加入RTK广播端口

PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs

@@ -1,6 +1,5 @@
 using Plane.Communication;
 using Plane.Protocols;
-using Plane.Windows.Messages;
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
@@ -13,6 +12,7 @@ using System.Threading.Tasks;
 using System.Windows.Media;
 
 using System.Runtime.InteropServices;
+using Plane.Windows.Messages;
 
 namespace Plane.CommunicationManagement
 {

PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs

@@ -1,8 +1,8 @@
 using Plane.Copters;
 using Plane.Protocols;
-using Plane.Windows.Messages;
 using System;
 using System.Collections.Generic;
+using System.IO.Ports;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
@@ -19,6 +19,10 @@ namespace Plane.CommunicationManagement
         private DateTime waitRtcmTime = DateTime.Now;
         private bool starttime = false;
         private bool rtcm_run = false;
+        private SerialPort RecomPort;
+        private bool Recomisopen = false;
+
+
         private IEnumerable<ICopter> _allcopters;
         //是否使用专用传输模块
         public bool UseTransModule = true;
@@ -1130,7 +1134,7 @@ namespace Plane.CommunicationManagement
         /// <param name="data"></param>
         /// <param name="length"></param>
         /// <returns></returns>
-        public async Task InjectGpsDataAsync(byte[] data, ushort length)
+        public async Task InjectGpsDataAsync(byte[] data, ushort length, bool resendtocom = false)
         {
             if (UseTransModule)
             {
@@ -1153,6 +1157,18 @@ namespace Plane.CommunicationManagement
                     byte[] packet = GenerateRTKPacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps, gps.len);
 
                     await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                    //转发到广播串口
+                    if (resendtocom&& Recomisopen)
+                    {
+                        try
+                        {
+                            RecomPort.Write(packet, 0, packet.Length);
+                        }
+                        catch (Exception ex)
+                        {
+                            //  Alert.Show("转发端口打开失败" + ex.Message);
+                        }
+                    }
                     await Task.Delay(50).ConfigureAwait(false); //没有延时得话如果超过110长度，连续发可能收不到
 
                     //重发一次，有序列号(target_component)飞机可以检测出来重复接收的
@@ -1278,8 +1294,41 @@ namespace Plane.CommunicationManagement
             await Task.Delay(1);
         }
 
-   
-        
+        public void CloseResendRtcmserial()
+        {
+            if (Recomisopen)
+            {
+                RecomPort.Close();
+                RecomPort.Dispose();
+            }
+            Recomisopen = false;
+        }
+        public bool OpenResendRtcmserial(string reserialport)
+        {
+           
+            RecomPort= new SerialPort(reserialport);
+            RecomPort.BaudRate = 57600;
+            RecomPort.Parity = Parity.None;
+            RecomPort.StopBits = StopBits.One;
+            RecomPort.DataBits = 8;
+            RecomPort.Handshake = Handshake.None;
+          
+            try
+            {
+                RecomPort.Open();
+                Recomisopen = true;
+            }
+            catch (Exception ex)
+            {
+              //  Alert.Show("转发端口打开失败" + ex.Message);
+            }
+ 
+            return Recomisopen;
+        }
+
+
+
+
         /// <summary>
         /// 产生RTK包
         /// </summary>