType.TakeOff; break;
|
||||
case 1: TaskType = FlightTaskType.FlyTo; break;
|
||||
case 2: TaskType = FlightTaskType.Land; break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//task在所以任务中的index
|
||||
public int TaskIndex
|
||||
{
|
||||
get
|
||||
{
|
||||
return _flightTaskManager.Tasks.IndexOf(this);
|
||||
}
|
||||
}
|
||||
|
||||
public int TaskNum
|
||||
{
|
||||
get
|
||||
{
|
||||
return TaskIndex + 1;
|
||||
}
|
||||
}
|
||||
|
||||
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
|
||||
{
|
||||
get { return _IsSelected; }
|
||||
set { Set(nameof(IsSelected), ref _IsSelected, value); }
|
||||
}
|
||||
|
||||
// 右键单击任务，用于隐藏任务图标, added by ZJF
|
||||
private bool _IsRightSelected;
|
||||
public bool IsRightSelected
|
||||
{
|
||||
get { return _IsRightSelected; }
|
||||
set { Set(nameof(IsRightSelected), ref _IsRightSelected, value); }
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public List<FlightTaskSingleCopterInfo> SingleCopterInfos { get; set; } = new List<FlightTaskSingleCopterInfo>();
|
||||
|
||||
private FlightTaskSingleCopterInfo _ModifyingSingleCopterInfo;
|
||||
public FlightTaskSingleCopterInfo ModifyingSingleCopterInfo
|
||||
{
|
||||
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)
|
||||
{
|
||||
case FlightTaskType.FlyTo:
|
||||
await RunFlyToTaskAsync().ConfigureAwait(false);
|
||||
break;
|
||||
case FlightTaskType.TakeOff:
|
||||
await NewMutilRunTakeOffTaskAsync().ConfigureAwait(false);
|
||||
break;
|
||||
case FlightTaskType.Land:
|
||||
await MutilLandTaskAsync().ConfigureAwait(false);
|
||||
break;
|
||||
default:
|
||||
throw new InvalidOperationException();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public enum FlightTaskType
|
||||
{
|
||||
FlyTo = 0,
|
||||
Land = 6,
|
||||
TakeOff = 100
|
||||
}
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -61,7 +61,16 @@ namespace Plane.FormationCreator.Formation
|
||||
public bool IsLandWaypoint
|
||||
{
|
||||
get { return _IsLandWaypoint; }
|
||||
set { Set(nameof(IsLandWaypoint), ref _IsLandWaypoint, value); }
|
||||
set {
|
||||
|
||||
Set(nameof(IsLandWaypoint), ref _IsLandWaypoint, value);
|
||||
if (_flightTaskManager.SelectedTask == null) return;
|
||||
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
|
||||
{
|
||||
info._IsLandWaypoint = _IsLandWaypoint;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
private bool _IsChangeSpeed = false;
|
||||
@ -72,7 +81,15 @@ namespace Plane.FormationCreator.Formation
|
||||
public bool IsChangeSpeed
|
||||
{
|
||||
get {return _IsChangeSpeed; }
|
||||
set { Set(nameof(IsChangeSpeed), ref _IsChangeSpeed, value); }
|
||||
set {
|
||||
Set(nameof(IsChangeSpeed), ref _IsChangeSpeed, value);
|
||||
if (_flightTaskManager.SelectedTask == null) return;
|
||||
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
|
||||
{
|
||||
info._IsChangeSpeed = _IsChangeSpeed;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -83,7 +100,14 @@ namespace Plane.FormationCreator.Formation
|
||||
public float LevelSpeed
|
||||
{
|
||||
get { return _LevelSpeed; }
|
||||
set { Set(nameof(LevelSpeed), ref _LevelSpeed, value); }
|
||||
set {
|
||||
Set(nameof(LevelSpeed), ref _LevelSpeed, value);
|
||||
if (_flightTaskManager.SelectedTask == null) return;
|
||||
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
|
||||
{
|
||||
info._LevelSpeed = _LevelSpeed;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -94,7 +118,14 @@ namespace Plane.FormationCreator.Formation
|
||||
public float UpSpeed
|
||||
{
|
||||
get { return _UpSpeed; }
|
||||
set { Set(nameof(UpSpeed), ref _UpSpeed, value); }
|
||||
set {
|
||||
Set(nameof(UpSpeed), ref _UpSpeed, value);
|
||||
if (_flightTaskManager.SelectedTask == null) return;
|
||||
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
|
||||
{
|
||||
info._UpSpeed = _UpSpeed;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private float _DownSpeed = 1.5f;
|
||||
@ -104,7 +135,14 @@ namespace Plane.FormationCreator.Formation
|
||||
public float DownSpeed
|
||||
{
|
||||
get { return _DownSpeed; }
|
||||
set { Set(nameof(DownSpeed), ref _DownSpeed, value); }
|
||||
set {
|
||||
Set(nameof(DownSpeed), ref _DownSpeed, value);
|
||||
if (_flightTaskManager.SelectedTask == null) return;
|
||||
foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
|
||||
{
|
||||
info._DownSpeed = _DownSpeed;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
|
||||
@ -1,13 +1,13 @@
|
||||
public enum FlightTaskStatus
|
||||
{
|
||||
Stop,
|
||||
Running,
|
||||
Paused,
|
||||
Selected
|
||||
}
|
||||
public enum TasksStatus
|
||||
{
|
||||
Stop,
|
||||
Running,
|
||||
Paused
|
||||
public enum FlightTaskStatus
|
||||
{
|
||||
Stop,
|
||||
Running,
|
||||
Paused,
|
||||
Selected
|
||||
}
|
||||
public enum TasksStatus
|
||||
{
|
||||
Stop,
|
||||
Running,
|
||||
Paused
|
||||
}
|
||||
@ -1,283 +1,216 @@
|
||||
using Plane.Copters;
|
||||
using Plane.Geography;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using Plane.Windows.Messages;
|
||||
|
||||
namespace Plane.FormationCreator.Formation
|
||||
{
|
||||
public partial class FlightTask
|
||||
{
|
||||
private bool _StaggerRoutes = true;
|
||||
|
||||
//是否有交错
|
||||
public bool StaggerRoutes
|
||||
{
|
||||
get { return _StaggerRoutes; }
|
||||
set { Set(nameof(StaggerRoutes), ref _StaggerRoutes, value); }
|
||||
}
|
||||
|
||||
//同一个任务每一架飞机的FlytoTime和LoiterTime保持统一
|
||||
private int _FlytoTime = 10;
|
||||
public int FlytoTime
|
||||
{
|
||||
get { return _FlytoTime; }
|
||||
set
|
||||
{
|
||||
if (value > 4095) value = 4095;
|
||||
if (value < 0) value = 0;
|
||||
Set(nameof(FlytoTime), ref _FlytoTime, value);
|
||||
}
|
||||
}
|
||||
private int _LoiterTime = 1;
|
||||
public int LoiterTime
|
||||
{
|
||||
get { return _LoiterTime; }
|
||||
set
|
||||
{
|
||||
if (value > 4095) value = 4095;
|
||||
if (value < 0) value = 0;
|
||||
Set(nameof(LoiterTime), ref _LoiterTime, value);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
private bool _VerticalLift = false;
|
||||
public bool VerticalLift // 垂直升降标志位，后面需要加入即使拖动地图上的飞机，也不会变化经纬度. added by ZJF
|
||||
{
|
||||
get { return _VerticalLift; }
|
||||
set
|
||||
{
|
||||
if (value)
|
||||
{
|
||||
int currentIndex = _flightTaskManager.SelectedTaskIndex;
|
||||
var currentCopterInfos = _flightTaskManager.SelectedTask.SingleCopterInfos;
|
||||
var previousCopterInfos = _flightTaskManager.Tasks[currentIndex - 1].SingleCopterInfos;
|
||||
for (int i = 0; i < currentCopterInfos.Count; i++)
|
||||
{
|
||||
currentCopterInfos[i].TargetLat = previousCopterInfos[i].TargetLat;
|
||||
currentCopterInfos[i].TargetLng = previousCopterInfos[i].TargetLng;
|
||||
currentCopterInfos[i].TargetAlt = previousCopterInfos[i].TargetAlt;
|
||||
}
|
||||
}
|
||||
|
||||
Set(nameof(VerticalLift), ref _VerticalLift, value);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
public async Task RunFlyToTaskAsync() // 全部飞到指定航点
|
||||
{
|
||||
//是否有交错
|
||||
if (StaggerRoutes)
|
||||
{
|
||||
var infos = SingleCopterInfos;
|
||||
var tasks = new Task[infos.Count];
|
||||
for (int i = 0; i < infos.Count; i++)
|
||||
{
|
||||
var info = infos[i];
|
||||
|
||||
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);
|
||||
});
|
||||
}
|
||||
await Task.WhenAll(tasks).ConfigureAwait(false);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
await Task.WhenAll(
|
||||
SingleCopterInfos.Select(info => FlyToTaskFlySingleCopterAsync(info))
|
||||
).ConfigureAwait(false);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
private int RuningTaskRemaining = 0;
|
||||
|
||||
private async Task FlyToTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
|
||||
{
|
||||
DateTime dtNow = DateTime.Now;
|
||||
DateTime dtLastTime = DateTime.Now;
|
||||
TimeSpan ts = dtNow - dtLastTime;
|
||||
|
||||
|
||||
FlightTask task = _flightTaskManager.CurrentRunningTask;
|
||||
int flyToTime = task.FlytoTime * 1000;
|
||||
int loiterTime = task.LoiterTime * 1000;
|
||||
int taskIndex = _flightTaskManager.CurrentRunningTaskIndex;
|
||||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||||
|
||||
|
||||
// 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;
|
||||
}
|
||||
|
||||
await info.Copter.SetShowLEDAsync(info.FlytoShowLED);
|
||||
|
||||
if (info.Copter.State != Plane.Copters.CopterState.CommandMode)
|
||||
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)
|
||||
{
|
||||
targetLat = info.Copter.TakeOffPoint.Latitude;
|
||||
targetLng = info.Copter.TakeOffPoint.Longitude;
|
||||
}
|
||||
//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;
|
||||
|
||||
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
|
||||
|
||||
|
||||
|
||||
// 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 = "";
|
||||
List<LEDInfo> LedControl = info.LEDInfos.ToList();
|
||||
double time = 0;
|
||||
for (int i = 0; i < LedControl.Count; i++)
|
||||
{
|
||||
|
||||
var led = LedControl[i];
|
||||
time += led.Delay * 1000;
|
||||
if (ts.TotalMilliseconds >= time)
|
||||
LEDRGB = info.LEDInfos[i].LEDRGB;
|
||||
else
|
||||
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;
|
||||
}
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
}
|
||||
// await info.Copter.HoverAsync();
|
||||
if (taskIndex == _flightTaskManager.Tasks.Count() - 1)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
private static bool CheckCrossing(List<FlightTaskSingleCopterInfo> infos, int currentIndex)
|
||||
{
|
||||
var info = infos[currentIndex];
|
||||
for (int i = 0; i < currentIndex; i++)
|
||||
{
|
||||
var nextInfo = infos[i];
|
||||
if (GeographyUtils.CheckCrossing2D(info.Copter.Latitude, info.Copter.Longitude, info.TargetLat, info.TargetLng,
|
||||
nextInfo.Copter.Latitude, nextInfo.Copter.Longitude, nextInfo.TargetLat, nextInfo.TargetLng))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
using Plane.Copters;
|
||||
using Plane.Geography;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using Plane.Windows.Messages;
|
||||
|
||||
namespace Plane.FormationCreator.Formation
|
||||
{
|
||||
public partial class FlightTask
|
||||
{
|
||||
private bool _StaggerRoutes = true;
|
||||
|
||||
//是否有交错
|
||||
public bool StaggerRoutes
|
||||
{
|
||||
get { return _StaggerRoutes; }
|
||||
set { Set(nameof(StaggerRoutes), ref _StaggerRoutes, value); }
|
||||
}
|
||||
|
||||
//同一个任务每一架飞机的FlytoTime和LoiterTime保持统一
|
||||
private int _FlytoTime = 10;
|
||||
public int FlytoTime
|
||||
{
|
||||
get { return _FlytoTime; }
|
||||
set
|
||||
{
|
||||
if (value > 4095) value = 4095;
|
||||
if (value < 0) value = 0;
|
||||
Set(nameof(FlytoTime), ref _FlytoTime, value);
|
||||
}
|
||||
}
|
||||
private int _LoiterTime = 1;
|
||||
public int LoiterTime
|
||||
{
|
||||
get { return _LoiterTime; }
|
||||
set
|
||||
{
|
||||
if (value > 4095) value = 4095;
|
||||
if (value < 0) value = 0;
|
||||
Set(nameof(LoiterTime), ref _LoiterTime, value);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
private bool _VerticalLift = false;
|
||||
public bool VerticalLift // 垂直升降标志位，后面需要加入即使拖动地图上的飞机，也不会变化经纬度. added by ZJF
|
||||
{
|
||||
get { return _VerticalLift; }
|
||||
set
|
||||
{
|
||||
if (value)
|
||||
{
|
||||
int currentIndex = _flightTaskManager.SelectedTaskIndex;
|
||||
var currentCopterInfos = _flightTaskManager.SelectedTask.SingleCopterInfos;
|
||||
var previousCopterInfos = _flightTaskManager.Tasks[currentIndex - 1].SingleCopterInfos;
|
||||
for (int i = 0; i < currentCopterInfos.Count; i++)
|
||||
{
|
||||
currentCopterInfos[i].TargetLat = previousCopterInfos[i].TargetLat;
|
||||
currentCopterInfos[i].TargetLng = previousCopterInfos[i].TargetLng;
|
||||
currentCopterInfos[i].TargetAlt = previousCopterInfos[i].TargetAlt;
|
||||
}
|
||||
}
|
||||
|
||||
Set(nameof(VerticalLift), ref _VerticalLift, value);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
public async Task RunFlyToTaskAsync() // 全部飞到指定航点
|
||||
{
|
||||
//是否有交错
|
||||
if (StaggerRoutes)
|
||||
{
|
||||
var infos = SingleCopterInfos;
|
||||
var tasks = new Task[infos.Count];
|
||||
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;
|
||||
await FlyToTaskFlySingleCopterAsync(internalInfo);
|
||||
});
|
||||
}
|
||||
await Task.WhenAll(tasks).ConfigureAwait(false);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
await Task.WhenAll(
|
||||
SingleCopterInfos.Select(info => FlyToTaskFlySingleCopterAsync(info))
|
||||
).ConfigureAwait(false);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// private int RuningTaskRemaining = 0;
|
||||
/// <summary>
|
||||
/// 单独飞机执行飞行任务
|
||||
/// </summary>
|
||||
/// <param name="info"></param>
|
||||
/// <returns></returns>
|
||||
private async Task FlyToTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
|
||||
{
|
||||
DateTime dtNow = DateTime.Now;
|
||||
DateTime dtLastTime = DateTime.Now;
|
||||
TimeSpan ts = dtNow - dtLastTime;
|
||||
|
||||
|
||||
FlightTask task = _flightTaskManager.CurrentRunningTask;
|
||||
int flyToTime = task.FlytoTime * 1000;
|
||||
int loiterTime = task.LoiterTime * 1000;
|
||||
int taskIndex = _flightTaskManager.CurrentRunningTaskIndex;
|
||||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||||
|
||||
|
||||
// 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;
|
||||
}
|
||||
|
||||
await info.Copter.SetShowLEDAsync(info.FlytoShowLED);
|
||||
|
||||
if (info.Copter.State != Plane.Copters.CopterState.CommandMode)
|
||||
await info.Copter.GuidAsync();
|
||||
|
||||
|
||||
double targetLat = info.TargetLat;
|
||||
double targetLng = info.TargetLng;
|
||||
if (info.IsLandWaypoint)
|
||||
{
|
||||
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);
|
||||
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
|
||||
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
|
||||
{
|
||||
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.ToList();
|
||||
double time = 0;
|
||||
for (int i = 0; i < LedControl.Count; i++)
|
||||
{
|
||||
|
||||
var led = LedControl[i];
|
||||
time += led.Delay * 1000;
|
||||
if (ts.TotalMilliseconds >= time)
|
||||
LEDRGB = info.LEDInfos[i].LEDRGB;
|
||||
else
|
||||
break;
|
||||
}
|
||||
info.Copter.LEDColor = LEDRGB;
|
||||
}
|
||||
// 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;
|
||||
}
|
||||
// await info.Copter.HoverAsync();
|
||||
if (taskIndex == _flightTaskManager.Tasks.Count() - 1)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
private static bool CheckCrossing(List<FlightTaskSingleCopterInfo> infos, int currentIndex)
|
||||
{
|
||||
var info = infos[currentIndex];
|
||||
for (int i = 0; i < currentIndex; i++)
|
||||
{
|
||||
var nextInfo = infos[i];
|
||||
if (GeographyUtils.CheckCrossing2D(info.Copter.Latitude, info.Copter.Longitude, info.TargetLat, info.TargetLng,
|
||||
nextInfo.Copter.Latitude, nextInfo.Copter.Longitude, nextInfo.TargetLat, nextInfo.TargetLng))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,495 +1,488 @@
|
||||
using Plane.Copters;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using Plane.Geography;
|
||||
|
||||
namespace Plane.FormationCreator.Formation
|
||||
{
|
||||
public partial class FlightTask
|
||||
{
|
||||
|
||||
|
||||
//起飞到第一个航点高度的飞行时间
|
||||
private byte _TakeOffTime = 10;
|
||||
public byte TakeOffTime
|
||||
{
|
||||
get { return _TakeOffTime; }
|
||||
set { Set(nameof(TakeOffTime), ref _TakeOffTime, value); }
|
||||
}
|
||||
|
||||
//一架架起飞--未使用
|
||||
public async Task RunTakeOffTaskAsync()
|
||||
{
|
||||
// float takeOffAlt = 15;
|
||||
int TaskCount = _flightTaskManager.Tasks.Count();
|
||||
if (TaskCount > 1)
|
||||
{
|
||||
var infos = SingleCopterInfos;
|
||||
// var tasks = new Task[infos.Count];
|
||||
var tasksTmp = new Task[infos.Count];
|
||||
for (int i = 0; i < infos.Count; i++)
|
||||
{
|
||||
var info = infos[i];
|
||||
|
||||
if (info.takeOffStage == 0) // 第一阶段：起飞到10m
|
||||
{
|
||||
await TakeOffTaskFlySingleCopterAsync(info);
|
||||
//if (_flightTaskManager.IsPaused == false)
|
||||
//{
|
||||
// info.takeOffStage++;
|
||||
//}
|
||||
}
|
||||
|
||||
tasksTmp[i] = TakeOffSecondTaskAsync(info); // 第二和第三阶段
|
||||
}
|
||||
await Task.WhenAll(tasksTmp).ConfigureAwait(false);
|
||||
if (_flightTaskManager.IsPaused == false)
|
||||
{
|
||||
for (int i = 0; i < infos.Count; i++)
|
||||
{
|
||||
var info = infos[i];
|
||||
info.takeOffStage = 0;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//新版的起飞方案
|
||||
public async Task NewMutilRunTakeOffTaskAsync()
|
||||
{
|
||||
var infos = SingleCopterInfos;
|
||||
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);
|
||||
}
|
||||
|
||||
private async Task NewSingleRunTaskOffTaskAsunc(FlightTaskSingleCopterInfo info)
|
||||
{
|
||||
DateTime dtNow = DateTime.Now;
|
||||
DateTime dtLastTime = DateTime.Now;
|
||||
TimeSpan ts = dtNow - dtLastTime;
|
||||
|
||||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||||
var copter = info.Copter;
|
||||
await copter.UnlockAsync();
|
||||
//等待起飞时间
|
||||
while ((int)ts.TotalMilliseconds < (int)info.TakeOffWaitTime * 1000)
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await copter.UnlockAsync();
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(100);
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
}
|
||||
|
||||
//虚拟飞机5秒后不起飞会自动上锁
|
||||
await copter.UnlockAsync();
|
||||
|
||||
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;
|
||||
|
||||
// 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;
|
||||
|
||||
while (ts.TotalMilliseconds < task.TakeOffTime * 1000)
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(100).ConfigureAwait(false);
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
//灯光控制
|
||||
if (info.LEDInfos.Count > 0)
|
||||
{
|
||||
string LEDRGB = "";
|
||||
List<LEDInfo> LedControl = info.LEDInfos.ToList();
|
||||
double time = 0;
|
||||
for (int i = 0; i < LedControl.Count; i++)
|
||||
{
|
||||
|
||||
var led = LedControl[i];
|
||||
time += led.Delay * 1000;
|
||||
if (ts.TotalMilliseconds >= time)
|
||||
LEDRGB = info.LEDInfos[i].LEDRGB;
|
||||
else
|
||||
break;
|
||||
}
|
||||
info.Copter.LEDColor = LEDRGB;
|
||||
///灯光控制结束
|
||||
}
|
||||
}
|
||||
//起飞完成用默认颜色
|
||||
info.Copter.LEDColor = CopterManager.CopterFlyingColor;
|
||||
|
||||
}
|
||||
|
||||
|
||||
//老方案 ----- 按起飞数量起飞
|
||||
// 几架飞机同时起飞，参数为takeOffCount-----------------使用中
|
||||
//起飞分三个阶段：
|
||||
//1阶段：分批起飞到15米(目前15米高度是飞控起飞航点决定)，上一批起飞超过5米下一批开始起飞，
|
||||
// 等待全部起飞完成后执行第二阶段，
|
||||
//2阶段：等待高度超过9米(可能已到达15米)然后平飞到第一个航点位置,高度为15米的位置，
|
||||
//3阶段：垂直上升到第一个航点指定高度
|
||||
//
|
||||
//修改方案：针对高度
|
||||
//1.上升到起飞高度(目前没有地面站设置高度，高度在飞控中)
|
||||
//2.直接飞往第一个航点的高度
|
||||
public async Task MutilRunTakeOffTaskAsync()
|
||||
{
|
||||
|
||||
int TaskCount = _flightTaskManager.Tasks.Count();
|
||||
if (TaskCount > 1)
|
||||
{
|
||||
var infos = SingleCopterInfos;
|
||||
|
||||
//不再使用起飞数量 强制设置起飞总数等于所有飞机
|
||||
int takeOffCount = _copterManager.Copters.Count();
|
||||
int copterCount = infos.Count;
|
||||
int integerPart = copterCount / takeOffCount;
|
||||
int residualPart = copterCount % takeOffCount;
|
||||
|
||||
// var tasks = new Task[infos.Count];
|
||||
var tasksTmp = new Task[infos.Count];
|
||||
for (int i = 0; i < integerPart; i++)
|
||||
{
|
||||
var tasksTakeOff = new Task[takeOffCount];
|
||||
//执行n架同时起飞
|
||||
for (int j = takeOffCount * i; j < takeOffCount * (i + 1); j++)
|
||||
{
|
||||
var info = infos[j];
|
||||
|
||||
int indexTmp = j - takeOffCount * i;
|
||||
if (info.takeOffStage == 0) // 第一阶段：起飞到15m
|
||||
{
|
||||
tasksTakeOff[indexTmp] = TakeOffTaskFlySingleCopterAsync(info);
|
||||
}
|
||||
else
|
||||
{
|
||||
tasksTakeOff[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
|
||||
}
|
||||
}
|
||||
//等待多架起飞任务-起飞高度超过5米完成
|
||||
await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
|
||||
//加入已起飞飞机的第二第三阶段起飞任务--并不执行
|
||||
for (int j = takeOffCount * i; j < takeOffCount * (i + 1); j++)
|
||||
{
|
||||
var info = infos[j];
|
||||
tasksTmp[j] = TakeOffSecondTaskAsync(info); // 第二和第三阶段
|
||||
}
|
||||
}
|
||||
|
||||
// 余数架飞机同时起飞
|
||||
if (residualPart > 0)
|
||||
{
|
||||
var tasksTakeOff = new Task[residualPart];
|
||||
for (int j = integerPart * takeOffCount; j < takeOffCount * integerPart + residualPart; j++)
|
||||
{
|
||||
var info = infos[j];
|
||||
|
||||
int indexTmp = j - takeOffCount * integerPart;
|
||||
if (info.takeOffStage == 0) // 第一阶段：起飞到15m
|
||||
{
|
||||
tasksTakeOff[indexTmp] = TakeOffTaskFlySingleCopterAsync(info);
|
||||
}
|
||||
else
|
||||
{
|
||||
tasksTakeOff[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
|
||||
}
|
||||
}
|
||||
//等待起飞超过5米
|
||||
await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
|
||||
|
||||
for (int j = integerPart * takeOffCount; j < takeOffCount * integerPart + residualPart; j++)
|
||||
{
|
||||
var info = infos[j];
|
||||
tasksTmp[j] = TakeOffSecondTaskAsync(info); // 加入第二和第三阶段
|
||||
}
|
||||
}
|
||||
//执行并等待所有的第二第三阶段起飞任务完成
|
||||
await Task.WhenAll(tasksTmp).ConfigureAwait(false);
|
||||
if (_flightTaskManager.IsPaused == false)
|
||||
{
|
||||
for (int i = 0; i < infos.Count; i++)
|
||||
{
|
||||
var info = infos[i];
|
||||
info.takeOffStage = 0;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
|
||||
//执行第一阶段解锁起飞任务---使用中
|
||||
private async Task TakeOffTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
|
||||
{
|
||||
DateTime dtNow = DateTime.Now;
|
||||
DateTime dtLastTime = DateTime.Now;
|
||||
TimeSpan ts = dtNow - dtLastTime;
|
||||
|
||||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||||
var copter = info.Copter;
|
||||
var copterNextTask = _flightTaskManager.Tasks[1].SingleCopterInfos[copterIndex];
|
||||
|
||||
if ((bool)_copterManager.CopterStatus[copterIndex])
|
||||
return;
|
||||
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
//设置灯光
|
||||
await copter.SetShowLEDAsync(true);
|
||||
|
||||
//开始解锁
|
||||
await copter.UnlockAsync();
|
||||
for (int i = 0; !copter.IsUnlocked; i++)
|
||||
{
|
||||
//if (_flightTaskManager.IsPaused == true)
|
||||
//{
|
||||
// return;
|
||||
//}
|
||||
//8秒内每1000毫秒尝试解锁一次
|
||||
//解锁间隔一定要超过1s否则导致飞控以后无法解锁
|
||||
|
||||
if (i > 320)
|
||||
return; //无法解锁后面不用执行了
|
||||
if (i % (1000 / 25) == 1000 / 25 - 1)
|
||||
{
|
||||
await copter.UnlockAsync(); // 每 1000 毫秒重试一次。
|
||||
}
|
||||
|
||||
await Task.Delay(25).ConfigureAwait(false);
|
||||
}
|
||||
//////解锁完成
|
||||
|
||||
// 为了返航，记录家的位置, 应该放在起飞命令
|
||||
info.TargetLat = info.Copter.Latitude;
|
||||
info.TargetLng = info.Copter.Longitude;
|
||||
|
||||
//等待起飞时间
|
||||
while (ts.TotalMilliseconds < info.TakeOffWaitTime * 1000 )
|
||||
{
|
||||
await Task.Delay(100);
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
}
|
||||
|
||||
//开始起飞
|
||||
for (int i = 0; i < 5; i++) // added by ZJF
|
||||
{
|
||||
await copter.TakeOffAsync();
|
||||
await Task.Delay(50).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
// while (copter.Altitude < 4 || copter.State == Copters.CopterState.TakingOff)
|
||||
//低于5米任务一直等待
|
||||
while (copter.Altitude < 5) // 修改起飞逻辑，当高度达到5米时，下一架开始起飞
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(100).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
/* //先不要这个控制看能否正常工作
|
||||
if (copter.Altitude > 8)
|
||||
{
|
||||
await info.Copter.GuidAsync();
|
||||
return;
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
//执行第二第三阶段起飞任务-------------使用中
|
||||
private async Task TakeOffSecondTaskAsync(FlightTaskSingleCopterInfo info)
|
||||
{
|
||||
|
||||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||||
var copterNextTask = _flightTaskManager.Tasks[1].SingleCopterInfos[copterIndex];
|
||||
float takeOffAlt = copterNextTask.TargetAlt;// 15; 起飞高度到下个任务的高度
|
||||
// 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;
|
||||
} // await Task.Run(async () =>
|
||||
// {
|
||||
// 小于9米时等待----按起飞高度算此时可能已到达15米起飞高度
|
||||
if (info.takeOffStage == 0)
|
||||
{
|
||||
while (info.Copter.Altitude < 9)
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(100).ConfigureAwait(false);
|
||||
// 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.IsPaused == false)
|
||||
{
|
||||
info.takeOffStage++;
|
||||
}
|
||||
}
|
||||
|
||||
DateTime dtNow = DateTime.Now;
|
||||
DateTime dtLastTime = DateTime.Now;
|
||||
TimeSpan ts = dtNow - dtLastTime;
|
||||
|
||||
#region 屏蔽掉第二个阶段直接进入第三个阶 到达起飞高度直接飞往第一个航点
|
||||
|
||||
// 第二阶段：超过9米开始水平飞行
|
||||
if (info.takeOffStage == 1)
|
||||
{
|
||||
//切换到guided模式
|
||||
await info.Copter.GuidAsync();
|
||||
//设置灯光为航点要求的灯光
|
||||
await info.Copter.SetShowLEDAsync(copterNextTask.FlytoShowLED );
|
||||
//异步执行飞到第一个航点高度固定为15米的任务
|
||||
for (int j = 0; j < 3; j++)
|
||||
{
|
||||
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
|
||||
await Task.Delay(10).ConfigureAwait(false);
|
||||
}
|
||||
//直到到达第一个航点并高度15米
|
||||
while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, takeOffAlt))
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(25).ConfigureAwait(false);
|
||||
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
//每2秒再异步执行一次到航点高度15米的任务
|
||||
if (ts.TotalMilliseconds > 2000)
|
||||
{
|
||||
for (int j = 0; j < 2; j++)
|
||||
{
|
||||
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
|
||||
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.IsPaused == false)
|
||||
{
|
||||
info.takeOffStage++; //当前变为2
|
||||
}
|
||||
}
|
||||
|
||||
dtNow = DateTime.Now;
|
||||
dtLastTime = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
|
||||
#endregion
|
||||
|
||||
info.takeOffStage++;
|
||||
|
||||
// 第三阶段：从第一个航点位置15米垂直飞行
|
||||
if (info.takeOffStage == 2)
|
||||
{
|
||||
//执行飞到第一个航点高度为设定目标高度
|
||||
for (int j = 0; j < 3; j++)
|
||||
{
|
||||
await info.Copter.FlyToAsync(copterNextTask.TargetLat, copterNextTask.TargetLng, copterNextTask.TargetAlt);
|
||||
await Task.Delay(10).ConfigureAwait(false);
|
||||
}
|
||||
//直到到达第一个航点
|
||||
while (!info.Copter.ArrivedTarget(copterNextTask.TargetLat, copterNextTask.TargetLng, copterNextTask.TargetAlt))
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(25).ConfigureAwait(false);
|
||||
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
//每2秒发一次第一个航点飞行任务
|
||||
if (ts.TotalMilliseconds > 2000)
|
||||
{
|
||||
for (int j = 0; j < 2; j++)
|
||||
{
|
||||
await info.Copter.FlyToAsync(copterNextTask.TargetLat, copterNextTask.TargetLng, copterNextTask.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;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// });
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
using Plane.Copters;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using Plane.Geography;
|
||||
|
||||
namespace Plane.FormationCreator.Formation
|
||||
{
|
||||
public partial class FlightTask
|
||||
{
|
||||
|
||||
|
||||
//起飞到第一个航点高度的飞行时间
|
||||
private byte _TakeOffTime = 10;
|
||||
public byte TakeOffTime
|
||||
{
|
||||
get { return _TakeOffTime; }
|
||||
set { Set(nameof(TakeOffTime), ref _TakeOffTime, value); }
|
||||
}
|
||||
|
||||
//一架架起飞--未使用
|
||||
public async Task RunTakeOffTaskAsync()
|
||||
{
|
||||
// float takeOffAlt = 15;
|
||||
int TaskCount = _flightTaskManager.Tasks.Count();
|
||||
if (TaskCount > 1)
|
||||
{
|
||||
var infos = SingleCopterInfos;
|
||||
// var tasks = new Task[infos.Count];
|
||||
var tasksTmp = new Task[infos.Count];
|
||||
for (int i = 0; i < infos.Count; i++)
|
||||
{
|
||||
var info = infos[i];
|
||||
|
||||
if (info.takeOffStage == 0) // 第一阶段：起飞到10m
|
||||
{
|
||||
await TakeOffTaskFlySingleCopterAsync(info);
|
||||
//if (_flightTaskManager.IsPaused == false)
|
||||
//{
|
||||
// info.takeOffStage++;
|
||||
//}
|
||||
}
|
||||
|
||||
tasksTmp[i] = TakeOffSecondTaskAsync(info); // 第二和第三阶段
|
||||
}
|
||||
await Task.WhenAll(tasksTmp).ConfigureAwait(false);
|
||||
if (_flightTaskManager.IsPaused == false)
|
||||
{
|
||||
for (int i = 0; i < infos.Count; i++)
|
||||
{
|
||||
var info = infos[i];
|
||||
info.takeOffStage = 0;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//新版的起飞方案
|
||||
public async Task NewMutilRunTakeOffTaskAsync()
|
||||
{
|
||||
var infos = SingleCopterInfos;
|
||||
var tasksTakeOff = new Task[infos.Count];
|
||||
for (int i = 0; i < infos.Count; i++)
|
||||
{
|
||||
tasksTakeOff[i] = await Task.Factory.StartNew(async () =>
|
||||
{
|
||||
var internalInfo = infos[i];
|
||||
await NewSingleRunTaskOffTaskAsunc(internalInfo);
|
||||
});
|
||||
}
|
||||
await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
/// <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;
|
||||
DateTime dtLastTime = DateTime.Now;
|
||||
TimeSpan ts = dtNow - dtLastTime;
|
||||
|
||||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||||
var copter = info.Copter;
|
||||
await copter.UnlockAsync();
|
||||
//等待起飞时间
|
||||
while ((int)ts.TotalMilliseconds < (int)info.TakeOffWaitTime * 1000)
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await copter.UnlockAsync();
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(100);
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
}
|
||||
|
||||
//虚拟飞机5秒后不起飞会自动上锁
|
||||
await copter.UnlockAsync();
|
||||
await copter.TakeOffAsync();
|
||||
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
|
||||
//解锁起飞用暗紫色
|
||||
info.Copter.LEDColor = CopterManager.CopterTakeoffColor;
|
||||
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
|
||||
//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)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(100).ConfigureAwait(false);
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
//灯光控制
|
||||
if (info.LEDInfos.Count > 0)
|
||||
{
|
||||
string LEDRGB = "";
|
||||
List<LEDInfo> LedControl = info.LEDInfos.ToList();
|
||||
double time = 0;
|
||||
for (int i = 0; i < LedControl.Count; i++)
|
||||
{
|
||||
|
||||
var led = LedControl[i];
|
||||
time += led.Delay * 1000;
|
||||
if (ts.TotalMilliseconds >= time)
|
||||
LEDRGB = info.LEDInfos[i].LEDRGB;
|
||||
else
|
||||
break;
|
||||
}
|
||||
info.Copter.LEDColor = LEDRGB;
|
||||
///灯光控制结束
|
||||
}
|
||||
}
|
||||
//起飞完成用默认颜色
|
||||
info.Copter.LEDColor = CopterManager.CopterFlyingColor;
|
||||
}
|
||||
|
||||
|
||||
//老方案 ----- 按起飞数量起飞
|
||||
// 几架飞机同时起飞，参数为takeOffCount-----------------使用中
|
||||
//起飞分三个阶段：
|
||||
//1阶段：分批起飞到15米(目前15米高度是飞控起飞航点决定)，上一批起飞超过5米下一批开始起飞，
|
||||
// 等待全部起飞完成后执行第二阶段，
|
||||
//2阶段：等待高度超过9米(可能已到达15米)然后平飞到第一个航点位置,高度为15米的位置，
|
||||
//3阶段：垂直上升到第一个航点指定高度
|
||||
//
|
||||
//修改方案：针对高度
|
||||
//1.上升到起飞高度(目前没有地面站设置高度，高度在飞控中)
|
||||
//2.直接飞往第一个航点的高度
|
||||
public async Task MutilRunTakeOffTaskAsync()
|
||||
{
|
||||
|
||||
int TaskCount = _flightTaskManager.Tasks.Count();
|
||||
if (TaskCount > 1)
|
||||
{
|
||||
var infos = SingleCopterInfos;
|
||||
|
||||
//不再使用起飞数量 强制设置起飞总数等于所有飞机
|
||||
int takeOffCount = _copterManager.Copters.Count();
|
||||
int copterCount = infos.Count;
|
||||
int integerPart = copterCount / takeOffCount;
|
||||
int residualPart = copterCount % takeOffCount;
|
||||
|
||||
// var tasks = new Task[infos.Count];
|
||||
var tasksTmp = new Task[infos.Count];
|
||||
for (int i = 0; i < integerPart; i++)
|
||||
{
|
||||
var tasksTakeOff = new Task[takeOffCount];
|
||||
//执行n架同时起飞
|
||||
for (int j = takeOffCount * i; j < takeOffCount * (i + 1); j++)
|
||||
{
|
||||
var info = infos[j];
|
||||
|
||||
int indexTmp = j - takeOffCount * i;
|
||||
if (info.takeOffStage == 0) // 第一阶段：起飞到15m
|
||||
{
|
||||
tasksTakeOff[indexTmp] = TakeOffTaskFlySingleCopterAsync(info);
|
||||
}
|
||||
else
|
||||
{
|
||||
tasksTakeOff[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
|
||||
}
|
||||
}
|
||||
//等待多架起飞任务-起飞高度超过5米完成
|
||||
await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
|
||||
//加入已起飞飞机的第二第三阶段起飞任务--并不执行
|
||||
for (int j = takeOffCount * i; j < takeOffCount * (i + 1); j++)
|
||||
{
|
||||
var info = infos[j];
|
||||
tasksTmp[j] = TakeOffSecondTaskAsync(info); // 第二和第三阶段
|
||||
}
|
||||
}
|
||||
|
||||
// 余数架飞机同时起飞
|
||||
if (residualPart > 0)
|
||||
{
|
||||
var tasksTakeOff = new Task[residualPart];
|
||||
for (int j = integerPart * takeOffCount; j < takeOffCount * integerPart + residualPart; j++)
|
||||
{
|
||||
var info = infos[j];
|
||||
|
||||
int indexTmp = j - takeOffCount * integerPart;
|
||||
if (info.takeOffStage == 0) // 第一阶段：起飞到15m
|
||||
{
|
||||
tasksTakeOff[indexTmp] = TakeOffTaskFlySingleCopterAsync(info);
|
||||
}
|
||||
else
|
||||
{
|
||||
tasksTakeOff[indexTmp] = Task.Run(async () => { await Task.Delay(1).ConfigureAwait(false); });
|
||||
}
|
||||
}
|
||||
//等待起飞超过5米
|
||||
await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
|
||||
|
||||
for (int j = integerPart * takeOffCount; j < takeOffCount * integerPart + residualPart; j++)
|
||||
{
|
||||
var info = infos[j];
|
||||
tasksTmp[j] = TakeOffSecondTaskAsync(info); // 加入第二和第三阶段
|
||||
}
|
||||
}
|
||||
//执行并等待所有的第二第三阶段起飞任务完成
|
||||
await Task.WhenAll(tasksTmp).ConfigureAwait(false);
|
||||
if (_flightTaskManager.IsPaused == false)
|
||||
{
|
||||
for (int i = 0; i < infos.Count; i++)
|
||||
{
|
||||
var info = infos[i];
|
||||
info.takeOffStage = 0;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
|
||||
//执行第一阶段解锁起飞任务---使用中
|
||||
private async Task TakeOffTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
|
||||
{
|
||||
DateTime dtNow = DateTime.Now;
|
||||
DateTime dtLastTime = DateTime.Now;
|
||||
TimeSpan ts = dtNow - dtLastTime;
|
||||
|
||||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||||
var copter = info.Copter;
|
||||
var copterNextTask = _flightTaskManager.Tasks[1].SingleCopterInfos[copterIndex];
|
||||
|
||||
if ((bool)_copterManager.CopterStatus[copterIndex])
|
||||
return;
|
||||
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
//设置灯光
|
||||
await copter.SetShowLEDAsync(true);
|
||||
|
||||
//开始解锁
|
||||
await copter.UnlockAsync();
|
||||
for (int i = 0; !copter.IsUnlocked; i++)
|
||||
{
|
||||
//if (_flightTaskManager.IsPaused == true)
|
||||
//{
|
||||
// return;
|
||||
//}
|
||||
//8秒内每1000毫秒尝试解锁一次
|
||||
//解锁间隔一定要超过1s否则导致飞控以后无法解锁
|
||||
|
||||
if (i > 320)
|
||||
return; //无法解锁后面不用执行了
|
||||
if (i % (1000 / 25) == 1000 / 25 - 1)
|
||||
{
|
||||
await copter.UnlockAsync(); // 每 1000 毫秒重试一次。
|
||||
}
|
||||
|
||||
await Task.Delay(25).ConfigureAwait(false);
|
||||
}
|
||||
//////解锁完成
|
||||
|
||||
// 为了返航，记录家的位置, 应该放在起飞命令
|
||||
info.TargetLat = info.Copter.Latitude;
|
||||
info.TargetLng = info.Copter.Longitude;
|
||||
|
||||
//等待起飞时间
|
||||
while (ts.TotalMilliseconds < info.TakeOffWaitTime * 1000 )
|
||||
{
|
||||
await Task.Delay(100);
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
}
|
||||
|
||||
//开始起飞
|
||||
for (int i = 0; i < 5; i++) // added by ZJF
|
||||
{
|
||||
await copter.TakeOffAsync();
|
||||
await Task.Delay(50).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
// while (copter.Altitude < 4 || copter.State == Copters.CopterState.TakingOff)
|
||||
//低于5米任务一直等待
|
||||
while (copter.Altitude < 5) // 修改起飞逻辑，当高度达到5米时，下一架开始起飞
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(100).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
/* //先不要这个控制看能否正常工作
|
||||
if (copter.Altitude > 8)
|
||||
{
|
||||
await info.Copter.GuidAsync();
|
||||
return;
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
//执行第二第三阶段起飞任务-------------使用中
|
||||
private async Task TakeOffSecondTaskAsync(FlightTaskSingleCopterInfo info)
|
||||
{
|
||||
|
||||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||||
var copterNextTask = _flightTaskManager.Tasks[1].SingleCopterInfos[copterIndex];
|
||||
float takeOffAlt = copterNextTask.TargetAlt;// 15; 起飞高度到下个任务的高度
|
||||
// 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;
|
||||
} // await Task.Run(async () =>
|
||||
// {
|
||||
// 小于9米时等待----按起飞高度算此时可能已到达15米起飞高度
|
||||
if (info.takeOffStage == 0)
|
||||
{
|
||||
while (info.Copter.Altitude < 9)
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(100).ConfigureAwait(false);
|
||||
// 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.IsPaused == false)
|
||||
{
|
||||
info.takeOffStage++;
|
||||
}
|
||||
}
|
||||
|
||||
DateTime dtNow = DateTime.Now;
|
||||
DateTime dtLastTime = DateTime.Now;
|
||||
TimeSpan ts = dtNow - dtLastTime;
|
||||
|
||||
#region 屏蔽掉第二个阶段直接进入第三个阶 到达起飞高度直接飞往第一个航点
|
||||
|
||||
// 第二阶段：超过9米开始水平飞行
|
||||
if (info.takeOffStage == 1)
|
||||
{
|
||||
//切换到guided模式
|
||||
await info.Copter.GuidAsync();
|
||||
//设置灯光为航点要求的灯光
|
||||
await info.Copter.SetShowLEDAsync(copterNextTask.FlytoShowLED );
|
||||
//异步执行飞到第一个航点高度固定为15米的任务
|
||||
for (int j = 0; j < 3; j++)
|
||||
{
|
||||
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
|
||||
await Task.Delay(10).ConfigureAwait(false);
|
||||
}
|
||||
//直到到达第一个航点并高度15米
|
||||
while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, takeOffAlt))
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(25).ConfigureAwait(false);
|
||||
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
//每2秒再异步执行一次到航点高度15米的任务
|
||||
if (ts.TotalMilliseconds > 2000)
|
||||
{
|
||||
for (int j = 0; j < 2; j++)
|
||||
{
|
||||
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
|
||||
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.IsPaused == false)
|
||||
{
|
||||
info.takeOffStage++; //当前变为2
|
||||
}
|
||||
}
|
||||
|
||||
dtNow = DateTime.Now;
|
||||
dtLastTime = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
|
||||
#endregion
|
||||
|
||||
info.takeOffStage++;
|
||||
|
||||
// 第三阶段：从第一个航点位置15米垂直飞行
|
||||
if (info.takeOffStage == 2)
|
||||
{
|
||||
//执行飞到第一个航点高度为设定目标高度
|
||||
for (int j = 0; j < 3; j++)
|
||||
{
|
||||
await info.Copter.FlyToAsync(copterNextTask.TargetLat, copterNextTask.TargetLng, copterNextTask.TargetAlt);
|
||||
await Task.Delay(10).ConfigureAwait(false);
|
||||
}
|
||||
//直到到达第一个航点
|
||||
while (!info.Copter.ArrivedTarget(copterNextTask.TargetLat, copterNextTask.TargetLng, copterNextTask.TargetAlt))
|
||||
{
|
||||
if (_flightTaskManager.IsPaused == true)
|
||||
{
|
||||
await info.Copter.HoverAsync();
|
||||
return;
|
||||
}
|
||||
await Task.Delay(25).ConfigureAwait(false);
|
||||
|
||||
dtNow = DateTime.Now;
|
||||
ts = dtNow - dtLastTime;
|
||||
//每2秒发一次第一个航点飞行任务
|
||||
if (ts.TotalMilliseconds > 2000)
|
||||
{
|
||||
for (int j = 0; j < 2; j++)
|
||||
{
|
||||
await info.Copter.FlyToAsync(copterNextTask.TargetLat, copterNextTask.TargetLng, copterNextTask.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;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// });
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -133,15 +133,16 @@ 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;
|
||||
// }
|
||||
copter = _copterManager.Copters.FirstOrDefault(o => o.Name == (copterIndex + 1).ToString());
|
||||
// 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);
|
||||
if (copter != null)
|
||||
{
|
||||
_copterManager.Select(copter);
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -87,7 +87,7 @@
|
||||
<Button Content="{Binding SwitchVelocityModeButtonContent}"
|
||||
Command="{Binding SwitchVelocityModeCommand}"
|
||||
Visibility="Collapsed"/>
|
||||
<!--// 林俊清, 20150930, 不分这些模式了。
|
||||
<!--// 王海, 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}"
|
||||
@ -162,7 +162,7 @@
|
||||
</c:WindowCommands>
|
||||
</c:MetroWindow.RightWindowCommands>
|
||||
|
||||
<Grid>
|
||||
<Grid>
|
||||
<Grid.Background>
|
||||
<ImageBrush ImageSource=".\bg.jpg" />
|
||||
</Grid.Background>
|
||||
@ -222,12 +222,12 @@
|
||||
x:Name="TaskbarControl"
|
||||
VerticalAlignment="Bottom"
|
||||
Visibility="{Binding Source={x:Static local:AppEx.Current}, Path=AppMode, Converter={StaticResource AppModeToVisibilityConverter}, ConverterParameter=TaskBarView}" />
|
||||
</Grid>
|
||||
</Grid>
|
||||
|
||||
|
||||
<Grid Margin="0,0,0,0"
|
||||
|
||||
Grid.Column="1">
|
||||
<Viewbox Stretch="Fill" Grid.Column="1" Margin="0,0,0,0">
|
||||
<DockPanel>
|
||||
<Grid Margin="0,0,0,0"
|
||||
>
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition />
|
||||
<RowDefinition Height="Auto" />
|
||||
@ -256,7 +256,8 @@
|
||||
<v:CopterInfoView DataContext="{Binding Path=CopterListViewModel.SelectedCopter}" />
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
|
||||
</DockPanel>
|
||||
</Viewbox>
|
||||
</Grid>
|
||||
|
||||
<Border Grid.Row="1"
|
||||
@ -266,20 +267,20 @@
|
||||
<TextBlock Margin="10,4"
|
||||
Text="{Binding Message}" Width="480" MouseUp="LogShowHide"/>
|
||||
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
|
||||
<TextBlock Margin="10,4"
|
||||
Width="300" Text="{Binding SysStatusText}" />
|
||||
<TextBlock Margin="10,4" Width="280" Text="{Binding SysStatusText}" />
|
||||
<Separator Style="{StaticResource {x:Static ToolBar.SeparatorStyleKey}}" Margin="0,8" BorderBrush="LightGray" BorderThickness="1"/>
|
||||
<TextBlock Margin="10,4" Width="400"
|
||||
Text="{Binding CopterListViewModel.SelectedCopter.StatusText}" />
|
||||
<TextBlock Margin="10,4" Width="210"
|
||||
Text="{Binding ControlPanelViewModelData.RTKState}" />
|
||||
<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 CheckSignConverter}, Mode=OneWay}" />
|
||||
<ContentPresenter Margin="0,4,14,0" Content="{Binding CommunicationModuleConnected, Converter={StaticResource CheckSignConverter2}, Mode=OneWay}" />
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
|
||||
@ -303,6 +304,7 @@
|
||||
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"
|
||||
@ -317,4 +319,6 @@
|
||||
|
||||
</Grid>
|
||||
|
||||
|
||||
|
||||
</c:MetroWindow>
|
||||
|
||||
@ -138,7 +138,9 @@ namespace Plane.FormationCreator
|
||||
{
|
||||
|
||||
case Key.LeftCtrl:
|
||||
{
|
||||
case Key.RightCtrl:
|
||||
case Key.LeftAlt:
|
||||
{
|
||||
var copters = _copterManager.AcceptingControlCopters;
|
||||
Shiftkeydown = true;
|
||||
_copterManager.shiftkeydown = true;
|
||||
@ -422,6 +424,8 @@ namespace Plane.FormationCreator
|
||||
switch (e.Key)
|
||||
{
|
||||
case Key.LeftCtrl:
|
||||
case Key.RightCtrl:
|
||||
case Key.LeftAlt:
|
||||
{
|
||||
Shiftkeydown = false;
|
||||
_copterManager.shiftkeydown = false;
|
||||
|
||||
@ -1,56 +1,65 @@
|
||||
using Plane.FormationCreator.Util;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows;
|
||||
using System.Windows.Controls;
|
||||
using System.Windows.Data;
|
||||
using System.Windows.Documents;
|
||||
using System.Windows.Input;
|
||||
using System.Windows.Media;
|
||||
using System.Windows.Media.Imaging;
|
||||
using System.Windows.Shapes;
|
||||
|
||||
namespace Plane.FormationCreator
|
||||
{
|
||||
/// <summary>
|
||||
/// ModifyParam.xaml 的交互逻辑
|
||||
/// </summary>
|
||||
public partial class ModifyParam : Window
|
||||
{
|
||||
public bool LoadParam = false;
|
||||
public ModifyParam()
|
||||
{
|
||||
InitializeComponent();
|
||||
// if (!VersionControl.IsFullVersion)
|
||||
// {
|
||||
// hide_panel.Visibility = Visibility.Collapsed;
|
||||
// textParamName.IsReadOnly = true;
|
||||
// btnLoad.Visibility = Visibility.Collapsed;
|
||||
//
|
||||
// label.Visibility = Visibility.Collapsed;
|
||||
// textParamName.Visibility = Visibility.Collapsed;
|
||||
// }
|
||||
}
|
||||
|
||||
private void btnModify_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
LoadParam = false;
|
||||
this.DialogResult = true;
|
||||
}
|
||||
|
||||
private void Modify_Select(object sender, RoutedEventArgs e)
|
||||
{
|
||||
textParamName.Text = ((Button)sender).Tag.ToString();
|
||||
textParamName_cn.Text = ((Button)sender).Content.ToString();
|
||||
}
|
||||
|
||||
private void btnLoad_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
LoadParam = true;
|
||||
this.DialogResult = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using Plane.FormationCreator.Util;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows;
|
||||
using System.Windows.Controls;
|
||||
using System.Windows.Data;
|
||||
using System.Windows.Documents;
|
||||
using System.Windows.Input;
|
||||
using System.Windows.Media;
|
||||
using System.Windows.Media.Imaging;
|
||||
using System.Windows.Shapes;
|
||||
|
||||
namespace Plane.FormationCreator
|
||||
{
|
||||
/// <summary>
|
||||
/// ModifyParam.xaml 的交互逻辑
|
||||
/// </summary>
|
||||
public partial class ModifyParam : Window
|
||||
{
|
||||
public bool LoadParam = false;
|
||||
public ModifyParam()
|
||||
{
|
||||
InitializeComponent();
|
||||
// if (!VersionControl.IsFullVersion)
|
||||
// {
|
||||
// hide_panel.Visibility = Visibility.Collapsed;
|
||||
// textParamName.IsReadOnly = true;
|
||||
// btnLoad.Visibility = Visibility.Collapsed;
|
||||
//
|
||||
// label.Visibility = Visibility.Collapsed;
|
||||
// textParamName.Visibility = Visibility.Collapsed;
|
||||
// }
|
||||
}
|
||||
|
||||
private void btnModify_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
LoadParam = false;
|
||||
this.DialogResult = true;
|
||||
}
|
||||
|
||||
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_cn.Text = ((Button)sender).Content.ToString();
|
||||
}
|
||||
|
||||
private void btnLoad_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
LoadParam = true;
|
||||
this.DialogResult = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -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 © 2020")]
|
||||
[assembly: AssemblyCopyright("Copyright © 2024")]
|
||||
[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("2.0.*")]
|
||||
[assembly: AssemblyFileVersion("2.0.0.0")]
|
||||
[assembly: AssemblyVersion("2.2.0.*")]
|
||||
[assembly: AssemblyFileVersion("2.2.0.0")]
|
||||
|
||||
146
Plane.FormationCreator/Properties/Resources.Designer.cs
generated
146
Plane.FormationCreator/Properties/Resources.Designer.cs
generated
@ -1,73 +1,73 @@
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// 此代码由工具生成。
|
||||
// 运行时版本:4.0.30319.42000
|
||||
//
|
||||
// 对此文件的更改可能会导致不正确的行为，并且如果
|
||||
// 重新生成代码，这些更改将会丢失。
|
||||
// </auto-generated>
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
namespace Plane.FormationCreator.Properties {
|
||||
using System;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 一个强类型的资源类，用于查找本地化的字符串等。
|
||||
/// </summary>
|
||||
// 此类是由 StronglyTypedResourceBuilder
|
||||
// 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", "4.0.0.0")]
|
||||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
|
||||
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
|
||||
internal class Resources {
|
||||
|
||||
private static global::System.Resources.ResourceManager resourceMan;
|
||||
|
||||
private static global::System.Globalization.CultureInfo resourceCulture;
|
||||
|
||||
[global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
|
||||
internal Resources() {
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 返回此类使用的缓存的 ResourceManager 实例。
|
||||
/// </summary>
|
||||
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
|
||||
internal static global::System.Resources.ResourceManager ResourceManager {
|
||||
get {
|
||||
if (object.ReferenceEquals(resourceMan, null)) {
|
||||
global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("Plane.FormationCreator.Properties.Resources", typeof(Resources).Assembly);
|
||||
resourceMan = temp;
|
||||
}
|
||||
return resourceMan;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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 {
|
||||
get {
|
||||
return resourceCulture;
|
||||
}
|
||||
set {
|
||||
resourceCulture = value;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
|
||||
/// </summary>
|
||||
internal static System.Drawing.Bitmap Logo_small {
|
||||
get {
|
||||
object obj = ResourceManager.GetObject("Logo_small", resourceCulture);
|
||||
return ((System.Drawing.Bitmap)(obj));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// 此代码由工具生成。
|
||||
// 运行时版本:4.0.30319.42000
|
||||
//
|
||||
// 对此文件的更改可能会导致不正确的行为，并且如果
|
||||
// 重新生成代码，这些更改将会丢失。
|
||||
// </auto-generated>
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
namespace Plane.FormationCreator.Properties {
|
||||
using System;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 一个强类型的资源类，用于查找本地化的字符串等。
|
||||
/// </summary>
|
||||
// 此类是由 StronglyTypedResourceBuilder
|
||||
// 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.Diagnostics.DebuggerNonUserCodeAttribute()]
|
||||
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
|
||||
internal class Resources {
|
||||
|
||||
private static global::System.Resources.ResourceManager resourceMan;
|
||||
|
||||
private static global::System.Globalization.CultureInfo resourceCulture;
|
||||
|
||||
[global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
|
||||
internal Resources() {
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 返回此类使用的缓存的 ResourceManager 实例。
|
||||
/// </summary>
|
||||
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
|
||||
internal static global::System.Resources.ResourceManager ResourceManager {
|
||||
get {
|
||||
if (object.ReferenceEquals(resourceMan, null)) {
|
||||
global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("Plane.FormationCreator.Properties.Resources", typeof(Resources).Assembly);
|
||||
resourceMan = temp;
|
||||
}
|
||||
return resourceMan;
|
||||
}
|
||||
}
|
||||
|
||||
/// <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。
|
||||
/// </summary>
|
||||
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
|
||||
internal static global::System.Globalization.CultureInfo Culture {
|
||||
get {
|
||||
return resourceCulture;
|
||||
}
|
||||
set {
|
||||
resourceCulture = value;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
|
||||
/// </summary>
|
||||
internal static System.Drawing.Bitmap Logo_small {
|
||||
get {
|
||||
object obj = ResourceManager.GetObject("Logo_small", resourceCulture);
|
||||
return ((System.Drawing.Bitmap)(obj));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,38 +1,38 @@
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// 此代码由工具生成。
|
||||
// 运行时版本:4.0.30319.42000
|
||||
//
|
||||
// 对此文件的更改可能会导致不正确的行为，并且如果
|
||||
// 重新生成代码，这些更改将会丢失。
|
||||
// </auto-generated>
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
namespace Plane.FormationCreator.Properties {
|
||||
|
||||
|
||||
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
|
||||
[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())));
|
||||
|
||||
public static Settings Default {
|
||||
get {
|
||||
return defaultInstance;
|
||||
}
|
||||
}
|
||||
|
||||
[global::System.Configuration.UserScopedSettingAttribute()]
|
||||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
|
||||
[global::System.Configuration.DefaultSettingValueAttribute("192.168.1.50")]
|
||||
public string IPs {
|
||||
get {
|
||||
return ((string)(this["IPs"]));
|
||||
}
|
||||
set {
|
||||
this["IPs"] = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// 此代码由工具生成。
|
||||
// 运行时版本:4.0.30319.42000
|
||||
//
|
||||
// 对此文件的更改可能会导致不正确的行为，并且如果
|
||||
// 重新生成代码，这些更改将会丢失。
|
||||
// </auto-generated>
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
namespace Plane.FormationCreator.Properties {
|
||||
|
||||
|
||||
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
|
||||
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.7.0.0")]
|
||||
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
|
||||
|
||||
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
|
||||
|
||||
public static Settings Default {
|
||||
get {
|
||||
return defaultInstance;
|
||||
}
|
||||
}
|
||||
|
||||
[global::System.Configuration.UserScopedSettingAttribute()]
|
||||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
|
||||
[global::System.Configuration.DefaultSettingValueAttribute("192.168.1.50")]
|
||||
public string IPs {
|
||||
get {
|
||||
return ((string)(this["IPs"]));
|
||||
}
|
||||
set {
|
||||
this["IPs"] = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Plane.FormationCreator/Resources/logo_big.png
Normal file
BIN
Plane.FormationCreator/Resources/logo_big.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 8.8 KiB |
@ -1,431 +1,430 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.ComponentModel;
|
||||
using System.Reflection;
|
||||
using System.Text;
|
||||
using System.IO.Ports;
|
||||
using System.Threading;
|
||||
using System.Net; // dns, ip address
|
||||
using System.Net.Sockets; // tcplistner
|
||||
using System.IO;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Text.RegularExpressions;
|
||||
|
||||
namespace Plane.Util
|
||||
{
|
||||
public class CommsNTRIP : ICommsSerial, IDisposable
|
||||
{
|
||||
public TcpClient client = new TcpClient();
|
||||
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
|
||||
private Uri remoteUri;
|
||||
|
||||
public double lat = 0;
|
||||
public double lng = 0;
|
||||
public double alt = 0;
|
||||
|
||||
int retrys = 3;
|
||||
|
||||
private string host;
|
||||
|
||||
public int WriteBufferSize { get; set; }
|
||||
public int WriteTimeout { get; set; }
|
||||
public bool RtsEnable { get; set; }
|
||||
private string url;
|
||||
|
||||
public Stream BaseStream
|
||||
{
|
||||
get { return client.GetStream(); }
|
||||
}
|
||||
|
||||
public CommsNTRIP(string url, double lat, double lng)
|
||||
{
|
||||
this.url = url;
|
||||
this.lat = lat;
|
||||
this.lng = lng;
|
||||
ReadTimeout = 500;
|
||||
}
|
||||
|
||||
public void toggleDTR()
|
||||
{
|
||||
}
|
||||
|
||||
public string Port { get; set; }
|
||||
|
||||
public int ReadTimeout
|
||||
{
|
||||
get; // { return client.ReceiveTimeout; }
|
||||
set; // { client.ReceiveTimeout = value; }
|
||||
}
|
||||
|
||||
public int ReadBufferSize { get; set; }
|
||||
|
||||
public int BaudRate { get; set; }
|
||||
public StopBits StopBits { get; set; }
|
||||
public Parity Parity { get; set; }
|
||||
public int DataBits { get; set; }
|
||||
|
||||
public string PortName { get; set; }
|
||||
|
||||
public int BytesToRead
|
||||
{
|
||||
get
|
||||
{
|
||||
/*Console.WriteLine(DateTime.Now.Millisecond + " tcp btr " + (client.Available + rbuffer.Length - rbufferread));*/
|
||||
SendNMEA();
|
||||
return (int)client.Available;
|
||||
}
|
||||
}
|
||||
|
||||
public int BytesToWrite
|
||||
{
|
||||
get { return 0; }
|
||||
}
|
||||
|
||||
public bool IsOpen
|
||||
{
|
||||
get
|
||||
{
|
||||
try
|
||||
{
|
||||
return client.Client.Connected;
|
||||
}
|
||||
catch
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public bool DtrEnable { get; set; }
|
||||
|
||||
public void Open()
|
||||
{
|
||||
if (client.Client.Connected)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
/*string url = "";*/
|
||||
|
||||
|
||||
int count = url.Split('@').Length - 1;
|
||||
|
||||
if (count > 1)
|
||||
{
|
||||
var regex = new Regex("@");
|
||||
url = regex.Replace(url, "%40", 1);
|
||||
}
|
||||
|
||||
url = url.Replace("ntrip://", "http://");
|
||||
|
||||
remoteUri = new Uri(url);
|
||||
|
||||
doConnect();
|
||||
}
|
||||
|
||||
private byte[] TcpKeepAlive(bool On_Off, uint KeepaLiveTime, uint KeepaLiveInterval)
|
||||
{
|
||||
byte[] InValue = new byte[12];
|
||||
|
||||
Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4);
|
||||
Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4);
|
||||
Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4);
|
||||
|
||||
return InValue;
|
||||
}
|
||||
|
||||
private void doConnect()
|
||||
{
|
||||
string usernamePassword = remoteUri.UserInfo;
|
||||
string userpass2 = Uri.UnescapeDataString(usernamePassword);
|
||||
string auth = "Authorization: Basic " +
|
||||
Convert.ToBase64String(new ASCIIEncoding().GetBytes(userpass2)) + "\r\n";
|
||||
|
||||
if (usernamePassword == "")
|
||||
auth = "";
|
||||
|
||||
host = remoteUri.Host;
|
||||
Port = remoteUri.Port.ToString();
|
||||
|
||||
client = new TcpClient(host, int.Parse(Port));
|
||||
client.Client.IOControl(IOControlCode.KeepAliveValues, TcpKeepAlive(true, 36000000, 3000), null);
|
||||
|
||||
NetworkStream ns = client.GetStream();
|
||||
|
||||
StreamWriter sw = new StreamWriter(ns);
|
||||
StreamReader sr = new StreamReader(ns);
|
||||
|
||||
string line = "GET " + remoteUri.PathAndQuery + " HTTP/1.0\r\n"
|
||||
+ "User-Agent: NTRIP MissionPlanner/1.0\r\n"
|
||||
+ auth
|
||||
+ "Connection: close\r\n\r\n";
|
||||
|
||||
sw.Write(line);
|
||||
|
||||
sw.Flush();
|
||||
|
||||
line = sr.ReadLine();
|
||||
|
||||
if (!line.Contains("200"))
|
||||
{
|
||||
client.Dispose();
|
||||
|
||||
client = new TcpClient();
|
||||
|
||||
throw new Exception("Bad ntrip Responce\n\n" + line);
|
||||
}
|
||||
|
||||
// vrs may take up to 60+ seconds to respond
|
||||
SendNMEA();
|
||||
|
||||
VerifyConnected();
|
||||
}
|
||||
|
||||
DateTime _lastnmea = DateTime.MinValue;
|
||||
|
||||
private void SendNMEA()
|
||||
{
|
||||
if (lat != 0 || lng != 0)
|
||||
{
|
||||
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,
|
||||
"$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA",
|
||||
DateTime.Now.ToUniversalTime(), Math.Abs(latdms * 100).ToString("0000.00"), lat < 0 ? "S" : "N",
|
||||
Math.Abs(lngdms * 100).ToString("00000.00"), lng < 0 ? "W" : "E", 1, 10,
|
||||
1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0");
|
||||
|
||||
string checksum = GetChecksum(line);
|
||||
WriteLine(line + "*" + checksum);
|
||||
|
||||
|
||||
_lastnmea = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Calculates the checksum for a sentence
|
||||
string GetChecksum(string sentence)
|
||||
{
|
||||
// Loop through all chars to get a checksum
|
||||
int Checksum = 0;
|
||||
foreach (char Character in sentence.ToCharArray())
|
||||
{
|
||||
switch (Character)
|
||||
{
|
||||
case '$':
|
||||
// Ignore the dollar sign
|
||||
break;
|
||||
case '*':
|
||||
// Stop processing before the asterisk
|
||||
continue;
|
||||
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");
|
||||
}
|
||||
|
||||
void VerifyConnected()
|
||||
{
|
||||
if (!IsOpen)
|
||||
{
|
||||
try
|
||||
{
|
||||
client.Dispose();
|
||||
client = new TcpClient();
|
||||
}
|
||||
catch { }
|
||||
|
||||
// this should only happen if we have established a connection in the first place
|
||||
if (client != null && retrys > 0)
|
||||
{
|
||||
doConnect();
|
||||
retrys--;
|
||||
}
|
||||
|
||||
throw new Exception("The ntrip is closed");
|
||||
}
|
||||
}
|
||||
|
||||
public int Read(byte[] readto, int offset, int length)
|
||||
{
|
||||
VerifyConnected();
|
||||
|
||||
SendNMEA();
|
||||
|
||||
try
|
||||
{
|
||||
if (length < 1) { return 0; }
|
||||
|
||||
return client.Client.Receive(readto, offset, length, SocketFlags.Partial);
|
||||
/*
|
||||
byte[] temp = new byte[length];
|
||||
clientbuf.Read(temp, 0, length);
|
||||
|
||||
temp.CopyTo(readto, offset);
|
||||
|
||||
return length;*/
|
||||
}
|
||||
catch { throw new Exception("ntrip Socket Closed"); }
|
||||
}
|
||||
|
||||
public int ReadByte()
|
||||
{
|
||||
VerifyConnected();
|
||||
int count = 0;
|
||||
while (this.BytesToRead == 0)
|
||||
{
|
||||
System.Threading.Thread.Sleep(1);
|
||||
if (count > ReadTimeout)
|
||||
throw new Exception("ntrip Timeout on read");
|
||||
count++;
|
||||
}
|
||||
byte[] buffer = new byte[1];
|
||||
Read(buffer, 0, 1);
|
||||
return buffer[0];
|
||||
}
|
||||
|
||||
public int ReadChar()
|
||||
{
|
||||
return ReadByte();
|
||||
}
|
||||
|
||||
public string ReadExisting()
|
||||
{
|
||||
VerifyConnected();
|
||||
byte[] data = new byte[client.Available];
|
||||
if (data.Length > 0)
|
||||
Read(data, 0, data.Length);
|
||||
|
||||
string line = Encoding.ASCII.GetString(data, 0, data.Length);
|
||||
|
||||
return line;
|
||||
}
|
||||
|
||||
public void WriteLine(string line)
|
||||
{
|
||||
VerifyConnected();
|
||||
line = line + "\r\n";
|
||||
Write(line);
|
||||
}
|
||||
|
||||
public void Write(string line)
|
||||
{
|
||||
VerifyConnected();
|
||||
byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
|
||||
Write(data, 0, data.Length);
|
||||
}
|
||||
|
||||
public void Write(byte[] write, int offset, int length)
|
||||
{
|
||||
VerifyConnected();
|
||||
try
|
||||
{
|
||||
client.Client.Send(write, length, SocketFlags.None);
|
||||
}
|
||||
catch { }//throw new Exception("Comport / Socket Closed"); }
|
||||
}
|
||||
|
||||
public void DiscardInBuffer()
|
||||
{
|
||||
VerifyConnected();
|
||||
int size = (int)client.Available;
|
||||
byte[] crap = new byte[size];
|
||||
Read(crap, 0, size);
|
||||
}
|
||||
|
||||
public string ReadLine()
|
||||
{
|
||||
byte[] temp = new byte[4000];
|
||||
int count = 0;
|
||||
int timeout = 0;
|
||||
|
||||
while (timeout <= 100)
|
||||
{
|
||||
if (!this.IsOpen) { break; }
|
||||
if (this.BytesToRead > 0)
|
||||
{
|
||||
byte letter = (byte)this.ReadByte();
|
||||
|
||||
temp[count] = letter;
|
||||
|
||||
if (letter == '\n') // normal line
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
count++;
|
||||
if (count == temp.Length)
|
||||
break;
|
||||
timeout = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
timeout++;
|
||||
System.Threading.Thread.Sleep(5);
|
||||
}
|
||||
}
|
||||
|
||||
Array.Resize<byte>(ref temp, count + 1);
|
||||
|
||||
return Encoding.ASCII.GetString(temp, 0, temp.Length);
|
||||
}
|
||||
|
||||
public void Close()
|
||||
{
|
||||
try
|
||||
{
|
||||
if (client.Client != null && client.Client.Connected)
|
||||
{
|
||||
client.Client.Dispose();
|
||||
client.Dispose();
|
||||
}
|
||||
}
|
||||
catch { }
|
||||
|
||||
try
|
||||
{
|
||||
client.Dispose();
|
||||
}
|
||||
catch { }
|
||||
|
||||
client = new TcpClient();
|
||||
}
|
||||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (disposing)
|
||||
{
|
||||
// dispose managed resources
|
||||
this.Close();
|
||||
client = null;
|
||||
}
|
||||
// free native resources
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
Dispose(true);
|
||||
GC.SuppressFinalize(this);
|
||||
}
|
||||
}
|
||||
}
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.ComponentModel;
|
||||
using System.Reflection;
|
||||
using System.Text;
|
||||
using System.IO.Ports;
|
||||
using System.Threading;
|
||||
using System.Net; // dns, ip address
|
||||
using System.Net.Sockets; // tcplistner
|
||||
using System.IO;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Text.RegularExpressions;
|
||||
|
||||
namespace Plane.Util
|
||||
{
|
||||
public class CommsNTRIP : ICommsSerial, IDisposable
|
||||
{
|
||||
public TcpClient client = new TcpClient();
|
||||
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
|
||||
private Uri remoteUri;
|
||||
|
||||
public double lat = 0;
|
||||
public double lng = 0;
|
||||
public double alt = 0;
|
||||
|
||||
int retrys = 3;
|
||||
|
||||
private string host;
|
||||
|
||||
public int WriteBufferSize { get; set; }
|
||||
public int WriteTimeout { get; set; }
|
||||
public bool RtsEnable { get; set; }
|
||||
private string url;
|
||||
|
||||
public Stream BaseStream
|
||||
{
|
||||
get { return client.GetStream(); }
|
||||
}
|
||||
|
||||
public CommsNTRIP(string url, double lat, double lng)
|
||||
{
|
||||
this.url = url;
|
||||
this.lat = lat;
|
||||
this.lng = lng;
|
||||
ReadTimeout = 500;
|
||||
}
|
||||
|
||||
public void toggleDTR()
|
||||
{
|
||||
}
|
||||
|
||||
public string Port { get; set; }
|
||||
|
||||
public int ReadTimeout
|
||||
{
|
||||
get; // { return client.ReceiveTimeout; }
|
||||
set; // { client.ReceiveTimeout = value; }
|
||||
}
|
||||
|
||||
public int ReadBufferSize { get; set; }
|
||||
|
||||
public int BaudRate { get; set; }
|
||||
public StopBits StopBits { get; set; }
|
||||
public Parity Parity { get; set; }
|
||||
public int DataBits { get; set; }
|
||||
|
||||
public string PortName { get; set; }
|
||||
|
||||
public int BytesToRead
|
||||
{
|
||||
get
|
||||
{
|
||||
/*Console.WriteLine(DateTime.Now.Millisecond + " tcp btr " + (client.Available + rbuffer.Length - rbufferread));*/
|
||||
SendNMEA();
|
||||
return (int)client.Available;
|
||||
}
|
||||
}
|
||||
|
||||
public int BytesToWrite
|
||||
{
|
||||
get { return 0; }
|
||||
}
|
||||
|
||||
public bool IsOpen
|
||||
{
|
||||
get
|
||||
{
|
||||
try
|
||||
{
|
||||
return client.Client.Connected;
|
||||
}
|
||||
catch
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public bool DtrEnable { get; set; }
|
||||
|
||||
public void Open()
|
||||
{
|
||||
if (client.Client.Connected)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
/*string url = "";*/
|
||||
|
||||
|
||||
int count = url.Split('@').Length - 1;
|
||||
|
||||
if (count > 1)
|
||||
{
|
||||
var regex = new Regex("@");
|
||||
url = regex.Replace(url, "%40", 1);
|
||||
}
|
||||
|
||||
url = url.Replace("ntrip://", "http://");
|
||||
|
||||
remoteUri = new Uri(url);
|
||||
|
||||
doConnect();
|
||||
}
|
||||
|
||||
private byte[] TcpKeepAlive(bool On_Off, uint KeepaLiveTime, uint KeepaLiveInterval)
|
||||
{
|
||||
byte[] InValue = new byte[12];
|
||||
|
||||
Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4);
|
||||
Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4);
|
||||
Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4);
|
||||
|
||||
return InValue;
|
||||
}
|
||||
|
||||
private void doConnect()
|
||||
{
|
||||
string usernamePassword = remoteUri.UserInfo;
|
||||
string userpass2 = Uri.UnescapeDataString(usernamePassword);
|
||||
string auth = "Authorization: Basic " +
|
||||
Convert.ToBase64String(new ASCIIEncoding().GetBytes(userpass2)) + "\r\n";
|
||||
|
||||
if (usernamePassword == "")
|
||||
auth = "";
|
||||
|
||||
host = remoteUri.Host;
|
||||
Port = remoteUri.Port.ToString();
|
||||
|
||||
client = new TcpClient(host, int.Parse(Port));
|
||||
client.Client.IOControl(IOControlCode.KeepAliveValues, TcpKeepAlive(true, 36000000, 3000), null);
|
||||
|
||||
NetworkStream ns = client.GetStream();
|
||||
|
||||
StreamWriter sw = new StreamWriter(ns);
|
||||
StreamReader sr = new StreamReader(ns);
|
||||
|
||||
string line = "GET " + remoteUri.PathAndQuery + " HTTP/1.0\r\n"
|
||||
+ "User-Agent: NTRIP MissionPlanner/1.0\r\n"
|
||||
+ auth
|
||||
+ "Connection: close\r\n\r\n";
|
||||
|
||||
sw.Write(line);
|
||||
|
||||
sw.Flush();
|
||||
|
||||
line = sr.ReadLine();
|
||||
|
||||
if (!line.Contains("200"))
|
||||
{
|
||||
client.Dispose();
|
||||
|
||||
client = new TcpClient();
|
||||
|
||||
throw new Exception("Bad ntrip Responce\n\n" + line);
|
||||
}
|
||||
|
||||
// vrs may take up to 60+ seconds to respond
|
||||
SendNMEA();
|
||||
|
||||
VerifyConnected();
|
||||
}
|
||||
|
||||
DateTime _lastnmea = DateTime.MinValue;
|
||||
|
||||
private void SendNMEA()
|
||||
{
|
||||
if (lat != 0 || lng != 0)
|
||||
{
|
||||
DateTime currentUtcTime = DateTime.UtcNow;
|
||||
if (_lastnmea.AddSeconds(30) < currentUtcTime)
|
||||
{
|
||||
double latdms = (int)lat + ((lat - (int)lat) * .6f);
|
||||
double lngdms = (int)lng + ((lng - (int)lng) * .6f);
|
||||
|
||||
var line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
|
||||
"$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA",
|
||||
currentUtcTime, Math.Abs(latdms * 100).ToString("0000.00"), lat < 0 ? "S" : "N",
|
||||
Math.Abs(lngdms * 100).ToString("00000.00"), lng < 0 ? "W" : "E", 1, 10,
|
||||
1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0");
|
||||
|
||||
string checksum = GetChecksum(line);
|
||||
WriteLine(line + "*" + checksum);
|
||||
_lastnmea = currentUtcTime;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Calculates the checksum for a sentence
|
||||
string GetChecksum(string sentence)
|
||||
{
|
||||
// Loop through all chars to get a checksum
|
||||
int Checksum = 0;
|
||||
foreach (char Character in sentence.ToCharArray())
|
||||
{
|
||||
switch (Character)
|
||||
{
|
||||
case '$':
|
||||
// Ignore the dollar sign
|
||||
break;
|
||||
case '*':
|
||||
// Stop processing before the asterisk
|
||||
continue;
|
||||
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");
|
||||
}
|
||||
|
||||
void VerifyConnected()
|
||||
{
|
||||
if (!IsOpen)
|
||||
{
|
||||
try
|
||||
{
|
||||
client.Dispose();
|
||||
client = new TcpClient();
|
||||
}
|
||||
catch { }
|
||||
|
||||
// this should only happen if we have established a connection in the first place
|
||||
if (client != null && retrys > 0)
|
||||
{
|
||||
doConnect();
|
||||
retrys--;
|
||||
}
|
||||
|
||||
throw new Exception("网络RTK基站通讯已关闭!");
|
||||
}
|
||||
}
|
||||
|
||||
public int Read(byte[] readto, int offset, int length)
|
||||
{
|
||||
VerifyConnected();
|
||||
|
||||
SendNMEA();
|
||||
|
||||
try
|
||||
{
|
||||
if (length < 1) { return 0; }
|
||||
|
||||
return client.Client.Receive(readto, offset, length, SocketFlags.Partial);
|
||||
/*
|
||||
byte[] temp = new byte[length];
|
||||
clientbuf.Read(temp, 0, length);
|
||||
|
||||
temp.CopyTo(readto, offset);
|
||||
|
||||
return length;*/
|
||||
}
|
||||
catch { throw new Exception("ntrip Socket Closed"); }
|
||||
}
|
||||
|
||||
public int ReadByte()
|
||||
{
|
||||
VerifyConnected();
|
||||
int count = 0;
|
||||
while (this.BytesToRead == 0)
|
||||
{
|
||||
System.Threading.Thread.Sleep(1);
|
||||
if (count > ReadTimeout)
|
||||
throw new Exception("ntrip Timeout on read");
|
||||
count++;
|
||||
}
|
||||
byte[] buffer = new byte[1];
|
||||
Read(buffer, 0, 1);
|
||||
return buffer[0];
|
||||
}
|
||||
|
||||
public int ReadChar()
|
||||
{
|
||||
return ReadByte();
|
||||
}
|
||||
|
||||
public string ReadExisting()
|
||||
{
|
||||
VerifyConnected();
|
||||
byte[] data = new byte[client.Available];
|
||||
if (data.Length > 0)
|
||||
Read(data, 0, data.Length);
|
||||
|
||||
string line = Encoding.ASCII.GetString(data, 0, data.Length);
|
||||
|
||||
return line;
|
||||
}
|
||||
|
||||
public void WriteLine(string line)
|
||||
{
|
||||
VerifyConnected();
|
||||
line = line + "\r\n";
|
||||
Write(line);
|
||||
}
|
||||
|
||||
public void Write(string line)
|
||||
{
|
||||
VerifyConnected();
|
||||
byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
|
||||
Write(data, 0, data.Length);
|
||||
}
|
||||
|
||||
public void Write(byte[] write, int offset, int length)
|
||||
{
|
||||
VerifyConnected();
|
||||
try
|
||||
{
|
||||
client.Client.Send(write, length, SocketFlags.None);
|
||||
}
|
||||
catch { }//throw new Exception("Comport / Socket Closed"); }
|
||||
}
|
||||
|
||||
public void DiscardInBuffer()
|
||||
{
|
||||
VerifyConnected();
|
||||
int size = (int)client.Available;
|
||||
byte[] crap = new byte[size];
|
||||
Read(crap, 0, size);
|
||||
}
|
||||
|
||||
public string ReadLine()
|
||||
{
|
||||
byte[] temp = new byte[4000];
|
||||
int count = 0;
|
||||
int timeout = 0;
|
||||
|
||||
while (timeout <= 100)
|
||||
{
|
||||
if (!this.IsOpen) { break; }
|
||||
if (this.BytesToRead > 0)
|
||||
{
|
||||
byte letter = (byte)this.ReadByte();
|
||||
|
||||
temp[count] = letter;
|
||||
|
||||
if (letter == '\n') // normal line
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
count++;
|
||||
if (count == temp.Length)
|
||||
break;
|
||||
timeout = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
timeout++;
|
||||
System.Threading.Thread.Sleep(5);
|
||||
}
|
||||
}
|
||||
|
||||
Array.Resize<byte>(ref temp, count + 1);
|
||||
|
||||
return Encoding.ASCII.GetString(temp, 0, temp.Length);
|
||||
}
|
||||
|
||||
public void Close()
|
||||
{
|
||||
try
|
||||
{
|
||||
if (client.Client != null && client.Client.Connected)
|
||||
{
|
||||
client.Client.Dispose();
|
||||
client.Dispose();
|
||||
}
|
||||
}
|
||||
catch { }
|
||||
|
||||
try
|
||||
{
|
||||
client.Dispose();
|
||||
}
|
||||
catch { }
|
||||
|
||||
client = new TcpClient();
|
||||
}
|
||||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (disposing)
|
||||
{
|
||||
// dispose managed resources
|
||||
this.Close();
|
||||
client = null;
|
||||
}
|
||||
// free native resources
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
Dispose(true);
|
||||
GC.SuppressFinalize(this);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
123
Plane.FormationCreator/Util/nmea.cs
Normal file
123
Plane.FormationCreator/Util/nmea.cs
Normal file
@ -0,0 +1,123 @@
|
||||
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");
|
||||
}
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
573
Plane.FormationCreator/Util/ubx_m8p.cs
Normal file
573
Plane.FormationCreator/Util/ubx_m8p.cs
Normal file
@ -0,0 +1,573 @@
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,222 +1,263 @@
|
||||
using GalaSoft.MvvmLight;
|
||||
using GalaSoft.MvvmLight.Command;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using Plane.CommunicationManagement;
|
||||
using Plane.CopterManagement;
|
||||
using Plane.Copters;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using Plane.Windows.Messages;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows.Input;
|
||||
|
||||
namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
public class CalibrationViewModel : ViewModelBase
|
||||
{
|
||||
CommModuleManager commModule = CommModuleManager.Instance;
|
||||
|
||||
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
|
||||
private string _AccelerometerTips;
|
||||
public string AccelerometerTips
|
||||
{
|
||||
get
|
||||
{
|
||||
switch (AccelerometerState)
|
||||
{
|
||||
case AccelerometerStates.Idle:
|
||||
_AccelerometerTips = "点击“开始校准”后，开始校准加速计";
|
||||
break;
|
||||
case AccelerometerStates.Front:
|
||||
_AccelerometerTips = "亮紫色: 飞机水平放置(Front)";
|
||||
break;
|
||||
case AccelerometerStates.Left:
|
||||
_AccelerometerTips = "亮黄色：飞机左侧接触地面竖立放置(Left)";
|
||||
break;
|
||||
case AccelerometerStates.Right:
|
||||
_AccelerometerTips = "亮青色：飞机右侧接触地面竖立放置(Right)";
|
||||
break;
|
||||
case AccelerometerStates.Down:
|
||||
_AccelerometerTips = "紫色：飞机机头向下接触地面竖立放置(Down)";
|
||||
break;
|
||||
case AccelerometerStates.Up:
|
||||
_AccelerometerTips = "黄色：飞机机尾向下接触地面竖立放置(Up)";
|
||||
break;
|
||||
case AccelerometerStates.Back:
|
||||
_AccelerometerTips = "青色：飞机翻过来水平放置(Back)";
|
||||
break;
|
||||
}
|
||||
return _AccelerometerTips;
|
||||
}
|
||||
}
|
||||
|
||||
private string _AccelerometerBtnText = "开始校准";
|
||||
public string AccelerometerBtnText
|
||||
{
|
||||
get
|
||||
{
|
||||
switch (AccelerometerState)
|
||||
{
|
||||
case AccelerometerStates.Idle:
|
||||
_AccelerometerBtnText = "开始校准";
|
||||
break;
|
||||
default:
|
||||
_AccelerometerBtnText = "完成";
|
||||
break;
|
||||
}
|
||||
return _AccelerometerBtnText;
|
||||
}
|
||||
}
|
||||
|
||||
//校准加速计的状态
|
||||
public enum AccelerometerStates
|
||||
{
|
||||
Idle = 0,
|
||||
Front = 1,
|
||||
Left = 2,
|
||||
Right = 3,
|
||||
Down = 4,
|
||||
Up = 5,
|
||||
Back = 6
|
||||
}
|
||||
|
||||
private AccelerometerStates _AccelerometerState = AccelerometerStates.Idle;
|
||||
public AccelerometerStates AccelerometerState
|
||||
{
|
||||
get { return _AccelerometerState; }
|
||||
set
|
||||
{
|
||||
Set(nameof(AccelerometerState), ref _AccelerometerState, value);
|
||||
RaisePropertyChanged(nameof(AccelerometerBtnText));
|
||||
RaisePropertyChanged(nameof(AccelerometerTips));
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 开始校准加速计
|
||||
/// </summary>
|
||||
private ICommand _CalibrationAccelerometerStartCommand;
|
||||
public ICommand CalibrationAccelerometerStartCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _CalibrationAccelerometerStartCommand ?? (_CalibrationAccelerometerStartCommand = new RelayCommand(async () =>
|
||||
{
|
||||
if (_copterManager.SelectedCopters.Count() == 0) return;
|
||||
await commModule.DoStartPreflightCompassAsync(_copterManager.SelectedCopters);
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 校准加速计下一步
|
||||
/// </summary>
|
||||
private ICommand _CalibrationAccelerometerNextCommand;
|
||||
public ICommand CalibrationAccelerometerNextCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _CalibrationAccelerometerNextCommand ?? (_CalibrationAccelerometerNextCommand = new RelayCommand(async () =>
|
||||
{
|
||||
if (_copterManager.SelectedCopters.Count() == 0) return;
|
||||
await commModule.DoNextPreflightCompassAsync(_copterManager.SelectedCopters);
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
private int _CompassPercent;
|
||||
public int CompassPercent
|
||||
{
|
||||
get { return _CompassPercent; }
|
||||
set
|
||||
{
|
||||
Set(nameof(CompassPercent), ref _CompassPercent, value);
|
||||
}
|
||||
}
|
||||
|
||||
public bool IsCalibration { get; set; }
|
||||
/// <summary>
|
||||
/// 校准指南针
|
||||
/// </summary>
|
||||
private ICommand _CalibrationCompassCommand;
|
||||
public ICommand CalibrationCompassCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _CalibrationCompassCommand ?? (_CalibrationCompassCommand = new RelayCommand(async () =>
|
||||
{
|
||||
if (_copterManager.SelectedCopters.Count() == 0) return;
|
||||
|
||||
// ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
//
|
||||
// short copterId = short.Parse(copter.Name);
|
||||
Message.Show("开始校准指南针");
|
||||
|
||||
await commModule.DoCalibrationCompassAsync(_copterManager.SelectedCopters);
|
||||
await Task.Delay(50).ConfigureAwait(false);
|
||||
|
||||
/*支持多飞行机同时校准 不再判断单架的返回值
|
||||
|
||||
IsCalibration = true;
|
||||
CompassPercent = 0;
|
||||
int State = 0; //4：成功 5失败 todo 改为枚举
|
||||
|
||||
|
||||
while (IsCalibration && CompassPercent <= 100)
|
||||
{
|
||||
//两个255的时候表示 当前预留字节代表的意思是校准
|
||||
if (copter.Retain[2] == 255 && copter.Retain[3] == 255)
|
||||
{
|
||||
CompassPercent = copter.Retain[0];
|
||||
State = copter.Retain[1];
|
||||
if (State == 4 || State == 5)
|
||||
break;
|
||||
}
|
||||
|
||||
await Task.Delay(100);
|
||||
}
|
||||
|
||||
switch (State)
|
||||
{
|
||||
case 4:
|
||||
Alert.Show($"校准成功，请重新上电{copterId}号", "指南针");
|
||||
break;
|
||||
case 5:
|
||||
Alert.Show("校准失败", "指南针");
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
IsCalibration = false;
|
||||
*/
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
private ICommand _CancelCalibrationCompassCommand;
|
||||
public ICommand CancelCalibrationCompassCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _CancelCalibrationCompassCommand ?? (_CancelCalibrationCompassCommand = new RelayCommand(async () =>
|
||||
{
|
||||
if (_copterManager.SelectedCopters.Count() == 1) return;
|
||||
|
||||
ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
|
||||
short copterId = short.Parse(copter.Name);
|
||||
await commModule.DoCancelCalibrationCompassAsync(copterId);
|
||||
IsCalibration = false;
|
||||
Alert.Show("放弃校准", "指南针");
|
||||
}));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
using GalaSoft.MvvmLight;
|
||||
using GalaSoft.MvvmLight.Command;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using Plane.CommunicationManagement;
|
||||
using Plane.CopterManagement;
|
||||
using Plane.Copters;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using Plane.Windows.Messages;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows.Input;
|
||||
|
||||
namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
public class CalibrationViewModel : ViewModelBase
|
||||
{
|
||||
CommModuleManager commModule = CommModuleManager.Instance;
|
||||
|
||||
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
|
||||
private string _AccelerometerTips;
|
||||
public string AccelerometerTips
|
||||
{
|
||||
get
|
||||
{
|
||||
switch (AccelerometerState)
|
||||
{
|
||||
case AccelerometerStates.Idle:
|
||||
_AccelerometerTips = "点击“开始校准”后，开始校准加速计";
|
||||
break;
|
||||
case AccelerometerStates.Front:
|
||||
_AccelerometerTips = "亮紫色: 飞机水平放置(Front)";
|
||||
break;
|
||||
case AccelerometerStates.Left:
|
||||
_AccelerometerTips = "亮黄色：飞机左侧接触地面竖立放置(Left)";
|
||||
break;
|
||||
case AccelerometerStates.Right:
|
||||
_AccelerometerTips = "亮青色：飞机右侧接触地面竖立放置(Right)";
|
||||
break;
|
||||
case AccelerometerStates.Down:
|
||||
_AccelerometerTips = "紫色：飞机机头向下接触地面竖立放置(Down)";
|
||||
break;
|
||||
case AccelerometerStates.Up:
|
||||
_AccelerometerTips = "黄色：飞机机尾向下接触地面竖立放置(Up)";
|
||||
break;
|
||||
case AccelerometerStates.Back:
|
||||
_AccelerometerTips = "青色：飞机翻过来水平放置(Back)";
|
||||
break;
|
||||
}
|
||||
return _AccelerometerTips;
|
||||
}
|
||||
}
|
||||
|
||||
private string _AccelerometerBtnText = "开始校准";
|
||||
public string AccelerometerBtnText
|
||||
{
|
||||
get
|
||||
{
|
||||
switch (AccelerometerState)
|
||||
{
|
||||
case AccelerometerStates.Idle:
|
||||
_AccelerometerBtnText = "开始校准";
|
||||
break;
|
||||
default:
|
||||
_AccelerometerBtnText = "完成";
|
||||
break;
|
||||
}
|
||||
return _AccelerometerBtnText;
|
||||
}
|
||||
}
|
||||
|
||||
//校准加速计的状态
|
||||
public enum AccelerometerStates
|
||||
{
|
||||
Idle = 0,
|
||||
Front = 1,
|
||||
Left = 2,
|
||||
Right = 3,
|
||||
Down = 4,
|
||||
Up = 5,
|
||||
Back = 6
|
||||
}
|
||||
|
||||
private AccelerometerStates _AccelerometerState = AccelerometerStates.Idle;
|
||||
public AccelerometerStates AccelerometerState
|
||||
{
|
||||
get { return _AccelerometerState; }
|
||||
set
|
||||
{
|
||||
Set(nameof(AccelerometerState), ref _AccelerometerState, value);
|
||||
RaisePropertyChanged(nameof(AccelerometerBtnText));
|
||||
RaisePropertyChanged(nameof(AccelerometerTips));
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 开始校准加速计
|
||||
/// </summary>
|
||||
private ICommand _CalibrationAccelerometerStartCommand;
|
||||
public ICommand CalibrationAccelerometerStartCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _CalibrationAccelerometerStartCommand ?? (_CalibrationAccelerometerStartCommand = new RelayCommand(async () =>
|
||||
{
|
||||
if (_copterManager.SelectedCopters.Count() == 0) return;
|
||||
await commModule.DoStartPreflightCompassAsync(_copterManager.SelectedCopters);
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 校准加速计下一步
|
||||
/// </summary>
|
||||
private ICommand _CalibrationAccelerometerNextCommand;
|
||||
public ICommand CalibrationAccelerometerNextCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _CalibrationAccelerometerNextCommand ?? (_CalibrationAccelerometerNextCommand = new RelayCommand(async () =>
|
||||
{
|
||||
if (_copterManager.SelectedCopters.Count() == 0) return;
|
||||
await commModule.DoNextPreflightCompassAsync(_copterManager.SelectedCopters);
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
private int _CompassPercent;
|
||||
public int CompassPercent
|
||||
{
|
||||
get { return _CompassPercent; }
|
||||
set
|
||||
{
|
||||
Set(nameof(CompassPercent), ref _CompassPercent, value);
|
||||
}
|
||||
}
|
||||
|
||||
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>
|
||||
private ICommand _CalibrationCompassCommand;
|
||||
public ICommand CalibrationCompassCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _CalibrationCompassCommand ?? (_CalibrationCompassCommand = new RelayCommand(async () =>
|
||||
{
|
||||
if (_copterManager.SelectedCopters.Count() == 0) return;
|
||||
|
||||
// ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
//
|
||||
// short copterId = short.Parse(copter.Name);
|
||||
Message.Show("开始校准指南针");
|
||||
|
||||
await commModule.DoCalibrationCompassAsync(_copterManager.SelectedCopters);
|
||||
await Task.Delay(50).ConfigureAwait(false);
|
||||
|
||||
/*支持多飞行机同时校准 不再判断单架的返回值
|
||||
|
||||
IsCalibration = true;
|
||||
CompassPercent = 0;
|
||||
int State = 0; //4：成功 5失败 todo 改为枚举
|
||||
|
||||
|
||||
while (IsCalibration && CompassPercent <= 100)
|
||||
{
|
||||
//两个255的时候表示 当前预留字节代表的意思是校准
|
||||
if (copter.Retain[2] == 255 && copter.Retain[3] == 255)
|
||||
{
|
||||
CompassPercent = copter.Retain[0];
|
||||
State = copter.Retain[1];
|
||||
if (State == 4 || State == 5)
|
||||
break;
|
||||
}
|
||||
|
||||
await Task.Delay(100);
|
||||
}
|
||||
|
||||
switch (State)
|
||||
{
|
||||
case 4:
|
||||
Alert.Show($"校准成功，请重新上电{copterId}号", "指南针");
|
||||
break;
|
||||
case 5:
|
||||
Alert.Show("校准失败", "指南针");
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
IsCalibration = false;
|
||||
*/
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
private ICommand _CancelCalibrationCompassCommand;
|
||||
public ICommand CancelCalibrationCompassCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _CancelCalibrationCompassCommand ?? (_CancelCalibrationCompassCommand = new RelayCommand(async () =>
|
||||
{
|
||||
if (_copterManager.SelectedCopters.Count() == 1) return;
|
||||
|
||||
ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
|
||||
short copterId = short.Parse(copter.Name);
|
||||
await commModule.DoCancelCalibrationCompassAsync(copterId);
|
||||
IsCalibration = false;
|
||||
Alert.Show("放弃校准", "指南针");
|
||||
}));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@ -166,14 +166,20 @@ 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
|
||||
@ -185,22 +191,37 @@ namespace Plane.FormationCreator.ViewModels
|
||||
ICopter FindedCopter = firstCopter;
|
||||
ICopter LastCopter = firstCopter;
|
||||
ILocation2D LastRowHewadCopter = firstCopter;
|
||||
|
||||
|
||||
Message.Show($"开始查找飞机：行角度{RowDirect}，列角度{ColDirect}，列间距{StepDis_Row}，行间距{StepDis_Col}，查找半径{FindDis}米...");
|
||||
|
||||
firstCopter.VirtualId = 1;
|
||||
int rowindex = 1;
|
||||
while (FindedCopter!=null)
|
||||
{
|
||||
//按一行找飞机
|
||||
FindedCopter = FindNextCopter(LastCopter, RowDirect, StepDis_Row, FindDis);
|
||||
//一行找不到了 找下一行的前3架飞机
|
||||
if ((FindedCopter == null)&&(thirdCopter!=null))
|
||||
FindedCopter = FindNextColHeadCopter(out LastRowHewadCopter,LastRowHewadCopter, ColDirect, StepDis_Col, RowDirect, StepDis_Row, 3, FindDis);
|
||||
//如果找到了分配ID
|
||||
if ((FindedCopter == null) && (thirdCopter != null))
|
||||
{
|
||||
rowindex++;
|
||||
FindedCopter = FindNextColHeadCopter(out LastRowHewadCopter, LastRowHewadCopter, ColDirect, StepDis_Col, RowDirect, StepDis_Row, 3, FindDis);
|
||||
if (FindedCopter != null)
|
||||
Message.Show($"开始第{rowindex}行--找到飞机");
|
||||
else
|
||||
Message.Show($"开始第{rowindex}行--无飞机");
|
||||
}
|
||||
//如果找到了分配ID
|
||||
if (FindedCopter != null)
|
||||
{
|
||||
FindedCopter.VirtualId = GetVID(LastCopter.VirtualId);
|
||||
Message.Show($"分配飞机VID:{FindedCopter.VirtualId}");
|
||||
// Message.Show($"分配ID={FindedCopter.Id}飞机VID:={FindedCopter.VirtualId}");
|
||||
LastCopter = FindedCopter;
|
||||
}
|
||||
}else
|
||||
{
|
||||
|
||||
Message.Show($"未找到飞机，自动分配结束");
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
_copterManager.ReSort();
|
||||
|
||||
@ -25,16 +25,31 @@ 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;
|
||||
@ -67,6 +82,16 @@ 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
|
||||
{
|
||||
@ -79,7 +104,67 @@ 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
|
||||
{
|
||||
@ -149,6 +234,20 @@ 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
|
||||
{
|
||||
@ -242,6 +341,35 @@ 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
|
||||
{
|
||||
@ -255,6 +383,27 @@ 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
|
||||
{
|
||||
@ -266,7 +415,7 @@ 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
|
||||
{ }
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -93,6 +93,12 @@ 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
|
||||
@ -111,6 +117,19 @@ 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
|
||||
@ -126,6 +145,21 @@ 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++)
|
||||
@ -135,6 +169,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
index++;
|
||||
}
|
||||
}
|
||||
*/
|
||||
_copterManager.shiftkeydown = false;
|
||||
|
||||
}));
|
||||
@ -336,8 +371,11 @@ 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;
|
||||
// copter.VirtualId = _virtualCopterId;
|
||||
await copter.ConnectAsync();
|
||||
await copter.GetCopterDataAsync();
|
||||
_copterManager.CopterStatus.Add(false);
|
||||
@ -438,6 +476,8 @@ namespace Plane.FormationCreator.ViewModels
|
||||
_lastVirtualCopterLocation = null;
|
||||
_flightTaskManager.OriginLat = 0;
|
||||
_flightTaskManager.OriginLng = 0;
|
||||
_flightTaskManager.ObserverLat = 0;
|
||||
_flightTaskManager.ObserverLng = 0;
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
@ -35,10 +35,15 @@ 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;
|
||||
@ -88,10 +93,18 @@ 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
|
||||
@ -103,6 +116,18 @@ 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
|
||||
{
|
||||
@ -317,6 +342,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
MapMode = 1;
|
||||
b2DMapMode = false;
|
||||
_flightTaskManager.TaskRun_2D = b2DMapMode; //3D模式模拟显示
|
||||
mainw.map3D.ResetCamera();
|
||||
|
||||
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,5 +1,7 @@
|
||||
using GalaSoft.MvvmLight;
|
||||
using GalaSoft.MvvmLight.Command;
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using Plane.CommunicationManagement;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using Plane.Windows.Messages;
|
||||
using System;
|
||||
@ -8,6 +10,7 @@ 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
|
||||
@ -17,9 +20,41 @@ 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
|
||||
{
|
||||
@ -29,15 +64,57 @@ 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];
|
||||
}
|
||||
|
||||
@ -47,12 +124,13 @@ 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;
|
||||
}
|
||||
@ -64,10 +142,13 @@ 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();
|
||||
await _rtcmManager.Close(SerialPortsSelectdValue);
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
@ -93,6 +93,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
planeModel3Ds.Clear();
|
||||
planeGroup.Children.Clear();
|
||||
observationLatLng = null;
|
||||
SelectTask();
|
||||
}
|
||||
|
||||
private void Copter_LocationChanged(object sender, EventArgs e)
|
||||
@ -109,7 +110,31 @@ namespace Plane.FormationCreator.ViewModels
|
||||
}
|
||||
|
||||
private Dictionary<ICopter, GeometryModel3D> planeModel3Ds = new Dictionary<ICopter, GeometryModel3D>();
|
||||
Tuple<double, double> observationLatLng = null;
|
||||
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);
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
private void AddOrMove3DCopter(ICopter copter)
|
||||
{
|
||||
@ -117,29 +142,16 @@ namespace Plane.FormationCreator.ViewModels
|
||||
//var copternum1 = _copterManager.Copters.FirstOrDefault();
|
||||
if (_flightTaskManager.OriginLat == 0 || _flightTaskManager.OriginLng == 0)
|
||||
return;
|
||||
|
||||
//第一列到中间的距离
|
||||
float midColDistance = (_flightTaskManager.ColumnCount - 1) * _flightTaskManager.ColumnDistance / 2;
|
||||
|
||||
//得到观测位置
|
||||
if (observationLatLng == null)
|
||||
{
|
||||
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
|
||||
_flightTaskManager.OriginLat,
|
||||
_flightTaskManager.OriginLng,
|
||||
_flightTaskManager.Orientation + 90,
|
||||
midColDistance);
|
||||
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
|
||||
observationLatLng.Item1,
|
||||
observationLatLng.Item2,
|
||||
_flightTaskManager.Orientation + 180,
|
||||
midColDistance * 2);
|
||||
getobservationpos();
|
||||
}
|
||||
|
||||
|
||||
//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));
|
||||
@ -147,12 +159,13 @@ 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;
|
||||
@ -167,8 +180,9 @@ namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
Geometry = meshwaypoint,
|
||||
Transform = new TranslateTransform3D(x, y, z),
|
||||
Material = MaterialHelper.CreateMaterial(color),
|
||||
BackMaterial = MaterialHelper.CreateMaterial(color)
|
||||
Material = new DiffuseMaterial(new SolidColorBrush(color)),
|
||||
//Material = MaterialHelper.CreateMaterial(color),
|
||||
// BackMaterial = MaterialHelper.CreateMaterial(color)
|
||||
};
|
||||
|
||||
planeModel3Ds.Add(copter, model3D);
|
||||
@ -177,7 +191,7 @@ 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;
|
||||
|
||||
@ -188,30 +202,45 @@ 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;
|
||||
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)
|
||||
{
|
||||
panle3D.Transform = new TranslateTransform3D(x, y, z);
|
||||
var trans = panle3D.Transform as TranslateTransform3D;
|
||||
trans.OffsetX = x;
|
||||
trans.OffsetY = y;
|
||||
trans.OffsetZ = 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);
|
||||
*/
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -222,16 +251,12 @@ 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;
|
||||
|
||||
//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);
|
||||
//得到观测位置
|
||||
if (observationLatLng == null)
|
||||
{
|
||||
getobservationpos();
|
||||
}
|
||||
|
||||
//modelGroup.Children.Clear();
|
||||
|
||||
|
||||
@ -1,40 +1,44 @@
|
||||
<Window x:Class="Plane.FormationCreator.Views.CalibrationWindow"
|
||||
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:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
mc:Ignorable="d"
|
||||
WindowStartupLocation="CenterScreen"
|
||||
Title="校准" Height="320" Width="450">
|
||||
<Grid>
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition Height="70*"/>
|
||||
<RowDefinition Height="30*"/>
|
||||
</Grid.RowDefinitions>
|
||||
|
||||
<StackPanel Margin="10" >
|
||||
<Label Content="加速计" 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 CalibrationAccelerometerStartCommand}"/>
|
||||
<Button Content="下一步" Width="100" Margin="10, 0"
|
||||
Command="{Binding CalibrationAccelerometerNextCommand}"/>
|
||||
</WrapPanel>
|
||||
<Label Margin="0,10" Content="亮紫色：飞机水平放置(Front) 亮黄色：飞机左侧接触地面竖立放置(Left) 亮青色：飞机右侧接触地面竖立放置(Right) 紫色：飞机机头向下接触地面竖立放置(Down) 黄色：飞机机尾向下接触地面竖立放置(Up) 青色：飞机翻过来水平放置(Back)" HorizontalContentAlignment="Center"/>
|
||||
</StackPanel>
|
||||
|
||||
<StackPanel Grid.Row="1" Margin="10,0,10,10">
|
||||
<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"/>
|
||||
</WrapPanel>
|
||||
<ProgressBar Margin="0,20" Height="18" Width="220" Value="{Binding CompassPercent, UpdateSourceTrigger=PropertyChanged}"/>
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
</Window>
|
||||
<Window x:Class="Plane.FormationCreator.Views.CalibrationWindow"
|
||||
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:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
mc:Ignorable="d"
|
||||
WindowStartupLocation="CenterScreen"
|
||||
Title="校准" Height="329" Width="455">
|
||||
<Grid Margin="0,0,0,7">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition Height="70*"/>
|
||||
<RowDefinition Height="30*"/>
|
||||
</Grid.RowDefinitions>
|
||||
|
||||
<StackPanel Margin="10" >
|
||||
<Label Content="加速计" 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 CalibrationAccelerometerStartCommand}"/>
|
||||
<Button Content="下一步" Width="100" Margin="10, 0"
|
||||
Command="{Binding CalibrationAccelerometerNextCommand}"/>
|
||||
</WrapPanel>
|
||||
<Label Margin="0,10" Content="亮紫色：飞机水平放置(Front) 亮黄色：飞机左侧接触地面竖立放置(Left) 亮青色：飞机右侧接触地面竖立放置(Right) 紫色：飞机机头向下接触地面竖立放置(Down) 黄色：飞机机尾向下接触地面竖立放置(Up) 青色：飞机翻过来水平放置(Back)" HorizontalContentAlignment="Center"/>
|
||||
</StackPanel>
|
||||
|
||||
<StackPanel Grid.Row="1" Margin="10,0,10,10">
|
||||
<Label Content="其他" Margin="0,0,0,10" FontWeight="Bold" FontSize="14"/>
|
||||
<WrapPanel HorizontalAlignment="Center">
|
||||
<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}"/>
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
</Window>
|
||||
|
||||
@ -8,7 +8,7 @@
|
||||
xmlns:ec="clr-namespace:Plane.Windows.Controls;assembly=Plane.Windows"
|
||||
mc:Ignorable="d"
|
||||
Title=""
|
||||
Width="500"
|
||||
Width="565.58"
|
||||
Height="325.107"
|
||||
|
||||
WindowStartupLocation="CenterScreen"
|
||||
@ -24,11 +24,10 @@
|
||||
<RowDefinition Height="40" />
|
||||
<RowDefinition Height="40" />
|
||||
<RowDefinition Height="40" />
|
||||
|
||||
|
||||
<RowDefinition Height="50" />
|
||||
<RowDefinition Height="30" />
|
||||
<RowDefinition Height="40" />
|
||||
<RowDefinition Height="30" />
|
||||
<RowDefinition Height="30"/>
|
||||
<RowDefinition Height="30"/>
|
||||
</Grid.RowDefinitions>
|
||||
|
||||
<Grid.ColumnDefinitions>
|
||||
@ -44,9 +43,11 @@
|
||||
<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}" />
|
||||
<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}"/>
|
||||
<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"/>
|
||||
|
||||
</StackPanel>
|
||||
|
||||
@ -55,15 +56,27 @@
|
||||
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:" />
|
||||
<TextBlock Margin="5" VerticalAlignment="Center" Text="比例/模块号:" />
|
||||
<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="2"
|
||||
Grid.Row="3"
|
||||
Name="panel2" >
|
||||
<TextBlock Margin="5" VerticalAlignment="Center" Text="总数：" />
|
||||
<TextBox Width="45" VerticalContentAlignment="Center" Text="{Binding CopterSum}" Margin="5,5,5,5" />
|
||||
@ -74,7 +87,7 @@
|
||||
</StackPanel>
|
||||
<StackPanel Orientation="Horizontal"
|
||||
HorizontalAlignment="Left"
|
||||
Grid.Row="3"
|
||||
Grid.Row="4"
|
||||
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}"/>
|
||||
@ -84,9 +97,9 @@
|
||||
|
||||
|
||||
|
||||
<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" />
|
||||
<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" />
|
||||
|
||||
|
||||
|
||||
|
||||
@ -46,14 +46,20 @@ 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();
|
||||
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();
|
||||
|
||||
|
||||
|
||||
//txtIPs.Focus();
|
||||
}
|
||||
ConnectViewModel _ConnectViewModel = ServiceLocator.Current.GetInstance<ConnectViewModel>();
|
||||
private void ComboBox_DropDownOpened(object sender, EventArgs e)
|
||||
{
|
||||
_ConnectViewModel.RefreshPorts();
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,229 +1,235 @@
|
||||
<UserControl x:Class="Plane.FormationCreator.Views.ControlPanelView"
|
||||
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
|
||||
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
|
||||
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
xmlns:fc="clr-namespace:Plane.FormationCreator"
|
||||
xmlns:ec="clr-namespace:Plane.Copters;assembly=PlaneGcsSdk_Private_NET46"
|
||||
xmlns:vm="clr-namespace:Plane.FormationCreator.ViewModels"
|
||||
xmlns:m="clr-namespace:Plane.FormationCreator.Formation"
|
||||
mc:Ignorable="d"
|
||||
d:DesignHeight="300"
|
||||
d:DesignWidth="300">
|
||||
|
||||
<StackPanel Margin="0,0,-8,0">
|
||||
<StackPanel.Resources>
|
||||
<Style TargetType="Button"
|
||||
BasedOn="{StaticResource {x:Type Button}}">
|
||||
<Setter Property="Margin"
|
||||
Value="0,0,3,5" />
|
||||
</Style>
|
||||
</StackPanel.Resources>
|
||||
|
||||
<!--<TextBlock Text="连接" />
|
||||
<WrapPanel>
|
||||
<Button Content="连接"
|
||||
Command="{Binding ConnectCommand}" />
|
||||
<Button Content="断开"
|
||||
Command="{Binding DisconnectCommand}" />
|
||||
</WrapPanel>-->
|
||||
|
||||
|
||||
<TabControl Margin="0,0,13,0">
|
||||
<TabItem Header="飞行前准备">
|
||||
|
||||
<StackPanel Orientation="Vertical" Margin="0,5,0,0">
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="电压检测"
|
||||
Command="{Binding DetectionVoltage}" />
|
||||
<Button Content="版本检测"
|
||||
Command="{Binding GetVersionsCommand}" />
|
||||
<Button Content="通讯版本" Command="{Binding DetectionCommModuleVersion}" />
|
||||
<Button Content="统计返回"
|
||||
Command="{Binding DetectionReturnData}" />
|
||||
|
||||
<TextBlock
|
||||
Margin="5,5,5,5" Foreground ="Red" VerticalAlignment="Center"
|
||||
Text="{Binding RTKState}"
|
||||
/>
|
||||
|
||||
</WrapPanel>
|
||||
<WrapPanel>
|
||||
<Button Content="参数设置"
|
||||
Command="{Binding ParamModify}" />
|
||||
<Button Content="读入参数"
|
||||
Command="{Binding LoadParamfile}" />
|
||||
<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="电机测试"
|
||||
|
||||
Command="{Binding MotorTestCommand}" />
|
||||
|
||||
<Label Visibility="Collapsed" Content="Lat"/>
|
||||
<TextBox Visibility="Collapsed" Text="{Binding LatOffset}" Width="50"/>
|
||||
<Label Visibility="Collapsed" Content="Lng"/>
|
||||
<TextBox Visibility="Collapsed" Text="{Binding LngOffset}" Width="50"/>
|
||||
<Button Visibility="Collapsed" Content="设置返航点" Command="{Binding RLTOffsetCommand}" />
|
||||
</WrapPanel>
|
||||
|
||||
<WrapPanel>
|
||||
<Button Content="写入航点"
|
||||
Command="{Binding WriteMissionCommand}" />
|
||||
<Button Content="航点续写"
|
||||
Command="{Binding WriteMissionFailedCommand}" />
|
||||
<Button Content="选写航点" Command="{Binding WriteMissionSingleCommand}" />
|
||||
<Button Content="统计航点"
|
||||
Command="{Binding DetectionMissionData}" />
|
||||
<TextBox
|
||||
Grid.Column="1"
|
||||
Width="55"
|
||||
Margin="5, 5, 5, 5"
|
||||
HorizontalContentAlignment="Right"
|
||||
|
||||
Text="{Binding RTKcomvalue, UpdateSourceTrigger=PropertyChanged}" Visibility="Collapsed"
|
||||
/>
|
||||
|
||||
<Button Content="{Binding RTKbtntxt}"
|
||||
Command="{Binding SendRTKCommand}" Visibility="Collapsed" />
|
||||
|
||||
<Button Content="{Binding NTRIPbtntxt}"
|
||||
Command="{Binding SendRTCMCommand}" Visibility="Collapsed"/>
|
||||
|
||||
<Button Content="RTK 控制" Command="{Binding OpenRtcmManageCommand}" />
|
||||
|
||||
|
||||
</WrapPanel>
|
||||
</StackPanel>
|
||||
|
||||
</TabItem>
|
||||
|
||||
|
||||
<TabItem Header="飞行控制">
|
||||
|
||||
<StackPanel Orientation="Vertical" Margin="0,5,0,0">
|
||||
<WrapPanel >
|
||||
<Button Content="解锁"
|
||||
Command="{Binding UnlockCommand}" />
|
||||
<Button Content="加锁"
|
||||
Command="{Binding LockCommand}" />
|
||||
<Button Content="起飞" Visibility="Collapsed"
|
||||
Command="{Binding TakeOffCommand}" />
|
||||
|
||||
|
||||
|
||||
</WrapPanel>
|
||||
<WrapPanel>
|
||||
<Button Content="起飞"
|
||||
Command="{Binding GuidAsyncCommand}" />
|
||||
<Button Content="悬停"
|
||||
Command="{Binding HoverCommand}" />
|
||||
<Button Content="手动"
|
||||
Command="{Binding FloatCommand}" />
|
||||
<Button Content="返航"
|
||||
Command="{Binding ReturnToLaunchCommand}" />
|
||||
<Button Content="降落"
|
||||
Command="{Binding LandCommand}" />
|
||||
|
||||
<Button Content="跳过" Visibility="Collapsed"
|
||||
Command="{Binding FlagCommand}" />
|
||||
|
||||
|
||||
|
||||
<TextBox Width="50"
|
||||
Visibility="Collapsed"
|
||||
Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
|
||||
</WrapPanel>
|
||||
|
||||
|
||||
<WrapPanel>
|
||||
<Button Content="闪灯"
|
||||
Command="{Binding LEDFlickerCommand}" />
|
||||
<Button Content="测试" Visibility="Collapsed"
|
||||
Command="{Binding TestCommand}" />
|
||||
<Button Content="开灯"
|
||||
Command="{Binding LEDOnOffCommand}"
|
||||
CommandParameter="0"/>
|
||||
<Button Content="关灯"
|
||||
Command="{Binding LEDOnOffCommand}"
|
||||
CommandParameter="1"/>
|
||||
<TextBlock Margin="8,-3,5,0" Text="起飞高度" VerticalAlignment="Center"/>
|
||||
<TextBox VerticalContentAlignment="Center" Margin="0,0,0,5" Width="30" Height="25" Text="{Binding TaskOffAlt}" />
|
||||
<TextBlock Margin="5,-3,5,0" Text="米" VerticalAlignment="Center"/>
|
||||
</WrapPanel>
|
||||
|
||||
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</TabItem>
|
||||
|
||||
|
||||
<TabItem Header="任务控制">
|
||||
|
||||
<StackPanel Orientation="Vertical" Margin="0,5,0,0">
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="全部解锁"
|
||||
Command="{Binding UnlockAllCommand}"
|
||||
IsEnabled="{Binding AllowMissionStart, UpdateSourceTrigger=PropertyChanged}" />
|
||||
<Button Content="全部加锁"
|
||||
Command="{Binding LockAllCommand}" />
|
||||
</WrapPanel>
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="开始任务"
|
||||
Command="{Binding MissionStartCommand}"
|
||||
IsEnabled="{Binding AllowMissionStart, UpdateSourceTrigger=PropertyChanged}"/>
|
||||
<Button Content="暂停任务"
|
||||
Command="{Binding MissionPauseCommand}" />
|
||||
<Button Content="继续任务"
|
||||
Command="{Binding MissionResumeCommand}" />
|
||||
|
||||
|
||||
|
||||
</WrapPanel>
|
||||
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="全部降落"
|
||||
Command="{Binding AllLandCommand}" />
|
||||
|
||||
|
||||
|
||||
</WrapPanel>
|
||||
</StackPanel>
|
||||
|
||||
</TabItem>
|
||||
|
||||
|
||||
|
||||
<TabItem Header="飞行报告" Visibility="Collapsed">
|
||||
|
||||
<StackPanel Orientation="Vertical" Margin="0,5,0,0">
|
||||
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="添加报告"
|
||||
Command="{Binding UnlockAllCommand}"
|
||||
IsEnabled="{Binding AllowMissionStart, UpdateSourceTrigger=PropertyChanged}" />
|
||||
<Button Content="查看报告"
|
||||
Command="{Binding LockAllCommand}" />
|
||||
</WrapPanel>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</TabItem>
|
||||
|
||||
|
||||
|
||||
</TabControl>
|
||||
</StackPanel>
|
||||
</UserControl>
|
||||
<UserControl x:Class="Plane.FormationCreator.Views.ControlPanelView"
|
||||
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
|
||||
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
|
||||
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
xmlns:fc="clr-namespace:Plane.FormationCreator"
|
||||
xmlns:ec="clr-namespace:Plane.Copters;assembly=PlaneGcsSdk_Private_NET46"
|
||||
xmlns:vm="clr-namespace:Plane.FormationCreator.ViewModels"
|
||||
xmlns:m="clr-namespace:Plane.FormationCreator.Formation"
|
||||
mc:Ignorable="d"
|
||||
d:DesignHeight="300"
|
||||
d:DesignWidth="300">
|
||||
|
||||
<StackPanel Margin="0,0,-8,0">
|
||||
<StackPanel.Resources>
|
||||
<Style TargetType="Button"
|
||||
BasedOn="{StaticResource {x:Type Button}}">
|
||||
<Setter Property="Margin"
|
||||
Value="0,0,3,5" />
|
||||
</Style>
|
||||
</StackPanel.Resources>
|
||||
|
||||
<!--<TextBlock Text="连接" />
|
||||
<WrapPanel>
|
||||
<Button Content="连接"
|
||||
Command="{Binding ConnectCommand}" />
|
||||
<Button Content="断开"
|
||||
Command="{Binding DisconnectCommand}" />
|
||||
</WrapPanel>-->
|
||||
|
||||
|
||||
<TabControl Margin="0,0,13,0">
|
||||
<TabItem Header="飞行前准备">
|
||||
|
||||
<StackPanel Orientation="Vertical" Margin="0,5,0,0">
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="电压检测"
|
||||
Command="{Binding DetectionVoltage}" />
|
||||
<Button Content="版本检测"
|
||||
Command="{Binding GetVersionsCommand}" />
|
||||
<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}" />
|
||||
|
||||
</WrapPanel>
|
||||
<WrapPanel>
|
||||
<Button Content="参数设置"
|
||||
Command="{Binding ParamModify}" />
|
||||
<Button Content="读入参数"
|
||||
Command="{Binding LoadParamfile}" />
|
||||
<Button Content="状态统计" 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"
|
||||
|
||||
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"/>
|
||||
<TextBox Visibility="Collapsed" Text="{Binding LngOffset}" Width="50"/>
|
||||
<Button Visibility="Collapsed" Content="设置返航点" Command="{Binding RLTOffsetCommand}" />
|
||||
</WrapPanel>
|
||||
|
||||
<WrapPanel>
|
||||
<Button Content="写入航点"
|
||||
Command="{Binding WriteMissionCommand}" />
|
||||
<Button Content="航点续写"
|
||||
Command="{Binding WriteMissionFailedCommand}" />
|
||||
<Button Content="选写航点" Command="{Binding WriteMissionSingleCommand}" />
|
||||
<Button Content="统计航点"
|
||||
Command="{Binding DetectionMissionData}" />
|
||||
<TextBox
|
||||
Grid.Column="1"
|
||||
Width="55"
|
||||
Margin="5, 5, 5, 5"
|
||||
HorizontalContentAlignment="Right"
|
||||
|
||||
Text="{Binding RTKcomvalue, UpdateSourceTrigger=PropertyChanged}" Visibility="Collapsed"
|
||||
/>
|
||||
|
||||
<Button Content="{Binding RTKbtntxt}"
|
||||
Command="{Binding SendRTKCommand}" Visibility="Collapsed" />
|
||||
|
||||
<Button Content="{Binding NTRIPbtntxt}"
|
||||
Command="{Binding SendRTCMCommand}" Visibility="Collapsed"/>
|
||||
|
||||
<Button Content="RTK 控制" Command="{Binding OpenRtcmManageCommand}" />
|
||||
|
||||
|
||||
</WrapPanel>
|
||||
</StackPanel>
|
||||
|
||||
</TabItem>
|
||||
|
||||
|
||||
<TabItem Header="飞行控制">
|
||||
|
||||
<StackPanel Orientation="Vertical" Margin="0,5,0,0">
|
||||
<WrapPanel >
|
||||
<Button Content="解锁"
|
||||
Command="{Binding UnlockCommand}" />
|
||||
<Button Content="加锁"
|
||||
Command="{Binding LockCommand}" />
|
||||
<Button Content="单独任务"
|
||||
Command="{Binding TakeOffCommand}" />
|
||||
|
||||
<Button Content="抛物"
|
||||
Command="{Binding ThrowoutCommand}" />
|
||||
|
||||
</WrapPanel>
|
||||
<WrapPanel>
|
||||
<Button Content="起飞"
|
||||
Command="{Binding GuidAsyncCommand}" />
|
||||
<Button Content="悬停"
|
||||
Command="{Binding HoverCommand}" />
|
||||
<Button Content="手动"
|
||||
Command="{Binding FloatCommand}" />
|
||||
<Button Content="返航"
|
||||
Command="{Binding ReturnToLaunchCommand}" />
|
||||
<Button Content="降落"
|
||||
Command="{Binding LandCommand}" />
|
||||
|
||||
<Button Content="跳过" Visibility="Collapsed"
|
||||
Command="{Binding FlagCommand}" />
|
||||
|
||||
|
||||
|
||||
<TextBox Width="50"
|
||||
Visibility="Collapsed"
|
||||
Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
|
||||
</WrapPanel>
|
||||
|
||||
|
||||
<WrapPanel>
|
||||
<Button Content="闪灯"
|
||||
Command="{Binding LEDFlickerCommand}" />
|
||||
<Button Content="测试" Visibility="Collapsed"
|
||||
Command="{Binding TestCommand}" />
|
||||
<Button Content="开灯"
|
||||
Command="{Binding LEDOnOffCommand}"
|
||||
CommandParameter="0"/>
|
||||
<Button Content="关灯"
|
||||
Command="{Binding LEDOnOffCommand}"
|
||||
CommandParameter="1"/>
|
||||
<TextBlock Margin="8,-3,5,0" Text="起飞高度" VerticalAlignment="Center"/>
|
||||
<TextBox VerticalContentAlignment="Center" Margin="0,0,0,5" Width="30" Height="25" Text="{Binding TaskOffAlt}" />
|
||||
<TextBlock Margin="5,-3,5,0" Text="米" VerticalAlignment="Center"/>
|
||||
</WrapPanel>
|
||||
|
||||
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</TabItem>
|
||||
|
||||
|
||||
<TabItem Header="任务控制">
|
||||
|
||||
<StackPanel Orientation="Vertical" Margin="0,5,0,0">
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="全部解锁"
|
||||
Command="{Binding UnlockAllCommand}"
|
||||
IsEnabled="{Binding AllowMissionStart, UpdateSourceTrigger=PropertyChanged}" />
|
||||
<Button Content="全部加锁"
|
||||
Command="{Binding LockAllCommand}" />
|
||||
</WrapPanel>
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="开始任务"
|
||||
Command="{Binding MissionStartCommand}"
|
||||
IsEnabled="{Binding AllowMissionStart, UpdateSourceTrigger=PropertyChanged}"/>
|
||||
<Button Content="暂停任务"
|
||||
Command="{Binding MissionPauseCommand}" />
|
||||
<Button Content="继续任务"
|
||||
Command="{Binding MissionResumeCommand}" />
|
||||
|
||||
|
||||
|
||||
</WrapPanel>
|
||||
|
||||
<WrapPanel>
|
||||
|
||||
<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>
|
||||
|
||||
</TabItem>
|
||||
|
||||
|
||||
|
||||
<TabItem Header="飞行报告" Visibility="Collapsed">
|
||||
|
||||
<StackPanel Orientation="Vertical" Margin="0,5,0,0">
|
||||
|
||||
<WrapPanel>
|
||||
|
||||
<Button Content="添加报告"
|
||||
Command="{Binding UnlockAllCommand}"
|
||||
IsEnabled="{Binding AllowMissionStart, UpdateSourceTrigger=PropertyChanged}" />
|
||||
<Button Content="查看报告"
|
||||
Command="{Binding LockAllCommand}" />
|
||||
</WrapPanel>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</TabItem>
|
||||
|
||||
|
||||
|
||||
</TabControl>
|
||||
</StackPanel>
|
||||
</UserControl>
|
||||
|
||||
@ -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" ></Label>
|
||||
<Label Margin="0" Content="摆放高度(米)" ></Label>
|
||||
<TextBox
|
||||
Margin="30,0"
|
||||
Width="80"
|
||||
|
||||
@ -1,359 +1,331 @@
|
||||
<UserControl x:Class="Plane.FormationCreator.Views.CopterInfoView"
|
||||
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
|
||||
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
|
||||
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
xmlns:ec="clr-namespace:Plane.Copters;assembly=PlaneGcsSdk_Private_NET46"
|
||||
xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
|
||||
mc:Ignorable="d"
|
||||
d:DesignHeight="300"
|
||||
d:DesignWidth="300"
|
||||
d:DataContext="{d:DesignInstance Type=ec:FakeCopter, IsDesignTimeCreatable=True}">
|
||||
|
||||
|
||||
<UserControl.Resources>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!--笔刷-->
|
||||
<LinearGradientBrush x:Key="SliderBackground" StartPoint="0,0" EndPoint="0,1">
|
||||
<GradientStop Offset="0" Color="#59ccfc"/>
|
||||
<GradientStop Offset="0.5" Color="#00b3fe"/>
|
||||
<GradientStop Offset="1" Color="#59ccfc"/>
|
||||
</LinearGradientBrush>
|
||||
<LinearGradientBrush x:Key="SliderThumb" StartPoint="0,0" EndPoint="0,1">
|
||||
<GradientStop Offset="0" Color="#FFD9D3E8"/>
|
||||
<!--<GradientStop Offset="1" Color="#dfdfdf"/>-->
|
||||
</LinearGradientBrush>
|
||||
<LinearGradientBrush x:Key="SliderText" StartPoint="0,0" EndPoint="0,1">
|
||||
<GradientStop Offset="0" Color="#7cce45"/>
|
||||
<GradientStop Offset="1" Color="#4ea017"/>
|
||||
</LinearGradientBrush>
|
||||
|
||||
<!--Slider模板-->
|
||||
<Style x:Key="Slider_RepeatButton" TargetType="RepeatButton">
|
||||
<Setter Property="Focusable" Value="false" />
|
||||
<Setter Property="Template">
|
||||
<Setter.Value>
|
||||
<ControlTemplate TargetType="RepeatButton">
|
||||
<Border Background="{StaticResource SliderBackground}" />
|
||||
</ControlTemplate>
|
||||
</Setter.Value>
|
||||
</Setter>
|
||||
</Style>
|
||||
|
||||
<Style x:Key="Slider_RepeatButton1" TargetType="RepeatButton">
|
||||
<Setter Property="Focusable" Value="false" />
|
||||
<Setter Property="Template">
|
||||
<Setter.Value>
|
||||
<ControlTemplate TargetType="RepeatButton">
|
||||
<Border Background="Transparent" />
|
||||
</ControlTemplate>
|
||||
</Setter.Value>
|
||||
</Setter>
|
||||
</Style>
|
||||
|
||||
<Style x:Key="Slider_Thumb" TargetType="Thumb">
|
||||
<Setter Property="Focusable" Value="false" />
|
||||
<Setter Property="Template">
|
||||
<Setter.Value>
|
||||
<ControlTemplate TargetType="Thumb">
|
||||
<Grid>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition/>
|
||||
<ColumnDefinition/>
|
||||
</Grid.ColumnDefinitions>
|
||||
<Border Background="{StaticResource SliderBackground}"/>
|
||||
<Border Grid.ColumnSpan="2" CornerRadius="4" Background="{StaticResource SliderThumb}" Width="15">
|
||||
<!--<TextBlock Text="||" HorizontalAlignment="Center" VerticalAlignment="Center"/>-->
|
||||
</Border>
|
||||
</Grid>
|
||||
</ControlTemplate>
|
||||
</Setter.Value>
|
||||
</Setter>
|
||||
</Style>
|
||||
|
||||
<Style x:Key="Slider_CustomStyle" TargetType="Slider">
|
||||
<Setter Property="Focusable" Value="false" />
|
||||
<Setter Property="Template">
|
||||
<Setter.Value>
|
||||
<ControlTemplate TargetType="Slider">
|
||||
<Grid>
|
||||
<!--<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition Width="80"/>
|
||||
<ColumnDefinition/>
|
||||
<ColumnDefinition Width="40"/>
|
||||
</Grid.ColumnDefinitions>-->
|
||||
<Grid.Effect>
|
||||
<DropShadowEffect BlurRadius="10" ShadowDepth="1" />
|
||||
</Grid.Effect>
|
||||
<!--<Border HorizontalAlignment="Right" BorderBrush="Gray" BorderThickness="1,1,0,1" Background="{StaticResource SliderText}" Width="80" CornerRadius="8,0,0,8"/>-->
|
||||
<!--<Border Grid.Column="2" HorizontalAlignment="Right" BorderBrush="Gray" BorderThickness="0,1,1,1" Background="{StaticResource SliderText}" Width="40" CornerRadius="0,8,8,0"/>-->
|
||||
<!--<TextBlock Text="{Binding RelativeSource={RelativeSource TemplatedParent},Path=Tag}" Foreground="White" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>-->
|
||||
<!--<TextBlock Grid.Column="2" Text="{Binding ElementName=PART_Track,Path=Value,StringFormat=\{0:N0\}}" Foreground="White" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14" DataContext="{Binding}" />-->
|
||||
<Border Grid.Column="1" BorderBrush="Gray" BorderThickness="1" CornerRadius="8,0,0,8">
|
||||
<Track Grid.Column="1" Name="PART_Track">
|
||||
<Track.DecreaseRepeatButton>
|
||||
<RepeatButton Style="{StaticResource Slider_RepeatButton}"
|
||||
Command="Slider.DecreaseLarge"/>
|
||||
</Track.DecreaseRepeatButton>
|
||||
<Track.IncreaseRepeatButton>
|
||||
<RepeatButton Style="{StaticResource Slider_RepeatButton1}"
|
||||
Command="Slider.IncreaseLarge"/>
|
||||
</Track.IncreaseRepeatButton>
|
||||
<Track.Thumb>
|
||||
<Thumb Style="{StaticResource Slider_Thumb}"/>
|
||||
</Track.Thumb>
|
||||
</Track>
|
||||
</Border>
|
||||
</Grid>
|
||||
</ControlTemplate>
|
||||
</Setter.Value>
|
||||
</Setter>
|
||||
</Style>
|
||||
</UserControl.Resources>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<StackPanel>
|
||||
<TextBlock Text="飞行信息" />
|
||||
<Grid>
|
||||
<Grid.Resources>
|
||||
<Style x:Key="CopterInfo_ComboBox"
|
||||
TargetType="ComboBox"
|
||||
BasedOn="{StaticResource {x:Type ComboBox}}">
|
||||
<Setter Property="MinWidth"
|
||||
Value="120" />
|
||||
<Setter Property="VerticalAlignment"
|
||||
Value="Center" />
|
||||
</Style>
|
||||
<Style x:Key="CopterInfo_StackPanel"
|
||||
TargetType="StackPanel">
|
||||
<Setter Property="Orientation"
|
||||
Value="Horizontal" />
|
||||
<Setter Property="Margin"
|
||||
Value="0,2" />
|
||||
</Style>
|
||||
</Grid.Resources>
|
||||
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition Width="180" />
|
||||
<ColumnDefinition Width="Auto" />
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
<StackPanel Orientation="Vertical">
|
||||
<StackPanel.Resources>
|
||||
<Style TargetType="ComboBox"
|
||||
BasedOn="{StaticResource CopterInfo_ComboBox}" />
|
||||
<Style TargetType="StackPanel"
|
||||
BasedOn="{StaticResource CopterInfo_StackPanel}" />
|
||||
</StackPanel.Resources>
|
||||
|
||||
<StackPanel>
|
||||
<TextBlock Text="ID：" />
|
||||
<TextBlock Width="30" Text="{Binding Path=Id}" />
|
||||
<TextBlock Text="VID：" />
|
||||
<TextBlock Width="30" Text="{Binding Path=VirtualId}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="已连接：" />
|
||||
<ContentPresenter Content="{Binding CommModuleConnected, Converter={StaticResource CheckSignConverter}, Mode=OneWay}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="已解锁：" />
|
||||
<ContentPresenter Content="{Binding IsUnlocked, Converter={StaticResource CheckSignConverter}, Mode=OneWay}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="心跳数：" />
|
||||
<TextBlock Text="{Binding Path=HeartbeatCount}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="卫星数：" />
|
||||
<TextBlock Text="{Binding Path=SatCount}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="方向：" />
|
||||
<TextBlock Text="{Binding Path=Heading}" />
|
||||
</StackPanel>
|
||||
<!--<StackPanel>
|
||||
<TextBlock Text="Yaw：" />
|
||||
<TextBlock Text="{Binding Path=Yaw, StringFormat=0.##}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="纬度：" />
|
||||
<TextBlock Text="{Binding Path=Latitude}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="经度：" />
|
||||
<TextBlock Text="{Binding Path=Longitude}" />
|
||||
</StackPanel>-->
|
||||
<StackPanel>
|
||||
<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="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">
|
||||
<StackPanel.Resources>
|
||||
<Style TargetType="ComboBox"
|
||||
BasedOn="{StaticResource CopterInfo_ComboBox}" />
|
||||
<Style TargetType="StackPanel"
|
||||
BasedOn="{StaticResource CopterInfo_StackPanel}" />
|
||||
</StackPanel.Resources>
|
||||
|
||||
<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>
|
||||
<StackPanel>
|
||||
<TextBlock Text="剩余电量：" />
|
||||
<TextBlock Text="{Binding Path=BatteryPer}" />
|
||||
<TextBlock Text="%" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="状态：" />
|
||||
<TextBlock Text="{Binding Path=CommModuleMode}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="纬度：" />
|
||||
<TextBlock Text="{Binding Latitude}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<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>
|
||||
</Grid>
|
||||
</StackPanel>
|
||||
</UserControl>
|
||||
<UserControl x:Class="Plane.FormationCreator.Views.CopterInfoView"
|
||||
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
|
||||
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
|
||||
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
xmlns:ec="clr-namespace:Plane.Copters;assembly=PlaneGcsSdk_Private_NET46"
|
||||
xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
|
||||
mc:Ignorable="d"
|
||||
d:DesignHeight="300"
|
||||
d:DesignWidth="300"
|
||||
d:DataContext="{d:DesignInstance Type=ec:FakeCopter, IsDesignTimeCreatable=True}">
|
||||
|
||||
|
||||
|
||||
<UserControl.Resources>
|
||||
|
||||
<Style TargetType="TextBlock">
|
||||
<Setter Property="FontSize" Value="14" />
|
||||
</Style>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!--笔刷-->
|
||||
<LinearGradientBrush x:Key="SliderBackground" StartPoint="0,0" EndPoint="0,1">
|
||||
<GradientStop Offset="0" Color="#59ccfc"/>
|
||||
<GradientStop Offset="0.5" Color="#00b3fe"/>
|
||||
<GradientStop Offset="1" Color="#59ccfc"/>
|
||||
</LinearGradientBrush>
|
||||
<LinearGradientBrush x:Key="SliderThumb" StartPoint="0,0" EndPoint="0,1">
|
||||
<GradientStop Offset="0" Color="#FFD9D3E8"/>
|
||||
<!--<GradientStop Offset="1" Color="#dfdfdf"/>-->
|
||||
</LinearGradientBrush>
|
||||
<LinearGradientBrush x:Key="SliderText" StartPoint="0,0" EndPoint="0,1">
|
||||
<GradientStop Offset="0" Color="#7cce45"/>
|
||||
<GradientStop Offset="1" Color="#4ea017"/>
|
||||
</LinearGradientBrush>
|
||||
|
||||
<!--Slider模板-->
|
||||
<Style x:Key="Slider_RepeatButton" TargetType="RepeatButton">
|
||||
<Setter Property="Focusable" Value="false" />
|
||||
<Setter Property="Template">
|
||||
<Setter.Value>
|
||||
<ControlTemplate TargetType="RepeatButton">
|
||||
<Border Background="{StaticResource SliderBackground}" />
|
||||
</ControlTemplate>
|
||||
</Setter.Value>
|
||||
</Setter>
|
||||
</Style>
|
||||
|
||||
<Style x:Key="Slider_RepeatButton1" TargetType="RepeatButton">
|
||||
<Setter Property="Focusable" Value="false" />
|
||||
<Setter Property="Template">
|
||||
<Setter.Value>
|
||||
<ControlTemplate TargetType="RepeatButton">
|
||||
<Border Background="Transparent" />
|
||||
</ControlTemplate>
|
||||
</Setter.Value>
|
||||
</Setter>
|
||||
</Style>
|
||||
|
||||
<Style x:Key="Slider_Thumb" TargetType="Thumb">
|
||||
<Setter Property="Focusable" Value="false" />
|
||||
<Setter Property="Template">
|
||||
<Setter.Value>
|
||||
<ControlTemplate TargetType="Thumb">
|
||||
<Grid>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition/>
|
||||
<ColumnDefinition/>
|
||||
</Grid.ColumnDefinitions>
|
||||
<Border Background="{StaticResource SliderBackground}"/>
|
||||
<Border Grid.ColumnSpan="2" CornerRadius="4" Background="{StaticResource SliderThumb}" Width="15">
|
||||
<!--<TextBlock Text="||" HorizontalAlignment="Center" VerticalAlignment="Center"/>-->
|
||||
</Border>
|
||||
</Grid>
|
||||
</ControlTemplate>
|
||||
</Setter.Value>
|
||||
</Setter>
|
||||
</Style>
|
||||
|
||||
<Style x:Key="Slider_CustomStyle" TargetType="Slider">
|
||||
<Setter Property="Focusable" Value="false" />
|
||||
<Setter Property="Template">
|
||||
<Setter.Value>
|
||||
<ControlTemplate TargetType="Slider">
|
||||
<Grid>
|
||||
<!--<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition Width="80"/>
|
||||
<ColumnDefinition/>
|
||||
<ColumnDefinition Width="40"/>
|
||||
</Grid.ColumnDefinitions>-->
|
||||
<Grid.Effect>
|
||||
<DropShadowEffect BlurRadius="10" ShadowDepth="1" />
|
||||
</Grid.Effect>
|
||||
<!--<Border HorizontalAlignment="Right" BorderBrush="Gray" BorderThickness="1,1,0,1" Background="{StaticResource SliderText}" Width="80" CornerRadius="8,0,0,8"/>-->
|
||||
<!--<Border Grid.Column="2" HorizontalAlignment="Right" BorderBrush="Gray" BorderThickness="0,1,1,1" Background="{StaticResource SliderText}" Width="40" CornerRadius="0,8,8,0"/>-->
|
||||
<!--<TextBlock Text="{Binding RelativeSource={RelativeSource TemplatedParent},Path=Tag}" Foreground="White" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>-->
|
||||
<!--<TextBlock Grid.Column="2" Text="{Binding ElementName=PART_Track,Path=Value,StringFormat=\{0:N0\}}" Foreground="White" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14" DataContext="{Binding}" />-->
|
||||
<Border Grid.Column="1" BorderBrush="Gray" BorderThickness="1" CornerRadius="8,0,0,8">
|
||||
<Track Grid.Column="1" Name="PART_Track">
|
||||
<Track.DecreaseRepeatButton>
|
||||
<RepeatButton Style="{StaticResource Slider_RepeatButton}"
|
||||
Command="Slider.DecreaseLarge"/>
|
||||
</Track.DecreaseRepeatButton>
|
||||
<Track.IncreaseRepeatButton>
|
||||
<RepeatButton Style="{StaticResource Slider_RepeatButton1}"
|
||||
Command="Slider.IncreaseLarge"/>
|
||||
</Track.IncreaseRepeatButton>
|
||||
<Track.Thumb>
|
||||
<Thumb Style="{StaticResource Slider_Thumb}"/>
|
||||
</Track.Thumb>
|
||||
</Track>
|
||||
</Border>
|
||||
</Grid>
|
||||
</ControlTemplate>
|
||||
</Setter.Value>
|
||||
</Setter>
|
||||
</Style>
|
||||
</UserControl.Resources>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<StackPanel>
|
||||
<TextBlock Text="飞行信息" />
|
||||
<Grid>
|
||||
|
||||
<Grid.Resources>
|
||||
<Style x:Key="CopterInfo_ComboBox"
|
||||
TargetType="ComboBox"
|
||||
BasedOn="{StaticResource {x:Type ComboBox}}">
|
||||
<Setter Property="MinWidth"
|
||||
Value="120" />
|
||||
<Setter Property="VerticalAlignment"
|
||||
Value="Center" />
|
||||
</Style>
|
||||
<Style x:Key="CopterInfo_StackPanel"
|
||||
TargetType="StackPanel">
|
||||
<Setter Property="Orientation"
|
||||
Value="Horizontal" />
|
||||
<Setter Property="Margin"
|
||||
Value="0,2" />
|
||||
</Style>
|
||||
</Grid.Resources>
|
||||
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition Width="180" />
|
||||
<ColumnDefinition Width="Auto" />
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
<StackPanel Orientation="Vertical" >
|
||||
<StackPanel.Resources>
|
||||
<Style TargetType="ComboBox"
|
||||
BasedOn="{StaticResource CopterInfo_ComboBox}" />
|
||||
<Style TargetType="StackPanel"
|
||||
BasedOn="{StaticResource CopterInfo_StackPanel}" />
|
||||
</StackPanel.Resources>
|
||||
|
||||
<StackPanel>
|
||||
<TextBlock Text="ID：" />
|
||||
<TextBlock Width="30" Text="{Binding Path=Id}" />
|
||||
<TextBlock Text="VID：" />
|
||||
<TextBlock Width="30" Text="{Binding Path=VirtualId}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="已连接：" />
|
||||
<ContentPresenter Content="{Binding CommModuleConnected, Converter={StaticResource CheckSignConverter}, Mode=OneWay}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="已解锁：" />
|
||||
<ContentPresenter Content="{Binding IsUnlocked, Converter={StaticResource CheckSignConverter}, Mode=OneWay}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="心跳数：" />
|
||||
<TextBlock Text="{Binding Path=HeartbeatCount}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="卫星数：" />
|
||||
<TextBlock Text="{Binding Path=SatCount}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="方向：" />
|
||||
<TextBlock Text="{Binding Path=Heading}" />
|
||||
</StackPanel>
|
||||
<!--<StackPanel>
|
||||
<TextBlock Text="Yaw：" />
|
||||
<TextBlock Text="{Binding Path=Yaw, StringFormat=0.##}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="纬度：" />
|
||||
<TextBlock Text="{Binding Path=Latitude}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="经度：" />
|
||||
<TextBlock Text="{Binding Path=Longitude}" />
|
||||
</StackPanel>-->
|
||||
<StackPanel>
|
||||
<TextBlock Text="高度：" />
|
||||
<TextBlock Text="{Binding Altitude, 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>
|
||||
|
||||
|
||||
<StackPanel Grid.Row="1"
|
||||
Grid.Column="1"
|
||||
Orientation="Vertical">
|
||||
<StackPanel.Resources>
|
||||
<Style TargetType="ComboBox"
|
||||
BasedOn="{StaticResource CopterInfo_ComboBox}" />
|
||||
<Style TargetType="StackPanel"
|
||||
BasedOn="{StaticResource CopterInfo_StackPanel}" />
|
||||
</StackPanel.Resources>
|
||||
<StackPanel Visibility="Hidden">
|
||||
<TextBlock Text="电压值：" />
|
||||
<TextBlock Text="{Binding Path=Voltage}" />
|
||||
</StackPanel>
|
||||
|
||||
<StackPanel>
|
||||
<TextBlock Text="电压值：" />
|
||||
<TextBlock Text="{Binding Path=Voltage}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="剩余电量：" />
|
||||
<TextBlock Text="{Binding Path=BatteryPer}" />
|
||||
<TextBlock Text="%" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="状态：" />
|
||||
<TextBlock Text="{Binding Path=CommModuleMode}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="纬度：" />
|
||||
<TextBlock Text="{Binding Latitude}" />
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<TextBlock Text="经度：" />
|
||||
<TextBlock Text="{Binding Longitude}" />
|
||||
</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>
|
||||
|
||||
@ -31,9 +31,9 @@
|
||||
</ContextMenu>
|
||||
|
||||
</UserControl.Resources>
|
||||
<Grid>
|
||||
<Grid Width="550">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition />
|
||||
<RowDefinition Height="540"/>
|
||||
<RowDefinition Height="Auto" />
|
||||
<RowDefinition Height="Auto" />
|
||||
</Grid.RowDefinitions>
|
||||
@ -91,6 +91,9 @@
|
||||
<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}"/>
|
||||
|
||||
|
||||
@ -16,6 +16,8 @@ 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
|
||||
{
|
||||
@ -44,22 +46,47 @@ namespace Plane.FormationCreator.Views
|
||||
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
private void SelectitemMessage(ICopter copter)
|
||||
{
|
||||
if (copter == null)
|
||||
|
||||
////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)
|
||||
{
|
||||
lvwDrones.SelectedItems.Clear();
|
||||
}
|
||||
else
|
||||
{
|
||||
if (!_copterManager.shiftkeydown)
|
||||
if (copter == null)
|
||||
{
|
||||
lvwDrones.SelectedItems.Clear();
|
||||
lvwDrones.SelectedItem = copter;
|
||||
}
|
||||
else
|
||||
lvwDrones.SelectedItems.Add(copter);
|
||||
}
|
||||
{
|
||||
if (!_copterManager.shiftkeydown)
|
||||
{
|
||||
lvwDrones.SelectedItems.Clear();
|
||||
lvwDrones.SelectedItem = copter;
|
||||
}
|
||||
else
|
||||
lvwDrones.SelectedItems.Add(copter);
|
||||
}
|
||||
}else
|
||||
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
}));
|
||||
|
||||
}
|
||||
|
||||
private void SelectitemClearMessage(ICopter copter)
|
||||
|
||||
30
Plane.FormationCreator/Views/InputDialog.xaml
Normal file
30
Plane.FormationCreator/Views/InputDialog.xaml
Normal file
@ -0,0 +1,30 @@
|
||||
<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
Normal file
31
Plane.FormationCreator/Views/InputDialog.xaml.cs
Normal file
@ -0,0 +1,31 @@
|
||||
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; }
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,4 +1,5 @@
|
||||
using Microsoft.Practices.ServiceLocation;
|
||||
using Plane.FormationCreator.Formation;
|
||||
using Plane.FormationCreator.ViewModels;
|
||||
using System.Reflection;
|
||||
using System.Windows;
|
||||
@ -20,7 +21,8 @@ namespace Plane.FormationCreator.Views
|
||||
LoginViewModel loginViewModel = ServiceLocator.Current.GetInstance<LoginViewModel>();
|
||||
this.DataContext = loginViewModel;
|
||||
var version = Assembly.GetExecutingAssembly().GetName().Version;
|
||||
about_ver.Content = "版本：" + version.ToString();
|
||||
CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
|
||||
about_ver.Content = "版本：" + version.ToString() + "(飞控兼容:"+ _copterManager.FC_VER_STRING + ")";
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -140,30 +140,7 @@ 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();
|
||||
@ -185,6 +162,19 @@ 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;
|
||||
@ -278,6 +268,9 @@ 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>();
|
||||
@ -288,6 +281,7 @@ 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()
|
||||
{
|
||||
@ -337,6 +331,8 @@ 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())
|
||||
{
|
||||
@ -444,7 +440,8 @@ 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;
|
||||
@ -483,8 +480,131 @@ 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;
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@ -24,16 +24,41 @@ namespace Plane.FormationCreator.Views
|
||||
/// <summary>
|
||||
/// Interaction logic for ModifyTaskView.xaml
|
||||
/// </summary>
|
||||
|
||||
|
||||
public partial class ModifyTaskView : UserControl
|
||||
{
|
||||
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;
|
||||
@ -42,27 +67,48 @@ namespace Plane.FormationCreator.Views
|
||||
|
||||
private void Button_Click(object sender, RoutedEventArgs e)
|
||||
{
|
||||
// distanceCopters.Text;
|
||||
/*
|
||||
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
|
||||
|
||||
int firstIndex = int.Parse( firstCopter.Text );
|
||||
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();
|
||||
|
||||
}
|
||||
/*
|
||||
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();
|
||||
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void OnCBLoaded(object sender, EventArgs e)
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
private void TextBox_MouseDoubleClick(object sender, MouseButtonEventArgs e)
|
||||
{
|
||||
System.Windows.Forms.ColorDialog colorDialog = new System.Windows.Forms.ColorDialog();
|
||||
@ -87,5 +133,47 @@ 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;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -5,24 +5,45 @@
|
||||
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:DesignHeight="300" d:DesignWidth="800"
|
||||
Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize" Topmost="True">
|
||||
mc:Ignorable="d" d:DesignWidth="800"
|
||||
Height="426" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize">
|
||||
<Grid Margin="0,0,0,0">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition />
|
||||
</Grid.RowDefinitions>
|
||||
<StackPanel Margin="5" Orientation="Horizontal" VerticalAlignment="Center">
|
||||
<ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0"
|
||||
<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"
|
||||
Margin="10" ItemsSource="{Binding serialPorts, Mode=OneWay}"
|
||||
SelectedValue="{Binding SerialPortsSelectdValue}"
|
||||
DropDownOpened="ComboBox_DropDownOpened"/>
|
||||
<Button Margin="6" Width="80" Height="28"
|
||||
<Button Margin="6" Width="90" Height="28"
|
||||
Content="{Binding RtcmManager.Rtcmthreadrun,Converter={StaticResource SendConverter}}"
|
||||
Command="{Binding ConnectRtcmCommand}"/>
|
||||
<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>
|
||||
<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>
|
||||
|
||||
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
|
||||
<StackPanel Margin="5" Orientation="Vertical">
|
||||
@ -30,20 +51,33 @@
|
||||
<TextBlock Text="接收速率： "/>
|
||||
<TextBlock TextAlignment="Right" Width="30"
|
||||
Text="{Binding RtcmManager.Bps}"/>
|
||||
<TextBlock Text=" bps；发送速率："/>
|
||||
<TextBlock Text=" 字节/秒；发送速率："/>
|
||||
<TextBlock TextAlignment="Right" Width="30"
|
||||
Text="{Binding RtcmManager.Bpsusefull}"/>
|
||||
<TextBlock Text=" bps"/>
|
||||
<TextBlock Text=" 字节/秒"/>
|
||||
</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>
|
||||
|
||||
|
||||
|
||||
|
||||
</Border>
|
||||
|
||||
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
|
||||
@ -54,10 +88,10 @@
|
||||
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.GlonassState,Converter={StaticResource ColorConverter}}"/>
|
||||
Fill="{Binding RtcmManager.GpsState ,Converter={StaticResource ColorConverter}}"/>
|
||||
<TextBlock Margin="5" Text="Glonass"/>
|
||||
<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="北斗"/>
|
||||
<Rectangle Margin="0,0,15,0" Width="20" Height="20"
|
||||
Fill="{Binding RtcmManager.BeidouState,Converter={StaticResource ColorConverter}}"/>
|
||||
@ -70,13 +104,15 @@
|
||||
<TextBlock Margin="2,5" Text="-"/>
|
||||
<TextBlock Margin="2,5" Text="{Binding RtcmManager.StationTime}"/>
|
||||
</StackPanel>
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</Border>
|
||||
|
||||
|
||||
</StackPanel>
|
||||
|
||||
<ItemsControl Grid.Row="1"
|
||||
ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}"
|
||||
ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}" Margin="0,0.333,-0.333,-80" Height="303" VerticalAlignment="Top"
|
||||
>
|
||||
<ItemsControl.ItemsPanel>
|
||||
<ItemsPanelTemplate>
|
||||
@ -95,19 +131,34 @@
|
||||
Minimum="25"
|
||||
Maximum="55"
|
||||
Grid.RowSpan="2"
|
||||
Value="{Binding Snr, UpdateSourceTrigger=PropertyChanged}"/>
|
||||
<StackPanel Orientation ="Vertical" VerticalAlignment="Center" HorizontalAlignment="Center">
|
||||
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">
|
||||
<StackPanel Orientation ="Horizontal">
|
||||
<TextBlock Text="{Binding Sys,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
|
||||
<TextBlock Text="{Binding Prn,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
|
||||
</StackPanel>
|
||||
<TextBlock Margin="0,20,0,0" Text="{Binding Snr,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
|
||||
<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>
|
||||
</StackPanel>
|
||||
<StackPanel Grid.Row="1" Orientation ="Vertical" HorizontalAlignment="Center">
|
||||
<Line Stroke="Red" X2="1000" StrokeThickness="3" />
|
||||
<TextBlock Text="40" Foreground="Black"/>
|
||||
</StackPanel>
|
||||
|
||||
|
||||
|
||||
</Grid>
|
||||
|
||||
|
||||
@ -18,7 +18,7 @@
|
||||
<RowDefinition Height="32"/>
|
||||
<RowDefinition/>
|
||||
</Grid.RowDefinitions>
|
||||
<Label Content="每列数量" Margin="5,2"></Label>
|
||||
<Label Content="每行数量" 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>
|
||||
|
||||
@ -1,224 +1,234 @@
|
||||
<UserControl xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
|
||||
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
|
||||
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
xmlns:m="clr-namespace:Plane.FormationCreator.Formation"
|
||||
xmlns:ed="http://schemas.microsoft.com/expression/2010/drawing"
|
||||
x:Class="Plane.FormationCreator.Views.TaskBarView"
|
||||
mc:Ignorable="d"
|
||||
d:DesignHeight="156.968"
|
||||
d:DesignWidth="500">
|
||||
<Grid>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition />
|
||||
<ColumnDefinition Width="Auto"/>
|
||||
<ColumnDefinition Width="Auto" />
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
<Button HorizontalAlignment="Left" Grid.Column="1"
|
||||
Visibility="{Binding FlightTaskManager.IsPaused, Converter={StaticResource IsPausedToRunButtonVisibilityConverter}}"
|
||||
Command="{Binding RunTasksCommand}">
|
||||
<Button.Template>
|
||||
<ControlTemplate>
|
||||
<Grid Width="40"
|
||||
Height="40"
|
||||
Background="#00FFFFFF"
|
||||
VerticalAlignment="Bottom">
|
||||
<ed:RegularPolygon Fill="MidnightBlue"
|
||||
InnerRadius="1"
|
||||
PointCount="3"
|
||||
Width="40"
|
||||
Height="40"
|
||||
Stretch="Fill"
|
||||
Stroke="Gray">
|
||||
<ed:RegularPolygon.RenderTransform>
|
||||
<TransformGroup>
|
||||
<ScaleTransform />
|
||||
<SkewTransform />
|
||||
<RotateTransform Angle="90" />
|
||||
<TranslateTransform X="40" />
|
||||
</TransformGroup>
|
||||
</ed:RegularPolygon.RenderTransform>
|
||||
</ed:RegularPolygon>
|
||||
</Grid>
|
||||
</ControlTemplate>
|
||||
</Button.Template>
|
||||
</Button>
|
||||
<Button HorizontalAlignment="Left" Grid.Column="1"
|
||||
Background="#00FFFFFF"
|
||||
Visibility="{Binding FlightTaskManager.IsPaused, Converter={StaticResource IsPausedToPauseButtonVisibilityConverter}}"
|
||||
Command="{Binding PauseTasksCommand}">
|
||||
<Button.Template>
|
||||
<ControlTemplate>
|
||||
<Grid Width="40"
|
||||
Height="40"
|
||||
VerticalAlignment="Bottom"
|
||||
Background="#00FFFFFF">
|
||||
<Rectangle Fill="Red"
|
||||
HorizontalAlignment="Left"
|
||||
Width="15"
|
||||
Height="40"
|
||||
Stroke="Gray" />
|
||||
<Rectangle Fill="Red"
|
||||
Margin="0,0,3,0"
|
||||
HorizontalAlignment="Right"
|
||||
Width="15"
|
||||
Height="40"
|
||||
Stroke="Gray" />
|
||||
</Grid>
|
||||
</ControlTemplate>
|
||||
</Button.Template>
|
||||
</Button>
|
||||
|
||||
<ItemsControl Grid.Column="0"
|
||||
VerticalAlignment="Bottom"
|
||||
ItemsSource="{Binding Tasks}"
|
||||
Name="TasksControl">
|
||||
<ItemsControl.ItemsPanel>
|
||||
<ItemsPanelTemplate>
|
||||
<WrapPanel Orientation="Horizontal" />
|
||||
</ItemsPanelTemplate>
|
||||
</ItemsControl.ItemsPanel>
|
||||
<ItemsControl.ItemTemplate>
|
||||
<DataTemplate>
|
||||
<Grid x:Name="itemgrid">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition />
|
||||
</Grid.RowDefinitions>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition />
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
<Border Background="{Binding Status, Converter={StaticResource FlightTaskStatusToFillConverter}}"
|
||||
Width="88"
|
||||
Height="19"
|
||||
BorderThickness="1"
|
||||
BorderBrush="Black"
|
||||
Effect="{Binding IsSelected, Converter={StaticResource FlightTaskIsSelectedToEffectConverter}}"
|
||||
MouseLeftButtonDown="TaskLeftButtonDown"
|
||||
MouseLeftButtonUp="SelectTask"
|
||||
MouseRightButtonUp="HideTask">
|
||||
|
||||
<WrapPanel VerticalAlignment="Center"
|
||||
HorizontalAlignment="Center" >
|
||||
<TextBlock Width="auto"
|
||||
FontSize="12"
|
||||
Margin="0,0,2,0"
|
||||
Foreground="White"
|
||||
Text="{Binding TaskNum}"/>
|
||||
<TextBlock Width="auto"
|
||||
FontSize="12"
|
||||
Foreground="White"
|
||||
Text="{Binding TaskCnName}"/>
|
||||
</WrapPanel>
|
||||
</Border>
|
||||
|
||||
</Grid>
|
||||
|
||||
</DataTemplate>
|
||||
</ItemsControl.ItemTemplate>
|
||||
</ItemsControl>
|
||||
|
||||
<Grid Grid.Column="2" >
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition/>
|
||||
<RowDefinition Height="28"/>
|
||||
</Grid.RowDefinitions>
|
||||
<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"/>
|
||||
|
||||
<TabControl x:Name="tasktabcont"
|
||||
DataContext="{Binding FlightTaskManager.SelectedTask}"
|
||||
SelectedIndex="{Binding TaskTypeIndex,UpdateSourceTrigger=PropertyChanged}">
|
||||
|
||||
|
||||
|
||||
<TabItem Header="1 起飞" x:Name="takeoffpage">
|
||||
<Grid Margin="10">
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition/>
|
||||
<ColumnDefinition/>
|
||||
</Grid.ColumnDefinitions>
|
||||
<TextBlock Text="起飞时间：" Margin="2" VerticalAlignment="Center"/>
|
||||
<TextBox Grid.Column="1" Margin="2" VerticalAlignment="Center"
|
||||
Text="{Binding TakeOffTime, UpdateSourceTrigger=PropertyChanged}" />
|
||||
</Grid>
|
||||
|
||||
</TabItem>
|
||||
<TabItem x:Name="flytopage" >
|
||||
|
||||
<TabItem.Header>
|
||||
<Label x:Name="flytoLabel" Content="航点" HorizontalAlignment="Stretch" MouseLeftButtonDown="TaskLabelLeftButtonDown"
|
||||
ToolTip="双击修改名称" />
|
||||
</TabItem.Header>
|
||||
|
||||
|
||||
<Grid Margin="10">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition />
|
||||
<RowDefinition />
|
||||
</Grid.RowDefinitions>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition />
|
||||
<ColumnDefinition />
|
||||
</Grid.ColumnDefinitions>
|
||||
<TextBlock Grid.Row="0" Margin="2" Text="飞行时间： " VerticalAlignment="Center" />
|
||||
<TextBox Grid.Column="1" Margin="2" VerticalAlignment="Center"
|
||||
MaxLength="4"
|
||||
Text="{Binding FlytoTime, UpdateSourceTrigger=PropertyChanged}" />
|
||||
<TextBlock Grid.Row="1" Margin="2" Text="悬停时间： " VerticalAlignment="Center" />
|
||||
<TextBox Grid.Row="1" Grid.Column="1" Margin="2" VerticalAlignment="Center"
|
||||
MaxLength="4"
|
||||
Text="{Binding LoiterTime, UpdateSourceTrigger=PropertyChanged}" />
|
||||
</Grid>
|
||||
</TabItem>
|
||||
|
||||
<TabItem Header="降落" x:Name="landpage">
|
||||
<Grid Margin="10" >
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition />
|
||||
</Grid.RowDefinitions>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition />
|
||||
<ColumnDefinition />
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
</Grid>
|
||||
</TabItem>
|
||||
|
||||
</TabControl>
|
||||
</StackPanel>
|
||||
<StackPanel Grid.Row="1"
|
||||
Orientation="Horizontal"
|
||||
VerticalAlignment="Bottom">
|
||||
<Button Content="添加" x:Name="addtaskbtn"
|
||||
Background="#232323"
|
||||
Command="{Binding AddTaskCommand}" />
|
||||
<Button Content="删除"
|
||||
Background="#232323"
|
||||
Command="{Binding DelTaskCommand}" />
|
||||
<Button Content="清除"
|
||||
Background="#232323"
|
||||
Command="{Binding ClearTasksCommand}" />
|
||||
<Button Content="重置"
|
||||
Background="#232323"
|
||||
Command="{Binding ResetTasksCommand}" />
|
||||
|
||||
<Button Content="更名" Visibility="Collapsed"
|
||||
Background="#232323"
|
||||
Command="{Binding renametaskCommand}" />
|
||||
<Button Content="原点"
|
||||
Background="#232323"
|
||||
Command="{Binding SetOriginCommand}" />
|
||||
|
||||
|
||||
<!--<Button Content="保存" />
|
||||
<Button Content="取消" />-->
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
|
||||
|
||||
</Grid>
|
||||
</UserControl>
|
||||
<UserControl xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
|
||||
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
|
||||
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
xmlns:m="clr-namespace:Plane.FormationCreator.Formation"
|
||||
xmlns:ed="http://schemas.microsoft.com/expression/2010/drawing"
|
||||
x:Class="Plane.FormationCreator.Views.TaskBarView"
|
||||
mc:Ignorable="d"
|
||||
d:DesignHeight="156.968"
|
||||
d:DesignWidth="500">
|
||||
<Grid>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition />
|
||||
<ColumnDefinition Width="Auto"/>
|
||||
<ColumnDefinition Width="Auto" />
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
<Button HorizontalAlignment="Left" Grid.Column="1"
|
||||
Visibility="{Binding FlightTaskManager.IsPaused, Converter={StaticResource IsPausedToRunButtonVisibilityConverter}}"
|
||||
Command="{Binding RunTasksCommand}">
|
||||
<Button.Template>
|
||||
<ControlTemplate>
|
||||
<Grid Width="40"
|
||||
Height="40"
|
||||
Background="#00FFFFFF"
|
||||
VerticalAlignment="Bottom">
|
||||
<ed:RegularPolygon Fill="MidnightBlue"
|
||||
InnerRadius="1"
|
||||
PointCount="3"
|
||||
Width="40"
|
||||
Height="40"
|
||||
Stretch="Fill"
|
||||
Stroke="Gray">
|
||||
<ed:RegularPolygon.RenderTransform>
|
||||
<TransformGroup>
|
||||
<ScaleTransform />
|
||||
<SkewTransform />
|
||||
<RotateTransform Angle="90" />
|
||||
<TranslateTransform X="40" />
|
||||
</TransformGroup>
|
||||
</ed:RegularPolygon.RenderTransform>
|
||||
</ed:RegularPolygon>
|
||||
</Grid>
|
||||
</ControlTemplate>
|
||||
</Button.Template>
|
||||
</Button>
|
||||
<Button HorizontalAlignment="Left" Grid.Column="1"
|
||||
Background="#00FFFFFF"
|
||||
Visibility="{Binding FlightTaskManager.IsPaused, Converter={StaticResource IsPausedToPauseButtonVisibilityConverter}}"
|
||||
Command="{Binding PauseTasksCommand}">
|
||||
<Button.Template>
|
||||
<ControlTemplate>
|
||||
<Grid Width="40"
|
||||
Height="40"
|
||||
VerticalAlignment="Bottom"
|
||||
Background="#00FFFFFF">
|
||||
<Rectangle Fill="Red"
|
||||
HorizontalAlignment="Left"
|
||||
Width="15"
|
||||
Height="40"
|
||||
Stroke="Gray" />
|
||||
<Rectangle Fill="Red"
|
||||
Margin="0,0,3,0"
|
||||
HorizontalAlignment="Right"
|
||||
Width="15"
|
||||
Height="40"
|
||||
Stroke="Gray" />
|
||||
</Grid>
|
||||
</ControlTemplate>
|
||||
</Button.Template>
|
||||
</Button>
|
||||
|
||||
<ItemsControl Grid.Column="0"
|
||||
VerticalAlignment="Bottom"
|
||||
ItemsSource="{Binding Tasks}"
|
||||
Name="TasksControl">
|
||||
<ItemsControl.ItemsPanel>
|
||||
<ItemsPanelTemplate>
|
||||
<WrapPanel Orientation="Horizontal" />
|
||||
</ItemsPanelTemplate>
|
||||
</ItemsControl.ItemsPanel>
|
||||
<ItemsControl.ItemTemplate>
|
||||
<DataTemplate>
|
||||
<Grid x:Name="itemgrid">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition />
|
||||
</Grid.RowDefinitions>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition />
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
<Border
|
||||
Width="88"
|
||||
Height="19"
|
||||
BorderThickness="1"
|
||||
BorderBrush="Black"
|
||||
Effect="{Binding IsSelected, Converter={StaticResource FlightTaskIsSelectedToEffectConverter}}"
|
||||
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" >
|
||||
<TextBlock Width="auto"
|
||||
FontSize="12"
|
||||
Margin="0,0,2,0"
|
||||
Foreground="White"
|
||||
Text="{Binding TaskNum}"/>
|
||||
<TextBlock Width="auto"
|
||||
FontSize="12"
|
||||
Foreground="White"
|
||||
Text="{Binding TaskCnName}"/>
|
||||
</WrapPanel>
|
||||
</Border>
|
||||
|
||||
</Grid>
|
||||
|
||||
</DataTemplate>
|
||||
</ItemsControl.ItemTemplate>
|
||||
</ItemsControl>
|
||||
|
||||
<Grid Grid.Column="2" >
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition/>
|
||||
<RowDefinition Height="28"/>
|
||||
</Grid.RowDefinitions>
|
||||
<StackPanel Height="120" 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"/>
|
||||
|
||||
<TabControl x:Name="tasktabcont"
|
||||
DataContext="{Binding FlightTaskManager.SelectedTask}"
|
||||
SelectedIndex="{Binding TaskTypeIndex,UpdateSourceTrigger=PropertyChanged}">
|
||||
|
||||
|
||||
|
||||
<TabItem Header="1 起飞" x:Name="takeoffpage">
|
||||
<Grid Margin="10">
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition/>
|
||||
<ColumnDefinition/>
|
||||
</Grid.ColumnDefinitions>
|
||||
<TextBlock Text="起飞时间：" Margin="2" VerticalAlignment="Center"/>
|
||||
<TextBox Grid.Column="1" Margin="2" VerticalAlignment="Center"
|
||||
Text="{Binding TakeOffTime, UpdateSourceTrigger=PropertyChanged}" />
|
||||
</Grid>
|
||||
|
||||
</TabItem>
|
||||
<TabItem x:Name="flytopage" >
|
||||
|
||||
<TabItem.Header>
|
||||
<Label x:Name="flytoLabel" Content="航点" HorizontalAlignment="Stretch" MouseLeftButtonDown="TaskLabelLeftButtonDown"
|
||||
ToolTip="双击修改名称" />
|
||||
</TabItem.Header>
|
||||
|
||||
|
||||
<Grid Margin="10">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition />
|
||||
<RowDefinition />
|
||||
<RowDefinition />
|
||||
</Grid.RowDefinitions>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition />
|
||||
<ColumnDefinition />
|
||||
</Grid.ColumnDefinitions>
|
||||
<TextBlock Grid.Row="0" Margin="2" Text="飞行时间： " VerticalAlignment="Center" />
|
||||
<TextBox Grid.Column="1" Margin="2" VerticalAlignment="Center"
|
||||
MaxLength="4"
|
||||
Text="{Binding FlytoTime, UpdateSourceTrigger=PropertyChanged}" />
|
||||
<TextBlock Grid.Row="1" Margin="2" Text="悬停时间： " VerticalAlignment="Center" />
|
||||
<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>
|
||||
|
||||
<TabItem Header="降落" x:Name="landpage">
|
||||
<Grid Margin="10" >
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition />
|
||||
</Grid.RowDefinitions>
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition />
|
||||
<ColumnDefinition />
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
</Grid>
|
||||
</TabItem>
|
||||
|
||||
</TabControl>
|
||||
</StackPanel>
|
||||
<StackPanel Grid.Row="1"
|
||||
Orientation="Horizontal"
|
||||
VerticalAlignment="Bottom">
|
||||
<Button Content="添加" x:Name="addtaskbtn"
|
||||
Background="#232323"
|
||||
Command="{Binding AddTaskCommand}" />
|
||||
<Button Content="删除"
|
||||
Background="#232323"
|
||||
Command="{Binding DelTaskCommand}" />
|
||||
<Button Content="清除"
|
||||
Background="#232323"
|
||||
Command="{Binding ClearTasksCommand}" />
|
||||
<Button Content="重置"
|
||||
Background="#232323"
|
||||
Command="{Binding ResetTasksCommand}" />
|
||||
|
||||
<Button Content="更名" Visibility="Collapsed"
|
||||
Background="#232323"
|
||||
Command="{Binding renametaskCommand}" />
|
||||
<Button Content="原点"
|
||||
Background="#232323"
|
||||
Command="{Binding SetOriginCommand}" />
|
||||
|
||||
|
||||
<!--<Button Content="保存" />
|
||||
<Button Content="取消" />-->
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
|
||||
|
||||
</Grid>
|
||||
</UserControl>
|
||||
|
||||
@ -39,7 +39,7 @@ namespace Plane.FormationCreator.Views
|
||||
|
||||
}
|
||||
|
||||
private void ResetCamera()
|
||||
public void ResetCamera()
|
||||
{
|
||||
// view3d.CameraController.CameraPosition = new Point3D(0, 40, 1);
|
||||
// view3d.CameraController.CameraUpDirection = new Vector3D(0, -1, 10);
|
||||
@ -49,10 +49,12 @@ namespace Plane.FormationCreator.Views
|
||||
|
||||
var camera = view3d.Camera as PerspectiveCamera;
|
||||
camera.Position = new Point3D(0, 0, 1);
|
||||
//用于180度
|
||||
camera.LookDirection = new Vector3D(-0.025, -0.911, 0.411);
|
||||
//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);
|
||||
camera.UpDirection = new Vector3D(0.011, 0.411, 0.912);
|
||||
|
||||
|
||||
//用于0度
|
||||
//camera.LookDirection = new Vector3D(0, 1, 0);
|
||||
//camera.UpDirection = new Vector3D(0,0, 1);
|
||||
|
||||
@ -1,18 +1,19 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<packages>
|
||||
<package id="CommonServiceLocator" version="1.3" targetFramework="net45" />
|
||||
<package id="EntityFramework" version="6.2.0" targetFramework="net46" />
|
||||
<package id="GMap.NET.Windows" version="1.8.5" targetFramework="net46" />
|
||||
<package id="HelixToolkit" version="2.4.0" targetFramework="net46" />
|
||||
<package id="HelixToolkit.Wpf" version="2.4.0" targetFramework="net46" />
|
||||
<package id="MahApps.Metro" version="1.5.0" targetFramework="net46" />
|
||||
<package id="MaterialDesignColors" version="1.1.2" targetFramework="net46" />
|
||||
<package id="MaterialDesignThemes" version="1.4.0.473" targetFramework="net46" />
|
||||
<package id="Microsoft.Maps.MapControl.WPF" version="1.0.0.3" targetFramework="net46" />
|
||||
<package id="MvvmLightLibs" version="5.2.0.0" targetFramework="net46" />
|
||||
<package id="Newtonsoft.Json" version="9.0.1" targetFramework="net46" />
|
||||
<package id="System.Data.SQLite" version="1.0.109.1" targetFramework="net46" />
|
||||
<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" />
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<packages>
|
||||
<package id="CommonServiceLocator" version="1.3" targetFramework="net45" />
|
||||
<package id="EntityFramework" version="6.2.0" targetFramework="net46" />
|
||||
<package id="GMap.NET.Windows" version="1.8.5" targetFramework="net46" />
|
||||
<package id="HelixToolkit" version="2.4.0" targetFramework="net46" />
|
||||
<package id="HelixToolkit.Wpf" version="2.4.0" targetFramework="net46" />
|
||||
<package id="MahApps.Metro" version="1.5.0" targetFramework="net46" />
|
||||
<package id="MaterialDesignColors" version="1.1.2" targetFramework="net46" />
|
||||
<package id="MaterialDesignThemes" version="1.4.0.473" targetFramework="net46" />
|
||||
<package id="Microsoft.Maps.MapControl.WPF" version="1.0.0.3" targetFramework="net46" />
|
||||
<package id="MvvmLightLibs" version="5.2.0.0" targetFramework="net46" />
|
||||
<package id="Newtonsoft.Json" version="9.0.1" targetFramework="net46" />
|
||||
<package id="System.Data.SQLite" version="1.0.109.1" targetFramework="net46" />
|
||||
<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>
|
||||
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Reference in New Issue
Block a user