152 lines
4.7 KiB
C#
152 lines
4.7 KiB
C#
using Plane.Geography;
|
||
using System.ComponentModel;
|
||
using System.Threading;
|
||
|
||
namespace Plane.Copters
|
||
{
|
||
/// <summary>
|
||
/// 存储自动飞行任务的参数。
|
||
/// </summary>
|
||
public class Mission : PLObservableObject, IMission
|
||
{
|
||
#region Backing Fields
|
||
|
||
private float _Altitude;
|
||
private FlightCommand _Command;
|
||
private double _Latitude;
|
||
private double _Longitude;
|
||
private float _Param1;
|
||
private float _Param3;
|
||
private float _Param4;
|
||
private ushort _Sequence;
|
||
|
||
#endregion Backing Fields
|
||
|
||
/// <summary>
|
||
/// 创建 <see cref="Mission"/> 的实例。
|
||
/// </summary>
|
||
/// <param name="uiSyncContext">与 UI 线程关联的 <see cref="SynchronizationContext"/> 实例，用于 UWP 项目中在 UI 线程引发 <see cref="INotifyPropertyChanged.PropertyChanged"/> 事件。</param>
|
||
public Mission(SynchronizationContext uiSyncContext = null)
|
||
: base(uiSyncContext ?? SynchronizationContext.Current)
|
||
{ }
|
||
|
||
/// <summary>
|
||
/// 获取或设置相对于起飞点的高度。
|
||
/// </summary>
|
||
public float Altitude
|
||
{
|
||
get { return _Altitude; }
|
||
set { Set(nameof(Altitude), ref _Altitude, value); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取或设置飞行命令。
|
||
/// </summary>
|
||
public FlightCommand Command
|
||
{
|
||
get { return _Command; }
|
||
set { Set(nameof(Command), ref _Command, value); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取或设置纬度。
|
||
/// </summary>
|
||
public double Latitude
|
||
{
|
||
get { return _Latitude; }
|
||
set { Set(nameof(Latitude), ref _Latitude, value); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取或设置经度。
|
||
/// </summary>
|
||
public double Longitude
|
||
{
|
||
get { return _Longitude; }
|
||
set { Set(nameof(Longitude), ref _Longitude, value); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取或设置参数 1。通常用来指定判断为到达的最大半径，单位为米。
|
||
/// </summary>
|
||
public float Param1
|
||
{
|
||
get { return _Param1; }
|
||
set { Set(nameof(Param1), ref _Param1, value); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取或设置参数 2。通常用来指定停留时间，单位为毫秒。
|
||
/// </summary>
|
||
public virtual float Param2 { get; set; }
|
||
|
||
/// <summary>
|
||
/// 获取或设置参数 3。通常用来指定盘旋半径，单位为米，正数表示顺时针，负数表示逆时针。
|
||
/// </summary>
|
||
public float Param3
|
||
{
|
||
get { return _Param3; }
|
||
set { Set(nameof(Param3), ref _Param3, value); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取或设置参数 4。通常用来指定机头方向，单位为角度，北方为 0，东方为 90，范围为 [0, 360)。
|
||
/// </summary>
|
||
public float Param4
|
||
{
|
||
get { return _Param4; }
|
||
set { Set(nameof(Param4), ref _Param4, value); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取或设置序号。
|
||
/// </summary>
|
||
public ushort Sequence
|
||
{
|
||
get { return _Sequence; }
|
||
set { Set(nameof(Sequence), ref _Sequence, value); }
|
||
}
|
||
|
||
/// <summary>
|
||
/// 创建降落任务。
|
||
/// </summary>
|
||
/// <returns>降落任务。</returns>
|
||
public static IMission CreateLandMission() => new Mission
|
||
{
|
||
Command = FlightCommand.Land
|
||
};
|
||
|
||
/// <summary>
|
||
/// 创建返航任务。
|
||
/// </summary>
|
||
/// <returns>返航任务。</returns>
|
||
public static IMission CreateReturnToLaunchMission() => new Mission
|
||
{
|
||
Command = FlightCommand.ReturnToLaunch
|
||
};
|
||
|
||
/// <summary>
|
||
/// 创建航点任务。
|
||
/// </summary>
|
||
/// <param name="loc">航点目的地。</param>
|
||
/// <returns>航点任务。</returns>
|
||
public static IMission CreateWaypointMission(ILocation loc) =>
|
||
CreateWaypointMission(loc.Latitude, loc.Longitude, loc.Altitude);
|
||
|
||
/// <summary>
|
||
/// 创建航点任务。
|
||
/// </summary>
|
||
/// <param name="lat">目的地纬度。</param>
|
||
/// <param name="lng">目的地经度。</param>
|
||
/// <param name="alt">目的地相巴拉圭高度。</param>
|
||
/// <returns>航点任务。</returns>
|
||
public static IMission CreateWaypointMission(double lat, double lng, float alt) => new Mission
|
||
{
|
||
Command = FlightCommand.Waypoint,
|
||
Latitude = lat,
|
||
Longitude = lng,
|
||
Altitude = alt
|
||
};
|
||
}
|
||
}
|