605 lines
23 KiB
C#
605 lines
23 KiB
C#
using Plane.Copters;
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using Plane;
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using Plane.FormationCreator.Formation;
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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;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Linq;
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using System.Text;
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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 System.Threading;
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using Plane.Communication;
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using Plane.Geography;
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using Microsoft.Practices.ServiceLocation;
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using Plane.FormationCreator.Util;
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using Newtonsoft.Json;
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using System.IO;
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using Newtonsoft.Json.Linq;
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using Plane.Windows.Messages;
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using Plane.Collections;
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namespace Plane.FormationCreator.ViewModels
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{
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public class CopterListViewModel : ViewModelBase
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{
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public CopterListViewModel(CopterManager copterManager, MapManager mapManager, FlightTaskManager flightTaskManager, GroupManager groupManager)
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{
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_copterManager = copterManager;
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_mapManager = mapManager;
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_flightTaskManager = flightTaskManager;
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_groupManager = groupManager;
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/*
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System.Timers.Timer t = new System.Timers.Timer(5000); //实例化Timer类，设置间隔时间为1秒；
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t.Elapsed += new System.Timers.ElapsedEventHandler(theout); //到达时间的时候执行事件；
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t.AutoReset = true; //设置是执行一次（false）还是一直执行(true)；
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t.Enabled = true; //是否执行System.Timers.Timer.Elapsed事件；
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*/
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}
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public void theout(object source, System.Timers.ElapsedEventArgs e)
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{
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int allrec = 0;
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int allsend = 0;
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int copterrec = 0;
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int coptersend = 0;
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foreach (var copter in _copterManager.Copters)
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{
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copter.GetCommunicationNumber(out copterrec, out coptersend);
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allrec += copterrec;
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allsend += coptersend;
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copter.ResetCommunicationNumber();
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}
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allrec /= 5;
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allsend /= 5;
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if (_copterManager.Copters.Count>0)
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Communinfo = "接收：" + allrec + "/s;发送："+ allsend+"/s 单机:"+ allrec/ _copterManager.Copters.Count+"/s;"+
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allsend / _copterManager.Copters.Count+"/s";
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}
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private GroupManager _groupManager;
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private CopterManager _copterManager;
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private MapManager _mapManager;
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private FlightTaskManager _flightTaskManager;
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private View3DManager _view3DManager = ServiceLocator.Current.GetInstance<View3DManager>();
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public CopterManager CopterManager { get { return _copterManager; } }
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private ICopter _SelectedCopter;
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public ICopter SelectedCopter
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{
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get { return _SelectedCopter; }
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set { Set(nameof(SelectedCopter), ref _SelectedCopter, value); }
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}
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private int _virtualCopterId = 1;
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private LatLng? _lastVirtualCopterLocation;
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private string _Communinfo = "";
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public string Communinfo
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{
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get { return _Communinfo; }
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set { Set(nameof(Communinfo), ref _Communinfo, value); }
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}
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private int _IntervalNum;
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public int IntervalNum
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{
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get { return _IntervalNum; }
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set { Set(nameof(IntervalNum), ref _IntervalNum, value); }
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}
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private int _RowNum;
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public int RowNum
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{
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get { return _RowNum; }
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set { Set(nameof(RowNum), ref _RowNum, value); }
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}
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private int _ContinuousNum;
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public int ContinuousNum
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{
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get { return _ContinuousNum; }
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set { Set(nameof(ContinuousNum), ref _ContinuousNum, value); }
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}
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private bool _ShowTemp = false;
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public bool ShowTemp
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{
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get { return _ShowTemp; }
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set { Set(nameof(ShowTemp), ref _ShowTemp, value); }
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}
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public ObservableCollection<string[]> CopterGroups { get; } = new ObservableCollection<string[]>();
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private int getNextcopterindex( int currindex)
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{
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//每行数量
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int colcount = _flightTaskManager.ColumnCount;
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int newind = currindex;
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for (int i = 0;i< IntervalNum;i++)
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{
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newind +=1;
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if ((newind % colcount) == 0)
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newind += RowNum * colcount;
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}
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return newind;
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}
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private ICommand _IntervalSelectCoptersCommand;
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public ICommand IntervalSelectCoptersCommand
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{
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get
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{
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return _IntervalSelectCoptersCommand ?? (_IntervalSelectCoptersCommand = new RelayCommand(() =>
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{
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if (_copterManager.AcceptingControlCopters.Count() != 1 || IntervalNum == 0 || ContinuousNum == 0)
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return;
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ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
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_copterManager.Select(null);
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int index = _copterManager.Copters.IndexOf(copter);
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_copterManager.shiftkeydown = true;
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int colcount = _flightTaskManager.ColumnCount;
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for (; index < _copterManager.Copters.Count; index= getNextcopterindex( index) )
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{
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for (int i = 0; i < ContinuousNum; i++)
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{
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if (index >= _copterManager.Copters.Count) break;
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_copterManager.Select(_copterManager.Copters[index]);
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index += 1;
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if ((index % colcount) == 0)
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index += RowNum * colcount;
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getNextcopterindex(index);
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}
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}
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/*
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for (; index < _copterManager.Copters.Count; index += IntervalNum)
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{
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for (int i = 0; i < ContinuousNum; i++)
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{
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if (index >= _copterManager.Copters.Count) break;
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_copterManager.Select(_copterManager.Copters[index]);
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index++;
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}
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}
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*/
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_copterManager.shiftkeydown = false;
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}));
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}
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}
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private ICommand _OnlyShowSelectedCoptersCommand;
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public ICommand OnlyShowSelectedCoptersCommand
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{
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get
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{
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return _OnlyShowSelectedCoptersCommand ?? (_OnlyShowSelectedCoptersCommand = new RelayCommand(async () =>
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{
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if (_copterManager.SelectedCopters.Count() > 0)
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{
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Plane.Windows.Messages.Message.Show("隐藏飞机");
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_copterManager.ShowCopter.Clear();
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_copterManager.ShowCopter.AddRange(_copterManager.SelectedCopters);
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}
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await Task.Delay(10);
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}));
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}
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}
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private ICommand _SortbyVIdCommand;
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public ICommand SortbyVIdCommand
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{
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get
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{
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return _SortbyVIdCommand ?? (_SortbyVIdCommand = new RelayCommand( () =>
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{
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_copterManager.SortType = CopterManager.CopterSortType.ByVID;
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//强制刷新飞机显示
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// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
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}));
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}
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}
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private ICommand _SortbyIdCommand;
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public ICommand SortbyIdCommand
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{
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get
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{
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return _SortbyIdCommand ?? (_SortbyVIdCommand = new RelayCommand(() =>
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{
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_copterManager.SortType = CopterManager.CopterSortType.ByID;
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//强制刷新飞机显示
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// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
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}));
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}
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}
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private ICommand _ShowAllCoptersCommand;
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public ICommand ShowAllCoptersCommand
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{
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get
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{
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return _ShowAllCoptersCommand ?? (_ShowAllCoptersCommand = new RelayCommand(async () =>
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{
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Plane.Windows.Messages.Message.Show("显示飞机");
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_copterManager.ShowCopter.Clear();
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await Task.Delay(10);
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}));
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}
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}
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private ICommand _ShowAllIDCommand;
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public ICommand ShowAllIDCommand
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{
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get
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{
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return _ShowAllIDCommand ?? (_ShowAllIDCommand = new RelayCommand(() =>
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{
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_copterManager.SortType = CopterManager.CopterSortType.ByVIDShowAll;
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//强制刷新飞机显示
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// _copterManager.Copters.ForEach(copter => copter.RefreashLoc());
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}));
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}
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}
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private ICommand _AddVirtualCopterCommand;
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public ICommand AddVirtualCopterCommand
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{
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get
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{
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return _AddVirtualCopterCommand ?? (_AddVirtualCopterCommand = new RelayCommand<int>(async addcount =>
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{
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//给第三方时候限制数量用
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// if (_copterManager.Copters.Count() >= VersionControl.CopterUpperLimit)
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/// {
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// return;
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// }
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var center = _mapManager.Center;
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string id;
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int colnum = _flightTaskManager.ColumnCount; //自动生成列数=4
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float coldis = _flightTaskManager.ColumnDistance;//列相距5米
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float rowdis = _flightTaskManager.RowDistance;//行相距5米
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int orientation = _flightTaskManager.Orientation; //矩阵朝向
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int currcol = 0; //当前列号
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int currrow = 0; //当前行
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Tuple<double, double> colheadLatLng = new Tuple<double, double>(0, 0);
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Tuple<double, double> targetLatLng = new Tuple<double, double>(0, 0);
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//内蒙地区
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// if (center.Lat < 37.4307185218 || center.Lat > 45.6754821756
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// || center.Lng < 97.3493089056 || center.Lng > 115.8006783856)
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// return ;
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LatLng? colLatLng = new LatLng(center.Lat, center.Lng);
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for (int i = 0; i < addcount; ++i, ++_virtualCopterId)
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{
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id = _virtualCopterId.ToString();
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if (i == 0)
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{
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_lastVirtualCopterLocation = new LatLng(center.Lat, center.Lng);
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colLatLng = _lastVirtualCopterLocation;
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}
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else
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{
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if (currcol < colnum)
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targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Value.Lat, colLatLng.Value.Lng , orientation + 90, (currcol * coldis));
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else
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{
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currrow++;
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currcol = 0;
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targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(colLatLng.Value.Lat, colLatLng.Value.Lng, orientation + 180, rowdis);
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colLatLng = new LatLng(targetLatLng.Item1, targetLatLng.Item2);
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colheadLatLng = targetLatLng;
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}
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/*
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//随机位置，偏差40cm
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Random r1 = new Random();
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float rdrad= ((float)r1.Next(0, 360));
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float rddis = ((float)r1.Next(-40, 40) / 100.0f);
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targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(targetLatLng.Item1, targetLatLng.Item2, rdrad, rddis);
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*/
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_lastVirtualCopterLocation = new LatLng(targetLatLng.Item1, targetLatLng.Item2);
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}
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currcol++;
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/* _lastVirtualCopterLocation =
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_lastVirtualCopterLocation == null ?
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new LatLng(center.Lat, center.Lng) :
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new LatLng(_lastVirtualCopterLocation.Value.Lat, _lastVirtualCopterLocation.Value.Lng + 0.0001);
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*/
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if (_copterManager.EnAddCopter_Fake())
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{
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var copter = new FakeCopter(SynchronizationContext.Current);
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copter.SetProperties(
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latitude: _lastVirtualCopterLocation.Value.Lat,
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longitude: _lastVirtualCopterLocation.Value.Lng,
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id: id,
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name: id
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);
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//不再预先分配VID
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// copter.VirtualId = _virtualCopterId;
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await copter.ConnectAsync();
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await copter.GetCopterDataAsync();
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_copterManager.CopterStatus.Add(false);
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_copterManager.Copters.AddCopter(copter, _copterManager.SortType);
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}
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}
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if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
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_flightTaskManager.SetOriginal();
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}));
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}
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}
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private ICommand _ShowLackCopterNumsCommand;
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public ICommand ShowLackCopterNumsCommand
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{
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get
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{
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return _ShowLackCopterNumsCommand ?? (_ShowLackCopterNumsCommand = new RelayCommand(async () =>
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{
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if (_copterManager.Copters.Count == 0) return;
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ICopter lastCopter = _copterManager.Copters.Last();
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int name = int.Parse(lastCopter.Name);
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List<string> lackCopterNums = new List<string>();
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for (int i = 1; i <= name; i++)
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{
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ICopter copter = null;
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copter = _copterManager.Copters.FirstOrDefault(o=>o.Name == i.ToString());
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if (copter == null)
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lackCopterNums.Add(i.ToString());
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}
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if (lackCopterNums.Count > 0)
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{
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Windows.Messages.Message.Show($"未连接：{string.Join(",", lackCopterNums)}");
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}
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else
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{
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Windows.Messages.Message.Show($"{name}架全部连接");
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}
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await Task.Delay(10);
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}));
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}
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}
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private ICommand _SetCoptersPutCommand;
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public ICommand SetCoptersPutCommand
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{
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get
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{
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return _SetCoptersPutCommand ?? (_SetCoptersPutCommand = new RelayCommand(async () =>
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{
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var SetCoptersPutView = new Views.SetCoptersPutView(
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_flightTaskManager.ColumnCount,
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_flightTaskManager.ColumnDistance,
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_flightTaskManager.RowDistance,
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_flightTaskManager.Orientation
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);
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if (SetCoptersPutView.ShowDialog() == true)
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{
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_flightTaskManager.ColumnCount = int.Parse(SetCoptersPutView.textboxColNum.Text);
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_flightTaskManager.ColumnDistance = float.Parse(SetCoptersPutView.textboxColDis.Text);
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_flightTaskManager.RowDistance = float.Parse(SetCoptersPutView.textboxRowDis.Text);
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_flightTaskManager.Orientation = int.Parse(SetCoptersPutView.textboxOrientation.Text);
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_flightTaskManager.SaveIni();
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}
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await Task.Delay(100);
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}));
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}
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}
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private ICommand _ClearCoptersCommand;
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public ICommand ClearCoptersCommand
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{
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get
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{
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return _ClearCoptersCommand ?? (_ClearCoptersCommand = new RelayCommand(async () =>
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{
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_flightTaskManager.Pause();
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await _copterManager.ClearCopters();
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/*
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foreach (var copter in _copterManager.Copters)
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{
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await copter.DisconnectAsync();
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}
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await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
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_copterManager.Copters.Clear();
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_copterManager.CopterStatus.Clear();
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*/
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_mapManager.ClearCopters();
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_view3DManager.ClearCopters();
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_flightTaskManager.ClearTasks();
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// UdpServerConnectionManager.Instance.ClearConnections();
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_virtualCopterId = 1;
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_lastVirtualCopterLocation = null;
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_flightTaskManager.OriginLat = 0;
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_flightTaskManager.OriginLng = 0;
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}));
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}
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}
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// private ICommand _ImportCoptersLocationCommand;
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// public ICommand ImportCoptersLocationCommand
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// {
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// get
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// {
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// return _ImportCoptersLocationCommand ?? (_ImportCoptersLocationCommand = new RelayCommand(async() =>
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// {
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// var dialog = new Microsoft.Win32.OpenFileDialog
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// {
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// DefaultExt = "json",
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// Filter = "编队飞行任务 (*.json)|*.json"
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// };
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// if (dialog.ShowDialog() == true)
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// {
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// var locationsText = File.ReadAllText(dialog.FileName);
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// dynamic coptersLocation = JsonConvert.DeserializeObject(locationsText);
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// foreach (var location in coptersLocation)
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// {
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// var name = location.Name;
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// JArray locations = location.Value as JArray;
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// var x = ((Newtonsoft.Json.Linq.JValue)(locations[0])).Value;
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// float fx = Convert.ToSingle(x);
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// var y = ((Newtonsoft.Json.Linq.JValue)(locations[1])).Value;
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// float fy = Convert.ToSingle(y);
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//
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// var fc = _copterManager.Copters[int.Parse(name) - 1] as FakeCopter;
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// Tuple<double, double> observationLatLng = null;
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// observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
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// _flightTaskManager.OriginLat,
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// _flightTaskManager.OriginLng,
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// 90,
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// fx);
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//
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//
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// observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
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// observationLatLng.Item1,
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// observationLatLng.Item2,
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// 0,
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// fy);
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//
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// fc.SetProperties(
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// latitude: observationLatLng.Item1,
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// longitude: observationLatLng.Item2
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// );
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// }
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// }
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//
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// await Task.Delay(10);
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// }));
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// }
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// }
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private ICommand _ImportCoptersLocationCommand;
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public ICommand ImportCoptersLocationCommand
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{
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get
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{
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||
return _ImportCoptersLocationCommand ?? (_ImportCoptersLocationCommand = new RelayCommand(async () =>
|
||
{
|
||
var dialog = new Microsoft.Win32.OpenFileDialog
|
||
{
|
||
DefaultExt = "txt",
|
||
Filter = "编队飞行任务 (*.json)|*.txt"
|
||
};
|
||
if (dialog.ShowDialog() == true)
|
||
{
|
||
var locationsText = File.ReadAllText(dialog.FileName);
|
||
string[] coptersLocation = locationsText.Replace("\r\n","\n").Split('\n');
|
||
foreach (var location in coptersLocation)
|
||
{
|
||
string[] locations = location.Split(' ');
|
||
var name = locations[0];
|
||
|
||
var x = locations[2];
|
||
float fx = Convert.ToSingle(x)/100;
|
||
var y = locations[4];
|
||
float fy = Convert.ToSingle(y)/100;
|
||
|
||
var fc = _copterManager.Copters[int.Parse(name)] as FakeCopter;
|
||
Tuple<double, double> observationLatLng = null;
|
||
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
|
||
_flightTaskManager.OriginLat,
|
||
_flightTaskManager.OriginLng,
|
||
90,
|
||
fx);
|
||
|
||
|
||
observationLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
|
||
observationLatLng.Item1,
|
||
observationLatLng.Item2,
|
||
0,
|
||
fy);
|
||
|
||
fc.SetProperties(
|
||
latitude: observationLatLng.Item1,
|
||
longitude: observationLatLng.Item2
|
||
);
|
||
}
|
||
}
|
||
|
||
await Task.Delay(10);
|
||
}));
|
||
}
|
||
}
|
||
|
||
private ICommand _ApplyGroundAltCommand;
|
||
public ICommand ApplyGroundAltCommand
|
||
{
|
||
get
|
||
{
|
||
return _ApplyGroundAltCommand ?? (_ApplyGroundAltCommand = new RelayCommand(async () =>
|
||
{
|
||
|
||
foreach (var copter in _copterManager.SelectedCopters)
|
||
{
|
||
copter.GroundAlt = SelectedCopter.GroundAlt;
|
||
}
|
||
|
||
await Task.Delay(10);
|
||
}));
|
||
}
|
||
}
|
||
|
||
}
|
||
}
|