public FormationControl()
{
InitializeComponent();
SwarmInterface = new Formation();
bindingSource1.DataSource = MainV2.Comports;
CMB_mavs.DataSource = bindingSource1;
updateicons();
this.MouseWheel += new MouseEventHandler(FollowLeaderControl_MouseWheel);
MessageBox.Show("this is beta, use at own risk");
}
public FormationControl()
{
InitializeComponent();
SwarmInterface = new Formation();
bindingSource1.DataSource = MainV2.Comports;
CMB_mavs.DataSource = bindingSource1;
updateicons();
this.MouseWheel += new MouseEventHandler(FollowLeaderControl_MouseWheel);
MessageBox.Show("this is beta, use at own risk");
}
public FormationControl()
{
InitializeComponent();
SwarmInterface = new Formation();
bindingSource1.DataSource = MainV2.Comports;
CMB_mavs.DataSource = bindingSource1;
updateicons();
this.MouseWheel += new MouseEventHandler(FollowLeaderControl_MouseWheel);
MessageBox.Show("this is beta, use at own risk");
MissionPlanner.Utilities.Tracking.AddPage(this.GetType().ToString(), this.Text);
}
public FormationControl()
{
InitializeComponent();
SwarmInterface = new Formation();
bindingSource1.DataSource = MainV2.Comports;
CMB_mavs.DataSource = bindingSource1;
updateicons();
this.MouseWheel += new MouseEventHandler(FollowLeaderControl_MouseWheel);
MessageBox.Show("this is beta, use at own risk");
MissionPlanner.Utilities.Tracking.AddPage(this.GetType().ToString(), this.Text);
}
public FormationControl()
{
InitializeComponent();
SwarmInterface = new Formation();
TopMost = true;
Dictionary <String, MAVState> mavStates = new Dictionary <string, MAVState>();
foreach (var port in MainV2.Comports)
{
foreach (var mav in port.MAVlist)
{
mavStates.Add(port.BaseStream.PortName + " " + mav.sysid + " " + mav.compid, mav);
}
}
if (mavStates.Count == 0)
{
return;
}
bindingSource1.DataSource = mavStates;
CMB_mavs.DataSource = bindingSource1;
CMB_mavs.ValueMember = "Value";
CMB_mavs.DisplayMember = "Key";
updateicons();
this.MouseWheel += new MouseEventHandler(FollowLeaderControl_MouseWheel);
MessageBox.Show("this is beta, use at own risk");
MissionPlanner.Utilities.Tracking.AddPage(this.GetType().ToString(), this.Text);
}
private void myButton1_Click(object sender, EventArgs e)
{
Formation formation = new Formation();
double[] b = { 126.633247, 45.629651, 3 };
formation.CollectStartCoords(b);
formation.StartUTMCoords = formation.GEOsToUTMs(formation.StartGEOCoords, formation.StartGEOCoords[0]);
formation.BuildEndCoords(0, 20, 3);
formation.EndGEOCoords = formation.UTMsToGEOs(formation.EndUTMCoords, formation.StartGEOCoords[0]);
/*
label3.Text = a.endGEOCoords[0][0] + " " + a.endGEOCoords[0][1] + " " + a.endGEOCoords[0][2] + "";
MessageBox.Show(a.endGEOCoords[0][0] + " " + a.endGEOCoords[0][1] + " " + a.endGEOCoords[0][2] + "");
*/
//设计完线路在执行该对策之前，对对策队列“查重”，若有重复，则弃用该队列，执行最简单的贪心算法，保证无失事
{
}
int[] wingRoute = formation.DesignPath(MainV2.Comports.Count);
int[] formationRoute = new int[wingRoute.Length + 1];//i存储初始编队编号,formationRoute[i]对应目的编号，相对于wingRoute，多了个长机（0位置）
for (int i = 0; i < wingRoute.Length; i++)
{
for (int j = 0; j < wingRoute.Length; j++)
{
if (wingRoute[j] == i)
formationRoute[i + 1] = j + 1;
}
}
//任务list添加任务、坐标list添加坐标，编制任务list
planList.Add(BuildTaskList("guide"));
planList.Add(BuildTaskList(formationRoute, MAVLink.MAV_CMD.WAYPOINT, formation.EndGEOCoords, WPStyle.OnlyHigher));
planList.Add(BuildTaskList(formationRoute, MAVLink.MAV_CMD.WAYPOINT, formation.EndGEOCoords, WPStyle.WayPoint));
planList.Add(BuildTaskList(formationRoute, MAVLink.MAV_CMD.WAYPOINT, formation.EndGEOCoords, WPStyle.KeepLevel));
//开启执行线程,每当任务规划列表内完成某一段任务时才继续执行下一任务
while (planList.Count > 0)
{
//开启监测线程
Thread checkThread = new Thread(new ThreadStart(CheckState));
Thread doTaskThread = new Thread(new ParameterizedThreadStart(DoPlan));
checkThread.Start();
doTaskThread.Start(planList[0]);
checkThread.Join();//在监测线程完成任务即编队任务完成时才继续执行下一任务点
}
}
