group/Plane.Sdk3
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

修改通讯中，加入通讯模式参数

Browse Source 
UseTransModule
This commit is contained in:
xu 2020-03-02 17:15:53 +08:00
parent 3518f4d570
commit 772bafa771
1 changed files with 185 additions and 106 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

287
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
View File

@ -1,5 +1,6 @@
using Plane.Copters;
using Plane.Protocols;
using Plane.Windows.Messages;
using System;
using System.Collections.Generic;
using System.Linq;
@ -17,8 +18,8 @@ namespace Plane.CommunicationManagement
private DateTime waitRtcmTime = DateTime.Now;
private bool starttime = false;
private bool rtcm_run = false;
//是否单独处理传输
private bool IsSingleTrans=false;
//是否使用专用传输模块
private bool UseTransModule = true;
private byte[] SetChannels(ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null, ushort? ch5 = null, ushort? ch6 = null, ushort? ch7 = null, ushort? ch8 = null)
{
@ -300,9 +301,9 @@ namespace Plane.CommunicationManagement
public async Task SetChannelsAsync(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
{
if (IsSingleTrans)
await SetChannelsAsync_Single(copters, ch1, ch2, ch3, ch4);
else await SetChannelsAsync_CMod(copters, ch1, ch2, ch3, ch4);
if (UseTransModule)
await SetChannelsAsync_CMod(copters, ch1, ch2, ch3, ch4);
else await SetChannelsAsync_Single(copters, ch1, ch2, ch3, ch4);
}
public async Task SetChannelsAsync_Single(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
{
@ -330,9 +331,9 @@ namespace Plane.CommunicationManagement
public async Task<bool> WriteMissionListAsync(ICopter copter, List<IMission> missions)
{
if (IsSingleTrans)
return await WriteMissionListAsync_Single(copter, missions);
else return await WriteMissionListAsync_CMod(short.Parse(copter.Id), missions);
if (UseTransModule)
return await WriteMissionListAsync_CMod(short.Parse(copter.Id), missions);
else return await WriteMissionListAsync_Single(copter, missions);
}
@ -415,9 +416,9 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task DoMissionStartAsync(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
{
if (IsSingleTrans)
await DoMissionStartAsync_Single(copters,hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
else await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
if (UseTransModule)
await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
else await DoMissionStartAsync_Single(copters, hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
}
public async Task DoMissionStartAsync_Single(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
@ -442,13 +443,18 @@ namespace Plane.CommunicationManagement
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
}
/// <summary>
/// 暂停任务
/// </summary>
public async Task DoMissionPauseAsync()
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, 0, 0, 0, 0, 0, 1, 0);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
if (UseTransModule)
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, 0, 0, 0, 0, 0, 1, 0);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
}else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>
@ -456,8 +462,12 @@ namespace Plane.CommunicationManagement
/// </summary>
public async Task DoMissionResumeAsync(int hour_utc, int minute_utc, int second_utc)
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0 , 2, 0);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
if (UseTransModule)
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0, 2, 0);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
}else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>
@ -467,18 +477,23 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task UnlockAsync(IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters,out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
byte[] packet2 = SetModeAsync(FlightMode.ALT_HOLD);
byte[] packet2 = SetModeAsync(FlightMode.ALT_HOLD);
byte[] packet3 = DoARMAsync(true);
byte[] packet3 = DoARMAsync(true);
byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>
@ -488,15 +503,20 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public void LED_FlickerAsync(IEnumerable<ICopter> copters = null)
{
Task.Run(async () =>
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
Task.Run(async () =>
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet = DoLEDCommandAsync();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
});
byte[] packet = DoLEDCommandAsync();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
});
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
@ -509,14 +529,22 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task<int> SetParamAsync(string paramname, float value, IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet = SetParam2Async(paramname, value);
int packetNum = packet[2];
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
return packetNum;
byte[] packet = SetParam2Async(paramname, value);
int packetNum = packet[2];
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
return packetNum;
}
else
{
Windows.Messages.Message.Show($"未开发完成！！");
return 0;
}
}
/// <summary>
@ -526,21 +554,29 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task<int> SetMultipleParamAsync(params string[] param)
{
if (param.Length % 2 == 1)
return 0;
byte[] packet = null;
int packetNum = 0;
for (int i = 0; i < param.Length; i += 2)
if (UseTransModule)
{
string paramname = param[i];
float value = float.Parse(param[i + 1]);
byte[] data = SetParam2Async(paramname, value);
packetNum = data[2];
packet = packet == null ? data : packet.Concat(data).ToArray();
if (param.Length % 2 == 1)
return 0;
byte[] packet = null;
int packetNum = 0;
for (int i = 0; i < param.Length; i += 2)
{
string paramname = param[i];
float value = float.Parse(param[i + 1]);
byte[] data = SetParam2Async(paramname, value);
packetNum = data[2];
packet = packet == null ? data : packet.Concat(data).ToArray();
}
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
return packetNum;
}
else
{
Windows.Messages.Message.Show($"未开发完成！！");
return 0;
}
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
return packetNum;
}
@ -552,12 +588,20 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task ReadParamAsnyc(string paramname, IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet = GetParam2Async(paramname);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
byte[] packet = GetParam2Async(paramname);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
}
else
{
Windows.Messages.Message.Show($"未开发完成！！");
}
}
/// <summary>
@ -568,18 +612,23 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task TakeOffAsync(float alt, IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet1 = SetModeAsync(FlightMode.GUIDED);
byte[] packet1 = SetModeAsync(FlightMode.GUIDED);
byte[] packet2 = SetChannels(1500, 1500, 1500, 1500);
byte[] packet2 = SetChannels(1500, 1500, 1500, 1500);
byte[] packet3 = DoCommandAsync(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0, 0, alt);
byte[] packet3 = DoCommandAsync(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0, 0, alt);
byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>
@ -589,12 +638,17 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task ReturnToLaunchAsync(IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet = SetModeAsync(FlightMode.RTL);
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
byte[] packet = SetModeAsync(FlightMode.RTL);
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
@ -607,14 +661,19 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task GetVersionsAsync(IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
MAVLink.mavlink_sversion_request req = new MAVLink.mavlink_sversion_request();
req.version = 0;
byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST, req);
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
MAVLink.mavlink_sversion_request req = new MAVLink.mavlink_sversion_request();
req.version = 0;
byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST, req);
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>
/// 降落
@ -622,12 +681,17 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task LandAsync(IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet = SetModeAsync(FlightMode.LAND);
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
byte[] packet = SetModeAsync(FlightMode.LAND);
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>
@ -637,16 +701,21 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task LockAsync(IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
byte[] packet2 = DoARMAsync(false);
byte[] packet2 = DoARMAsync(false);
byte[] data = packet1.Concat(packet2).ToArray();
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
byte[] data = packet1.Concat(packet2).ToArray();
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>
@ -656,18 +725,23 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task MotorTestAsync(IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
//1-4代表1-4电机
byte[] data1 = DoMotorTestAsync(1, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
byte[] data2 = DoMotorTestAsync(2, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
byte[] data3 = DoMotorTestAsync(3, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
byte[] data4 = DoMotorTestAsync(4, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
//1-4代表1-4电机
byte[] data1 = DoMotorTestAsync(1, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
byte[] data2 = DoMotorTestAsync(2, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
byte[] data3 = DoMotorTestAsync(3, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
byte[] data4 = DoMotorTestAsync(4, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
byte[] data = data1.Concat(data2).Concat(data3).Concat(data4).ToArray();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket);
byte[] data = data1.Concat(data2).Concat(data3).Concat(data4).ToArray();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>
@ -676,16 +750,21 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task HoverAsync(IEnumerable<ICopter> copters = null)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
if (UseTransModule)
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet1 = SetChannels(1500, 1500, 1500, 1500);
byte[] packet1 = SetChannels(1500, 1500, 1500, 1500);
byte[] packet2 = SetModeAsync(FlightMode.LOITER);
byte[] packet2 = SetModeAsync(FlightMode.LOITER);
byte[] data = packet1.Concat(packet2).ToArray();
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
byte[] data = packet1.Concat(packet2).ToArray();
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
/// <summary>