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1.增加测试某个通讯模块是否正常功能

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2.增加电池电压测试
3.自动计算模拟飞机更新时间300内保证流程，1000内保证能工作
This commit is contained in:
xu 2021-04-02 01:18:56 +08:00
parent f7be769b33
commit d91b759d5f
6 changed files with 160 additions and 21 deletions
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2
PlaneGcsSdk.Contract_Shared/Copters/ICopterAttribute.cs
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@ -14,5 +14,7 @@ namespace Plane.Copters
/// </summary>
float GroundAlt { get; set; }
float RetainInt{ get; }
//模拟飞行更新间隔
int sim_update_int { get; set; }
}
}

117
PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
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@ -353,6 +353,25 @@ namespace Plane.CommunicationManagement
await GenerateDataAsync(0, MavComm.COMM_UPDATE_COPTER_MODULE, commUpdate);
}
public async Task TestModule(short ModuleNo, short TestLong=100)
{
byte[] packet = new byte[2];
packet[0] = (byte)(ModuleNo);
packet[1] = (byte)(TestLong);
byte[] senddata = packet;
// Message.Show("长度 = " + senddata.Length);
await WriteCommPacketAsync(0, MavComm.COMM_TEST_MODULE, senddata);
// await Task.Delay(1000).ConfigureAwait(false);
}
bool temp = false;
//测试用 灯光间隔1S闪烁
public async Task TestLED(short id, string colorString)
@ -363,7 +382,7 @@ namespace Plane.CommunicationManagement
led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
led.instance = 0;
led.pattern = 0;
led.custom_len = 4;
led.custom_len = 4; //命令类型——测试灯光
led.custom_bytes = new byte[24];
if (colorString == "") colorString = "330033";
@ -421,7 +440,7 @@ namespace Plane.CommunicationManagement
temp = !temp;
while (temp)
{
Message.Show("长度 = " + senddata.Length);
Message.Show("测试灯光，长度 = " + senddata.Length);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(1000).ConfigureAwait(false);
}
@ -436,7 +455,7 @@ namespace Plane.CommunicationManagement
led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
led.instance = 0;
led.pattern = 0;
led.custom_len = 1;
led.custom_len = 1;//命令类型——测试拉烟
led.custom_bytes = new byte[24];
led.custom_bytes[0] = (byte)channel;
@ -490,6 +509,77 @@ namespace Plane.CommunicationManagement
}
}
public async Task TestBattery(short id, float minivol)
{
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 = 5;//命令类型——测试电池电压
led.custom_bytes = new byte[24];
led.custom_bytes[0] = (byte)(int)(minivol); //整数部分
led.custom_bytes[1] = (byte)(int)((minivol-(int)minivol)*100); //小数部分 --2位
byte[] data;
data = MavlinkUtil.StructureToByteArray(led);
byte[] packet = new byte[data.Length + 6 + 2];
packet[0] = MAVLink.MAVLINK_STX;
packet[1] = (byte)(data.Length);
packet[2] = 1;
packet[3] = 255; // this is always 255 - MYGCS
packet[4] = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER;
packet[5] = MAVLink.MAVLINK_MSG_ID_LED_CONTROL;
int i = 6;
foreach (byte b in data)
{
packet[i] = b;
i++;
}
ushort checksum = MavlinkCRC.crc_calculate(packet, packet[1] + 6);
checksum = MavlinkCRC.crc_accumulate(MAVLink.MAVLINK_MESSAGE_CRCS[MAVLink.MAVLINK_MSG_ID_LED_CONTROL], checksum);
byte ck_a = (byte)(checksum & 0xFF); ///< High byte
byte ck_b = (byte)(checksum >> 8); ///< Low byte
packet[i] = ck_a;
i += 1;
packet[i] = ck_b;
i += 1;
//await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
byte[] senddata = packet;
for (int times = 0; times < 3; times++)
{
senddata = senddata.Concat(packet).ToArray();
}
{ //发3次
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
await Task.Delay(1000).ConfigureAwait(false);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
await Task.Delay(1000).ConfigureAwait(false);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
}
}
/// <summary>
/// 生成通信模块packet并且发送
/// </summary>
@ -524,36 +614,37 @@ namespace Plane.CommunicationManagement
int packetlength = data == null ? 0 : data.Length;
//数据长度+10
byte[] packet = new byte[packetlength + 10];
byte[] buffer_header = new byte[2];
buffer_header = BitConverter.GetBytes(MavComm.COMM_SEND_PACKET_HEADER);
Array.Copy(buffer_header, 0, packet, 0, 2); //数据头
Array.Copy(buffer_header, 0, packet, 0, 2); //发送数据头 2字节
byte[] buffer_length;
buffer_length = BitConverter.GetBytes((Int16)(packetlength + 6));
Array.Copy(buffer_length, 0, packet, 2, 2); //数据长度
Array.Copy(buffer_length, 0, packet, 2, 2); //数据长度 2字节
byte[] buffer_serial;
buffer_serial = BitConverter.GetBytes(serial_Number++);
Array.Copy(buffer_serial, 0, packet, 4, 2); //流水号
Array.Copy(buffer_serial, 0, packet, 4, 2); //流水号 2字节
byte[] buffer_copterId = new byte[2];
buffer_copterId = BitConverter.GetBytes((Int16)copterId);
Array.Copy(buffer_copterId, 0, packet, 6, 2); //飞机号
Array.Copy(buffer_copterId, 0, packet, 6, 2); //飞机号 2字节
byte[] buffer_messageType = new byte[2];
buffer_messageType = BitConverter.GetBytes((Int16)messageType);
Array.Copy(buffer_messageType, 0, packet, 8, 2); //命令类型
Array.Copy(buffer_messageType, 0, packet, 8, 2); //命令类型 2字节
if (data != null)
Array.Copy(data, 0, packet, 10, data.Length); //数据内容
Array.Copy(data, 0, packet, 10, data.Length); //数据内容 10字节开始
byte[] buffer_CRC = checkCRC16(packet);
byte[] buffer_CRC = checkCRC16(packet); //计算所有数据的crc
byte[] buffer_packet = new byte[packet.Length + 2];
byte[] buffer_packet = new byte[packet.Length + 2]; //分配新的带crc的数据包
Array.Copy(packet, buffer_packet, packet.Length);
Array.Copy(buffer_CRC, 0, buffer_packet, packet.Length, 2);
Array.Copy(buffer_CRC, 0, buffer_packet, packet.Length, 2); //带crc的数据包
if (Connection != null && Connection.IsOnline)
{
@ -571,10 +662,12 @@ namespace Plane.CommunicationManagement
public async Task<bool> MissionPacket<TMavCommPacket>(short copterId, byte messageType, TMavCommPacket[] indata)
{
//数据长度
int dataLength = 6 + 2 + indata.Length * 32;
byte[] data = new byte[dataLength];
byte[] uses = new byte[] { 0, 0, 1, 0, 0, 0 };
//填充初始数据
Array.Copy(uses, 0, data, 0, 6);
Int16 countNum = (Int16)indata.Length;

2
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
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@ -212,7 +212,7 @@ namespace Plane.CommunicationManagement
led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
led.instance = 0;
led.pattern = 0;
led.custom_len = 6;
led.custom_len = 6; //测试LED灯光
led.custom_bytes = new byte[24];
led.custom_bytes[0] = cR;
led.custom_bytes[1] = cG;

13
PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
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@ -152,6 +152,8 @@ namespace Plane.Copters
private float _GroundAlt = 0;
private int _sim_update_int = 50;
private CopterState _State;
private string _StatusText;
@ -660,6 +662,17 @@ namespace Plane.Copters
}
public int sim_update_int
{
get { return _sim_update_int; }
set
{
Set(nameof(sim_update_int), ref _sim_update_int, value);
}
}
public byte[] Retain
{
get { return _Retain; }

38
PlaneGcsSdk_Shared/Copters/FakeCopter.cs
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@ -18,21 +18,24 @@ namespace Plane.Copters
/// 心跳间隔，单位为毫秒。
/// </summary>
private const int HEARTBEAT_INTERVAL = 200;
/// <summary>
/// 更新虚拟飞行器状态的时间间隔，单位为毫秒。
/// </summary>
private int UPDATE_INTERVAL = 50; //默认100， i7电脑 150可以跑1000架 100可以跑500架 50可以200-300架
/// <summary>
/// 在一个更新间隔中的最大移动距离。
/// </summary>
private const float MAX_MOVE_IN_INTERVAL = MAX_VEL * UPDATE_INTERVAL / 1000;
private float MAX_MOVE_IN_INTERVAL = MAX_VEL * 50 / 1000;
/// <summary>
/// 高速模式下，在一个更新间隔中的最大移动距离。
/// </summary>
private const float MAX_MOVE_IN_INTERVAL_FAST = MAX_MOVE_IN_INTERVAL * 4;
private float MAX_MOVE_IN_INTERVAL_FAST = MAX_VEL * 50 / 1000 * 4; //MAX_MOVE_IN_INTERVAL*4
/// <summary>
/// 更新虚拟飞行器状态的时间间隔，单位为毫秒。
/// </summary>
private const int UPDATE_INTERVAL = 50; //默认100， i7电脑 150可以跑1000架 100可以跑500架 50可以200-300架
// private int _UPDATE_INTERVAL = 50;
/// <summary>
/// 对飞行器的模拟是否正在运行。
@ -52,12 +55,12 @@ namespace Plane.Copters
/// <summary>
/// 高速模式下，按比例缩放过的在一个更新间隔中的最大移动距离。
/// </summary>
private float _scaledFastMaxMoveInInterval = MAX_MOVE_IN_INTERVAL_FAST;
private float _scaledFastMaxMoveInInterval = MAX_VEL * 50 / 1000 * 4; //MAX_MOVE_IN_INTERVAL_FAST
/// <summary>
/// 按比例缩放过的在一个更新间隔中的最大移动距离。
/// </summary>
private float _scaledMaxMoveInInterval = MAX_MOVE_IN_INTERVAL;
private float _scaledMaxMoveInInterval = MAX_VEL * 50 / 1000; //MAX_MOVE_IN_INTERVAL
/// <summary>
/// 速度缩放比例。
@ -91,12 +94,31 @@ namespace Plane.Copters
private bool _ShowLED;
/// <summary>
/// 使用 <see cref="SynchronizationContext.Current"/> 创建 <see cref="FakeCopter"/> 实例。
/// </summary>
public FakeCopter() : this(SynchronizationContext.Current)
{
}
new public int sim_update_int
{
get { return UPDATE_INTERVAL; }
set
{
MAX_MOVE_IN_INTERVAL = MAX_VEL * value / 1000;
MAX_MOVE_IN_INTERVAL_FAST = MAX_MOVE_IN_INTERVAL * 4;
_scaledFastMaxMoveInInterval = MAX_MOVE_IN_INTERVAL_FAST* _speedScale;
_scaledMaxMoveInInterval = MAX_MOVE_IN_INTERVAL* _speedScale;
Set(nameof(sim_update_int), ref UPDATE_INTERVAL, value);
}
}
public Task DoCommandAckAsync(ushort command, byte result)
{
return TaskUtils.CompletedTask;

9
PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
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@ -84,6 +84,15 @@ namespace Plane.Protocols
/// </summary>
public const short COMM_UPDATE_COPTER_MODULE = 0xFD;
/// <summary>
/// 测试模块
/// </summary>
public const short COMM_TEST_MODULE = 0x3C;
#endregion
public enum CommMode