pxzleo
dae8be8e18
[Extensions.cs]碰撞判断逻辑改了一下 [FlightTaskManager.cs]任务开始前加了预检测,RTK没fix或GPS没有收到8颗以上卫星 [FlightTask_FlyTo.cs]清理飞往逻辑，优化通讯 [FlightTask_ReturnToLand.cs]加入MissionStatus控制 【FlightTask_TakeOff.cs】加入MissionStatus控制 【ControlPanelViewModel.cs】加入批量修改参数功能 [ControlPanelView.xaml]加入批量修改参数功能 [MapView_CopterDrawing.cs]MissionStatus显示，在现有飞机上加个小头
449 lines
18 KiB
C#
449 lines
18 KiB
C#
using Plane.Collections;
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using Plane.Copters;
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using Plane.FormationCreator.Formation;
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using Plane.Logging;
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using Microsoft.Maps.MapControl.WPF;
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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.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.Media;
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using System.Windows.Media.Effects;
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using System.Windows.Shapes;
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namespace Plane.FormationCreator.Views
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{
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public partial class MapView
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{
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private class CopterDrawing
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{
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public CopterDrawing(ICopter copter, Map map)
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{
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this.Copter = copter;
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_map = map;
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if (copter is Copter)
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{
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_brush = ((Copter)copter).Brush;
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_color = ((SolidColorBrush)_brush).Color;
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}
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else
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{
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_color = _colors[(_colorIndex++ % _colors.Length)];
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_brush = new SolidColorBrush(_color);
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}
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_flightTaskManager.TasksCleared += (sender, e) =>
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{
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for (int i = this.Route.Locations.Count - 1; i >= 1; i--)
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{
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this.Route.Locations.RemoveAt(i);
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}
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foreach (var wp in this.Waypoints)
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{
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_map.Children.Remove(wp);
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}
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this.Waypoints.Clear();
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};
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}
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static DropShadowEffect _selectedEffect = new DropShadowEffect();
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static SolidColorBrush _selectedTaskStroke = new SolidColorBrush(Colors.White);
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static Color[] _colors = new Color[]
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{
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Color.FromArgb(180, 255, 0, 0),
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Color.FromArgb(180, 235, 97, 0),
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Color.FromArgb(180, 255, 255, 0),
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Color.FromArgb(180, 0, 255, 0),
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Color.FromArgb(180, 0, 198, 255),
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Color.FromArgb(180, 0, 122, 204),
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Color.FromArgb(180, 174, 0, 255)
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};
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static int _colorIndex = 0;
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const double COPTER_RADIUS = 12;
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const double WAYPOINT_RADIUS = 6;
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public ICopter Copter { get; set; }
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public Grid DotContainer { get; set; }
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public Polygon Dot { get; set; }
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public MapPolyline Track { get; set; }
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public Location LastLocation { get; set; }
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public MapPolyline Route { get; set; }
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public List<Ellipse> Waypoints { get; set; } = new List<Ellipse>();
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Map _map;
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Color _color;
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Brush _brush;
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ILogger _logger = ServiceLocator.Current.GetInstance<ILogger>();
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CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
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FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
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public void AddOrMoveCopter()
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{
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try
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{
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var location = new Location(Copter.Latitude, Copter.Longitude, Copter.Altitude);
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Point center = _map.LocationToViewportPoint(location);
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bool locationUpdated = true;
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SolidColorBrush blackBrush = new SolidColorBrush();
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if (this.Dot == null)
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{
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Track = new MapPolyline();
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Track.Stroke = _brush;
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Track.StrokeThickness = 3.0;
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Track.Locations = new LocationCollection();
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//实时飞行航线
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// _map.Children.Add(Track);
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//画三角形飞机
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Dot = new Polygon();
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// (0,-12)(-8,12)(8,12)是个倒三角形
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//
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//
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Dot.Points.Add(new Point(0, -COPTER_RADIUS));
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Dot.Points.Add(new Point(-COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
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Dot.Points.Add(new Point(COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
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Dot.Fill = _brush; // new SolidColorBrush(Color.FromArgb(200, 0, 122, 204));
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Dot.StrokeThickness = 1;
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Dot.Width = COPTER_RADIUS * 2;
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Dot.Height = COPTER_RADIUS * 2;
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ToolTip tt = new ToolTip();
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tt.Content = $"Name: {Copter.Name}, Location: {location}";
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Dot.ToolTip = tt;
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DotContainer = new Grid { Tag = COPTER_TAG };
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DotContainer.Children.Add(Dot);
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//飞机里面的编号
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DotContainer.Children.Add(new TextBlock
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{
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Text = Copter.Name,
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Foreground = new SolidColorBrush(Colors.White),
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Margin = new Thickness(-COPTER_RADIUS * 2, -COPTER_RADIUS * 1.5, 0, 0),
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HorizontalAlignment = HorizontalAlignment.Center,
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VerticalAlignment = VerticalAlignment.Center
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});
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//飞机加入地图
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_map.Children.Add(DotContainer);
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MapLayer.SetZIndex(DotContainer, 100);
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this.Route = new MapPolyline { Locations = new LocationCollection { location } };
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this.Route.Stroke = _brush;
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this.Route.StrokeThickness = 2.0;
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//显示计划航线
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// _map.Children.Add(this.Route);
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this.LastLocation = location;
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RegisterEventHandlersForDraggingCopter(DotContainer);
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}
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else
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{
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Dot.Points.Clear();
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if (Copter.MissionStatus == 1)
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{
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Dot.Points.Add(new Point(-4, -COPTER_RADIUS));
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Dot.Points.Add(new Point(0, -COPTER_RADIUS));
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Dot.Points.Add(new Point(-COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
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Dot.Points.Add(new Point(COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
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}
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else {
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Dot.Points.Add(new Point(0, -COPTER_RADIUS));
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Dot.Points.Add(new Point(-COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
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Dot.Points.Add(new Point(COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
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}
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if (LastLocation != null && location.CalcDistance(LastLocation) < 0.1)
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{
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locationUpdated = false;
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}
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if (locationUpdated)
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{
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//dot.RenderTransform = new RotateTransform(GeographyUtils.CalcDirection2D(lastLocation.Latitude, lastLocation.Longitude, location.Latitude, location.Longitude).RadiansToDegrees());
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(Dot.ToolTip as ToolTip).Content = $"Name: {Copter.Name}, Location: {location}";
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}
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}
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if (Copter.GetShowLEDAsync())
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blackBrush.Color = Colors.White;
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else
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blackBrush.Color = Colors.Transparent;
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Dot.Stroke = blackBrush;
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var trans = Dot.RenderTransform as RotateTransform;
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if (trans == null)
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{
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Dot.RenderTransform = new RotateTransform(Copter.Heading);
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}
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else
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{
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if (trans.Angle != Copter.Heading)
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{
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trans.Angle = Copter.Heading;
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}
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}
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if (locationUpdated)
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{
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Track.Locations.Add(location);
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this.Route.Locations[0] = location;
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MapLayer.SetPosition(Dot.Parent, location);
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this.LastLocation = location;
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}
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}
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catch (Exception ex)
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{
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_logger.Log(ex);
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}
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}
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public void AddWaypoint(Location location, FlightTaskType type)
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{
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// Add waypoint.
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var wp = new Ellipse
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{
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Tag = WAYPOINT_TAG,
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Fill = _brush,
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StrokeThickness = 2,
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Width = WAYPOINT_RADIUS * 2,
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Height = WAYPOINT_RADIUS * 2
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}; ;
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Waypoints.Add(wp);
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_map.Children.Add(wp);
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MapLayer.SetZIndex(wp, 100);
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var wpPos = _map.LocationToViewportPoint(location);
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wpPos.X -= WAYPOINT_RADIUS;
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wpPos.Y -= WAYPOINT_RADIUS;
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MapLayer.SetPosition(wp, _map.ViewportPointToLocation(wpPos));
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SetEffect(_copterManager.SelectedCopters.Contains(Copter));
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// Add route point.
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Route.Locations.Add(location);
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// Register event handlers.
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RegisterEventHandlersForDraggingWaypoint(wp, taskIndex: Waypoints.Count);
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// Register event handlers for task info.
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RegisterEventHandlersForTaskInfo(wp, taskIndex: Waypoints.Count);
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}
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private void RegisterEventHandlersForDraggingCopter(Grid copterElement)
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{
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var dragMoving = false;
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double offsetX = 0;
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double offsetY = 0;
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copterElement.MouseLeftButtonDown += (sender, e) =>
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{
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_copterManager.Select(this.Copter);
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if (Copter is FakeCopter)
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{
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var posInObject = e.GetPosition(copterElement);
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offsetX = posInObject.X;
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offsetY = posInObject.Y;
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dragMoving = true;
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}
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};
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_map.MouseMove += (sender, e) =>
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{
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if (dragMoving)
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{
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var pos = e.GetPosition(_map);
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pos.X -= offsetX;
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pos.Y -= offsetY;
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MapLayer.SetPosition(copterElement, _map.ViewportPointToLocation(pos));
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var center = _map.ViewportPointToLocation(pos);
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var routePoint = this.Route.Locations[0];
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routePoint.Latitude = center.Latitude;
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routePoint.Longitude = center.Longitude;
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var fc = Copter as FakeCopter;
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fc.SetProperties(
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latitude: center.Latitude,
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longitude: center.Longitude
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);
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}
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};
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_map.MouseLeftButtonUp += (sender, e) =>
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{
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if (dragMoving) dragMoving = false;
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};
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}
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private Dictionary<object, bool> _dictDraggingWp = new Dictionary<object, bool>();
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private void RegisterEventHandlersForDraggingWaypoint(Ellipse wp, int taskIndex)
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{
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_dictDraggingWp[wp] = false;
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double offsetX = 0;
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double offsetY = 0;
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wp.MouseLeftButtonDown += (sender, e) =>
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{
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_copterManager.Select(this.Copter);
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_flightTaskManager.Select(taskIndex, this.Copter);
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var posInObject = e.GetPosition(wp);
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offsetX = posInObject.X;
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offsetY = posInObject.Y;
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_dictDraggingWp[wp] = true;
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};
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wp.MouseRightButtonDown += (sender, e) =>
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{
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_flightTaskManager.RightSelect(taskIndex, this.Copter);
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};
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_map.MouseMove += (sender, e) =>
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{
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if (_dictDraggingWp[wp])
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{
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var eventPos = e.GetPosition(_map);
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var leftTopPos = new Point(eventPos.X - offsetX, eventPos.Y - offsetY);
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MapLayer.SetPosition(wp, _map.ViewportPointToLocation(leftTopPos));
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var centerPos = new Point(leftTopPos.X + WAYPOINT_RADIUS, leftTopPos.Y + WAYPOINT_RADIUS);
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var centerLoc = _map.ViewportPointToLocation(centerPos);
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var routePoint = this.Route.Locations[taskIndex];
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var modifyingSingleCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos.Find(i => i.Copter == Copter);
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modifyingSingleCopterInfo.TargetLat = routePoint.Latitude = centerLoc.Latitude;
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modifyingSingleCopterInfo.TargetLng = routePoint.Longitude = centerLoc.Longitude;
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}
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};
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_map.MouseLeftButtonUp += (sender, e) =>
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{
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if (_dictDraggingWp[wp]) _dictDraggingWp[wp] = false;
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};
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}
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private void RegisterEventHandlersForTaskInfo(Ellipse wp, int taskIndex)
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{
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var info = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(i => i.Copter == this.Copter);
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info.PropertyChanged += (sender, e) =>
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{
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switch (e.PropertyName)
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{
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case nameof(FlightTaskSingleCopterInfo.TargetLat):
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case nameof(FlightTaskSingleCopterInfo.TargetLng):
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case nameof(FlightTaskSingleCopterInfo.TargetAlt):
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if (!_dictDraggingWp.GetValue(wp, false))
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{
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var centerLocation = new Location(info.TargetLat, info.TargetLng, info.TargetAlt);
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var centerPos = _map.LocationToViewportPoint(centerLocation);
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var leftTopPos = new Point(centerPos.X - WAYPOINT_RADIUS, centerPos.Y - WAYPOINT_RADIUS);
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MapLayer.SetPosition(wp, _map.ViewportPointToLocation(leftTopPos));
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var routePoint = Route.Locations[taskIndex];
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routePoint.Latitude = info.TargetLat;
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routePoint.Longitude = info.TargetLng;
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routePoint.Altitude = info.TargetAlt;
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}
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break;
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}
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};
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}
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public void RemoveCopter()
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{
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_map.Children.Remove(this.DotContainer);
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_map.Children.Remove(this.Track);
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_map.Children.Remove(this.Route);
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foreach (var item in this.Waypoints)
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{
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_map.Children.Remove(item);
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}
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}
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public void SetShowroute(bool? showroute)
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{
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if (showroute ?? false )
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_map.Children.Add(this.Route);
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else
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_map.Children.Remove(this.Route);
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}
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public void SetShowtrack(bool? showtrack)
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{
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if (showtrack ?? false)
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_map.Children.Add(Track);
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else
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_map.Children.Remove(Track);
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}
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public void SetEffect(bool selected)
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{
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Dot.Effect = selected ? _selectedEffect : null;
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Waypoints.ForEach(wp => wp.Effect = Dot.Effect);
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}
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public void SetTaskEffect(int taskIndex)
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{
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var wpIndex = taskIndex - 1; // Waypoints 中没有起飞点。
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if (wpIndex >= 0 && wpIndex < Waypoints.Count)
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{
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Waypoints.ForEach(p => p.Stroke = null);
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var wp = Waypoints[wpIndex];
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wp.Stroke = _selectedTaskStroke;
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}
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}
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// 右击任务时触发
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public void SetTaskRightEffect(int taskIndex, bool flag)
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{
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var wpIndex = taskIndex - 1; // Waypoints 中没有起飞点。
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if (wpIndex >= 0 && wpIndex < Waypoints.Count)
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{
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// Waypoints.ForEach(p => p.Stroke = null);
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var wp = Waypoints[wpIndex];
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// Route.Locations.RemoveAt(wpIndex);
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// Route.Visibility = Visibility.Hidden;
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// wp.Stroke = _selectedTaskStroke;
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// var flightTaskTmp = _flightTaskManager.Tasks[taskIndex];
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if (!flag)
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{
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wp.Visibility = Visibility.Hidden;
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//Route.Visibility = Visibility.Hidden;
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//Route.Children.RemoveAt(1);
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}
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else
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{
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wp.Visibility = Visibility.Visible;
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//Route.Visibility = Visibility.Visible;
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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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