XzXdDw/XzXdDw.App/UserControl/CtrlPosXd.cs

using DevExpress.Utils.Drawing.Helpers;
using DevExpress.Utils.Extensions;
using DevExpress.XtraEditors;
using DevExpress.XtraExport.Helpers;
using DevExpress.XtraGrid.Views.Grid;
using DevExpress.XtraMap;
using DevExpress.XtraTreeList.Data;
using DxHelper;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Data.Entity;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Controls;
using System.Windows.Documents;
using System.Windows.Forms;
using XdCxRhDW.App.Api.时差粗值预测;
using XdCxRhDW.App.Api.时差线;
using XdCxRhDW.App.Api.星历推算;
using XdCxRhDW.App.DTO;
using XdCxRhDW.App.UserControl;
using XzXdDw.App.Api;
using XzXdDw.App.Api.星地GDOP误差椭圆;
using XzXdDw.App.EditForms;
using XzXdDw.App.EFContext;
using XzXdDw.App.Model;

namespace XzXdDw.App.UserControl
{
    /// <summary>
    /// 星地定位
    /// </summary>
    public partial class CtrlPosXd : DevExpress.XtraEditors.XtraUserControl
    {
        DtXDParam dtxdctrl = null;
        TcpServer tcpServer;
        public CtrlPosXd()
        {
            InitializeComponent();

            tcpServer = new TcpServer();
        }

        private async void CtrlXdPos_Load(object sender, EventArgs e)
        {
            try
            {
                gridPos.Init().UseMultiSelect().UseFilter().UseRowNumber().UseExportXlsx()
                    .AddMenu("删除", SvgHelper.CreateClose(), async () =>
                    {
                        try
                        {
                            if (XtraMessageBox.Show("确认删除?(Ctrl+A可全选删除)", "确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question) != DialogResult.Yes)
                            {
                                return;
                            }
                            var ids = gridView1.GetSelectedRows();
                            List<XDPosRes> deletePos = new List<XDPosRes>();
                            using (RHDWContext db = new RHDWContext())
                            {
                                foreach (var id in ids)
                                {
                                    var item = gridView1.GetRow(id) as XDPosRes;
                                    var delItem = await db.XDPosRes.Where(p => p.ID == item.ID).FirstOrDefaultAsync();
                                    if (delItem != null)
                                    {
                                        db.XDPosRes.Remove(delItem);
                                    }
                                    deletePos.Add(item);
                                }
                                await db.SaveChangesAsync();
                            }
                            gridView1.DeleteSelectedRows();
                            mapControl1.DelPosItem(deletePos);

                        }
                        catch (Exception ex)
                        {
                            Serilog.Log.Error("删除结果失败", ex);
                            XtraMessageBox.Show("删除结果失败");
                        }
                    })
                    .AddMenu("手动定位", SvgHelper.LoadFromFile("Image\\Pos.svg"), XdPos)
                    .AddMenu("绘制时差线", SvgHelper.LoadFromFile("Image\\DrawLine.svg"), DrawDtoLine)
                    .AddMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), LoadSimulationData)
                    .AddMenu("绘制误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"),()=> {
                         var ctrl = new X2D1ErrEllipseParam();
                        PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
                        {
                            if (hideReason == HideReason.Defalut) return;
                            var model = ctrl.Model;
                            double[] main_sat = Tle2XYZ.GetXyz(model.TleMain, model.CapTime);
                            double[] adja_sat = Tle2XYZ.GetXyz(model.TleAdja, model.CapTime);
                            DrawErrorEllipse2X1D(main_sat, adja_sat, new double[] { model.StationLon, model.StationLat, 0 }, new double[] { model.RefLon, model.RefLat, 0 }, model.DtousErr, model.SatLocErr);
                        });
                    })
                    .AddMenu("停止加载", SvgHelper.LoadFromFile("Image\\Stop.svg"), () => stoped = true);


                mapControl1.UseDefalutOptions()
               //.UseCluster()//定位点使用内置聚合
               .UseClearAll()
               .UseDistanceLine()
               .UseMarkDot()
               //.UseExportImg()
               //.UseExportXlsx()
               //.UseExportCsv()
               .UseDrawRect(rect =>
               {
                   if (dtxdctrl != null)
                   {
                       dtxdctrl.rect = rect;
                   }
               });



                //MapMenu为地图瓦片上右键菜单
                //AddPosMenu为定位点上右键菜单
                //RectMenu为框选的区域上右键菜单
                mapControl1.AddMapMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), (lon, lat) => LoadSimulationData())
                    .AddMapMenu("停止加载", SvgHelper.LoadFromFile("Image\\Stop.svg"), (lon, lat) => stoped = true)
                    .AddMapMenu("GDOP分析", SvgHelper.LoadFromFile("Image\\GDOP.svg"), (lon, lat) =>
                    {
                        var ctrl = new X2D1GDOPParam();
                        PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
                        {
                            if (hideReason == HideReason.Defalut) return;
                            var model = ctrl.Model;
                            var (listSat, data) = GdopHelper.Gdop2Sat1DRef(new double[] { model.StationLon, model.StationLat },
                              new double[] { model.RefLon, model.RefLat }, model.TleMain, model.TleAdja, model.CapTime, model.DtousErr, model.SatLocErr);
                            if (data == null)
                            {
                                return;
                            }
                            if (listSat != null)//画卫星
                            {
                                foreach (var sat in listSat)
                                {
                                    mapControl1.Invoke(new Action(() =>
                                    {
                                        string satCode = sat.SatCode == null ? "未知" : sat.SatCode.ToString();
                                        mapControl1.DrawFixedImg("sat", sat.SatLat, sat.SatLon, DxHelper.SvgHelper.CreateSat(), new Size(32, 32), $"卫星编号:{satCode}\r\n轨道经度:{sat.SatLon}°\r\n轨道纬度:{sat.SatLat}°");
                                    }));
                                }
                            }
                            foreach (var errLins in data)//画GDOP
                            {
                                foreach (var line in errLins.MapLines)
                                {
                                    var newLine = SampleDots(line);
                                    mapControl1.Invoke(new Action(() =>
                                    {
                                        var mapLines = newLine.Line.Select(p => (errLins.ErrDistanceKm, p.Lon, p.Lat));
                                        mapControl1.DrawGdopLine(mapLines);
                                    }));
                                }
                            }
                        });
                    })

                    .AddPosMenu<XDPosRes>("误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), item =>
                    {
                        var ctrl = new X2D1ErrEllipseParam();
                        PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
                        {
                            if (hideReason == HideReason.Defalut) return;
                            var model = ctrl.Model;
                            double[] main_sat = Tle2XYZ.GetXyz(model.TleMain, model.CapTime);
                            double[] adja_sat = Tle2XYZ.GetXyz(model.TleAdja, model.CapTime);
                            DrawErrorEllipse2X1D(main_sat, adja_sat, new double[] { model.StationLon, model.StationLat, 0 }, new double[] { model.RefLon, model.RefLat, 0 }, model.DtousErr, model.SatLocErr);
                        });
                    })
                    .AddRectMenu<XDPosRes>("时差初值预估", SvgHelper.LoadFromFile("Image\\初值预估.svg"), items =>
                    {
                        var rect = mapControl1.GetCurrentRect();
                        if (dtxdctrl == null)
                        {
                            dtxdctrl = new DtXDParam();
                        }
                        dtxdctrl.rect = rect;
                        PopupHelper.ShowPopup(dtxdctrl, mapControl1, mapControl1.Width / 4);
                    });


                //查询已有的定位记录
                using (RHDWContext db = new RHDWContext())
                {
                    List<XDPosRes> list = await db.XDPosRes.ToListAsync();
                    this.gridPos.DataSource = list;
                    mapControl1.SetPosDataSource(list);
                }
            }
            catch (Exception ex)
            {
                Serilog.Log.Error("查询定位结果失败", ex);
                XtraMessageBox.Show("查询定位结果失败");
            }
        }
        bool stoped = false;
        private async void LoadSimulationData()
        {
            SimulationEditor editor = new SimulationEditor("Simulation_Data2023.dat");
            if (editor.ShowDialog() != DialogResult.OK)
            {
                return;
            }
           
            //"Simulation_Data2023.dat"
            string simulationFile = editor.SimulationFile;
            stoped = false;

            //在列表控件中全选+右键可以删除所有测试结果
            using (RHDWContext db = new RHDWContext())
            {
                var listTx = db.TxInfos.ToList();
                var sysSetings = await db.SysSetings.FirstOrDefaultAsync();
                var lines = File.ReadAllLines(simulationFile);
                Random r = new Random();
                foreach (var item in lines)
                {
                    if (stoped) break;
                    var items = item.Split(" ".ToCharArray(), StringSplitOptions.RemoveEmptyEntries);
                    if (items.Length != 13) continue;
                    var sxDto = Convert.ToDouble(items[0]);
                    var xdDto = Convert.ToDouble(items[1]);
                    var mainYbDto = Convert.ToDouble(items[2]);
                    var adjaYbDto = Convert.ToDouble(items[3]);
                    var mainX = Convert.ToDouble(items[7]);
                    var mainY = Convert.ToDouble(items[8]);
                    var mainZ = Convert.ToDouble(items[9]);
                    var adjaX = Convert.ToDouble(items[10]);
                    var adjaY = Convert.ToDouble(items[11]);
                    var adjaZ = Convert.ToDouble(items[12]);
                    var cgRes = new CgRes()
                    {
                        SigTime = DateTime.Now,
                        DtoSx = sxDto * 1e6,
                        DfoSx = 200 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
                        SnrSx = r.Next(18, 24) + Math.Round(r.NextDouble(), 1),
                        DtoCdb = xdDto * 1e6,
                        DfoCdb = 600 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
                        SnrCdb = r.Next(22, 32) + Math.Round(r.NextDouble(), 1),
                        YbMain = mainYbDto * 1e6,
                        YbAdja = adjaYbDto * 1e6,
                        MainX = mainX,
                        MainY = mainY,
                        MainZ = mainZ,
                        AdjaX = adjaX,
                        AdjaY = adjaY,
                        AdjaZ = adjaZ,
                    };
                    var cg = db.CgRes.Add(cgRes);//参估结果入库
                    await db.SaveChangesAsync();
                    var res = PosApi.X2D1_POS(cgRes, listTx);
                    XDPosRes posRes = new XDPosRes()
                    {
                        SigTime = cgRes.SigTime,
                        CgResID = cgRes.ID,
                        TarName = "未知目标",
                        TsName = "tar1",
                        PosLon = res[0],
                        PosLat = res[1],
                        MirrLon = res[3],
                        MirrLat = res[4]
                    };
                    db.XDPosRes.Add(posRes);//定位结果入库
                    await db.SaveChangesAsync();

                    SendPosData(posRes, sysSetings);
                    //更新定位结果UI列表和地图
                    var currentTask = gridView1.GetFocusedRow() as TaskInfo;
                    var ds = this.gridPos.DataSource as List<XDPosRes>;
                    ds.Insert(0, posRes);
                    this.Invoke(new Action(() =>
                    {
                        gridView1.RefreshData();
                        mapControl1.AddPosItem(posRes);
                    }));
                    await Task.Delay(200);
                }
            }
        }
        private void SendPosData(XDPosRes pos, SysSetings setings)
        {
            if (setings == null || string.IsNullOrEmpty(setings.ServerIp) || setings.Port < 0 || setings.Port > 65535)
            {
                return;
            }
            string json = Newtonsoft.Json.JsonConvert.SerializeObject(pos);
            tcpServer.SendData(setings.ServerIp, setings.Port, json);
        }
        private async void XdPos()
        {
            try
            {

                var ids = gridView1.GetSelectedRows();
                if (ids.Length <= 0)
                {
                    XtraMessageBox.Show("请选择需要手动定位的数据信息!");
                    return;
                }
                var item = gridView1.GetRow(ids[0]) as XDPosRes;
                List<TxInfo> listTx = new List<TxInfo>();
                CgRes cg;
                using (RHDWContext db = new RHDWContext())
                {
                    listTx = db.TxInfos.ToList();
                    cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();

                }

                X2D1PosParamEditor frm = new X2D1PosParamEditor(item, cg, listTx, () =>
                {
                    gridView1.RefreshData();
                    if (item.PosLon > 180 || item.PosLon < -180)
                    {
                        item.PosLon = 0;
                        item.PosLat = 0;
                    }
                    mapControl1.UpdatePosItem(item);
                });
                frm.ShowDialog();



            }
            catch (Exception ex)
            {
                Serilog.Log.Error("手动定位失败", ex);
                XtraMessageBox.Show("手动定位失败");
            }
        }

        private async void DrawDtoLine()
        {
            try
            {

                var ids = gridView1.GetSelectedRows();
                if (ids.Length <= 0)
                {
                    XtraMessageBox.Show("请选择需要绘制时差线的定位数据信息!");
                    return;
                }
                var item = gridView1.GetRow(ids[0]) as XDPosRes;
                List<TxInfo> listTx = new List<TxInfo>();
                List<Model.SatInfo> listSat = new List<Model.SatInfo>();
                CgRes cg;
                using (RHDWContext db = new RHDWContext())
                {
                    listTx = db.TxInfos.ToList();
                    listSat = db.SatInfos.ToList();
                    cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();

                }
                if (cg == null)
                {
                    XtraMessageBox.Show($"未找到定位相关的计算[{item.CgResID}]信息");
                    return;
                }
                var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
                var satNTx = listTx.Find(p => p.TxType == EnumTxType.AdjaSat);
                var cdbTx = listTx.Find(p => p.TxType == EnumTxType.Cdb);
                var refTx = listTx.Find(p => p.TxType == EnumTxType.Ref);
                DtoLineXdOption dtoLineXd = new DtoLineXdOption();
                dtoLineXd.MsEph = new double[] { cg.MainX, cg.MainY, cg.MainZ, 0, 0, 0 };
                dtoLineXd.MsAnt = new double[] { satTx.Lon, satTx.Lat, 0 };
                dtoLineXd.CDBAnt = new double[] { cdbTx.Lon, cdbTx.Lat, 0 };
                dtoLineXd.RefGeod = new double[] { refTx.Lon, refTx.Lat, 0 };
                dtoLineXd.xdDto = cg.DtoCdb;
                dtoLineXd.RefDto = cg.YbMain;
                dtoLineXd.PosLon = item.PosLon;
                dtoLineXd.PosLat = item.PosLat;
                var xdDtoLine = DrawDtoLineHelper.DtoLineXd(dtoLineXd);
                mapControl1.DrawDtoPonit($"星地[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == cdbTx.ID)?.Sat}]时差线", xdDtoLine);

                DtoLineTwoStartOption twoStartOption = new DtoLineTwoStartOption();
                twoStartOption.MsEph = new double[] { cg.MainX, cg.MainY, cg.MainZ, 0, 0, 0 };
                twoStartOption.NsEph = new double[] { cg.AdjaX, cg.AdjaY, cg.AdjaZ, 0, 0, 0 };
                twoStartOption.MsAnt = new double[] { satTx.Lon, satTx.Lat, 0 };
                twoStartOption.NsAnt = new double[] { satNTx.Lon, satNTx.Lat, 0 };
                twoStartOption.RefGeod = new double[] { refTx.Lon, refTx.Lat, 0 };
                twoStartOption.TargetDto = cg.DtoSx;
                twoStartOption.RefDto = cg.YbMain - cg.YbAdja;
                twoStartOption.PosLon = item.PosLon;
                twoStartOption.PosLat = item.PosLat;
                var tsDtoLine = DrawDtoLineHelper.DtoLineXDTwoStart(twoStartOption);
                mapControl1.DrawDtoPonit($"双星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == satNTx.ID)?.Sat}]时差线", tsDtoLine);


            }
            catch (Exception ex)
            {
                Serilog.Log.Error("绘制时差线失败", ex);
                XtraMessageBox.Show($"绘制时差线失败,失败信息:{ex.Message}");
            }
        }

        private void DrawErrorEllipse2X1D(double[] MsEph, double[] NsEph, double[] CDBAnt, double[] RefGeod,double DtoErr,double EphErr)
        {
            try
            {
                var ids = gridView1.GetSelectedRows();
                if (ids.Length <= 0)
                {
                    XtraMessageBox.Show("请选择需要绘制误差椭圆线的定位数据信息!");
                    return;
                }
                var item = gridView1.GetRow(ids[0]) as XDPosRes;
                List<TxInfo> listTx = new List<TxInfo>();
                List<Model.SatInfo> listSat = new List<Model.SatInfo>();
                using (RHDWContext db = new RHDWContext())
                {
                    listTx = db.TxInfos.ToList();
                    listSat = db.SatInfos.ToList();
                }
                var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
                var satNTx = listTx.Find(p => p.TxType == EnumTxType.AdjaSat);
                XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO2X1DOption Option = new XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO2X1DOption();               
                Option.MsEph = MsEph;
                Option.NsEph = NsEph;
                Option.CDBAnt = CDBAnt;
                Option.RefGeod = RefGeod;
                Option.SelectPoint = new double[3] { item.PosLon, item.PosLat, 0 };
                Option.DtoErr = DtoErr*1e-6;
                Option.EphErr = EphErr;
                var points = XzXdDw.App.Api.低轨GDOP误差椭圆.ErrEllipseHelper.ErrorEllipse2X1D(Option);
                mapControl1.DrawDtoPonit($"双星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == satNTx.ID)?.Sat}]误差椭圆线", points);

            }
            catch (Exception ex)
            {
                Serilog.Log.Error("绘制误差椭圆线失败", ex);
                XtraMessageBox.Show($"绘制误差椭圆线失败,失败信息:{ex.Message}");
            }
        }
        public XdCxRhDW.App.DTO.MapLine SampleDots(XdCxRhDW.App.DTO.MapLine line)
        {
            var dots = line.Line;
            if (dots.Count < 30) return line;
            var tmp = dots.Count / 30;
            var newLine = new XdCxRhDW.App.DTO.MapLine();
            for (int i = 0; i < dots.Count; i += tmp)
            {
                newLine.Line.Add(dots[i]);
            }
            if (!newLine.Line.Contains(dots.Last()))
                newLine.Line.Add(dots.Last());
            return newLine;
        }
    }
}