串口输出

VIZ.ElectricRabbit.Connection/SerialPort/Output/Signal/IOutputPackageSerialize.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace VIZ.ElectricRabbit.Connection
+{
+    /// <summary>
+    /// 云台数据包序列化
+    /// </summary>
+    public interface IOutputPackageSerialize
+    {
+        /// <summary>
+        /// 将对象转化为二进制数据
+        /// </summary>
+        /// <returns>二进制数据</returns>
+        byte[] ToBuffer();
+
+        /// <summary>
+        /// 从二进制数据中获取数据
+        /// </summary>
+        /// <param name="buffer">二进制数据</param>
+        void FromBuffer(byte[] buffer);
+
+        /// <summary>
+        /// 获取校验值
+        /// </summary>
+        /// <returns>是否通过校验</returns>
+        byte GetCheckValue();
+    }
+}

VIZ.ElectricRabbit.Connection/SerialPort/Output/Signal/OutputPackageBase.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace VIZ.ElectricRabbit.Connection
+{
+    /// <summary>
+    /// 云台数据包基类
+    /// </summary>
+    public abstract class OutputPackageBase : IOutputPackageSerialize
+    {
+        /// <summary>
+        /// 时间 yyyy-MM-dd HH:mm:ss fff
+        /// </summary>
+        public string DateTime { get; set; }
+
+        /// <summary>
+        /// 获取一个字节数据的正负值
+        /// </summary>
+        /// <param name="buffer">Buffer</param>
+        /// <returns>当前位序</returns>
+        protected byte GetPN_1(byte[] buffer, int index)
+        {
+            return (byte)((buffer[index] & 0b10000000) >> 7);
+        }
+
+        /// <summary>
+        /// 获取一个字节数据的值
+        /// </summary>
+        /// <param name="buffer">Buffer</param>
+        /// <param name="index">当前位序</param>
+        /// <returns>值</returns>
+        protected byte GetValue_1(byte[] buffer, int index)
+        {
+            return (byte)(buffer[index] & 0b01111111);
+        }
+
+        /// <summary>
+        /// 获取两个字节数据的额正负值
+        /// </summary>
+        /// <param name="buffer">Buffer</param>
+        /// <returns>当前位序</returns>
+        protected byte GetPN_2(byte[] buffer, int index)
+        {
+            return (byte)((buffer[index + 1] & 0b10000000) >> 7);
+        }
+
+        /// <summary>
+        /// 获取两个字节数据的值
+        /// </summary>
+        /// <param name="buffer">Buffer</param>
+        /// <param name="index">当前位序</param>
+        /// <returns>值</returns>
+        protected UInt16 GetValue_2(byte[] buffer, int index)
+        {
+            return (UInt16)(buffer[index] + ((buffer[index + 1] & 0b01111111) << 8));
+        }
+
+        /// <summary>
+        /// 获取两个字节数据的值，没有正负值
+        /// </summary>
+        /// <param name="buffer">Buffer</param>
+        /// <param name="index">当前位序</param>
+        /// <returns>值</returns>
+        protected UInt16 GetValue_2_NoPN(byte[] buffer, int index)
+        {
+            return (UInt16)(buffer[index] + (buffer[index + 1] << 8));
+        }
+
+        /// <summary>
+        /// 获取两个字节数据的值，没有正负值
+        /// </summary>
+        /// <param name="buffer">Buffer</param>
+        /// <param name="index">当前位序</param>
+        /// <returns>值</returns>
+        protected Int16 GetValue_2_NoPN2(byte[] buffer, int index)
+        {
+            return (Int16)(buffer[index] + (buffer[index + 1] << 8));
+        }
+
+        /// <summary>
+        /// 获取四个字节数据的值，没有正负值
+        /// </summary>
+        /// <param name="buffer">Buffer</param>
+        /// <param name="index">当前位序</param>
+        /// <returns>值</returns>
+        protected UInt32 GetValue_4_NoPN(byte[] buffer, int index)
+        {
+            return (UInt32)(buffer[index] + (buffer[index + 1] << 8) + (buffer[index + 2] << 16) + (buffer[index + 3] << 24));
+        }
+
+        /// <summary>
+        /// 获取四个字节数据的值，没有正负值
+        /// </summary>
+        /// <param name="buffer">Buffer</param>
+        /// <param name="index">当前位序</param>
+        /// <returns>值</returns>
+        protected Int32 GetValue_4_NoPN2(byte[] buffer, int index)
+        {
+            return (Int32)(buffer[index] + (buffer[index + 1] << 8) + (buffer[index + 2] << 16) + (buffer[index + 3] << 24));
+        }
+
+        /// <summary>
+        /// 获取1个字节数据
+        /// </summary>
+        /// <param name="pn">符号位</param>
+        /// <param name="value">值</param>
+        /// <returns>字节数据</returns>
+        protected byte GetBuffer_1(byte pn, byte value)
+        {
+            return (byte)(((UInt16)pn << 7) + value);
+        }
+
+        /// <summary>
+        /// 获取2个字节数据的低位
+        /// </summary>
+        /// <param name="pn">符号</param>
+        /// <param name="value">值</param>
+        /// <returns>低位字节</returns>
+        protected byte GetBuffer_2_low(byte pn, UInt16 value)
+        {
+            return (byte)((value + (pn << 15)) & 0b0000000011111111);
+        }
+
+        /// <summary>
+        /// 获取2个字节数据的高位
+        /// </summary>
+        /// <param name="pn">符号</param>
+        /// <param name="value">值</param>
+        /// <returns>高位字节</returns>
+        protected byte GetBuffer_2_heigh(byte pn, UInt16 value)
+        {
+            return (byte)(((value + (pn << 15)) & 0b1111111100000000) >> 8);
+        }
+
+        /// <summary>
+        /// 获取2个字节数据的低位
+        /// </summary>
+        /// <param name="value">值</param>
+        /// <returns>低位字节</returns>
+        protected byte GetBuffer_2_low(UInt16 value)
+        {
+            return (byte)(value & 0b0000000011111111);
+        }
+
+        /// <summary>
+        /// 获取2个字节数据的高位
+        /// </summary>
+        /// <param name="value">值</param>
+        /// <returns>高位数据</returns>
+        protected byte GetBuffer_2_heigh(UInt16 value)
+        {
+            return (byte)((value & 0b1111111100000000) >> 8);
+        }
+
+        /// <summary>
+        /// 获取2个字节数据的低位
+        /// </summary>
+        /// <param name="value">值</param>
+        /// <returns>低位字节</returns>
+        protected byte GetBuffer_2_low(Int16 value)
+        {
+            return (byte)(value & 0b0000000011111111);
+        }
+
+        /// <summary>
+        /// 获取2个字节数据的高位
+        /// </summary>
+        /// <param name="value">值</param>
+        /// <returns>高位数据</returns>
+        protected byte GetBuffer_2_heigh(Int16 value)
+        {
+            return (byte)((value & 0b1111111100000000) >> 8);
+        }
+
+        /// <summary>
+        /// 获取4个字节数据
+        /// </summary>
+        /// <param name="value">值</param>
+        /// <returns>字节数据</returns>
+        protected byte[] GetBuffer_4(UInt32 value)
+        {
+            // 00000000
+            // 11111111
+            byte[] result = new byte[4];
+            result[0] = (byte)(value & 0b00000000000000000000000011111111);
+            result[1] = (byte)((value & 0b00000000000000001111111100000000) >> 8);
+            result[2] = (byte)((value & 0b00000000111111110000000000000000) >> 16);
+            result[3] = (byte)((value & 0b11111111000000000000000000000000) >> 24);
+
+            return result;
+        }
+
+        /// <summary>
+        /// 获取4个字节数据
+        /// </summary>
+        /// <param name="value">值</param>
+        /// <returns>字节数据</returns>
+        protected byte[] GetBuffer_4(Int32 value)
+        {
+            // 00000000
+            // 11111111
+            byte[] result = new byte[4];
+            result[0] = (byte)(value & 0b00000000000000000000000011111111);
+            result[1] = (byte)((value & 0b00000000000000001111111100000000) >> 8);
+            result[2] = (byte)((value & 0b00000000111111110000000000000000) >> 16);
+            result[3] = (byte)((value & 0b11111111000000000000000000000000) >> 24);
+
+            return result;
+        }
+
+        /// <summary>
+        /// 获取带PN的值
+        /// </summary>
+        /// <param name="pn">符号位</param>
+        /// <param name="value">值</param>
+        /// <returns>带PN的值</returns>
+        protected UInt16 GetValueWithPN(byte pn, byte value)
+        {
+            return (UInt16)((pn << 7) + value);
+        }
+
+        /// <summary>
+        /// 获取带PN的值
+        /// </summary>
+        /// <param name="pn">符号位</param>
+        /// <param name="value">值</param>
+        /// <returns>带PN的值</returns>
+        protected UInt16 GetValueWithPN(byte pn, UInt16 value)
+        {
+            return (UInt16)(value + ((UInt16)(pn) << 15));
+        }
+
+        /// <summary>
+        /// 将对象转化为二进制数据
+        /// </summary>
+        /// <returns>二进制数据</returns>
+        public abstract byte[] ToBuffer();
+
+        /// <summary>
+        /// 从二进制数据中获取数据
+        /// </summary>
+        /// <param name="buffer">二进制数据</param>
+        public abstract void FromBuffer(byte[] buffer);
+
+        /// <summary>
+        /// 获取校验值
+        /// </summary>
+        /// <returns>是否通过校验</returns>
+        public abstract byte GetCheckValue();
+    }
+}

VIZ.ElectricRabbit.Connection/SerialPort/Output/Signal/Send/OutputPackage_data.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Web.UI;
+using VIZ.ElectricRabbit.Domain;
+using VIZ.Framework.Connection;
+
+namespace VIZ.ElectricRabbit.Connection
+{
+    /// <summary>
+    /// 输出数据
+    /// </summary>
+    public class OutputPackage_data : OutputPackageBase
+    {
+        /// <summary>
+        /// 同步帧头 固定值 0xA5
+        /// </summary>
+        [ConnBitLength(8)]
+        public byte SyncHead_1 { get; set; }
+
+        /// <summary>
+        /// 同步帧头 固定值 0x2F
+        /// </summary>
+        [ConnBitLength(8)]
+        public byte SyncHead_2 { get; set; }
+
+        /// <summary>
+        /// 状态字
+        /// <see cref="OutputPackageCommands"/>
+        /// </summary>
+        [ConnBitLength(8)]
+        public byte Command { get; set; }
+
+        /// <summary>
+        /// 俯仰角度值
+        /// </summary>
+        [ConnBitLength(16)]
+        public Int16 Vertical { get; set; }
+
+        /// <summary>
+        /// 方位角度值
+        /// </summary>
+        [ConnBitLength(16)]
+        public Int16 Horizontal { get; set; }
+
+        /// <summary>
+        /// 横滚角度值
+        /// </summary>
+        [ConnBitLength(16)]
+        public Int16 Roll { get; set; }
+
+        /// <summary>
+        /// 变焦值
+        /// </summary>
+        [ConnBitLength(16)]
+        public UInt16 Zoom { get; set; }
+
+        /// <summary>
+        /// 光圈值
+        /// </summary>
+        [ConnBitLength(16)]
+        public UInt16 Aperture { get; set; }
+
+        /// <summary>
+        /// 聚焦值
+        /// </summary>
+        [ConnBitLength(16)]
+        public UInt16 Focus { get; set; }
+
+        /// <summary>
+        /// 辅助控制指令 方向 0 - 右， 1 左
+        /// </summary>
+        [ConnBitLength(1)]
+        public byte HelpCommand_PN { get; set; }
+
+        /// <summary>
+        /// 辅助控制指令
+        /// </summary>
+        [ConnBitLength(15)]
+        public UInt16 HelpCommand { get; set; }
+
+        /// <summary>
+        /// 心跳指令
+        /// </summary>
+        [ConnBitLength(8)]
+        public byte Heart { get; set; }
+
+        /// <summary>
+        /// 校验和
+        /// （序号1+……+序号52）&0xFF
+        /// </summary>
+        [ConnBitLength(8)]
+        public byte Check { get; set; }
+
+        /// <summary>
+        /// 将对象转化为二进制数据
+        /// </summary>
+        /// <returns>二进制数据</returns>
+        public override byte[] ToBuffer()
+        {
+            byte[] buffer = new byte[53];
+
+            int index = 0;
+            // 同步帧头 1
+            buffer[index++] = this.SyncHead_1;
+            // 同步帧头 2
+            buffer[index++] = this.SyncHead_2;
+            // 命令字
+            buffer[index++] = this.Command;
+            // 俯仰
+            buffer[index++] = this.GetBuffer_2_low(this.Vertical);
+            buffer[index++] = this.GetBuffer_2_heigh(this.Vertical);
+            // 方位
+            buffer[index++] = this.GetBuffer_2_low(this.Horizontal);
+            buffer[index++] = this.GetBuffer_2_heigh(this.Horizontal);
+            // 横滚
+            buffer[index++] = this.GetBuffer_2_low(this.Roll);
+            buffer[index++] = this.GetBuffer_2_heigh(this.Roll);
+            // 变焦
+            buffer[index++] = this.GetBuffer_2_low(this.Zoom);
+            buffer[index++] = this.GetBuffer_2_heigh(this.Zoom);
+            // 光圈
+            buffer[index++] = this.GetBuffer_2_low(this.Aperture);
+            buffer[index++] = this.GetBuffer_2_heigh(this.Aperture);
+            // 聚焦
+            buffer[index++] = this.GetBuffer_2_low(this.Focus);
+            buffer[index++] = this.GetBuffer_2_heigh(this.Focus);
+            // 辅助控制指令
+            buffer[index++] = this.GetBuffer_2_low(this.HelpCommand_PN, this.HelpCommand);
+            buffer[index++] = this.GetBuffer_2_heigh(this.HelpCommand_PN, this.HelpCommand);
+
+            // 备用
+            index += 30;
+
+            // 心跳
+            buffer[index++] = this.Heart;
+
+            // 校验值
+            buffer[index++] = this.Check;
+
+            return buffer;
+        }
+
+        /// <summary>
+        /// 从二进制数据中获取数据
+        /// </summary>
+        /// <param name="buffer">二进制数据</param>
+        public override void FromBuffer(byte[] buffer)
+        {
+            int index = 0;
+            // 同步帧头 1
+            this.SyncHead_1 = buffer[index++];
+            // 同步帧头 2
+            this.SyncHead_2 = buffer[index++];
+            // 命令字
+            this.Command = buffer[index++];
+            // 俯仰
+            this.Vertical = this.GetValue_2_NoPN2(buffer, index);
+            index += 2;
+            // 方位
+            this.Horizontal = this.GetValue_2_NoPN2(buffer, index);
+            index += 2;
+            // 横滚
+            this.Roll = this.GetValue_2_NoPN2(buffer, index);
+            index += 2;
+            // 变焦
+            this.Zoom = this.GetValue_2_NoPN(buffer, index);
+            index += 2;
+            // 光圈
+            this.Aperture = this.GetValue_2_NoPN(buffer, index);
+            index += 2;
+            // 聚焦
+            this.Focus = this.GetValue_2_NoPN(buffer, index);
+            index += 2;
+            // 辅助控制指令
+            this.HelpCommand_PN = this.GetPN_2(buffer, index);
+            this.HelpCommand = this.GetValue_2(buffer, index);
+            index += 2;
+
+            // 备用 
+            index += 30;
+
+            // 心跳
+            this.Heart = buffer[index++];
+
+            // 校验值
+            this.Check = buffer[index++];
+        }
+
+        /// <summary>
+        /// 获取校验值
+        /// </summary>
+        /// <returns>是否通过校验</returns>
+        public override byte GetCheckValue()
+        {
+            byte[] buffer = this.ToBuffer();
+
+            long sum = 0;
+            for (int i = 0; i < buffer.Length - 1; i++)
+            {
+                sum += buffer[i];
+            }
+
+            return (byte)(sum & 0xFF);
+        }
+    }
+}

VIZ.ElectricRabbit.Connection/UDP/Algorithm/Provider/AlgorithmProvider__detect.cs

@@ -31,6 +31,7 @@ namespace VIZ.ElectricRabbit.Connection
 
             AlgorithmDectectMessage msg = new AlgorithmDectectMessage();
             msg.target_bbox = package.target_bbox;
+            msg.center_x = package.center_x;
 
             ApplicationDomainEx.MessageManager.Send(msg);
         }

VIZ.ElectricRabbit.Connection/UDP/Algorithm/Signal/Recv/AlgorithmRecvPackage__detect.cs

@@ -21,5 +21,10 @@ namespace VIZ.ElectricRabbit.Connection
         /// 目标框（左上角x,y,右下角x,y）
         /// </summary>
         public List<int> target_bbox { get; set; }
+
+        /// <summary>
+        /// 目标中心
+        /// </summary>
+        public double center_x { get; set; }
     }
 }

VIZ.ElectricRabbit.Connection/VIZ.ElectricRabbit.Connection.csproj

@@ -68,6 +68,9 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="SerialPort\Output\Signal\IOutputPackageSerialize.cs" />
+    <Compile Include="SerialPort\Output\Signal\OutputPackageBase.cs" />
+    <Compile Include="SerialPort\Output\Signal\Send\OutputPackage_data.cs" />
     <Compile Include="UDP\Algorithm\AlgorithmPackageBase.cs" />
     <Compile Include="UDP\Algorithm\AlgorithmPackageProvider.cs" />
     <Compile Include="UDP\Algorithm\Enum\AlgorithmPackageSignal.cs" />
@@ -109,6 +112,7 @@
     <None Include="packages.config" />
   </ItemGroup>
   <ItemGroup>
+    <Folder Include="SerialPort\Output\Provider\" />
     <Folder Include="UDP\Algorithm\Info\" />
     <Folder Include="UDP\Algorithm\Sender\" />
     <Folder Include="UDP\Algorithm\Signal\Send\" />

VIZ.ElectricRabbit.Domain/Enum/OutputPackageCommands.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace VIZ.ElectricRabbit.Domain
+{
+    /// <summary>
+    /// 输出命令
+    /// </summary>
+    public enum OutputPackageCommands : byte
+    {
+        /// <summary>
+        /// 无指令
+        /// </summary>
+        [Description("无指令")]
+        None = 0x00,
+
+        /// <summary>
+        /// 有指令
+        /// </summary>
+        [Description("有指令")]
+        Command = 0x01,
+
+        /// <summary>
+        /// 复位
+        /// </summary>
+        [Description("复位")]
+        Reset = 0x02
+    }
+}

VIZ.ElectricRabbit.Domain/Enum/SerialPortKeys.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace VIZ.ElectricRabbit.Domain
+{
+    /// <summary>
+    /// 串口键
+    /// </summary>
+    public class SerialPortKeys
+    {
+        /// <summary>
+        /// 输出
+        /// </summary>
+        public const string Output = "Output";
+    }
+}

VIZ.ElectricRabbit.Domain/Message/Algorithm/AlgorithmDectectMessage.cs

@@ -15,5 +15,10 @@ namespace VIZ.ElectricRabbit.Domain
         /// 目标框
         /// </summary>
         public List<int> target_bbox { get; set; }
+
+        /// <summary>
+        /// 目标中心
+        /// </summary>
+        public double center_x { get; set; }
     }
 }

VIZ.ElectricRabbit.Domain/VIZ.ElectricRabbit.Domain.csproj

@@ -69,6 +69,8 @@
   <ItemGroup>
     <Compile Include="ApplicationConstant.cs" />
     <Compile Include="ApplicationDomainEx.cs" />
+    <Compile Include="Enum\OutputPackageCommands.cs" />
+    <Compile Include="Enum\SerialPortKeys.cs" />
     <Compile Include="Info\ClientConfigInfo.cs" />
     <Compile Include="Message\Algorithm\AlgorithmDectectMessage.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />

VIZ.ElectricRabbit.Module/MainView/Controller/Output/IOutputSupport.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using VIZ.Framework.Common;
+
+namespace VIZ.ElectricRabbit.Module
+{
+    /// <summary>
+    /// 输出支持
+    /// </summary>
+    public interface IOutputSupport
+    {
+        /// <summary>
+        /// 算法偏差值
+        /// </summary>
+        double AlgorithmDifferenceValue { get; }
+    }
+}

VIZ.ElectricRabbit.Module/MainView/Controller/Output/OutputController.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using VIZ.ElectricRabbit.Connection;
+using VIZ.ElectricRabbit.Domain;
+using VIZ.Framework.Connection;
+using VIZ.Framework.Core;
+
+namespace VIZ.ElectricRabbit.Module
+{
+    /// <summary>
+    /// 输出控制器
+    /// </summary>
+    public class OutputController : IDisposable
+    {
+        /// <summary>
+        /// 发送间隔，单位：毫秒
+        /// </summary>
+        public const int SEND_WAIT = 10;
+
+        /// <summary>
+        /// 输出控制器
+        /// </summary>
+        /// <param name="support">支持</param>
+        public OutputController(IOutputSupport support)
+        {
+            this.Support = support;
+
+            ApplicationDomainEx.ObjectPoolManager.Add("VIZ.ElectricRabbit.Module.OutputController", this);
+        }
+
+        /// <summary>
+        /// 支持
+        /// </summary>
+        public IOutputSupport Support { get; private set; }
+
+        /// <summary>
+        /// 任务信息
+        /// </summary>
+        private TaskInfo taskInfo;
+
+        /// <summary>
+        /// 任务
+        /// </summary>
+        private Task task;
+
+        /// <summary>
+        /// 心跳指令
+        /// </summary>
+        private int heart;
+
+        /// <summary>
+        /// 启动输出控制
+        /// </summary>
+        public void Start()
+        {
+            this.taskInfo = new TaskInfo();
+            this.task = Task.Run(this.Execute);
+        }
+
+        /// <summary>
+        /// 销毁
+        /// </summary>
+        public void Dispose()
+        {
+            if (this.taskInfo != null)
+            {
+                this.taskInfo.IsCancel = true;
+            }
+
+            this.taskInfo = null;
+            this.task = null;
+        }
+
+        /// <summary>
+        /// 执行
+        /// </summary>
+        private void Execute()
+        {
+            TaskInfo taskInfo = this.taskInfo;
+
+            while (!taskInfo.IsCancel)
+            {
+                if (ConnectionManager.SerialPortConnection == null)
+                {
+                    System.Threading.Thread.Sleep(SEND_WAIT);
+                    continue;
+                }
+
+                SerialPortEndpointManager endpoint = ConnectionManager.SerialPortConnection.GetEndpointManager(SerialPortKeys.Output);
+                if (endpoint == null)
+                {
+                    System.Threading.Thread.Sleep(SEND_WAIT);
+                    continue;
+                }
+
+                OutputPackage_data package = new OutputPackage_data();
+                package.SyncHead_1 = 0xA5;
+                package.SyncHead_2 = 0x2F;
+                package.HelpCommand_PN = this.Support.AlgorithmDifferenceValue < 0 ? (byte)1 : (byte)0;
+                package.HelpCommand = (UInt16)Math.Abs(this.Support.AlgorithmDifferenceValue);
+                package.Heart = (byte)this.heart;
+
+                this.heart++;
+                if (this.heart > 255)
+                {
+                    this.heart = 0;
+                }
+
+                endpoint.Send(package.ToBuffer());
+
+                System.Threading.Thread.Sleep(SEND_WAIT);
+            }
+        }
+    }
+}

VIZ.ElectricRabbit.Module/MainView/View/MainView.xaml

@@ -59,15 +59,25 @@
                 <ColumnDefinition Width="Auto"></ColumnDefinition>
             </Grid.ColumnDefinitions>
             <!-- 提示区域 -->
-            <fcommon:FlashingBorder IsFlashingEnabled="{Binding Path=SettingViewModel.IsFlashingEnabled}" 
-                                    FlashingInterval="{Binding Path=SettingViewModel.FlashingInterval,Converter={StaticResource Double2TimeSpanConverter}}">
-                <common:ArrowShape ArrowMaxHeight="120" ArrowMaxWidth="120" ArrowMinHeigh="60" ArrowMinWidth="60"
-                                   RectangleMaxHeigh="40" RectangleMaxWidth="1200" RectangleMinHeigh="5" RectangleMinWidth="20"
-                                   SafeRectangleWidth="400" RectangleHeightProportion="0.4"
-                                   DifferenceSafeValue="{Binding SettingViewModel.SafeDistance}" DifferenceMaxValue="1920" 
-                                   DifferenceValue="{Binding  DifferenceValue,Mode=OneWay}"
-                                   LeftBrush="#066FA5" RightBrush="#F70044" SafeBrush="#11CD86"></common:ArrowShape>
-            </fcommon:FlashingBorder>
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="30"></RowDefinition>
+                    <RowDefinition Height="*"></RowDefinition>
+                </Grid.RowDefinitions>
+                <!-- 中心值 -->
+                <TextBlock Text="{Binding Path=AlgorithmCenterX}" VerticalAlignment="Center" HorizontalAlignment="Center" Foreground="Red" FontSize="16"></TextBlock>
+
+                <!-- 箭头 -->
+                <fcommon:FlashingBorder IsFlashingEnabled="{Binding Path=SettingViewModel.IsFlashingEnabled}"  Grid.Row="1"
+                                        FlashingInterval="{Binding Path=SettingViewModel.FlashingInterval,Converter={StaticResource Double2TimeSpanConverter}}">
+                    <common:ArrowShape ArrowMaxHeight="120" ArrowMaxWidth="120" ArrowMinHeigh="60" ArrowMinWidth="60"
+                                       RectangleMaxHeigh="40" RectangleMaxWidth="1200" RectangleMinHeigh="5" RectangleMinWidth="20"
+                                       SafeRectangleWidth="400" RectangleHeightProportion="0.4"
+                                       DifferenceSafeValue="{Binding SettingViewModel.SafeDistance}" DifferenceMaxValue="1920" 
+                                       DifferenceValue="{Binding  DifferenceValue,Mode=OneWay}"
+                                       LeftBrush="#066FA5" RightBrush="#F70044" SafeBrush="#11CD86"></common:ArrowShape>
+                </fcommon:FlashingBorder>
+            </Grid>
             <fcommon:DebugBorder HorizontalAlignment="Left" VerticalAlignment="Center">
                 <StackPanel Orientation="Horizontal">
                     <TextBlock Text="算法FPS:" Foreground="Red" FontSize="20" Margin="10,0,10,0"></TextBlock>

VIZ.ElectricRabbit.Module/MainView/ViewModel/MainViewModel.cs

@@ -14,13 +14,16 @@ namespace VIZ.ElectricRabbit.Module
     /// <summary>
     /// 主视图模型
     /// </summary>
-    public class MainViewModel : ViewModelBase
+    public class MainViewModel : ViewModelBase, IOutputSupport
     {
         public MainViewModel()
         {
             // 初始化命令
             this.InitCommand();
 
+            // 初始化控制器
+            this.InitController();
+
             // 初始化FPS
             this.InitFPS();
 
@@ -56,6 +59,25 @@ namespace VIZ.ElectricRabbit.Module
             this.AlgorithmFPS.Start();
         }
 
+        /// <summary>
+        /// 初始化控制器
+        /// </summary>
+        private void InitController()
+        {
+            this.outputController = new OutputController(this);
+
+            this.outputController.Start();
+        }
+
+        // ================================================================================
+        // Field
+        // ================================================================================
+
+        /// <summary>
+        /// 输出控制器
+        /// </summary>
+        private OutputController outputController;
+
         // ================================================================================
         // Property
         // ================================================================================
@@ -102,6 +124,20 @@ namespace VIZ.ElectricRabbit.Module
 
         #endregion
 
+        #region AlgorithmDifferenceValue -- 算法目标框与中心轴的偏差
+
+        private double algorithmDifferenceValue;
+        /// <summary>
+        /// 算法目标框与中心轴的偏差
+        /// </summary>
+        public double AlgorithmDifferenceValue
+        {
+            get { return algorithmDifferenceValue; }
+            set { algorithmDifferenceValue = value; this.RaisePropertySaveChanged(nameof(AlgorithmDifferenceValue)); }
+        }
+
+        #endregion
+
         #region AlgorithmFPS -- 算法FPS
 
         private FPSHelper algorithmFPS;
@@ -116,6 +152,20 @@ namespace VIZ.ElectricRabbit.Module
 
         #endregion
 
+        #region AlgorithmCenterX -- 算法中心值
+
+        private double algorithmCenterX;
+        /// <summary>
+        /// 算法中心值
+        /// </summary>
+        public double AlgorithmCenterX
+        {
+            get { return algorithmCenterX; }
+            set { algorithmCenterX = value; this.RaisePropertySaveChanged(nameof(AlgorithmCenterX)); }
+        }
+
+        #endregion
+
         // ================================================================================
         // Command
         // ================================================================================
@@ -271,6 +321,9 @@ namespace VIZ.ElectricRabbit.Module
             {
                 view.video.ClearTrackingBox();
 
+                // 更新FPS
+                this.AlgorithmFPS.CalcFps();
+
                 return;
             }
 
@@ -294,6 +347,8 @@ namespace VIZ.ElectricRabbit.Module
             // 更新差值
             double center = left + (right - left) / 2d;
             this.DifferenceValue = center - this.SettingViewModel.SafeAxis;
+            this.AlgorithmCenterX = msg.center_x;
+            this.AlgorithmDifferenceValue = center - this.AlgorithmCenterX;
 
             // 更新FPS
             this.AlgorithmFPS.CalcFps();

VIZ.ElectricRabbit.Module/Setup/Provider/AppSetup_SerialPort.cs

+using log4net;
+using System;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Media;
+using VIZ.ElectricRabbit.Connection;
+using VIZ.ElectricRabbit.Domain;
+using VIZ.ElectricRabbit.Storage;
+using VIZ.Framework.Connection;
+using VIZ.Framework.Core;
+using VIZ.Framework.Domain;
+using VIZ.Framework.Module;
+
+namespace VIZ.ElectricRabbit.Module
+{
+    /// <summary>
+    /// 应用程序启动 -- 初始化串口
+    /// </summary>
+    public class AppSetup_SerialPort : AppSetupBase
+    {
+        /// <summary>
+        /// 日志
+        /// </summary>
+        private static ILog log = LogManager.GetLogger(typeof(AppSetup_SerialPort));
+
+        /// <summary>
+        /// 描述
+        /// </summary>
+        public override string Detail { get; } = "应用程序启动 -- 串口";
+
+        /// <summary>
+        /// 输出串口号
+        /// </summary>
+        private readonly string CLIENT_OUTPUT_SERIAL_PORT = ApplicationDomainEx.IniStorage.GetValue<ClientConfig, string>(p => p.CLIENT_OUTPUT_SERIAL_PORT);
+
+        /// <summary>
+        /// 执行启动
+        /// </summary>
+        /// <param name="context">应用程序启动上下文</param>
+        /// <returns>是否成功执行</returns>
+        public override bool Setup(AppSetupContext context)
+        {
+            ConnectionManager.SerialPortConnection = new SerialPortConnection();
+
+            // 下行
+            SerialPortEndpointManager down_endpoint_manager = new SerialPortEndpointManager(SerialPortKeys.Output, CLIENT_OUTPUT_SERIAL_PORT, 115200, Parity.None, 8, StopBits.One);
+            //down_endpoint_manager.PackageProvider = new GimbalPackageDownProvider(53, new byte[] { 0xA5, 0xE7 }, SerialPortKeys.Output);
+            ConnectionManager.SerialPortConnection.AddEndpointManager(down_endpoint_manager);
+
+            down_endpoint_manager.Open();
+
+            return true;
+        }
+
+        /// <summary>
+        /// 执行关闭
+        /// </summary>
+        /// <param name="context">应用程序启动上下文</param>
+        public override void Shutdown(AppSetupContext context)
+        {
+            ConnectionManager.SerialPortConnection.Dispose();
+        }
+    }
+}
\ No newline at end of file

VIZ.ElectricRabbit.Module/VIZ.ElectricRabbit.Module.csproj

@@ -106,6 +106,8 @@
     </Page>
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="MainView\Controller\Output\IOutputSupport.cs" />
+    <Compile Include="MainView\Controller\Output\OutputController.cs" />
     <Compile Include="MainView\ViewModel\MainViewModel.cs" />
     <Compile Include="MainView\View\MainView.xaml.cs">
       <DependentUpon>MainView.xaml</DependentUpon>
@@ -127,6 +129,7 @@
     <Compile Include="SettingView\View\SettingView.xaml.cs">
       <DependentUpon>SettingView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Setup\Provider\AppSetup_SerialPort.cs" />
     <Compile Include="Setup\Provider\AppSetup_InitUDP.cs" />
     <Compile Include="Setup\Provider\AppSetup_InitOpenCV.cs" />
     <Compile Include="Setup\Provider\AppSetup_InitINI.cs" />

VIZ.ElectricRabbit.Storage/Ini/ClientConfig.cs

@@ -72,5 +72,11 @@ namespace VIZ.ElectricRabbit.Storage
         /// </summary>
         [Ini(Section = "Client", DefaultValue = "#FF00FF00", Type = typeof(Color))]
         public string CLIENT_SAFE_COLOR { get; set; }
+
+        /// <summary>
+        /// 输出串口号
+        /// </summary>
+        [Ini(Section = "Client", DefaultValue = "COM1", Type = typeof(string))]
+        public string CLIENT_OUTPUT_SERIAL_PORT { get; set; }
     }
 }

VIZ.ElectricRabbit.sln

@@ -4,6 +4,9 @@ Microsoft Visual Studio Solution File, Format Version 12.00
 VisualStudioVersion = 17.3.32825.248
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "00-Doc", "00-Doc", "{1932D07C-1DF0-466F-99C0-D0A1E6A81E5E}"
+	ProjectSection(SolutionItems) = preProject
+		Doc\数据格式.docx = Doc\数据格式.docx
+	EndProjectSection
 EndProject
 Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "05-Lib", "05-Lib", "{65A5ED4D-A948-43D0-95E0-E4E1C1719F18}"
 EndProject
@@ -145,64 +148,64 @@ Global
 		{26F6DA5C-D90F-441D-95BC-3D4CD6497214}.Debug|x64.Build.0 = Debug|x64
 		{26F6DA5C-D90F-441D-95BC-3D4CD6497214}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{26F6DA5C-D90F-441D-95BC-3D4CD6497214}.Release|Any CPU.Build.0 = Release|Any CPU
-		{26F6DA5C-D90F-441D-95BC-3D4CD6497214}.Release|x64.ActiveCfg = Release|Any CPU
-		{26F6DA5C-D90F-441D-95BC-3D4CD6497214}.Release|x64.Build.0 = Release|Any CPU
+		{26F6DA5C-D90F-441D-95BC-3D4CD6497214}.Release|x64.ActiveCfg = Release|x64
+		{26F6DA5C-D90F-441D-95BC-3D4CD6497214}.Release|x64.Build.0 = Release|x64
 		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Debug|x64.ActiveCfg = Debug|x64
 		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Debug|x64.Build.0 = Debug|x64
 		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Release|Any CPU.ActiveCfg = Release|Any CPU
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-		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Release|x64.ActiveCfg = Release|Any CPU
-		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Release|x64.Build.0 = Release|Any CPU
+		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Release|x64.ActiveCfg = Release|x64
+		{DEE77458-F619-4988-A0E7-3C831A78BB14}.Release|x64.Build.0 = Release|x64
 		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Debug|x64.ActiveCfg = Debug|x64
 		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Debug|x64.Build.0 = Debug|x64
 		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Release|Any CPU.ActiveCfg = Release|Any CPU
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-		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Release|x64.ActiveCfg = Release|Any CPU
-		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Release|x64.Build.0 = Release|Any CPU
+		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Release|x64.ActiveCfg = Release|x64
+		{4337796C-5B11-4DBE-B19B-9860683B9AD3}.Release|x64.Build.0 = Release|x64
 		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Debug|x64.ActiveCfg = Debug|x64
 		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Debug|x64.Build.0 = Debug|x64
 		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Release|Any CPU.Build.0 = Release|Any CPU
-		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Release|x64.ActiveCfg = Release|Any CPU
-		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Release|x64.Build.0 = Release|Any CPU
+		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Release|x64.ActiveCfg = Release|x64
+		{688B4EEA-9CB8-488A-B84F-4522DCC4515D}.Release|x64.Build.0 = Release|x64
 		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Debug|x64.ActiveCfg = Debug|x64
 		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Debug|x64.Build.0 = Debug|x64
 		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Release|Any CPU.Build.0 = Release|Any CPU
-		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Release|x64.ActiveCfg = Release|Any CPU
-		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Release|x64.Build.0 = Release|Any CPU
+		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Release|x64.ActiveCfg = Release|x64
+		{15765169-33F9-441E-9939-EB6D8F9E6DFC}.Release|x64.Build.0 = Release|x64
 		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Debug|x64.ActiveCfg = Debug|x64
 		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Debug|x64.Build.0 = Debug|x64
 		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Release|Any CPU.Build.0 = Release|Any CPU
-		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Release|x64.ActiveCfg = Release|Any CPU
-		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Release|x64.Build.0 = Release|Any CPU
+		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Release|x64.ActiveCfg = Release|x64
+		{013482B6-E206-47FD-B4E8-FC4BC8421127}.Release|x64.Build.0 = Release|x64
 		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Debug|x64.ActiveCfg = Debug|x64
 		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Debug|x64.Build.0 = Debug|x64
 		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Release|Any CPU.Build.0 = Release|Any CPU
-		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Release|x64.ActiveCfg = Release|Any CPU
-		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Release|x64.Build.0 = Release|Any CPU
+		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Release|x64.ActiveCfg = Release|x64
+		{D698F0A0-D1A6-404F-9083-1F50C6C76565}.Release|x64.Build.0 = Release|x64
 		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Debug|x64.ActiveCfg = Debug|x64
 		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Debug|x64.Build.0 = Debug|x64
 		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Release|Any CPU.Build.0 = Release|Any CPU
-		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Release|x64.ActiveCfg = Release|Any CPU
-		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Release|x64.Build.0 = Release|Any CPU
+		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Release|x64.ActiveCfg = Release|x64
+		{B8F27D49-E5BB-408C-871E-DF023A7B2911}.Release|x64.Build.0 = Release|x64
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

VIZ.ElectricRabbit/config/config.ini

@@ -3,7 +3,7 @@
 ; ============================================================
 [Application]
 ; 是否是调试模式
-APPLICATION_IS_DEBUG=true
+APPLICATION_IS_DEBUG=false
 ; ============================================================
 ; === Video ===
 ; ============================================================
@@ -17,20 +17,22 @@ VIDEO_RENDER_WAIT=10
 ; OpenCV流索引
 CLIENT_OPEN_CV_STREAM_INDEX=1
 ; 本机绑定IP
-CLIENT_UDP_BINDING_IP=192.168.3.11
+CLIENT_UDP_BINDING_IP=127.0.0.1
 ; 本机绑定端口
 CLIENT_UDP_BINDING_PORT=8701
 ; 安全范围（单位：像素）
-CLIENT_SAFE_DISTANCE=200
+CLIENT_SAFE_DISTANCE=20
 ; 安全轴位置（单位：像素）
-CLIENT_SAFE_AXIS=960
+CLIENT_SAFE_AXIS=320
 ; 是否使用闪烁
-CLIENT_IS_FLASHING_ENABLED=false
+CLIENT_IS_FLASHING_ENABLED=False
 ; 闪烁间隔（单位：秒）
 CLIENT_FLASHING_INTERVAL=1
 ; 箭头向左颜色（格式：#AARRGGBB）
-CLIENT_LEFT_COLOR=#FF0000FF
+CLIENT_LEFT_COLOR=#00000000
 ; 箭头向右颜色（格式：#AARRGGBB）
-CLIENT_RIGHT_COLOR=#FFFF0000
+CLIENT_RIGHT_COLOR=#00000000
 ; 箭头安全颜色（格式：#AARRGGBB）
-CLIENT_SAFE_COLOR=#FF00FF00
\ No newline at end of file
+CLIENT_SAFE_COLOR=#00000000
+; 输出串口号
+CLIENT_OUTPUT_SERIAL_PORT=COM1
\ No newline at end of file