From eeed9275292e500d34865bfd47b6000066182068 Mon Sep 17 00:00:00 2001
From: zxd <zxdaa217@qq.com>
Date: Fri, 15 Nov 2019 11:13:06 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A4=9A=E6=9D=A1RTK=E5=90=8C=E6=97=B6?=
 =?UTF-8?q?=E5=8F=91=E9=80=81=20=E7=81=AF=E5=85=89=E9=95=BF=E5=BA=A6?=
 =?UTF-8?q?=E6=B5=8B=E8=AF=95?=
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---
 .../CommunicationManagement/CommModule.cs     | 13 +--
 .../CommModuleGenerateMavLink.cs              | 80 ++++++++++++++++++-
 2 files changed, 80 insertions(+), 13 deletions(-)

diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
index 2e04977..7d01430 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
@@ -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);
             } 
         }
 
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 5922b42..07cce03 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -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
             }
         }
     }
+
 }