1加入RTCM数据广播到指定端口功能
2将降低广播数据作为可选项在发送界面（只影响通讯模块，不影响端口转发） 3修改一个严重BUG: RTCM协议解析BUG，这个BUG是因为F9P地面站有UBX协议数据和RTCM协议数据，由于之前没有解析UBX数据导致RTCM数据也解析不了，导致3秒才发一次RTCM数据到飞机
This commit is contained in:
parent
1403000ef9
commit
79669581f1
@ -22,6 +22,10 @@ namespace Plane.FormationCreator.Formation
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public class RtcmManager: ObservableObject
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{
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private rtcm3 rtcm = new rtcm3();
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// ubx detection
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private static Ubx ubx_m8p = new Ubx();
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static nmea nmea = new nmea();
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private Hashtable msgseen = new Hashtable();
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private ICommsSerial comPort;
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@ -31,17 +35,20 @@ namespace Plane.FormationCreator.Formation
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private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
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private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
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private bool _rtcmthreadrun = false;
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private bool _smallrtcmdata = false; //减少传输数据--用于带宽不够的通讯模块-对数传广播无效
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private bool _enrecom = false;//是否转发到另外串口
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// rtcm发送类型0:直接发送，
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// 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
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private int _rtcmsendtype = 1;
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private int _resendtocom = 1;
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const int MSG_GPS = 1074;
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const int MSG_GLONASS = 1084;
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const int MSG_Beidou = 1124;
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const int MSG_BasePos = 1005;
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const int MSG_REV = 1033;
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const int MSG_GLONASS_PHASE = 1230;
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public string rtcm_typename(int msgtype)
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{
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@ -54,6 +61,9 @@ namespace Plane.FormationCreator.Formation
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case MSG_GLONASS:
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typename = "GLONASS";
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break;
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case MSG_GLONASS_PHASE:
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typename = "GLONASS相位差";
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break;
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case MSG_Beidou:
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typename = "北斗";
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break;
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@ -84,7 +94,18 @@ namespace Plane.FormationCreator.Formation
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}
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}
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public bool SmallRtcmData
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{
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get { return _smallrtcmdata; }
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set
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{
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Set(nameof(SmallRtcmData), ref _smallrtcmdata, value);
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}
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}
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//接收速率
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private int bps;
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//发送速率
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private int bpsusefull;
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private int _bps = 0;
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@ -180,7 +201,7 @@ namespace Plane.FormationCreator.Formation
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dispatcherTimer.Start();
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}
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//用于刷新界面，显示消息状态，基站和卫星是否有效等
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//用于刷新界面，显示消息状态，基站和卫星是否有效等---1HZ
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private void OnTimedEvent(object sender, EventArgs e)
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{
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BaseState = baseTime > DateTime.Now;
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@ -386,6 +407,8 @@ namespace Plane.FormationCreator.Formation
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//await _commModuleManager.StartRtcmLoop();
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while (Rtcmthreadrun)
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{
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// Console.WriteLine(string.Format("{0:T} 1", DateTime.Now));
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try
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{
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try
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@ -405,97 +428,151 @@ namespace Plane.FormationCreator.Formation
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}
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}
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catch { }
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if (!comPort.IsOpen)
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{
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return;
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}
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//rtcm size=180
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byte[] buffer = new byte[180];// new byte[180];
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//一次读取180个字节
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int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
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if (read > 0)
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/////////////////////////////////重写发送RTCM数据部分---23/10/18 by panxu
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///
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// limit to 180 byte packet if using new packet
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byte[] buffer = new byte[180];
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while (comPort.BytesToRead > 0)
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{
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lastrecv = DateTime.Now;
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}
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bps += read;
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for (int a = 0; a < read; a++)
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{
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int seenmsg = -1;
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// rtcm类解析RTCM数据 如果 rtcm.Read>0解析成功返回消息号码-1解析失败
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if ((seenmsg = rtcm.Read(buffer[a])) > 0)
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int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
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Console.WriteLine(string.Format("{0:T} - read:{1:D}", DateTime.Now, read));
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if (read > 0)
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lastrecv = DateTime.Now;
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bps += read; //接收速率bps,byte需要*8到bit
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// check for valid rtcm/sbp/ubx packets
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for (int a = 0; a < read; a++)
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{
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bpsusefull += rtcm.length;
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string msgshowname = rtcm_typename(seenmsg);
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_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
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if (_rtcmsendtype == 0)
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int seenmsg = -1;
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// rtcm and not can
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if ((seenmsg = rtcm.Read(buffer[a])) > 0)
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{
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await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
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}else
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if (_rtcmsendtype == 1)
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{
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Ensend = false;
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//第1秒是gps,第2秒是GLONASS，第3秒是 Beidou
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//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
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long curr_s = CurrentTimeMillis()/1000;
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int sendtype = (int) (curr_s % 3);
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switch (seenmsg)
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// Console.WriteLine(string.Format("{0:T}------------RTCM Send {1:D}", DateTime.Now, rtcm.length));
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ubx_m8p.resetParser();
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nmea.resetParser();
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string msgshowname = rtcm_typename(seenmsg);
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//广播数据直接发送不受小带宽数据选项影响
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if (_enrecom)
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{
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case MSG_GPS:
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if (sendtype==0) //第1秒是gps,
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Ensend = true;
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break;
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Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--广播Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");
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_commModuleManager.BroadcastGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
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}
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case MSG_GLONASS:
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if (sendtype == 1) //第2秒是GLONASS，
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Ensend = true;
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break;
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case MSG_Beidou:
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if (sendtype == 2) //第3秒是 Beidou
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Ensend = true;
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break;
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//位置4秒发一次就可以了
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case MSG_BasePos:
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{
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long curr_send_pos = CurrentTimeMillis();
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if ((curr_send_pos - last_send_pos) > 4000)
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{
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last_send_pos = curr_send_pos;
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//直接发送
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if (!SmallRtcmData)
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{
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//发送到飞机
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Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");
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await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
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//累加消息数量，用于界面显示
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bpsusefull += rtcm.length;
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}
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else
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//为了减少发送数据量：
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//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
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{
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Ensend = false; //是否发送
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//第1秒是gps,第2秒是GLONASS，第3秒是 Beidou
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//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
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long curr_s = CurrentTimeMillis() / 1000;
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int sendtype = (int)(curr_s % 3);
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switch (seenmsg)
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{
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case MSG_GPS:
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if (sendtype == 0) //第1秒是gps,
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Ensend = true;
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break;
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case MSG_GLONASS:
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case MSG_GLONASS_PHASE:
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if (sendtype == 1) //第2秒是GLONASS，
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Ensend = true;
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break;
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case MSG_Beidou:
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if (sendtype == 2) //第3秒是 Beidou
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Ensend = true;
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break;
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//位置4秒发一次就可以了
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case MSG_BasePos:
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{
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long curr_send_pos = CurrentTimeMillis();
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if ((curr_send_pos - last_send_pos) > 4000)
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{
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last_send_pos = curr_send_pos;
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Ensend = true;
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}
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}
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}
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break;
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case MSG_REV: //这个没必要发
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Ensend = false;
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break;
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default: //其他类型数据随到随发
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Ensend = true;
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break;
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}
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if (Ensend)
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{
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// Plane.Windows.Messages.Message.Show(DateTime.Now.ToString("HH:mm:ss")+"--Rtcm长度: " + (ushort)rtcm.length+" , 类型: "+ seenmsg);
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Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " ("+ seenmsg+")");
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await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length, _enrecom);
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}
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//else
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// Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--放弃发送-----Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");
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break;
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case MSG_REV: //这个没必要发
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Ensend = false;
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break;
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default: //其他类型数据随到随发
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Ensend = true;
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break;
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}
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if (Ensend)
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{
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Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + " 类型: " + msgshowname + " (" + seenmsg + ")");
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await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
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//累加消息数量，用于界面显示
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bpsusefull += rtcm.length;
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}
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}
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string msgname = rtcm_typename(seenmsg);
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if (!msgseen.ContainsKey(msgname))
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msgseen[msgname] = 0;
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msgseen[msgname] = (int)msgseen[msgname] + 1;
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//检测基站定位状态和卫星定位状态，用于在界面上显示
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await ExtractBasePos(seenmsg);
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}
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// ubx
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if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0)
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{
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Console.WriteLine(string.Format("{0:T}----------------------------ubx_m8p ", DateTime.Now));
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rtcm.resetParser();
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nmea.resetParser();
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/*
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//Ubx协议数据不用显示
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string msgname = "Ubx" + seenmsg.ToString("X4");
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if (!msgseen.ContainsKey(msgname))
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msgseen[msgname] = 0;
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msgseen[msgname] = (int)msgseen[msgname] + 1;
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*/
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}
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// nmea
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if ((seenmsg = nmea.Read(buffer[a])) > 0)
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{
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Console.WriteLine(string.Format("{0:T}----------------------------nmea ", DateTime.Now));
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rtcm.resetParser();
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ubx_m8p.resetParser();
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/*
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//NMEA协议数据不用显示
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string msgname = "NMEA";
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if (!msgseen.ContainsKey(msgname))
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msgseen[msgname] = 0;
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msgseen[msgname] = (int)msgseen[msgname] + 1;
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*/
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}
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//累加消息数量，用于界面显示
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if (!msgseen.ContainsKey(msgshowname))
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msgseen[msgshowname] = 0;
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msgseen[msgshowname] = (int)msgseen[msgshowname] + 1;
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//检测基站定位状态和卫星定位状态，用于在界面上显示
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await ExtractBasePos(seenmsg);
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}
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////////////////////////////解析/发送RTCM结束
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await Task.Delay(10);
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}
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await Task.Delay(10);
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}
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catch(Exception ex)
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catch (Exception ex)
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{
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Plane.Windows.Messages.Message.Show(ex.Message);
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}
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@ -211,10 +211,12 @@
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</Compile>
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<Compile Include="Util\ICommsSerial.cs" />
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<Compile Include="Util\ICorrections.cs" />
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<Compile Include="Util\nmea.cs" />
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<Compile Include="Util\OptimizeRoute.cs" />
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<Compile Include="Util\ParamFile.cs" />
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<Compile Include="Util\PasswordBoxHelper.cs" />
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<Compile Include="Util\rtcm3.cs" />
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<Compile Include="Util\ubx_m8p.cs" />
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<Compile Include="Util\VersionControl.cs" />
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<Compile Include="ViewModels\CalibrationViewModel.cs" />
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<Compile Include="ViewModels\ConfigVirtualIdViewModel.cs" />
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123
Plane.FormationCreator/Util/nmea.cs
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123
Plane.FormationCreator/Util/nmea.cs
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@ -0,0 +1,123 @@
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using System;
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using uint8_t = System.Byte;
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using uint16_t = System.UInt16;
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using int32_t = System.Int32;
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using uint32_t = System.UInt32;
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using int8_t = System.SByte;
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using System.Runtime.InteropServices;
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namespace Plane.Util
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{
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public class nmea : ICorrections
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{
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int step = 0;
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public byte[] buffer = new byte[1024 * 1];
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int payloadlen = 0;
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int msglencount = 0;
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public int length
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{
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get
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{
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return 2 + 2 + 2 + 2 + payloadlen; // header2, class,subclass,length2,data,crc2
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}
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}
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public byte[] packet
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{
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get
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{
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return buffer;
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}
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}
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public bool resetParser()
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{
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step = 0;
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return true;
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}
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public int Read(byte data)
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{
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switch (step)
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{
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default:
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case 0:
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if (data == '$')
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{
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step = 1;
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msglencount = 0;
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buffer[0] = data;
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}
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break;
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case 1:
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if (data == 'G')
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{
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buffer[1] = data;
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step++;
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}
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else
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step = 0;
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break;
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case 2:
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if (msglencount > 1000)
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{
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step = 0;
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}
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buffer[msglencount + 2] = data;
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msglencount++;
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if(data == '\n')
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{
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var line = System.Text.ASCIIEncoding.ASCII.GetString(buffer, 0, msglencount + 2);
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string[] items = line.Trim().Split(',', '*');
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if (items[items.Length-1] == GetChecksum(line))
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{
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return 1;
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}
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step = 0;
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}
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break;
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}
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return -1;
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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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return Checksum.ToString("X2");
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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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}
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}
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File diff suppressed because it is too large
Load Diff
573
Plane.FormationCreator/Util/ubx_m8p.cs
Normal file
573
Plane.FormationCreator/Util/ubx_m8p.cs
Normal file
@ -0,0 +1,573 @@
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using System;
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using uint8_t = System.Byte;
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||||
using uint16_t = System.UInt16;
|
||||
using int32_t = System.Int32;
|
||||
using uint32_t = System.UInt32;
|
||||
using int8_t = System.SByte;
|
||||
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Threading;
|
||||
|
||||
namespace Plane.Util
|
||||
{
|
||||
public class Ubx : ICorrections
|
||||
{
|
||||
int step = 0;
|
||||
|
||||
public byte[] buffer = new byte[1024 * 8];
|
||||
int payloadlen = 0;
|
||||
int msglencount = 0;
|
||||
|
||||
public byte @class
|
||||
{
|
||||
get { return buffer[2]; }
|
||||
}
|
||||
|
||||
public byte subclass
|
||||
{
|
||||
get { return buffer[3]; }
|
||||
}
|
||||
|
||||
public int length
|
||||
{
|
||||
get
|
||||
{
|
||||
return 2 + 2 + 2 + 2 + payloadlen; // header2, class,subclass,length2,data,crc2
|
||||
}
|
||||
}
|
||||
|
||||
public byte[] packet
|
||||
{
|
||||
get { return buffer; }
|
||||
}
|
||||
|
||||
public bool resetParser()
|
||||
{
|
||||
step = 0;
|
||||
return true;
|
||||
}
|
||||
|
||||
public int Read(byte data)
|
||||
{
|
||||
switch (step)
|
||||
{
|
||||
default:
|
||||
case 0:
|
||||
if (data == 0xb5)
|
||||
{
|
||||
step = 1;
|
||||
buffer[0] = data;
|
||||
}
|
||||
|
||||
break;
|
||||
case 1:
|
||||
if (data == 0x62)
|
||||
{
|
||||
buffer[1] = data;
|
||||
step++;
|
||||
}
|
||||
else
|
||||
step = 0;
|
||||
|
||||
break;
|
||||
case 2:
|
||||
buffer[2] = data;
|
||||
step++;
|
||||
break;
|
||||
case 3:
|
||||
buffer[3] = data;
|
||||
step++;
|
||||
break;
|
||||
case 4:
|
||||
buffer[4] = data;
|
||||
payloadlen = data;
|
||||
step++;
|
||||
break;
|
||||
case 5:
|
||||
buffer[5] = data;
|
||||
step++;
|
||||
payloadlen += (data << 8);
|
||||
msglencount = 0;
|
||||
// reset on oversize packet
|
||||
if (payloadlen > buffer.Length)
|
||||
step = 0;
|
||||
break;
|
||||
case 6:
|
||||
if (msglencount < (payloadlen))
|
||||
{
|
||||
buffer[msglencount + 6] = data;
|
||||
msglencount++;
|
||||
|
||||
if (msglencount == payloadlen)
|
||||
step++;
|
||||
}
|
||||
|
||||
break;
|
||||
case 7:
|
||||
buffer[msglencount + 6] = data;
|
||||
step++;
|
||||
break;
|
||||
case 8:
|
||||
buffer[msglencount + 6 + 1] = data;
|
||||
|
||||
var crc = ubx_checksum(buffer, payloadlen + 6);
|
||||
|
||||
var crcpacket = new byte[] { buffer[msglencount + 6], data };
|
||||
|
||||
if (crc[0] == crcpacket[0] && crc[1] == crcpacket[1])
|
||||
{
|
||||
step = 0;
|
||||
return (@class << 8) + subclass;
|
||||
}
|
||||
|
||||
step = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
private static byte[] ubx_checksum(byte[] packet, int size, int offset = 2)
|
||||
{
|
||||
uint a = 0x00;
|
||||
uint b = 0x00;
|
||||
var i = offset;
|
||||
while (i < size)
|
||||
{
|
||||
a += packet[i++];
|
||||
b += a;
|
||||
}
|
||||
|
||||
var ans = new byte[2];
|
||||
|
||||
ans[0] = (byte)(a & 0xFF);
|
||||
ans[1] = (byte)(b & 0xFF);
|
||||
|
||||
return ans;
|
||||
}
|
||||
|
||||
public static byte[] generate(byte cl, byte subclass, byte[] payload)
|
||||
{
|
||||
var data = new byte[2 + 2 + 2 + 2 + payload.Length];
|
||||
data[0] = 0xb5;
|
||||
data[1] = 0x62;
|
||||
data[2] = cl;
|
||||
data[3] = subclass;
|
||||
data[4] = (byte)(payload.Length & 0xff);
|
||||
data[5] = (byte)((payload.Length >> 8) & 0xff);
|
||||
|
||||
Array.ConstrainedCopy(payload, 0, data, 6, payload.Length);
|
||||
|
||||
var checksum = ubx_checksum(data, data.Length - 2);
|
||||
|
||||
data[data.Length - 2] = checksum[0];
|
||||
data[data.Length - 1] = checksum[1];
|
||||
|
||||
return data;
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct ubx_mon_ver
|
||||
{
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 30)]
|
||||
public byte[] swVersion;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
|
||||
public Byte[] hwVersion;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 30)]
|
||||
public byte[] extension;
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct ubx_mon_hw
|
||||
{
|
||||
public int pinSel;
|
||||
public int pinBank;
|
||||
public int pinDir;
|
||||
public int pinVal;
|
||||
public ushort noisePerMS;
|
||||
public ushort agcCnt;
|
||||
public byte aStatus;
|
||||
public byte aPower;
|
||||
public byte flags;
|
||||
public byte reserved1;
|
||||
public int usedMask;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 17)]
|
||||
public byte[] VP;
|
||||
|
||||
public byte jamInd;
|
||||
public ushort reserved3;
|
||||
public int pinIrq;
|
||||
public int pullH;
|
||||
public int pullL;
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct ubx_nav_pvt
|
||||
{
|
||||
public uint32_t itow;
|
||||
public uint16_t year;
|
||||
public uint8_t month, day, hour, min, sec;
|
||||
public uint8_t valid;
|
||||
public uint32_t t_acc;
|
||||
public int32_t nano;
|
||||
public uint8_t fix_type;
|
||||
public uint8_t flags;
|
||||
public uint8_t flags2;
|
||||
public uint8_t num_sv;
|
||||
public int32_t lon, lat;
|
||||
public int32_t height, h_msl;
|
||||
public uint32_t h_acc, v_acc;
|
||||
public int32_t velN, velE, velD, gspeed;
|
||||
public int32_t head_mot;
|
||||
public uint32_t s_acc;
|
||||
public uint32_t head_acc;
|
||||
public uint16_t p_dop;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
|
||||
public uint8_t[] reserved1;
|
||||
|
||||
public uint32_t headVeh;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
|
||||
public uint8_t[] reserved2;
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct ubx_nav_svin
|
||||
{
|
||||
public uint8_t version;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
|
||||
public uint8_t[] reserved1;
|
||||
|
||||
public uint32_t iTOW;
|
||||
public uint32_t dur;
|
||||
public int32_t meanX;
|
||||
public int32_t meanY;
|
||||
public int32_t meanZ;
|
||||
public int8_t meanXHP;
|
||||
public int8_t meanYHP;
|
||||
public int8_t meanZHP;
|
||||
public uint8_t reserved2;
|
||||
public uint32_t meanAcc;
|
||||
public uint32_t obs;
|
||||
public uint8_t valid;
|
||||
public uint8_t active;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
|
||||
public uint8_t[] reserved3;
|
||||
|
||||
public double[] getECEF()
|
||||
{
|
||||
var X = meanX / 100.0 + meanXHP * 0.0001;
|
||||
var Y = meanY / 100.0 + meanYHP * 0.0001;
|
||||
var Z = meanZ / 100.0 + meanZHP * 0.0001;
|
||||
|
||||
return new double[] { X, Y, Z };
|
||||
}
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct ubx_nav_velned
|
||||
{
|
||||
public uint iTOW;
|
||||
public int velN;
|
||||
public int velE;
|
||||
public int velD;
|
||||
public uint speed;
|
||||
public uint gSpeed;
|
||||
public int heading;
|
||||
public uint sAcc;
|
||||
public uint cAcc;
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct ubx_cfg_nav5_getset_s
|
||||
{
|
||||
public uint16_t mask;
|
||||
public uint8_t dynModel;
|
||||
public uint8_t fixMode;
|
||||
public int32_t fixedAlt;
|
||||
public uint32_t fixedAltVar;
|
||||
public int8_t minElev;
|
||||
public uint8_t drLimit;
|
||||
public uint16_t pDop;
|
||||
public uint16_t tDop;
|
||||
public uint16_t pAcc;
|
||||
public uint16_t tAcc;
|
||||
public uint8_t staticHoldThresh;
|
||||
public uint8_t dgnssTimeout;
|
||||
public uint8_t cnoThreshNumSVs;
|
||||
public uint8_t cnoThresh;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
|
||||
public uint8_t[] reserved1;
|
||||
|
||||
public uint16_t staticHoldMaxDist;
|
||||
public uint8_t utcStandard;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 5)]
|
||||
public uint8_t[] reserved2;
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1, Size = 40)]
|
||||
public struct ubx_cfg_tmode3
|
||||
{
|
||||
public ubx_cfg_tmode3(double lat, double lng, double alt, double acc = 0.001)
|
||||
{
|
||||
version = 0;
|
||||
reserved1 = 0;
|
||||
if (Math.Abs(lat) > 90)
|
||||
{
|
||||
flags = 2; // fixed mode ecef
|
||||
ecefXorLat = (int)(lat * 100);
|
||||
ecefYorLon = (int)(lng * 100);
|
||||
ecefZorAlt = (int)(alt * 100);
|
||||
ecefXOrLatHP = (sbyte)((lat * 100 - ecefXorLat) * 100.0);
|
||||
ecefYOrLonHP = (sbyte)((lng * 100 - ecefYorLon) * 100.0);
|
||||
ecefZOrAltHP = (sbyte)((alt * 100 - ecefZorAlt) * 100.0);
|
||||
}
|
||||
else
|
||||
{
|
||||
flags = 256 + 2; // lla + fixed mode
|
||||
ecefXorLat = (int)(lat * 1e7);
|
||||
ecefYorLon = (int)(lng * 1e7);
|
||||
ecefZorAlt = (int)(alt * 100.0);
|
||||
ecefXOrLatHP = (sbyte)((lat * 1e7 - ecefXorLat) * 100.0);
|
||||
ecefYOrLonHP = (sbyte)((lng * 1e7 - ecefYorLon) * 100.0);
|
||||
ecefZOrAltHP = (sbyte)((alt * 100.0 - ecefZorAlt) * 100.0);
|
||||
}
|
||||
|
||||
reserved2 = 0;
|
||||
fixedPosAcc = (uint)(acc * 1000.0);
|
||||
svinMinDur = 60;
|
||||
svinAccLimit = 2000;
|
||||
reserved3 = new byte[8];
|
||||
}
|
||||
|
||||
public ubx_cfg_tmode3(uint DurationS, double AccLimit)
|
||||
{
|
||||
version = 0;
|
||||
reserved1 = 0;
|
||||
flags = 1; // surveyin mode
|
||||
ecefXorLat = 0;
|
||||
ecefYorLon = 0;
|
||||
ecefZorAlt = 0;
|
||||
ecefXOrLatHP = (sbyte)0;
|
||||
ecefYOrLonHP = (sbyte)0;
|
||||
ecefZOrAltHP = (sbyte)0;
|
||||
reserved2 = 0;
|
||||
fixedPosAcc = 0;
|
||||
svinMinDur = DurationS;
|
||||
svinAccLimit = (uint)(AccLimit * 10000);
|
||||
reserved3 = new byte[8];
|
||||
}
|
||||
|
||||
public static ubx_cfg_tmode3 Disable
|
||||
{
|
||||
get
|
||||
{
|
||||
return new ubx_cfg_tmode3()
|
||||
{
|
||||
flags = 0, // disable
|
||||
reserved3 = new byte[8]
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
public static implicit operator byte[] (ubx_cfg_tmode3 input)
|
||||
{
|
||||
return null;// MavlinkUtil.StructureToByteArray(input);
|
||||
}
|
||||
|
||||
public enum modeflags
|
||||
{
|
||||
Disabled = 0,
|
||||
SurveyIn = 1,
|
||||
FixedECEF = 2,
|
||||
LLA = 256,
|
||||
FixedLLA = 258
|
||||
}
|
||||
|
||||
public byte version;
|
||||
public byte reserved1;
|
||||
public ushort flags;
|
||||
public int ecefXorLat; // 1e7
|
||||
public int ecefYorLon;
|
||||
public int ecefZorAlt;
|
||||
public sbyte ecefXOrLatHP;
|
||||
public sbyte ecefYOrLonHP;
|
||||
public sbyte ecefZOrAltHP;
|
||||
public byte reserved2;
|
||||
public uint fixedPosAcc;
|
||||
public uint svinMinDur;
|
||||
public uint svinAccLimit;
|
||||
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
|
||||
public byte[] reserved3;
|
||||
|
||||
|
||||
|
||||
public void SetupM8P(ICommsSerial port, bool m8p_130plus = false, bool movingbase = false)
|
||||
{
|
||||
port.BaseStream.Flush();
|
||||
|
||||
var bauds = new[] { port.BaudRate, 9600, 38400, 57600, 115200, 230400, 460800 };
|
||||
|
||||
// change the baudrate
|
||||
foreach (var baud in bauds)
|
||||
{
|
||||
port.BaudRate = baud;
|
||||
|
||||
System.Threading.Thread.Sleep(50);
|
||||
// U = bit 01010101 - often used for autobaud
|
||||
port.Write("UU");
|
||||
// port config - 460800 - uart1
|
||||
var packet = generate(0x6, 0x00, new byte[]
|
||||
{
|
||||
0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0x08,
|
||||
0x07, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00
|
||||
});
|
||||
port.Write(packet, 0, packet.Length);
|
||||
port.BaseStream.Flush();
|
||||
System.Threading.Thread.Sleep(100);
|
||||
}
|
||||
|
||||
{
|
||||
// port config - usb
|
||||
var packet = generate(0x6, 0x00, new byte[]
|
||||
{
|
||||
0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00
|
||||
});
|
||||
port.Write(packet, 0, packet.Length);
|
||||
System.Threading.Thread.Sleep(300);
|
||||
|
||||
port.BaseStream.Flush();
|
||||
|
||||
port.BaudRate = 460800;
|
||||
}
|
||||
|
||||
{
|
||||
// set rate to 1hz
|
||||
var packet = generate(0x6, 0x8, new byte[] { 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00 });
|
||||
port.Write(packet, 0, packet.Length);
|
||||
System.Threading.Thread.Sleep(200);
|
||||
|
||||
// set navmode to stationary
|
||||
{
|
||||
packet = generate(0x6, 0x24,
|
||||
new byte[]
|
||||
{
|
||||
0xFF, 0xFF, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x0F, 0x00, 0xFA,
|
||||
0x00,
|
||||
0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x23, 0x10, 0x27, 0x00, 0x00, 0x00,
|
||||
0x00,
|
||||
0x00, 0x00, 0x00, 0x00
|
||||
});
|
||||
port.Write(packet, 0, packet.Length);
|
||||
System.Threading.Thread.Sleep(200);
|
||||
}
|
||||
}
|
||||
|
||||
// turn off all nmea
|
||||
for (int a = 0; a <= 0xf; a++)
|
||||
{
|
||||
if (a == 0xb || a == 0xc || a == 0xe)
|
||||
continue;
|
||||
turnon_off(port, 0xf0, (byte)a, 0);
|
||||
}
|
||||
|
||||
// mon-ver
|
||||
poll_msg(port, 0xa, 0x4);
|
||||
|
||||
// surveyin msg - for feedback
|
||||
turnon_off(port, 0x01, 0x3b, 1);
|
||||
|
||||
// pvt msg - for feedback
|
||||
turnon_off(port, 0x01, 0x07, 1);
|
||||
|
||||
// 1005 - 5s
|
||||
turnon_off(port, 0xf5, 0x05, 5);
|
||||
|
||||
byte rate1 = 1;
|
||||
byte rate2 = 0;
|
||||
|
||||
if (m8p_130plus)
|
||||
{
|
||||
rate1 = 0;
|
||||
rate2 = 1;
|
||||
}
|
||||
|
||||
// 1074 - 1s
|
||||
turnon_off(port, 0xf5, 0x4a, rate2);
|
||||
// 1077 - 1s
|
||||
turnon_off(port, 0xf5, 0x4d, rate1);
|
||||
|
||||
// 1084 - 1s
|
||||
turnon_off(port, 0xf5, 0x54, rate2);
|
||||
// 1087 - 1s
|
||||
turnon_off(port, 0xf5, 0x57, rate1);
|
||||
|
||||
// 1094 - 1s
|
||||
turnon_off(port, 0xf5, 0x5e, rate2);
|
||||
// 1097 - 1s
|
||||
turnon_off(port, 0xf5, 0x61, rate1);
|
||||
|
||||
// 1124 - 1s
|
||||
turnon_off(port, 0xf5, 0x7c, rate2);
|
||||
// 1127 - 1s
|
||||
turnon_off(port, 0xf5, 0x7f, rate1);
|
||||
|
||||
// 4072
|
||||
turnon_off(port, 0xf5, 0xFE, 0);
|
||||
|
||||
// 1230 - 5s
|
||||
turnon_off(port, 0xf5, 0xE6, 5);
|
||||
|
||||
// NAV-VELNED - 1s
|
||||
turnon_off(port, 0x01, 0x12, 1);
|
||||
|
||||
// rxm-raw/rawx - 1s
|
||||
turnon_off(port, 0x02, 0x15, 1);
|
||||
turnon_off(port, 0x02, 0x10, 1);
|
||||
|
||||
// rxm-sfrb/sfrb - 2s
|
||||
turnon_off(port, 0x02, 0x13, 2);
|
||||
turnon_off(port, 0x02, 0x11, 2);
|
||||
|
||||
// mon-hw - 2s
|
||||
turnon_off(port, 0x0a, 0x09, 2);
|
||||
|
||||
System.Threading.Thread.Sleep(100);
|
||||
}
|
||||
|
||||
|
||||
public void turnon_off(ICommsSerial port, byte clas, byte subclass, byte every_xsamples)
|
||||
{
|
||||
byte[] datastruct1 = { clas, subclass, 0, every_xsamples, 0, every_xsamples, 0, 0 };
|
||||
|
||||
var packet = generate(0x6, 0x1, datastruct1);
|
||||
|
||||
port.Write(packet, 0, packet.Length);
|
||||
|
||||
System.Threading.Thread.Sleep(10);
|
||||
}
|
||||
|
||||
public void poll_msg(ICommsSerial port, byte clas, byte subclass)
|
||||
{
|
||||
byte[] datastruct1 = { };
|
||||
|
||||
var packet = generate(clas, subclass, datastruct1);
|
||||
|
||||
port.Write(packet, 0, packet.Length);
|
||||
|
||||
System.Threading.Thread.Sleep(10);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -40,6 +40,17 @@ namespace Plane.FormationCreator.ViewModels
|
||||
set { Set(nameof(SerialPortResend), ref _serialPortResend, value); }
|
||||
|
||||
}
|
||||
|
||||
private bool _smalldatamk;
|
||||
public bool SmalldataMK
|
||||
{
|
||||
get { return _smalldatamk; }
|
||||
set
|
||||
{
|
||||
Set(nameof(SmalldataMK), ref _smalldatamk, value);
|
||||
_rtcmManager.SmallRtcmData= value;
|
||||
}
|
||||
}
|
||||
|
||||
private bool _resendtocommk;
|
||||
public bool ResendToComMK
|
||||
@ -83,6 +94,7 @@ namespace Plane.FormationCreator.ViewModels
|
||||
public void RefreshPorts()
|
||||
{
|
||||
string lastSelectValue = SerialPortsSelectdValue;
|
||||
string lastSelectValue_re = SerialPortResend;
|
||||
serialPorts.Clear();
|
||||
serialPorts.Add("魔方基站");
|
||||
serialPorts.Add("千寻");
|
||||
@ -93,6 +105,17 @@ namespace Plane.FormationCreator.ViewModels
|
||||
}
|
||||
if (serialPorts.Contains(lastSelectValue))
|
||||
SerialPortsSelectdValue = lastSelectValue;
|
||||
|
||||
serialRePorts.Clear();
|
||||
|
||||
foreach (var item in commports)
|
||||
{
|
||||
serialRePorts.Add(item);
|
||||
}
|
||||
if (serialRePorts.Contains(lastSelectValue_re))
|
||||
SerialPortResend = lastSelectValue_re;
|
||||
|
||||
|
||||
}
|
||||
|
||||
private ICommand _ConnectRtcmCommand;
|
||||
|
||||
@ -5,24 +5,43 @@
|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
|
||||
xmlns:c="http://metro.mahapps.com/winfx/xaml/controls"
|
||||
mc:Ignorable="d"
|
||||
d:DesignHeight="300" d:DesignWidth="800"
|
||||
Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize">
|
||||
mc:Ignorable="d" d:DesignWidth="800"
|
||||
Height="426" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize">
|
||||
<Grid Margin="0,0,0,0">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition />
|
||||
</Grid.RowDefinitions>
|
||||
<StackPanel Margin="5" Orientation="Horizontal" VerticalAlignment="Center">
|
||||
<ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0"
|
||||
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
|
||||
<StackPanel Margin="0" Orientation="Vertical">
|
||||
<StackPanel Margin="0" Orientation="Horizontal">
|
||||
<ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0"
|
||||
Margin="10" ItemsSource="{Binding serialPorts, Mode=OneWay}"
|
||||
SelectedValue="{Binding SerialPortsSelectdValue}"
|
||||
DropDownOpened="ComboBox_DropDownOpened"/>
|
||||
<Button Margin="6" Width="80" Height="28"
|
||||
<Button Margin="6" Width="80" Height="28"
|
||||
Content="{Binding RtcmManager.Rtcmthreadrun,Converter={StaticResource SendConverter}}"
|
||||
Command="{Binding ConnectRtcmCommand}"/>
|
||||
<Label Margin="6,6,0,6" Height="28" Content="总数："/>
|
||||
<Label Margin="0,6,6,6" Height="28" Content="{Binding RtcmManager.rtcmInfoList.Count,UpdateSourceTrigger=PropertyChanged}"></Label>
|
||||
<Label Margin="6,6,0,6" Height="28" Content="卫星数："/>
|
||||
<Label Margin="0,6,6,6" Height="28" Content="{Binding RtcmManager.rtcmInfoList.Count,UpdateSourceTrigger=PropertyChanged}"></Label>
|
||||
</StackPanel>
|
||||
<StackPanel Margin="6,0,0,6" Orientation="Horizontal">
|
||||
<CheckBox x:Name="checkBox" Content="同时发送到："
|
||||
Margin="4,5,5,0" Width="90"
|
||||
IsChecked="{Binding ResendToComMK}"/>
|
||||
<ComboBox Width="90" Height="25" Foreground="White" SelectedIndex="0"
|
||||
Margin="0,0,5,0" ItemsSource="{Binding serialRePorts, Mode=OneWay}"
|
||||
SelectedValue="{Binding SerialPortResend}"
|
||||
DropDownOpened="ComboBox_DropDownOpened"/>
|
||||
<CheckBox x:Name="cBsmalldata" Content="减少广播数据"
|
||||
Margin="20,5,5,0" Width="95"
|
||||
IsChecked="{Binding SmalldataMK}"/>
|
||||
</StackPanel>
|
||||
|
||||
</StackPanel>
|
||||
|
||||
</Border>
|
||||
|
||||
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
|
||||
<StackPanel Margin="5" Orientation="Vertical">
|
||||
@ -30,10 +49,10 @@
|
||||
<TextBlock Text="接收速率： "/>
|
||||
<TextBlock TextAlignment="Right" Width="30"
|
||||
Text="{Binding RtcmManager.Bps}"/>
|
||||
<TextBlock Text=" bps；发送速率："/>
|
||||
<TextBlock Text=" 字节/秒；发送速率："/>
|
||||
<TextBlock TextAlignment="Right" Width="30"
|
||||
Text="{Binding RtcmManager.Bpsusefull}"/>
|
||||
<TextBlock Text=" bps"/>
|
||||
<TextBlock Text=" 字节/秒"/>
|
||||
</StackPanel>
|
||||
|
||||
<StackPanel Margin="5" Orientation="Horizontal">
|
||||
@ -42,8 +61,8 @@
|
||||
/>
|
||||
</StackPanel>
|
||||
</StackPanel>
|
||||
|
||||
|
||||
|
||||
|
||||
</Border>
|
||||
|
||||
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
|
||||
@ -70,22 +89,15 @@
|
||||
<TextBlock Margin="2,5" Text="-"/>
|
||||
<TextBlock Margin="2,5" Text="{Binding RtcmManager.StationTime}"/>
|
||||
</StackPanel>
|
||||
|
||||
|
||||
</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"
|
||||
ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}"
|
||||
ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}" Margin="0,0.333,-0.333,-80" Height="303" VerticalAlignment="Top"
|
||||
>
|
||||
<ItemsControl.ItemsPanel>
|
||||
<ItemsPanelTemplate>
|
||||
@ -116,7 +128,7 @@
|
||||
<Line Stroke="Red" X2="1000" StrokeThickness="3" />
|
||||
<TextBlock Text="40" Foreground="Black"/>
|
||||
</StackPanel>
|
||||
|
||||
|
||||
|
||||
</Grid>
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user