diff --git a/Plane.FormationCreator/App.xaml b/Plane.FormationCreator/App.xaml index 736d16d..37220a8 100644 --- a/Plane.FormationCreator/App.xaml +++ b/Plane.FormationCreator/App.xaml @@ -41,6 +41,12 @@ + + diff --git a/Plane.FormationCreator/App.xaml.cs b/Plane.FormationCreator/App.xaml.cs index 1682c13..720dc6d 100644 --- a/Plane.FormationCreator/App.xaml.cs +++ b/Plane.FormationCreator/App.xaml.cs @@ -120,6 +120,8 @@ namespace Plane.FormationCreator MainWindow = new MainWindow(); MainWindow.Show(); + + try { /* by panxu tcp 不使用了 --使用TCP监听在自动获取IP的情况下，刚开始会导致界面无响应，过一会就好 diff --git a/Plane.FormationCreator/Formation/FlightTaskManager.cs b/Plane.FormationCreator/Formation/FlightTaskManager.cs index 14c1b8b..69a19b5 100644 --- a/Plane.FormationCreator/Formation/FlightTaskManager.cs +++ b/Plane.FormationCreator/Formation/FlightTaskManager.cs @@ -425,13 +425,13 @@ namespace Plane.FormationCreator.Formation foreach (string line in lines) { string[] parameters = line.Split(' '); - string id = parameters[0]; + int id = Convert.ToInt32(parameters[0])+1; string frame = parameters[1]; string[] point = new string[3]; point[0] = parameters[2]; //左右 经度 point[1] = parameters[3]; //上下 高度 point[2] = parameters[4]; //前后 纬度 - PointDic.Add(Convert.ToInt32(id), point); + PointDic.Add(id, point); } diff --git a/Plane.FormationCreator/Formation/RtcmManager.cs b/Plane.FormationCreator/Formation/RtcmManager.cs new file mode 100644 index 0000000..39c4f46 --- /dev/null +++ b/Plane.FormationCreator/Formation/RtcmManager.cs @@ -0,0 +1,432 @@ +using GalaSoft.MvvmLight; +using Microsoft.Practices.ServiceLocation; +using Plane.CommunicationManagement; +using Plane.Util; +using Plane.Windows.IniHelper; +using Plane.Windows.Messages; +using System; +using System.Collections; +using System.Collections.Generic; +using System.Collections.ObjectModel; +using System.Linq; +using System.Text; +using System.Threading; +using System.Threading.Tasks; +using System.Windows.Media; +using System.Windows.Threading; + +namespace Plane.FormationCreator.Formation +{ + public class RtcmManager: ObservableObject + { + private rtcm3 rtcm = new rtcm3(); + private Hashtable msgseen = new Hashtable(); + + private ICommsSerial comPort; + private CommModuleManager _commModuleManager = CommModuleManager.Instance; + public ObservableCollection rtcmInfoList { get; } = new ObservableCollection(); + + private bool _rtcmthreadrun = false; + public bool Rtcmthreadrun + { + get { return _rtcmthreadrun; } + set { Set(nameof(Rtcmthreadrun), ref _rtcmthreadrun, value); } + } + + private int bps; + private int bpsusefull; + + private int _bps = 0; + public int Bps + { + get { return _bps; } + set { Set(nameof(Bps), ref _bps, value); } + } + + private int _bpsusefull = 0; + public int Bpsusefull + { + get { return _bpsusefull; } + set { Set(nameof(Bpsusefull), ref _bpsusefull, value); } + } + + private string _messages_seen = ""; + public string Messages_seen + { + get { return _messages_seen; } + set { Set(nameof(Messages_seen), ref _messages_seen, value); } + } + + + private DateTime baseTime = DateTime.Now; + private DateTime gpsTime = DateTime.Now; + private DateTime glonassTime = DateTime.Now; + private DateTime beidouTime = DateTime.Now; + + private bool _baseState = false; + public bool BaseState + { + get { return _baseState; } + set { Set(nameof(BaseState), ref _baseState, value); } + } + + private bool _gpsState = false; + public bool GpsState + { + get { return _gpsState; } + set { Set(nameof(GpsState), ref _gpsState, value); } + } + + private bool _glonassState = false; + public bool GlonassState + { + get { return _glonassState; } + set { Set(nameof(GlonassState), ref _glonassState, value); } + } + + private bool _beidouState = false; + public bool BeidouState + { + get { return _beidouState; } + set { Set(nameof(BeidouState), ref _beidouState, value); } + } + + private double _stationLat; + public double StationLat + { + get { return _stationLat; } + set { Set(nameof(StationLat), ref _stationLat, value); } + } + + private double _stationLng; + public double StationLng + { + get { return _stationLng; } + set { Set(nameof(StationLng), ref _stationLng, value); } + } + + private double _stationAlt; + public double StationAlt + { + get { return _stationAlt; } + set { Set(nameof(StationAlt), ref _stationAlt, value); } + } + + private string _stationTime; + public string StationTime + { + get { return _stationTime; } + set { Set(nameof(StationTime), ref _stationTime, value); } + } + + private DispatcherTimer dispatcherTimer = null; + public RtcmManager() + { + rtcm.ObsMessage += Rtcm_ObsMessage; + dispatcherTimer = new DispatcherTimer(); + dispatcherTimer.Tick += new EventHandler(OnTimedEvent); + dispatcherTimer.Interval = new TimeSpan(0, 0, 1); + dispatcherTimer.Start(); + } + + private void OnTimedEvent(object sender, EventArgs e) + { + BaseState = baseTime > DateTime.Now; + GpsState = gpsTime > DateTime.Now; + GlonassState = glonassTime > DateTime.Now; + BeidouState = beidouTime > DateTime.Now; + + Bps = bps; + Bpsusefull = bpsusefull; + bps = 0; + bpsusefull = 0; + + StringBuilder sb = new StringBuilder(); + try + { + foreach (var item in msgseen.Keys) + { + sb.Append(item + "=" + msgseen[item] + " "); + } + } + catch + {} + Messages_seen = sb.ToString(); + } + + + + private void Rtcm_ObsMessage(object sender, EventArgs e) + { + List obs = sender as List; + if (obs.Count == 0) return; + + List partRtcmInfos; + partRtcmInfos = rtcmInfoList.Where(o => o.Sys == obs[0].sys).ToList(); + while (partRtcmInfos.Count() < obs.Count) + { + RtcmInfo newInfo = new RtcmInfo(); + rtcmInfoList.Add(newInfo); + partRtcmInfos.Add(newInfo); + + } + + while (partRtcmInfos.Count() > obs.Count) + { + RtcmInfo lastInfo = partRtcmInfos[partRtcmInfos.Count - 1]; + rtcmInfoList.Remove(lastInfo); + partRtcmInfos.Remove(lastInfo); + } + + if (partRtcmInfos.Count() == obs.Count) + { + for (int i = 0; i < obs.Count; i++) + { + partRtcmInfos[i].Sys = obs[i].sys; + partRtcmInfos[i].Prn = obs[i].prn; + partRtcmInfos[i].Snr = obs[i].snr; + } + } + + } + + public string[] GetPortNames() + { + return SerialPort.GetPortNames(); + } + + public async Task Open(string CMB_serialport) + { + if (CMB_serialport == "") return; + + switch(CMB_serialport) + { + case "千寻": + //检测原点 + FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance(); + if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0) + { + Alert.Show("作为参照的原点未设置，无法发送RTCM！", "提示"); + return; + } + + //千寻账号 + string messagetips = "格式：http://差分账号:差分密码@域名:端口/坐标系\r\n例如：http://account:password@rtk.ntrip.qxwz.com:8002/RTCM32_GGB"; + string url = ""; + IniFiles inifilse = new IniFiles(); + url = inifilse.IniReadvalue("Default", "RTKurl"); + if (PlaneMessageBox.OnShow(messagetips, "发送RTK", ref url) == false) return; + inifilse.IniWritevalue("Default", "RTKurl", url); + + //构造 + comPort = new CommsNTRIP(url, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng); + break; + default: + comPort = new SerialPort(); + comPort.PortName = CMB_serialport; + comPort.BaudRate = 57600; + break; + } + msgseen.Clear(); + comPort.Open(); + if (comPort.IsOpen) + { + Rtcmthreadrun = true; + await RtcmLoop(); + } + } + + public async Task Close() + { + Rtcmthreadrun = false; + comPort.Close(); + await Task.Delay(1); + } + + private async Task RtcmLoop() + { + int reconnecttimeout = 10; + DateTime lastrecv = DateTime.MinValue; + while (Rtcmthreadrun) + { + try + { + try + { + if ((DateTime.Now - lastrecv).TotalSeconds > reconnecttimeout || !comPort.IsOpen) + { + if (comPort is CommsNTRIP) + { + } + else + { + comPort.Close(); + comPort.Open(); + } + // reset timer + lastrecv = DateTime.Now; + } + } + catch { } + + if (!comPort.IsOpen) + { + return; + } + + //rtcm size=180 + byte[] buffer = new byte[180]; + + int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead)); + if (read > 0) + lastrecv = DateTime.Now; + + bps += read; + for (int a = 0; a < read; a++) + { + int seenmsg = -1; + // rtcm + if ((seenmsg = rtcm.Read(buffer[a])) > 0) + { + bpsusefull += rtcm.length; + Message.Show($"{DateTime.Now.ToString("HH-mm-ss:fff")} rtcm.length = {rtcm.length}"); + await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length); + + string msgname = "Rtcm" + seenmsg; + + if (!msgseen.ContainsKey(msgname)) + msgseen[msgname] = 0; + msgseen[msgname] = (int)msgseen[msgname] + 1; + + await ExtractBasePos(seenmsg); + //await seenRTCM(seenmsg); + } + } + await Task.Delay(10); + } + catch(Exception ex) + { + Message.Show(ex.Message); + } + } + } + + + private async Task ExtractBasePos(int seen) + { + try + { + if (seen == 1005) + { + var basepos = new rtcm3.type1005(); + basepos.Read(rtcm.packet); + var pos = basepos.ecefposition; + double[] baseposllh = new double[3]; + rtcm3.ecef2pos(pos, ref baseposllh); + + + StationLat = baseposllh[0] * rtcm3.R2D; + StationLng = baseposllh[1] * rtcm3.R2D; + StationAlt = baseposllh[2]; + StationTime = DateTime.Now.ToString("HH:mm:ss"); + + } + else if (seen == 1006) + { + var basepos = new rtcm3.type1006(); + basepos.Read(rtcm.packet); + var pos = basepos.ecefposition; + double[] baseposllh = new double[3]; + rtcm3.ecef2pos(pos, ref baseposllh); + + StationLat = baseposllh[0] * rtcm3.R2D; + StationLng = baseposllh[1] * rtcm3.R2D; + StationAlt = baseposllh[2]; + StationTime = DateTime.Now.ToString("HH:mm:ss"); + } + + switch (seen) + { + case 1001: + case 1002: + case 1003: + case 1004: + case 1071: + case 1072: + case 1073: + case 1074: + case 1075: + case 1076: + case 1077: + gpsTime = DateTime.Now.AddSeconds(5); + break; + case 1005: + case 1006: + case 4072: // ublox moving base + baseTime = DateTime.Now.AddSeconds(20); + break; + case 1009: + case 1010: + case 1011: + case 1012: + case 1081: + case 1082: + case 1083: + case 1084: + case 1085: + case 1086: + case 1087: + glonassTime = DateTime.Now.AddSeconds(5); + break; + case 1121: + case 1122: + case 1123: + case 1124: + case 1125: + case 1126: + case 1127: + beidouTime = DateTime.Now.AddSeconds(5); + break; + default: + break; + } + } + catch (Exception ex) + { + Message.Show(ex.Message); + } + await Task.Delay(1); + + } + } + + public class RtcmInfo: ObservableObject + { + private char sys; + private byte prn; + private byte snr; + + public RtcmInfo() + { + + } + + public char Sys + { + get { return sys; } + set { Set(nameof(Sys), ref sys, value); } + } + + public byte Prn + { + get { return prn; } + set { Set(nameof(Prn), ref prn, value); } + } + + public byte Snr + { + get { return snr; } + set { Set(nameof(Snr), ref snr, value); } + } + } +} diff --git a/Plane.FormationCreator/MainWindow.xaml.cs b/Plane.FormationCreator/MainWindow.xaml.cs index 263c1ed..f1f6bc8 100644 --- a/Plane.FormationCreator/MainWindow.xaml.cs +++ b/Plane.FormationCreator/MainWindow.xaml.cs @@ -34,13 +34,20 @@ namespace Plane.FormationCreator InitializeComponent(); this.DataContext = ServiceLocator.Current.GetInstance(); - + + DateTime dateTimeClose = DateTime.Parse("2019-12-7"); + if (DateTime.UtcNow > dateTimeClose) + { + MessageBox.Show("软件过旧，请更新！"); + Application.Current.Shutdown(); + throw new NotImplementedException(); + } //ShowConnectDialog(); //if (_copterManager.CoptersForControlling.Count <= 0) //{ // //App.Current.Shutdown(); //} - + } private CommModuleManager _commModuleManager = CommModuleManager.Instance; private CopterManager _copterManager = ServiceLocator.Current.GetInstance(); diff --git a/Plane.FormationCreator/Plane.FormationCreator.csproj b/Plane.FormationCreator/Plane.FormationCreator.csproj index 53e7b4c..761caa5 100644 --- a/Plane.FormationCreator/Plane.FormationCreator.csproj +++ b/Plane.FormationCreator/Plane.FormationCreator.csproj @@ -182,6 +182,7 @@ + @@ -195,6 +196,10 @@ + + Component + + @@ -208,6 +213,7 @@ + @@ -241,6 +247,9 @@ ModifyTaskView.xaml + + RtcmInfoView.xaml + SetCoptersPutView.xaml @@ -375,6 +384,10 @@ Designer MSBuild:Compile + + Designer + MSBuild:Compile + Designer MSBuild:Compile diff --git a/Plane.FormationCreator/PlaneMessageBox.xaml b/Plane.FormationCreator/PlaneMessageBox.xaml index 125651b..da712b4 100644 --- a/Plane.FormationCreator/PlaneMessageBox.xaml +++ b/Plane.FormationCreator/PlaneMessageBox.xaml @@ -12,7 +12,7 @@ Title="PlaneMessageBox" Height="200" Width="600" MinHeight="200" MinWidth="600" MaxHeight="200" MaxWidth="600" - WindowStyle="ToolWindow" Visibility="Visible" ShowMinButton="False" ShowMaxRestoreButton="False" ShowCloseButton="False" IsCloseButtonEnabled="False" IsMinButtonEnabled="False" IsMaxRestoreButtonEnabled="False" IsWindowDraggable="False" + WindowStyle="ToolWindow" Visibility="Visible" ShowMinButton="False" ShowMaxRestoreButton="False" ShowCloseButton="False" IsCloseButtonEnabled="False" IsMinButtonEnabled="False" IsMaxRestoreButtonEnabled="False" IsWindowDraggable="True" Background="#FF2D2D2D" BorderBrush="#FF099EF3" > diff --git a/Plane.FormationCreator/ServiceLocatorConfigurer.cs b/Plane.FormationCreator/ServiceLocatorConfigurer.cs index b4d1add..712241c 100644 --- a/Plane.FormationCreator/ServiceLocatorConfigurer.cs +++ b/Plane.FormationCreator/ServiceLocatorConfigurer.cs @@ -35,6 +35,7 @@ namespace Plane.FormationCreator _container.Register(); _container.Register(); _container.Register(); + _container.Register(); _container.Register(() => new LocalFileLogger(new DebugLogger())); @@ -45,6 +46,7 @@ namespace Plane.FormationCreator _container.Register(); _container.Register(); + _container.Register(); _container.Register(); } diff --git a/Plane.FormationCreator/Util/CommNTRIP.cs b/Plane.FormationCreator/Util/CommNTRIP.cs index cb68455..4bd9def 100644 --- a/Plane.FormationCreator/Util/CommNTRIP.cs +++ b/Plane.FormationCreator/Util/CommNTRIP.cs @@ -1,46 +1,141 @@ using System; using System.Collections.Generic; -using System.Diagnostics; -using System.IO; -using System.Linq; -using System.Net.Sockets; +using System.ComponentModel; +using System.Reflection; using System.Text; -using System.Threading.Tasks; +using System.IO.Ports; +using System.Threading; +using System.Net; // dns, ip address +using System.Net.Sockets; // tcplistner +using System.IO; +using System.Runtime.InteropServices; +using System.Text.RegularExpressions; namespace Plane.Util { - public class CommNTRIP: IDisposable + public class CommsNTRIP : ICommsSerial, IDisposable { public TcpClient client = new TcpClient(); + IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0); private Uri remoteUri; - double Lat = 40.0910757034397; - double Lng = 116.27734627295; - double alt = 0; + + public double lat = 0; + public double lng = 0; + public double alt = 0; + int retrys = 3; - DateTime _lastnmea = DateTime.MinValue; - public string Port { get; set; } private string host; - + public int WriteBufferSize { get; set; } + public int WriteTimeout { get; set; } + public bool RtsEnable { get; set; } + private string url; - private static int bytes = 0; - private static int bps = 0; - public int ReadTimeout + public Stream BaseStream { - get; - set; + get { return client.GetStream(); } } - public CommNTRIP(string url, double lat, double lng) + public CommsNTRIP(string url, double lat, double lng) { - remoteUri = new Uri(url); - this.Lat = lat; - this.Lng = lng; + this.url = url; + this.lat = lat; + this.lng = lng; ReadTimeout = 500; } - public void doConnect() + public void toggleDTR() + { + } + + public string Port { get; set; } + + public int ReadTimeout + { + get; // { return client.ReceiveTimeout; } + set; // { client.ReceiveTimeout = value; } + } + + public int ReadBufferSize { get; set; } + + public int BaudRate { get; set; } + public StopBits StopBits { get; set; } + public Parity Parity { get; set; } + public int DataBits { get; set; } + + public string PortName { get; set; } + + public int BytesToRead + { + get + { + /*Console.WriteLine(DateTime.Now.Millisecond + " tcp btr " + (client.Available + rbuffer.Length - rbufferread));*/ + SendNMEA(); + return (int)client.Available; + } + } + + public int BytesToWrite + { + get { return 0; } + } + + public bool IsOpen + { + get + { + try + { + return client.Client.Connected; + } + catch + { + return false; + } + } + } + + public bool DtrEnable { get; set; } + + public void Open() + { + if (client.Client.Connected) + { + return; + } + + + /*string url = "";*/ + + + int count = url.Split('@').Length - 1; + + if (count > 1) + { + var regex = new Regex("@"); + url = regex.Replace(url, "%40", 1); + } + + url = url.Replace("ntrip://", "http://"); + + remoteUri = new Uri(url); + + doConnect(); + } + + private byte[] TcpKeepAlive(bool On_Off, uint KeepaLiveTime, uint KeepaLiveInterval) + { + byte[] InValue = new byte[12]; + + Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4); + Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4); + Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4); + + return InValue; + } + + private void doConnect() { string usernamePassword = remoteUri.UserInfo; string userpass2 = Uri.UnescapeDataString(usernamePassword); @@ -67,133 +162,54 @@ namespace Plane.Util + "Connection: close\r\n\r\n"; sw.Write(line); + sw.Flush(); - line = sr.ReadLine(); + line = sr.ReadLine(); - Console.WriteLine(line); if (!line.Contains("200")) { client.Dispose(); + client = new TcpClient(); + throw new Exception("Bad ntrip Responce\n\n" + line); } + // vrs may take up to 60+ seconds to respond SendNMEA(); VerifyConnected(); } - public int Read(byte[] readto, int offset, int length) - { - VerifyConnected(); - - SendNMEA(); - - try - { - if (length < 1) { return 0; } - - return client.Client.Receive(readto, offset, length, SocketFlags.Partial); - } - catch { throw new Exception("ntrip Socket Closed"); } - } - + DateTime _lastnmea = DateTime.MinValue; private void SendNMEA() { - if (Lat != 0 || Lng != 0) + if (lat != 0 || lng != 0) { if (_lastnmea.AddSeconds(30) < DateTime.Now) { - double latdms = (int)Lat + ((Lat - (int)Lat) * .6f); - double lngdms = (int)Lng + ((Lng - (int)Lng) * .6f); + double latdms = (int)lat + ((lat - (int)lat) * .6f); + double lngdms = (int)lng + ((lng - (int)lng) * .6f); var line = string.Format(System.Globalization.CultureInfo.InvariantCulture, "$GP{0},{1:HHmmss.ff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14}", "GGA", - DateTime.Now.ToUniversalTime(), Math.Abs(latdms * 100).ToString("0000.00"), Lat < 0 ? "S" : "N", - Math.Abs(lngdms * 100).ToString("00000.00"), Lng < 0 ? "W" : "E", 1, 10, + DateTime.Now.ToUniversalTime(), Math.Abs(latdms * 100).ToString("0000.00"), lat < 0 ? "S" : "N", + Math.Abs(lngdms * 100).ToString("00000.00"), lng < 0 ? "W" : "E", 1, 10, 1, alt.ToString("0.00"), "M", 0, "M", "0.0", "0"); string checksum = GetChecksum(line); WriteLine(line + "*" + checksum); + _lastnmea = DateTime.Now; } } + } - public int BytesToRead - { - get - { - /*Console.WriteLine(DateTime.Now.Millisecond + " tcp btr " + (client.Available + rbuffer.Length - rbufferread));*/ - SendNMEA(); - return (int)client.Available; - } - } - - void VerifyConnected() - { - if (!IsOpen) - { - try - { - client.Dispose(); - client = new TcpClient(); - } - catch { } - - // this should only happen if we have established a connection in the first place - if (client != null && retrys > 0) - { - doConnect(); - retrys--; - } - - throw new Exception("The ntrip is closed"); - } - } - - public bool IsOpen - { - get - { - try - { - return client.Client.Connected; - } - catch - { - return false; - } - } - } - - public void WriteLine(string line) - { - VerifyConnected(); - line = line + "\r\n"; - Write(line); - } - - public void Write(string line) - { - VerifyConnected(); - byte[] data = new System.Text.ASCIIEncoding().GetBytes(line); - Write(data, 0, data.Length); - } - - public void Write(byte[] write, int offset, int length) - { - VerifyConnected(); - try - { - client.Client.Send(write, length, SocketFlags.None); - } - catch { }//throw new Exception("Comport / Socket Closed"); } - } - + // Calculates the checksum for a sentence string GetChecksum(string sentence) { // Loop through all chars to get a checksum @@ -227,30 +243,151 @@ namespace Plane.Util return Checksum.ToString("X2"); } - private byte[] TcpKeepAlive(bool On_Off, uint KeepaLiveTime, uint KeepaLiveInterval) + void VerifyConnected() { - byte[] InValue = new byte[12]; - - Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4); - Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4); - Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4); - - return InValue; - } - - protected virtual void Dispose(bool disposing) - { - if (disposing) + if (!IsOpen) { - this.Close(); - client = null; + try + { + client.Dispose(); + client = new TcpClient(); + } + catch { } + + // this should only happen if we have established a connection in the first place + if (client != null && retrys > 0) + { + doConnect(); + retrys--; + } + + throw new Exception("The ntrip is closed"); } } - public void Dispose() + public int Read(byte[] readto, int offset, int length) { - Dispose(true); - GC.SuppressFinalize(this); + VerifyConnected(); + + SendNMEA(); + + try + { + if (length < 1) { return 0; } + + return client.Client.Receive(readto, offset, length, SocketFlags.Partial); + /* + byte[] temp = new byte[length]; + clientbuf.Read(temp, 0, length); + + temp.CopyTo(readto, offset); + + return length;*/ + } + catch { throw new Exception("ntrip Socket Closed"); } + } + + public int ReadByte() + { + VerifyConnected(); + int count = 0; + while (this.BytesToRead == 0) + { + System.Threading.Thread.Sleep(1); + if (count > ReadTimeout) + throw new Exception("ntrip Timeout on read"); + count++; + } + byte[] buffer = new byte[1]; + Read(buffer, 0, 1); + return buffer[0]; + } + + public int ReadChar() + { + return ReadByte(); + } + + public string ReadExisting() + { + VerifyConnected(); + byte[] data = new byte[client.Available]; + if (data.Length > 0) + Read(data, 0, data.Length); + + string line = Encoding.ASCII.GetString(data, 0, data.Length); + + return line; + } + + public void WriteLine(string line) + { + VerifyConnected(); + line = line + "\r\n"; + Write(line); + } + + public void Write(string line) + { + VerifyConnected(); + byte[] data = new System.Text.ASCIIEncoding().GetBytes(line); + Write(data, 0, data.Length); + } + + public void Write(byte[] write, int offset, int length) + { + VerifyConnected(); + try + { + client.Client.Send(write, length, SocketFlags.None); + } + catch { }//throw new Exception("Comport / Socket Closed"); } + } + + public void DiscardInBuffer() + { + VerifyConnected(); + int size = (int)client.Available; + byte[] crap = new byte[size]; + Read(crap, 0, size); + } + + public string ReadLine() + { + byte[] temp = new byte[4000]; + int count = 0; + int timeout = 0; + + while (timeout <= 100) + { + if (!this.IsOpen) { break; } + if (this.BytesToRead > 0) + { + byte letter = (byte)this.ReadByte(); + + temp[count] = letter; + + if (letter == '\n') // normal line + { + break; + } + + + count++; + if (count == temp.Length) + break; + timeout = 0; + } + else + { + timeout++; + System.Threading.Thread.Sleep(5); + } + } + + Array.Resize(ref temp, count + 1); + + return Encoding.ASCII.GetString(temp, 0, temp.Length); } public void Close() @@ -272,6 +409,23 @@ namespace Plane.Util catch { } client = new TcpClient(); - } + } + + protected virtual void Dispose(bool disposing) + { + if (disposing) + { + // dispose managed resources + this.Close(); + client = null; + } + // free native resources + } + + public void Dispose() + { + Dispose(true); + GC.SuppressFinalize(this); + } } } diff --git a/Plane.FormationCreator/Util/ICommsSerial.cs b/Plane.FormationCreator/Util/ICommsSerial.cs new file mode 100644 index 0000000..b044af1 --- /dev/null +++ b/Plane.FormationCreator/Util/ICommsSerial.cs @@ -0,0 +1,59 @@ +using System; +using System.Collections.Generic; +using System.Text; +using System.IO.Ports; +using System.IO; +using System.Reflection; + +namespace Plane.Util +{ + + public interface ICommsSerial + { + // from serialport class + // Methods + void Close(); + void DiscardInBuffer(); + //void DiscardOutBuffer(); + void Open(); + int Read(byte[] buffer, int offset, int count); + //int Read(char[] buffer, int offset, int count); + int ReadByte(); + int ReadChar(); + string ReadExisting(); + string ReadLine(); + //string ReadTo(string value); + void Write(string text); + void Write(byte[] buffer, int offset, int count); + //void Write(char[] buffer, int offset, int count); + void WriteLine(string text); + + void toggleDTR(); + + // Properties + Stream BaseStream { get; } + int BaudRate { get; set; } + //bool BreakState { get; set; } + int BytesToRead { get; } + int BytesToWrite { get; } + //bool CDHolding { get; } + //bool CtsHolding { get; } + int DataBits { get; set; } + //bool DiscardNull { get; set; } + //bool DsrHolding { get; } + bool DtrEnable { get; set; } + //Encoding Encoding { get; set; } + //Handshake Handshake { get; set; } + bool IsOpen { get; } + //string NewLine { get; set; } + Parity Parity { get; set; } + //byte ParityReplace { get; set; } + string PortName { get; set; } + int ReadBufferSize { get; set; } + int ReadTimeout { get; set; } + bool RtsEnable { get; set; } + StopBits StopBits { get; set; } + int WriteBufferSize { get; set; } + int WriteTimeout { get; set; } + } +} diff --git a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs index 3839811..9140b69 100644 --- a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs +++ b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs @@ -864,15 +864,16 @@ namespace Plane.FormationCreator.ViewModels RTKState = "RTK数据发送中"; RTKbtntxt = "停止RTK"; await SaveRTKcomvalue(); + await _commModuleManager.StartRtcmLoop(); await Task.Run(async () => { + Message.Show("RTK数据开始发送"); //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 && packet.Length > 0) { @@ -886,8 +887,7 @@ namespace Plane.FormationCreator.ViewModels // rtcm 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}"); + Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---rtcm3.length = {rtcm3.length}"); await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length); } } @@ -912,7 +912,7 @@ namespace Plane.FormationCreator.ViewModels } } - + private ICommand _SendRTCMCommand; public ICommand SendRTCMCommand { @@ -940,16 +940,15 @@ namespace Plane.FormationCreator.ViewModels RTKState = "RTK数据发送中"; NTRIPbtntxt = "停止RTCM"; Alert.Show("RTCM数据开始发送", "提示", MessageBoxButton.OK, MessageBoxImage.Information); - + + await _commModuleManager.StartRtcmLoop(); await Task.Run(async () => { - - - + Message.Show("RTK数据开始发送"); //string url = "http://qxarpz003:1dc880b@rtk.ntrip.qxwz.com:8002/RTCM32_GGB"; - CommNTRIP commNTRIP = new CommNTRIP(url, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng); + CommsNTRIP commNTRIP = new CommsNTRIP(url, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng); rtcm3 rtcm3 = new rtcm3(); - commNTRIP.doConnect(); + commNTRIP.Open(); //读取RTK数据循环 while (rtcmthreadrun) { @@ -967,7 +966,9 @@ namespace Plane.FormationCreator.ViewModels // rtcm if ((seenmsg = rtcm3.Read(buffer[a])) > 0) { - //Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---rtcm3.length = {rtcm3.length}"); + //rtcmDatas.Add(rtcm3.packet); + //await SendRtcmData(); + Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---rtcm3.length = {rtcm3.length}"); await _commModuleManager.InjectGpsRTCMDataAsync(rtcm3.packet, rtcm3.length); } } @@ -984,6 +985,25 @@ namespace Plane.FormationCreator.ViewModels } } + private RtcmInfoView rtcmInfoView; + private ICommand _OpenRtcmManageCommand; + public ICommand OpenRtcmManageCommand + { + get + { + return _OpenRtcmManageCommand ?? (_OpenRtcmManageCommand = new RelayCommand(() => + { + RtcmInfoView.GetInstance().Show(); + RtcmInfoView.GetInstance().Activate(); + // if (rtcmInfoView == null) + // { + // rtcmInfoView = new RtcmInfoView(); + // } + // rtcmInfoView.Show(); + })); + } + } + rtcm3 rtcm3 = new rtcm3(); private async Task AnalysisRendRrcmData(byte[] buffer, int length) { @@ -1000,9 +1020,6 @@ namespace Plane.FormationCreator.ViewModels } - - - private ICommand _LandCommand; public ICommand LandCommand { @@ -1401,18 +1418,6 @@ namespace Plane.FormationCreator.ViewModels return missions; } - - - - - - - - - - - - private ICommand _FlagCommand; public ICommand FlagCommand { diff --git a/Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs b/Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs new file mode 100644 index 0000000..6ee6264 --- /dev/null +++ b/Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs @@ -0,0 +1,87 @@ +using GalaSoft.MvvmLight; +using GalaSoft.MvvmLight.Command; +using Plane.FormationCreator.Formation; +using Plane.Windows.Messages; +using System; +using System.Collections.Generic; +using System.Collections.ObjectModel; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Input; + +namespace Plane.FormationCreator.ViewModels +{ + public class RtcmInfoViewModel: ViewModelBase + { + private RtcmManager _rtcmManager; + + public RtcmManager RtcmManager { get { return _rtcmManager; } } + + public ObservableCollection serialPorts { get; } = new ObservableCollection(); + + private string _serialPortsSelectdValue; + public string SerialPortsSelectdValue + { + + get { return _serialPortsSelectdValue; } + set { Set(nameof(SerialPortsSelectdValue), ref _serialPortsSelectdValue, value); } + + } + + public RtcmInfoViewModel(RtcmManager rtcmManager) + { + _rtcmManager = rtcmManager; + string[] commports = _rtcmManager.GetPortNames(); + foreach (var item in commports) + { + serialPorts.Add(item); + } + serialPorts.Add("千寻"); + SerialPortsSelectdValue = serialPorts[0]; + } + + + + public void RefreshPorts() + { + string lastSelectValue = SerialPortsSelectdValue; + serialPorts.Clear(); + string[] commports = _rtcmManager.GetPortNames(); + foreach (var item in commports) + { + serialPorts.Add(item); + } + serialPorts.Add("千寻"); + if (serialPorts.Contains(lastSelectValue)) + SerialPortsSelectdValue = lastSelectValue; + } + + private ICommand _ConnectRtcmCommand; + public ICommand ConnectRtcmCommand + { + get + { + return _ConnectRtcmCommand ?? (_ConnectRtcmCommand = new RelayCommand(async() => + { + if (!_rtcmManager.Rtcmthreadrun) + await _rtcmManager.Open(SerialPortsSelectdValue); + else + await _rtcmManager.Close(); + })); + } + } + + private ICommand _ClearRtcmCommand; + public ICommand ClearRtcmCommand + { + get + { + return _ClearRtcmCommand ?? (_ClearRtcmCommand = new RelayCommand(async () => + { + await Task.Delay(1); + })); + } + } + } +} diff --git a/Plane.FormationCreator/Views/ControlPanelView.xaml b/Plane.FormationCreator/Views/ControlPanelView.xaml index 9b228e4..57fd7ec 100644 --- a/Plane.FormationCreator/Views/ControlPanelView.xaml +++ b/Plane.FormationCreator/Views/ControlPanelView.xaml @@ -142,8 +142,10 @@ Command="{Binding SendRTKCommand}" />