1修复开网络RTK后，界面卡顿bug,rtkloop增加关键延迟
2将now改为utcnow，减少系统占用
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Load Diff
@ -1,431 +1,430 @@
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Reflection;
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using System.Text;
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using System.IO.Ports;
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using System.Threading;
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using System.Net; // dns, ip address
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using System.Net.Sockets; // tcplistner
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using System.IO;
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using System.Runtime.InteropServices;
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using System.Text.RegularExpressions;
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namespace Plane.Util
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{
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public class CommsNTRIP : ICommsSerial, IDisposable
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{
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public TcpClient client = new TcpClient();
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IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
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private Uri remoteUri;
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public double lat = 0;
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public double lng = 0;
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public double alt = 0;
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int retrys = 3;
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private string host;
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public int WriteBufferSize { get; set; }
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public int WriteTimeout { get; set; }
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public bool RtsEnable { get; set; }
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private string url;
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public Stream BaseStream
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{
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get { return client.GetStream(); }
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}
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public CommsNTRIP(string url, double lat, double lng)
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{
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this.url = url;
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this.lat = lat;
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this.lng = lng;
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ReadTimeout = 500;
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}
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public void toggleDTR()
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{
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}
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public string Port { get; set; }
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public int ReadTimeout
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{
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get; // { return client.ReceiveTimeout; }
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set; // { client.ReceiveTimeout = value; }
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}
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public int ReadBufferSize { get; set; }
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public int BaudRate { get; set; }
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public StopBits StopBits { get; set; }
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public Parity Parity { get; set; }
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public int DataBits { get; set; }
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public string PortName { get; set; }
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public int BytesToRead
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{
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get
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{
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/*Console.WriteLine(DateTime.Now.Millisecond + " tcp btr " + (client.Available + rbuffer.Length - rbufferread));*/
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SendNMEA();
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return (int)client.Available;
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}
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}
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public int BytesToWrite
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{
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get { return 0; }
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}
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public bool IsOpen
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{
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get
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{
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try
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{
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return client.Client.Connected;
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}
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catch
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{
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return false;
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}
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}
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}
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public bool DtrEnable { get; set; }
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public void Open()
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{
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if (client.Client.Connected)
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{
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return;
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}
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/*string url = "";*/
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int count = url.Split('@').Length - 1;
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if (count > 1)
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{
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var regex = new Regex("@");
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url = regex.Replace(url, "%40", 1);
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}
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url = url.Replace("ntrip://", "http://");
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remoteUri = new Uri(url);
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doConnect();
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}
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private byte[] TcpKeepAlive(bool On_Off, uint KeepaLiveTime, uint KeepaLiveInterval)
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{
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byte[] InValue = new byte[12];
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Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4);
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Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4);
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Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4);
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return InValue;
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}
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private void doConnect()
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{
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string usernamePassword = remoteUri.UserInfo;
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string userpass2 = Uri.UnescapeDataString(usernamePassword);
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string auth = "Authorization: Basic " +
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Convert.ToBase64String(new ASCIIEncoding().GetBytes(userpass2)) + "\r\n";
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if (usernamePassword == "")
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auth = "";
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host = remoteUri.Host;
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Port = remoteUri.Port.ToString();
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client = new TcpClient(host, int.Parse(Port));
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client.Client.IOControl(IOControlCode.KeepAliveValues, TcpKeepAlive(true, 36000000, 3000), null);
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NetworkStream ns = client.GetStream();
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StreamWriter sw = new StreamWriter(ns);
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StreamReader sr = new StreamReader(ns);
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string line = "GET " + remoteUri.PathAndQuery + " HTTP/1.0\r\n"
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+ "User-Agent: NTRIP MissionPlanner/1.0\r\n"
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+ auth
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+ "Connection: close\r\n\r\n";
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sw.Write(line);
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sw.Flush();
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line = sr.ReadLine();
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if (!line.Contains("200"))
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{
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client.Dispose();
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client = new TcpClient();
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throw new Exception("Bad ntrip Responce\n\n" + line);
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}
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// vrs may take up to 60+ seconds to respond
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SendNMEA();
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VerifyConnected();
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}
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DateTime _lastnmea = DateTime.MinValue;
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private void SendNMEA()
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{
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if (lat != 0 || lng != 0)
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{
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if (_lastnmea.AddSeconds(30) < DateTime.Now)
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{
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double latdms = (int)lat + ((lat - (int)lat) * .6f);
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double lngdms = (int)lng + ((lng - (int)lng) * .6f);
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var line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
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"$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA",
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DateTime.Now.ToUniversalTime(), Math.Abs(latdms * 100).ToString("0000.00"), lat < 0 ? "S" : "N",
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Math.Abs(lngdms * 100).ToString("00000.00"), lng < 0 ? "W" : "E", 1, 10,
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1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0");
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string checksum = GetChecksum(line);
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WriteLine(line + "*" + checksum);
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_lastnmea = DateTime.Now;
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}
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}
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}
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// Calculates the checksum for a sentence
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string GetChecksum(string sentence)
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{
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// Loop through all chars to get a checksum
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int Checksum = 0;
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foreach (char Character in sentence.ToCharArray())
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{
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switch (Character)
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{
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case '$':
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// Ignore the dollar sign
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break;
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case '*':
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// Stop processing before the asterisk
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continue;
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default:
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// Is this the first value for the checksum?
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if (Checksum == 0)
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{
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// Yes. Set the checksum to the value
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Checksum = Convert.ToByte(Character);
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}
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else
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{
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// No. XOR the checksum with this character's value
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Checksum = Checksum ^ Convert.ToByte(Character);
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}
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break;
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}
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}
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// Return the checksum formatted as a two-character hexadecimal
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return Checksum.ToString("X2");
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}
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void VerifyConnected()
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{
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if (!IsOpen)
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{
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try
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{
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client.Dispose();
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client = new TcpClient();
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}
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catch { }
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// this should only happen if we have established a connection in the first place
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if (client != null && retrys > 0)
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{
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doConnect();
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retrys--;
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}
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throw new Exception("网络RTK基站通讯已关闭!");
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}
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}
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public int Read(byte[] readto, int offset, int length)
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{
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VerifyConnected();
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SendNMEA();
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try
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{
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if (length < 1) { return 0; }
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return client.Client.Receive(readto, offset, length, SocketFlags.Partial);
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/*
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byte[] temp = new byte[length];
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clientbuf.Read(temp, 0, length);
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temp.CopyTo(readto, offset);
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return length;*/
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}
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catch { throw new Exception("ntrip Socket Closed"); }
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}
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public int ReadByte()
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{
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VerifyConnected();
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int count = 0;
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while (this.BytesToRead == 0)
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{
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System.Threading.Thread.Sleep(1);
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if (count > ReadTimeout)
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throw new Exception("ntrip Timeout on read");
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count++;
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}
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byte[] buffer = new byte[1];
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Read(buffer, 0, 1);
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return buffer[0];
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}
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public int ReadChar()
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{
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return ReadByte();
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}
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public string ReadExisting()
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{
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VerifyConnected();
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byte[] data = new byte[client.Available];
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if (data.Length > 0)
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Read(data, 0, data.Length);
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string line = Encoding.ASCII.GetString(data, 0, data.Length);
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return line;
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}
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public void WriteLine(string line)
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{
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VerifyConnected();
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line = line + "\r\n";
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Write(line);
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}
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public void Write(string line)
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{
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VerifyConnected();
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byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
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Write(data, 0, data.Length);
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}
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public void Write(byte[] write, int offset, int length)
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{
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VerifyConnected();
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try
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{
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client.Client.Send(write, length, SocketFlags.None);
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}
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catch { }//throw new Exception("Comport / Socket Closed"); }
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}
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public void DiscardInBuffer()
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{
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VerifyConnected();
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int size = (int)client.Available;
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byte[] crap = new byte[size];
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Read(crap, 0, size);
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}
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public string ReadLine()
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{
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byte[] temp = new byte[4000];
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int count = 0;
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int timeout = 0;
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while (timeout <= 100)
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{
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if (!this.IsOpen) { break; }
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if (this.BytesToRead > 0)
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{
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byte letter = (byte)this.ReadByte();
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temp[count] = letter;
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if (letter == '\n') // normal line
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{
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break;
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}
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count++;
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if (count == temp.Length)
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break;
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timeout = 0;
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}
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else
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{
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timeout++;
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System.Threading.Thread.Sleep(5);
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}
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}
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Array.Resize<byte>(ref temp, count + 1);
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return Encoding.ASCII.GetString(temp, 0, temp.Length);
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}
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public void Close()
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{
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try
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{
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if (client.Client != null && client.Client.Connected)
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{
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client.Client.Dispose();
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client.Dispose();
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}
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}
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catch { }
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try
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{
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client.Dispose();
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}
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catch { }
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client = new TcpClient();
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}
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protected virtual void Dispose(bool disposing)
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{
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if (disposing)
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{
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// dispose managed resources
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this.Close();
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client = null;
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}
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// free native resources
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}
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public void Dispose()
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{
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Dispose(true);
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GC.SuppressFinalize(this);
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}
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}
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}
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Reflection;
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using System.Text;
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using System.IO.Ports;
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using System.Threading;
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using System.Net; // dns, ip address
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using System.Net.Sockets; // tcplistner
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using System.IO;
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using System.Runtime.InteropServices;
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using System.Text.RegularExpressions;
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namespace Plane.Util
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{
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public class CommsNTRIP : ICommsSerial, IDisposable
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{
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public TcpClient client = new TcpClient();
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IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
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private Uri remoteUri;
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public double lat = 0;
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public double lng = 0;
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public double alt = 0;
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int retrys = 3;
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private string host;
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public int WriteBufferSize { get; set; }
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public int WriteTimeout { get; set; }
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public bool RtsEnable { get; set; }
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private string url;
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public Stream BaseStream
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{
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get { return client.GetStream(); }
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}
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public CommsNTRIP(string url, double lat, double lng)
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{
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this.url = url;
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this.lat = lat;
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this.lng = lng;
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ReadTimeout = 500;
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}
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public void toggleDTR()
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{
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}
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public string Port { get; set; }
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public int ReadTimeout
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{
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get; // { return client.ReceiveTimeout; }
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set; // { client.ReceiveTimeout = value; }
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}
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public int ReadBufferSize { get; set; }
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public int BaudRate { get; set; }
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public StopBits StopBits { get; set; }
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public Parity Parity { get; set; }
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public int DataBits { get; set; }
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public string PortName { get; set; }
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public int BytesToRead
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{
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get
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{
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/*Console.WriteLine(DateTime.Now.Millisecond + " tcp btr " + (client.Available + rbuffer.Length - rbufferread));*/
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SendNMEA();
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return (int)client.Available;
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}
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}
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public int BytesToWrite
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{
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get { return 0; }
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}
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public bool IsOpen
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{
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get
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{
|
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try
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{
|
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return client.Client.Connected;
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}
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catch
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{
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return false;
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}
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}
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}
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public bool DtrEnable { get; set; }
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public void Open()
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{
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if (client.Client.Connected)
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{
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return;
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}
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/*string url = "";*/
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|
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int count = url.Split('@').Length - 1;
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|
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if (count > 1)
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{
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var regex = new Regex("@");
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url = regex.Replace(url, "%40", 1);
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}
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url = url.Replace("ntrip://", "http://");
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remoteUri = new Uri(url);
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doConnect();
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}
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private byte[] TcpKeepAlive(bool On_Off, uint KeepaLiveTime, uint KeepaLiveInterval)
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{
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byte[] InValue = new byte[12];
|
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|
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Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4);
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Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4);
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Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4);
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return InValue;
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}
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private void doConnect()
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{
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string usernamePassword = remoteUri.UserInfo;
|
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string userpass2 = Uri.UnescapeDataString(usernamePassword);
|
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string auth = "Authorization: Basic " +
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Convert.ToBase64String(new ASCIIEncoding().GetBytes(userpass2)) + "\r\n";
|
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|
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if (usernamePassword == "")
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auth = "";
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host = remoteUri.Host;
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||||
Port = remoteUri.Port.ToString();
|
||||
|
||||
client = new TcpClient(host, int.Parse(Port));
|
||||
client.Client.IOControl(IOControlCode.KeepAliveValues, TcpKeepAlive(true, 36000000, 3000), null);
|
||||
|
||||
NetworkStream ns = client.GetStream();
|
||||
|
||||
StreamWriter sw = new StreamWriter(ns);
|
||||
StreamReader sr = new StreamReader(ns);
|
||||
|
||||
string line = "GET " + remoteUri.PathAndQuery + " HTTP/1.0\r\n"
|
||||
+ "User-Agent: NTRIP MissionPlanner/1.0\r\n"
|
||||
+ auth
|
||||
+ "Connection: close\r\n\r\n";
|
||||
|
||||
sw.Write(line);
|
||||
|
||||
sw.Flush();
|
||||
|
||||
line = sr.ReadLine();
|
||||
|
||||
if (!line.Contains("200"))
|
||||
{
|
||||
client.Dispose();
|
||||
|
||||
client = new TcpClient();
|
||||
|
||||
throw new Exception("Bad ntrip Responce\n\n" + line);
|
||||
}
|
||||
|
||||
// vrs may take up to 60+ seconds to respond
|
||||
SendNMEA();
|
||||
|
||||
VerifyConnected();
|
||||
}
|
||||
|
||||
DateTime _lastnmea = DateTime.MinValue;
|
||||
|
||||
private void SendNMEA()
|
||||
{
|
||||
if (lat != 0 || lng != 0)
|
||||
{
|
||||
DateTime currentUtcTime = DateTime.UtcNow;
|
||||
if (_lastnmea.AddSeconds(30) < currentUtcTime)
|
||||
{
|
||||
double latdms = (int)lat + ((lat - (int)lat) * .6f);
|
||||
double lngdms = (int)lng + ((lng - (int)lng) * .6f);
|
||||
|
||||
var line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
|
||||
"$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA",
|
||||
currentUtcTime, Math.Abs(latdms * 100).ToString("0000.00"), lat < 0 ? "S" : "N",
|
||||
Math.Abs(lngdms * 100).ToString("00000.00"), lng < 0 ? "W" : "E", 1, 10,
|
||||
1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0");
|
||||
|
||||
string checksum = GetChecksum(line);
|
||||
WriteLine(line + "*" + checksum);
|
||||
_lastnmea = currentUtcTime;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Calculates the checksum for a sentence
|
||||
string GetChecksum(string sentence)
|
||||
{
|
||||
// Loop through all chars to get a checksum
|
||||
int Checksum = 0;
|
||||
foreach (char Character in sentence.ToCharArray())
|
||||
{
|
||||
switch (Character)
|
||||
{
|
||||
case '$':
|
||||
// Ignore the dollar sign
|
||||
break;
|
||||
case '*':
|
||||
// Stop processing before the asterisk
|
||||
continue;
|
||||
default:
|
||||
// Is this the first value for the checksum?
|
||||
if (Checksum == 0)
|
||||
{
|
||||
// Yes. Set the checksum to the value
|
||||
Checksum = Convert.ToByte(Character);
|
||||
}
|
||||
else
|
||||
{
|
||||
// No. XOR the checksum with this character's value
|
||||
Checksum = Checksum ^ Convert.ToByte(Character);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
// Return the checksum formatted as a two-character hexadecimal
|
||||
return Checksum.ToString("X2");
|
||||
}
|
||||
|
||||
void VerifyConnected()
|
||||
{
|
||||
if (!IsOpen)
|
||||
{
|
||||
try
|
||||
{
|
||||
client.Dispose();
|
||||
client = new TcpClient();
|
||||
}
|
||||
catch { }
|
||||
|
||||
// this should only happen if we have established a connection in the first place
|
||||
if (client != null && retrys > 0)
|
||||
{
|
||||
doConnect();
|
||||
retrys--;
|
||||
}
|
||||
|
||||
throw new Exception("网络RTK基站通讯已关闭!");
|
||||
}
|
||||
}
|
||||
|
||||
public int Read(byte[] readto, int offset, int length)
|
||||
{
|
||||
VerifyConnected();
|
||||
|
||||
SendNMEA();
|
||||
|
||||
try
|
||||
{
|
||||
if (length < 1) { return 0; }
|
||||
|
||||
return client.Client.Receive(readto, offset, length, SocketFlags.Partial);
|
||||
/*
|
||||
byte[] temp = new byte[length];
|
||||
clientbuf.Read(temp, 0, length);
|
||||
|
||||
temp.CopyTo(readto, offset);
|
||||
|
||||
return length;*/
|
||||
}
|
||||
catch { throw new Exception("ntrip Socket Closed"); }
|
||||
}
|
||||
|
||||
public int ReadByte()
|
||||
{
|
||||
VerifyConnected();
|
||||
int count = 0;
|
||||
while (this.BytesToRead == 0)
|
||||
{
|
||||
System.Threading.Thread.Sleep(1);
|
||||
if (count > ReadTimeout)
|
||||
throw new Exception("ntrip Timeout on read");
|
||||
count++;
|
||||
}
|
||||
byte[] buffer = new byte[1];
|
||||
Read(buffer, 0, 1);
|
||||
return buffer[0];
|
||||
}
|
||||
|
||||
public int ReadChar()
|
||||
{
|
||||
return ReadByte();
|
||||
}
|
||||
|
||||
public string ReadExisting()
|
||||
{
|
||||
VerifyConnected();
|
||||
byte[] data = new byte[client.Available];
|
||||
if (data.Length > 0)
|
||||
Read(data, 0, data.Length);
|
||||
|
||||
string line = Encoding.ASCII.GetString(data, 0, data.Length);
|
||||
|
||||
return line;
|
||||
}
|
||||
|
||||
public void WriteLine(string line)
|
||||
{
|
||||
VerifyConnected();
|
||||
line = line + "\r\n";
|
||||
Write(line);
|
||||
}
|
||||
|
||||
public void Write(string line)
|
||||
{
|
||||
VerifyConnected();
|
||||
byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
|
||||
Write(data, 0, data.Length);
|
||||
}
|
||||
|
||||
public void Write(byte[] write, int offset, int length)
|
||||
{
|
||||
VerifyConnected();
|
||||
try
|
||||
{
|
||||
client.Client.Send(write, length, SocketFlags.None);
|
||||
}
|
||||
catch { }//throw new Exception("Comport / Socket Closed"); }
|
||||
}
|
||||
|
||||
public void DiscardInBuffer()
|
||||
{
|
||||
VerifyConnected();
|
||||
int size = (int)client.Available;
|
||||
byte[] crap = new byte[size];
|
||||
Read(crap, 0, size);
|
||||
}
|
||||
|
||||
public string ReadLine()
|
||||
{
|
||||
byte[] temp = new byte[4000];
|
||||
int count = 0;
|
||||
int timeout = 0;
|
||||
|
||||
while (timeout <= 100)
|
||||
{
|
||||
if (!this.IsOpen) { break; }
|
||||
if (this.BytesToRead > 0)
|
||||
{
|
||||
byte letter = (byte)this.ReadByte();
|
||||
|
||||
temp[count] = letter;
|
||||
|
||||
if (letter == '\n') // normal line
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
count++;
|
||||
if (count == temp.Length)
|
||||
break;
|
||||
timeout = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
timeout++;
|
||||
System.Threading.Thread.Sleep(5);
|
||||
}
|
||||
}
|
||||
|
||||
Array.Resize<byte>(ref temp, count + 1);
|
||||
|
||||
return Encoding.ASCII.GetString(temp, 0, temp.Length);
|
||||
}
|
||||
|
||||
public void Close()
|
||||
{
|
||||
try
|
||||
{
|
||||
if (client.Client != null && client.Client.Connected)
|
||||
{
|
||||
client.Client.Dispose();
|
||||
client.Dispose();
|
||||
}
|
||||
}
|
||||
catch { }
|
||||
|
||||
try
|
||||
{
|
||||
client.Dispose();
|
||||
}
|
||||
catch { }
|
||||
|
||||
client = new TcpClient();
|
||||
}
|
||||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (disposing)
|
||||
{
|
||||
// dispose managed resources
|
||||
this.Close();
|
||||
client = null;
|
||||
}
|
||||
// free native resources
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
Dispose(true);
|
||||
GC.SuppressFinalize(this);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user