按照MP新增RTK界面

Plane.FormationCreator/App.xaml

@@ -41,6 +41,12 @@
         <cnv:BooleanToResourceConverter x:Key="CheckSignConverter2"
                                         FalseKey="CloseIcon"
                                         TrueKey="CheckIcon" />
+        <cnv:BooleanToStringConverter x:Key="ColorConverter"
+                                        False="Red"
+                                        True="Green" />
+        <cnv:BooleanToStringConverter x:Key="SendConverter"
+                                        False="发送"
+                                        True="关闭" />
         <lcnv:HeartbeatCountToBrushConverter x:Key="HeartbeatCountToBrushConverter" />
         <lcnv:AppModeToVisibilityConverter x:Key="AppModeToVisibilityConverter" />
         <lcnv:FlightTaskStatusToFillConverter x:Key="FlightTaskStatusToFillConverter" />

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

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);
             }
            
 

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<RtcmInfo> rtcmInfoList { get; } = new ObservableCollection<RtcmInfo>();
+
+        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<rtcm3.ob> obs = sender as List<rtcm3.ob>;
+            if (obs.Count == 0) return;
+    
+            List<RtcmInfo> 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<FlightTaskManager>();
+                    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); }
+        }
+    }
+}

Plane.FormationCreator/MainWindow.xaml.cs

@@ -35,6 +35,13 @@ namespace Plane.FormationCreator
 
             this.DataContext = ServiceLocator.Current.GetInstance<MainViewModel>();
             
+            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)
             //{

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -182,6 +182,7 @@
     <Compile Include="Formation\FlightTaskManager.cs" />
     <Compile Include="Formation\PropertyChangedEventArgs.cs" />
     <Compile Include="Formation\FlightTask_TakeOff.cs" />
+    <Compile Include="Formation\RtcmManager.cs" />
     <Compile Include="Formation\View3DManager.cs" />
     <Compile Include="GMap.cs" />
     <Compile Include="Maps\MapConverter.cs" />
@@ -195,6 +196,10 @@
     <Compile Include="Test.cs" />
     <Compile Include="CalculationLogLatDistance.cs" />
     <Compile Include="Util\CommNTRIP.cs" />
+    <Compile Include="Util\CommsSerialPort.cs">
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="Util\ICommsSerial.cs" />
     <Compile Include="Util\ICorrections.cs" />
     <Compile Include="Util\ParamFile.cs" />
     <Compile Include="Util\rtcm3.cs" />
@@ -208,6 +213,7 @@
     <Compile Include="ViewModels\MapViewModel.cs" />
     <Compile Include="ViewModels\ModifyTaskViewModel.cs" />
     <Compile Include="ViewModels\ModiLEDModel.cs" />
+    <Compile Include="ViewModels\RtcmInfoViewModel.cs" />
     <Compile Include="ViewModels\TaskBarViewModel.cs" />
     <Compile Include="ViewModels\View3DViewModel.cs" />
     <Compile Include="Views\CalibrationWindow.xaml.cs">
@@ -241,6 +247,9 @@
     <Compile Include="Views\ModifyTaskView.xaml.cs">
       <DependentUpon>ModifyTaskView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\RtcmInfoView.xaml.cs">
+      <DependentUpon>RtcmInfoView.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Views\SetCoptersPutView.xaml.cs">
       <DependentUpon>SetCoptersPutView.xaml</DependentUpon>
     </Compile>
@@ -375,6 +384,10 @@
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
+    <Page Include="Views\RtcmInfoView.xaml">
+      <SubType>Designer</SubType>
+      <Generator>MSBuild:Compile</Generator>
+    </Page>
     <Page Include="Views\SetCoptersPutView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>

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"
             >
     <Grid>
         <Grid.RowDefinitions>

Plane.FormationCreator/ServiceLocatorConfigurer.cs

@@ -35,6 +35,7 @@ namespace Plane.FormationCreator
             _container.Register<ModifyTaskViewModel>();
             _container.Register<CalibrationViewModel>();
             _container.Register<GroupsViewModel>();
+            _container.Register<RtcmInfoViewModel>();
 
             _container.Register<ILogger>(() => new LocalFileLogger(new DebugLogger()));
 
@@ -45,6 +46,7 @@ namespace Plane.FormationCreator
             _container.Register<FlightTaskManager>();
 
             _container.Register<FormationController>();
+            _container.Register<RtcmManager>();
 
             _container.Register<AppConfig>();
         }

Plane.FormationCreator/Util/CommNTRIP.cs

@@ -1,46 +1,141 @@
 using System;
 using System.Collections.Generic;
-using System.Diagnostics;
+using System.ComponentModel;
-using System.IO;
+using System.Reflection;
-using System.Linq;
-using System.Net.Sockets;
 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;
+        public double lat = 0;
-        double alt = 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;
 
-
+        public Stream BaseStream
-        private static int bytes = 0;
-        private static int bps = 0;
-        public int ReadTimeout
         {
-            get; 
+            get { return client.GetStream(); }
-            set; 
         }
 
-        public CommNTRIP(string url, double lat, double lng)
+        public CommsNTRIP(string url, double lat, double lng)
         {
-            remoteUri = new Uri(url);
+            this.url = url;
-            this.Lat = lat;
+            this.lat = lat;
-            this.Lng = lng;
+            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();
 
-            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)
+        DateTime _lastnmea = DateTime.MinValue;
-        {
-            VerifyConnected();
-
-            SendNMEA();
-
-            try
-            {
-                if (length < 1) { return 0; }
-
-                return client.Client.Receive(readto, offset, length, SocketFlags.Partial);
-            }
-            catch { throw new Exception("ntrip Socket Closed"); }
-        }
-
 
         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 latdms = (int)lat + ((lat - (int)lat) * .6f);
-                    double lngdms = (int)Lng + ((Lng - (int)Lng) * .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",
+                        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,
+                        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
+        // Calculates the checksum for a sentence
-        {
-            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"); }
-        }
-
         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];
+            if (!IsOpen)
+            {
+                try
+                {
+                    client.Dispose();
+                    client = new TcpClient();
+                }
+                catch { }
 
-            Array.ConstrainedCopy(BitConverter.GetBytes(Convert.ToUInt32(On_Off)), 0, InValue, 0, 4);
+                // this should only happen if we have established a connection in the first place
-            Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveTime), 0, InValue, 4, 4);
+                if (client != null && retrys > 0)
-            Array.ConstrainedCopy(BitConverter.GetBytes(KeepaLiveInterval), 0, InValue, 8, 4);
+                {
-
+                    doConnect();
-            return InValue;
+                    retrys--;
                 }
 
-        protected virtual void Dispose(bool disposing)
+                throw new Exception("The ntrip is closed");
-        {
-            if (disposing)
-            {
-                this.Close();
-                client = null;
             }
         }
 
-        public void Dispose()
+        public int Read(byte[] readto, int offset, int length)
         {
-            Dispose(true);
+            VerifyConnected();
-            GC.SuppressFinalize(this);
+
+            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<byte>(ref temp, count + 1);
+
+            return Encoding.ASCII.GetString(temp, 0, temp.Length);
         }
 
         public void Close()
@@ -273,5 +410,22 @@ namespace Plane.Util
 
             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);
+        }
     }
 }

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; }
+    }
+}

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -864,8 +864,10 @@ 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)
@@ -873,7 +875,6 @@ namespace Plane.FormationCreator.ViewModels
                                     //读入RTK数据
                                     var packet = await ReadRTKPacketAsync().ConfigureAwait(false);
 
-
                                     if (packet != null && packet.Length > 0)
                                     {
                                         //Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---packet.length = {packet.Length}");
@@ -886,8 +887,7 @@ namespace Plane.FormationCreator.ViewModels
                                                 // rtcm
                                                 if ((seenmsg = rtcm3.Read(packet[a])) > 0)
                                                 {
-                                                    //Console.WriteLine($"{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);
                                                 }
                                             }
@@ -941,15 +941,14 @@ namespace Plane.FormationCreator.ViewModels
                         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
         {

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<string> serialPorts { get; } = new ObservableCollection<string>();
+
+        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);
+                }));
+            }
+        }
+    }
+}

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -142,8 +142,10 @@
                     Command="{Binding SendRTKCommand}" />
 
             <Button Content="{Binding Path=NTRIPbtntxt}" 
-                    Command="{Binding SendRTCMCommand}"
+                    Command="{Binding SendRTCMCommand}"/>
-                    />
+            
+            <Button Content="RTK" Command="{Binding OpenRtcmManageCommand}" />
+            
             <TextBlock 
                    Margin="5,5,5,5"
                      Text="{Binding Path=RTKState}"

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -82,7 +82,7 @@
                             <Button Content="优化路线" Command="{Binding OptimizeRouteCommand}" 
                                     Visibility="Collapsed"/>
                             <Button Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"
-                                    Visibility="Collapsed"/>
+                                    />
                         </StackPanel>
 
                         <Separator Margin="0,1"/>

Plane.FormationCreator/Views/RtcmInfoView.xaml

@@ -0,0 +1,119 @@
+<c:MetroWindow x:Class="Plane.FormationCreator.Views.RtcmInfoView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+             xmlns:c="http://metro.mahapps.com/winfx/xaml/controls"
+             mc:Ignorable="d" 
+             d:DesignHeight="300" d:DesignWidth="800"
+             Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0">
+    <Grid Margin="0,0,0,0">
+        <Grid.RowDefinitions>
+            <RowDefinition Height="Auto"/>
+            <RowDefinition />
+        </Grid.RowDefinitions>
+        <StackPanel Margin="5" Orientation="Horizontal" VerticalAlignment="Center">
+            <ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0" 
+                      ItemsSource="{Binding serialPorts, Mode=OneWay}"
+                      SelectedValue="{Binding SerialPortsSelectdValue}"
+                      DropDownOpened="ComboBox_DropDownOpened"/>
+            <Button Margin="6" Width="80" Height="28"  
+                    Content="{Binding RtcmManager.Rtcmthreadrun,Converter={StaticResource SendConverter}}" 
+                    Command="{Binding ConnectRtcmCommand}"/>
+            <Label  Margin="6,6,0,6" Height="28" Content="总数："/>
+            <Label  Margin="0,6,6,6" Height="28" Content="{Binding RtcmManager.rtcmInfoList.Count,UpdateSourceTrigger=PropertyChanged}"></Label>
+
+            <Border  Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
+                <StackPanel  Margin="5" Orientation="Vertical">
+                    <StackPanel Margin="5" Orientation="Horizontal">
+                        <TextBlock Text="Input data rate "/>
+                        <TextBlock TextAlignment="Right" Width="30" 
+                                   Text="{Binding RtcmManager.Bps}"/>
+                        <TextBlock Text=" bps: put data rate "/>
+                        <TextBlock TextAlignment="Right" Width="30" 
+                                   Text="{Binding RtcmManager.Bpsusefull}"/>
+                        <TextBlock Text=" bps sent"/>
+                    </StackPanel>
+
+                    <StackPanel Margin="5" Orientation="Horizontal">
+                        <TextBlock Text="Messages seen "/>
+                        <TextBlock Text="{Binding RtcmManager.Messages_seen}"
+                                   />
+                    </StackPanel>
+                </StackPanel>
+                
+             
+            </Border>
+
+            <Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
+                <StackPanel Margin="5" Width="488">
+                    <StackPanel  Orientation="Horizontal">
+                        <TextBlock Margin="5" Text="Base"/>
+                        <Rectangle Margin="0,0,15,0" Width="20" Height="20" 
+                                   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}}"/>
+                        <TextBlock Margin="5" Text="Glonass"/>
+                        <Rectangle Margin="0,0,15,0" Width="20" Height="20" 
+                                   Fill="{Binding RtcmManager.GpsState,Converter={StaticResource ColorConverter}}"/>
+                        <TextBlock Margin="5" Text="Beidou"/>
+                        <Rectangle Margin="0,0,15,0" Width="20" Height="20" 
+                                   Fill="{Binding RtcmManager.BeidouState,Converter={StaticResource ColorConverter}}"/>
+                    </StackPanel>
+                    <StackPanel Orientation="Horizontal" >
+                        <TextBlock Margin="5" Text="RTCM Base"/>
+                        <TextBlock Margin="2,5" Text="{Binding RtcmManager.StationLat}"/>
+                        <TextBlock Margin="2,5" Text="{Binding RtcmManager.StationLng}"/>
+                        <TextBlock Margin="2,5" Text="{Binding RtcmManager.StationAlt}"/>
+                        <TextBlock Margin="2,5" Text="-"/>
+                        <TextBlock Margin="2,5" Text="{Binding RtcmManager.StationTime}"/>
+                    </StackPanel>
+                    
+                </StackPanel>
+            </Border>
+        </StackPanel>
+
+        <ItemsControl Grid.Row="1" 
+                      ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}"
+                      >
+            <ItemsControl.ItemsPanel>
+                <ItemsPanelTemplate>
+                    <UniformGrid Rows="1"></UniformGrid>
+                </ItemsPanelTemplate>
+            </ItemsControl.ItemsPanel>
+            <ItemsControl.ItemTemplate>
+                <DataTemplate>
+                    <Grid  >
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="15*" />
+                            <RowDefinition Height="15*" />
+                        </Grid.RowDefinitions>
+                        <ProgressBar Margin="0.5"
+                                     Orientation="Vertical"
+                                     Minimum="25"
+                                     Maximum="55"
+                                     Grid.RowSpan="2"
+                                     Value="{Binding Snr, UpdateSourceTrigger=PropertyChanged}"/>
+                        <StackPanel  Orientation ="Vertical" VerticalAlignment="Center" HorizontalAlignment="Center">
+                            <StackPanel Orientation ="Horizontal">
+                                <TextBlock Text="{Binding Sys,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
+                                <TextBlock Text="{Binding Prn,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
+                            </StackPanel>
+                            <TextBlock Margin="0,20,0,0" Text="{Binding Snr,UpdateSourceTrigger=PropertyChanged}" Foreground="Black"></TextBlock>
+                        </StackPanel>
+                        <StackPanel Grid.Row="1" Orientation ="Vertical" HorizontalAlignment="Center">
+                            <Line  Stroke="Red" X2="1000" StrokeThickness="3" />
+                            <TextBlock  Text="40" Foreground="Black"/>
+                        </StackPanel>
+                        
+
+                    </Grid>
+
+                </DataTemplate>
+            </ItemsControl.ItemTemplate>
+
+        </ItemsControl>
+    </Grid>
+</c:MetroWindow>

Plane.FormationCreator/Views/RtcmInfoView.xaml.cs

@@ -0,0 +1,56 @@
+using MahApps.Metro.Controls;
+using Microsoft.Practices.ServiceLocation;
+using Plane.FormationCreator.ViewModels;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// RtcmInfoView.xaml 的交互逻辑
+    /// </summary>
+    public partial class RtcmInfoView : MetroWindow
+    {
+        private static RtcmInfoView staticInstance = null;
+        public static RtcmInfoView GetInstance()
+        {
+            if (staticInstance == null)
+            {
+                staticInstance = new RtcmInfoView();
+            }
+            return staticInstance;
+        }
+
+
+        RtcmInfoViewModel _rtcmInfoViewModel = ServiceLocator.Current.GetInstance<RtcmInfoViewModel>();
+        public RtcmInfoView()
+        {
+            InitializeComponent();
+            this.DataContext = _rtcmInfoViewModel;
+            this.Closed += WindowOnClosed;
+        }
+
+        private void ComboBox_DropDownOpened(object sender, EventArgs e)
+        {
+            _rtcmInfoViewModel.RefreshPorts();
+
+        }
+
+        private void WindowOnClosed(object sender, System.EventArgs e)
+        {
+            staticInstance = null;
+        }
+    }
+}