xu
7ac2f48500
1重设将飞机回到起飞点 2默认悬停时间改为1秒 3解锁起飞模拟真飞机改变颜色 4自动计算所有任务飞行时间 5增加从指定任务开始模拟 6连接窗口改为设置并优化布局 7不创建所有航点，只创建要显示的，优化导入速度 8更改背景 9模拟检测碰撞的间隔改为10hz，之前是100hz,对于大量飞机拖慢速度[FlightTask_FlyTo.cs]
540 lines
22 KiB
C#
540 lines
22 KiB
C#
using Plane.Copters;
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using Plane.FormationCreator.Formation;
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using Plane.FormationCreator.ViewModels;
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using Plane.FormationCreator.Views;
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using Plane.Windows.Messages;
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using MahApps.Metro.Controls;
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using MahApps.Metro.Controls.Dialogs;
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using Microsoft.Practices.ServiceLocation;
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using System;
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using System.Collections.Generic;
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using System.IO;
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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.Controls;
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using System.Windows.Data;
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using System.Windows.Documents;
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using System.Windows.Input;
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using System.Windows.Media;
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using System.Windows.Media.Imaging;
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using System.Windows.Shapes;
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using Plane.CommunicationManagement;
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namespace Plane.FormationCreator
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{
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/// <summary>
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/// Interaction logic for MainWindow.xaml
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/// </summary>
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public partial class MainWindow : MetroWindow
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{
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public MainWindow()
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{
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InitializeComponent();
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this.DataContext = ServiceLocator.Current.GetInstance<MainViewModel>();
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//ShowConnectDialog();
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//if (_copterManager.CoptersForControlling.Count <= 0)
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//{
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// //App.Current.Shutdown();
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//}
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}
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private CommModuleManager _commModuleManager = CommModuleManager.Instance;
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private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
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private FlightTaskManager _flightTaskManager= ServiceLocator.Current.GetInstance<FlightTaskManager>();
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private void ShowConnectDialog(ConnectWindow loginWindow = null)
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{
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//var result = await this.ShowLoginAsync("登录", "请输入您的帐户 ID 和密码");
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if (loginWindow == null)
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{
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loginWindow = new ConnectWindow();
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}
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loginWindow.Show();
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}
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private void btnLogin_Click(object sender, RoutedEventArgs e)
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{
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var loginWindow = new ConnectWindow
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{
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WindowTransitionsEnabled = false,
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WindowStartupLocation = WindowStartupLocation.Manual
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};
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var point = PointToScreen(Mouse.GetPosition(this));
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point.X = Math.Min(point.X, SystemParameters.WorkArea.Width - loginWindow.Width - 30);
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point.Y = Math.Min(point.Y, SystemParameters.WorkArea.Height - loginWindow.Height - 30);
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loginWindow.Left = point.X;
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loginWindow.Top = point.Y;
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ShowConnectDialog(loginWindow);
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}
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private void btnConnect_Click(object sender, RoutedEventArgs e)
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{
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var connectWindow = new ConnectWindow
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{
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WindowTransitionsEnabled = false,
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WindowStartupLocation = WindowStartupLocation.Manual
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};
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var point = PointToScreen(Mouse.GetPosition(this));
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point.X = Math.Min(point.X, SystemParameters.WorkArea.Width - connectWindow.Width - 30);
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point.Y = Math.Min(point.Y+10, SystemParameters.WorkArea.Height - connectWindow.Height - 30);
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connectWindow.Left = point.X;
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connectWindow.Top = point.Y;
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ShowConnectDialog(connectWindow);
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}
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private void btnRefreshMap_Click(object sender, RoutedEventArgs e)
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{
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map.Refresh();
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}
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private void btnGoHome_Click(object sender, RoutedEventArgs e)
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{
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map.GoHome();
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}
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bool Shiftkeydown = false;
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private async void MetroWindow_PreviewKeyDown(object sender, KeyEventArgs e)
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{
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// 如果正在输入，忽略。
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if (e.OriginalSource is TextBox || e.OriginalSource is PasswordBox) return;
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var isInFastMode = AppEx.Current.IsInFastMode;
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bool isledon;
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switch (e.Key)
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{
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case Key.LeftCtrl:
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{
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var copters = _copterManager.AcceptingControlCopters;
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Shiftkeydown = true;
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_copterManager.shiftkeydown = true;
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break;
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}
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//开关SHOWLED
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case Key.C:
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{
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var copters = _copterManager.AcceptingControlCopters;
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await Task.WhenAll(copters.Select(async copter =>
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{
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isledon = copter.GetShowLEDAsync();
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await copter.SetShowLEDAsync(!isledon);
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})).ConfigureAwait(false);
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break;
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}
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//俯仰控制
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case Key.W:
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case Key.S:
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{
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if (Shiftkeydown &&(_flightTaskManager.CurrentRunningTask == null) && (_flightTaskManager.SelectedTask != null))
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{
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var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
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bool copterisselect;
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for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
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{
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copterisselect = false;
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selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
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foreach (var capter in _copterManager.SelectedCopters)
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{
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if (capter == selectedCopter)
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copterisselect = true;
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}
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if (copterisselect)
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{
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// double tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
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// int tmplat = (int)(tlat * 100000);
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// tlat = (float)(tmplat * 1.0) / 100000;
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// _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = tlat;
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_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat+= e.Key == Key.W ? 0.00001 : -0.00001;
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}
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}
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break;
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}
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var copters = _copterManager.AcceptingControlCopters;
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if (isInFastMode)
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{
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await _commModuleManager.SetChannelsAsync(copters, ch2: e.Key == Key.W ? (ushort)1100 : (ushort)1900);
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}
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else
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{
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await _commModuleManager.SetChannelsAsync(copters, ch2: e.Key == Key.W ? (ushort)1350 : (ushort)1650);
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}
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// await Task.WhenAll(copters.Select(async copter =>
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// {
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// if (isInFastMode)
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// {
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// await copter.SetChannelsAsync(ch2: e.Key == Key.W ? (ushort)1100 : (ushort)1900);
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// }
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// else
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// {
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// await copter.SetChannelsAsync(ch2: e.Key == Key.W ? (ushort)1350 : (ushort)1650);
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// }
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// })).ConfigureAwait(false);
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break;
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}
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//横滚控制
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case Key.A:
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case Key.D:
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{
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if (Shiftkeydown && (_flightTaskManager.CurrentRunningTask == null)&&(_flightTaskManager.SelectedTask!=null))
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{
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var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
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bool copterisselect;
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for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
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{
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copterisselect = false;
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selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
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foreach (var capter in _copterManager.SelectedCopters)
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{
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if (capter == selectedCopter)
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copterisselect = true;
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}
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if (copterisselect)
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{
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// double tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
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// int tmplng = (int)(tlng * 100000);
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// tlng = (float)(tmplng * 1.0) / 100000;
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// _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = tlng;
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_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng += e.Key == Key.D ? 0.00001 : -0.00001;
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}
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}
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break;
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}
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var copters = _copterManager.AcceptingControlCopters;
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if (isInFastMode)
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{
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await _commModuleManager.SetChannelsAsync(copters, ch1: e.Key == Key.A ? (ushort)1100 : (ushort)1900);
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}
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else
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{
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await _commModuleManager.SetChannelsAsync(copters, ch1: e.Key == Key.A ? (ushort)1350 : (ushort)1650);
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}
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// await Task.WhenAll(copters.Select(async copter =>
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// {
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// if (isInFastMode)
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// {
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// await copter.SetChannelsAsync(ch1: e.Key == Key.A ? (ushort)1100 : (ushort)1900);
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// }
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// else
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// {
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// await copter.SetChannelsAsync(ch1: e.Key == Key.A ? (ushort)1350 : (ushort)1650);
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// }
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// })).ConfigureAwait(false);
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break;
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}
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//高度控制
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case Key.I:
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case Key.K:
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{
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var copters = _copterManager.AcceptingControlCopters;
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if (isInFastMode)
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{
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await _commModuleManager.SetChannelsAsync(copters, ch3: e.Key == Key.K ? (ushort)1100 : (ushort)1900);
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}
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else
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{
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await _commModuleManager.SetChannelsAsync(copters, ch3: e.Key == Key.K ? (ushort)1350 : (ushort)1650);
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}
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/*
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await Task.WhenAll(copters.Select(async copter =>
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{
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if (isInFastMode)
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{
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await copter.SetChannelsAsync(ch3: e.Key == Key.K ? (ushort)1100 : (ushort)1900);
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}
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else
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{
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await copter.SetChannelsAsync(ch3: e.Key == Key.K ? (ushort)1350 : (ushort)1650);
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}
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})).ConfigureAwait(false);
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*/
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break;
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}
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//航向控制
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case Key.J:
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case Key.L:
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{
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var copters = _copterManager.AcceptingControlCopters;
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await _commModuleManager.SetChannelsAsync(copters, ch4: e.Key == Key.J ? (ushort)1200 : (ushort)1800);
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/*
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await Task.WhenAll(copters.Select(async copter =>
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{
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//await copter.SetMobileControlAsync(yaw: (copter.Yaw + (e.Key == Key.J ? -20 : 20)) % 360);
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await copter.SetChannelsAsync(ch4: e.Key == Key.J ? (ushort)1200 : (ushort)1800);
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})).ConfigureAwait(false);
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*/
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break;
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}
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case Key.M: // 低速下降。
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{
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var copters = _copterManager.AcceptingControlCopters;
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await Task.WhenAll(copters.Select(async copter =>
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{
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await copter.SetChannelsAsync(ch3: 1350);
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})).ConfigureAwait(false);
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break;
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}
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case Key.N: // 飞行器着陆后，按此键将油门打到 1100.
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{
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var copters = _copterManager.AcceptingControlCopters;
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await Task.WhenAll(copters.Select(async copter =>
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{
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await copter.SetChannelsAsync(ch3: 1100);
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})).ConfigureAwait(false);
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break;
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}
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case Key.Back: // 锁定。
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{
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if (Alert.Show("您确定要上锁吗？飞行器将立即停止运转！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
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== MessageBoxResult.OK)
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{
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var copters = _copterManager.AcceptingControlCopters;
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await Task.WhenAll(copters.Select(async copter =>
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{
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await copter.LockAsync();
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})).ConfigureAwait(false);
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}
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break;
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}
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//设置6通道
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case Key.P:
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{
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var copters = _copterManager.AcceptingControlCopters;
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await Task.WhenAll(copters.Select(async copter =>
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{
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if (isInFastMode)
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{
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if (e.Key == Key.P)
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{
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await copter.SetChannelsAsync(ch6: (ushort)1900);
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}
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}
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else
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{
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if (e.Key == Key.P)
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{
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await copter.SetChannelsAsync(ch6: (ushort)1900);
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}
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}
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})).ConfigureAwait(false);
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break;
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}
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//设置7通道
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case Key.O:
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{
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var copters = _copterManager.AcceptingControlCopters;
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await Task.WhenAll(copters.Select(async copter =>
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{
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if (isInFastMode)
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{
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if (e.Key == Key.O)
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{
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await copter.SetChannelsAsync(ch7: (ushort)1900);
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}
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}
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else
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{
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if (e.Key == Key.O)
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{
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await copter.SetChannelsAsync(ch7: (ushort)1900);
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}
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}
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})).ConfigureAwait(false);
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break;
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}
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}
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}
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private async void MetroWindow_PreviewKeyUp(object sender, KeyEventArgs e)
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{
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// 如果正在输入，忽略。
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if (e.OriginalSource is TextBox || e.OriginalSource is PasswordBox) return;
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switch (e.Key)
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{
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case Key.LeftCtrl:
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{
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Shiftkeydown = false;
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_copterManager.shiftkeydown = false;
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break;
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}
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case Key.W:
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case Key.S:
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{
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var copters = _copterManager.AcceptingControlCopters;
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for (int i = 0; i < 3; i++)
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{
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await _commModuleManager.SetChannelsAsync(copters, ch2: 1500);
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await Task.Delay(100);
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}
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// await Task.WhenAll(copters.Select(async copter =>
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// {
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// await copter.SetChannelsAsync(ch2: 1500);
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// })).ConfigureAwait(false);
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break;
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}
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case Key.A:
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case Key.D:
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{
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var copters = _copterManager.AcceptingControlCopters;
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for (int i = 0; i < 3; i++)
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{
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await _commModuleManager.SetChannelsAsync(copters, ch1: 1500);
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await Task.Delay(100);
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}
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// await Task.WhenAll(copters.Select(async copter =>
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// {
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// await copter.SetChannelsAsync(ch1: 1500);
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// })).ConfigureAwait(false);
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break;
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}
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case Key.I:
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case Key.K:
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{
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var copters = _copterManager.AcceptingControlCopters;
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for (int i = 0; i < 3; i++)
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{
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await _commModuleManager.SetChannelsAsync(copters, ch3: 1500);
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await Task.Delay(100);
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}
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// await Task.WhenAll(copters.Select(async copter =>
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// {
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// await copter.SetChannelsAsync(ch3: 1500);
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// })).ConfigureAwait(false);
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break;
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}
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case Key.J:
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case Key.L:
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{
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var copters = _copterManager.AcceptingControlCopters;
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for (int i = 0; i < 3; i++)
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{
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await _commModuleManager.SetChannelsAsync(copters, ch4: 1500);
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await Task.Delay(100);
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}
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// await Task.WhenAll(copters.Select(async copter =>
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// {
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// // await copter.SetMobileControlAsync(yaw: (copter.Yaw + (e.Key == Key.J ? -10 : 10)) % 360);
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// await copter.SetChannelsAsync(ch4: 1500);
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// })).ConfigureAwait(false);
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break;
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}
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case Key.M: // 停止低速下降。
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{
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var copters = _copterManager.AcceptingControlCopters;
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await Task.WhenAll(copters.Select(async copter =>
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{
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await copter.SetChannelsAsync(ch3: 1500);
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})).ConfigureAwait(false);
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break;
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}
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}
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}
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private void btnShowLog_Click(object sender, RoutedEventArgs e)
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{
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MainViewModel vm = DataContext as MainViewModel;
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LogWindow logWindows = new LogWindow(vm.Messages);
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logWindows.Show();
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}
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private void LogShowHide(object sender, MouseButtonEventArgs e)
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{
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if (logTextBox.Visibility == Visibility.Visible)
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logTextBox.Visibility = Visibility.Hidden;
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else
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logTextBox.Visibility = Visibility.Visible;
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}
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private void LogTextChange(object sender, TextChangedEventArgs e)
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{
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logTextBox.ScrollToEnd();
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}
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private void Map_Opacity_Click(object sender, RoutedEventArgs e)
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{
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if (map.Opacity == 1)
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{
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map.Opacity = 0.5;
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}
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else
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{
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map.Opacity = 1;
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}
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}
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private void btnAttribute_Click(object sender, RoutedEventArgs e)
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{
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CheckBox checkbox = sender as CheckBox;
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if (checkbox.IsChecked == false)
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attributeView.Visibility = Visibility.Collapsed;
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else
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attributeView.Visibility = Visibility.Visible;
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}
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private void btnGroup_Click(object sender, RoutedEventArgs e)
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{
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CheckBox checkbox = sender as CheckBox;
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if (checkbox.IsChecked == false)
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groupsView.Visibility = Visibility.Collapsed;
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else
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groupsView.Visibility = Visibility.Visible;
|
|
}
|
|
|
|
private void btnVirtualId_Click(object sender, RoutedEventArgs e)
|
|
{
|
|
CheckBox checkbox = sender as CheckBox;
|
|
if (checkbox.IsChecked == false)
|
|
configVirtualView.Visibility = Visibility.Collapsed;
|
|
else
|
|
configVirtualView.Visibility = Visibility.Visible;
|
|
}
|
|
}
|
|
}
|