加入RTK转发的广播端口

Plane.FormationCreator/Formation/RtcmManager.cs

@@ -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 + ")");

Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs

@@ -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);
                 }));

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -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);
                                 }

Plane.FormationCreator/Views/RtcmInfoView.xaml

@@ -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"