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 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.低轨GDOP误差椭圆;
using XzXdDw.App.Api.星地GDOP误差椭圆;
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;

        public CtrlPosXz()
        {
            InitializeComponent();
        }

        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"), LoadTestData)
                     .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 ctrl = new XZErrEllipseParam();
                         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) => LoadTestData())
                    .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();
                        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.TleMain, model.TleAdja, 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();
                        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 LoadTestData()
        {
            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 lines = File.ReadAllLines("Simulation_Data2023.dat");
                Random r = new Random();
                foreach (var item in lines)
                {
                    if (stoped) break;
                    //var items = item.Split(" ".ToCharArray(), StringSplitOptions.RemoveEmptyEntries);
                    //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,
                    //};
                    //db.CgRes.Add(cgRes);//参估结果入库

                    //var res = PosApi.X2D1_POS(cgRes, listTx);
                    //PosRes posRes = new PosRes()
                    //{
                    //    SigTime = cgRes.SigTime,
                    //    CgResID = cgRes.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

                    double[] main_sat = { -1608409.905, 5994264.071, 3139843.443, -6633.016931, -374.023436, -2678.158046 };
                    double[] neigh_sat = { -4629566.829, 4978943.601, 1487242.596, -4890.245126, -3337.702797, -4031.339975 };
                    double[] Ref_Station_LLH = { 112.33, 16.3, 0 };
                    double[] Zone = { -80, 80, -150, 150 };

                    double target_dto = -0.010246009710722;
                    double target_dfo = 1.595360344349182e+03;

                    double ref_dto = 0.002823291225258;
                    double ref_dfo = 1.132007974492508e+04;

                    double fu1 = 3.1085e8;
                    double fu2 = 2.95e8;


                    double[] target_llh = new double[6];

                    PosApi.TwoStar_DTFO_DW(main_sat, neigh_sat, Ref_Station_LLH, Zone, target_dto, target_dfo, ref_dto, ref_dfo, fu1, fu2, target_llh);

                    XZPosRes posRes = new XZPosRes()
                    {
                        SigTime = DateTime.Now,
                        CgResID = 1,
                        TarName = "未知目标",
                        TsName = "tar2",
                        PosLon = target_llh[0],
                        PosLat = target_llh[1],
                        MirrLon = target_llh[3],
                        MirrLat = target_llh[4],
                    };
                    db.XZPosRes.Add(posRes);//定位结果入库

                    //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 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);
                //var cdbTx = listTx.Find(p => p.TxType == EnumTxType.Cdb);
                //var refTx = listTx.Find(p => p.TxType == EnumTxType.Ref);



                double[] main_sat = { -1608409.905, 5994264.071, 3139843.443, -6633.016931, -374.023436, -2678.158046 };
                double[] neigh_sat = { -4629566.829, 4978943.601, 1487242.596, -4890.245126, -3337.702797, -4031.339975 };
                double[] Ref_Station_LLH = { 112.33, 16.3, 0 };
                double[] Zone = { -80, 80, -150, 150 };

                double target_dto = -0.010246009710722;

                double ref_dto = 0.002823291225258;


                DtoLineTwoStartOption twoStartOption = new DtoLineTwoStartOption();
                twoStartOption.MsEph = main_sat;
                twoStartOption.NsEph = neigh_sat;
                twoStartOption.RefGeod = Ref_Station_LLH;
                twoStartOption.TargetDto = target_dto * 1e6;
                twoStartOption.RefDto = ref_dto * 1e6;

                var tsDtoLine = DrawDtoLineHelper.DtoLineXZTwoStart(twoStartOption);
                mapControl1.DrawDtoPonit($"双星时差线", 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 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;
              

                double[] main_sat = { -1608409.905, 5994264.071, 3139843.443, -6633.016931, -374.023436, -2678.158046 };
                double[] neigh_sat = { -4629566.829, 4978943.601, 1487242.596, -4890.245126, -3337.702797, -4031.339975 };
                double[] Ref_Station_LLH = { 112.33, 16.3, 0 };
                double[] Zone = { -80, 80, -150, 150 };

              
                double target_dfo = 1.595360344349182e+03;

                double ref_dfo = 1.132007974492508e+04;

                double fu1 = 3.1085e8;
                double fu2 = 2.95e8;

                DfoLineTwoStartOption twoStartOption = new DfoLineTwoStartOption();
                twoStartOption.MsEph = main_sat;
                twoStartOption.NsEph = neigh_sat;
                twoStartOption.RefGeod = Ref_Station_LLH;
                twoStartOption.TargetDfo = target_dfo;
                twoStartOption.RefDfo = ref_dfo;
                twoStartOption.fu1 = fu1;
                twoStartOption.fu2 = fu2;

                var tsDtoLine = DrawDtoLineHelper.DfoLineXZTwoStart(twoStartOption);
                mapControl1.DrawDtoPonit($"双星频差线", 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;

                //double[] main_sat = { -1608409.905, 5994264.071, 3139843.443, -6633.016931, -374.023436, -2678.158046 };
                //double[] neigh_sat = { -4629566.829, 4978943.601, 1487242.596, -4890.245126, -3337.702797, -4031.339975 };
                //double[] Ref_Station_LLH = { 112.33, 16.3, 0 };
                //double fu1 = 3.1085e8;
                //double fu2 = 2.95e8;

                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;
        }
    }
}