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

Plane.FormationCreator/Formation/CopterManager.cs

@@ -25,7 +25,7 @@ namespace Plane.FormationCreator.Formation
     public class CopterCollection : ObservableCollection<ICopter>
     {
         //软件过期时间---过期将无法添加飞机，并自动退出
-        public static DateTime Expire_App = DateTime.Parse("2022-12-31");  
+        public static DateTime Expire_App = DateTime.Parse("2023-12-31");  
         //超级用户过期时间--过期将无法使用内置超级用户登录
         public static DateTime Expire_SuperUser = Expire_App;
         //允许飞行的飞机数量

Plane.FormationCreator/Formation/RtcmManager.cs

@@ -30,6 +30,41 @@ namespace Plane.FormationCreator.Formation
         private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
         private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
         private bool _rtcmthreadrun = false;
+        //         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
+        private int _rtcmsendtype = 1;
+
+        const int MSG_GPS = 1074;
+        const int MSG_GLONASS = 1084;
+        const int MSG_Beidou = 1124;
+        const int MSG_BasePos = 1005;
+        const int MSG_REV = 1033;
+
+        public string rtcm_typename(int msgtype)
+        {
+            string typename = "Rtcm" + msgtype;
+            switch (msgtype)
+            {
+                case MSG_GPS:
+                    typename = "GPS";
+                    break;
+                case MSG_GLONASS:
+                    typename = "GLONASS";
+                    break;
+                case MSG_Beidou:
+                    typename = "北斗";
+                    break;
+                //位置5秒发一次就可以了
+                case MSG_BasePos:
+                    typename = "基站位置";
+                    break;
+                case MSG_REV:  //这个没必要发
+                    typename = "版本";
+                    break;
+            }
+            return typename;
+
+        }
         public bool Rtcmthreadrun
         {
             get { return _rtcmthreadrun; }
@@ -142,6 +177,7 @@ namespace Plane.FormationCreator.Formation
             dispatcherTimer.Start();
         }
 
+        //用于刷新界面，显示消息状态，基站和卫星是否有效等
         private void OnTimedEvent(object sender, EventArgs e)
         {
             BaseState = baseTime > DateTime.Now;
@@ -168,7 +204,7 @@ namespace Plane.FormationCreator.Formation
         }
 
 
-
+        //显示卫星信号强度条
         private void Rtcm_ObsMessage(object sender, EventArgs e)
         {
             List<rtcm3.ob> obs = sender as List<rtcm3.ob>;
@@ -331,28 +367,10 @@ namespace Plane.FormationCreator.Formation
         {
             int reconnecttimeout = 10;
             DateTime lastrecv = DateTime.MinValue;
-            //系统毫秒数
+            long last_send_pos = CurrentTimeMillis()- 5000;//5秒发一次就可以了
-            long ls_send_ms = CurrentTimeMillis();
-
-            long ls_send_gps = CurrentTimeMillis();
-            long ls_send_glonass = CurrentTimeMillis();
-            long ls_send_baidu = CurrentTimeMillis();
-
-            const int MSG_GPS = 1074;
-            const int MSG_GLONASS = 1084;
-            const int MSG_Beidou = 1124;
-
-            int MSG_BasePos = 1005;
-            int MSG_REV = 1033;
-
-            int Send_type = 0;
             bool Ensend = false;
-            int last_mag = 0;
-
-
             //新版本打包发送模式
             //await _commModuleManager.StartRtcmLoop();
-
             while (Rtcmthreadrun)
             {
                 try
@@ -395,62 +413,70 @@ namespace Plane.FormationCreator.Formation
                         if ((seenmsg = rtcm.Read(buffer[a])) > 0)
                         {
                             bpsusefull += rtcm.length;
+                            string msgshowname = rtcm_typename(seenmsg);
                             _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
-/* 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
+                            if (_rtcmsendtype == 0)
+                            {
+                                await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
+                            }else
+                            if (_rtcmsendtype == 1)
+                            {
+                                Ensend = false;
+                                //第1秒是gps,第2秒是GLONASS，第3秒是 Beidou
+                                //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);  
                                 switch (seenmsg)
                                 {
                                     case MSG_GPS:
-                                    if ((CurrentTimeMillis() - ls_send_gps) > 1000)
+                                        if (sendtype==0)  //第1秒是gps,
-                                    {
-                                        ls_send_gps = CurrentTimeMillis();
                                             Ensend = true;
-                                    }
                                         break;
 
                                     case MSG_GLONASS:
-                                    if ((CurrentTimeMillis() - ls_send_glonass) > 1000)
+                                        if (sendtype == 1)  //第2秒是GLONASS，
-                                    {
-                                        ls_send_glonass = CurrentTimeMillis();
                                             Ensend = true;
-                                    }
                                         break;
                                     case MSG_Beidou:
-                                    if ((CurrentTimeMillis() - ls_send_baidu) > 1000)
+                                        if (sendtype == 2)  //第3秒是 Beidou
-                                    {
-                                        ls_send_baidu = CurrentTimeMillis();
                                              Ensend = true;
+                                        break;
+                                    //位置4秒发一次就可以了
+                                    case MSG_BasePos:
+                                        {
+                                            long curr_send_pos = CurrentTimeMillis();
+                                            if ((curr_send_pos - last_send_pos) > 4000)
+                                            {
+                                                last_send_pos = curr_send_pos;
+                                                Ensend = true;
+                                            }
                                         }
                                         break;
-                            }
+                                    case MSG_REV:  //这个没必要发
-
+                                        Ensend = false;
-                            if ((seenmsg == MSG_REV) || (seenmsg == MSG_BasePos)) Ensend = true;
+                                        break;
-
+                                   default:          //其他类型数据随到随发
-                            //Plane.Windows.Messages.Message.Show("---["+ seenmsg + "]RTCM:" + rtcm.length);
-
-                            // await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
-                            if (rtcm.length <= 180)
                                         Ensend = true;
-                            else Ensend = false;
+                                        break;
-                            
+                                }
                                 if (Ensend)
                                 {
-                              //  await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
+                                    // Plane.Windows.Messages.Message.Show(DateTime.Now.ToString("HH:mm:ss")+"--Rtcm长度:  " + (ushort)rtcm.length+"   , 类型:   "+ seenmsg);
+                                    Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--Rtcm长度: " + (ushort)rtcm.length + "  类型: " + msgshowname + " ("+ seenmsg+")");
+                                    await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
+                                }
+                                //else
+                                 //   Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--放弃发送-----Rtcm长度:  " + (ushort)rtcm.length + "   类型:   " + msgshowname + " (" + seenmsg + ")");
 
-                                Ensend = false;
 
                             }
- */
-                            //老的单频rtk发送
-                            await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
-
-                            string msgname = "Rtcm" + seenmsg;                          
-                          
-                            if (!msgseen.ContainsKey(msgname))
-                                msgseen[msgname] = 0;
-                            msgseen[msgname] = (int)msgseen[msgname] + 1;
 
+                            //累加消息数量，用于界面显示
+                            if (!msgseen.ContainsKey(msgshowname))
+                                msgseen[msgshowname] = 0;
+                             msgseen[msgshowname] = (int)msgseen[msgshowname] + 1;                            
+                            //检测基站定位状态和卫星定位状态，用于在界面上显示
                             await ExtractBasePos(seenmsg); 
-                            //await seenRTCM(seenmsg);
                         }
                     }
                     await Task.Delay(10);

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -106,7 +106,9 @@
       <HintPath>..\packages\MaterialDesignThemes.1.4.0.473\lib\net45\MaterialDesignThemes.Wpf.dll</HintPath>
       <Private>True</Private>
     </Reference>
-    <Reference Include="Microsoft.Expression.Drawing, Version=4.5.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL" />
+    <Reference Include="Microsoft.Expression.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
+      <HintPath>..\packages\Unnoficial.Microsoft.Expression.Drawing.1.0.0\lib\Microsoft.Expression.Drawing.dll</HintPath>
+    </Reference>
     <Reference Include="Microsoft.Maps.MapControl.WPF, Version=1.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
       <HintPath>..\packages\Microsoft.Maps.MapControl.WPF.1.0.0.3\lib\net40-Client\Microsoft.Maps.MapControl.WPF.dll</HintPath>
       <Private>True</Private>

Plane.FormationCreator/Util/CommNTRIP.cs

@@ -261,7 +261,7 @@ namespace Plane.Util
                     retrys--;
                 }
 
-                throw new Exception("The ntrip is closed");
+                throw new Exception("网络RTK基站通讯已关闭!");
             }
         }
 

Plane.FormationCreator/Util/rtcm3.cs

@@ -2278,6 +2278,7 @@ namespace Plane.Util
 
                 return i;
             }
+
         }
     }
 }

Plane.FormationCreator/Views/RtcmInfoView.xaml

@@ -54,10 +54,10 @@
                                    Fill="{Binding RtcmManager.BaseState,Converter={StaticResource ColorConverter}}"/>
                         <TextBlock Margin="5" Text="Gps"/>
                         <Rectangle Margin="0,0,15,0" Width="20" Height="20" 
-                                   Fill="{Binding RtcmManager.GlonassState,Converter={StaticResource ColorConverter}}"/>
+                                   Fill="{Binding RtcmManager.GpsState ,Converter={StaticResource ColorConverter}}"/>
                         <TextBlock Margin="5" Text="Glonass"/>
                         <Rectangle Margin="0,0,15,0" Width="20" Height="20" 
-                                   Fill="{Binding RtcmManager.GpsState,Converter={StaticResource ColorConverter}}"/>
+                                   Fill="{Binding RtcmManager.GlonassState,Converter={StaticResource ColorConverter}}"/>
                         <TextBlock Margin="5" Text="北斗"/>
                         <Rectangle Margin="0,0,15,0" Width="20" Height="20" 
                                    Fill="{Binding RtcmManager.BeidouState,Converter={StaticResource ColorConverter}}"/>

Plane.FormationCreator/packages.config

@@ -15,4 +15,5 @@
   <package id="System.Data.SQLite.Core" version="1.0.109.1" targetFramework="net46" />
   <package id="System.Data.SQLite.EF6" version="1.0.109.0" targetFramework="net46" />
   <package id="System.Data.SQLite.Linq" version="1.0.109.0" targetFramework="net46" />
+  <package id="Unnoficial.Microsoft.Expression.Drawing" version="1.0.0" targetFramework="net46" />
 </packages>