Unity读写飞控参数mavlink

Unity2019.4.30f1c1

1.在github上下载MissionPlanner-master（https://github.com/ArduPilot/MissionPlanner）工程
2.编译MissionPlanner-master\ExtLibs\Mavlink，生成Mavlink.dll（经测试net461和netstandard2.0版本都可以用）
3.在Mavlink.dll复制到Unity工程中Plugins文件夹。
4.将Newtonsoft.Json（https://github.com/JamesNK/Newtonsoft.Json）复制到Unity工程中Plugins文件夹。
4.使用串口的话需要在PlayerSetting中将Api Compatibillity Level设为.NET 4.x

using System;
using System.Collections;
using System.Collections.Generic;
using System.IO.Ports;
using UnityEngine;
using UnityEngine.UI;public class ComPortControl : MonoBehaviour
{[Header("------COM串口------")]public Image imgComStatus;public Dropdown dropdownComList;public Button bntOpenCom;[Header("------参数------")]public Button btnParamRequestList;public Button btnRequestParam;public InputField inputParamValue;public Button btnSetParam;SerialPort serialPort1 = null;MAVLink.MavlinkParse mavlink = new MAVLink.MavlinkParse();bool armed = false;// locking to prevent multiple reads on serial portobject readlock = new object();// our target sysidbyte sysid;// our target compidbyte compid;// Use this for initializationvoid Start(){//打开串口bntOpenCom.onClick.AddListener(new UnityEngine.Events.UnityAction(delegate (){ClosePort();OpenPort(dropdownComList.options[dropdownComList.value].text);}));string[] portNames = System.IO.Ports.SerialPort.GetPortNames();dropdownComList.AddOptions(new List<string>(portNames));btnParamRequestList.onClick.AddListener(OnClickParamRequestList);btnRequestParam.onClick.AddListener(RequestParam);btnSetParam.onClick.AddListener(OnClickSetParam);if (portNames.Length > 0){//OpenPort(portNames[0]);}}void OnClickParamRequestList(){if (serialPort1 == null || !serialPort1.IsOpen){Debug.Log("请先打开串口");return;}MAVLink.mavlink_param_request_list_t req = new MAVLink.mavlink_param_request_list_t();req.target_system = 1;req.target_component = 1;byte[] packet = mavlink.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.PARAM_REQUEST_LIST, req);Console.WriteLine("PARAM_REQUEST_LIST send");serialPort1.Write(packet, 0, packet.Length);}void OnClickSetParam(){if (serialPort1 == null || !serialPort1.IsOpen){Debug.Log("请先打开串口");return;}MAVLink.mavlink_param_set_t req = new MAVLink.mavlink_param_set_t();byte[] ArrData3 = new byte[16];string strParamId = "RC3_MAX";byte[] ArrData2 = System.Text.Encoding.Default.GetBytes(strParamId);ArrData2.CopyTo(ArrData3, 0);req.target_system = 1;req.target_component = 1;req.param_type = (byte)(4);req.param_id = ArrData3;req.param_value = float.Parse(inputParamValue.text);byte[] reqPacket = mavlink.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.PARAM_SET, req);Debug.Log("PARAM_SET send");serialPort1.Write(reqPacket, 0, reqPacket.Length);}void RequestParam(){if (serialPort1 == null || !serialPort1.IsOpen){Debug.Log("请先打开串口");return;}MAVLink.mavlink_param_request_read_t req = new MAVLink.mavlink_param_request_read_t();byte[] ArrData3 = new byte[16];string strParamId = "RC3_MAX";byte[] ArrData2 = System.Text.Encoding.Default.GetBytes(strParamId);ArrData2.CopyTo(ArrData3, 0);req.target_system = 1;req.target_component = 1;req.param_index = -1;req.param_id = ArrData3;byte[] reqPacket = mavlink.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.PARAM_REQUEST_READ, req);Debug.Log("PARAM_Request send");serialPort1.Write(reqPacket, 0, reqPacket.Length);}IEnumerator WriteCOMData(){if (serialPort1 != null){for (int i = 0; i < 15; i++){Byte[] TxData = { 0xF3, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x3F };serialPort1.Write(TxData, 0, 8);Debug.Log(i + "次发串口指令成功");yield return new WaitForSeconds(0.1f);}}else{Debug.Log("发串口指令失败");}}#region 创建串口，并打开串口public void OpenPort(string portName){string openPortName = portName;//创建串口int comNum = int.Parse(portName.Substring(3));if (comNum > 9){openPortName = "\\\\.\\" + portName;}try{serialPort1 = new SerialPort(openPortName, 9600, Parity.None, 8, StopBits.One);serialPort1.ReadTimeout = 50;serialPort1.Open();if (serialPort1 != null && serialPort1.IsOpen){Debug.Log(portName + "串口已打开");PlayerPrefs.SetString("IceBreakerComPort", portName);imgComStatus.sprite = Resources.Load<Sprite>("Textures/greencircle");StartCoroutine(DataReceiveFunction());}else{imgComStatus.sprite = Resources.Load<Sprite>("Textures/redcircle");Debug.Log(portName + "串口未打开");}}catch (Exception ex){Debug.Log(ex.Message);}}#endregionIEnumerator DataReceiveFunction(){while (serialPort1.IsOpen){try{MAVLink.MAVLinkMessage packet;lock (readlock){// read any valid packet from the portpacket = mavlink.ReadPacket(serialPort1.BaseStream);// check its validif (packet == null || packet.data == null)continue;}// check to see if its a hb packet from the comportif (packet.data.GetType() == typeof(MAVLink.mavlink_heartbeat_t)){var hb = (MAVLink.mavlink_heartbeat_t)packet.data;// save the sysid and compid of the seen MAVsysid = packet.sysid;compid = packet.compid;// request streams at 2 hzvar buffer = mavlink.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.REQUEST_DATA_STREAM,new MAVLink.mavlink_request_data_stream_t(){req_message_rate = 2,req_stream_id = (byte)MAVLink.MAV_DATA_STREAM.ALL,start_stop = 1,target_component = compid,target_system = sysid});serialPort1.Write(buffer, 0, buffer.Length);buffer = mavlink.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);serialPort1.Write(buffer, 0, buffer.Length);}// from here we should check the the message is addressed to usif (sysid != packet.sysid || compid != packet.compid)continue;//Debug.Log(packet.msgtypename);if (packet.msgtypename == "PARAM_VALUE"){var ack = (MAVLink.mavlink_param_value_t)packet.data;string id = System.Text.Encoding.Default.GetString(ack.param_id).Trim('\0');Debug.Log(string.Format("{0}, {1}, {2}, {3}, {4}", ack.param_count, ack.param_index, ack.param_type, id, ack.param_value));//if (id == "RC3_MAX")//{//    Debug.Log(string.Format("-------{0}, {1}, {2}, {3}, {4}", ack.param_count, ack.param_index, ack.param_type, id, ack.param_value));//}}}catch (Exception ex){//Debug.LogError(ex.Message);}yield return null;}}#region 程序退出时关闭串口public void ClosePort(){if (serialPort1 == null)return;try{serialPort1.Close();//dataReceiveThread.Abort();}catch (Exception ex){Debug.Log(ex.Message);}}#endregion/// 查找最后一个字符出现的索引/// </summary>/// <param name="buffer"></param>/// <param name="b"></param>/// <returns></returns>private int ByteArrayReverseIndex(byte[] buffer, byte b){int index = -1;for (int i = 0; i < buffer.Length; i++){if (buffer[i] == b){index = i;}}return index;}void OnDestroy(){ClosePort();}/// <summary>/// 获取下拉列表某项的索上/// </summary>/// <param name="dd">下拉列表</param>/// <param name="str">某项文字</param>/// <returns>索引</returns>public static int GetDropdownIndex(Dropdown dd, string str){int i = 0;int index = 0;foreach (var op in dd.options){if (op.text.Equals(str)){index = i;break;}i++;}return index;}private static string byteToHexStr(byte[] bytes, int length){string returnStr = "";if (bytes != null){for (int i = 0; i < length; i++){returnStr += bytes[i].ToString("X2");}}return returnStr;}
}

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