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加入RTK转发的广播端口

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This commit is contained in:
pxzleo 2023-10-15 11:09:53 +08:00
parent c3a3877323
commit 1403000ef9
4 changed files with 79 additions and 8 deletions
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26
Plane.FormationCreator/Formation/RtcmManager.cs
View File

@ -25,15 +25,18 @@ namespace Plane.FormationCreator.Formation
private Hashtable msgseen = new Hashtable();
private ICommsSerial comPort;
private ICommsSerial RecomPort;
private CommModuleManager _commModuleManager = CommModuleManager.Instance;
public ObservableCollection<RtcmInfo> rtcmInfoList { get; } = new ObservableCollection<RtcmInfo>();
private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
private bool _rtcmthreadrun = false;
private bool _enrecom = false;//是否转发到另外串口
// rtcm发送类型0:直接发送，
// 1：1秒只发一种卫星，1秒发GPS,第2秒发北斗，第3秒发格洛纳斯，其他数据随来随发
private int _rtcmsendtype = 1;
private int _resendtocom = 1;
const int MSG_GPS = 1074;
const int MSG_GLONASS = 1084;
const int MSG_Beidou = 1124;
@ -244,7 +247,7 @@ namespace Plane.FormationCreator.Formation
return SerialPort.GetPortNames();
}
public async Task Open(string CMB_serialport)
public async Task Open(string CMB_serialport, string reserialport="")
{
if (CMB_serialport == "") return;
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
@ -320,18 +323,26 @@ namespace Plane.FormationCreator.Formation
}
catch (Exception ex)
{
//Message.Show(ex.Message);
Alert.Show("数据端口打开失败:"+ ex.Message, "提示");
}
if (comPort.IsOpen)
{
Rtcmthreadrun = true;
_enrecom = false;
if (reserialport != "")
{
_enrecom=_commModuleManager.OpenResendRtcmserial(reserialport);
}
await RtcmLoop();
}
}
public async Task Close(string CMB_serialport)
{
//如果需要关闭转发端口
_commModuleManager.CloseResendRtcmserial();
await _commModuleManager.CloseRtcmLoop();
Rtcmthreadrun = false;
comPort.Close();
@ -363,6 +374,8 @@ namespace Plane.FormationCreator.Formation
}
//发送RTK数据线程循环
private async Task RtcmLoop()
{
int reconnecttimeout = 10;
@ -403,8 +416,9 @@ namespace Plane.FormationCreator.Formation
//一次读取180个字节
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
if (read > 0)
{
lastrecv = DateTime.Now;
}
bps += read;
for (int a = 0; a < read; a++)
{
@ -463,7 +477,7 @@ namespace Plane.FormationCreator.Formation
{
// Plane.Windows.Messages.Message.Show(DateTime.Now.ToString("HH:mm:ss")+"--Rtcm长度: " + (ushort)rtcm.length+" , 类型: "+ seenmsg);
Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " ("+ seenmsg+")");
await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length, _enrecom);
}
//else
// Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--放弃发送-----Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");

49
Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs
View File

@ -8,6 +8,7 @@ using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Input;
namespace Plane.FormationCreator.ViewModels
@ -19,6 +20,8 @@ namespace Plane.FormationCreator.ViewModels
public RtcmManager RtcmManager { get { return _rtcmManager; } }
public ObservableCollection<string> serialPorts { get; } = new ObservableCollection<string>();
public ObservableCollection<string> serialRePorts { get; } = new ObservableCollection<string>();
private string _serialPortsSelectdValue;
public string SerialPortsSelectdValue
@ -29,6 +32,37 @@ namespace Plane.FormationCreator.ViewModels
}
private string _serialPortResend;
public string SerialPortResend
{
get { return _serialPortResend; }
set { Set(nameof(SerialPortResend), ref _serialPortResend, value); }
}
private bool _resendtocommk;
public bool ResendToComMK
{
get { return _resendtocommk; }
set
{
if (value)
{ //发送
if (_rtcmManager.Rtcmthreadrun)
{
Alert.Show($"请先关闭RTK", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
return;
}
}
Set(nameof(ResendToComMK), ref _resendtocommk, value);
}
}
public RtcmInfoViewModel(RtcmManager rtcmManager)
{
_rtcmManager = rtcmManager;
@ -39,6 +73,7 @@ namespace Plane.FormationCreator.ViewModels
foreach (var item in commports)
{
serialPorts.Add(item);
serialRePorts.Add(item);
}
SerialPortsSelectdValue = serialPorts[0];
}
@ -67,8 +102,20 @@ namespace Plane.FormationCreator.ViewModels
{
return _ConnectRtcmCommand ?? (_ConnectRtcmCommand = new RelayCommand(async() =>
{
//是否转发到特定端口
string resendserial = "";
if (ResendToComMK)
{
if ((SerialPortResend!=null)&&(SerialPortResend != ""))
resendserial = SerialPortResend;
else
{
Alert.Show($"请选择需要转发的端口", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
return;
}
}
if (!_rtcmManager.Rtcmthreadrun)
await _rtcmManager.Open(SerialPortsSelectdValue);
await _rtcmManager.Open(SerialPortsSelectdValue,resendserial);
else
await _rtcmManager.Close(SerialPortsSelectdValue);
}));

3
Plane.FormationCreator/Views/MapView_CopterDrawing.cs
View File

@ -578,7 +578,8 @@ namespace Plane.FormationCreator.Views
// routePoint.Lng = info.TargetLng;
if (Route != null)
{
Route.Points.RemoveAt(1);
if (Route.Points.Count>1)
Route.Points.RemoveAt(1);
Route.Points.Add(marker.Position);
this.Route.RegenerateShape(_map);
}

9
Plane.FormationCreator/Views/RtcmInfoView.xaml
View File

@ -73,6 +73,15 @@
</StackPanel>
</Border>
<CheckBox x:Name="checkBox" Content="同时发送到："
Margin="20,30,5,20" Width="90"
IsChecked="{Binding ResendToComMK}"/>
<ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0"
Margin="10" ItemsSource="{Binding serialRePorts, Mode=OneWay}"
SelectedValue="{Binding SerialPortResend}"
DropDownOpened="ComboBox_DropDownOpened"/>
</StackPanel>
<ItemsControl Grid.Row="1"