【FormationCreator.sln】加入性能检查
[App.xaml.cs]停用tcp连接和编队控制器formationController [Copter.cs]关闭心跳包发送，减小数据发送量 [Plane.FormationCreator.csproj]加入ParamFile.cs修改参数 [ControlPanelViewModel.cs] 1加入读参数文件，可批量设置参数 2修改ReadRTKPacketAsync的bug，导致发送数据量太大>1000/s 3航线暂时改为停2秒 [CopterListViewModel.cs]加入数据收发量统计
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@ -24,6 +24,9 @@ EndProject
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Project("{D954291E-2A0B-460D-934E-DC6B0785DB48}") = "PlaneGcsSdk.Contract_Shared", "..\Plane.Sdk3\PlaneGcsSdk.Contract_Shared\PlaneGcsSdk.Contract_Shared.shproj", "{695733D7-99FF-4707-8C89-474E949CADCB}"
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EndProject
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Global
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GlobalSection(Performance) = preSolution
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HasPerformanceSessions = true
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EndGlobalSection
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GlobalSection(SharedMSBuildProjectFiles) = preSolution
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..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{0111eb6e-72e3-499c-a3ba-022f5bbc4caf}*SharedItemsImports = 4
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..\Plane.Sdk3\PlaneGcsSdk_Shared\PlaneGcsSdk_Shared.projitems*{2be393dc-21a4-48b3-83fd-f21cbe8b038b}*SharedItemsImports = 13
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@ -45,10 +45,10 @@ namespace Plane.FormationCreator
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}
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return LoadAssembly(simpleName);
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};
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this.DispatcherUnhandledException += async (s, e) =>
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this.DispatcherUnhandledException += (s, e) =>
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{
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_logger.Log(e.Exception);
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await _formationController.AllStop();
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// await _formationController.AllStop();
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TcpServerConnectionManager.Instance.StopListening();
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UdpServerConnectionManager.Instance.StopReceiving();
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};
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@ -56,7 +56,7 @@ namespace Plane.FormationCreator
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{
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try
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{
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TcpServerConnectionManager.Instance.StopListening();
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// TcpServerConnectionManager.Instance.StopListening();
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UdpServerConnectionManager.Instance.StopReceiving();
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}
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catch (Exception ex)
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@ -115,19 +115,24 @@ namespace Plane.FormationCreator
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MainWindow.Show();
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try
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{
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/* by panxu tcp 不使用了 --使用TCP监听在自动获取IP的情况下，刚开始会导致界面无响应，过一会就好
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TcpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
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if (!TcpServerConnectionManager.Instance.StartListening())
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{
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Alert.Show("网络连接不正常，无法连接飞机。");
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return;
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}
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*/
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UdpServerConnectionManager.Instance.ExceptionThrown += (sender, e1) =>
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{
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_logger.Log(e1.Exception);
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};
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UdpServerConnectionManager.Instance.ConnectionEstablished += ConnectionManager_ConnectionEstablished;
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UdpServerConnectionManager.Instance.StartReceiving();
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}
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catch (Exception ex)
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{
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@ -12,7 +12,7 @@ namespace Plane.FormationCreator.Formation
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{
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class Copter : PLCopter
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{
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public Copter(IConnection Connection, SynchronizationContext uiThreadContext) : base(Connection, uiThreadContext)
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public Copter(IConnection Connection, SynchronizationContext uiThreadContext) : base(Connection, uiThreadContext,false)
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{
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Brush = _brushes[NextBrushIndex()];
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}
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@ -145,6 +145,7 @@
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<Compile Include="ServiceLocatorConfigurer.cs" />
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<Compile Include="Test.cs" />
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<Compile Include="CalculationLogLatDistance.cs" />
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<Compile Include="Util\ParamFile.cs" />
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<Compile Include="ViewModels\ConnectViewModel.cs" />
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<Compile Include="ViewModels\ControlPanelViewModel.cs" />
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<Compile Include="ViewModels\CopterListViewModel.cs" />
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@ -15,6 +15,8 @@ using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Input;
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using Plane.Communication;
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using Microsoft.Win32;
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using Plane.Util;
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namespace Plane.FormationCreator.ViewModels
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{
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@ -178,6 +180,55 @@ namespace Plane.FormationCreator.ViewModels
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}));
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}
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}
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private ICommand _LoadParamfile;
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public ICommand LoadParamfile
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{
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get
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{
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return _LoadParamfile ?? (_LoadParamfile = new RelayCommand(async () =>
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{
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var dialog = new OpenFileDialog
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{
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DefaultExt = "param",
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Filter = "飞行参数 (*.param)|*.param"
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};
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if (dialog.ShowDialog() == true)
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{
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bool ifallok = true;
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var paramlist = ParamFile.loadParamFile(dialog.FileName);
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foreach (string name in paramlist.Keys)
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{
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float value = float.Parse( paramlist[name].ToString());
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await Task.WhenAll(_copterManager.AcceptingControlCopters.Select
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(copter => copter.SetParamAsync(name, value)));
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await Task.WhenAll(
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_copterManager.AcceptingControlCopters.Select(async copter =>
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{
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float getvaule = await copter.GetParamAsync(name);
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if (getvaule != value)
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{
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ifallok = false;
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Alert.Show(copter.Id +"参数["+ name+ "]设置失败,读取的值是[" + getvaule+"]", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
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}
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}
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));
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}
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if (ifallok)
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Alert.Show("所有已选的飞机参数设置完成", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
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else
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Alert.Show("有部分飞机参数设置失败，请检查并再次设置", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
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}
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}));
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}
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}
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private ICommand _ParamModify;
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@ -247,20 +298,25 @@ namespace Plane.FormationCreator.ViewModels
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}
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// limit to 110 byte packets
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byte[] buffer = new byte[180];
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byte[] buffer;
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int length = 0;
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try
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{
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if (Rtkport.BytesToRead() > 0)//while (Rtkport.BytesToRead() > 0)
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length = Math.Min(180, Rtkport.BytesToRead());
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if (length > 0)//while (Rtkport.BytesToRead() > 0)
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{
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int read = await Rtkport.ReadAsync(buffer, 0, Math.Min(buffer.Length, Rtkport.BytesToRead()));
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// sendData(buffer, (byte)read);
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buffer = new byte[length];
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int read = await Rtkport.ReadAsync(buffer, 0, Math.Min(buffer.Length, length));
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// sendData(buffer, (byte)read);
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}
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else
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return null;
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/*
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if (await Rtkport.ReadAsync(buffer, 0, 1) == 0)
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@ -273,7 +329,7 @@ namespace Plane.FormationCreator.ViewModels
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}
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*/
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}
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catch (Exception ex)
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{
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@ -324,13 +380,19 @@ namespace Plane.FormationCreator.ViewModels
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{
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//读入RTK数据
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var packet = await ReadRTKPacketAsync().ConfigureAwait(false);
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//分发到每个飞机
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foreach (var copter in _copterManager.Copters)
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if (packet != null)
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{
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// int iid = Convert.ToInt32(copter.Name);
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//临时用来区分RTK发送数据
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//if (iid<50)
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Console.WriteLine("rev:" + (ushort)packet.Length);
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//分发到每个飞机
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foreach (var copter in _copterManager.Copters)
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{
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// int iid = Convert.ToInt32(copter.Name);
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//临时用来区分RTK发送数据
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//if (iid<50)
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await copter.InjectGpsDataAsync(packet, (ushort)packet.Length);
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}
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}
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@ -544,13 +606,14 @@ namespace Plane.FormationCreator.ViewModels
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var _flightTaskManager = _taskmodimodel.FlightTaskManager;
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int coptercount = _copterManager.Copters.Count;
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int taskcount = _flightTaskManager.Tasks.Count;
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bool havewritefault = true;
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if (taskcount < 2) return;
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for (int i = 0; i < coptercount; i++)
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{
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///写航线开始
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var missions = new IMission[taskcount + 1]; //不要起飞任务但增加一个起飞后低空航点，见起飞任务,再增加一个降落低空航点，见降落部分
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var missions = new IMission[taskcount]; //不要起飞任务但增加一个起飞后低空航点，见起飞任务,再增加一个降落低空航点，见降落部分
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int missindex = 0;
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for (int j = 0; j < _flightTaskManager.Tasks.Count; j++)
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@ -560,14 +623,14 @@ namespace Plane.FormationCreator.ViewModels
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{
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case FlightTaskType.TakeOff:
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missions[missindex++] = Mission.CreateTakeoffMission(10,10,_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng, 3);
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missions[missindex++] = Mission.CreateTakeoffMission(2,5,_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j+1].SingleCopterInfos[i].TargetAlt);
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//要起飞任务
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break;
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case FlightTaskType.FlyTo:
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missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, 3);
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missions[missindex++] = Mission.CreateWaypointMission(5,15,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
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break;
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case FlightTaskType.Loiter:
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// missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
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@ -588,8 +651,15 @@ namespace Plane.FormationCreator.ViewModels
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}
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var result = await _copterManager.Copters[i].WriteMissionListAsync(missions);
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//MessageBox.Show($"The result of WriteMissions: {result}");
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if (!result)
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{
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Alert.Show($"飞机：{_copterManager.Copters[i].Name} 任务写入失败!");
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return;
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}
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}
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Alert.Show($"所有任务写入成功!");
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// var firstCopter = _copterManager.Copters.First();
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@ -25,6 +25,37 @@ namespace Plane.FormationCreator.ViewModels
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_copterManager = copterManager;
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_mapManager = mapManager;
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_flightTaskManager = flightTaskManager;
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System.Timers.Timer t = new System.Timers.Timer(5000); //实例化Timer类，设置间隔时间为1秒；
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t.Elapsed += new System.Timers.ElapsedEventHandler(theout); //到达时间的时候执行事件；
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t.AutoReset = true; //设置是执行一次（false）还是一直执行(true)；
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t.Enabled = true; //是否执行System.Timers.Timer.Elapsed事件；
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}
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public void theout(object source, System.Timers.ElapsedEventArgs e)
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{
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int allrec = 0;
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int allsend = 0;
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int copterrec = 0;
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int coptersend = 0;
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foreach (var copter in _copterManager.Copters)
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{
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copter.GetCommunicationNumber(out copterrec, out coptersend);
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allrec += copterrec;
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allsend += coptersend;
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copter.ResetCommunicationNumber();
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}
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allrec /= 5;
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allsend /= 5;
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if (_copterManager.Copters.Count>0)
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Communinfo = "接收：" + allrec + "/s;发送："+ allsend+"/s 单机:"+ allrec/ _copterManager.Copters.Count+"/s;"+
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allsend / _copterManager.Copters.Count+"/s";
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}
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private CopterManager _copterManager;
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@ -43,6 +74,13 @@ namespace Plane.FormationCreator.ViewModels
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private int _virtualCopterId = 1;
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private LatLng? _lastVirtualCopterLocation;
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private string _Communinfo = "0字节/秒";
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public string Communinfo
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{
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get { return _Communinfo; }
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set { Set(nameof(Communinfo), ref _Communinfo, value); }
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}
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private ICommand _AddVirtualCopterCommand;
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public ICommand AddVirtualCopterCommand
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@ -42,6 +42,8 @@
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Command="{Binding FloatCommand}" />
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<Button Content="参数"
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Command="{Binding ParamModify}" />
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<Button Content="参数文件"
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Command="{Binding LoadParamfile}" />
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</WrapPanel>
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<WrapPanel>
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<Button Content="清除"
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Margin="5,0,5,0"
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Command="{Binding ClearCoptersCommand}" />
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<TextBlock Text="{Binding Path=Communinfo}"
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Margin="5,5,0,0"/>
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</StackPanel>
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</Grid>
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