[feat] 增加RTCM双频信号强度

详细描述

# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动

Plane.FormationCreator/Formation/RtcmManager.cs

@@ -42,6 +42,23 @@ namespace Plane.FormationCreator.Formation
         //         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
 
+        /*
+        //F9P作为基站默认推荐的消息
+        RTCM 1005 固定 RTK 参考站 ARP
+        RTCM 1074 GPS MSM4
+        RTCM 1084 格洛纳斯 MSM4
+        RTCM 1094 伽利略 MSM4
+        RTCM 1124 北⽃ MSM4
+        RTCM 1230 GLONASS 码相偏差
+        
+        RTCM 3.3 校正流的配置必须遵循以下指导：
+        • 所有观察消息必须以相同的速率⼴播。 
+        • RTCM 3.3 校正流必须包含GLONASS 码相偏差消息(RTCM 1230) 或接收器天线描述消息(RTCM 1033)，否则即使在RTK 固定模式下，GLONASS 模糊度也只能估计为浮动值。
+        • 静态参考站消息（RTCM 1005 或 RTCM 1006）不需要以与观测消息相同的速率⼴播，但是，流动站在收到有效参考站消息之前将⽆法计算其位置。
+        • 每个星座校正流应仅包含⼀种类型的观测消息。当使⽤多星座配置时，所有星座应使⽤相同类型的观测消息。混合 MSM4 和 MSM7 消息可能会导致多消息位设置不正确。
+        • 如果接收器配置为在多个端⼝上输出RTCM 消息，则它们必须全部具有相同的RTCM 配置，否则，MSM 多消息位可能⽆法正确设置。
+        */
+   
         private int _resendtocom = 1;
         const int MSG_GPS = 1074;
         const int MSG_GLONASS = 1084;
@@ -49,6 +66,7 @@ namespace Plane.FormationCreator.Formation
         const int MSG_BasePos = 1005;
         const int MSG_REV = 1033;
         const int MSG_GLONASS_PHASE = 1230;
+        const int MSG_GALILEO = 1094;
 
 
         public string rtcm_typename(int msgtype)
@@ -57,16 +75,16 @@ namespace Plane.FormationCreator.Formation
             switch (msgtype)
             {
                 case MSG_GPS:
-                    typename = "GPS";
+                    typename = "GPS(G)";
                     break;
                 case MSG_GLONASS:
-                    typename = "GLONASS";
+                    typename = "GLONASS(R)";
                     break;
                 case MSG_GLONASS_PHASE:
                     typename = "GLONASS相位差";
                     break;
                 case MSG_Beidou:
-                    typename = "北斗";
+                    typename = "北斗(B)";
                     break;
                 //位置5秒发一次就可以了
                 case MSG_BasePos:
@@ -75,6 +93,9 @@ namespace Plane.FormationCreator.Formation
                 case MSG_REV:  //这个没必要发
                     typename = "版本";
                     break;
+                case MSG_GALILEO:  //这个没必要发-移动端默认配置不收这个卫星
+                    typename = "伽利略(E)";
+                    break; 
             }
             return typename;
 
@@ -259,6 +280,7 @@ namespace Plane.FormationCreator.Formation
                     partRtcmInfos[i].Sys = obs[i].sys;
                     partRtcmInfos[i].Prn = obs[i].prn;
                     partRtcmInfos[i].Snr = obs[i].snr;
+                    partRtcmInfos[i].Snr2 = obs[i].snr2;
                 }
             }
            
@@ -405,6 +427,8 @@ namespace Plane.FormationCreator.Formation
             DateTime unow = DateTime.UtcNow;
             long last_send_pos = CurrentTimeMillis()- 5000;//5秒发一次就可以了
             bool Ensend = false;
+            bool second_sended  = false; //当前秒是否已发
+            int  last_second = 0; //当前秒
             //新版本打包发送模式
             //await _commModuleManager.StartRtcmLoop();
             Plane.Windows.Messages.Message.Show("RTCM发送开始............");
@@ -462,6 +486,7 @@ namespace Plane.FormationCreator.Formation
                                 ubx_m8p.resetParser();
                                 nmea.resetParser();
                                 string msgshowname = rtcm_typename(seenmsg);
+                                //Plane.Windows.Messages.Message.Show("--收到[" + seenmsg + "]:"+ msgshowname+" ,长度:"+ rtcm.length);
                                 //广播数据直接发送不受小带宽数据选项影响
                                 if (_enrecom)
                                 {
@@ -489,6 +514,69 @@ namespace Plane.FormationCreator.Formation
                                     //1秒内可能发送多个同一种类型的数据，看数据大小和原始频率
                                     long curr_s = CurrentTimeMillis() / 1000;
                                     int sendtype = (int)(curr_s % 3);
+                                    if (last_second!= sendtype) //新一秒
+                                    {
+                                        second_sended = false;  //设置未发送
+                                        last_second = sendtype;  //设置秒数
+                                    }
+                                    //这些类型数据需要分秒发或者不发(MSG_REV)
+                                    if ((seenmsg == MSG_GPS) ||
+                                        //(seenmsg == MSG_GLONASS) ||
+                                         //(seenmsg == MSG_GLONASS_PHASE) ||
+                                         (seenmsg == MSG_Beidou) ||
+                                         (seenmsg == MSG_BasePos)
+                                        )
+                                    {
+                                        switch (sendtype)
+                                        {
+                                            case 0: //第1秒只发GPS
+                                                if ((!second_sended) && (seenmsg == MSG_GPS))
+                                                {
+                                                    second_sended = true;
+                                                    Ensend = true;
+                                                   // Plane.Windows.Messages.Message.Show("发送GPS:" + rtcm.length+"字节");
+                                                }
+
+                                                break;
+                                            case 1://第2秒只发GLONASS，
+                                                if ((!second_sended) && ((seenmsg == MSG_GLONASS)))// || (MSG_GPS == MSG_GLONASS_PHASE)))
+                                                {
+                                                    second_sended = true;
+                                                    Ensend = true;
+                                                   // Plane.Windows.Messages.Message.Show("发送GLONASS:" + rtcm.length + "字节");
+                                                }
+                                                break;
+                                            case 2://空白
+                                                if ((!second_sended) && ((seenmsg == MSG_Beidou)))
+                                                {
+                                                    second_sended = true;
+                                                    Ensend = true;
+                                                    //Plane.Windows.Messages.Message.Show("发送北斗:" + rtcm.length + "字节");
+                                                }
+                                                break;
+                                            /*
+                                                case 3://第4秒是 Beidou
+                                                if ((!second_sended) && ((seenmsg == MSG_Beidou)))
+                                                {
+                                                    second_sended = true;
+                                                    Ensend = true;
+                                                    //Plane.Windows.Messages.Message.Show("发送北斗:" + rtcm.length + "字节");
+                                                }
+                                                break;
+                                            */
+
+                                        }
+                                        if ((seenmsg == MSG_BasePos))////这些直接发
+                                        {
+                                            Ensend = true; 
+                                            //Plane.Windows.Messages.Message.Show("发送位置:" + rtcm.length + "字节");
+                                        }
+
+                                    }
+                                    //else Ensend = true; ////其他类型数据不发
+                                    /*
+
+
                                     switch (seenmsg)
                                     {
                                         case MSG_GPS:
@@ -523,6 +611,7 @@ namespace Plane.FormationCreator.Formation
                                             Ensend = true;
                                             break;
                                     }
+                                    */
                                     if (Ensend)
                                     {
                                         //Console.WriteLine(DateTime.UtcNow.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + "  类型: " + msgshowname + " (" + seenmsg + ")");
@@ -688,6 +777,7 @@ namespace Plane.FormationCreator.Formation
         private char sys;
         private byte prn;
         private byte snr;
+        private byte snr2;
 
         public RtcmInfo()
         {
@@ -711,5 +801,10 @@ namespace Plane.FormationCreator.Formation
             get { return snr; }
             set { Set(nameof(Snr), ref snr, value); }
         }
+        public byte Snr2
+        {
+            get { return snr2; }
+            set { Set(nameof(Snr2), ref snr2, value); }
+        }
     }
 }

Plane.FormationCreator/Util/rtcm3.cs

@@ -1021,6 +1021,7 @@ namespace Plane.Util
             public byte prn;
             public rawrtcm raw = new rawrtcm();
             public byte snr;
+            public byte snr2;
             public double tow;
             public int week;
             public char sys;
@@ -1208,6 +1209,7 @@ namespace Plane.Util
                             {
                                 ob.pr2 = r[j] + pr[cellmaskused];
                                 ob.cp2 = (r[j] + cp[cellmaskused]);
+                                ob.snr2 = (byte)(cnr[cellmaskused]);
                             }
                             else if (sigs[k] >= 24 && sigs[k] <= 26)
                             {

Plane.FormationCreator/Views/RtcmInfoView.xaml

@@ -57,9 +57,22 @@
 
                     <StackPanel Margin="5" Orientation="Horizontal">
                         <TextBlock Text="消息： "/>
-                        <TextBlock Text="{Binding RtcmManager.Messages_seen}"
+                        <TextBlock Text="{Binding RtcmManager.Messages_seen}"/>
-                                   />
+                        
+                       
+
                     </StackPanel>
+                    <StackPanel Margin="0" Orientation="Horizontal">
+                        <TextBlock Margin="5" Text="L1信号强度"/>
+                        <Rectangle Margin="0,0,15,0" Width="20" Height="20"  Fill="#3EBE55"/>
+                        <TextBlock Margin="5" Text="L2信号强度"/>
+                        <Rectangle Margin="0,0,15,0" Width="20" Height="20"  Fill="#ACACEC"/>
+                        <TextBlock Margin="5" Text="L1/L2重合"/>
+                        <Rectangle Margin="0,0,15,0" Width="20" Height="20"  Fill="#04845C"/>
+
+                    </StackPanel>
+
+
                 </StackPanel>
 
 
@@ -116,13 +129,28 @@
                                      Minimum="25"
                                      Maximum="55"
                                      Grid.RowSpan="2"
-                                     Value="{Binding Snr, UpdateSourceTrigger=PropertyChanged}"/>
+                                     Value="{Binding Snr, UpdateSourceTrigger=PropertyChanged}"
-                        <StackPanel  Orientation ="Vertical" VerticalAlignment="Center" HorizontalAlignment="Center">
+                                    
+                                     />
+                        
+                        <ProgressBar x:Name="BarSnr2"
+                                     Margin="0.5"
+                                     Orientation="Vertical"
+                                     Minimum="25"
+                                     Maximum="55"
+                                     Grid.RowSpan="2"
+                                     Foreground="Blue"
+                                     Value="{Binding Snr2, UpdateSourceTrigger=PropertyChanged}"
+                                     Opacity="0.25"
+
+                                      />      
+                        <StackPanel  Orientation ="Vertical" VerticalAlignment="Top" HorizontalAlignment="Center">
                             <StackPanel Orientation ="Horizontal">
                                 <TextBlock Text="{Binding Sys,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
                                 <TextBlock Text="{Binding Prn,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
                             </StackPanel>
-                            <TextBlock Margin="0,20,0,0" Text="{Binding Snr,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
+                            <TextBlock Margin="0,5,0,0" Text="{Binding Snr,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
+                            <TextBlock Margin="0,5,0,0" Text="{Binding Snr2,UpdateSourceTrigger=PropertyChanged}" Foreground="Blue" ></TextBlock>
                         </StackPanel>
                         <StackPanel Grid.Row="1" Orientation ="Vertical" HorizontalAlignment="Center">
                             <Line  Stroke="Red" X2="1000" StrokeThickness="3" />