按照MP新增RTK界面
This commit is contained in:
zxd
parent
b554a1f4ae
commit
dd8888efc2
@ -41,6 +41,12 @@
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<cnv:BooleanToResourceConverter x:Key="CheckSignConverter2"
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FalseKey="CloseIcon"
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TrueKey="CheckIcon" />
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<cnv:BooleanToStringConverter x:Key="ColorConverter"
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False="Red"
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True="Green" />
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<cnv:BooleanToStringConverter x:Key="SendConverter"
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False="发送"
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True="关闭" />
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<lcnv:HeartbeatCountToBrushConverter x:Key="HeartbeatCountToBrushConverter" />
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<lcnv:AppModeToVisibilityConverter x:Key="AppModeToVisibilityConverter" />
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<lcnv:FlightTaskStatusToFillConverter x:Key="FlightTaskStatusToFillConverter" />
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@ -120,6 +120,8 @@ namespace Plane.FormationCreator
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MainWindow = new MainWindow();
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MainWindow.Show();
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try
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{
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/* 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
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@ -425,13 +425,13 @@ namespace Plane.FormationCreator.Formation
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foreach (string line in lines)
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{
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string[] parameters = line.Split(' ');
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string id = parameters[0];
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int id = Convert.ToInt32(parameters[0])+1;
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string frame = parameters[1];
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string[] point = new string[3];
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point[0] = parameters[2]; //左右 经度
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point[1] = parameters[3]; //上下 高度
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point[2] = parameters[4]; //前后 纬度
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PointDic.Add(Convert.ToInt32(id), point);
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PointDic.Add(id, point);
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}
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432
Plane.FormationCreator/Formation/RtcmManager.cs
Normal file
432
Plane.FormationCreator/Formation/RtcmManager.cs
Normal file
@ -0,0 +1,432 @@
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using GalaSoft.MvvmLight;
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using Microsoft.Practices.ServiceLocation;
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using Plane.CommunicationManagement;
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using Plane.Util;
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using Plane.Windows.IniHelper;
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using Plane.Windows.Messages;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Media;
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using System.Windows.Threading;
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namespace Plane.FormationCreator.Formation
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{
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public class RtcmManager: ObservableObject
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{
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private rtcm3 rtcm = new rtcm3();
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private Hashtable msgseen = new Hashtable();
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private ICommsSerial comPort;
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private CommModuleManager _commModuleManager = CommModuleManager.Instance;
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public ObservableCollection<RtcmInfo> rtcmInfoList { get; } = new ObservableCollection<RtcmInfo>();
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private bool _rtcmthreadrun = false;
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public bool Rtcmthreadrun
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{
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get { return _rtcmthreadrun; }
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set { Set(nameof(Rtcmthreadrun), ref _rtcmthreadrun, value); }
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}
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private int bps;
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private int bpsusefull;
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private int _bps = 0;
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public int Bps
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{
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get { return _bps; }
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set { Set(nameof(Bps), ref _bps, value); }
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}
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private int _bpsusefull = 0;
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public int Bpsusefull
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{
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get { return _bpsusefull; }
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set { Set(nameof(Bpsusefull), ref _bpsusefull, value); }
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}
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private string _messages_seen = "";
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public string Messages_seen
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{
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get { return _messages_seen; }
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set { Set(nameof(Messages_seen), ref _messages_seen, value); }
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}
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private DateTime baseTime = DateTime.Now;
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private DateTime gpsTime = DateTime.Now;
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private DateTime glonassTime = DateTime.Now;
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private DateTime beidouTime = DateTime.Now;
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private bool _baseState = false;
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public bool BaseState
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{
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get { return _baseState; }
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set { Set(nameof(BaseState), ref _baseState, value); }
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}
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private bool _gpsState = false;
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public bool GpsState
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{
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get { return _gpsState; }
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set { Set(nameof(GpsState), ref _gpsState, value); }
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}
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private bool _glonassState = false;
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public bool GlonassState
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{
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get { return _glonassState; }
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set { Set(nameof(GlonassState), ref _glonassState, value); }
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}
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private bool _beidouState = false;
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public bool BeidouState
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{
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get { return _beidouState; }
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set { Set(nameof(BeidouState), ref _beidouState, value); }
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}
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private double _stationLat;
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public double StationLat
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{
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get { return _stationLat; }
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set { Set(nameof(StationLat), ref _stationLat, value); }
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}
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private double _stationLng;
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public double StationLng
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{
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get { return _stationLng; }
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set { Set(nameof(StationLng), ref _stationLng, value); }
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}
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private double _stationAlt;
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public double StationAlt
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{
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get { return _stationAlt; }
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set { Set(nameof(StationAlt), ref _stationAlt, value); }
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}
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private string _stationTime;
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public string StationTime
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{
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get { return _stationTime; }
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set { Set(nameof(StationTime), ref _stationTime, value); }
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}
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private DispatcherTimer dispatcherTimer = null;
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public RtcmManager()
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{
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rtcm.ObsMessage += Rtcm_ObsMessage;
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dispatcherTimer = new DispatcherTimer();
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dispatcherTimer.Tick += new EventHandler(OnTimedEvent);
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dispatcherTimer.Interval = new TimeSpan(0, 0, 1);
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dispatcherTimer.Start();
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}
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private void OnTimedEvent(object sender, EventArgs e)
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{
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BaseState = baseTime > DateTime.Now;
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GpsState = gpsTime > DateTime.Now;
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GlonassState = glonassTime > DateTime.Now;
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BeidouState = beidouTime > DateTime.Now;
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Bps = bps;
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Bpsusefull = bpsusefull;
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bps = 0;
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bpsusefull = 0;
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StringBuilder sb = new StringBuilder();
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try
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{
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foreach (var item in msgseen.Keys)
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{
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sb.Append(item + "=" + msgseen[item] + " ");
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}
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}
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catch
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{}
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Messages_seen = sb.ToString();
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}
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private void Rtcm_ObsMessage(object sender, EventArgs e)
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{
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List<rtcm3.ob> obs = sender as List<rtcm3.ob>;
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if (obs.Count == 0) return;
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List<RtcmInfo> partRtcmInfos;
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partRtcmInfos = rtcmInfoList.Where(o => o.Sys == obs[0].sys).ToList();
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while (partRtcmInfos.Count() < obs.Count)
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{
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RtcmInfo newInfo = new RtcmInfo();
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rtcmInfoList.Add(newInfo);
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partRtcmInfos.Add(newInfo);
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}
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while (partRtcmInfos.Count() > obs.Count)
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{
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RtcmInfo lastInfo = partRtcmInfos[partRtcmInfos.Count - 1];
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rtcmInfoList.Remove(lastInfo);
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partRtcmInfos.Remove(lastInfo);
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}
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if (partRtcmInfos.Count() == obs.Count)
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{
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for (int i = 0; i < obs.Count; i++)
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{
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partRtcmInfos[i].Sys = obs[i].sys;
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partRtcmInfos[i].Prn = obs[i].prn;
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partRtcmInfos[i].Snr = obs[i].snr;
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}
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}
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}
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public string[] GetPortNames()
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{
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return SerialPort.GetPortNames();
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}
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public async Task Open(string CMB_serialport)
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{
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if (CMB_serialport == "") return;
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switch(CMB_serialport)
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{
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case "千寻":
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//检测原点
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FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
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if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
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{
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Alert.Show("作为参照的原点未设置，无法发送RTCM！", "提示");
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return;
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}
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//千寻账号
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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";
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string url = "";
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IniFiles inifilse = new IniFiles();
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url = inifilse.IniReadvalue("Default", "RTKurl");
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if (PlaneMessageBox.OnShow(messagetips, "发送RTK", ref url) == false) return;
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inifilse.IniWritevalue("Default", "RTKurl", url);
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//构造
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comPort = new CommsNTRIP(url, _flightTaskManager.OriginLat, _flightTaskManager.OriginLng);
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break;
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default:
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comPort = new SerialPort();
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comPort.PortName = CMB_serialport;
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comPort.BaudRate = 57600;
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break;
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}
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msgseen.Clear();
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comPort.Open();
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if (comPort.IsOpen)
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{
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Rtcmthreadrun = true;
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await RtcmLoop();
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}
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}
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public async Task Close()
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{
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Rtcmthreadrun = false;
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comPort.Close();
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await Task.Delay(1);
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}
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private async Task RtcmLoop()
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{
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int reconnecttimeout = 10;
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DateTime lastrecv = DateTime.MinValue;
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while (Rtcmthreadrun)
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{
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try
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{
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try
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{
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if ((DateTime.Now - lastrecv).TotalSeconds > reconnecttimeout || !comPort.IsOpen)
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{
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if (comPort is CommsNTRIP)
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{
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}
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else
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{
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comPort.Close();
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comPort.Open();
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}
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// reset timer
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lastrecv = DateTime.Now;
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}
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}
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catch { }
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if (!comPort.IsOpen)
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{
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return;
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}
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//rtcm size=180
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byte[] buffer = new byte[180];
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int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
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if (read > 0)
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lastrecv = DateTime.Now;
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bps += read;
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for (int a = 0; a < read; a++)
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{
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int seenmsg = -1;
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// rtcm
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if ((seenmsg = rtcm.Read(buffer[a])) > 0)
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{
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bpsusefull += rtcm.length;
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Message.Show($"{DateTime.Now.ToString("HH-mm-ss:fff")} rtcm.length = {rtcm.length}");
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await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
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string msgname = "Rtcm" + seenmsg;
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if (!msgseen.ContainsKey(msgname))
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msgseen[msgname] = 0;
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msgseen[msgname] = (int)msgseen[msgname] + 1;
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await ExtractBasePos(seenmsg);
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//await seenRTCM(seenmsg);
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}
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}
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await Task.Delay(10);
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}
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catch(Exception ex)
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{
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Message.Show(ex.Message);
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}
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}
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}
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private async Task ExtractBasePos(int seen)
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{
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try
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{
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if (seen == 1005)
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{
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var basepos = new rtcm3.type1005();
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basepos.Read(rtcm.packet);
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var pos = basepos.ecefposition;
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double[] baseposllh = new double[3];
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rtcm3.ecef2pos(pos, ref baseposllh);
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StationLat = baseposllh[0] * rtcm3.R2D;
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StationLng = baseposllh[1] * rtcm3.R2D;
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StationAlt = baseposllh[2];
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StationTime = DateTime.Now.ToString("HH:mm:ss");
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}
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else if (seen == 1006)
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{
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var basepos = new rtcm3.type1006();
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basepos.Read(rtcm.packet);
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var pos = basepos.ecefposition;
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double[] baseposllh = new double[3];
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rtcm3.ecef2pos(pos, ref baseposllh);
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StationLat = baseposllh[0] * rtcm3.R2D;
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StationLng = baseposllh[1] * rtcm3.R2D;
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StationAlt = baseposllh[2];
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StationTime = DateTime.Now.ToString("HH:mm:ss");
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}
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switch (seen)
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{
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case 1001:
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case 1002:
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case 1003:
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case 1004:
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case 1071:
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case 1072:
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case 1073:
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case 1074:
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case 1075:
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case 1076:
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case 1077:
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gpsTime = DateTime.Now.AddSeconds(5);
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break;
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case 1005:
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case 1006:
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case 4072: // ublox moving base
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baseTime = DateTime.Now.AddSeconds(20);
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break;
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case 1009:
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case 1010:
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case 1011:
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case 1012:
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case 1081:
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case 1082:
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case 1083:
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case 1084:
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case 1085:
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case 1086:
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case 1087:
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glonassTime = DateTime.Now.AddSeconds(5);
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break;
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case 1121:
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case 1122:
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case 1123:
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case 1124:
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case 1125:
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case 1126:
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case 1127:
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beidouTime = DateTime.Now.AddSeconds(5);
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break;
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default:
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break;
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}
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}
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catch (Exception ex)
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{
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Message.Show(ex.Message);
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}
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await Task.Delay(1);
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}
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}
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public class RtcmInfo: ObservableObject
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{
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private char sys;
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private byte prn;
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private byte snr;
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public RtcmInfo()
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{
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}
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public char Sys
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{
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get { return sys; }
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set { Set(nameof(Sys), ref sys, value); }
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}
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public byte Prn
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{
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get { return prn; }
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set { Set(nameof(Prn), ref prn, value); }
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}
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public byte Snr
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{
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get { return snr; }
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set { Set(nameof(Snr), ref snr, value); }
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}
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}
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}
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@ -35,6 +35,13 @@ namespace Plane.FormationCreator
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this.DataContext = ServiceLocator.Current.GetInstance<MainViewModel>();
|
||||
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DateTime dateTimeClose = DateTime.Parse("2019-12-7");
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if (DateTime.UtcNow > dateTimeClose)
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{
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MessageBox.Show("软件过旧，请更新！");
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Application.Current.Shutdown();
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throw new NotImplementedException();
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}
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//ShowConnectDialog();
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//if (_copterManager.CoptersForControlling.Count <= 0)
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//{
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@ -182,6 +182,7 @@
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<Compile Include="Formation\FlightTaskManager.cs" />
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<Compile Include="Formation\PropertyChangedEventArgs.cs" />
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<Compile Include="Formation\FlightTask_TakeOff.cs" />
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<Compile Include="Formation\RtcmManager.cs" />
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<Compile Include="Formation\View3DManager.cs" />
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<Compile Include="GMap.cs" />
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<Compile Include="Maps\MapConverter.cs" />
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@ -195,6 +196,10 @@
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<Compile Include="Test.cs" />
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<Compile Include="CalculationLogLatDistance.cs" />
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<Compile Include="Util\CommNTRIP.cs" />
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<Compile Include="Util\CommsSerialPort.cs">
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<SubType>Component</SubType>
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</Compile>
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<Compile Include="Util\ICommsSerial.cs" />
|
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<Compile Include="Util\ICorrections.cs" />
|
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<Compile Include="Util\ParamFile.cs" />
|
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<Compile Include="Util\rtcm3.cs" />
|
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@ -208,6 +213,7 @@
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<Compile Include="ViewModels\MapViewModel.cs" />
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<Compile Include="ViewModels\ModifyTaskViewModel.cs" />
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<Compile Include="ViewModels\ModiLEDModel.cs" />
|
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<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>
|
||||
|
||||
@ -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>
|
||||
|
||||
@ -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>();
|
||||
}
|
||||
|
||||
@ -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();
|
||||
|
||||
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];
|
||||
if (!IsOpen)
|
||||
{
|
||||
try
|
||||
{
|
||||
client.Dispose();
|
||||
client = new TcpClient();
|
||||
}
|
||||
catch { }
|
||||
|
||||
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;
|
||||
// this should only happen if we have established a connection in the first place
|
||||
if (client != null && retrys > 0)
|
||||
{
|
||||
doConnect();
|
||||
retrys--;
|
||||
}
|
||||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (disposing)
|
||||
{
|
||||
this.Close();
|
||||
client = null;
|
||||
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<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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
59
Plane.FormationCreator/Util/ICommsSerial.cs
Normal file
59
Plane.FormationCreator/Util/ICommsSerial.cs
Normal file
@ -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; }
|
||||
}
|
||||
}
|
||||
@ -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
|
||||
{
|
||||
|
||||
87
Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs
Normal file
87
Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs
Normal file
@ -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);
|
||||
}));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -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}"
|
||||
|
||||
@ -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"/>
|
||||
|
||||
119
Plane.FormationCreator/Views/RtcmInfoView.xaml
Normal file
119
Plane.FormationCreator/Views/RtcmInfoView.xaml
Normal file
@ -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>
|
||||
56
Plane.FormationCreator/Views/RtcmInfoView.xaml.cs
Normal file
56
Plane.FormationCreator/Views/RtcmInfoView.xaml.cs
Normal file
@ -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;
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user