group/Plane.FormationCreator
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1修复开网络RTK后，界面卡顿bug,rtkloop增加关键延迟

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2将now改为utcnow，减少系统占用
This commit is contained in:
pxzleo 2024-01-10 16:15:33 +08:00
parent 9cfd7db051
commit 17e4c8bd97
2 changed files with 1133 additions and 1131 deletions
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27
Plane.FormationCreator/Formation/RtcmManager.cs
View File

@ -319,11 +319,11 @@ namespace Plane.FormationCreator.Formation
//得到千寻账号 //得到千寻账号
_copterManager.GetRTKURL(); _copterManager.GetRTKURL();
//等到返回5秒 //等到返回5秒
DateTime Tthen = DateTime.Now; DateTime Tthen = DateTime.UtcNow;
do do
{ {
Application.DoEvents(); Application.DoEvents();
} while ((_copterManager.RTK_URL == "") || (Tthen.AddSeconds(2) > DateTime.Now)); } while ((_copterManager.RTK_URL == "") || (Tthen.AddSeconds(2) > DateTime.UtcNow));
} }
if (_copterManager.RTK_URL != "") if (_copterManager.RTK_URL != "")
{ {
@ -401,6 +401,7 @@ namespace Plane.FormationCreator.Formation
{ {
int reconnecttimeout = 10; int reconnecttimeout = 10;
DateTime lastrecv = DateTime.MinValue; DateTime lastrecv = DateTime.MinValue;
DateTime unow = DateTime.UtcNow;
long last_send_pos = CurrentTimeMillis()- 5000;//5秒发一次就可以了 long last_send_pos = CurrentTimeMillis()- 5000;//5秒发一次就可以了
bool Ensend = false; bool Ensend = false;
//新版本打包发送模式 //新版本打包发送模式
@ -413,7 +414,8 @@ namespace Plane.FormationCreator.Formation
{ {
try try
{ {
if ((DateTime.Now - lastrecv).TotalSeconds > reconnecttimeout || !comPort.IsOpen) unow=DateTime.UtcNow;
if ((unow - lastrecv).TotalSeconds > reconnecttimeout || !comPort.IsOpen)
{ {
if (comPort is CommsNTRIP) if (comPort is CommsNTRIP)
{ {
@ -424,7 +426,7 @@ namespace Plane.FormationCreator.Formation
comPort.Open(); comPort.Open();
} }
// reset timer // reset timer
lastrecv = DateTime.Now; lastrecv = unow;
} }
} }
catch { } catch { }
@ -440,9 +442,9 @@ namespace Plane.FormationCreator.Formation
while (comPort.BytesToRead > 0) while (comPort.BytesToRead > 0)
{ {
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead)); int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
Console.WriteLine(string.Format("{0:T} - read:{1:D}", DateTime.Now, read)); //Console.WriteLine(string.Format("{0:T} - read:{1:D}", DateTime.UtcNow, read));
if (read > 0) if (read > 0)
lastrecv = DateTime.Now; lastrecv = DateTime.UtcNow;
bps += read; //接收速率bps,byte需要*8到bit bps += read; //接收速率bps,byte需要*8到bit
// check for valid rtcm/sbp/ubx packets // check for valid rtcm/sbp/ubx packets
for (int a = 0; a < read; a++) for (int a = 0; a < read; a++)
@ -458,7 +460,7 @@ namespace Plane.FormationCreator.Formation
//广播数据直接发送不受小带宽数据选项影响 //广播数据直接发送不受小带宽数据选项影响
if (_enrecom) if (_enrecom)
{ {
Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--广播Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")"); // Console.WriteLine(DateTime.UtcNow.ToString("HH:mm:ss") + "--广播Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");
_commModuleManager.BroadcastGpsDataAsync(rtcm.packet, (ushort)rtcm.length); _commModuleManager.BroadcastGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
} }
@ -466,7 +468,7 @@ namespace Plane.FormationCreator.Formation
if (!SmallRtcmData) if (!SmallRtcmData)
{ {
//发送到飞机 //发送到飞机
Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")"); // Console.WriteLine(DateTime.UtcNow.ToString("HH:mm:ss") + "--通讯模块发送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);
//累加消息数量，用于界面显示 //累加消息数量，用于界面显示
bpsusefull += rtcm.length; bpsusefull += rtcm.length;
@ -518,7 +520,7 @@ namespace Plane.FormationCreator.Formation
} }
if (Ensend) if (Ensend)
{ {
Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")"); //Console.WriteLine(DateTime.UtcNow.ToString("HH:mm:ss") + "--通讯模块发送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);
//累加消息数量，用于界面显示 //累加消息数量，用于界面显示
bpsusefull += rtcm.length; bpsusefull += rtcm.length;
@ -541,7 +543,7 @@ namespace Plane.FormationCreator.Formation
// ubx // ubx
if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0) if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0)
{ {
Console.WriteLine(string.Format("{0:T}----------------------------ubx_m8p ", DateTime.Now)); //Console.WriteLine(string.Format("{0:T}----------------------------ubx_m8p ", DateTime.UtcNow));
rtcm.resetParser(); rtcm.resetParser();
nmea.resetParser(); nmea.resetParser();
/* /*
@ -555,7 +557,7 @@ namespace Plane.FormationCreator.Formation
// nmea // nmea
if ((seenmsg = nmea.Read(buffer[a])) > 0) if ((seenmsg = nmea.Read(buffer[a])) > 0)
{ {
Console.WriteLine(string.Format("{0:T}----------------------------nmea ", DateTime.Now)); //Console.WriteLine(string.Format("{0:T}----------------------------nmea ", DateTime.UtcNow));
rtcm.resetParser(); rtcm.resetParser();
ubx_m8p.resetParser(); ubx_m8p.resetParser();
/* /*
@ -569,8 +571,9 @@ namespace Plane.FormationCreator.Formation
} }
////////////////////////////解析/发送RTCM结束 ////////////////////////////解析/发送RTCM结束
await Task.Delay(10); await Task.Delay(20);
} }
await Task.Delay(20); //新增加关键延迟，要不然界面会出现卡死现象
} }
catch (Exception ex) catch (Exception ex)
{ {

9
Plane.FormationCreator/Util/CommNTRIP.cs
View File

@ -188,22 +188,21 @@ namespace Plane.Util
{ {
if (lat != 0 || lng != 0) if (lat != 0 || lng != 0)
{ {
if (_lastnmea.AddSeconds(30) < DateTime.Now) DateTime currentUtcTime = DateTime.UtcNow;
if (_lastnmea.AddSeconds(30) < currentUtcTime)
{ {
double latdms = (int)lat + ((lat - (int)lat) * .6f); double latdms = (int)lat + ((lat - (int)lat) * .6f);
double lngdms = (int)lng + ((lng - (int)lng) * .6f); double lngdms = (int)lng + ((lng - (int)lng) * .6f);
var line = string.Format(System.Globalization.CultureInfo.InvariantCulture, var line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
"$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA", "$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA",
DateTime.Now.ToUniversalTime(), Math.Abs(latdms * 100).ToString("0000.00"), lat < 0 ? "S" : "N", 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, Math.Abs(lngdms * 100).ToString("00000.00"), lng < 0 ? "W" : "E", 1, 10,
1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0"); 1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0");
string checksum = GetChecksum(line); string checksum = GetChecksum(line);
WriteLine(line + "*" + checksum); WriteLine(line + "*" + checksum);
_lastnmea = currentUtcTime;
_lastnmea = DateTime.Now;
} }
} }