加入RTK支持

[Extensions.cs] 修改//到达航点精度0.6米////最近碰撞检测距离2米 （飞机飞控中飞行速度改为200/秒）
[ControlPanelViewModel.cs]  读取基站数据并发送
[ControlPanelView.xaml]加入rtk发送按钮

Plane.FormationCreator/Formation/Extensions.cs

@@ -54,8 +54,8 @@ namespace Plane.FormationCreator.Formation
 
         public static bool ArrivedTarget(this ICopter copter, double targetLat, double targetLng, float targetAlt)
         {
-            return copter.DistanceTo(targetLat, targetLng, targetAlt) < 2;
+           // return copter.DistanceTo(targetLat, targetLng, targetAlt) < 2;
-            // return copter.DistanceTo(targetLat, targetLng, targetAlt) < 1.5;
+             return copter.DistanceTo(targetLat, targetLng, targetAlt) < 0.6;   //到达航点精度
             // return copter.DistanceTo(targetLat, targetLng, targetAlt) < 2;  // added by ZJF
         }
 
@@ -71,7 +71,7 @@ namespace Plane.FormationCreator.Formation
 
         public static bool IsTooCloseTo(this ICopter copter, ICopter copter2)
         {
-            return copter.DistanceTo(copter2) < 2;
+            return copter.DistanceTo(copter2) < 0.5;  //最近距离2米
         }
     }
 }

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -14,11 +14,19 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Input;
+using Plane.Communication;
 
 namespace Plane.FormationCreator.ViewModels
 {
     public class ControlPanelViewModel : ViewModelBase
     {
+        // serialport
+        internal static IConnection Rtkport ;
+        private static System.Threading.Thread thrtk;
+        private static bool trkthreadrun = false;
+
+
+
         public ControlPanelViewModel(FormationController formationController, CopterManager copterManager)
         {
             _formationController = formationController;
@@ -127,6 +135,156 @@ namespace Plane.FormationCreator.ViewModels
                 }));
             }
         }
+        private string _RTKcomvalue = "COM3";
+        public string RTKcomvalue
+        {
+            get { return _RTKcomvalue; }
+            set { Set(nameof(RTKcomvalue), ref _RTKcomvalue, value); }
+        }
+
+        //RTK收发线程
+        private static void mainloop()
+        {
+
+
+
+        }
+
+
+        private async Task<byte[]> ReadRTKPacketAsync()
+        {
+            if (!Rtkport.IsOpen)
+            {
+                return null;
+            }
+
+            // limit to 110 byte packets
+            byte[] buffer = new byte[180];
+            int length = 0;
+
+            try
+            {
+                if (Rtkport.BytesToRead() > 0)//while (Rtkport.BytesToRead() > 0)
+
+
+                {
+                    int read = await Rtkport.ReadAsync(buffer, 0, Math.Min(buffer.Length, Rtkport.BytesToRead()));
+                   
+                  //  sendData(buffer, (byte)read);
+
+                }
+
+               /*
+               if (await Rtkport.ReadAsync(buffer, 0, 1) == 0)
+                {
+                        //  做简单数据解析，得到协议类型，后续数据长度等
+                 }
+                //根据数据长度读取实际数据
+                if (await Rtkport.ReadAsync(buffer, 1, 1) == 0)
+                {
+                   
+                }
+                */
+ 
+            }
+            catch (Exception ex)
+            {
+                return null;
+            }
+            return buffer;
+
+        }
+
+
+
+        private ICommand _SendRTKCommand;
+        public ICommand SendRTKCommand
+        {
+            get
+            {
+                return _SendRTKCommand ?? (_SendRTKCommand = new RelayCommand(async () =>
+                {
+                    Rtkport = new SerialPortConnection(RTKcomvalue,57600) as IConnection;
+                    await Rtkport.OpenAsync();
+                    if (!Rtkport.IsOpen)
+                    {
+                        Alert.Show("无法打开" + RTKcomvalue , "警告", MessageBoxButton.OK, MessageBoxImage.Warning);
+                        return;
+                    }
+                    trkthreadrun = true;  //开始运行后台任务
+                                          /*  //线程方式后台运行rtk转发任务
+                                          thrtk = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
+                                          {
+                                              IsBackground = true,
+                                              Name = "injectgps"
+                                          };
+                                          thrtk.Start();
+                                          */
+                                          //后台任务方式运行rtk转发任务
+                        await Task.Run(async () =>
+                        {
+                            //读取RTK数据循环
+                            while (trkthreadrun)
+                            {
+                                    //读入RTK数据
+                                    var packet = await ReadRTKPacketAsync().ConfigureAwait(false);
+                                    //分发到每个飞机
+                                    foreach (var copter in _copterManager.Copters)
+                                    {
+                                        await copter.InjectGpsDataAsync(packet, (ushort)packet.Length);
+                                    }
+
+
+                                await Task.Delay(200).ConfigureAwait(false);
+
+                            }
+                        }).ConfigureAwait(false);
+
+                    /*
+
+                                        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)
+                                                {
+
+
+
+
+
+                                                }
+
+
+
+
+
+
+
+
+                                            }
+
+
+                                        });*/
+
+
+                }));
+            }
+        }
+
+
+
+
 
         private ICommand _LandCommand;
         public ICommand LandCommand

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -59,6 +59,19 @@
                      Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
         </WrapPanel>
 
+        <WrapPanel>
+            <TextBox 
+                     Grid.Column="1" 
+                     Width="55"
+                     Margin="5, 5, 5, 5"
+                     HorizontalContentAlignment="Right"
+                     Text="{Binding RTKcomvalue, UpdateSourceTrigger=PropertyChanged}" 
+                />
+            <Button Content="发送RTK"
+                    Command="{Binding SendRTKCommand}" />
+         </WrapPanel>
+
+
         <!--// 林俊清, 20150920, 目前不再使用 FormationController，删除相关按钮。
         <StackPanel Visibility="{Binding Source={x:Static fc:AppEx.Current}, Path=AppMode, Converter={StaticResource AppModeToVisibilityConverter}, ConverterParameter=ControlPanelView_Formation}">
             <TextBlock Text="任务" />