1232 lines
43 KiB
C#
1232 lines
43 KiB
C#
using Plane.Copters;
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using Plane.Protocols;
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using Plane.Windows.Messages;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Media;
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using static Plane.Copters.PlaneCopter;
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namespace Plane.CommunicationManagement
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{
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public partial class CommModuleManager
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{
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public int packetcount = 0;
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private static object lock_rtcm = new object();//互锁量
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private List<byte[]> rtcm_packets = new List<byte[]>();
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private DateTime waitRtcmTime = DateTime.Now;
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private bool starttime = false;
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private bool rtcm_run = false;
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private IEnumerable<ICopter> _allcopters;
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//是否使用专用传输模块
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public bool UseTransModule = true;
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private byte[] SetChannels(ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null, ushort? ch5 = null, ushort? ch6 = null, ushort? ch7 = null, ushort? ch8 = null)
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{
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MAVLink.mavlink_rc_channels_override_t rc = new MAVLink.mavlink_rc_channels_override_t();
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rc.target_component = 1;
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rc.target_system = 1;
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rc.chan1_raw = ch1 ?? 1500;
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rc.chan2_raw = ch2 ?? 1500;
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rc.chan3_raw = ch3 ?? 1500;
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rc.chan4_raw = ch4 ?? 1500;
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rc.chan5_raw = 1500;
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rc.chan6_raw = 1500;
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rc.chan7_raw = 1500;
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rc.chan8_raw = 1500;
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return GeneratePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc);
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}
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private byte[] SetModeAsync(FlightMode mode)
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{
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return SetModeAsync(mode.ToAC2Mode());
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}
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private byte[] DoARMAsync(bool armit)
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{
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return DoCommandAsync(MAVLink.MAV_CMD.COMPONENT_ARM_DISARM, armit ? 1 : 0, 21196, 0, 0, 0, 0, 0);
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}
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private byte[] DoMotorTestAsync(int motor, MAVLink.MOTOR_TEST_THROTTLE_TYPE thr_type, int throttle, int timeout)
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{
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return DoCommandAsync(MAVLink.MAV_CMD.DO_MOTOR_TEST, (float)motor, (float)(byte)thr_type, (float)throttle, (float)timeout, 0, 0, 0);
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}
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private byte[] DoCommandAsync(MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
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{
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MAVLink.mavlink_command_long_t req = new MAVLink.mavlink_command_long_t();
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req.target_system = 1;
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req.target_component = 1;
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if (actionid == MAVLink.MAV_CMD.COMPONENT_ARM_DISARM)
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{
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req.target_component = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;
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}
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req.command = (ushort)actionid;
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req.param1 = p1;
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req.param2 = p2;
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req.param3 = p3;
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req.param4 = p4;
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req.param5 = p5;
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req.param6 = p6;
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req.param7 = p7;
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return GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_LONG, req); ;
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}
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private byte[] GeneratePacket<TMavlinkPacket>(byte messageType, TMavlinkPacket indata)
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{
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byte[] data;
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data = MavlinkUtil.StructureToByteArray(indata);
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byte[] packet = new byte[data.Length + 6 + 2];
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packet[0] = MAVLink.MAVLINK_STX;
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packet[1] = (byte)(data.Length);
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packet[2] = (byte)packetcount;
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packetcount++;
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packet[3] = 255; // this is always 255 - MYGCS
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packet[4] = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER;
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packet[5] = messageType;
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int i = 6;
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foreach (byte b in data)
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{
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packet[i] = b;
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i++;
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}
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ushort checksum = MavlinkCRC.crc_calculate(packet, packet[1] + 6);
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checksum = MavlinkCRC.crc_accumulate(MAVLink.MAVLINK_MESSAGE_CRCS[messageType], checksum);
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byte ck_a = (byte)(checksum & 0xFF); ///< High byte
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byte ck_b = (byte)(checksum >> 8); ///< Low byte
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packet[i] = ck_a;
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i += 1;
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packet[i] = ck_b;
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i += 1;
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return packet;
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}
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private byte[] SetModeAsync(ac2modes modein)
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{
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try
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{
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MAVLink.mavlink_set_mode_t mode = new MAVLink.mavlink_set_mode_t();
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if (TranslateMode(modein, ref mode))
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{
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return SetModeAsync(mode);
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}
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}
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catch { }
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return null;
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}
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private byte[] SetModeAsync(MAVLink.mavlink_set_mode_t mode, MAVLink.MAV_MODE_FLAG base_mode = 0)
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{
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mode.base_mode |= (byte)base_mode;
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return GeneratePacket(MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
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}
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private bool TranslateMode(ac2modes modein, ref MAVLink.mavlink_set_mode_t mode)
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{
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mode.target_system = 1;
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switch (modein)
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{
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case ac2modes.STABILIZE:
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case ac2modes.AUTO:
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case ac2modes.RTL:
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case ac2modes.LOITER:
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case ac2modes.ACRO:
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case ac2modes.ALT_HOLD:
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case ac2modes.CIRCLE:
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case ac2modes.POSITION:
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case ac2modes.LAND:
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case ac2modes.OF_LOITER:
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case ac2modes.GUIDED:
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mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED;
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mode.custom_mode = (uint)modein;
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break;
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default:
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return false;
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}
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return true;
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}
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private byte[] SetParam2Async(string paramname, float value)
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{
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// param type is set here, however it is always sent over the air as a float 100int = 100f.
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var req = new MAVLink.mavlink_param_set_t { target_system = 1, target_component = 1, param_type = 4 };
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byte[] temp = Encoding.GetEncoding("ASCII").GetBytes(paramname);
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Array.Resize(ref temp, 16);
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req.param_id = temp;
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req.param_value = (value);
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return GeneratePacket((byte)MAVLink.MAVLINK_MSG_ID_PARAM_SET, req);
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}
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private byte[] GetParam2Async(string paramname)
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{
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var paramId = Encoding.ASCII.GetBytes(paramname);
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Array.Resize(ref paramId, 16);
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var req = new MAVLink.mavlink_param_request_read_t
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{
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param_index = -1,
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target_system = 1,
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target_component = 1,
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param_id = paramId
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};
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return GeneratePacket(MAVLink.MAVLINK_MSG_ID_PARAM_REQUEST_READ, req);
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}
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private byte[] DoLEDCommandAsync()
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{
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MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control();
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led.target_system = 1;
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led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
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led.instance = 0;
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led.pattern = 0;
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led.custom_len = 4;
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led.custom_bytes = new byte[24];
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led.custom_bytes[0] = 255;
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led.custom_bytes[1] = 255;
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led.custom_bytes[2] = 255;
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led.custom_bytes[3] = 3;
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return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
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}
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private byte[] DoTaskLEDCommandAsync(int ledmode, float ledInterval, int ledtimes, byte cR,byte cG,Byte cB)
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{
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//新版固件ledInterval间隔单位秒，传输为一个字节无法传输小数，所以*10改为100ms，可传输一位小数
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byte LEDInterval = (byte)(ledInterval * 10);// (byte)(10 / ledrate);
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MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control();
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led.target_system = 1;
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led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
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led.instance = 0;
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led.pattern = 0;
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led.custom_len = 6;
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led.custom_bytes = new byte[24];
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led.custom_bytes[0] = cR;
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led.custom_bytes[1] = cG;
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led.custom_bytes[2] = cB;
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led.custom_bytes[3] =(byte)ledmode;
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led.custom_bytes[4] = LEDInterval;
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led.custom_bytes[5] = (byte)ledtimes;
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return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
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}
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private byte[] BatchCopterIdData(IEnumerable<ICopter> copters)
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{
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byte[] BatchByte = null;
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List<ICopter> copterList = copters.OrderBy(c => int.Parse(c.Id)).ToList();
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for (int i = 0; i < copterList.Count; i++)
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{
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byte[] tempByte;
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int id = int.Parse(copterList[i].Id);
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int count = 1;
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while (i + 1 < copterList.Count && int.Parse(copterList[i + 1].Id) == id + count)
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{
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count++;
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i++;
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}
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if (count == 1)
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{
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short curId = (short)(0 << 12 ^ id);
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tempByte = BitConverter.GetBytes(curId);
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}
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else
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{
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short beginId = (short)(2 << 12 ^ id);
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tempByte = BitConverter.GetBytes(beginId);
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short numCount = (short)(4 << 12 ^ count);
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tempByte = tempByte.Concat(BitConverter.GetBytes(numCount)).ToArray();
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}
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if (BatchByte == null)
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BatchByte = tempByte;
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else
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BatchByte = BatchByte.Concat(tempByte).ToArray();
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}
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return BatchByte;
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}
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private void GetCopterIds(IEnumerable<ICopter> copters, out short copterId, out byte[] batchPacket)
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{
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copterId = 0;
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batchPacket = null;
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if (copters != null)
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{
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if (copters.Count() == 1)
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copterId = short.Parse(copters.FirstOrDefault().Id);
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else
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{
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batchPacket = BatchCopterIdData(copters);
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}
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}
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}
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private async Task RtcmLoop()
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{
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while (rtcm_run)
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{
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byte[] sendDate = new byte[0];
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lock (lock_rtcm)
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{
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if (rtcm_packets.Count >= 3 ||
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(starttime && waitRtcmTime.AddMilliseconds(200) <= DateTime.Now))
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{
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if (rtcm_packets.Count > 0)
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{
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Windows.Messages.Message.Show($"rtcm_packets.Count = {rtcm_packets.Count}");
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for (int i = 0; i < rtcm_packets.Count; i++)
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{
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sendDate = sendDate.Concat(rtcm_packets[i]).ToArray();
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}
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rtcm_packets.Clear();
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starttime = false;
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}
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}
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}
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if (sendDate != null && sendDate.Length > 0)
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{
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Windows.Messages.Message.Show($"{DateTime.Now.ToString("HH:mm:ss:fff")} 通信数据长度 = {sendDate.Length}");
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await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, sendDate).ConfigureAwait(false);
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}
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await Task.Delay(10);
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}
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}
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/////////////////////////////////////////////////////////////公开输出函数
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/// <summary>
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/// 设置通道
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/// </summary>
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/// <param name="id"></param>
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/// <param name="ch1"></param>
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/// <param name="ch2"></param>
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/// <param name="ch3"></param>
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/// <param name="ch4"></param>
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/// <returns></returns>
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public async Task SetChannelsAsync(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
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{
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if (UseTransModule)
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await SetChannelsAsync_CMod(copters, ch1, ch2, ch3, ch4);
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else await SetChannelsAsync_Single(copters, ch1, ch2, ch3, ch4);
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}
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public async Task SetChannelsAsync_Single(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
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{
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await Task.WhenAll(copters.Select(async copter =>
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await copter.SetChannelsAsync(ch2:ch2))).ConfigureAwait(false);
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}
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public async Task SetChannelsAsync_CMod(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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GetCopterIds(copters, out copterId, out batchPacket);
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byte[] packet = SetChannels(ch1, ch2, ch3, ch4);
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await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
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}
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/// <summary>
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/// 开始写任务
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/// </summary>
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/// <param name="id">飞机ID</param>
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/// <param name="missions">任务列表</param>
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/// <returns></returns>
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///
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public async Task<bool> WriteMissionListAsync(ICopter copter, List<IMission> missions)
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{
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if (UseTransModule)
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return await WriteMissionListAsync_CMod(short.Parse(copter.Id), missions);
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else return await WriteMissionListAsync_Single(copter, missions);
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}
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public async Task<bool> WriteMissionListAsync_Single(ICopter copter, List<IMission> missions)
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{
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return await copter.WriteMissionListAsync(missions);
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}
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public async Task<bool> WriteMissionListAsync_CMod(short id, List<IMission> missions)
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{
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missions.Insert(0, PLCopter.PRE_TAKE_OFF_MISSION);
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List<MAVLink.mavlink_mission_item_t> mission_list = new List<MAVLink.mavlink_mission_item_t>();
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foreach (IMission mission in missions)
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{
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var frame = mission.Command == FlightCommand.Waypoint && mission.Sequence == 0 ? MAVLink.MAV_FRAME.GLOBAL : MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
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var req = new MAVLink.mavlink_mission_item_t();
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req.target_system = 1;
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req.target_component = 1;
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req.command = (byte)mission.Command;
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req.current = 0;
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req.autocontinue = 1;
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req.frame = (byte)frame;
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if (mission.Command == FlightCommand.LEDControl)
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{
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req.x = mission.R;
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req.y = mission.G;
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req.z = mission.B;
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}
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else
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{
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req.x = (float)mission.Latitude;
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req.y = (float)mission.Longitude;
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req.z = mission.Altitude;
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}
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req.param1 = mission.Param1;
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req.param2 = mission.Param2;
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req.param3 = mission.Param3;
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req.param4 = mission.Param4;
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||
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req.seq = mission.Sequence;
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mission_list.Add(req);
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}
|
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bool result = await MissionPacket(id, (byte)MavComm.COMM_DOWNLOAD_MODE, mission_list.ToArray());
|
||
|
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lock(MissinLocker)
|
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{
|
||
if (missionWriteState.ContainsKey(id))
|
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{
|
||
missionWriteState[id].StateReturn = MissionErrorId;
|
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missionWriteState[id].ErrorCode = ErrorCode;
|
||
missionWriteState[id].SendAchieved = result;
|
||
missionWriteState[id].WriteSucceed = false;
|
||
}
|
||
else
|
||
{
|
||
CommWriteMissinState state = new CommWriteMissinState(result);
|
||
state.StateReturn = MissionErrorId;
|
||
state.ErrorCode = ErrorCode;
|
||
missionWriteState.Add(id, state);
|
||
}
|
||
return result;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开始执行任务
|
||
/// </summary>
|
||
/// <param name="hour_utc">开始执行的小时</param>
|
||
/// <param name="minute_utc">开始执行的分钟</param>
|
||
/// <param name="second_utc">开始执行的秒</param>
|
||
/// <param name="Missionlng">任务原点经度</param>
|
||
/// <param name="Missionlat">任务原点纬度</param>
|
||
/// <returns></returns>
|
||
public async Task DoMissionStartAsync(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
|
||
{
|
||
if (UseTransModule)
|
||
await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
|
||
else await DoMissionStartAsync_Single(copters, hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
|
||
|
||
}
|
||
public async Task DoMissionStartAsync_Single(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
|
||
{
|
||
|
||
foreach (var vcopter in copters)
|
||
{
|
||
await vcopter.MissionStartAsync(hour_utc,
|
||
minute_utc,
|
||
second_utc,
|
||
Missionlng,
|
||
Missionlat
|
||
);
|
||
}
|
||
|
||
}
|
||
|
||
|
||
public async Task DoMissionStartAsync_CMod(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
|
||
{
|
||
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, -1);
|
||
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 暂停任务
|
||
/// </summary>
|
||
public async Task DoMissionPauseAsync()
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, 0, 0, 0, 0, 0, 1, 0);
|
||
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
|
||
}else
|
||
Windows.Messages.Message.Show($"未开发完成！！");
|
||
}
|
||
|
||
/// <summary>
|
||
/// 恢复任务
|
||
/// </summary>
|
||
public async Task DoMissionResumeAsync(int hour_utc, int minute_utc, int second_utc)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0, 2, 0);
|
||
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
|
||
}else
|
||
Windows.Messages.Message.Show($"未开发完成！！");
|
||
}
|
||
|
||
/// <summary>
|
||
/// 解锁
|
||
/// </summary>
|
||
/// <param name="copters">要解锁的飞机</param>
|
||
/// <returns></returns>
|
||
public async Task UnlockAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
|
||
|
||
byte[] packet2 = SetModeAsync(FlightMode.ALT_HOLD);
|
||
|
||
byte[] packet3 = DoARMAsync(true);
|
||
|
||
byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
IEnumerable<ICopter> vcopters = copters;
|
||
if (vcopters == null) vcopters = _allcopters;
|
||
if (vcopters != null)
|
||
{
|
||
foreach (var vcopter in vcopters)
|
||
await vcopter.UnlockAsync();
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// LED闪烁白灯
|
||
/// </summary>
|
||
/// <param name="copters">要闪烁的飞机</param>
|
||
/// <returns></returns>
|
||
public void LED_FlickerAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
Task.Run(async () =>
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet = DoLEDCommandAsync();
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
});
|
||
}
|
||
else
|
||
{
|
||
Task.Run(async () =>
|
||
{
|
||
foreach (var vcopter in copters)
|
||
await vcopter.LEDAsync();
|
||
});
|
||
|
||
}
|
||
|
||
}
|
||
|
||
/*
|
||
|
||
private int ledmode = 0; //灯光模式 0常亮 1闪烁 2随机闪烁(RGB无意义)
|
||
private float ledInterval = 0; //间隔 单位秒 最小0.1
|
||
private int ledtimes = 0; //次数 (预留、暂取消其意义)
|
||
private string ledRGB = "FFFFFF"; //灯光颜色
|
||
|
||
*/
|
||
|
||
public void LED_TaskAsync( int ledmode, float ledInterval, int ledtimes, string ledRGB, ICopter copter,bool oldver=true )
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
Task.Run(async () =>
|
||
{
|
||
Color rightColor = (Color)ColorConverter.ConvertFromString("#" + ledRGB);
|
||
byte[] packet = DoTaskLEDCommandAsync(ledmode, ledInterval, ledtimes, (byte)rightColor.R, (byte)rightColor.G, (byte)rightColor.B);
|
||
await WriteCommPacketAsync(short.Parse(copter.Id), MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
|
||
});
|
||
}
|
||
|
||
|
||
}
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 设置参数
|
||
/// </summary>
|
||
/// <param name="paramname"></param>
|
||
/// <param name="value"></param>
|
||
/// <param name="copters"></param>
|
||
/// <returns></returns>
|
||
public async Task<int> SetParamAsync(string paramname, float value, IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet = SetParam2Async(paramname, value);
|
||
int packetNum = packet[2];
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
return packetNum;
|
||
}
|
||
else
|
||
{
|
||
IEnumerable<ICopter> vcopters = copters;
|
||
if (vcopters == null) vcopters = _allcopters;
|
||
if (vcopters != null)
|
||
{
|
||
foreach (var vcopter in vcopters)
|
||
await vcopter.SetParamAsync(paramname, value);
|
||
}
|
||
return 0;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 广播设置多个参数
|
||
/// </summary>
|
||
/// <param name="param"></param>
|
||
/// <returns></returns>
|
||
public async Task<int> SetMultipleParamAsync(params string[] param)
|
||
{
|
||
if (param.Length % 2 == 1)
|
||
return 0;
|
||
if (UseTransModule)
|
||
{
|
||
|
||
byte[] packet = null;
|
||
int packetNum = 0;
|
||
for (int i = 0; i < param.Length; i += 2)
|
||
{
|
||
string paramname = param[i];
|
||
float value = float.Parse(param[i + 1]);
|
||
byte[] data = SetParam2Async(paramname, value);
|
||
packetNum = data[2];
|
||
packet = packet == null ? data : packet.Concat(data).ToArray();
|
||
}
|
||
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
|
||
return packetNum;
|
||
}
|
||
else
|
||
{
|
||
byte[] packet = null;
|
||
int packetNum = 0;
|
||
for (int i = 0; i < param.Length; i += 2)
|
||
{
|
||
string paramname = param[i];
|
||
float value = float.Parse(param[i + 1]);
|
||
// foreach (var vcopter in Copters )
|
||
// await vcopter.SetParamAsync(paramname, value);
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
return 0;
|
||
}
|
||
}
|
||
|
||
|
||
public void SetAllCoptersForWifi(IEnumerable<ICopter> copters )
|
||
{
|
||
|
||
_allcopters = copters;
|
||
|
||
}
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 读取参数
|
||
/// </summary>
|
||
/// <param name="paramname"></param>
|
||
/// <param name="copters"></param>
|
||
/// <returns></returns>
|
||
///
|
||
|
||
|
||
public async Task ReadParamAsnyc(string paramname, IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet = GetParam2Async(paramname);
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
Windows.Messages.Message.Show($"未开发完成！！");
|
||
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 起飞测试
|
||
/// </summary>
|
||
/// <param name="alt">起飞高度</param>
|
||
/// <param name="copters"></param>
|
||
/// <returns></returns>
|
||
public async Task TakeOffAsync(float alt, IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet1 = SetModeAsync(FlightMode.GUIDED);
|
||
|
||
byte[] packet2 = SetChannels(1500, 1500, 1500, 1500);
|
||
|
||
byte[] packet3 = DoCommandAsync(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0, 0, alt);
|
||
|
||
byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
foreach (var vcopter in copters)
|
||
await vcopter.TakeOffAsync();
|
||
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 返航
|
||
/// </summary>
|
||
/// <param name="copters"></param>
|
||
/// <returns></returns>
|
||
public async Task ReturnToLaunchAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet = SetModeAsync(FlightMode.RTL);
|
||
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
foreach (var vcopter in copters)
|
||
await vcopter.ReturnToLaunchAsync ();
|
||
|
||
}
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 获取飞机版本
|
||
/// </summary>
|
||
/// <param name="copters"></param>
|
||
/// <returns></returns>
|
||
public async Task GetVersionsAsync(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 = 0;
|
||
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>
|
||
/// <returns></returns>
|
||
public async Task LandAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet = SetModeAsync(FlightMode.LAND);
|
||
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
IEnumerable<ICopter> vcopters = copters;
|
||
if (vcopters == null) vcopters = _allcopters;
|
||
if (vcopters != null)
|
||
{
|
||
foreach (var vcopter in vcopters)
|
||
await vcopter.LandAsync();
|
||
}
|
||
|
||
}
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 加锁
|
||
/// </summary>
|
||
/// <param name="armit"></param>
|
||
/// <returns></returns>
|
||
public async Task LockAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
|
||
|
||
byte[] packet2 = DoARMAsync(false);
|
||
|
||
byte[] data = packet1.Concat(packet2).ToArray();
|
||
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
IEnumerable<ICopter> vcopters = copters;
|
||
if (vcopters == null) vcopters = _allcopters;
|
||
if (vcopters != null)
|
||
{
|
||
foreach (var vcopter in vcopters)
|
||
await vcopter.LockAsync();
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 测试电机
|
||
/// </summary>
|
||
/// <param name="motor"></param>
|
||
/// <returns></returns>
|
||
public async Task MotorTestAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
//1-4代表1-4电机
|
||
byte[] data1 = DoMotorTestAsync(1, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
|
||
byte[] data2 = DoMotorTestAsync(2, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
|
||
byte[] data3 = DoMotorTestAsync(3, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
|
||
byte[] data4 = DoMotorTestAsync(4, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
|
||
|
||
byte[] data = data1.Concat(data2).Concat(data3).Concat(data4).ToArray();
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket);
|
||
}
|
||
else
|
||
{
|
||
if (copters != null)
|
||
foreach (var vcopter in copters)
|
||
{
|
||
await vcopter.MotorTestAsync(1);
|
||
await vcopter.MotorTestAsync(2);
|
||
await vcopter.MotorTestAsync(3);
|
||
await vcopter.MotorTestAsync(4);
|
||
}
|
||
|
||
}
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 切换悬停模式
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
public async Task HoverAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet1 = SetChannels(1500, 1500, 1500, 1500);
|
||
|
||
byte[] packet2 = SetModeAsync(FlightMode.LOITER);
|
||
|
||
byte[] data = packet1.Concat(packet2).ToArray();
|
||
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
if (copters != null)
|
||
foreach (var vcopter in copters)
|
||
await vcopter.HoverAsync();
|
||
|
||
}
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 切换手动模式
|
||
/// </summary>
|
||
/// <param name="copters"></param>
|
||
/// <returns></returns>
|
||
public async Task FloatAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet = SetModeAsync(FlightMode.ALT_HOLD);
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
if (copters!=null)
|
||
foreach (var vcopter in copters)
|
||
await vcopter.FloatAsync();
|
||
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 校准加速计
|
||
/// </summary>
|
||
/// <param name="copterId"></param>
|
||
/// <returns></returns>
|
||
public async Task DoStartPreflightCompassAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
if (copters != null)
|
||
foreach (var vcopter in copters)
|
||
await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
|
||
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 校准加速计下一步
|
||
/// </summary>
|
||
/// <param name="copterId"></param>
|
||
/// <returns></returns>
|
||
public async Task DoNextPreflightCompassAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
|
||
req.command = 1;
|
||
req.result = 1;
|
||
|
||
if (UseTransModule)
|
||
{
|
||
byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
if (copters != null)
|
||
foreach (var vcopter in copters)
|
||
{
|
||
await vcopter.DoCommandAckAsync(1, 1);
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 校准指南针
|
||
/// </summary>
|
||
/// <param name="copterId"></param>
|
||
/// <returns></returns>
|
||
public async Task DoCalibrationCompassAsync(IEnumerable<ICopter> copters = null)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
short copterId = 0;
|
||
byte[] batchPacket = null;
|
||
GetCopterIds(copters, out copterId, out batchPacket);
|
||
|
||
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
if (copters != null)
|
||
foreach (var vcopter in copters)
|
||
await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
|
||
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 放弃校准指南针
|
||
/// </summary>
|
||
/// <param name="copterId"></param>
|
||
/// <returns></returns>
|
||
public async Task DoCancelCalibrationCompassAsync(short copterId)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_CANCEL_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
|
||
}
|
||
else
|
||
{
|
||
Windows.Messages.Message.Show($"未开发完成！！");
|
||
}
|
||
}
|
||
/// <summary>
|
||
/// 确认校准磁罗盘
|
||
/// </summary>
|
||
/// <param name="copterId"></param>
|
||
/// <returns></returns>
|
||
public async Task DoAcceptCalibrationCompassAsync(short copterId)
|
||
{
|
||
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_ACCEPT_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
|
||
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
|
||
}
|
||
|
||
|
||
|
||
|
||
/// <summary>
|
||
///广播Rtk
|
||
/// </summary>
|
||
/// <param name="data"></param>
|
||
/// <param name="length"></param>
|
||
/// <returns></returns>
|
||
public async Task InjectGpsDataAsync(byte[] data, ushort length)
|
||
{
|
||
if (UseTransModule)
|
||
{
|
||
MAVLink.mavlink_gps_inject_data_t gps = new MAVLink.mavlink_gps_inject_data_t();
|
||
var msglen = 110;
|
||
int datalen = 0;
|
||
var len = (length % msglen) == 0 ? length / msglen : (length / msglen) + 1;
|
||
for (int a = 0; a < len; a++)
|
||
{
|
||
datalen = Math.Min(length - a * msglen, msglen);
|
||
gps.data = new byte[msglen];
|
||
Array.Copy(data, a * msglen, gps.data, 0, datalen);
|
||
gps.len = (byte)datalen;
|
||
gps.target_component = 1;
|
||
gps.target_system = 1;
|
||
byte[] packet = GenerateRTKPacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps, gps.len);
|
||
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
|
||
}
|
||
}else
|
||
{
|
||
if (_allcopters != null)
|
||
foreach (var vcopter in _allcopters)
|
||
await vcopter.InjectGpsDataAsync(data, length);
|
||
}
|
||
}
|
||
|
||
int inject_seq_no = 0;
|
||
|
||
/// <summary>
|
||
/// 插入RTK数据
|
||
/// </summary>
|
||
/// <param name="data"></param>
|
||
/// <param name="length"></param>
|
||
/// <returns></returns>
|
||
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;
|
||
|
||
// if (length > msglen * 4)
|
||
// log.Error("Message too large " + length);
|
||
|
||
// number of packets we need, including a termination packet if needed
|
||
var nopackets = (length % msglen) == 0 ? length / msglen + 1 : (length / msglen) + 1;
|
||
|
||
if (nopackets >= 4)
|
||
nopackets = 4;
|
||
|
||
// flags = isfrag(1)/frag(2)/seq(5)
|
||
|
||
for (int a = 0; a < nopackets; a++)
|
||
{
|
||
// check if its a fragment
|
||
if (nopackets > 1)
|
||
gps.flags = 1;
|
||
else
|
||
gps.flags = 0;
|
||
|
||
// add fragment number
|
||
gps.flags += (byte)((a & 0x3) << 1);
|
||
|
||
// add seq number
|
||
gps.flags += (byte)((inject_seq_no & 0x1f) << 3);
|
||
|
||
// create the empty buffer
|
||
gps.data = new byte[msglen];
|
||
|
||
// calc how much data we are copying
|
||
int copy = Math.Min(length - a * msglen, msglen);
|
||
|
||
// copy the data
|
||
Array.Copy(data, a * msglen, gps.data, 0, copy);
|
||
|
||
// set the length
|
||
gps.len = (byte)copy;
|
||
|
||
byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_GPS_RTCM_DATA, gps);
|
||
//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);
|
||
|
||
lock (lock_rtcm)
|
||
{
|
||
rtcm_packets.Add(packet);
|
||
if (rtcm_packets.Count == 1)
|
||
{
|
||
waitRtcmTime = DateTime.Now;
|
||
starttime = true;
|
||
}
|
||
}
|
||
|
||
}
|
||
}
|
||
|
||
|
||
|
||
/// <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);
|
||
}
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 产生RTK包
|
||
/// </summary>
|
||
/// <typeparam name="TMavlinkPacket"></typeparam>
|
||
/// <param name="messageType"></param>
|
||
/// <param name="indata"></param>
|
||
/// <param name="rtklength"></param>
|
||
/// <returns></returns>
|
||
public byte[] GenerateRTKPacketAsync<TMavlinkPacket>(byte messageType, TMavlinkPacket indata, int rtklength)
|
||
{
|
||
byte[] data;
|
||
int rtkdataleng = rtklength + 3;
|
||
|
||
data = MavlinkUtil.StructureToByteArray(indata);
|
||
|
||
|
||
byte[] packet = new byte[rtkdataleng + 6 + 2];
|
||
|
||
packet[0] = MAVLink.MAVLINK_STX;
|
||
packet[1] = (byte)(rtkdataleng);
|
||
packet[2] = (byte)packetcount;
|
||
packetcount++;
|
||
packet[3] = 255; // this is always 255 - MYGCS
|
||
packet[4] = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER;
|
||
packet[5] = messageType;
|
||
|
||
int i = 6;
|
||
foreach (byte b in data)
|
||
{
|
||
if (i < rtkdataleng + 6)
|
||
packet[i] = b;
|
||
else break;
|
||
i++;
|
||
}
|
||
|
||
ushort checksum = MavlinkCRC.crc_calculate(packet, packet[1] + 6);
|
||
|
||
checksum = MavlinkCRC.crc_accumulate(MAVLink.MAVLINK_MESSAGE_CRCS[messageType], 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;
|
||
|
||
return packet;
|
||
}
|
||
|
||
|
||
}
|
||
|
||
}
|