上行数据接入

VIZ.GimbalAI.Controller.Module/Setup/Provider/AppSetup_SerialPort.cs

@@ -11,6 +11,7 @@ using VIZ.Framework.Connection;
 using VIZ.Framework.Module;
 using VIZ.GimbalAI.Controller.Connection;
 using VIZ.GimbalAI.Controller.Domain;
+using VIZ.GimbalAI.Controller.Storage;
 
 namespace VIZ.GimbalAI.Controller.Module
 {
@@ -30,6 +31,16 @@ namespace VIZ.GimbalAI.Controller.Module
         public override string Detail { get; } = "应用程序启动 -- 串口";
 
         /// <summary>
+        /// 下行数据串口号（摇杆 -> 云台）
+        /// </summary>
+        private readonly string GIMBAL_SERIAL_PORT_DOWN = ApplicationDomainEx.IniStorage.GetValue<GimbalConfig, string>(p => p.GIMBAL_SERIAL_PORT_DOWN);
+
+        /// <summary>
+        /// 上行护具串口号（云台 -> 摇杆）
+        /// </summary>
+        private readonly string GIMBAL_SERIAL_PORT_UP = ApplicationDomainEx.IniStorage.GetValue<GimbalConfig, string>(p => p.GIMBAL_SERIAL_PORT_UP);
+
+        /// <summary>
         /// 执行启动
         /// </summary>
         /// <param name="context">应用程序启动上下文</param>
@@ -39,12 +50,19 @@ namespace VIZ.GimbalAI.Controller.Module
             ConnectionManager.SerialPortConnection = new SerialPortConnection();
 
             // 下行
-            SerialPortEndpointManager down_endpoint_manager = new SerialPortEndpointManager(SerialPortKeys.DOWN, "COM4", 115200, Parity.None, 8, StopBits.One);
+            SerialPortEndpointManager down_endpoint_manager = new SerialPortEndpointManager(SerialPortKeys.DOWN, GIMBAL_SERIAL_PORT_DOWN, 115200, Parity.None, 8, StopBits.One);
             down_endpoint_manager.PackageProvider = new GimbalPackageDownProvider(53, new byte[] { 0xA5, 0xE7 }, SerialPortKeys.DOWN);
             ConnectionManager.SerialPortConnection.AddEndpointManager(down_endpoint_manager);
 
             down_endpoint_manager.Open();
 
+            // 上行
+            SerialPortEndpointManager up_endpoint_manager = new SerialPortEndpointManager(SerialPortKeys.UP, GIMBAL_SERIAL_PORT_UP, 115200, Parity.None, 8, StopBits.One);
+            up_endpoint_manager.PackageProvider = new GimbalPackageUpProvider(53, new byte[] { 0x58, 0xA0 }, SerialPortKeys.UP);
+            ConnectionManager.SerialPortConnection.AddEndpointManager(up_endpoint_manager);
+
+            up_endpoint_manager.Open();
+
             return true;
         }
 
@@ -54,7 +72,7 @@ namespace VIZ.GimbalAI.Controller.Module
         /// <param name="context">应用程序启动上下文</param>
         public override void Shutdown(AppSetupContext context)
         {
-
+            ConnectionManager.SerialPortConnection.Dispose();
         }
     }
 }

VIZ.GimbalAI.Controller.Storage/Ini/Config/GimbalConfig.cs

@@ -18,5 +18,17 @@ namespace VIZ.GimbalAI.Controller.Storage
         /// </summary>
         [Ini(Section = "Gimbal", DefaultValue = "True", Type = typeof(bool))]
         public string GIMBAL_IS_WRITE_DATA { get; set; }
+
+        /// <summary>
+        /// 下行数据串口号（摇杆 -> 云台）
+        /// </summary>
+        [Ini(Section = "Gimbal", DefaultValue = "True", Type = typeof(bool))]
+        public string GIMBAL_SERIAL_PORT_DOWN { get; set; }
+
+        /// <summary>
+        /// 上行护具串口号（云台 -> 摇杆）
+        /// </summary>
+        [Ini(Section = "Gimbal", DefaultValue = "True", Type = typeof(bool))]
+        public string GIMBAL_SERIAL_PORT_UP { get; set; }
     }
 }

VIZ.GimbalAI.Controller/config/config.ini

@@ -10,4 +10,8 @@ APPLICATION_IS_DEBUG=true
 ; ============================================================
 [Gimbal]
 ; 是否输出数据
-GIMBAL_IS_WRITE_DATA=true
\ No newline at end of file
+GIMBAL_IS_WRITE_DATA=true
+; 下行数据串口号（摇杆 -> 云台）
+GIMBAL_SERIAL_PORT_DOWN=COM3
+; 上行护具串口号（云台 -> 摇杆）
+GIMBAL_SERIAL_PORT_UP=COM4
\ No newline at end of file