修改RTK发送部分，限制数据量和封包，通过常量支持以前方式发送，兼容没有修改的固件
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@ -25,7 +25,7 @@ namespace Plane.FormationCreator.Formation
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public class CopterCollection : ObservableCollection<ICopter>
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{
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//软件过期时间---过期将无法添加飞机，并自动退出
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public static DateTime Expire_App = DateTime.Parse("2022-12-31");
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public static DateTime Expire_App = DateTime.Parse("2023-12-31");
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//超级用户过期时间--过期将无法使用内置超级用户登录
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public static DateTime Expire_SuperUser = Expire_App;
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//允许飞行的飞机数量
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@ -30,6 +30,41 @@ 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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// 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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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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public string rtcm_typename(int msgtype)
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{
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string typename = "Rtcm" + msgtype;
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switch (msgtype)
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{
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case MSG_GPS:
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typename = "GPS";
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break;
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case MSG_GLONASS:
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typename = "GLONASS";
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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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//位置5秒发一次就可以了
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case MSG_BasePos:
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typename = "基站位置";
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break;
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case MSG_REV: //这个没必要发
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typename = "版本";
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break;
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}
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return typename;
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}
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public bool Rtcmthreadrun
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{
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get { return _rtcmthreadrun; }
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@ -142,6 +177,7 @@ 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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private void OnTimedEvent(object sender, EventArgs e)
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{
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BaseState = baseTime > DateTime.Now;
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@ -168,7 +204,7 @@ namespace Plane.FormationCreator.Formation
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}
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//显示卫星信号强度条
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private void Rtcm_ObsMessage(object sender, EventArgs e)
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{
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List<rtcm3.ob> obs = sender as List<rtcm3.ob>;
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@ -331,28 +367,10 @@ namespace Plane.FormationCreator.Formation
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{
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int reconnecttimeout = 10;
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DateTime lastrecv = DateTime.MinValue;
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//系统毫秒数
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long ls_send_ms = CurrentTimeMillis();
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long ls_send_gps = CurrentTimeMillis();
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long ls_send_glonass = CurrentTimeMillis();
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long ls_send_baidu = CurrentTimeMillis();
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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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int MSG_BasePos = 1005;
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int MSG_REV = 1033;
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int Send_type = 0;
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long last_send_pos = CurrentTimeMillis()- 5000;//5秒发一次就可以了
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bool Ensend = false;
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int last_mag = 0;
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//新版本打包发送模式
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//await _commModuleManager.StartRtcmLoop();
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while (Rtcmthreadrun)
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{
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try
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@ -395,62 +413,70 @@ namespace Plane.FormationCreator.Formation
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if ((seenmsg = rtcm.Read(buffer[a])) > 0)
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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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/* 在数据量大的时候这样可以减少数据量，但测试结果是老方法更可靠，固定更快，特别是使用物理基站时
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switch (seenmsg)
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if (_rtcmsendtype == 0)
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{
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case MSG_GPS:
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if ((CurrentTimeMillis() - ls_send_gps) > 1000)
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{
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ls_send_gps = CurrentTimeMillis();
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Ensend = true;
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}
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break;
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case MSG_GLONASS:
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if ((CurrentTimeMillis() - ls_send_glonass) > 1000)
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{
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ls_send_glonass = CurrentTimeMillis();
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Ensend = true;
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}
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break;
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case MSG_Beidou:
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if ((CurrentTimeMillis() - ls_send_baidu) > 1000)
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{
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ls_send_baidu = CurrentTimeMillis();
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Ensend = true;
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}
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break;
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}
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if ((seenmsg == MSG_REV) || (seenmsg == MSG_BasePos)) Ensend = true;
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//Plane.Windows.Messages.Message.Show("---["+ seenmsg + "]RTCM:" + rtcm.length);
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// await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
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if (rtcm.length <= 180)
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Ensend = true;
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else Ensend = false;
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if (Ensend)
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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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// await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
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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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{
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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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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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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);
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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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}
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*/
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//老的单频rtk发送
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await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
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string msgname = "Rtcm" + 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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await ExtractBasePos(seenmsg);
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//await seenRTCM(seenmsg);
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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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}
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await Task.Delay(10);
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@ -106,7 +106,9 @@
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<HintPath>..\packages\MaterialDesignThemes.1.4.0.473\lib\net45\MaterialDesignThemes.Wpf.dll</HintPath>
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<Private>True</Private>
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</Reference>
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<Reference Include="Microsoft.Expression.Drawing, Version=4.5.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL" />
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<Reference Include="Microsoft.Expression.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
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<HintPath>..\packages\Unnoficial.Microsoft.Expression.Drawing.1.0.0\lib\Microsoft.Expression.Drawing.dll</HintPath>
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</Reference>
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<Reference Include="Microsoft.Maps.MapControl.WPF, Version=1.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
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<HintPath>..\packages\Microsoft.Maps.MapControl.WPF.1.0.0.3\lib\net40-Client\Microsoft.Maps.MapControl.WPF.dll</HintPath>
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<Private>True</Private>
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@ -261,7 +261,7 @@ namespace Plane.Util
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retrys--;
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}
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throw new Exception("The ntrip is closed");
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throw new Exception("网络RTK基站通讯已关闭!");
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}
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}
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@ -2278,6 +2278,7 @@ namespace Plane.Util
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return i;
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}
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}
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}
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}
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@ -54,10 +54,10 @@
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Fill="{Binding RtcmManager.BaseState,Converter={StaticResource ColorConverter}}"/>
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<TextBlock Margin="5" Text="Gps"/>
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<Rectangle Margin="0,0,15,0" Width="20" Height="20"
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Fill="{Binding RtcmManager.GlonassState,Converter={StaticResource ColorConverter}}"/>
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Fill="{Binding RtcmManager.GpsState ,Converter={StaticResource ColorConverter}}"/>
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<TextBlock Margin="5" Text="Glonass"/>
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<Rectangle Margin="0,0,15,0" Width="20" Height="20"
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Fill="{Binding RtcmManager.GpsState,Converter={StaticResource ColorConverter}}"/>
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Fill="{Binding RtcmManager.GlonassState,Converter={StaticResource ColorConverter}}"/>
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<TextBlock Margin="5" Text="北斗"/>
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<Rectangle Margin="0,0,15,0" Width="20" Height="20"
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Fill="{Binding RtcmManager.BeidouState,Converter={StaticResource ColorConverter}}"/>
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@ -15,4 +15,5 @@
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<package id="System.Data.SQLite.Core" version="1.0.109.1" targetFramework="net46" />
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<package id="System.Data.SQLite.EF6" version="1.0.109.0" targetFramework="net46" />
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<package id="System.Data.SQLite.Linq" version="1.0.109.0" targetFramework="net46" />
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<package id="Unnoficial.Microsoft.Expression.Drawing" version="1.0.0" targetFramework="net46" />
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</packages>
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