20231030 продолжаем допиливать протоколы под новейший ПИВ

Переделаны piv.cs и rtp.cs

piv.cs

@@ -821,7 +821,7 @@ namespace PIV
     }
     public static class OES2BVM
     {
-        private const UInt16 _len_pack = 32;
+        private const UInt16 _len_pack = 54;
         private static UInt16 _len_data = _len_pack - 8;
         private static UInt16 _len_crc = _len_pack - 2;
 
@@ -843,7 +843,7 @@ namespace PIV
         public static Byte Start = CONST.START;
         public static UInt16 Address = (UInt16)CONST.ADDR.addrBVM | (UInt16)CONST.ADDR.addrPU | (UInt16)CONST.ADDR.addrPR;
         public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA;
-        public static UInt16 Lenght = 24;
+        public static UInt16 Lenght = _len_data;
         public static UInt16 Id_Pack
         {
             get
@@ -941,6 +941,16 @@ namespace PIV
         public static float UM;
         public static float usAZ;
         public static float usUM;
+
+        public static UInt16 eth_X;
+        public static UInt16 eth_Y;
+        public static Int32 eth_Vysota;
+        public static Int16 eth_Kren;
+        public static Int16 eth_Tangaj;
+        public static Int16 eth_Kurs;
+        public static float eth_AZupr;
+        public static float eth_UMupr;
+
         public static UInt16 CRC16;
 
         public static Byte[] Data = new Byte[_len_pack];
@@ -957,6 +967,22 @@ namespace PIV
             Array.Copy(BitConverter.GetBytes(UM), 0, Data, 18, 4);
             Array.Copy(BitConverter.GetBytes(usAZ), 0, Data, 22, 4);
             Array.Copy(BitConverter.GetBytes(usUM), 0, Data, 26, 4);
+            //public static UInt16 eth_X;
+            //public static UInt16 eth_Y;
+            //public static Int32 eth_Vysota;
+            //public static Int16 eth_Kren;
+            //public static Int16 eth_Tangaj;
+            //public static Int16 eth_Kurs;
+            //public static float eth_AZupr;
+            //public static float eth_UMupr;
+            Array.Copy(BitConverter.GetBytes(eth_X), 0, Data, 30, 2);
+            Array.Copy(BitConverter.GetBytes(eth_Y), 0, Data, 32, 2);
+            Array.Copy(BitConverter.GetBytes(eth_Vysota), 0, Data, 34, 4);
+            Array.Copy(BitConverter.GetBytes(eth_Kren), 0, Data, 38, 2);
+            Array.Copy(BitConverter.GetBytes(eth_Tangaj), 0, Data, 40, 2);
+            Array.Copy(BitConverter.GetBytes(eth_Kurs), 0, Data, 42, 2);
+            Array.Copy(BitConverter.GetBytes(eth_AZupr), 0, Data, 44, 4);
+            Array.Copy(BitConverter.GetBytes(eth_UMupr), 0, Data, 48, 4);
 
             UInt16 _crc16 = CONST.CRC16(ref Data, _len_crc);
             Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, _len_crc, 2);
@@ -974,7 +1000,17 @@ namespace PIV
             UM = BitConverter.ToSingle(Data, 18);
             usAZ = BitConverter.ToSingle(Data, 22);
             usUM = BitConverter.ToSingle(Data, 26);
-            CRC16 = BitConverter.ToUInt16(Data, 30);
+
+            eth_X = BitConverter.ToUInt16(Data, 30);
+            eth_Y = BitConverter.ToUInt16(Data, 32);
+            eth_Vysota = BitConverter.ToInt32(Data, 34);
+            eth_Kren = BitConverter.ToInt16(Data, 38);
+            eth_Tangaj = BitConverter.ToInt16(Data, 40);
+            eth_Kurs = BitConverter.ToInt16(Data, 42);
+            eth_AZupr = BitConverter.ToSingle(Data, 44);
+            eth_UMupr = BitConverter.ToSingle(Data, 48);
+
+            CRC16 = BitConverter.ToUInt16(Data, _len_crc);
         }
         public static void ClearData()
         {
@@ -1000,7 +1036,8 @@ namespace PIV
         private static UInt16 _id_pack = 0x0211;
 
         private static UInt16 _rejim = 0;
-        private static UInt16 _r_crc = 0;
+        private static UInt16 _r_upr = 0;
+//        private static UInt16 _r_crc = 0;
         private static UInt16 _r_rejimoes = 0;
         private static UInt16 _r_tk = 0;
         private static UInt16 _r_rks = 0;
@@ -1009,7 +1046,7 @@ namespace PIV
         public static Byte Start = CONST.START;
         public static UInt16 Address = (UInt16)CONST.ADDR.addrOES;
         public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA;
-        public static UInt16 Lenght = 34;
+        public static UInt16 Lenght = _len_data;
         public static UInt16 Id_Pack
         {
             get
@@ -1061,7 +1098,8 @@ namespace PIV
             get
             {
                 _rejim = 0;
-                _rejim |= (UInt16)(_r_crc << 0);
+//                _rejim |= (UInt16)(_r_crc << 0);
+                _rejim |= (UInt16)(_r_upr << 0);
                 _rejim |= (UInt16)(_r_rejimoes << 1);
                 _rejim |= (UInt16)(_r_tk << 3);
                 _rejim |= (UInt16)(_r_rks << 4);
@@ -1071,14 +1109,16 @@ namespace PIV
             set
             {
                 _rejim = value;
-                _r_crc =        (UInt16)((value & 0x0001) >> 0);
+//                _r_crc = (UInt16)((value & 0x0001) >> 0);
+                _r_upr = (UInt16)((value & 0x0001) >> 0);
                 _r_rejimoes =   (UInt16)((value & 0x0006) >> 1);
                 _r_tk =         (UInt16)((value & 0x0008) >> 3);
                 _r_rks =        (UInt16)((value & 0x0010) >> 4);
                 _r_eizo =       (UInt16)((value & 0x0020) >> 5);
             }
         }
-            public static UInt16 r_crc { get => _r_crc; set => _r_crc = value; }
+        public static UInt16 r_upr { get => _r_upr; set => _r_upr = value; }
+//        public static UInt16 r_crc { get => _r_crc; set => _r_crc = value; }
         public static UInt16 r_rejimoes { get => _r_rejimoes; set => _r_rejimoes = value; }
             public static UInt16 r_tk { get => _r_tk; set => _r_tk = value; }
             public static UInt16 r_rks { get => _r_rks; set => _r_rks = value; }
@@ -1243,7 +1283,7 @@ namespace PIV
         public static Byte Start = CONST.START;
         public static UInt16 Address = (UInt16)CONST.ADDR.addrBVM | (UInt16)CONST.ADDR.addrOES;
         public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA;
-        public static UInt16 Lenght = 77;
+        public static UInt16 Lenght = _len_data;
         public static UInt16 Id_Pack
         {
             get

rtp.cs

@@ -88,7 +88,7 @@ namespace nRTP
                 _SeqCounter_Hi = value;
             }
         }
-        public static UInt16 MH_DataLen;        // Количество байт данных строки, включенной в пакет
+        public static UInt16 MH_DataLen = (UInt16)_len_data;        // Количество байт данных строки, включенной в пакет
         public static UInt16 MH_RowNumber;      // Номер строки
         public static UInt16 MH_Offset;         // Смещение первого пиксела в строке (= 0)
 
@@ -350,7 +350,7 @@ namespace nRTP
                 _SeqCounter_Hi = value;
             }
         }
-        public static UInt16 MH_DataLen;        // Количество байт данных строки, включенной в пакет
+        public static UInt16 MH_DataLen = (UInt16)_len_data;        // Количество байт данных строки, включенной в пакет
         public static UInt16 MH_RowNumber;      // Номер строки
         public static UInt16 MH_Offset;         // Смещение первого пиксела в строке (= 0)
 

udplib.cs

@@ -301,13 +301,16 @@ namespace UDPLIB
             RTPet.SD_Height = (ushort)Res.Crop.Height;
             RTPet.SD_AzUpr = 0;
             RTPet.SD_ElUpr = 0;
-            RTPet.SD_Course = 0;
+            RTPet.SD_Shirota = RTP.SD_Shirota;
-            RTPet.SD_Roll = 0;
+            RTPet.SD_Dolgota = RTP.SD_Dolgota;
-            RTPet.SD_Pitch = 0;
+            RTPet.SD_Vysota = RTP.SD_Vysota;    
+            RTPet.SD_Course = RTP.SD_Course;
+            RTPet.SD_Roll = RTP.SD_Roll;
+            RTPet.SD_Pitch = RTP.SD_Pitch;
             RTPet.SD_FrameId = 0;
             RTPet.SD_X = 0;
             RTPet.SD_Y = 0; 
-            RTPet.SD_lx = 0;
+            RTPet.SD_lx = ;
             RTPet.SD_ly = 0;
             RTPet.SD_rejim_oes = 0;
             RTPet.SD_color = 0;