399 lines
12 KiB
C#
399 lines
12 KiB
C#
using Plane;
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using Plane.Collections;
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using Plane.FormationCreator.Formation;
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using Plane.Logging;
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using GalaSoft.MvvmLight;
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using GalaSoft.MvvmLight.CommandWpf;
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using System;
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using System.Collections.Generic;
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using System.Collections.Concurrent;
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using System.Linq;
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using System.Net.Sockets;
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using System.Text;
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using System.Text.RegularExpressions;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Input;
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using Plane.Communication;
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using Plane.Copters;
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using Plane.Windows.Messages;
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using Plane.FormationCreator.Properties;
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using System.IO;
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using Plane.CommunicationManagement;
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using Plane.Protocols;
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using Microsoft.Practices.ServiceLocation;
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using System.Windows.Media;
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namespace Plane.FormationCreator.ViewModels
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{
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public class ConnectViewModel : ViewModelBase
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{
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public ConnectViewModel(CopterManager copterManager)
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{
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_copterManager = copterManager;
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}
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private CopterManager _copterManager;
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private const int PORT = 5250;
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// 不严谨，稍微验证一下。
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private Regex _ipListRegex = new Regex(@"^(?:" + Environment.NewLine + @")*\d{1,3}(?:\.\d{1,3}){3}(?:" + Environment.NewLine + @"\d{1,3}(?:\.\d{1,3}){3})*(?:" + Environment.NewLine + @")*$", RegexOptions.Singleline | RegexOptions.Compiled);
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// private string _IPs = @"192.168.1.11
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//192.168.1.12
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//192.168.1.13
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//192.168.1.14
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//192.168.1.15
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//192.168.1.16
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//192.168.1.17
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//192.168.1.18
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//192.168.1.19
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//192.168.1.20
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//";
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private string _IPs = Settings.Default.IPs;
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public string IPs
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{
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get { return _IPs; }
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set { Set(nameof(IPs), ref _IPs, value); }
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}
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private bool _IsProcessing;
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public bool IsProcessing
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{
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get { return _IsProcessing; }
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set { Set(nameof(IsProcessing), ref _IsProcessing, value); }
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}
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private ICommand _ConnectCommand;
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public ICommand ConnectCommand
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{
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get
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{
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return _ConnectCommand ?? (_ConnectCommand = new RelayCommand<string>(async connectionType =>
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{
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await ConnectAsync();
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}
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));
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}
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}
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private ICommand _SendCommand;
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public ICommand SendCommand
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{
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get
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{
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return _SendCommand ?? (_SendCommand = new RelayCommand(async () =>
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{
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await commModule.SetCommCount(CopterCount, (short)(CopterStartNum - 1));
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}
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));
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}
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}
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// private ICommand _WriteCommand;
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// public ICommand WriteCommand
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// {
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// get
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// {
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// return _WriteCommand ?? (_WriteCommand = new RelayCommand(async () =>
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// {
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// await WriteCommandAsync();
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// }
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// ));
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// }
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// }
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private ICommand _CloseCommand;
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public ICommand CloseCommand
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{
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get
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{
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return _CloseCommand ?? (_CloseCommand = new RelayCommand(() =>
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{
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commModule.CloseConnection();
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}
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));
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}
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}
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private int _CopterNum;
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public int CopterNum
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{
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get { return _CopterNum; }
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set { Set(nameof(CopterNum), ref _CopterNum, value); }
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}
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private string _CopterColor = "";
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public string CopterColor
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{
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get { return _CopterColor; }
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set { Set(nameof(CopterColor), ref _CopterColor, value); }
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}
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private byte _TransmittedPower = 5;
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public byte TransmittedPower
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{
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get { return _TransmittedPower; }
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set { Set(nameof(TransmittedPower), ref _TransmittedPower, value); }
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}
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private short _CopterCount;
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public short CopterCount
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{
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get { return _CopterCount; }
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set { Set(nameof(CopterCount), ref _CopterCount, value); }
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}
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private short _CopterStartNum;
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public short CopterStartNum
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{
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get { return _CopterStartNum; }
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set { Set(nameof(CopterStartNum), ref _CopterStartNum, value); }
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}
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private ICommand _WriteIdCommand;
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public ICommand WriteIdCommand
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{
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get
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{
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return _WriteIdCommand ?? (_WriteIdCommand = new RelayCommand(async () =>
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{
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await WriteIdCommandAsync(CopterNum, MavComm.COMM_SEARCH_MODE);
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}
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));
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}
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}
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private ICommand _ChangeWriteMissionCommand;
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public ICommand ChangeWriteMissionCommand
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{
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get
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{
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return _ChangeWriteMissionCommand ?? (_ChangeWriteMissionCommand = new RelayCommand(async () =>
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{
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await WriteIdCommandAsync(0, MavComm.COMM_DOWNLOAD_MODE);
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}
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));
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}
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}
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private ICommand _StateInquireCommand;
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public ICommand StateInquireCommand
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{
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get
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{
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return _StateInquireCommand ?? (_StateInquireCommand = new RelayCommand(async () =>
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{
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await WriteIdCommandAsync(0, 0x00);
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}
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));
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}
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}
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private ICommand _QueryAllCopterCommand;
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public ICommand QueryAllCopterCommand
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{
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get
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{
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return _QueryAllCopterCommand ?? (_QueryAllCopterCommand = new RelayCommand(async () =>
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{
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if (commModule.CommModuleCopterCount > 0)
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{
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short queryCount = 40;
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short begin = 1;
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while (begin < commModule.CommModuleCopterCount)
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{
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short end = (short)(begin + queryCount -1);
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if (end > commModule.CommModuleCopterCount)
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end = (short)commModule.CommModuleCopterCount;
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byte[] beginByte = BitConverter.GetBytes(begin);
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byte[] endByte = BitConverter.GetBytes(end);
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byte[] query = beginByte.Concat(endByte).ToArray();
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await commModule.WriteCommPacketAsync(0, 0x20, query);
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begin += queryCount;
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await Task.Delay(1000);
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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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private ICommand _UpdateAllCopterCommand;
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public ICommand UpdateAllCopterCommand
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{
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get
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{
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return _UpdateAllCopterCommand ?? (_UpdateAllCopterCommand = new RelayCommand(async () =>
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{
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Message.Show("-----开始空中升级------");
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await commModule.UpdateCommModule();
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}));
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}
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}
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/// <summary>
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/// 全部1S一次闪灯 主要用于测试通信
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/// </summary>
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private ICommand _CommDataAsync;
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public ICommand CommDataAsync
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{
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get
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{
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return _CommDataAsync ?? (_CommDataAsync = new RelayCommand(async () =>
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{
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await commModule.TestLED((short)CopterNum, CopterColor);
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}
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));
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}
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}
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/// <summary>
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/// 设置回传功率
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/// </summary>
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private ICommand _CommSetPowerAsync;
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public ICommand CommSetPowerAsync
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{
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get
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{
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return _CommSetPowerAsync ?? (_CommSetPowerAsync = new RelayCommand(async () =>
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{
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if (TransmittedPower >= 1 && TransmittedPower <= 16)
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await commModule.SetCopterCommBackPower((short)CopterNum, TransmittedPower);
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else
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Alert.Show("功率范围只能设置为1-16");
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}));
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}
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}
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/// <summary>
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/// 获取配置
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/// </summary>
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private ICommand _CommGetCurrSysParmAsync;
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public ICommand CommGetCurrSysParmAsync
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{
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get
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{
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return _CommGetCurrSysParmAsync ?? (_CommGetCurrSysParmAsync = new RelayCommand(async () =>
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{
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await commModule.GetCurr_Sys_Parm();
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}));
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}
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}
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/// <summary>
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/// 改写配置
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/// </summary>
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private ICommand _CommSetCurrSysParmAsync;
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public ICommand CommSetCurrSysParmAsync
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{
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get
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{
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return _CommSetCurrSysParmAsync ?? (_CommSetCurrSysParmAsync = new RelayCommand(async () =>
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{
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await commModule.SetCurr_Sys_Parm();
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}));
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}
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}
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private List<IMission> CreateLEDMissions(IEnumerable<LEDInfo> LEDInfos)
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{
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List<IMission> missions = new List<IMission>();
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foreach (LEDInfo ledInfo in LEDInfos)
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{
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Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
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IMission LEDMission = Mission.CreateLEDControlMission(
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(int)(ledInfo.Delay * 10),
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ledInfo.LEDMode,
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ledInfo.LEDRate,
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0, //ledInfo.LEDTimes,
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color.R,
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color.G,
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color.B
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);
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missions.Add(LEDMission);
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}
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return missions;
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}
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private async Task WriteIdCommandAsync(int num, short messageType)
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{
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await commModule.WriteCommPacketAsync((short)num, messageType);
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}
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private async Task SendCommandAsync(int Count)
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{
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MavComm.comm_set_mav_count mavCount = new MavComm.comm_set_mav_count();
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mavCount.mav_count = (short)Count;
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await commModule.GenerateDataAsync(0, MavComm.COMM_SET_MAV_COUNT, mavCount);
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}
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public async Task<bool> DoCommandAsync(MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
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{
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MAVLink.mavlink_command_long_t req = new MAVLink.mavlink_command_long_t();
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req.target_system = 1;
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req.target_component = 1;
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if (actionid == MAVLink.MAV_CMD.COMPONENT_ARM_DISARM)
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{
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req.target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;
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}
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req.command = (ushort)actionid;
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req.param1 = p1;
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req.param2 = p2;
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req.param3 = p3;
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req.param4 = p4;
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req.param5 = p5;
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req.param6 = p6;
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req.param7 = p7;
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await Task.Delay(10);
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return true;
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}
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CommModuleManager commModule = CommModuleManager.Instance;
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private async Task ConnectAsync()
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{
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await commModule.ConnectAsync();
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}
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private async Task DisConnetAsync()
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{
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await Task.Delay(20).ConfigureAwait(false);
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}
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private Action _closeWindowCallback;
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public void SetCloseWindowAction(Action closeWindowAction)
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{
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_closeWindowCallback = closeWindowAction;
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}
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private void CloseWindow()
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{
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if (_closeWindowCallback == null) return;
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var dispatcher = App.Current.Dispatcher;
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if (dispatcher.CheckAccess())
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{
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_closeWindowCallback();
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}
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else
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{
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dispatcher.InvokeAsync(() =>
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{
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_closeWindowCallback.Invoke();
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});
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}
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}
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}
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}
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