加入RTK支持

地面站发送接收到的基站数据到飞机，数据不做任何修改直接打包发送到每架飞机

PlaneGcsSdk.Contract_Shared/Communication/IConnection.cs

@@ -13,6 +13,9 @@ namespace Plane.Communication
         /// </summary>
         event EventHandler<ExceptionThrownEventArgs> ExceptionThrown;
 
+
+        int BytesToRead();
+
         /// <summary>
         /// 获取一个值，指示通信是否已开启。
         /// </summary>

PlaneGcsSdk.Contract_Shared/Copters/GpsFixType.cs

@@ -4,7 +4,11 @@
     {
         NoFix = 0,
         Fix2D = 2,
-        Fix3D = 3
+        Fix3D = 3,
+        DGPS3D=4,
+        RTK3D= 5
+
+
     }
 
     public static class ByteExtensions

PlaneGcsSdk.Contract_Shared/Copters/ICopterActionsSharedByCopterManager.cs

@@ -126,5 +126,10 @@ namespace Plane.Copters
         /// </summary>
         /// <returns>表示此命令异步发送操作的 <see cref="Task"/> 实例。</returns>
         Task UnlockAsync();
+
+        Task InjectGpsDataAsync(byte[] data, ushort length);
+
+
+
     }
 }

PlaneGcsSdk_Shared/Communication/CompositeConnection.cs

@@ -21,6 +21,33 @@ namespace Plane.Communication
 
         public event EventHandler<ExceptionThrownEventArgs> ExceptionThrown;
 
+        public int BytesToRead()
+        {
+            int result;
+            for (int i = 0; i < _candidateConnections.Count; i++)
+            {
+                if (_candidateConnections[i].IsOpen)
+                {
+                    try
+                    {
+                        result =  _candidateConnections[i].BytesToRead();
+                        if (result != 0)
+                        {
+                          
+                            return result;
+                        }
+                    }
+                    catch (Exception ex)
+                    {
+                        Debug.WriteLine(ex);
+                        ExceptionThrown?.Invoke(this, new ExceptionThrownEventArgs(ex));
+                    }
+                }
+            }
+            return 0;
+        }
+
+
         public bool IsOpen
         {
             get

PlaneGcsSdk_Shared/Communication/EmptyConnection.cs

@@ -20,6 +20,11 @@ namespace Plane.Communication
             IsOpen = false;
         }
 
+        public int BytesToRead()
+        {
+            return 0;
+        }
+
         public Task OpenAsync()
         {
             IsOpen = true;

PlaneGcsSdk_Shared/Communication/SerialPortConnection.cs

@@ -55,6 +55,7 @@ namespace Plane.Communication
         {
             _port.Open();
             _internalIsOpen = true;
+           
         }
 
         public Task OpenAsync()
@@ -63,6 +64,13 @@ namespace Plane.Communication
             return TaskUtils.CompletedTask;
         }
 
+
+        public int BytesToRead()
+        {
+            return _port.BytesToRead;
+        }
+
+
         public int Read(byte[] buffer, int offset, int count)
         {
             while (Available < count)

PlaneGcsSdk_Shared/Communication/TcpConnectionBase.cs

@@ -57,6 +57,13 @@ namespace Plane.Communication
 
         public abstract Task OpenAsync();
 
+        public int BytesToRead()
+        {
+            return 0;
+        }
+
+
+
         public int Read(byte[] buffer, int offset, int count)
         {
             try

PlaneGcsSdk_Shared/Communication/UdpConnectionBase.cs

@@ -20,6 +20,10 @@ namespace Plane.Communication
         public abstract void Close();
 
         public abstract Task OpenAsync();
+        public int BytesToRead()
+        {
+            return 0;
+        }
 
         public async Task<int> ReadAsync(byte[] buffer, int offset, int size)
         {

PlaneGcsSdk_Shared/Communication/UdpThroughDtuServiceConnection.cs

@@ -93,6 +93,10 @@ namespace Plane.Communication
                 return 0;
             }
         }
+        public int BytesToRead()
+        {
+            return 0;
+        }
 
         public virtual async Task WriteAsync(byte[] buffer, int offset, int count)
         {

PlaneGcsSdk_Shared/CopterManagement/SingleCopterManager.cs

@@ -186,6 +186,13 @@ namespace Plane.CopterManagement
         {
             return Copter.TakeOffAsync();
         }
+        public Task InjectGpsDataAsync(byte[] data, ushort length)
+        {
+            return Copter.InjectGpsDataAsync(data, length);
+        }
+
+
+        
 
         public Task TakeOffAsync(float alt)
         {

PlaneGcsSdk_Shared/Copters/EmptyCopter.cs

@@ -92,6 +92,13 @@ namespace Plane.Copters
             return TaskUtils.CompletedTask;
         }
 
+        public Task InjectGpsDataAsync(byte[] data, ushort length)
+        {
+            return TaskUtils.CompletedTask;
+
+        }
+
+
         internal override Task<bool> SetModeCoreAsync(FlightMode mode, int millisecondsTimeout = 5000)
         {
             return Task.FromResult(true);
@@ -101,6 +108,10 @@ namespace Plane.Copters
         {
             return TaskUtils.CompletedTask;
         }
+
+
+
+
     }
 
 #if PRIVATE

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -420,6 +420,12 @@ namespace Plane.Copters
             Roll = 0;
             Pitch = 0;
         }
+        public Task InjectGpsDataAsync(byte[] data, ushort length)
+        {
+            return TaskUtils.CompletedTask;
+
+        }
+
 
         private bool ReachedDestination(double destLat, double destLng, float destAlt) => this.CalcDistance(destLat, destLng, destAlt) < 0.1;
 

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -133,6 +133,12 @@ namespace Plane.Copters
 
         }
 
+        public async Task InjectGpsDataAsync(byte[] data, ushort length)
+        {
+            await _internalCopter.InjectGpsDataAsync(data, length).ConfigureAwait(false);
+        }
+
+
 
         public async Task SetShowLEDAsync(bool Ledon)
         {

PlaneGcsSdk_Shared/Copters/PlaneCopter.cs

@@ -1234,6 +1234,26 @@ namespace Plane.Copters
             await GeneratePacketAsync(MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
         }
 
+
+
+
+        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;
+            var len = (length % msglen) == 0 ? length / msglen : (length / msglen) + 1;
+            for (int a = 0; a < len; a++)
+            {
+                gps.data = new byte[msglen];
+                int copy = Math.Min(length - a * msglen, msglen);
+                Array.Copy(data, a * msglen, gps.data, 0, copy);
+                gps.len = (byte)copy;
+                gps.target_component = compid;
+                gps.target_system = sysid;
+                await GeneratePacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps);
+            }
+        }
+
         public bool TranslateMode(ac2modes modein, ref MAVLink.mavlink_set_mode_t mode)
         {
             //MAVLink09.mavlink_set_mode_t mode = new MAVLink09.mavlink_set_mode_t();            

PlaneGcsSdk_Shared/Protocols/MAVLinkTypes.cs

@@ -2913,6 +2913,27 @@ namespace Plane.Protocols
         };
 
 
+        public const byte MAVLINK_MSG_ID_GPS_INJECT_DATA = 123;
+        [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 113)]
+        ///<summary> data for injecting into the onboard GPS (used for DGPS) </summary>
+        public struct mavlink_gps_inject_data_t
+        {
+            /// <summary> System ID </summary>
+            public byte target_system;
+            /// <summary> Component ID </summary>
+            public byte target_component;
+            /// <summary> data length </summary>
+            public byte len;
+            /// <summary> raw data (110 is enough for 12 satellites of RTCMv2) </summary>
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 110)]
+            public byte[] data;
+
+        };
+
+
+
+
+
         public const byte MAVLINK_MSG_ID_BATTERY_STATUS = 147;
         [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 16)]
         public struct mavlink_battery_status_t