CtrlPosSingle.cs 21 KB

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  1. using DevExpress.Charts.Native;
  2. using DevExpress.Internal;
  3. using DevExpress.Utils.Drawing.Helpers;
  4. using DevExpress.Utils.Extensions;
  5. using DevExpress.XtraEditors;
  6. using DevExpress.XtraExport.Helpers;
  7. using DevExpress.XtraGrid.Views.Grid;
  8. using DevExpress.XtraMap;
  9. using DevExpress.XtraTreeList.Data;
  10. using DxHelper;
  11. using Extensions;
  12. using System;
  13. using System.Collections.Generic;
  14. using System.ComponentModel;
  15. using System.Configuration;
  16. using System.Data;
  17. using System.Data.Entity;
  18. using System.Drawing;
  19. using System.IO;
  20. using System.Linq;
  21. using System.Text;
  22. using System.Threading;
  23. using System.Threading.Tasks;
  24. using System.Windows.Controls;
  25. using System.Windows.Documents;
  26. using System.Windows.Forms;
  27. using XdCxRhDW.App.Api.时差粗值预测;
  28. using XdCxRhDW.App.Api.时差线;
  29. using XdCxRhDW.App.Api.星历推算;
  30. using XdCxRhDW.App.DTO;
  31. using XdCxRhDW.App.UserControl;
  32. using XzXdDw.App.Api;
  33. using XzXdDw.App.Api.星地GDOP误差椭圆;
  34. using XzXdDw.App.EditForms;
  35. using XzXdDw.App.EFContext;
  36. using XzXdDw.App.Model;
  37. using static DevExpress.XtraPrinting.Native.ExportOptionsPropertiesNames;
  38. namespace XzXdDw.App.UserControl
  39. {
  40. /// <summary>
  41. /// 星地定位
  42. /// </summary>
  43. public partial class CtrlPosSingle : DevExpress.XtraEditors.XtraUserControl
  44. {
  45. DtXDParam dtxdctrl = null;
  46. DXGDOPParam dxGdopParam = null;
  47. double MBfu;
  48. TcpServer tcpServer;
  49. public CtrlPosSingle()
  50. {
  51. InitializeComponent();
  52. MBfu = ConfigurationManager.AppSettings["MBUpFreq"].To(3.1085e8);
  53. tcpServer = new TcpServer();
  54. }
  55. private async void CtrlXdPos_Load(object sender, EventArgs e)
  56. {
  57. try
  58. {
  59. gridPos.Init().UseMultiSelect().UseFilter().UseRowNumber().UseExportXlsx()
  60. .AddMenu("删除", SvgHelper.CreateClose(), async () =>
  61. {
  62. try
  63. {
  64. if (XtraMessageBox.Show("确认删除?(Ctrl+A可全选删除)", "确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question) != DialogResult.Yes)
  65. {
  66. return;
  67. }
  68. var ids = gridView1.GetSelectedRows();
  69. List<PosRes> deletePos = new List<PosRes>();
  70. using (RHDWContext db = new RHDWContext())
  71. {
  72. foreach (var id in ids)
  73. {
  74. var item = gridView1.GetRow(id) as PosRes;
  75. var delItem = await db.PosRes.Where(p => p.ID == item.ID).FirstOrDefaultAsync();
  76. if (delItem != null)
  77. {
  78. db.PosRes.Remove(delItem);
  79. }
  80. deletePos.Add(item);
  81. }
  82. await db.SaveChangesAsync();
  83. }
  84. gridView1.DeleteSelectedRows();
  85. mapControl1.DelPosItem(deletePos);
  86. }
  87. catch (Exception ex)
  88. {
  89. Serilog.Log.Error("删除结果失败", ex);
  90. XtraMessageBox.Show("删除结果失败");
  91. }
  92. })
  93. .AddMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), LoadSimulationData)
  94. .AddMenu("绘制频差线", SvgHelper.LoadFromFile("Image\\DfoLine.svg"), DrawDfoLine)
  95. .AddMenu("GDOP分析", SvgHelper.LoadFromFile("Image\\GDOP.svg"), () =>
  96. {
  97. var ids = gridView1.GetSelectedRows();
  98. if (ids.Length <= 0)
  99. {
  100. XtraMessageBox.Show("请选择需要GDOP分析的数据信息!");
  101. return;
  102. }
  103. var item = gridView1.GetRow(ids[0]) as PosRes;
  104. if (dxGdopParam == null)
  105. {
  106. dxGdopParam = new DXGDOPParam(MBfu, item.SigTime);
  107. }
  108. dxGdopParam.mapControl1 = mapControl1;
  109. PopupHelper.ShowPopup(dxGdopParam, mapControl1, mapControl1.Width / 4);
  110. })
  111. .AddMenu("绘制误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), () =>
  112. {
  113. var ids = gridView1.GetSelectedRows();
  114. if (ids.Length <= 0)
  115. {
  116. XtraMessageBox.Show("请选择需要绘制误差椭圆的数据信息!");
  117. return;
  118. }
  119. var item = gridView1.GetRow(ids[0]) as PosRes;
  120. var ctrl = new DXErrEllipseParam(MBfu, item.SigTime);
  121. PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
  122. {
  123. if (hideReason == HideReason.Defalut) return;
  124. var model = ctrl.Model;
  125. double[] main_sat = Tle2XYZ.GetXyz(model.TleMain, model.CapTime);
  126. double[] adja1_sat = Tle2XYZ.GetXyz(model.TleMain, model.CapTime1);
  127. double[] adja2_sat = Tle2XYZ.GetXyz(model.TleMain, model.CapTime2);
  128. DrawErrorEllipse1X(main_sat, adja1_sat, adja2_sat, model.DfoErr, model.SatLocErr, model.EphVelErr, model.fu);
  129. });
  130. })
  131. .AddMenu("手动定位", SvgHelper.LoadFromFile("Image\\Pos.svg"), SinglePos)
  132. .AddMenu("停止加载", SvgHelper.LoadFromFile("Image\\Stop.svg"), () => stoped = true);
  133. mapControl1.UseDefalutOptions()
  134. //.UseCluster()//定位点使用内置聚合
  135. .UseClearAll()
  136. .UseDistanceLine()
  137. .UseMarkDot()
  138. //.UseExportImg()
  139. //.UseExportXlsx()
  140. //.UseExportCsv()
  141. .UseDrawRect(rect =>
  142. {
  143. if (dtxdctrl != null)
  144. {
  145. dtxdctrl.rect = rect;
  146. }
  147. });
  148. //MapMenu为地图瓦片上右键菜单
  149. //AddPosMenu为定位点上右键菜单
  150. //RectMenu为框选的区域上右键菜单
  151. mapControl1.AddMapMenu("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), (lon, lat) => LoadSimulationData())
  152. .AddMapMenu("停止加载", SvgHelper.LoadFromFile("Image\\Stop.svg"), (lon, lat) => stoped = true)
  153. .AddPosMenu<PosRes>("GDOP分析", SvgHelper.LoadFromFile("Image\\GDOP.svg"), item =>
  154. {
  155. if (dxGdopParam == null)
  156. {
  157. dxGdopParam = new DXGDOPParam(MBfu, item.SigTime);
  158. }
  159. dxGdopParam.mapControl1 = mapControl1;
  160. PopupHelper.ShowPopup(dxGdopParam, mapControl1, mapControl1.Width / 4);
  161. })
  162. .AddPosMenu<PosRes>("误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), item =>
  163. {
  164. var ctrl = new DXErrEllipseParam(MBfu, item.SigTime);
  165. PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
  166. {
  167. if (hideReason == HideReason.Defalut) return;
  168. var model = ctrl.Model;
  169. double[] main_sat = Tle2XYZ.GetXyz(model.TleMain, model.CapTime);
  170. double[] adja1_sat = Tle2XYZ.GetXyz(model.TleMain, model.CapTime1);
  171. double[] adja2_sat = Tle2XYZ.GetXyz(model.TleMain, model.CapTime2);
  172. DrawErrorEllipse1X(main_sat, adja1_sat, adja2_sat, model.DfoErr, model.SatLocErr, model.EphVelErr, model.fu);
  173. });
  174. });
  175. //查询已有的定位记录
  176. using (RHDWContext db = new RHDWContext())
  177. {
  178. List<PosRes> list = await db.PosRes.ToListAsync();
  179. this.gridPos.DataSource = list;
  180. mapControl1.SetPosDataSource(list);
  181. }
  182. }
  183. catch (Exception ex)
  184. {
  185. Serilog.Log.Error("查询定位结果失败", ex);
  186. XtraMessageBox.Show("查询定位结果失败");
  187. }
  188. }
  189. bool stoped = false;
  190. private async void LoadSimulationData()
  191. {
  192. SimulationEditor editor = new SimulationEditor("Simulation_Data_DX20240115.dat");
  193. if (editor.ShowDialog() != DialogResult.OK)
  194. {
  195. return;
  196. }
  197. //"1xSimulation_Data2023.dat"
  198. string simulationFile = editor.SimulationFile;
  199. stoped = false;
  200. //在列表控件中全选+右键可以删除所有测试结果
  201. using (RHDWContext db = new RHDWContext())
  202. {
  203. var sysSetings = await db.SysSetings.FirstOrDefaultAsync();
  204. var lines = File.ReadAllLines(simulationFile);
  205. Random r = new Random();
  206. foreach (var item in lines)
  207. {
  208. if (stoped) break;
  209. var items = item.Split(new string[] { " ", "\"" }, StringSplitOptions.RemoveEmptyEntries);
  210. if (items.Length != 22) continue;
  211. int index = 0;
  212. string sigtimeStr = items[index++] + " " + items[index++];
  213. var SigTime = DateTime.ParseExact(sigtimeStr, "yyyy-MM-dd HH:mm:ss", null);
  214. var target_dfo1 = Convert.ToDouble(items[index++]);
  215. var target_dfo2 = Convert.ToDouble(items[index++]);
  216. var mainX = Convert.ToDouble(items[index++]);
  217. var mainY = Convert.ToDouble(items[index++]);
  218. var mainZ = Convert.ToDouble(items[index++]);
  219. var mainVX = Convert.ToDouble(items[index++]);
  220. var mainVY = Convert.ToDouble(items[index++]);
  221. var mainVZ = Convert.ToDouble(items[index++]);
  222. var adjaX1 = Convert.ToDouble(items[index++]);
  223. var adjaY1 = Convert.ToDouble(items[index++]);
  224. var adjaZ1 = Convert.ToDouble(items[index++]);
  225. var adjaVX1 = Convert.ToDouble(items[index++]);
  226. var adjaVY1 = Convert.ToDouble(items[index++]);
  227. var adjaVZ1 = Convert.ToDouble(items[index++]);
  228. var adjaX2 = Convert.ToDouble(items[index++]);
  229. var adjaY2 = Convert.ToDouble(items[index++]);
  230. var adjaZ2 = Convert.ToDouble(items[index++]);
  231. var adjaVX2 = Convert.ToDouble(items[index++]);
  232. var adjaVY2 = Convert.ToDouble(items[index++]);
  233. var adjaVZ2 = Convert.ToDouble(items[index++]);
  234. var cgRes = new CgRes()
  235. {
  236. SigTime = SigTime,
  237. DtoSx = 200 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
  238. DfoSx = target_dfo1,
  239. SnrSx = r.Next(18, 24) + Math.Round(r.NextDouble(), 1),
  240. MainX = mainX,
  241. MainY = mainY,
  242. MainZ = mainZ,
  243. MainVX = mainVX,
  244. MainVY = mainVY,
  245. MainVZ = mainVZ,
  246. AdjaX = adjaX1,
  247. AdjaY = adjaY1,
  248. AdjaZ = adjaZ1,
  249. AdjaVX = adjaVX1,
  250. AdjaVY = adjaVY1,
  251. AdjaVZ = adjaVZ1,
  252. };
  253. var cgRes1 = new CgRes()
  254. {
  255. SigTime = SigTime,
  256. DtoSx = 200 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
  257. DfoSx = target_dfo2,
  258. SnrSx = r.Next(18, 24) + Math.Round(r.NextDouble(), 1),
  259. MainX = mainX,
  260. MainY = mainY,
  261. MainZ = mainZ,
  262. MainVX = mainVX,
  263. MainVY = mainVY,
  264. MainVZ = mainVZ,
  265. AdjaX = adjaX2,
  266. AdjaY = adjaY2,
  267. AdjaZ = adjaZ2,
  268. AdjaVX = adjaVX2,
  269. AdjaVY = adjaVY2,
  270. AdjaVZ = adjaVZ2,
  271. };
  272. var cg = db.CgRes.Add(cgRes);//参估结果入库
  273. var cg1 = db.CgRes.Add(cgRes1);//参估结果入库
  274. await db.SaveChangesAsync();
  275. var res = PosApi.X1_POS(cg, cg1, MBfu);
  276. PosRes posRes = new PosRes()
  277. {
  278. UpFreq = MBfu,
  279. SigTime = SigTime,
  280. CgResID = cg.ID,
  281. CgRes1ID = cg1.ID,
  282. TarName = "未知目标",
  283. TsName = "tar2",
  284. PosLon = res[0],
  285. PosLat = res[1],
  286. MirrLon = res[3],
  287. MirrLat = res[4]
  288. };
  289. db.PosRes.Add(posRes);//定位结果入库
  290. SendPosData(posRes, sysSetings);
  291. //更新定位结果UI列表和地图
  292. var currentTask = gridView1.GetFocusedRow() as TaskInfo;
  293. var ds = this.gridPos.DataSource as List<PosRes>;
  294. ds.Insert(0, posRes);
  295. this.Invoke(new Action(() =>
  296. {
  297. gridView1.RefreshData();
  298. mapControl1.AddPosItem(posRes);
  299. }));
  300. await Task.Delay(200);
  301. }
  302. }
  303. }
  304. private void SendPosData(PosRes pos, SysSetings setings)
  305. {
  306. if (setings == null || string.IsNullOrEmpty(setings.ServerIp) || setings.Port < 0 || setings.Port > 65535)
  307. {
  308. return;
  309. }
  310. string json = Newtonsoft.Json.JsonConvert.SerializeObject(pos);
  311. tcpServer.SendData(setings.ServerIp, setings.Port, json);
  312. }
  313. private void DrawErrorEllipse1X(double[] MsEph, double[] NsEph1, double[] NsEph2, double DfoErr, double EphPosErr, double EphVelErr, double fu)
  314. {
  315. try
  316. {
  317. var ids = gridView1.GetSelectedRows();
  318. if (ids.Length <= 0)
  319. {
  320. XtraMessageBox.Show("请选择需要绘制误差椭圆线的定位数据信息!");
  321. return;
  322. }
  323. var item = gridView1.GetRow(ids[0]) as PosRes;
  324. List<TxInfo> listTx = new List<TxInfo>();
  325. List<Model.SatInfo> listSat = new List<Model.SatInfo>();
  326. using (RHDWContext db = new RHDWContext())
  327. {
  328. listTx = db.TxInfos.ToList();
  329. listSat = db.SatInfos.ToList();
  330. }
  331. var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
  332. #warning 但凡是和频差相关的 星历必须给速度
  333. XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO1XOption Option = new XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO1XOption();
  334. Option.MsEph = MsEph;
  335. Option.NsEph1 = NsEph1;
  336. Option.NsEph2 = NsEph2;
  337. Option.SelectPoint = new double[3] { item.PosLon, item.PosLat, 0 };
  338. Option.DfoErr = DfoErr;
  339. Option.EphPosErr = EphPosErr;
  340. Option.EphVelErr = EphVelErr;
  341. Option.fu = fu;
  342. var points = XzXdDw.App.Api.低轨GDOP误差椭圆.ErrEllipseHelper.ErrorEllipseSingleX(Option);
  343. mapControl1.DrawDtoPonit($"单星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat}]误差椭圆线", points);
  344. }
  345. catch (Exception ex)
  346. {
  347. Serilog.Log.Error("绘制误差椭圆线失败", ex);
  348. XtraMessageBox.Show($"绘制误差椭圆线失败,失败信息:{ex.Message}");
  349. }
  350. }
  351. private async void DrawDfoLine()
  352. {
  353. try
  354. {
  355. var ids = gridView1.GetSelectedRows();
  356. if (ids.Length <= 0)
  357. {
  358. XtraMessageBox.Show("请选择需要绘制频差线的定位数据信息!");
  359. return;
  360. }
  361. var item = gridView1.GetRow(ids[0]) as PosRes;
  362. List<TxInfo> listTx = new List<TxInfo>();
  363. List<Model.SatInfo> listSat = new List<Model.SatInfo>();
  364. CgRes cg;
  365. CgRes cg1;
  366. using (RHDWContext db = new RHDWContext())
  367. {
  368. listTx = db.TxInfos.ToList();
  369. listSat = db.SatInfos.ToList();
  370. cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
  371. cg1 = await db.CgRes.Where(m => m.ID == item.CgRes1ID).FirstOrDefaultAsync();
  372. }
  373. if (cg == null || cg1 == null)
  374. {
  375. XtraMessageBox.Show($"未找到定位相关的计算[{item.CgResID}]{item.SigTime:yyyy-MM-dd HH:mm:ss}的参估信息!");
  376. return;
  377. }
  378. var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
  379. double[] main_eph = new double[6] { cg.MainX, cg.MainY, cg.MainZ, cg.MainVX, cg.MainVY, cg.MainVZ };
  380. double[] main_eph1 = new double[6] { cg.AdjaX, cg.AdjaY, cg.AdjaZ, cg.AdjaVX, cg.AdjaVY, cg.AdjaVZ };
  381. double[] main_eph2 = new double[6] { cg1.AdjaX, cg1.AdjaY, cg1.AdjaZ, cg1.AdjaVX, cg1.AdjaVY, cg1.AdjaVZ };
  382. var xdDtoLine = DrawDtoLineHelper.DfoLineSingleStart(main_eph, main_eph1, cg.DfoSx, item.UpFreq);
  383. mapControl1.DrawDtoPonit($"单星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat}时刻1频差线", xdDtoLine);
  384. var xdDtoLine1 = DrawDtoLineHelper.DfoLineSingleStart(main_eph, main_eph2, cg1.DfoSx, item.UpFreq);
  385. mapControl1.DrawDtoPonit($"单星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat}时刻2频差线", xdDtoLine1);
  386. }
  387. catch (Exception ex)
  388. {
  389. Serilog.Log.Error("单星绘制频差线失败", ex);
  390. XtraMessageBox.Show($"单星绘制频差线失败,失败信息:{ex.Message}");
  391. }
  392. }
  393. private async void SinglePos()
  394. {
  395. try
  396. {
  397. var ids = gridView1.GetSelectedRows();
  398. if (ids.Length <= 0)
  399. {
  400. XtraMessageBox.Show("请选择需要手动定位的数据信息!");
  401. return;
  402. }
  403. var item = gridView1.GetRow(ids[0]) as PosRes;
  404. CgRes cg;
  405. CgRes cg1;
  406. using (RHDWContext db = new RHDWContext())
  407. {
  408. cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
  409. cg1 = await db.CgRes.Where(m => m.ID == item.CgRes1ID).FirstOrDefaultAsync();
  410. }
  411. if (cg == null || cg1 == null)
  412. {
  413. 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!");
  414. return;
  415. }
  416. SinglePosParamEditor frm = new SinglePosParamEditor(item, cg, cg1, () =>
  417. {
  418. gridView1.RefreshData();
  419. if (item.PosLon > 180 || item.PosLon < -180)
  420. {
  421. item.PosLon = 0;
  422. item.PosLat = 0;
  423. }
  424. mapControl1.UpdatePosItem(item);
  425. });
  426. frm.ShowDialog();
  427. }
  428. catch (Exception ex)
  429. {
  430. Serilog.Log.Error("手动定位失败", ex);
  431. XtraMessageBox.Show("手动定位失败");
  432. }
  433. }
  434. public XdCxRhDW.App.DTO.MapLine SampleDots(XdCxRhDW.App.DTO.MapLine line)
  435. {
  436. var dots = line.Line;
  437. if (dots.Count < 30) return line;
  438. var tmp = dots.Count / 30;
  439. var newLine = new XdCxRhDW.App.DTO.MapLine();
  440. for (int i = 0; i < dots.Count; i += tmp)
  441. {
  442. newLine.Line.Add(dots[i]);
  443. }
  444. if (!newLine.Line.Contains(dots.Last()))
  445. newLine.Line.Add(dots.Last());
  446. return newLine;
  447. }
  448. }
  449. }