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修改双频不能发送rtk的bug，原因是用的新打包方式发送，暂时改回180字节单独发送模式

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xu 2020-03-16 14:12:15 +08:00
parent 3aa4879511
commit 8facb729f7
3 changed files with 23 additions and 16 deletions
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13
Plane.FormationCreator/Formation/RtcmManager.cs
View File

@ -267,7 +267,10 @@ namespace Plane.FormationCreator.Formation
{ {
int reconnecttimeout = 10; int reconnecttimeout = 10;
DateTime lastrecv = DateTime.MinValue; DateTime lastrecv = DateTime.MinValue;
await _commModuleManager.StartRtcmLoop();
//新版本打包发送模式
//await _commModuleManager.StartRtcmLoop();
while (Rtcmthreadrun) while (Rtcmthreadrun)
{ {
try try
@ -310,11 +313,11 @@ namespace Plane.FormationCreator.Formation
if ((seenmsg = rtcm.Read(buffer[a])) > 0) if ((seenmsg = rtcm.Read(buffer[a])) > 0)
{ {
bpsusefull += rtcm.length; bpsusefull += rtcm.length;
//用于双频RTK发送
// await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
//用于单频rtk发送
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters); _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length); //用于双频RTK发送
await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
//老的单频rtk发送
//await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
string msgname = "Rtcm" + seenmsg; string msgname = "Rtcm" + seenmsg;

12
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -885,7 +885,7 @@ namespace Plane.FormationCreator.ViewModels
{ {
//Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---packet.length = {packet.Length}"); //Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---packet.length = {packet.Length}");
//新方案的RTK发送，用于双频 //新方案的RTK发送，用于双频
/*
int read = packet.Length; int read = packet.Length;
if (read > 0) if (read > 0)
{ {
@ -900,10 +900,12 @@ namespace Plane.FormationCreator.ViewModels
} }
} }
} }
*/
//稳定方案的rtk发送，用于单频 //稳定方案的rtk发送，用于单频
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters); //_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.InjectGpsDataAsync(packet, (ushort)packet.Length); //await _commModuleManager.InjectGpsDataAsync(packet, (ushort)packet.Length);
} }
await Task.Delay(10).ConfigureAwait(false); await Task.Delay(10).ConfigureAwait(false);
@ -1018,6 +1020,7 @@ namespace Plane.FormationCreator.ViewModels
} }
} }
/*
rtcm3 rtcm3 = new rtcm3(); rtcm3 rtcm3 = new rtcm3();
private async Task AnalysisRendRrcmData(byte[] buffer, int length) private async Task AnalysisRendRrcmData(byte[] buffer, int length)
{ {
@ -1032,6 +1035,7 @@ namespace Plane.FormationCreator.ViewModels
} }
await Task.Delay(1); await Task.Delay(1);
} }
*/
private ICommand _LandCommand; private ICommand _LandCommand;

14
Plane.FormationCreator/Views/RtcmInfoView.xaml
View File

@ -27,17 +27,17 @@
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1"> <Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
<StackPanel Margin="5" Orientation="Vertical"> <StackPanel Margin="5" Orientation="Vertical">
<StackPanel Margin="5" Orientation="Horizontal"> <StackPanel Margin="5" Orientation="Horizontal">
<TextBlock Text="Input data rate "/> <TextBlock Text="接收速率： "/>
<TextBlock TextAlignment="Right" Width="30" <TextBlock TextAlignment="Right" Width="30"
Text="{Binding RtcmManager.Bps}"/> Text="{Binding RtcmManager.Bps}"/>
<TextBlock Text=" bps: put data rate "/> <TextBlock Text=" bps；发送速率："/>
<TextBlock TextAlignment="Right" Width="30" <TextBlock TextAlignment="Right" Width="30"
Text="{Binding RtcmManager.Bpsusefull}"/> Text="{Binding RtcmManager.Bpsusefull}"/>
<TextBlock Text=" bps sent"/> <TextBlock Text=" bps"/>
</StackPanel> </StackPanel>
<StackPanel Margin="5" Orientation="Horizontal"> <StackPanel Margin="5" Orientation="Horizontal">
<TextBlock Text="Messages seen "/> <TextBlock Text="消息： "/>
<TextBlock Text="{Binding RtcmManager.Messages_seen}" <TextBlock Text="{Binding RtcmManager.Messages_seen}"
/> />
</StackPanel> </StackPanel>
@ -49,7 +49,7 @@
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1"> <Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
<StackPanel Margin="5" Width="488"> <StackPanel Margin="5" Width="488">
<StackPanel Orientation="Horizontal"> <StackPanel Orientation="Horizontal">
<TextBlock Margin="5" Text="Base"/> <TextBlock Margin="5" Text="基站位置"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20" <Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.BaseState,Converter={StaticResource ColorConverter}}"/> Fill="{Binding RtcmManager.BaseState,Converter={StaticResource ColorConverter}}"/>
<TextBlock Margin="5" Text="Gps"/> <TextBlock Margin="5" Text="Gps"/>
@ -58,12 +58,12 @@
<TextBlock Margin="5" Text="Glonass"/> <TextBlock Margin="5" Text="Glonass"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20" <Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.GpsState,Converter={StaticResource ColorConverter}}"/> Fill="{Binding RtcmManager.GpsState,Converter={StaticResource ColorConverter}}"/>
<TextBlock Margin="5" Text="Beidou"/> <TextBlock Margin="5" Text="北斗"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20" <Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.BeidouState,Converter={StaticResource ColorConverter}}"/> Fill="{Binding RtcmManager.BeidouState,Converter={StaticResource ColorConverter}}"/>
</StackPanel> </StackPanel>
<StackPanel Orientation="Horizontal" > <StackPanel Orientation="Horizontal" >
<TextBlock Margin="5" Text="RTCM Base"/> <TextBlock Margin="5" Text="RTCM 位置"/>
<TextBlock Margin="2,5" Text="{Binding RtcmManager.StationLat}"/> <TextBlock Margin="2,5" Text="{Binding RtcmManager.StationLat}"/>
<TextBlock Margin="2,5" Text="{Binding RtcmManager.StationLng}"/> <TextBlock Margin="2,5" Text="{Binding RtcmManager.StationLng}"/>
<TextBlock Margin="2,5" Text="{Binding RtcmManager.StationAlt}"/> <TextBlock Margin="2,5" Text="{Binding RtcmManager.StationAlt}"/>