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1.加入回传功率设置

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2.服务器IP可从设置文件读取
3.增加抛物功能
This commit is contained in:
xu 2021-12-27 12:41:32 +08:00
parent d91b759d5f
commit 8f2cd98bd4
4 changed files with 102 additions and 6 deletions
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39
PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
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@ -12,17 +12,23 @@ using System.Text;
using System.Threading.Tasks;
using System.Windows.Media;
using System.Runtime.InteropServices;
namespace Plane.CommunicationManagement
{
//通信模块
public partial class CommModuleManager: ExceptionThrownEventSource, IDisposable
{
[DllImport("kernel32")] //返回取得字符串缓冲区的长度
private static extern int GetPrivateProfileString(string section, string key, string def, StringBuilder retVal, int size, string filePath);
private static CommModuleManager _Instance = new CommModuleManager();
public static CommModuleManager Instance { get { return _Instance; } }
public TcpConnection Connection = null;
public bool CommOK = false;
private const string MODULE_IP = "192.168.199.51"; // "192.168.199.51"; //在用版本 ----//"192.168.1.65"; //新版本
private const string MODULE_IP = "192.168.199.51"; //"192.168.199.51"; // "192.168.199.51"; //在用版本 ----//"192.168.1.65"; //新版本
private string ServerIP = MODULE_IP;
// private const string LOCAL_IP = "192.168.199.50"; //"192.168.199.50";
private const int PORT = 9551;
private bool _disposed;
@ -36,17 +42,32 @@ namespace Plane.CommunicationManagement
/// </summary>
private Stopwatch _writeMissionStopwatch;
private void LoadIPSet()
{
StringBuilder temp = new StringBuilder(255);
string path = Environment.CurrentDirectory + @"\Config.ini";
int i = GetPrivateProfileString("Default", "ServerIP", "", temp, 255, path);
ServerIP= temp.ToString();
if (ServerIP == "") ServerIP = MODULE_IP;
}
public async Task ConnectAsync()
{
Connection = new TcpConnection(MODULE_IP, PORT);
LoadIPSet();
Connection = new TcpConnection(ServerIP, PORT);
await ConnectOpenAsync();
}
public void Connect()
{
LoadIPSet();
Task.Run(async () =>
{
Connection = new TcpConnection(MODULE_IP, PORT);
Connection = new TcpConnection(ServerIP, PORT);
await ConnectOpenAsync();
}
);
@ -371,6 +392,18 @@ namespace Plane.CommunicationManagement
public async Task SetModulePower(short ModuleNo, short ModulePower)
{
byte[] packet = { 0x01, 0x00, 0x03, 0x00, 0x01, 0x0A };
packet[2] = (byte)(ModuleNo & 0xFF);
packet[3] = (byte)((ModuleNo & 0xFF00) >> 8);
packet[5] = (byte)(ModulePower);
await WriteCommPacketAsync(0, MavComm.COMM_TO_MODULE, packet);
}
bool temp = false;
//测试用 灯光间隔1S闪烁

57
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
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@ -201,6 +201,18 @@ namespace Plane.CommunicationManagement
return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
}
private byte[] DoThrowoutCommandAsync()
{
MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control();
led.target_system = 1;
led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
led.instance = 0;
led.pattern = 0;
led.custom_len = 1; //长度是1个字节
led.custom_bytes = new byte[24];
led.custom_bytes[0] = (byte)10; //10代表抛物
return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
}
private byte[] DoTaskLEDCommandAsync(int ledmode, float ledInterval, int ledtimes, byte cR,byte cG,Byte cB)
@ -442,7 +454,7 @@ namespace Plane.CommunicationManagement
public async Task DoMissionStartAsync(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
{
if (UseTransModule)
await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
await DoMissionStartAsync_CMod(copters,hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
else await DoMissionStartAsync_Single(copters, hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
}
@ -462,10 +474,16 @@ namespace Plane.CommunicationManagement
}
public async Task DoMissionStartAsync_CMod(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
public async Task DoMissionStartAsync_CMod(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, -1);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
short copterId = 0;
byte[] batchPacket = null;
//部分开始任务
if (copters!=null)
GetCopterIds(copters, out copterId, out batchPacket);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
}
@ -529,6 +547,39 @@ namespace Plane.CommunicationManagement
}
}
/// <summary>
/// 抛物
/// </summary>
/// <param name="copters">要解锁的飞机</param>
/// <returns></returns>
public void ThrowoutAsync(IEnumerable<ICopter> copters = null)
{
if (UseTransModule)
{
Task.Run(async () =>
{
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet = DoThrowoutCommandAsync();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
});
}
else
{
/*
Task.Run(async () =>
{
foreach (var vcopter in copters)
await vcopter.LEDAsync();
});
*/
}
}
/// <summary>
/// LED闪烁白灯
/// </summary>

4
PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs
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@ -104,6 +104,10 @@ namespace Plane.CommunicationManagement
SaveMissionWriteStat(copterId, buffer[1]);
break;
case 0x04:
Message.Show($"飞机{copterId}:功率设置成功，新回传功率：{buffer[1]}");
break;
case 0x0e:
if (copterId == 0)
Message.Show("----------全部更新完成----------");

8
PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
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@ -74,6 +74,14 @@ namespace Plane.Protocols
/// </summary>
public const short COMM_FLIGHT_LOAD_MODE = 0x55;
/// <summary>
/// 发送非针对飞控的内部控制指令
/// </summary>
public const short COMM_TO_MODULE = 0x5F;
/// <summary>
/// 通信模块
/// </summary>