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多条RTK同时发送

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灯光长度测试
This commit is contained in:
zxd 2019-11-15 11:13:06 +08:00
parent 04b40f760e
commit eeed927529
2 changed files with 80 additions and 13 deletions
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13
PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
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@ -27,6 +27,7 @@ namespace Plane.CommunicationManagement
public int CommModuleCurMode = 0;
private long packetCountNum = 0;
/// <summary>
/// 用于判断写入任务操作超时的秒表。
/// </summary>
@ -322,7 +323,7 @@ namespace Plane.CommunicationManagement
//await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
byte[] senddata = packet;
for (int times = 0; times < 4; times++)
for (int times = 0; times < 13; times++)
{
senddata = senddata.Concat(packet).ToArray();
}
@ -333,15 +334,9 @@ namespace Plane.CommunicationManagement
temp = !temp;
while (temp)
{
Message.Show("长度 = " + senddata.Length);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(50).ConfigureAwait(false);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(50).ConfigureAwait(false);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(50).ConfigureAwait(false);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(50).ConfigureAwait(false);
await Task.Delay(800).ConfigureAwait(false);
await Task.Delay(1000).ConfigureAwait(false);
}
}

80
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
View File

@ -11,8 +11,7 @@ namespace Plane.CommunicationManagement
{
public partial class CommModuleManager
{
public int packetcount = 0;
public int packetcount = 0;
/// <summary>
/// 设置通道
@ -586,6 +585,8 @@ namespace Plane.CommunicationManagement
}
int inject_seq_no = 0;
public async Task InjectGpsRTCMDataAsync(byte[] data, int length)
{
MAVLink.mavlink_gps_rtcm_data_t gps = new MAVLink.mavlink_gps_rtcm_data_t();
@ -629,12 +630,82 @@ namespace Plane.CommunicationManagement
gps.len = (byte)copy;
byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_GPS_RTCM_DATA, gps);
Console.WriteLine($"{DateTime.Now.ToLongTimeString()}---发送给张伟的数据长度 = {packet.Length}");
Windows.Messages.Message.Show($"{DateTime.Now.ToString("HH:mm:ss:fff")} 通信数据长度 = {packet.Length}");
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
} }
// lock (lock_rtcm)
// {
// rtcm_packets.Add(packet);
// if (rtcm_packets.Count == 1)
// {
// waitRtcmTime = DateTime.Now;
// starttime = true;
// }
// }
}
}
private static object lock_rtcm = new object();//互锁量
private List<byte[]> rtcm_packets = new List<byte[]>();
private DateTime waitRtcmTime = DateTime.Now;
private bool starttime = false;
private bool rtcm_run = false;
/// <summary>
/// 开始循环检测Rtcm数量
/// </summary>
/// <returns></returns>
public async Task StartRtcmLoop()
{
rtcm_run = true;
waitRtcmTime = DateTime.Now;
await Task.Factory.StartNew(RtcmLoop);
}
/// <summary>
/// 结束循环检测Rtcm数量
/// </summary>
/// <returns></returns>
public async Task CloseRtcmLoop()
{
rtcm_run = false;
await Task.Delay(1);
}
private async Task RtcmLoop()
{
while(rtcm_run)
{
byte[] sendDate = new byte[0];
lock (lock_rtcm)
{
if (rtcm_packets.Count >= 3 ||
(starttime && waitRtcmTime.AddMilliseconds(200) <= DateTime.Now))
{
if (rtcm_packets.Count > 0)
{
Windows.Messages.Message.Show($"rtcm_packets.Count = {rtcm_packets.Count}");
for (int i = 0; i < rtcm_packets.Count; i++)
{
sendDate = sendDate.Concat(rtcm_packets[i]).ToArray();
}
rtcm_packets.Clear();
starttime = false;
}
}
}
if (sendDate!=null && sendDate.Length>0)
{
Windows.Messages.Message.Show($"{DateTime.Now.ToString("HH:mm:ss:fff")} 通信数据长度 = {sendDate.Length}");
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, sendDate).ConfigureAwait(false);
}
await Task.Delay(10);
}
}
public byte[] GenerateRTKPacketAsync<TMavlinkPacket>(byte messageType, TMavlinkPacket indata, int rtklength)
{
@ -779,4 +850,5 @@ namespace Plane.CommunicationManagement
}
}
}
}