public bool CalcPosition(SettleSoundFile settleSoundFile, SonarConfig sc, RawPositionInfo raw, float longitude, float latitude)
{
if (settleSoundFile != null && sc != null && raw != null)
{
try
{
scConfig = sc;
this.raw = raw;
USBL_GuiWei Position_Guiwei = new USBL_GuiWei(raw.XDistance, raw.YDistance, raw.ZDistance, raw.Heave, raw.Heading, raw.Pitch, raw.Roll, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, raw.TravelTime, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
//USBL_GuiWei Position_Guiwei = new USBL_GuiWei((float)0.4785, (float)-0.5465, (float)-6.7128, raw.Heave, (float)48.7943, (float)0.1944, 0, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, (float)0.0045, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
//USBL_GuiWei Position_Guiwei = new USBL_GuiWei((float)0.6391, (float)-0.0549, (float)-6.9063, raw.Heave, (float)48.73, (float)0.19, 0, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, (float)0.0046, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
AjustLat = (float)Position_Guiwei.LatTarget;
AjustLong = (float)Position_Guiwei.LonTarget;
Noise = raw.Noise;
Status = raw.Status;
XAjust = (float)Position_Guiwei.x_local;
YAjust = (float)Position_Guiwei.y_local;
ZAjust = (float)Position_Guiwei.z_local;
}
catch (Exception)
{
return(false);
}
return(true);
}
return(false);
}
public async Task <bool> Start()
{
try
{
//USBLTraceService.StartService();
LoadConfiguration();
if (_appConf.GetVelProfileName() != null)
{
if (File.Exists(_appConf.GetVelProfileName()))
{
SoundFile = new SettleSoundFile(_appConf.GetVelProfileName());
}
}
var shippath = _appConf.GetModelPath("Ship");
if (shippath == null)
{
throw new Exception("未找到模型组件！");
}
shippath = BasicConf.MyExecPath + "\\" + shippath;//found
CurrentModel = await LoadAsync(shippath, false);
if (CurrentModel == null)
{
throw new Exception("加载模型组件失败！");
}
_serviceStarted = true;//if failed never get here
return(_serviceStarted);
}
catch (Exception ex)
{
Error = ex.Message;
EventAggregator.PublishMessage(new ErrorEvent(ex, LogType.Both));
return(false);
}
}
private void ExecuteSaveAndRun(object sender, ExecutedRoutedEventArgs eventArgs)
{
try
{
FileInfo fi = new FileInfo(Profile);
if (fi.Exists)
{
SettleSoundFile SoundFile = null;
try
{
SoundFile = new SettleSoundFile(Profile);//整理声速剖面文件
}
catch (Exception)
{
UnitCore.Instance.EventAggregator.PublishMessage(new LogEvent("读取声速剖面文件失败！", LogType.OnlyInfo));
return;
}
UnitCore.Instance.SoundFile = SoundFile;
BasicConf.GetInstance().SetVelProfileName(Profile);
}
else
{
throw new Exception("声速剖面文件不存在！");
}
var sc = UnitCore.Instance.SonarConfiguration;
sc.VelCmd = SurVelSrcIndex;
if (AvgVelIndex == 1)
{
sc.VelCmd = sc.VelCmd | 0x04;
}
sc.SurVel = SurVel;
sc.AvgVel = AvgVel;
sc.FixedGain = FixedGain;
sc.TVGCmd = TVGCmd;
sc.FixedTVG = FixedTVG;
sc.TVGSampling = TVGSampling;
sc.TVGSamples = TVGSamples;
sc.TVGA1 = TVGA1;
sc.TVGA2 = TVGA2;
sc.TVGA3 = TVGA3;
sc.PingPeriod = PingPeriod;
sc.ADSaved = ADSaved;
sc.PoseSaved = PoseSaved;
sc.PosSaved = PosSaved;
sc.SonarDepth = SonarDepth;
sc.SonarGPSx = SonarGPSx;
sc.SonarGPSy = SonarGPSy;
sc.SonarGPSz = SonarGPSz;
sc.Pitchfixed = Pitchfixed;
sc.Rollfixed = Rollfixed;
sc.Headingfixed = Headingfixed;
if (!UnitCore.Instance.UpdateSonarConfig(false))
{
throw new Exception("无法保存默认参数");
}
UnitCore.Instance.EventAggregator.PublishMessage(new GoBackNavigationRequest());
}
catch (Exception ex)
{
UnitCore.Instance.EventAggregator.PublishMessage(new LogEvent(ex.Message, LogType.OnlyInfo));
return;
}
}
