pxzleo
125bafc8e7
[FlightTask_FlyTo.cs]在飞往过程中支持跳过 [FlightTask_LoiterTime.cs]悬停任务支持暂停和跳过，之前支持不好 [FlightTask_ReturnToLand.cs]降落支持跳过 [FlightTask_TakeOff.cs]起飞支持跳过 [MapView_CopterDrawing.cs]标记为跳过的飞机变成红色文字
724 lines
25 KiB
C#
724 lines
25 KiB
C#
using System;
|
||
using System.Collections.Generic;
|
||
using System.Linq;
|
||
using System.Text;
|
||
using System.Threading.Tasks;
|
||
|
||
namespace Plane.FormationCreator.Formation
|
||
{
|
||
public partial class FlightTask
|
||
{
|
||
private float _LoiterTimeAttr = 0.0f;
|
||
public float LoiterTimeAttr
|
||
{
|
||
get { return _LoiterTimeAttr; }
|
||
set
|
||
{
|
||
Set(nameof(LoiterTimeAttr), ref _LoiterTimeAttr, value);
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
// 改变机头
|
||
private bool _ChangeYaw = false;
|
||
public bool ChangeYaw
|
||
{
|
||
get { return _ChangeYaw; }
|
||
set
|
||
{
|
||
Set(nameof(ChangeYaw), ref _ChangeYaw, value);
|
||
}
|
||
}
|
||
|
||
// 机头方向0为北，顺时针360
|
||
private float _HeadYaw = 1.0f;
|
||
public float HeadYaw
|
||
{
|
||
get { return _HeadYaw; }
|
||
set
|
||
{
|
||
Set(nameof(HeadYaw), ref _HeadYaw, value);
|
||
}
|
||
}
|
||
|
||
|
||
|
||
// LED灯闪烁
|
||
private bool _flashAttr = false;
|
||
public bool flashAttr
|
||
{
|
||
get { return _flashAttr; }
|
||
set
|
||
{
|
||
Set(nameof(flashAttr), ref _flashAttr, value);
|
||
}
|
||
}
|
||
|
||
// LED闪烁次数
|
||
private float _flashPeriodAttr = 1.0f;
|
||
public float flashPeriodAttr
|
||
{
|
||
get { return _flashPeriodAttr; }
|
||
set
|
||
{
|
||
Set(nameof(flashPeriodAttr), ref _flashPeriodAttr, value);
|
||
}
|
||
}
|
||
private string Name2Index(string name) // 获取指定copter名字对应的序号
|
||
{
|
||
int index = -1;
|
||
for (int i = 0; i < SingleCopterInfos.Count; i++)
|
||
{
|
||
if (name.Equals(SingleCopterInfos[i].Copter.Name))
|
||
{
|
||
return i.ToString();
|
||
}
|
||
}
|
||
return index.ToString();
|
||
}
|
||
|
||
// 闪烁的飞机名字编号
|
||
private string _flashCopterNameArray = "";
|
||
public string flashCopterNameArray
|
||
{
|
||
get { return _flashCopterNameArray; }
|
||
set
|
||
{
|
||
Set(nameof(flashCopterNameArray), ref _flashCopterNameArray, value);
|
||
|
||
flashCopterIndexArray = "";
|
||
|
||
string[] copterArray = flashCopterNameArray.Split(',');
|
||
|
||
for (int i = 0; i < copterArray.Length; i++)
|
||
{
|
||
flashCopterIndexArray += Name2Index(copterArray[i])+',';
|
||
}
|
||
}
|
||
}
|
||
|
||
// 闪烁的飞机序号编号
|
||
private string _flashCopterIndexArray = "";
|
||
public string flashCopterIndexArray
|
||
{
|
||
get { return _flashCopterIndexArray; }
|
||
set
|
||
{
|
||
Set(nameof(flashCopterIndexArray), ref _flashCopterIndexArray, value);
|
||
}
|
||
}
|
||
|
||
// LED走马灯
|
||
private bool _oneByOneAttr = false;
|
||
public bool oneByOneAttr
|
||
{
|
||
get { return _oneByOneAttr; }
|
||
set
|
||
{
|
||
Set(nameof(oneByOneAttr), ref _oneByOneAttr, value);
|
||
}
|
||
}
|
||
|
||
// LED走马灯次数
|
||
private float _oneByOnePeriodAttr = 1.0f;
|
||
public float oneByOnePeriodAttr
|
||
{
|
||
get { return _oneByOnePeriodAttr; }
|
||
set
|
||
{
|
||
Set(nameof(oneByOnePeriodAttr), ref _oneByOnePeriodAttr, value);
|
||
}
|
||
}
|
||
|
||
private int[] columnFirst = {0, 1, 2, 3, 4 };
|
||
private int[] columnSecond = { 5, 6, 7, 8, 9 };
|
||
private int[] columnThird = { 10, 11, 12, 13, 14 };
|
||
private int[] columnFourth = { 15, 16, 17, 18, 19 };
|
||
private int[] columnFive = { 20, 21, 22, 23, 24 };
|
||
private int[] columnSix = { 25, 26, 27, 28, 29 };
|
||
|
||
private int[] rowFirst = { 0, 5, 10, 15, 20, 25 };
|
||
private int[] rowSecond = { 1, 6, 11, 16, 21, 26 };
|
||
private int[] rowThird = { 2, 7, 12, 17, 22, 27 };
|
||
private int[] rowFourth = { 3, 8, 13, 18, 23, 28 };
|
||
private int[] rowFive = { 4, 9, 14, 19, 24, 29 };
|
||
|
||
private int[] rowFirstForEight = { 0, 1, 2, 3 };
|
||
private int[] rowSecondForEight = { 4, 5, 6, 7 };
|
||
|
||
private int[] doubleColumnFirst = { 0, 1, 2, 3, 4, 25, 26, 27, 28, 29 };
|
||
private int[] doubleColumnSecond = { 5, 6, 7, 8, 9, 20, 21, 22, 23, 24 };
|
||
private int[] doubleColumnThird = { 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 };
|
||
|
||
private int[] circleFirst = { 0, 1, 2, 3, 4, 9, 14, 19, 24, 29, 28, 27, 26, 25, 20, 15, 10, 5 };
|
||
private int[] circleSecond = { 6, 7, 8, 13, 18, 23, 22, 21, 16, 11 };
|
||
private int[] circleThird = { 12, 17 };
|
||
|
||
private int[] lineFirst = { 4 };
|
||
private int[] lineSecond = { 3, 9 };
|
||
private int[] lineThird = { 2, 8, 14 };
|
||
private int[] lineFourth = { 1, 7, 13, 19 };
|
||
private int[] lineFive = { 0, 6, 12, 18, 24 };
|
||
private int[] lineSix = { 5, 11, 17, 23, 29 };
|
||
private int[] lineSeven = { 10, 16, 22, 28 };
|
||
private int[] lineEight = { 15, 21, 27 };
|
||
private int[] lineNine = { 20, 26 };
|
||
private int[] lineTen = { 25 };
|
||
|
||
public async Task RunLoiterTimeTaskAsync()
|
||
{
|
||
|
||
if (ChangeYaw)
|
||
{
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => SetCopterYawAsync(info,HeadYaw)));
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
// 判断flashPeriodAttr, oneByOnePeriodAttr的值，执行不同的闪烁模式
|
||
// 当flashPeriodAttr小于10，正常闪烁，即没有预制闪烁模式
|
||
// 当flashPeriodAttr大于等于10，小于20，执行预制闪烁模式
|
||
// 当flashPeriodAttr大于等于20， 改变飞控闪烁模式，以oneByOnePeriodAttr作为周期值
|
||
|
||
//LEDFlashPlanAsync需要30架飞机
|
||
if ((flashPeriodAttr >= 10.0f) && (flashPeriodAttr < 20.0f))
|
||
{
|
||
await LEDFlashPlanAsync();
|
||
return;
|
||
}
|
||
|
||
//需要固件支持
|
||
if (flashPeriodAttr >= 20.0f)
|
||
{
|
||
await LEDFlashParaModifyPlanAsync();
|
||
return;
|
||
}
|
||
|
||
|
||
var infos = SingleCopterInfos;
|
||
if (flashAttr) // LED闪烁显示效果
|
||
{
|
||
if (flashCopterIndexArray.Equals(""))
|
||
return;
|
||
string[] copterArray = flashCopterIndexArray.Split(',');
|
||
|
||
var tasks_selected = new Task[copterArray.Length];
|
||
|
||
// LED灯全灭
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(1000).ConfigureAwait(false);
|
||
|
||
// 选中的飞机LED灯全亮
|
||
for (int i = 0; i < copterArray.Length; i++)
|
||
{
|
||
int index = int.Parse(copterArray[i]);
|
||
var info = infos[index];
|
||
|
||
tasks_selected[i] = await Task.Factory.StartNew(async () =>
|
||
{
|
||
var internalInfo = info;
|
||
await LEDFlashTaskFlySingleCopterAsync(internalInfo, true);
|
||
});
|
||
}
|
||
await Task.WhenAll(tasks_selected).ConfigureAwait(false);
|
||
await Task.Delay(3000).ConfigureAwait(false);
|
||
// LED灯全亮
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, true)));
|
||
//延时等待
|
||
//判断是否下一步
|
||
DateTime start = DateTime.Now;
|
||
|
||
while (true)
|
||
{
|
||
if (_flightTaskManager.IsPaused == true)
|
||
{
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => (info.Copter.HoverAsync())));
|
||
return;
|
||
}
|
||
|
||
DateTime end = DateTime.Now;
|
||
TimeSpan ts = end - start;
|
||
//等待指定时间
|
||
if (ts.TotalMilliseconds > LoiterTimeAttr * 1000)
|
||
break;
|
||
await Task.Delay(20).ConfigureAwait(false);
|
||
|
||
}
|
||
|
||
|
||
|
||
}
|
||
else if (oneByOneAttr) // LED走马灯显示效果
|
||
{
|
||
if (flashCopterNameArray.Equals(""))
|
||
return;
|
||
string[] copterArray = flashCopterIndexArray.Split(',');
|
||
//LED全灭
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(1000).ConfigureAwait(false);
|
||
|
||
// LED灯一个接一个全亮
|
||
for (int i = 0; i < copterArray.Length; i++)
|
||
{
|
||
if (copterArray[i] == "") break;
|
||
int index = int.Parse(copterArray[i]);
|
||
var info = infos[index];
|
||
await LEDFlashTaskFlySingleCopterAsync(info, true);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
}
|
||
|
||
await Task.Delay(1000).ConfigureAwait(false);
|
||
|
||
//////////////////全部闪烁一次
|
||
// LED灯全亮
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, true)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
// LED灯全灭
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
/////////////////////////////////////
|
||
//////////////////全部闪烁一次
|
||
// LED灯全亮
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, true)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
// LED灯全灭
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
/////////////////////////////////////
|
||
//////////////////全部闪烁一次
|
||
// LED灯全亮
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, true)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
// LED灯全灭
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
/////////////////////////////////////
|
||
|
||
|
||
// LED灯全亮
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, true)));
|
||
//延时等待
|
||
|
||
//判断是否下一步
|
||
DateTime start = DateTime.Now;
|
||
while (true)
|
||
{
|
||
if (_flightTaskManager.IsPaused == true)
|
||
{
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => (info.Copter.HoverAsync())));
|
||
return;
|
||
}
|
||
|
||
DateTime end = DateTime.Now;
|
||
TimeSpan ts = end - start;
|
||
//等待指定时间
|
||
if (ts.TotalMilliseconds > LoiterTimeAttr * 1000)
|
||
break;
|
||
await Task.Delay(20).ConfigureAwait(false);
|
||
|
||
}
|
||
|
||
|
||
}
|
||
else // 没有LED显示效果只等待
|
||
{
|
||
|
||
//判断是否下一步
|
||
DateTime start = DateTime.Now;
|
||
|
||
while (true)
|
||
{
|
||
if (_flightTaskManager.IsPaused == true)
|
||
{
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => (info.Copter.HoverAsync())));
|
||
return;
|
||
}
|
||
|
||
DateTime end = DateTime.Now;
|
||
TimeSpan ts = end - start;
|
||
//等待指定时间
|
||
if (ts.TotalMilliseconds > LoiterTimeAttr * 1000)
|
||
break;
|
||
await Task.Delay(20).ConfigureAwait(false);
|
||
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
private async Task LEDFlashParaModifyPlanAsync()
|
||
{
|
||
/*
|
||
await LEDFlashParaModifyAsync(rowFirstForEight);
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDFlashParaModifyAsync(rowSecondForEight);
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
*/
|
||
|
||
int copterCount = SingleCopterInfos.Count();
|
||
int[] intArray = new int[copterCount];
|
||
for (int ii=0; ii<copterCount; ii++)
|
||
{
|
||
intArray[ii] = ii;
|
||
}
|
||
await LEDFlashParaModifyAsync(intArray);
|
||
|
||
/*
|
||
await LEDFlashParaModifyAsync(rowFirst);
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDFlashParaModifyAsync(rowSecond);
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDFlashParaModifyAsync(rowThird);
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDFlashParaModifyAsync(rowFourth);
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDFlashParaModifyAsync(rowFive);
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
*/
|
||
}
|
||
|
||
private async Task LEDFlashParaModifyAsync(int[] LEDArray)
|
||
{
|
||
var infos = SingleCopterInfos;
|
||
|
||
var tasks_selected = new Task[LEDArray.Length];
|
||
for (int i = 0; i < LEDArray.Length; i++)
|
||
{
|
||
var info = infos[LEDArray[i]];
|
||
|
||
tasks_selected[i] = await Task.Factory.StartNew(async () =>
|
||
{
|
||
var internalInfo = info;
|
||
await LEDParaModifySingleCopterAsync(internalInfo, oneByOnePeriodAttr);
|
||
});
|
||
}
|
||
await Task.WhenAll(tasks_selected).ConfigureAwait(false);
|
||
}
|
||
private async Task SetCopterYawAsync(FlightTaskSingleCopterInfo info, float headyaw)
|
||
{
|
||
var copter = info.Copter;
|
||
|
||
// await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
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;
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
var tasks = new Task[1];
|
||
tasks[0] = Task.Run(async () =>
|
||
{
|
||
try
|
||
{
|
||
await copter.SetMobileControlAsync(yaw: headyaw);
|
||
|
||
while (!copter.ArrivedHeading((short)headyaw))
|
||
{
|
||
if (_flightTaskManager.IsPaused == true)
|
||
{
|
||
await info.Copter.HoverAsync();
|
||
return;
|
||
}
|
||
await Task.Delay(25).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;
|
||
}
|
||
}
|
||
}
|
||
catch (TimeoutException ex)
|
||
{
|
||
_logger.Log($"SetYAWtimeout, {ex.Message}, CopterId: {copter.Id}。");
|
||
}
|
||
});
|
||
await Task.WhenAll(tasks).ConfigureAwait(false);
|
||
}
|
||
private async Task LEDParaModifySingleCopterAsync(FlightTaskSingleCopterInfo info, float count)
|
||
{
|
||
var copter = info.Copter;
|
||
|
||
int copterIndex = SingleCopterInfos.IndexOf(info);
|
||
// 当该飞机被标记时，悬停并跳过飞行任务
|
||
if ((bool)_copterManager.CopterStatus[copterIndex])
|
||
{
|
||
await info.Copter.HoverAsync();
|
||
return;
|
||
}
|
||
var tasks = new Task[1];
|
||
tasks[0] = Task.Run(async () =>
|
||
{
|
||
try
|
||
{
|
||
if (count == 1.0)
|
||
await copter.SetShowLEDAsync(true);
|
||
else
|
||
await copter.SetShowLEDAsync(false);
|
||
//await copter.SetParamAsync("NTF_SHOWLED", count, 5000);
|
||
}
|
||
catch (TimeoutException ex)
|
||
{
|
||
_logger.Log($"SetShowLEDAsync 超时, {ex.Message}, CopterId: {copter.Id}。");
|
||
}
|
||
});
|
||
|
||
/*
|
||
var tasks = new Task[2];
|
||
tasks[0] = Task.Run(async () =>
|
||
{
|
||
try
|
||
{
|
||
await copter.SetParamAsync("NOTI_GPSLED", count, 5000);
|
||
}
|
||
catch (TimeoutException ex)
|
||
{
|
||
_logger.Log($"NOTI_GPSLED 超时, {ex.Message}, CopterId: {copter.Id}。");
|
||
}
|
||
});
|
||
tasks[1] = Task.Run(async () =>
|
||
{
|
||
try
|
||
{
|
||
await copter.SetParamAsync("NOTI_ARMLED", count, 5000);
|
||
}
|
||
catch (TimeoutException ex)
|
||
{
|
||
_logger.Log($"NOTI_ARMLED 超时, {ex.Message}, CopterId: {copter.Id}。");
|
||
}
|
||
});
|
||
*/
|
||
await Task.WhenAll(tasks).ConfigureAwait(false);
|
||
}
|
||
|
||
/**
|
||
* isOn为true，打开灯；isOn为false，关闭灯
|
||
*/
|
||
private async Task LEDFlashTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info, bool isOn)
|
||
{
|
||
var copter = info.Copter;
|
||
|
||
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;
|
||
}
|
||
// float gpsLed = await c.GetParamAsync("NOTI_GPSLED");
|
||
|
||
/*
|
||
float ledControl = 0.0f; //关灯
|
||
if (isOn)
|
||
{
|
||
ledControl = 1.0f; //长亮
|
||
}
|
||
*/
|
||
var tasks = new Task[1];
|
||
tasks[0] = Task.Run(async () =>
|
||
{
|
||
try
|
||
{
|
||
await copter.SetShowLEDAsync(isOn);
|
||
// await copter.SetParamAsync("NTF_SHOWLED", ledControl, 5000);
|
||
}
|
||
catch (TimeoutException ex)
|
||
{
|
||
_logger.Log($"SetShowLED 超时, {ex.Message}, CopterId: {copter.Id}。");
|
||
}
|
||
});
|
||
|
||
/*
|
||
var tasks = new Task[2];
|
||
tasks[0] = Task.Run(async () =>
|
||
{
|
||
try
|
||
{
|
||
await copter.SetParamAsync("NOTI_GPSLED", ledControl, 5000);
|
||
}
|
||
catch (TimeoutException ex)
|
||
{
|
||
_logger.Log($"NOTI_GPSLED 超时, {ex.Message}, CopterId: {copter.Id}。");
|
||
}
|
||
});
|
||
tasks[1] = Task.Run(async () =>
|
||
{
|
||
try
|
||
{
|
||
await copter.SetParamAsync("NOTI_ARMLED", ledControl, 5000);
|
||
}
|
||
catch (TimeoutException ex)
|
||
{
|
||
_logger.Log($"NOTI_ARMLED 超时, {ex.Message}, CopterId: {copter.Id}。");
|
||
}
|
||
});
|
||
*/
|
||
await Task.WhenAll(tasks).ConfigureAwait(false);
|
||
}
|
||
|
||
private async Task LEDFlashPlanAsync()
|
||
{
|
||
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDColumnFlashAsync();
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDDoubleColumnFlashAsync();
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDLineFlashAsync();
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await LEDCircleFlashAsync();
|
||
await Task.Delay(500).ConfigureAwait(false);
|
||
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, true)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, false)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, true)));
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
}
|
||
|
||
// 一排一排闪烁 需要30架飞机，6排，一排5架，一排排闪灯
|
||
private async Task LEDColumnFlashAsync()
|
||
{
|
||
await LEDArrayFlashAsync(columnFirst);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(columnSecond);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(columnThird);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(columnFourth);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(columnFive);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(columnSix);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
}
|
||
|
||
// 以圆圈收缩形式显示
|
||
private async Task LEDCircleFlashAsync()
|
||
{
|
||
|
||
await LEDArrayFlashAsync(circleFirst);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(circleSecond);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(circleThird);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
}
|
||
|
||
// 两列同时闪烁
|
||
private async Task LEDDoubleColumnFlashAsync()
|
||
{
|
||
|
||
await LEDArrayFlashAsync(doubleColumnFirst);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(doubleColumnSecond);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(doubleColumnThird);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
}
|
||
|
||
// 斜线方式闪烁
|
||
private async Task LEDLineFlashAsync()
|
||
{
|
||
|
||
await LEDArrayFlashAsync(lineFirst);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineSecond);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineThird);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineFourth);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineFive);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineSix);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineSeven);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineEight);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineNine);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
|
||
await LEDArrayFlashAsync(lineTen);
|
||
await Task.Delay(200).ConfigureAwait(false);
|
||
}
|
||
|
||
private async Task LEDArrayFlashAsync(int[] LEDArray)
|
||
{
|
||
var infos = SingleCopterInfos;
|
||
|
||
var tasks_selected = new Task[LEDArray.Length];
|
||
for (int i = 0; i < LEDArray.Length; i++)
|
||
{
|
||
var info = infos[LEDArray[i]];
|
||
|
||
tasks_selected[i] = await Task.Factory.StartNew(async () =>
|
||
{
|
||
var internalInfo = info;
|
||
await LEDFlashTaskFlySingleCopterAsync(internalInfo, true);
|
||
});
|
||
}
|
||
await Task.WhenAll(tasks_selected).ConfigureAwait(false);
|
||
}
|
||
|
||
}
|
||
}
|