XzXdDw/XzXdDw.App/UserControl/CtrlPosXz.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 Extensions;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Configuration;
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.低轨GDOP误差椭圆;
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 CtrlPosXz : DevExpress.XtraEditors.XtraUserControl
    {
        /// <summary>
        /// 时差初值 范围计算
        /// </summary>
        DtSXLParam dtsxlctrl = null;
        double MBfu;
        double CKfu;
        private TxInfo refTx;

        TcpServer tcpServer;
        public CtrlPosXz()
        {
            InitializeComponent();
            InitData();
        }

        private void InitData()
        {
            refTx = new TxInfo();
            refTx.Lon = ConfigurationManager.AppSettings["SXCKLon"].To(112.33);
            refTx.Lat = ConfigurationManager.AppSettings["SXCKLat"].To(16.3);

            MBfu = ConfigurationManager.AppSettings["MBUpFreq"].To(3.1085e8);
            CKfu = ConfigurationManager.AppSettings["CKUpFreq"].To(2.95e8);
            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();
                            using (RHDWContext db = new RHDWContext())
                            {
                                foreach (var id in ids)
                                {
                                    var item = gridView1.GetRow(id) as XZPosRes;
                                    var delItem = await db.XZPosRes.Where(p => p.ID == item.ID).FirstOrDefaultAsync();
                                    if (delItem != null)
                                    {
                                        db.XZPosRes.Remove(delItem);
                                    }
                                }
                                await db.SaveChangesAsync();
                            }
                            gridView1.DeleteSelectedRows();

                        }
                        catch (Exception ex)
                        {
                            Serilog.Log.Error("删除结果失败", ex);
                            XtraMessageBox.Show("删除结果失败");
                        }
                    })
                    .AddMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), LoadSimulationData)
                     .AddMenu("手动定位", SvgHelper.LoadFromFile("Image\\Pos.svg"), X2Pos)
                     .AddMenu("绘制时差线", SvgHelper.LoadFromFile("Image\\DrawLine.svg"), DrawDtoLine)
                     .AddMenu("绘制频差线", SvgHelper.LoadFromFile("Image\\DfoLine.svg"), DrawDfoLine)
                     .AddMenu("绘制误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), () =>
                     {
                         var ids = gridView1.GetSelectedRows();
                         if (ids.Length <= 0)
                         {
                             XtraMessageBox.Show("请选择需要误差椭圆的数据信息!");
                             return;
                         }
                         var item = gridView1.GetRow(ids[0]) as XZPosRes;
                         var ctrl = new XZErrEllipseParam(refTx, item.SigTime, MBfu, CKfu);
                         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);
                             DrawErrorEllipseDTFO(main_sat, adja_sat, new double[] { model.RefLon, model.RefLat, 0 }, model.DtousErr, model.DfoErr, model.SatLocErr, model.EphVelErr, model.fu1, model.fu2);
                         });
                     })
                    .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 (dtsxlctrl != null)
                   {
                       dtsxlctrl.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 XZGDOPParam(refTx,TestData.leoTime, MBfu, CKfu);
                        PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
                        {
                            if (hideReason == HideReason.Defalut) return;
                            var model = ctrl.Model;
                            var (listSat, data) = GdopHelper.GdopLeoTowSatDRef(
                              new double[] { model.RefLon, model.RefLat }, model.TleLeo1, model.TleLeo2, model.CapTime, model.DtousErr, model.DfoErr, model.SatLocErr, model.EphVelErr, model.fu1, model.fu2);
                            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<XZPosRes>("误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), item =>
                    {
                        var ctrl = new XZErrEllipseParam(refTx,item.SigTime, MBfu, CKfu);
                        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);
                            DrawErrorEllipseDTFO(main_sat, adja_sat, new double[] { model.RefLon, model.RefLat, 0 }, model.DtousErr, model.DfoErr, model.SatLocErr, model.EphVelErr, model.fu1, model.fu2);
                        });
                    })
                    .AddRectMenu<XZPosRes>("时差初值预估", SvgHelper.LoadFromFile("Image\\初值预估.svg"), items =>
                    {
                        var rect = mapControl1.GetCurrentRect();
                        if (dtsxlctrl == null)
                        {
                            dtsxlctrl = new DtSXLParam();
                        }
                        dtsxlctrl.rect = rect;
                        PopupHelper.ShowPopup(dtsxlctrl, mapControl1, mapControl1.Width / 4);
                    });


                //查询已有的定位记录
                using (RHDWContext db = new RHDWContext())
                {
                    List<XZPosRes> list = await db.XZPosRes.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_Data_SX20240115.dat");
            if (editor.ShowDialog() != DialogResult.OK)
            {
                return;
            }
            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(new string[] { " ","\"" }, StringSplitOptions.RemoveEmptyEntries);
                    if (items.Length != 18) continue;
                    int index = 0;
                    string sigtimeStr = items[index++] +" "+items[index++];
                    var SigTime = DateTime.ParseExact(sigtimeStr, "yyyy-MM-dd HH:mm:ss", null);
                    var target_dto = Convert.ToDouble(items[index++]);
                    var target_dfo = Convert.ToDouble(items[index++]);


                    var ref_dto = Convert.ToDouble(items[index++]);
                    var ref_dfo = Convert.ToDouble(items[index++]);

                    var mainX = Convert.ToDouble(items[index++]);
                    var mainY = Convert.ToDouble(items[index++]);
                    var mainZ = Convert.ToDouble(items[index++]);
                    var mainVX = Convert.ToDouble(items[index++]);
                    var mainVY = Convert.ToDouble(items[index++]);
                    var mainVZ = Convert.ToDouble(items[index++]);

                    var adjaX = Convert.ToDouble(items[index++]);
                    var adjaY = Convert.ToDouble(items[index++]);
                    var adjaZ = Convert.ToDouble(items[index++]);
                    var adjaVX = Convert.ToDouble(items[index++]);
                    var adjaVY = Convert.ToDouble(items[index++]);
                    var adjaVZ = Convert.ToDouble(items[index++]);

                    var cgRes = new CgRes()
                    {
                        SigTime = SigTime,
                        DtoSx = target_dto * 1e6,
                        DfoSx = target_dfo,
                        SnrSx = r.Next(18, 24) + Math.Round(r.NextDouble(), 1),
                        DtoCdb = ref_dto * 1e6,
                        DfoCdb = ref_dfo,
                        SnrCdb = r.Next(22, 32) + Math.Round(r.NextDouble(), 1),
                        MainX = mainX,
                        MainY = mainY,
                        MainZ = mainZ,
                        MainVX = mainVX,
                        MainVY = mainVY,
                        MainVZ = mainVZ,
                        AdjaX = adjaX,
                        AdjaY = adjaY,
                        AdjaZ = adjaZ,
                        AdjaVX = adjaVX,
                        AdjaVY = adjaVY,
                        AdjaVZ = adjaVZ,
                    };

                    var cg = db.CgRes.Add(cgRes);//参估结果入库
                    await db.SaveChangesAsync();

                    var res = PosApi.X2_POS(cg, refTx, MBfu, CKfu);

                    XZPosRes posRes = new XZPosRes()
                    {
                        SigTime = SigTime,
                        CgResID = cg.ID,
                        TarName = "未知目标",
                        TsName = "tar2",
                        PosLon = res[0],
                        PosLat = res[1],
                        MirrLon = res[3],
                        MirrLat = res[4],
                    };
                    db.XZPosRes.Add(posRes);//定位结果入库
                    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<XZPosRes>;
                    ds.Insert(0, posRes);
                    this.Invoke(new Action(() =>
                    {
                        gridView1.RefreshData();
                        mapControl1.AddPosItem(posRes);
                    }));
                    await Task.Delay(200);
                }
            }
        }

        private void SendPosData(XZPosRes 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 X2Pos()
        {
            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 XZPosRes;
                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();

                }
                if (cg == null)
                {
                    XtraMessageBox.Show($"未找到定位相关的计算[{item.CgResID}]{item.SigTime:yyyy-MM-dd HH:mm:ss}的参估信息!");
                    return;
                }
                X2PosParamEditor frm = new X2PosParamEditor(item, cg, refTx, MBfu, CKfu, () =>
                {
                    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 XZPosRes;
                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);


                DtoLineTwoStartOption twoStartOption = new DtoLineTwoStartOption();
                twoStartOption.MsEph = new double[6] { cg.MainX, cg.MainY, cg.MainZ, cg.MainVX, cg.MainVY, cg.MainVZ };
                twoStartOption.NsEph = new double[6] { cg.AdjaX, cg.AdjaY, cg.AdjaZ, cg.AdjaVX, cg.AdjaVY, cg.AdjaVZ };
                twoStartOption.RefGeod = new double[3] { refTx.Lon, refTx.Lat, 0 };
                twoStartOption.TargetDto = cg.DtoSx;
                twoStartOption.RefDto = cg.DtoCdb;

                var tsDtoLine = DrawDtoLineHelper.DtoLineXZTwoStart(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 async void DrawDfoLine()
        {
            try
            {
                var ids = gridView1.GetSelectedRows();
                if (ids.Length <= 0)
                {
                    XtraMessageBox.Show("请选择需要绘制频差线的定位数据信息!");
                    return;
                }
                var item = gridView1.GetRow(ids[0]) as XZPosRes;
                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);

                DfoLineTwoStartOption twoStartOption = new DfoLineTwoStartOption();
                twoStartOption.MsEph = new double[6] { cg.MainX, cg.MainY, cg.MainZ, cg.MainVX, cg.MainVY, cg.MainVZ };
                twoStartOption.NsEph = new double[6] { cg.AdjaX, cg.AdjaY, cg.AdjaZ, cg.AdjaVX, cg.AdjaVY, cg.AdjaVZ };
                twoStartOption.RefGeod = new double[3] { refTx.Lon, refTx.Lat, 0 };
                twoStartOption.TargetDfo = cg.DfoSx;
                twoStartOption.RefDfo = cg.DfoCdb;
                twoStartOption.fu1 = MBfu;
                twoStartOption.fu2 = CKfu;

                var tsDtoLine = DrawDtoLineHelper.DfoLineXZTwoStart(twoStartOption);
                mapControl1.DrawDtoPonit($"双星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat},{listSat.FirstOrDefault(m => m.ID == satNTx.ID)?.Sat}]频差线", tsDtoLine);

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

        private void DrawErrorEllipseDTFO(double[] main_sat, double[] neigh_sat, double[] Ref_Station_LLH, double DtoErr, double DfoErr, double EphPosErr, double EphVelErr, double fu1, double fu2)
        {
            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 XZPosRes;
                ErrorEllipseDTFOTSOption twoStartOption = new ErrorEllipseDTFOTSOption();
                twoStartOption.MsEph = main_sat;
                twoStartOption.NsEph = neigh_sat;
                twoStartOption.RefGeod = Ref_Station_LLH;
                twoStartOption.SelectPoint = new double[3] { item.PosLon, item.PosLat, 0 };
                twoStartOption.DtoErr = DtoErr * 1e-6;
                twoStartOption.DfoErr = DfoErr;
                twoStartOption.EphPosErr = EphPosErr;
                twoStartOption.EphVelErr = EphVelErr;
                twoStartOption.fu1 = fu1;
                twoStartOption.fu2 = fu2;

                var points = Api.低轨GDOP误差椭圆.ErrEllipseHelper.ErrorEllipseDTFOTwoStart(twoStartOption);
                mapControl1.DrawDtoPonit($"双星误差椭圆线", 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;
        }
    }
}