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继续修改wifi可以发送rtk等功能

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This commit is contained in:
xu 2020-03-11 15:35:51 +08:00
parent 0d1f38f27a
commit 1b7ffa31ba
8 changed files with 145 additions and 47 deletions
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21
PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs
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@ -131,8 +131,27 @@ namespace Plane.Copters
/// <returns>表示此命令异步发送操作的 <see cref="Task"/> 实例。</returns>
Task StopPairingAsync();
/// <summary>
/// 发送命令
/// </summary>
/// <param name="actionid"></param>
/// <param name="p1"></param>
/// <param name="p2"></param>
/// <param name="p3"></param>
/// <param name="p4"></param>
/// <param name="p5"></param>
/// <param name="p6"></param>
/// <param name="p7"></param>
/// <returns></returns>
Task DoCommandAsync(int actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7);
/// <summary>
/// 发送命令数据包已生成
/// </summary>
/// <param name="actionid"></param>
/// <param name="data"></param>
/// <returns></returns>
Task DoCommandAckAsync(ushort command, byte result);
}
}

1
PlaneGcsSdk_Shared/Communication/UdpServerConnectionManager.NET.cs
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@ -41,6 +41,7 @@ namespace Plane.Communication
{
var connection = new UdpServerConnection(ep, _client.SendAsync);
_connections.Add(remoteAddress, connection);
//调用AddOrUpdateCopter添加飞机
RaiseConnectionEstablished(connection, remoteAddress);
}
_connections[remoteAddress].EnqueueDatagram(data);

5
PlaneGcsSdk_Shared/Communication/UdpServerConnectionManager.cs
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@ -27,6 +27,11 @@ namespace Plane.Communication
_connections.Clear();
}
public void DeleteConnections(string remoteAddress)
{
_connections.Remove(remoteAddress);
}
public void Dispose()
{
if (_disposed)

147
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
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@ -18,6 +18,7 @@ namespace Plane.CommunicationManagement
private DateTime waitRtcmTime = DateTime.Now;
private bool starttime = false;
private bool rtcm_run = false;
private IEnumerable<ICopter> _allcopters;
//是否使用专用传输模块
public bool UseTransModule = true;
@ -494,8 +495,13 @@ namespace Plane.CommunicationManagement
}
else
{
foreach (var vcopter in copters)
await vcopter.UnlockAsync();
IEnumerable<ICopter> vcopters = copters;
if (vcopters == null) vcopters = _allcopters;
if (vcopters != null)
{
foreach (var vcopter in vcopters)
await vcopter.UnlockAsync();
}
}
}
@ -553,8 +559,13 @@ namespace Plane.CommunicationManagement
}
else
{
foreach (var vcopter in copters)
await vcopter.SetParamAsync(paramname, value);
IEnumerable<ICopter> vcopters = copters;
if (vcopters == null) vcopters = _allcopters;
if (vcopters != null)
{
foreach (var vcopter in vcopters)
await vcopter.SetParamAsync(paramname, value);
}
return 0;
}
}
@ -605,12 +616,24 @@ namespace Plane.CommunicationManagement
}
public void SetAllCoptersForWifi(IEnumerable<ICopter> copters )
{
_allcopters = copters;
}
/// <summary>
/// 读取参数
/// </summary>
/// <param name="paramname"></param>
/// <param name="copters"></param>
/// <returns></returns>
///
public async Task ReadParamAsnyc(string paramname, IEnumerable<ICopter> copters = null)
{
if (UseTransModule)
@ -730,8 +753,13 @@ namespace Plane.CommunicationManagement
}
else
{
foreach (var vcopter in copters)
await vcopter.LandAsync();
IEnumerable<ICopter> vcopters = copters;
if (vcopters == null) vcopters = _allcopters;
if (vcopters != null)
{
foreach (var vcopter in vcopters)
await vcopter.LandAsync();
}
}
@ -759,9 +787,13 @@ namespace Plane.CommunicationManagement
}
else
{
foreach (var vcopter in copters)
await vcopter.LockAsync();
IEnumerable<ICopter> vcopters = copters;
if (vcopters == null) vcopters = _allcopters;
if (vcopters != null)
{
foreach (var vcopter in vcopters)
await vcopter.LockAsync();
}
}
}
@ -790,13 +822,14 @@ namespace Plane.CommunicationManagement
}
else
{
foreach (var vcopter in copters)
{
await vcopter.MotorTestAsync(1);
await vcopter.MotorTestAsync(2);
await vcopter.MotorTestAsync(3);
await vcopter.MotorTestAsync(4);
}
if (copters != null)
foreach (var vcopter in copters)
{
await vcopter.MotorTestAsync(1);
await vcopter.MotorTestAsync(2);
await vcopter.MotorTestAsync(3);
await vcopter.MotorTestAsync(4);
}
}
@ -823,7 +856,8 @@ namespace Plane.CommunicationManagement
}
else
{
foreach (var vcopter in copters)
if (copters != null)
foreach (var vcopter in copters)
await vcopter.HoverAsync();
}
@ -848,6 +882,7 @@ namespace Plane.CommunicationManagement
}
else
{
if (copters!=null)
foreach (var vcopter in copters)
await vcopter.FloatAsync();
@ -872,8 +907,9 @@ namespace Plane.CommunicationManagement
}
else
{
foreach (var vcopter in copters)
await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
if (copters != null)
foreach (var vcopter in copters)
await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
}
}
@ -885,23 +921,26 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task DoNextPreflightCompassAsync(IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
req.command = 1;
req.result = 1;
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
req.command = 1;
req.result = 1;
byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
}
else
{
Windows.Messages.Message.Show($"未开发完成！！");
if (copters != null)
foreach (var vcopter in copters)
{
await vcopter.DoCommandAckAsync(1, 1);
}
}
}
@ -923,8 +962,9 @@ namespace Plane.CommunicationManagement
}
else
{
foreach (var vcopter in copters)
await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
if (copters != null)
foreach (var vcopter in copters)
await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
}
}
@ -936,8 +976,15 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task DoCancelCalibrationCompassAsync(short copterId)
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_CANCEL_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
if (UseTransModule)
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_CANCEL_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
}
else
{
Windows.Messages.Message.Show($"未开发完成！！");
}
}
/// <summary>
/// 确认校准磁罗盘
@ -961,20 +1008,28 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task InjectGpsDataAsync(byte[] data, ushort length)
{
MAVLink.mavlink_gps_inject_data_t gps = new MAVLink.mavlink_gps_inject_data_t();
var msglen = 110;
int datalen = 0;
var len = (length % msglen) == 0 ? length / msglen : (length / msglen) + 1;
for (int a = 0; a < len; a++)
if (UseTransModule)
{
datalen = Math.Min(length - a * msglen, msglen);
gps.data = new byte[msglen];
Array.Copy(data, a * msglen, gps.data, 0, datalen);
gps.len = (byte)datalen;
gps.target_component = 1;
gps.target_system = 1;
byte[] packet = GenerateRTKPacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps, gps.len);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
MAVLink.mavlink_gps_inject_data_t gps = new MAVLink.mavlink_gps_inject_data_t();
var msglen = 110;
int datalen = 0;
var len = (length % msglen) == 0 ? length / msglen : (length / msglen) + 1;
for (int a = 0; a < len; a++)
{
datalen = Math.Min(length - a * msglen, msglen);
gps.data = new byte[msglen];
Array.Copy(data, a * msglen, gps.data, 0, datalen);
gps.len = (byte)datalen;
gps.target_component = 1;
gps.target_system = 1;
byte[] packet = GenerateRTKPacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps, gps.len);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
}
}else
{
if (_allcopters != null)
foreach (var vcopter in _allcopters)
await vcopter.InjectGpsDataAsync(data, length);
}
}

4
PlaneGcsSdk_Shared/Copters/EmptyCopter.cs
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@ -64,6 +64,10 @@ namespace Plane.Copters
recnumber = 0;
sendnumber = 0;
}
public Task DoCommandAckAsync(ushort command, byte result)
{
return TaskUtils.CompletedTask;
}
//重设数据量

4
PlaneGcsSdk_Shared/Copters/FakeCopter.cs
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@ -97,6 +97,10 @@ namespace Plane.Copters
public FakeCopter() : this(SynchronizationContext.Current)
{
}
public Task DoCommandAckAsync(ushort command, byte result)
{
return TaskUtils.CompletedTask;
}
/// <summary>
/// 创建 <see cref="FakeCopter"/> 实例。

8
PlaneGcsSdk_Shared/Copters/PLCopter.cs
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@ -356,6 +356,14 @@ namespace Plane.Copters
}
}
public async Task DoCommandAckAsync(ushort command, byte result)
{
MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
req.command = command;
req.result = result;
await _internalCopter.GeneratePacketAsync(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
}
public async Task DoCommandAsync(int actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
{

2
PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
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@ -737,6 +737,8 @@ namespace Plane.Copters
///<summary> Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| </summary>
return await DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, 0);
}
public async Task<bool> DoCommandAsync(MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
{
giveComport = true;