测试双频

修改机头

Plane.FormationCreator/MainWindow.xaml

@@ -81,6 +81,7 @@
                             <RowDefinition/>
                             <RowDefinition/>
                             <RowDefinition/>
+                            <RowDefinition/>
                         </Grid.RowDefinitions>
                         <Grid.ColumnDefinitions>
                             <ColumnDefinition/>
@@ -105,6 +106,8 @@
                         </StackPanel>
                         <Button BorderThickness="1" BorderBrush="#FFFFFF" Content="导入分组信息" Margin="25,8,0,8" Grid.Row="2"
                                 Command="{Binding ImportGroupCommand}"/>
+                        <Button BorderThickness="1" BorderBrush="#FFFFFF" Content="导出任务时间" Margin="25,8,0,8" Grid.Row="3"
+                                Command="{Binding ImportTaskTimeCommand}"/>
                     </Grid>
                 </MenuItem>
             </Menu>

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -39,6 +39,7 @@ namespace Plane.FormationCreator.ViewModels
         {
             _formationController = formationController;
             _copterManager = copterManager;
+            LoadRTKcomvalue();
         }
 
         private FormationController _formationController;
@@ -54,7 +55,7 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(AltP), ref _AltP, value); }
         }
 
-        private float _TaskOffAlt = 10;
+        private float _TaskOffAlt = 2;
         public float TaskOffAlt
         {
             get { return _TaskOffAlt; }
@@ -751,12 +752,15 @@ namespace Plane.FormationCreator.ViewModels
                 return _TurnOffTestLightsCommand ?? (_TurnOffTestLightsCommand = new RelayCommand(async () =>
                 {
                     int num = 0;
-                    var o = new { NTF_G_RTLOFF = 1 };
+                    //var o = new { NTF_G_RTLOFF = 1 };
                     num = await _commModuleManager.SetMultipleParamAsync(
                                                                 "NTF_G_RTLOFF",  "1",
                                                                 "FS_GCS_ENABLE", "0", 
                                                                 "NTF_G_RTKTEST", "0",
-                                                                "WAYPOINT_GLED", "0");
+                                                                "WAYPOINT_GLED", "0",
+                                                                "FS_BATT_VOLTAGE", "14.2",
+                                                                "RTL_ALT","3000",
+                                                                "RTL_ALT_MAX","5000");
                     Alert.Show($"广播完成！ 当前序列号：{num}");
                 }));
             }
@@ -859,33 +863,37 @@ namespace Plane.FormationCreator.ViewModels
                         Alert.Show("RTK数据开始发送", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
                         RTKState = "RTK数据发送中";
                         RTKbtntxt = "停止RTK";
-
+                        await SaveRTKcomvalue();
                         await Task.Run(async () =>
                             {
                                 //读取RTK数据循环
+                                rtcm3 rtcm3 = new rtcm3();
                                 while (trkthreadrun)
                                 {
                                     //读入RTK数据
                                     var packet = await ReadRTKPacketAsync().ConfigureAwait(false);
-                                    if (packet != null)
+                                    
+
+                                    if (packet != null && packet.Length > 0)
                                     {
-                                        Console.WriteLine("rev:" + (ushort)packet.Length);
+                                        //Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---packet.length = {packet.Length}");
-
+                                        int read = packet.Length;
-                                        //分发到每个飞机
+                                        if (read > 0)
-                                        /*
-                                        foreach (var copter in _copterManager.Copters)
                                         {
-                                            // int iid = Convert.ToInt32(copter.Name);
+                                            for (int a = 0; a < read; a++)
-                                            //临时用来区分RTK发送数据
+                                            {
-                                            //if (iid<50)
+                                                int seenmsg = -1;
-                                            
+                                                // rtcm
-                                            await copter.InjectGpsDataAsync(packet, (ushort)packet.Length);
+                                                if ((seenmsg = rtcm3.Read(packet[a])) > 0)
+                                                {
+                                                    //Console.WriteLine($"{DateTime.Now.ToLongTimeString()}---rtcm3.length = {rtcm3.length}");
+                                                    //Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---rtcm3.length = {rtcm3.length}");
+                                                    await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length);
+                                                }
+                                            }
                                         }
-                                        */
-                                        await _commModuleManager.InjectGpsDataAsync(packet, (ushort)packet.Length);
                                     }
-
+                                    await Task.Delay(10).ConfigureAwait(false);
-                                    await Task.Delay(200).ConfigureAwait(false);
 
                                 }
                             }).ConfigureAwait(false);
@@ -900,25 +908,6 @@ namespace Plane.FormationCreator.ViewModels
                         RTKState = "未发送RTK数据";
                         RTKbtntxt = "发送RTK";
                     }
-                    /*
-                                        await Task.Run(() =>
-                                        {
-                                            if (!Rtkport.IsOpen)
-                                            {
-                                                return null;
-                                            }
-
-                                        //    var packet = await ReadRTKPacketAsync().ConfigureAwait(false);
-
-                                            while (trkthreadrun)
-                                            {
-                                                await ReadRTKPacketAsync();
-
-                                                   // if (await Rtkport.ReadAsync(buffer, 0, Math.Min(buffer.Length, 110)) > 0)
-                                                {
-                                                }
-                                            }
-                                        });*/
                 }));
             }
         }
@@ -970,13 +959,17 @@ namespace Plane.FormationCreator.ViewModels
                                 {
                                     int read = commNTRIP.Read(buffer, 0, Math.Min(buffer.Length, commNTRIP.BytesToRead));
 
-                                    for (int a = 0; a < read; a++)
+                                    if (read > 0)
                                     {
-                                        int seenmsg = -1;
+                                        for (int a = 0; a < read; a++)
-                                        // rtcm
-                                        if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
                                         {
-                                            await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length);
+                                            int seenmsg = -1;
+                                            // rtcm
+                                            if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
+                                            {
+                                                //Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---rtcm3.length = {rtcm3.length}");
+                                                await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length);
+                                            }
                                         }
                                     }
                                 }
@@ -991,6 +984,21 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        rtcm3 rtcm3 = new rtcm3();
+        private async Task AnalysisRendRrcmData(byte[] buffer, int length)
+        {
+            for (int a = 0; a < length; a++)
+            {
+                int seenmsg = -1;
+                // rtcm
+                if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
+                {
+                    await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length);
+                }
+            }
+            await Task.Delay(1);
+        }
+
 
 
 
@@ -1702,6 +1710,28 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        /// <summary>
+        /// 读取串口号
+        /// </summary>
+        private void LoadRTKcomvalue()
+        {
+            IniFiles inifilse = new IniFiles();
+            RTKcomvalue = inifilse.IniReadvalue("Default", "RTKcomvalue");
+            if (RTKcomvalue == "") RTKcomvalue = "COM6";
+        }
+
+
+        /// <summary>
+        /// 保存上次成功的串口号
+        /// </summary>
+        /// <returns></returns>
+        private async Task SaveRTKcomvalue()
+        {
+            IniFiles inifilse = new IniFiles();
+            inifilse.IniWritevalue("Default", "RTKcomvalue", RTKcomvalue);
+            await Task.Delay(1);
+        }
+
         private async Task LEDFlashAsync(ICopter copter, bool isOn)
         {
             // float gpsLed = await c.GetParamAsync("NOTI_GPSLED");

Plane.FormationCreator/ViewModels/MainViewModel.cs

@@ -358,6 +358,42 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private ICommand _ImportTaskTimeCommand;
+        public ICommand ImportTaskTimeCommand
+        {
+            get
+            {
+                return _ImportTaskTimeCommand ?? (_ImportTaskTimeCommand = new RelayCommand(() =>
+                {
+                    var dialog = new SaveFileDialog
+                    {
+                        DefaultExt = "txt",
+                        Filter = "文本文件 (*.txt)|*.txt"
+                    };
+                    if (dialog.ShowDialog() == true)
+                    {
+
+                        var importText = File.ReadAllText(dialog.FileName);
+
+                        dynamic importInfo = JsonConvert.DeserializeObject(importText);
+                        dynamic taskinfo = null;
+                        if (importInfo is Newtonsoft.Json.Linq.JObject)
+                        {
+                            taskinfo = importInfo.tasks;
+                            if (importInfo.groups != null)
+                            {
+                                _groupManager.ImportGroupsInfo(importInfo.groups);
+                            }
+                        }
+                        else if (importInfo is Newtonsoft.Json.Linq.JArray)
+                        {
+                            taskinfo = importInfo;
+                        }
+                    }
+                }));
+            }
+        }
+
         private void ImportCoptersLocate(dynamic coptersLocate)
         {
             int index = 0;

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -86,10 +86,11 @@
                     Command="{Binding ReportGPSTypeCommand}"/>
             <Button Content="统计模块" 
                     Command="{Binding DetectionCommModuleVersion}" />
-            <Button Content="正式灯光" 
+            <Button Content="正式参数" 
                     Command="{Binding TurnOffTestLightsCommand}" 
-                    Visibility="Collapsed"/>
+                    />
-            <TextBox Width="30" Text="{Binding TaskOffAlt}"
+            <TextBlock Margin="5,0,3,0" Text="起飞高度" VerticalAlignment="Center"></TextBlock>
+            <TextBox Width="30" Height="26" Text="{Binding TaskOffAlt}"
                 />
             <Label Visibility="Collapsed">Lat</Label>
             <TextBox Visibility="Collapsed" Text="{Binding LatOffset}" Width="50"/>