通讯检测

PlaneGcsSdk.Contract_Shared/Copters/Constants.cs

@@ -23,5 +23,10 @@
         /// 最高速度，单位为 m/s。
         /// </summary>
         public const float MAX_VEL = 5f;
+
+        public const float MAX_VEL_XY = 5.0f;  //米/秒  水平速度
+        public const float MAX_VEL_UP = 2.5f;  //上升速度
+        public const float MAX_VEL_DOWN = 1.5f;  //下降速度
+
     }
 }

PlaneGcsSdk_Shared/Communication/TcpConnection.cs

@@ -13,6 +13,8 @@ namespace Plane.Communication
     public class TcpConnection : TcpConnectionBase
     {
         private string _remoteHostname;
+        const int tcpReceiveBufferSize = 20 * 1024;  //40 * 1024,
+        const int tcpReceiveTimeout = 1200;
 
         private int _remotePort;
 
@@ -22,8 +24,8 @@ namespace Plane.Communication
             _remotePort = remotePort;
             _client = new TcpClient
             {
-                ReceiveBufferSize = 40 * 1024,
+                ReceiveBufferSize = tcpReceiveBufferSize,
-                ReceiveTimeout = 1200
+                ReceiveTimeout = tcpReceiveTimeout
             };
         }
 
@@ -96,8 +98,8 @@ namespace Plane.Communication
         {
             _client = new TcpClient(_remoteHostname, _remotePort)
             {
-                ReceiveBufferSize = 40 * 1024,
+                ReceiveBufferSize = tcpReceiveBufferSize,
-                ReceiveTimeout = 1200
+                ReceiveTimeout = tcpReceiveTimeout
             };
         }
 
@@ -105,8 +107,8 @@ namespace Plane.Communication
         {
             _client = new TcpClient
             {
-                ReceiveBufferSize = 40 * 1024,
+                ReceiveBufferSize = tcpReceiveBufferSize,// 40 * 1024,
-                ReceiveTimeout = 1200
+                ReceiveTimeout = tcpReceiveTimeout// 1200
             };
             await _client.ConnectAsync(_remoteHostname, _remotePort).ConfigureAwait(false);
         }

PlaneGcsSdk_Shared/Communication/TcpConnectionBase.cs

@@ -43,6 +43,9 @@ namespace Plane.Communication
             {
                 try
                 {
+              //      bool bret ;
+             //       bret = _client.Client != null;
+                  //  bret = bret && !((_client.Client.Poll(1000, SelectMode.SelectRead) && (_client.Client.Available == 0)) || !_client.Client.Connected);
                     return _client.Client != null && !((_client.Client.Poll(1000, SelectMode.SelectRead) && (_client.Client.Available == 0)) || !_client.Client.Connected);
                 }
                 catch (ObjectDisposedException)

PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs

@@ -195,35 +195,54 @@ namespace Plane.CommunicationManagement
             Task.Run(async () =>
             {
                 long lastPacketCountNum = 0;
+                int faulttimes = 0; //等待没有数据次数
+                const int revtimeout = 1200; //等待超时ms
                 while (CommOK)
                 {
                     if (Connection != null)
                     {
-                        await SendQueryStatusPacketsAsync();
+                        //发送心跳包-等待回复消息
-                        await Task.Delay(1200).ConfigureAwait(false);
+                        await WriteCommPacketAsync(0, MavComm.COMM_QUERY_STATUS);
-
+                      //  await SendQueryStatusPacketsAsync();
+                        await Task.Delay(revtimeout).ConfigureAwait(false);  //1200
+                        //等待是否接受到返回的数据包，如果没有收到认为连结断开，重新联接
                         if (packetCountNum > lastPacketCountNum)
+                        {
                             lastPacketCountNum = packetCountNum;
+                            if (faulttimes>0)
+                                Message.Show("收到新数据包，重置超时次数...");
+                            faulttimes = 0;
+                        }
                         else
-                            break;
+                        {
+                            faulttimes++;
+                            Message.Show("设备回复超时("+ revtimeout + "ms)" + faulttimes+"次");
+                            //超过3次没数据包返回就重连
+                            if (faulttimes > 3)
+                            {
+                                Message.Show("长时间未收到设备回复数据包");
+                                break;
+                            }
+                        }
                     }
                 }
-                Message.Show("通信断开");
+                Message.Show("主动断开连接，重连");
-
                 Reconnect();
             }).ConfigureAwait(false);
         }
 
-        private async Task SendQueryStatusPacketsAsync()
+     /*  //直接调用不用封装函数了  
+       private async Task SendQueryStatusPacketsAsync()
         {
             await WriteCommPacketAsync(0, MavComm.COMM_QUERY_STATUS);
-            await Task.Delay(100);
+            await Task.Delay(100);//100
         }
+        */
 
         int times = 1;
         private void Reconnect()
         {
-            //Message.Show($"正在重新连接...");
+           // Message.Show($"正在重新连接...");
             Task.Run(async () =>
             {
                 CloseConnection();
@@ -243,6 +262,12 @@ namespace Plane.CommunicationManagement
                 {
                     if (Connection == null || !Connection.IsOnline)
                     {
+                        if (Connection==null)
+                            Message.Show("空连接异常");
+                        else  if (!Connection.IsOnline)
+                        {
+                            Message.Show("检测到设备已断开连接");
+                        }
                         break;
                     }
 
@@ -301,7 +326,8 @@ namespace Plane.CommunicationManagement
                     }
                 }
             }).ConfigureAwait(false);
-            Message.Show("连接断开");
+            Message.Show("退出读设备数据........");
+            //Reconnect();
         }
         
         private async Task<byte[]> ReadPacketAsync()
@@ -680,7 +706,10 @@ namespace Plane.CommunicationManagement
             Array.Copy(buffer_CRC, 0, buffer_packet, packet.Length, 2);   //带crc的数据包
 
             if (Connection != null && Connection.IsOnline)
-            { 
+            {
+                //if (messageType==83)
+                //   Console.WriteLine("RTCM:" + (ushort)rtcm.length + "[" + rtcm.packet[0] + "," + rtcm.packet[1] + "," + rtcm.packet[2] + "," + rtcm.packet[3] + "," + rtcm.packet[4] + "]");
+                // Console.WriteLine("[{0}]Send rtcm:{1}", buffer_serial[0], packetlength);
                 try
                 {
                     await Connection.WriteAsync(buffer_packet, 0, buffer_packet.Length);

PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs

@@ -836,6 +836,30 @@ namespace Plane.CommunicationManagement
             }
 
         }
+
+        public async Task GetCommsumAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
+            {
+                short copterId = 0;
+                byte[] batchPacket = null;
+                GetCopterIds(copters, out copterId, out batchPacket);
+
+                MAVLink.mavlink_sversion_request req = new MAVLink.mavlink_sversion_request();
+                req.version = 1;
+                byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST, req);
+                await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+            }
+            else
+            {
+
+                Windows.Messages.Message.Show($"未开发完成！！");
+            }
+
+        }
+
+
+        
         /// <summary>
         /// 降落
         /// </summary>
@@ -1097,11 +1121,11 @@ namespace Plane.CommunicationManagement
             await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
         }
 
-   
 
+        byte rtcm_tmpser = 0;
 
         /// <summary>
-        ///广播Rtk
+        ///广播Rtk               //-------------使用中的RTK广播函数------------
         /// </summary>
         /// <param name="data"></param>
         /// <param name="length"></param>
@@ -1119,13 +1143,33 @@ namespace Plane.CommunicationManagement
                     datalen = Math.Min(length - a * msglen, msglen);
                     gps.data = new byte[msglen];
                     Array.Copy(data, a * msglen, gps.data, 0, datalen);
+                    //gps.data[0] = rtcm_tmpser++;
                     gps.len = (byte)datalen;
-                    gps.target_component = 1;
+                    gps.target_component = rtcm_tmpser++;
                     gps.target_system = 1;
+
+                    Console.WriteLine("                                              ["+ gps.target_component + "]总长: "+ length +" 发送第 "+ (a+1) + " 个包,长度: " + (ushort)datalen );
+
                     byte[] packet = GenerateRTKPacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps, gps.len);
+
                     await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                    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
+                    //需要新固件支持
+                    //  await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                    //  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--需要新固件支持
+                    await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                    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
+                    */
+
+
                 }
-            }else
+            }
+            else
             {
                 if (_allcopters != null)
                     foreach (var vcopter in _allcopters)
@@ -1144,7 +1188,7 @@ namespace Plane.CommunicationManagement
         public async Task InjectGpsRTCMDataAsync(byte[] data, int length)
         {
             MAVLink.mavlink_gps_rtcm_data_t gps = new MAVLink.mavlink_gps_rtcm_data_t();
-            var msglen = 180;
+            var msglen = 180;  //飞机端是180，之前也是180和通讯盒可能也有关系
 
             //             if (length > msglen * 4)
             //                 log.Error("Message too large " + length);
@@ -1152,6 +1196,9 @@ namespace Plane.CommunicationManagement
             // number of packets we need, including a termination packet if needed
             var nopackets = (length % msglen) == 0 ? length / msglen + 1 : (length / msglen) + 1;
 
+           // if (nopackets>1)
+               // Plane.Windows.Messages.Message.Show("   RTCM_Mut:  " + length);
+
             if (nopackets >= 4)
                 nopackets = 4;
 
@@ -1182,12 +1229,18 @@ namespace Plane.CommunicationManagement
 
                 // set the length
                 gps.len = (byte)copy;
-                
+
                 byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_GPS_RTCM_DATA, gps);
+
+                // packet[2]
+                //Plane.Windows.Messages.Message.Show("["+ packet[2]+"]RTCM:"+ gps.len);
+
+               // Console.WriteLine("RTCM:" + gps.len+ "[" + data[0]+","+ data[1] + "," + data[2] + "," + data[3] + "," + data[4]+"]");
+
                 //Windows.Messages.Message.Show($"{DateTime.Now.ToString("HH:mm:ss:fff")} 单次长度 = {packet.Length}");
                 //老版本在这发送，新版本在StartRtcmLoop里面一次性打包4个180字节发送了
                 await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-
+                /*  //长RTCP数据发送还没开发完
                 lock (lock_rtcm)
                 {
                     rtcm_packets.Add(packet);
@@ -1197,6 +1250,7 @@ namespace Plane.CommunicationManagement
                         starttime = true;
                     }
                 }
+                */
 
             }
         }

PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs

@@ -114,6 +114,10 @@ namespace Plane.CommunicationManagement
                     else
                         Message.Show($"飞机{copterId}:更新进度{buffer[1]}%");
                     break;
+
+                default:
+                      //  Message.Show($"Comm3返回：{type}");
+                    break;
             }
         }
 

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -109,9 +109,13 @@ namespace Plane.Copters
             get { return UPDATE_INTERVAL; }
             set
             {
+                //最大移动距离
                 MAX_MOVE_IN_INTERVAL = MAX_VEL * value / 1000;
+                //快速模式最大移动距离
                 MAX_MOVE_IN_INTERVAL_FAST = MAX_MOVE_IN_INTERVAL * 4;
+                //速度缩放后快速速度距离
                 _scaledFastMaxMoveInInterval = MAX_MOVE_IN_INTERVAL_FAST* _speedScale;
+                //速度缩放后速度距离
                 _scaledMaxMoveInInterval = MAX_MOVE_IN_INTERVAL* _speedScale;
                 Set(nameof(sim_update_int), ref UPDATE_INTERVAL, value);
             }