XzXdDw/XzDw.App/UserControl/CtrlPosSingle.cs

using DevExpress.Charts.Native;
using DevExpress.Internal;
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.星地GDOP误差椭圆;
using XzXdDw.App.EditForms;
using XzXdDw.App.EFContext;
using XzXdDw.App.Model;
using static DevExpress.XtraPrinting.Native.ExportOptionsPropertiesNames;

namespace XzXdDw.App.UserControl
{
    /// <summary>
    /// 星地定位
    /// </summary>
    public partial class CtrlPosSingle : DevExpress.XtraEditors.XtraUserControl
    {
        DtXDParam dtxdctrl = null;
        double MBfu;
        TcpServer tcpServer;
        public CtrlPosSingle()
        {
            InitializeComponent();
            MBfu = ConfigurationManager.AppSettings["MBUpFreq"].To(3.1085e8);
            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<PosRes> deletePos = new List<PosRes>();
                            using (RHDWContext db = new RHDWContext())
                            {
                                foreach (var id in ids)
                                {
                                    var item = gridView1.GetRow(id) as PosRes;
                                    var delItem = await db.PosRes.Where(p => p.ID == item.ID).FirstOrDefaultAsync();
                                    if (delItem != null)
                                    {
                                        db.PosRes.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("加载仿真数据", SvgHelper.LoadFromFile("Image\\LoadData.svg"), LoadSimulationData)
                      .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 ctrl = new DXErrEllipseParam();
                        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[] adja1_sat = Tle2XYZ.GetXyz(model.TleAdja1, model.CapTime);
                            double[] adja2_sat = Tle2XYZ.GetXyz(model.TleAdja2, model.CapTime);
                            DrawErrorEllipse1X(main_sat, adja1_sat, adja2_sat, model.DfoErr, model.SatLocErr, model.EphVelErr, model.fu);
                        });
                    })
                    .AddMenu("手动定位", SvgHelper.LoadFromFile("Image\\Pos.svg"), SinglePos)
                    .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 DXGDOPParam();
                        PopupHelper.ShowPopup(ctrl, mapControl1, mapControl1.Width / 4, onHide: hideReason =>
                        {
                            if (hideReason == HideReason.Defalut) return;
                            var model = ctrl.Model;
                            var (listSat, data) = GdopHelper.GdopSingleSatDRef(
                            model.TleLeo1, model.CapTime1, model.CapTime2, model.CapTime3, model.DfoErr, model.SatLocErr, model.EphVelErr, model.fu);
                            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<PosRes>("误差椭圆", SvgHelper.LoadFromFile("Image\\误差椭圆.svg"), item =>
                    {
                        var ctrl = new DXErrEllipseParam();
                        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[] adja1_sat = Tle2XYZ.GetXyz(model.TleAdja1, model.CapTime);
                            double[] adja2_sat = Tle2XYZ.GetXyz(model.TleAdja2, model.CapTime);
                            DrawErrorEllipse1X(main_sat, adja1_sat, adja2_sat, model.DfoErr, model.SatLocErr, model.EphVelErr, model.fu);
                        });
                    });

                //查询已有的定位记录
                using (RHDWContext db = new RHDWContext())
                {
                    List<PosRes> list = await db.PosRes.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_DX20240115.dat");
            if (editor.ShowDialog() != DialogResult.OK)
            {
                return;
            }

            //"1xSimulation_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 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 != 20) continue;
                    int index = 0;
                    var target_dfo1 = Convert.ToDouble(items[index++]);
                    var target_dfo2 = 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 adjaX1 = Convert.ToDouble(items[index++]);
                    var adjaY1 = Convert.ToDouble(items[index++]);
                    var adjaZ1 = Convert.ToDouble(items[index++]);
                    var adjaVX1 = Convert.ToDouble(items[index++]);
                    var adjaVY1 = Convert.ToDouble(items[index++]);
                    var adjaVZ1 = Convert.ToDouble(items[index++]);

                    var adjaX2 = Convert.ToDouble(items[index++]);
                    var adjaY2 = Convert.ToDouble(items[index++]);
                    var adjaZ2 = Convert.ToDouble(items[index++]);
                    var adjaVX2 = Convert.ToDouble(items[index++]);
                    var adjaVY2 = Convert.ToDouble(items[index++]);
                    var adjaVZ2 = Convert.ToDouble(items[index++]);
                    DateTime SigTime = DateTime.Now;
                    var cgRes = new CgRes()
                    {
                        SigTime = SigTime,
                        DtoSx = 200 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
                        DfoSx = target_dfo1,
                        SnrSx = r.Next(18, 24) + Math.Round(r.NextDouble(), 1),
                        MainX = mainX,
                        MainY = mainY,
                        MainZ = mainZ,
                        MainVX = mainVX,
                        MainVY = mainVY,
                        MainVZ = mainVZ,
                        AdjaX = adjaX1,
                        AdjaY = adjaY1,
                        AdjaZ = adjaZ1,
                        AdjaVX = adjaVX1,
                        AdjaVY = adjaVY1,
                        AdjaVZ = adjaVZ1,
                    };
                    var cgRes1 = new CgRes()
                    {
                        SigTime = SigTime,
                        DtoSx = 200 + r.Next(1, 5) + Math.Round(r.NextDouble(), 3),
                        DfoSx = target_dfo2,
                        SnrSx = r.Next(18, 24) + Math.Round(r.NextDouble(), 1),
                        MainX = mainX,
                        MainY = mainY,
                        MainZ = mainZ,
                        MainVX = mainVX,
                        MainVY = mainVY,
                        MainVZ = mainVZ,
                        AdjaX = adjaX2,
                        AdjaY = adjaY2,
                        AdjaZ = adjaZ2,
                        AdjaVX = adjaVX2,
                        AdjaVY = adjaVY2,
                        AdjaVZ = adjaVZ2,
                    };
                    var cg = db.CgRes.Add(cgRes);//参估结果入库
                    var cg1 = db.CgRes.Add(cgRes1);//参估结果入库
                    await db.SaveChangesAsync();

                    var res = PosApi.X1_POS(cg, cg1, MBfu);

                    PosRes posRes = new PosRes()
                    {
                        UpFreq = MBfu,
                        SigTime = DateTime.Now,
                        CgResID = cg.ID,
                        TarName = "未知目标",
                        TsName = "tar2",
                        PosLon = res[0],
                        PosLat = res[1],
                        MirrLon = res[3],
                        MirrLat = res[4]
                    };
                    db.PosRes.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<PosRes>;
                    ds.Insert(0, posRes);
                    this.Invoke(new Action(() =>
                    {
                        gridView1.RefreshData();
                        mapControl1.AddPosItem(posRes);
                    }));
                    await Task.Delay(200);
                }
            }
        }
        private void SendPosData(PosRes 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 void DrawErrorEllipse1X(double[] MsEph, double[] NsEph1, double[] NsEph2,double DfoErr,double EphPosErr,double EphVelErr,double fu)
        {
            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 PosRes;
                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);
#warning 但凡是和频差相关的 星历必须给速度
                XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO1XOption Option = new XzXdDw.App.Api.低轨GDOP误差椭圆.ErrorEllipseDTO1XOption();
                Option.MsEph = MsEph;
                Option.NsEph1 = NsEph1;
                Option.NsEph2 = NsEph2;
                Option.SelectPoint =new double[3] { item.PosLon, item.PosLat, 0 };
                Option.DfoErr = DfoErr;
                Option.EphPosErr = EphPosErr;
                Option.EphVelErr = EphVelErr;
                Option.fu = fu;
                var points = XzXdDw.App.Api.低轨GDOP误差椭圆.ErrEllipseHelper.ErrorEllipseSingleX(Option);
                mapControl1.DrawDtoPonit($"单星[{listSat.FirstOrDefault(m => m.ID == satTx.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}");
            }
        }

        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 PosRes;
                List<TxInfo> listTx = new List<TxInfo>();
                List<Model.SatInfo> listSat = new List<Model.SatInfo>();
                List<CgRes> cgs;
                using (RHDWContext db = new RHDWContext())
                {
                    listTx = db.TxInfos.ToList();
                    listSat = db.SatInfos.ToList();
                    var cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
                    cgs = await db.CgRes.Where(m => m.SigTime == cg.SigTime).ToListAsync();

                }
                if (cgs.Count != 2)
                {
                    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;
                }

                var satTx = listTx.Find(p => p.TxType == EnumTxType.MainSat);
                var cg1 = cgs.First(c=>c.ID== item.CgResID);
                var cg2 = cgs.First(c => c.ID != item.CgResID);
                double[] main_eph = new double[6] { cg1.MainX, cg1.MainY, cg1.MainZ, cg1.MainVX, cg1.MainVY, cg1.MainVZ};
                double[] main_eph1 = new double[6] { cg1.AdjaX, cg1.AdjaY, cg1.AdjaZ, cg1.AdjaVX, cg1.AdjaVY, cg1.AdjaVZ };
                double[] main_eph2 = new double[6] { cg2.AdjaX, cg2.AdjaY, cg2.AdjaZ, cg2.AdjaVX, cg2.AdjaVY, cg2.AdjaVZ };

                var xdDtoLine = DrawDtoLineHelper.DfoLineSingleStart(main_eph, main_eph1, cg1.DfoSx, item.UpFreq);
                mapControl1.DrawDtoPonit($"单星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat}时刻1频差线", xdDtoLine);

                var xdDtoLine1 = DrawDtoLineHelper.DfoLineSingleStart(main_eph, main_eph2, cg2.DfoSx, item.UpFreq);
                mapControl1.DrawDtoPonit($"单星[{listSat.FirstOrDefault(m => m.ID == satTx.ID)?.Sat}时刻2频差线", xdDtoLine1);


            }
            catch (Exception ex)
            {
                Serilog.Log.Error("单星绘制频差线失败", ex);
                XtraMessageBox.Show($"单星绘制频差线失败,失败信息:{ex.Message}");
            }
        }
        private async void SinglePos()
        {
            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 PosRes;
                
                List<CgRes> cgs;
                using (RHDWContext db = new RHDWContext())
                {
                   
                    var cg = await db.CgRes.Where(m => m.ID == item.CgResID).FirstOrDefaultAsync();
                    cgs = await db.CgRes.Where(m => m.SigTime == cg.SigTime).ToListAsync();

                }
                if (cgs.Count != 2)
                {
                    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;
                }
                SinglePosParamEditor frm = new SinglePosParamEditor(item, cgs[0], cgs[1], () =>
                {
                    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");
            }
        }

        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;
        }
    }
}