加ant+相关代码。

2021-03-30 14:23:41 +08:00
1 parent f45711f39f
commit 3c2bb10f07
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public class ANTMessage
+    {
+        public byte Id { get; set; }
+
+        public byte Size { get; set; }
+
+        public byte[] Data { get; set; }
+    }
+}
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+using ANT_Managed_Library;
+using Assets.Scripts.Devices.Ant.Messages;
+using Assets.Scripts.Devices.Ant.Pages;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public abstract class AbstractAntDevice : DataSourceBase
+    {
+        public string Name
+        {
+            get;
+            protected set;
+        }
+
+        public AntChannelProfile searchProfile;
+        public bool isInitialized = false;
+        private DeviceState state;
+        public DeviceState State
+        {
+            get
+            {
+                return state;
+            }
+            set
+            {
+                state = value;
+                if (state == DeviceState.Connected)
+                {
+                    this.GetManufacturingInformation();
+                }
+                StateChange?.Invoke(state);
+            }
+        }
+        public SensorType Sensor { get; private set; }
+
+        private int _ManufacturerId;
+        /// <summary>
+        /// 设备生产商
+        /// </summary>
+        public int ManufacturerId
+        {
+            get
+            {
+                return _ManufacturerId;
+            }
+            set
+            {
+                _ManufacturerId = value;
+            }
+        }
+
+        private ushort _DeviceNumber;
+        public ushort DeviceNumber
+        {
+            get
+            {
+                return _DeviceNumber;
+            }
+            set
+            {
+                this._DeviceNumber = value;
+                searchProfile.deviceNumber = value;
+                this.InitManufacturer();
+            }
+        }
+
+        public byte DeviceType
+        {
+            get
+            {
+                return getDefaultSearchProfile().deviceType;
+            }
+        }
+
+        public int? AntModelId { get; private set; }
+
+        public Action<DeviceState> StateChange = null;
+
+        public class AntChannelProfile
+        {
+            public byte rfOffset;
+            public byte transType;
+            public byte deviceType;
+            public ushort deviceNumber;
+            public ushort messagePeriod;
+            public bool pairingEnabled;
+        }
+
+        //private readonly Rhino.PowerFun.Services.DeviceService deviceService;
+        //private readonly DeviceDetailService _deviceDetailService;
+        //private readonly AntManufacturerService antManufacturerService;
+        protected List<IPageHandler> pageHandlers = new List<IPageHandler>();
+        public AbstractAntDevice(String defaultSourceName, racerSportType sportType, SensorType sensor)
+            : base(sportType, true)
+        {
+            State = DeviceState.Disconnected;
+            this.Name = defaultSourceName;
+            this.searchProfile = getDefaultSearchProfile();
+            this.Sensor = sensor;
+
+            //deviceService = new DeviceService();
+           // _deviceDetailService = new DeviceDetailService();
+            //antManufacturerService = new AntManufacturerService();
+
+
+            //this.InitManufacturer();
+
+            pageHandlers.Add(new ManufacturerDataPageHandler(md => {
+                this.ManufacturerId = md.ManufacturerId;
+                this.AntModelId = md.ModelNumber;
+
+                //var deviceId = $"{ this.searchProfile.deviceNumber }:{ this.searchProfile.deviceType }";
+                //var device = deviceService.Get(PubCommData.CurrentUser.Id, deviceId);
+                //if (device != null)
+                //{
+                //    device.AntManufacturerId = _ManufacturerId;
+                //    device.AntModelId = this.AntModelId;
+
+                //    device.ReportedName = antManufacturerService.GetName(device.AntManufacturerId) + " " + Sensor.ToString();
+
+                //    if (device.AntModelId.HasValue)
+                //    {
+                //        var deviceDetail = _deviceDetailService.Get(device.AntManufacturerId, device.AntModelId.Value);
+                //        if (deviceDetail != null)
+                //        {
+                //            device.ReportedName = deviceDetail.Name;
+                //        }
+                //    }
+
+                //    this.Name = device.ReportedName;
+                //    deviceService.Update(device);
+                //}
+
+            }));
+        }
+
+        /// <summary>
+        /// 从数据库里还原厂商信息
+        /// </summary>
+        private void InitManufacturer()
+        {
+            //var deviceId = $"{ this.searchProfile.deviceNumber }:{ this.searchProfile.deviceType }";
+            //Device device = PubCommData.CurrentUser != null ? deviceService.Get(PubCommData.CurrentUser.Id, deviceId) : null;
+            //if (device != null && device.AntManufacturerId > 0)
+            //{
+            //    this._ManufacturerId = device.AntManufacturerId;
+            //    this.Name = device.ReportedName;
+            //}
+        }
+
+        protected abstract AntChannelProfile getDefaultSearchProfile();
+
+        public abstract void handleChannelResponse(ANT_Response response);
+
+        public override string getDefaultSourceName()
+        {
+            //return sourceName;
+            return String.Format("{0,-14}", Name);    //HACK qc to try and even out some of the dynamic sizing issues
+        }
+
+        //public override void reset()
+        //{
+        //    base.reset();
+        //}
+
+        public void Connect()
+        {
+            if (State == DeviceState.Connected || State == DeviceState.Connecting)
+                return;
+            AntConnector.Instance().ConnectDevice(this);
+        }
+
+        public void Disconnect(bool save = true)
+        {
+            if (State == DeviceState.Disconnected || State == DeviceState.Disconnecting)
+                return;
+            AntConnector.Instance().DisconnectDevice(this, save);
+        }
+
+        //public override bool Equals(Object obj)
+        //{
+        //    //return base.Equals(obj);
+
+        //    var target = obj as AbstractAntDevice;
+        //    return this.searchProfile.deviceNumber == target.searchProfile.deviceNumber &&
+        //        this.searchProfile.deviceType == target.searchProfile.deviceType;
+        //}
+
+
+        public bool GetManufacturingInformation()
+        {
+            var channel = AntConnector.Instance().usedChannels.SingleOrDefault(u => u.DeviceNumber == this.searchProfile.deviceNumber.ToString() && u.DeviceTypeId == this.searchProfile.deviceType.ToString());
+            if (channel == null) { return false; }
+            var channelId = channel.Index;
+
+            //byte[] Data = new byte[9]
+            //{
+            //    channelId,
+            //    (byte)70,
+            //    byte.MaxValue,
+            //    byte.MaxValue,
+            //    byte.MaxValue,
+            //    byte.MaxValue,
+            //    (byte)4,
+            //    (byte)80,
+            //    (byte)1
+            //};
+            //var id = (byte)79;
+
+            var msg = new GetManufacturersInformation(channelId);
+            var result = SendMessage(msg);
+            return result;
+        }
+
+        public bool GetProductionInformation()
+        {
+            var channelId = AntConnector.Instance().usedChannels.SingleOrDefault(u => u.DeviceNumber == this.searchProfile.deviceNumber.ToString() && u.DeviceTypeId == this.searchProfile.deviceType.ToString()).Index;
+
+            //byte[] Data = new byte[9]
+            //{
+            //    channelId,
+            //    (byte)70,
+            //    byte.MaxValue,
+            //    byte.MaxValue,
+            //    byte.MaxValue,
+            //    byte.MaxValue,
+            //    (byte)4,
+            //    (byte)81,
+            //    (byte)1
+            //};
+            //var id = (byte)79;
+            var msg = new GetProductionInformation(channelId);
+            var result = SendMessage(msg);
+            return result;
+        }
+
+        protected bool SendMessage(BaseMessage message)
+        {
+            return AntConnector.Instance().SendMessage(message.GetMessage());
+        }
+
+        protected byte GetChannelId()
+        {
+            return AntConnector.Instance().usedChannels.SingleOrDefault(u => u.DeviceNumber == this.searchProfile.deviceNumber.ToString() && u.DeviceTypeId == this.searchProfile.deviceType.ToString()).Index;
+        }
+    }
+}
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@@ -0,0 +1,103 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    internal static class AirDensity
+    {
+        static double pi = 3.141592653589793;
+        static double radPerDeg = 0;
+
+        static double ae = 6378140.0;
+        //static double alphae = 1 / 298.257;
+        static double be = 0;
+        static double phi0 = 0;
+        static double R0 = 0;
+
+
+        static double meanRadius = 6371004.0;  //all use SI units
+        //static double semiMajorAxis = 6378140.0;
+        static double gravityConst = 3.98600445e14;
+        //static double J2 = 1.08263e-3;
+
+        static AirDensity()
+        {
+            radPerDeg = pi / 180.0;
+            be = 297.257 / 298.257 * ae;
+            phi0 = 29.8336 * radPerDeg;
+            R0 = ae * be / Math.Sqrt(ae * ae * Math.Sin(phi0) * Math.Sin(phi0) + be * be * Math.Cos(phi0) * Math.Cos(phi0));
+
+        }
+
+
+        /// <summary>
+        /// 计算空气密度
+        /// </summary>
+        /// <param name="geoHeight"></param>
+        /// <returns></returns>
+        public static double GetAirDensity(double geoHeight)
+        {
+            //tested
+            var H = geoHeightToPotentialH(geoHeight);
+            var z = H / (1 - H / 6356766);
+            var w = 0D;
+            if (z < 11019.1)
+            {
+                w = 1.0 - H / 44330.8;
+                return 1.225 * Math.Pow(w, 4.2559);
+            }
+            if (z < 20063.1)
+            {
+                w = Math.Exp((14964.7 - H) / 6341.6);
+                return 1.225 * .15898 * w;
+            }
+            if (z < 32161.9)
+            {
+                w = 1.0 + (H - 24902.1) / 221552;
+                return 1.225 * 3.2722e-2 * Math.Pow(w, -35.1629);
+            }
+            if (z < 47350.1)
+            {
+                w = 1.0 + (H - 39749.9) / 89410.7;
+                return 1.225 * 3.2618e-3 * Math.Pow(w, -13.2011);
+            }
+            if (z < 51412.5)
+            {
+                w = Math.Exp((48625.2 - H) / 7922.3);
+                return 1.225 * 9.4920e-4 * w;
+            }
+            if (z < 71802.0)
+            {
+                w = 1.0 - (H - 59439.0) / 88221.8;
+                return 1.225 * 2.5280e-4 * Math.Pow(w, 11.2011);
+            }
+            if (z < 86000.0)
+            {
+                w = 1.0 - (H - 78030.3) / 100295.0;
+                return 1.225 * 1.7632e-5 * Math.Pow(w, 16.0816);
+            }
+            if (z < 91000.0)
+            {
+                w = Math.Exp((87284.8 - H) / 5470.0);
+                return 1.225 * 3.6411e-6 * w;
+            }
+            return .0;//linearInter(90000.0,13000.0,3.416e-6,8.152e-9,z);
+        }
+
+
+        private static double getRadiusFromLatitude(double latitude)
+        {
+            var s = Math.Sin(latitude);
+            var c = Math.Cos(latitude);
+            return (ae * be / Math.Pow((ae * ae * s * s + be * be * c * c), .5));
+        }
+
+        private static double geoHeightToPotentialH(double h)
+        {
+            return gravityConst * h / meanRadius / (meanRadius + h) / 9.8066;
+        }
+    }
+}
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@@ -0,0 +1,523 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using ANT_Managed_Library;
+using UnityEngine;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public class AntConnector : IDisposable
+    {
+        private readonly byte[] ANTPLUS_NETWORK_KEY = new byte[]
+            {
+                //Insert the ANT+ network key here:
+                0xB9, 0xA5, 0x21, 0xFB, 0xBD, 0x72, 0xC3, 0x45
+                //Distribution of source code containing the ANT+ Network Key is prohibited. 
+                //You may not add the ANT+ Network Key to this source code and republish it. 
+                //The ANT+ Network Key is available to ANT+ Adopters. 
+                //Please refer to http://thisisant.com to become an ANT+ Adopter and access the key.
+            };
+        private readonly static object _lock = new object();
+        private static ANT_Device _antDevice = null;
+        private ANT_Channel searchChannel;
+        private readonly List<ANT_Channel> _channels = new List<ANT_Channel>();
+        private int ChannelCount
+        {
+            get
+            {
+                //if (_antDevice == null) return 0;
+                //return _antDevice.getNumChannels();
+                return _channels.Count;
+            }
+        }
+        private bool IsBackgroundScanning { get; set; }
+        //int searchingDeviceIndex = -1;
+
+        private List<AbstractAntDevice> deviceList = new List<AbstractAntDevice>();
+
+        public bool IsAvailable = false;
+        /// <summary>
+        /// 设备号,频道编号
+        /// </summary>
+        public readonly List<UserdChannel> usedChannels = new List<UserdChannel>();
+
+        public readonly List<AbstractAntDevice> discoveredDevices = new List<AbstractAntDevice>();
+
+
+        private static AntConnector _antConnector;
+        public static AntConnector Instance()
+        {
+            if (_antConnector == null)
+            {
+                _antConnector = new AntConnector();
+            }
+
+            return _antConnector;
+        }        
+
+        //private DeviceService deviceService = new DeviceService();
+        private AntConnector()
+        {
+            if (_antDevice == null)
+            {
+                //ANT_Common.enableDebugLogs();
+                //findUsableAntDevice();
+            }
+            //CheckStatus();
+
+            deviceList.Add(new FitDevice());
+            //deviceList.Add(new ds_AntPlus_Power());
+            //deviceList.Add(new ds_AntPlus_Cadence());
+            //deviceList.Add(new ds_AntPlus_HeartRate());
+            //deviceList.Add(new ds_AntPlus_BikeSpdCad());
+
+            var timer = new System.Timers.Timer(1000);
+            timer.AutoReset = true;
+            timer.Elapsed += Timer_Elapsed;
+            timer.Enabled = true;
+        }
+
+        private void Timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
+        {
+            CheckStatus();
+        }
+
+        public void CheckStatus()
+        {
+            if (_antDevice != null)
+                return;
+            //discoveredDevices.Add(new VirtualPowerDevice());
+            this.CreateAntDevice();
+        }
+
+        private void CreateAntDevice()
+        {
+            try
+            {
+                if ((int)ANT_Common.getNumDetectedUSBDevices() == 0)
+                    return;
+                _antDevice = new ANT_Device();
+                if (_antDevice.getNumChannels() <= 4)
+                {
+                    _antDevice = null;
+                    return;
+                }
+                if (!_antDevice.setNetworkKey(0, ANTPLUS_NETWORK_KEY, 500))
+                    throw new ApplicationException("Failed to set network key");
+                IsAvailable = true;
+                //_antDevice.configureAdvancedBurstSplitting(true);
+
+                _antDevice.deviceResponse += DeviceResponse;
+                _antDevice.serialError += new ANT_Device.dSerialErrorHandler(antDevice_serialError);
+                for (int i = 1; i < _antDevice.getNumChannels(); i++)
+                {
+                    var channel = _antDevice.getChannel(i);
+                    _channels.Add(channel);
+                    channel.channelResponse += new dChannelResponseHandler(DeviceResponse);
+                }
+
+                if (IsAvailable)
+                {
+                    usedChannels.Add(new UserdChannel
+                    {
+                        DeviceNumber = "scan",
+                        DeviceTypeId = "",
+                        Index = 0
+                    });
+                    StartNextSearch();
+                }
+            }
+            catch (Exception ex)
+            {
+                //ANT_Device.shutdownDeviceInstance(ref _antDevice);    //Don't leave here with an invalid device ref
+                //throw new Exception("Could not connect to valid USB2: " + ex.Message);   //forward the exception
+                //Log.ErrorLog(ex);
+                //Debug.LogError(ex);
+                //throw ex;
+                Log(ex.Message);
+            }
+            finally
+            {
+            }
+        }
+
+        private void Log(string str)
+        {
+            //System.IO.File.AppendAllText(@"D:\work\PowerFun\PowerFun-Unity\Build\log.txt", str+"\r\n");
+            Debug.LogError(str);
+        }
+
+        private void antDevice_serialError(ANT_Device sender, ANT_Device.serialErrorCode error, bool isCritical)
+        {
+            //throw new NotImplementedException();
+            Log("出错了");
+            if (error != ANT_Device.serialErrorCode.DeviceConnectionLost)
+                return;
+
+            if (_antDevice != null)
+            {
+                _antDevice.deviceResponse -= DeviceResponse;
+                _antDevice.serialError -= antDevice_serialError;
+            }
+            _antDevice = null;
+            IsAvailable = false;
+            foreach (var item in _channels)
+            {
+                item.channelResponse -= DeviceResponse;
+            }
+            searchChannel.channelResponse -= antChannel_channelResponse_FeSearch;
+            searchChannel = null;
+            discoveredDevices.Clear();
+            usedChannels.Clear();
+            IsBackgroundScanning = false;
+
+        }
+
+        void StartNextSearch()
+        {
+            //Console.WriteLine("startNextSearch");
+            if (searchChannel != null)
+            {
+                //searchChannel.Dispose();
+            }
+
+            //Get new search channel if neccesary
+            if (searchChannel == null)
+            {
+                //if (usedChannels.Count >= ChannelCount)
+                //    return;     //no free channels
+
+                //Find the first free channel and start the search
+                //for (int i = 0; i < ChannelCount; ++i)
+                //{
+                //    if (!usedChannels.Values.Contains((byte)i))
+                //    {
+                //        searchChannel = _antDevice.getChannel(i);
+                //        searchChannel.channelResponse += new dChannelResponseHandler(antChannel_channelResponse_FeSearch);
+                //        break;
+                //    }
+                //}
+                searchChannel = _antDevice.getChannel(0); // _antDevice.getChannel(usedChannels["scan"]);
+                searchChannel.channelResponse += new dChannelResponseHandler(antChannel_channelResponse_FeSearch);
+            }
+            IsBackgroundScanning = true;
+            ReSearch();
+        }
+
+        void DeviceResponse(ANT_Response response)
+        {
+            //Debug.Log(response.responseID);
+            var channelIndex = response.messageContents[0];
+
+            var antMessageId = (ANT_ReferenceLibrary.ANTMessageID)response.responseID;
+            if (antMessageId == ANT_Managed_Library.ANT_ReferenceLibrary.ANTMessageID.RESPONSE_EVENT_0x40)
+            {
+                //Trace.WriteLine(string.Join(",", response.messageContents));
+                var antEventId = (ANT_ReferenceLibrary.ANTEventID)response.messageContents[2];
+                //Trace.WriteLine(antEventId.ToString() +",  " + string.Join(",",response.messageContents));
+                if (antEventId == ANT_ReferenceLibrary.ANTEventID.EVENT_CHANNEL_CLOSED_0x07)
+                {
+
+                }
+                //设备断开连接
+                else if (antEventId == ANT_ReferenceLibrary.ANTEventID.EVENT_RX_FAIL_GO_TO_SEARCH_0x08)
+                {
+                    Debug.Log(antEventId.ToString() + ",  " + string.Join(",", response.messageContents));
+
+                    var cc1 = usedChannels.Where(d => d.Index == channelIndex).FirstOrDefault();
+                    var dd1 = discoveredDevices.SingleOrDefault(d => d.searchProfile.deviceNumber.ToString() == cc1.DeviceNumber && d.searchProfile.deviceType.ToString() == cc1.DeviceTypeId);
+                    if (dd1 != null)
+                    {
+                        dd1.Disconnect(false);
+                        return;
+                    }
+                }
+            }
+            else
+            {
+                //Trace.WriteLine(antMessageId + ",    " + string.Join(",", response.messageContents));//EVENT_RX_FAIL_GO_TO_SEARCH_0x08                
+            }
+
+            //if (antMessageId == ANT_ReferenceLibrary.ANTMessageID.BURST_DATA_0x50)
+
+            if (response.messageContents.Length == 3) return;
+            var str = string.Join(",", response.messageContents);
+
+            var cc = usedChannels.Where(d => d.Index == channelIndex).FirstOrDefault();
+            var dd = discoveredDevices.SingleOrDefault(d => d.searchProfile.deviceNumber.ToString() == cc.DeviceNumber && d.searchProfile.deviceType.ToString() == cc.DeviceTypeId);
+            if (dd != null)
+            {
+                if (dd.State == DeviceState.Connecting)
+                {
+                    dd.State = DeviceState.Connected;
+                    //IsBackgroundScanning = true;
+                    //ReSearch();
+                    //StartNextSearch();
+                    return;
+                }
+                dd.handleChannelResponse(response);
+            }
+        }
+
+        public bool SendMessage(byte msgID, byte[] msgData)
+        {
+            return _antDevice.writeRawMessageToDevice(msgID, msgData);
+        }
+
+        public bool SendMessage(ANTMessage data)
+        {
+            return SendMessage(data.Id, data.Data);
+        }
+
+        void antChannel_channelResponse_FeSearch(ANT_Response response)
+        {
+            if (IsBackgroundScanning == false)
+            {
+                searchChannel.closeChannel();
+                return;
+            }
+
+            if (response.messageContents.Length == 3) return;
+
+
+
+            var message = response.messageContents;
+            if (response.messageContents.Length >= 14)
+            {
+                message = response.messageContents.Skip(10).Take(4).ToArray();
+
+                var deviceNumber = message[0] + (message[1] << 8);
+                var deviceTypeId = message[2] & 127;
+                var transmissionTypeId = message[3];
+
+                //Console.WriteLine($"                                             {deviceNumber}, {deviceTypeId}");
+
+                var device2 = discoveredDevices.FirstOrDefault(d => d.searchProfile.deviceNumber == deviceNumber && d.searchProfile.deviceType == deviceTypeId);
+                if (device2 != null)
+                {
+                    //ReSearch();
+                    if (device2.State == DeviceState.Connected)
+                    {
+                        device2.handleChannelResponse(response);
+                        return;
+                    }
+                    else if (device2.State == DeviceState.Disconnected)
+                    {
+                        //var deviceInfo = deviceService.Get(PubCommData.CurrentUser.Id, $"{ device2.searchProfile.deviceNumber }:{ device2.searchProfile.deviceType }");
+                        //if (deviceInfo != null && deviceInfo.Paired)
+                        //{
+                        //    device2.Connect();
+                        //}
+                    }
+                    return;
+                }
+                var device1 = deviceList.SingleOrDefault(d => d.searchProfile.deviceType == deviceTypeId);
+                if (device1 != null)
+                {
+                    AbstractAntDevice device = null;
+                    switch (device1.Sensor)
+                    {
+                        case SensorType.None:
+                            break;
+                        case SensorType.Cadence:
+                            //device = new ds_AntPlus_Cadence();
+                            break;
+                        case SensorType.HeartRate:
+                            //device = new ds_AntPlus_HeartRate();
+                            break;
+                        case SensorType.Power:
+                            //device = new ds_AntPlus_Power();
+                            break;
+                        case SensorType.Speed:
+                            break;
+                        case SensorType.SpeedCadence:
+                            //device = new ds_AntPlus_BikeSpdCad();
+                            break;
+                        case SensorType.Trainer:
+                            device = new FitDevice();
+                            break;
+                        case SensorType.VirtualPower:
+                            break;
+                        default:
+                            break;
+                    }
+                    if (device != null)
+                    {
+                        //device.searchProfile.deviceNumber = (ushort)deviceNumber;
+                        device.DeviceNumber = (ushort)deviceNumber;
+                        discoveredDevices.Add(device);
+
+
+                    }
+                    //ReSearch();
+                    return;
+                }
+            }
+        }
+
+        private void ReSearch()
+        {
+            if (IsBackgroundScanning == false) return;
+            //Console.WriteLine($"research,{ DateTime.Now }");
+            if (searchChannel != null)
+            {
+                //searchChannel.closeChannel(500);
+                //searchChannel.unassignChannel();
+                //searchChannel.openChannel();
+                //return;
+            }
+            var channelIndex = (byte)0; //searchChannel.getChannelNum();
+                                        //Handle setting the search timeout
+            byte timeout = 4; //default 4*2.5=10 seconds for each device
+                              //if (deviceList.Count - usedChannels.Count == 1)
+            timeout = 255;  //search forever if we only have one device to find; If one of the other devices resets it will startNextSearch again so we won't get stuck
+
+            searchChannel.assignChannelExt(ANT_ReferenceLibrary.ChannelType.ADV_TxRx_Only_or_RxAlwaysWildCard_0x40, 0, ANT_ReferenceLibrary.ChannelTypeExtended.ADV_AlwaysSearch_0x01);
+            //SendMessage((int)ANT_ReferenceLibrary.ANTMessageID.ASSIGN_CHANNEL_0x42, new byte[] {
+            //        channelIndex,
+            //        (int)ANT_ReferenceLibrary.ChannelType.ADV_TxRx_Only_or_RxAlwaysWildCard_0x40,
+            //        0
+            //    });
+            searchChannel.setChannelID(0, false, 0, 0);
+            searchChannel.setChannelFreq(57);
+            SendMessage(102, new byte[] { channelIndex, Convert.ToByte(true) });
+            searchChannel.setLowPrioritySearchTimeout(timeout);
+            searchChannel.setChannelSearchTimeout(0);
+            searchChannel.openChannel(500);
+        }
+
+        public void ConnectDevice(AbstractAntDevice device)
+        {
+            if (usedChannels.Any(u => u.DeviceNumber == device.searchProfile.deviceNumber.ToString() &&
+                u.DeviceTypeId == device.searchProfile.deviceType.ToString()))
+                return;
+
+            if (device.Sensor == SensorType.Trainer || device.Sensor == SensorType.Power)
+            {
+                if (discoveredDevices.Any(s => s.Sensor == device.Sensor && (s.State == DeviceState.Connected || s.State == DeviceState.Connecting)))
+                {
+                    return;
+                }
+            }
+            if (device.Sensor == SensorType.Cadence)
+            {
+                if (discoveredDevices.Any(s => s.Sensor == device.Sensor && (s.State == DeviceState.Connected || s.State == DeviceState.Connecting)))
+                {
+                    return;
+                }
+            }
+            if (device.Sensor == SensorType.HeartRate)
+            {
+                if (discoveredDevices.Any(s => s.Sensor == device.Sensor && (s.State == DeviceState.Connected || s.State == DeviceState.Connecting)))
+                {
+                    return;
+                }
+            }
+
+            for (int i = 0; i < ChannelCount; i++)
+            {
+                if (!usedChannels.Any(u => u.Index == (byte)i))
+                {
+                    usedChannels.Add(new UserdChannel
+                    {
+                        DeviceNumber = device.searchProfile.deviceNumber.ToString(),
+                        DeviceTypeId = device.searchProfile.deviceType.ToString(),
+                        Index = (byte)i
+                    });
+                    break;
+                }
+            }
+
+            //var deviceService = new DeviceService();
+            //var info = deviceService.Get(PubCommData.CurrentUser.Id, device.searchProfile.deviceNumber.ToString() + ":" + device.searchProfile.deviceType);
+            //if (info != null && info.Paired == false)
+            //{
+            //    info.Paired = true;
+            //    deviceService.Update(info);
+            //}
+
+            #region 配对
+            device.State = DeviceState.Connecting;
+
+            //var r = searchChannel.closeChannel(500);
+            //if (!r)
+            //{
+            //    throw new Exception("关闭搜索频道出错");
+            //}
+
+            //CloseChannel(searchChannel);
+            //IsBackgroundScanning = false;
+
+            var channelIndex = usedChannels.Single(c => c.DeviceNumber == device.searchProfile.deviceNumber.ToString() && c.DeviceTypeId == device.searchProfile.deviceType.ToString()).Index;
+
+            var channel = _antDevice.getChannel(channelIndex);
+            //channel.channelResponse += DeviceResponse;
+            channel.assignChannel(ANT_ReferenceLibrary.ChannelType.BASE_Slave_Receive_0x00, 0);
+            channel.setChannelID(device.searchProfile.deviceNumber, false, (byte)device.searchProfile.deviceType, device.searchProfile.transType);
+            channel.setChannelPeriod(device.searchProfile.messagePeriod);
+            channel.setChannelFreq(device.searchProfile.rfOffset);
+            channel.openChannel();
+
+            //if (!r1)
+            //{
+            //    throw new Exception($"打开配对频道出错{ channelIndex }");
+            //}
+            //Console.WriteLine($"                        连接设备{ device.searchProfile.deviceNumber }, 频道{ channelIndex },{ DateTime.Now }");
+            
+
+            //Task.Delay(2000).ContinueWith((t) =>
+            //{
+            //    IsBackgroundScanning = true;
+            //    ReSearch();
+            //});
+            #endregion
+        }
+
+        public void DisconnectDevice(AbstractAntDevice device, bool save)
+        {
+            var deviceNumber = device.searchProfile.deviceNumber.ToString();
+            var deviceType = device.searchProfile.deviceType.ToString();
+            var item = usedChannels.SingleOrDefault(u => u.DeviceNumber == deviceNumber && u.DeviceTypeId == deviceType);
+            if (item == null)
+                return;
+            device.State = DeviceState.Disconnecting;
+            var channelIndex = item.Index;
+            var channel = _antDevice.getChannel(channelIndex);
+            CloseChannel(channel);
+            usedChannels.Remove(item);
+            device.State = DeviceState.Disconnected;
+
+            if (save)
+            {
+                //var deviceService = new DeviceService();
+                //var info = deviceService.Get(PubCommData.CurrentUser.Id, device.searchProfile.deviceNumber.ToString() + ":" + device.searchProfile.deviceType);
+                //if (info != null && info.Paired)
+                //{
+                //    info.Paired = false;
+                //    deviceService.Update(info);
+                //}
+            }
+        }
+
+        public void Dispose()
+        {
+            discoveredDevices.Clear();
+            deviceList.Clear();
+
+            _channels.Clear();
+
+            if (_antDevice != null)
+            {
+                _antDevice.Dispose();
+            }
+        }
+
+        public void CloseChannel(ANT_Channel channel)
+        {
+            channel.closeChannel(500);
+            channel.unassignChannel(500);
+        }
+    }
+}
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a9367d67beb5a1e49b5ecfb438961331
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,145 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public abstract class DataSourceBase
+    {
+        //double distanceTravelled = 0;
+        //DataSourcePacket lastPacketRcvd = null;
+        protected racerSportType sportType;
+
+        //const double defaultRunStrideLength = 2.5;
+        //const double defaultRowStrideLength = 5;
+        //const double defaultBikeStrideLength = 8;
+        //const double defaultSkiStrideLength = 4.5;
+
+        public string customSourceName;
+
+        public bool isInUse = false;
+        public bool isHuman;
+
+        static byte uidCount = 0;
+        public readonly byte uid;
+
+
+        public DataSourceBase(racerSportType sportType, bool isHuman)
+        {
+            this.sportType = sportType;
+            this.isHuman = isHuman;
+            uid = ++uidCount;
+            if (uidCount == byte.MaxValue)
+                uidCount = byte.MaxValue - 1; //If we overflow just stay at max instead of colliding with earlier values
+        }
+
+        Action<DataSourcePacket> distanceUpdate;
+        //bool running = false;
+
+        public racerSportType getSportType()
+        {
+            return sportType;
+        }
+
+        //public double getCurrentDistance()
+        //{
+        //    return distanceTravelled;
+        //}
+
+        //public void incrementDistanceAndUpdate(double distToAdd, double speedMs = 0xFFFF, double cadence = -1, byte heartRate = 0xFF, ushort powerW = 0xFFFF)
+        //{
+        //    if (running)
+        //    {
+        //        if (cadence == -1)
+        //            cadence = calculateCadence(speedMs);
+
+        //        distanceTravelled += distToAdd;
+        //        lastPacketRcvd = new DataSourcePacket(distanceTravelled, speedMs, cadence, heartRate, powerW);
+        //        distanceUpdate(lastPacketRcvd);
+        //    }
+        //    else //Just save the last packet for monitoring purposes
+        //    {
+        //        if(lastPacketRcvd == null)
+        //            lastPacketRcvd = new DataSourcePacket(distToAdd, speedMs, cadence, heartRate, powerW);
+        //        else
+        //            lastPacketRcvd = new DataSourcePacket(lastPacketRcvd.distance + distToAdd, speedMs, cadence, heartRate, powerW);
+        //    }
+        //}
+
+        //public virtual void reset()
+        //{
+        //    stop();
+        //    distanceTravelled = 0;
+        //    lastPacketRcvd = null;
+        //}
+
+        //public virtual void start(Action<DataSourcePacket> distanceUpdateHandler)
+        //{
+        //    distanceUpdate = distanceUpdateHandler;
+        //    running = true;            
+        //}
+
+        //public virtual void stop()
+        //{
+        //    running = false;
+        //    distanceUpdate = null;
+        //}
+
+        //public bool isRunning()
+        //{
+        //    return running;
+        //}
+
+        public abstract string getDefaultSourceName();
+
+        public string getSourceName()
+        {
+            if (String.IsNullOrWhiteSpace(customSourceName))
+                return getDefaultSourceName();
+            else
+                return customSourceName;
+        }
+
+        //public DataSourcePacket getLastDataRcvd()
+        //{
+        //    return lastPacketRcvd;
+        //}
+
+        //protected double calculateCadence(double speed_Ms)
+        //{
+        //    switch (sportType)
+        //    {
+        //        case racerSportType.Running:
+        //            return (speed_Ms * 60) / DataSourceBase.defaultRunStrideLength; //[m/min] / [m/str] = str/min
+        //        case racerSportType.Rowing:
+        //            return (speed_Ms * 60) / DataSourceBase.defaultRowStrideLength;
+        //        case racerSportType.Biking:
+        //            return (speed_Ms * 60) / DataSourceBase.defaultBikeStrideLength;
+        //        case racerSportType.Skiing:
+        //            return (speed_Ms * 60) / DataSourceBase.defaultSkiStrideLength;
+        //        default:
+        //            return 0;
+        //    }
+        //}
+    }
+
+    public class DataSourcePacket
+    {
+        public readonly double distance; //m
+        public readonly double cadence; //rpm
+        public readonly double speed_ms; //m/s
+        public readonly byte heartRate; //bpm
+        public readonly ushort power; //W
+
+        public DataSourcePacket(double dist, double spdMs, double cad, byte hr, ushort pwr)
+        {
+            distance = dist;
+            cadence = cad;
+            speed_ms = spdMs;
+            heartRate = hr;
+            power = pwr;
+        }
+    }
+}
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d26362003c1b21f419a01b150b02f110
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public enum DeviceState
+    {
+        Connecting,
+        Connected,
+        Interrupted,
+        Disconnecting,
+        Disconnected,
+    }
+}
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: da476d42626b4894c80f0fc0b46709ad
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,471 @@
+using Assets.Scripts.Devices.Ant.Interfaces;
+using Assets.Scripts.Devices.Ant.Messages;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using UnityEngine;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public class FitDevice : AbstractAntDevice, ISpeedDevice, IPowerDevice, ICadenceDevice, IRequiresRiderWeight
+    {
+        public const int MAX_NO_EVENT_STOP_COUNT = 12;
+
+        //byte lastElapsedTimeAcc;
+        //byte lastDistAcc;
+        //double calcSpeed = 0; //Averaged Speed over several msgs in case instSpeed is not available
+
+        int lastInstCadence = -1;
+        ushort lastInstPower = 0xFFFF;
+
+
+        /// <summary>
+        /// 当前坡度，当切换到其他模式的时候，需要把坡度设置为0
+        /// </summary>
+        private double _grade = 0;
+        private bool IsCalibrating { get; set; }
+        public FitDevice()
+            : base("Ant+ Trainer", racerSportType.Unknown, SensorType.Trainer)
+        {
+            this.StateChange = (state) =>
+            {
+                if (state == DeviceState.Connected)
+                {
+                    Calibrate();
+                }
+            };
+        }
+
+        /// <summary>
+        /// 发送校准命令
+        /// </summary>
+        private void Calibrate()
+        {
+            if (this.IsCalibrating)
+                return;
+
+            this.IsCalibrating = true;
+
+            base.SendMessage(new FecCalibrate(GetChannelId()));
+        }
+
+        protected override AntChannelProfile getDefaultSearchProfile()
+        {
+            return new AntChannelProfile()
+            {
+                rfOffset = 57,
+                transType = 0,
+                deviceType = 17,
+                deviceNumber = 0,
+                messagePeriod = 8192,
+                pairingEnabled = false,
+            };
+        }
+        //private byte _previousEventCount;
+
+        // Token: 0x0400054F RID: 1359
+        //private ushort _previousPeriod;
+
+        // Token: 0x04000550 RID: 1360
+        //private ushort _previousAccumulatedTorque;
+
+        private DateTime _lastEventChange = DateTime.UtcNow;
+
+        public double Speed { get; set; }
+
+        private int _Power;
+        public int Power
+        {
+            get
+            {
+                return _Power;
+            }
+            set
+            {
+                _Power = DeviceValueFilter.Power(value);
+                Debug.Log(_Power);
+            }
+        }
+
+        private int _Cadence;
+        public int Cadence
+        {
+            get
+            {
+                return _Cadence;
+            }
+            set
+            {
+                _Cadence = DeviceValueFilter.Cadence(value);
+            }
+        }
+
+        private double _riderWeight = 75.0;
+
+        public double RiderWeight
+        {
+            get => _riderWeight;
+            set
+            {
+                if (value <= 0) return;
+                this._riderWeight = value;
+                this.UpdateUserConfiguration();
+            }
+        }
+
+        public DateTime LastCalibration { get; protected set; }
+        public int? Offset { get; set; }
+
+
+        public override void handleChannelResponse(ANT_Managed_Library.ANT_Response response)
+        {
+            //Console.WriteLine(string.Join(",", response.messageContents));
+            //Log.LogInfo(string.Join(",", response.messageContents));
+            if (response.responseID == (byte)ANT_Managed_Library.ANT_ReferenceLibrary.ANTMessageID.BROADCAST_DATA_0x4E)
+            {
+                var pageNumber = response.messageContents[1];
+                switch (pageNumber)
+                {
+                    case 16:   //Page 16 - General Page
+                        {
+                            HandleGeneralDataPage(response.messageContents.Skip(1).ToArray());
+                        }
+                        break;
+                    //case 17: //general settings Page, not on bike, shows on rower, but not very useful
+                    //    {
+                    //        System.Console.Out.WriteLine("Cycle Length:" + response.messageContents[4] + ",Incline:" + (response.messageContents[5] + (response.messageContents[5] << 8)) + ",Resist:" + response.messageContents[7]);
+                    //    }
+                    //    break;
+                    //case 18: //metabolic data, doesn't show on rower or bike
+                    //    {
+                    //        System.Console.Out.WriteLine("BurnRate:" + (response.messageContents[5] + (response.messageContents[6] << 8)) + ",Cal:" + response.messageContents[7]);
+                    //    }
+                    //    break;
+                    case 19: //treadmill data
+                        {
+                            lastInstCadence = response.messageContents[5];
+                        }
+                        break;
+                    case 21: //bike data
+                    case 22: //Row data, same format as bike for cad and power
+                    case 20: //Elliptical, same format as bike for cad and power
+                    case 24: //Nordic Skier, same format as bike for cad and power
+                        {
+                            lastInstCadence = response.messageContents[5];
+                            lastInstPower = (ushort)(response.messageContents[6] + (response.messageContents[7] << 8));
+                            //System.Console.Out.WriteLine("Cadence:" + response.messageContents[5] + ",Power:" + (response.messageContents[6] + (response.messageContents[7] << 8)));
+                            //System.Console.Out.WriteLine("SPM:"+response.messageContents[5]+"Power:"+(response.messageContents[6] + (response.messageContents[7] << 8)));
+                        }
+                        break;
+                    case 25:
+
+                        HandleTrainerDataPage(response.messageContents.Skip(1).ToArray());
+                        break;
+                    //case 80:
+                    //    new ManufacturerDataPageHandler().Handle(response.messageContents.Skip(1).ToArray(), this);
+                    //    break;
+                    case 122:
+                        break;
+                    default:
+                        foreach (var handler in pageHandlers)
+                        {
+                            if (handler.CanHandle(pageNumber))
+                            {
+                                handler.Handle(response.messageContents.Skip(1).ToArray(), this);
+                            }
+                        }
+                        break;
+                }
+            }
+        }
+
+        private void HandleGeneralDataPage(byte[] dataPayload)
+        {
+            try
+            {
+                byte equipmentType = dataPayload[1];
+                byte elapsedTime = dataPayload[2];
+                byte distanceTraveled = dataPayload[3];
+
+                //byte heartRate = dataPayload[6];
+                //FecPageHandler.HeartRateDataSource heartRateDataSource = (FecPageHandler.HeartRateDataSource)(dataPayload[7] & 3);
+                //bool traveledEnabled = (dataPayload[7] & 4) == 1;
+                //bool distanceTraveledEnabled = (dataPayload[7] & 8) == 1;
+                //FecPageHandler.FeState feState = (FecPageHandler.FeState)(dataPayload[7] & 128);
+                //bool lapToggle = (dataPayload[7] & 128) == 1;
+                //this._fecGeneralData = new FecGeneralData(equipmentType, elapsedTime, distanceTraveled, (short)num, feState, lapToggle, heartRate, heartRateDataSource, traveledEnabled, distanceTraveledEnabled);
+                bool traveledEnabled = ((int)dataPayload[7] & 4) == 1;
+                bool distanceTraveledEnabled = ((int)dataPayload[7] & 8) == 1;
+
+                int num1 = (int)dataPayload[4] | (int)dataPayload[5] << 8; // Instantaneous speed, m/s
+                Speed = (double)num1 / 1000.0 * 60.0 * 60.0 / 1000.0;       //转换成公里/小时
+                //Console.WriteLine(num1 +"-----"+Speed);
+                //fecDevice.UpdateSpeed(new double?(value));
+                //PubCommData.Speed = num2;
+
+                //byte? b2 = (heartRate == 255) ? null : new byte?(heartRate);
+                //int? xl = b2.HasValue ? new int?((int)b2.GetValueOrDefault()) : 0;
+                //Console.WriteLine("最新速度" + Speed);
+                //Console.WriteLine("最新心率" + xl);
+
+                //string str = "";
+                //for (int i = 0; i < response.messageContents.Length; i++)
+                //{
+                //    str += "," + response.messageContents[i];
+                //}
+                //PubCommData.sp = "速度：" + str;
+            }
+            catch (Exception)
+            {
+            }
+        }
+
+        private void HandleTrainerDataPage(byte[] dataPayload)
+        {
+            //if (response.messageContents.Length < 11) break;
+            //double value = 0;
+            //for (int i = 0; i < response.messageContents.Length; i++)
+            //{
+            //    if (i < 8)
+            //    {
+            //        value += response.messageContents[i];
+            //    }
+            //}
+
+            //double value1 = response.messageContents[10] * 256 + response.messageContents[9];
+
+
+            //double power = response.messageContents[7] * 256 + response.messageContents[6];
+            //Console.WriteLine("power:" + power);
+            //PubCommData.power = power;
+
+            try
+            {
+                if (dataPayload[5] > 0)
+                {
+                    //Console.WriteLine(dataPayload[5] + "," + dataPayload[6]);//瞬时功率
+                }
+                byte num1 = dataPayload[1];
+                byte num2 = dataPayload[2];
+                int accumulatedPower = (int)dataPayload[3] | (int)dataPayload[4] << 8;
+                int instantaneousPower = (int)dataPayload[5] | ((int)dataPayload[6] & 15) << 8; //Watts
+                bool bikePowerCalibrationRequired = ((int)dataPayload[6] >> 4 & 1) == 1;
+                bool resistanceCalibrationRequired = ((int)dataPayload[6] >> 5 & 1) == 1;
+                bool userConfigurationRequired = ((int)dataPayload[6] >> 6 & 1) == 1;
+                bool speedIsTooLow = ((int)dataPayload[7] & 1) == 1;
+                bool speedIsTooHigh = ((int)dataPayload[7] & 2) == 1;
+
+                //PubCommData.power = instantaneousPower;
+                Power = instantaneousPower;
+
+                //bool bikePowerCalibrationRequired = (response.messageContents[6] >> 4 & 1) == 1;
+                //bool resistanceCalibrationRequired = (response.messageContents[6] >> 5 & 1) == 1;
+                //bool flag = (response.messageContents[6] >> 6 & 1) == 1;
+                //bool speedIsTooLow = (response.messageContents[7] & 1) == 1;
+                //bool speedIsTooHigh = (response.messageContents[7] & 2) == 1;
+                //FecPageHandler.FeState feState = (FecPageHandler.FeState)(dataPayload[7] & 112);
+                //bool lapToggle = (dataPayload[7] & 128) == 1;
+                //this._fecTrainerData = new FecTrainerData((int)eventCount, (int)b, accumulatedPower, num, bikePowerCalibrationRequired, resistanceCalibrationRequired, flag, speedIsTooLow, speedIsTooHigh, feState, lapToggle);
+                //device.UpdatePower(new int?(num));
+                byte? nullable = (int)num2 == (int)byte.MaxValue ? new byte?() : new byte?(num2);
+                int? cadence = nullable.HasValue ? new int?((int)nullable.GetValueOrDefault()) : new int?();
+                this.Cadence = cadence.GetValueOrDefault();
+
+                //Console.WriteLine($"power:{ instantaneousPower },Cadence:{ cadence }, data:{ string.Join(",", dataPayload) }");
+
+                if (!userConfigurationRequired)
+                    return;
+                UpdateUserConfiguration();
+            }
+            catch (Exception)
+            {
+            }
+        }
+
+
+        public void SetErgMode(int targetPower)
+        {
+            if (this.State != DeviceState.Connected)
+                return;
+            if (_grade > 0)
+            {
+                SetTrackResistance(0);
+            }
+
+            var channelId = GetChannelId();
+
+            //byte id = (byte)79;
+            //byte[] Data = new byte[9]
+            //  {
+            //        channelId,
+            //        (byte) 49,
+            //        byte.MaxValue,
+            //        byte.MaxValue,
+            //        byte.MaxValue,
+            //        byte.MaxValue,
+            //        byte.MaxValue,
+            //        (byte)(targetPower & (int) byte.MaxValue),
+            //        (byte)(targetPower >> 8 & (int) byte.MaxValue)
+            //  };
+            AntConnector.Instance().SendMessage(new FecErgMode(channelId, targetPower).GetMessage());
+        }
+
+        public void SetResistanceMode(double value)
+        {
+            if (this.State != DeviceState.Connected)
+                return;
+            if (_grade > 0)
+            {
+                SetTrackResistance(0);
+            }
+            Console.WriteLine($"阻力模式{ value }");
+            var channelId = GetChannelId();
+
+            double resistance = value / 100 * 200;
+            byte id = (byte)79;
+            byte[] Data = new byte[9]
+              {
+                    channelId,
+                    (byte) 48,
+                    byte.MaxValue,
+                    byte.MaxValue,
+                    byte.MaxValue,
+                    byte.MaxValue,
+                    byte.MaxValue,
+                    byte.MaxValue,
+                    (byte)resistance
+              };
+            AntConnector.Instance().SendMessage(id, Data);
+        }
+
+        /// <summary>
+        /// 风阻
+        /// </summary>
+        /// <param name="height">海拔高度，单位米</param>
+        public void SetWindResistance(double? height = null)
+        {
+            if (this.State != DeviceState.Connected)
+                return;
+            if (_grade > 0)
+            {
+                SetTrackResistance(0);
+            }
+            Console.WriteLine($"自由骑{ height }");
+            var channelId = GetChannelId();
+            //double resistance = value / 100 * 200;
+
+            byte windResistance = 0; //Product of Frontal Surface Area, Drag Coefficient and Air Density. Use default value: 0xFF, range: 0.00 – 1.86 kg/m
+
+            if (height.HasValue)
+            {
+                //Wind Resistance Coefficient [kg/m] = Frontal Surface Area [m2] x Drag Coefficient x Air Density[kg / m3]
+                var wr = 0.40 * 1.0 * AirDensity.GetAirDensity(height.Value);
+                if (wr > 1.86)
+                {
+                    wr = 1.86;
+                }
+                windResistance = (byte)(Convert.ToInt32(Math.Round(wr, 2) / 0.01));
+
+                Console.WriteLine($"风阻系数：{ windResistance }");
+            }
+
+            byte id = (byte)79;
+            byte[] Data = new byte[9]
+            {
+                channelId,
+                (byte) 50,
+                byte.MaxValue,
+                byte.MaxValue,
+                byte.MaxValue,
+                byte.MaxValue,
+                //Wind Resistance Coefficient  0.00 – 1.86kg/m   Product of Frontal Surface Area, Drag Coefficient and Air Density.Use default value: 0xFF
+                windResistance,
+                //Wind Speed  -127 – +127km/h
+                0xFF,
+                0xFF
+            };
+            AntConnector.Instance().SendMessage(id, Data);
+        }
+        /// <summary>
+        /// 轨道阻力        
+        /// </summary>
+        /// <param name="grade">坡度百分比的值,单位是%</param>
+        public void SetTrackResistance(double grade)
+        {
+            if (this.State != DeviceState.Connected)
+                return;
+
+            _grade = grade;
+            if (_grade > 15)
+            {
+                _grade = 15;
+            }
+            else if (_grade < -5)
+            {
+                _grade = -5;
+            }
+            //Console.WriteLine($"轨道阻力{ grade }");
+            var channelId = GetChannelId();
+            //double resistance = value / 100 * 200;
+
+            //var windResistance = 0.00; //Product of Frontal Surface Area, Drag Coefficient and Air Density. Use default value: 0xFF, range: 0.00 – 1.86kg/m
+
+            byte id = (byte)79;
+
+            // zwift started
+            // 0000   a4 09 4e 00 10 19 18 19 1a 41 00 30 80 00 00
+            // reply a4 09 4f 00 33 ff ff ff ff 45 4e ff 25 # p.74 [33] track resistance, ff ff ff ff reserved, [45] slope lsb, [4e] slope msb in 1/100%, [ff] coefficient rolling resistance
+            // Simulated Grade(%) = (Raw Grade Value x 0.01%) – 200.00% , 454e = 20037 x 0.01 -200 = 0.37%
+            //var gradeBytes = BitConverter.GetBytes(0x4E20);
+
+            var gradeValue = Convert.ToInt32((grade + 200) * 100);
+            var gradeBytes = BitConverter.GetBytes(gradeValue);
+            //var gradeBytes = BitConverter.GetBytes(20004);
+            byte[] Data = new byte[9]
+              {
+                    channelId,
+                    (byte) 51,
+                    byte.MaxValue,
+                    byte.MaxValue,
+                    byte.MaxValue,
+                    byte.MaxValue,
+                    gradeBytes[0],
+                    gradeBytes[1],
+                    byte.MaxValue
+              };
+            AntConnector.Instance().SendMessage(id, Data);
+        }
+
+        public void UpdateUserConfiguration()
+        {
+            if (this.State != DeviceState.Connected)
+                return;
+
+            var channelId = GetChannelId();
+            //var _weight = (int)(this._riderWeight * 100.0);
+            //byte id = (byte)79;
+            //byte[] Data = new byte[9]
+            //  {
+            //        channelId,
+            //        (byte) 55,
+            //        (byte)(_weight & (int) byte.MaxValue),
+            //        (byte)(_weight >> 8 & (int) byte.MaxValue),
+            //        byte.MaxValue,
+            //        (byte) 143,
+            //        (byte) 12,
+            //        (byte) 70,
+            //        (byte) 0
+            //  };
+            //AntConnector.Instance().SendMessage(id, Data);
+            AntConnector.Instance().SendMessage(new FecUserConfiguration(channelId, this._riderWeight).GetMessage());
+        }
+
+        internal void DoCalibrationSuccess(int? offset)
+        {
+            this.LastCalibration = DateTime.UtcNow;
+            this.Offset = offset;
+        }
+    }
+}
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@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    /// <summary>
+    /// 校准接口
+    /// </summary>
+    interface ICalibrationPage
+    {
+        bool CanHandle(byte calibrationId);
+
+        void Handle(byte[] dataPayload, AbstractAntDevice device);
+    }
+}
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+  externalObjects: {}
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@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Interfaces
+{
+    public interface ICadenceDevice
+    {
+        int Cadence { get; set; }
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Interfaces
+{
+    public interface IHeartRateDevice
+    {
+        int HeartRate { get; set; }
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Interfaces
+{
+    public interface IPowerDevice
+    {
+        int Power { get; set; }
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Interfaces
+{
+    public interface IRequiresRiderWeight
+    {
+        double RiderWeight { get; set; }
+    }
+}
@@ -0,0 +1,11 @@
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Interfaces
+{
+    public interface ISpeedDevice
+    {
+        /// <summary>
+        /// 公里/小时
+        /// </summary>
+        double Speed { get; set; }
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public class ManufacturerDataPageContent
+    {
+        public int HardwareRevision { get; }
+
+        public int ManufacturerId { get; }
+
+        public int ModelNumber { get; }
+
+        public ManufacturerDataPageContent(int hwRevision, int mfgId, int modelNumber)
+        {
+            this.HardwareRevision = hwRevision;
+            this.ManufacturerId = mfgId;
+            this.ModelNumber = modelNumber;
+        }
+    }
+}
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+folderAsset: yes
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Messages
+{
+    public abstract class BaseMessage
+    {
+        protected byte Channel;
+        public BaseMessage(byte channel)
+        {
+            Channel = channel;
+        }
+
+        public abstract ANTMessage GetMessage();
+    }
+}
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@@ -0,0 +1,30 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Messages
+{
+    public class FecCalibrate : BaseMessage
+    {
+        public FecCalibrate(byte channel) : base(channel)
+        {
+        }
+
+        public override ANTMessage GetMessage()
+        {
+            return new ANTMessage()
+            {
+                Id = (byte)79,
+                Size = (byte)3,
+                Data = new byte[3]
+              {
+          this.Channel,
+          (byte) 1,
+          (byte) 192
+              }
+            };
+        }
+    }
+}
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@@ -0,0 +1,40 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Messages
+{
+    public class FecErgMode : BaseMessage
+    {
+        private readonly int _targetPower;
+
+        public FecErgMode(byte channel, int targetPower)
+          : base(channel)
+        {
+            this._targetPower = targetPower;
+        }
+
+        public override ANTMessage GetMessage()
+        {
+            return new ANTMessage()
+            {
+                Id = (byte)79,
+                Size = (byte)9,
+                Data = new byte[9]
+              {
+                  this.Channel,
+                  (byte) 49,
+                  byte.MaxValue,
+                  byte.MaxValue,
+                  byte.MaxValue,
+                  byte.MaxValue,
+                  byte.MaxValue,
+                  (byte) (this._targetPower & (int) byte.MaxValue),
+                  (byte) (this._targetPower >> 8 & (int) byte.MaxValue)
+              }
+            };
+        }
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Messages
+{
+    public class FecUserConfiguration : BaseMessage
+    {
+        private readonly int _weight;
+
+        public FecUserConfiguration(byte channel, double weight)
+            : base(channel)
+        {
+            this._weight = (int)(weight * 100.0);
+        }
+
+        public override ANTMessage GetMessage()
+        {
+            return new ANTMessage()
+            {
+                Id = (byte)79,
+                Size = (byte)4,
+                Data = new byte[9]
+                {
+                  this.Channel,
+                  (byte) 55,
+                  (byte) (this._weight & (int) byte.MaxValue),
+                  (byte) (this._weight >> 8 & (int) byte.MaxValue),
+                  byte.MaxValue,
+                  (byte) 143,
+                  (byte) 12,
+                  (byte) 70,
+                  (byte) 0
+                }
+            };
+        }
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Messages
+{
+    public class GetManufacturersInformation : RequestDataPage
+    {
+        public GetManufacturersInformation(byte channel)
+          : base(channel, (byte)80, new byte?(), new byte?(), (byte)4)
+        {
+        }
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Messages
+{
+    public class GetProductionInformation : RequestDataPage
+    {
+        public GetProductionInformation(byte channel)
+      : base(channel, (byte)81, new byte?(), new byte?(), (byte)4)
+        {
+        }
+    }
+}
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@@ -0,0 +1,52 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Messages
+{
+    public class RequestDataPage: BaseMessage
+    {
+        private readonly byte _channel;
+        private byte _page;
+        private byte _descriptorByte1;
+        private byte _descriptorByte2;
+        private readonly byte _requestedTransmissionResponse;
+
+        public RequestDataPage(byte channel, byte page, byte? descriptorByte1 = null, byte? descriptorByte2 = null, byte requestedTransmissionResponse = (byte)4)
+            : base(channel)
+        {
+            this._channel = channel;
+            this._page = page;//81
+            byte? nullable = descriptorByte1;
+            this._descriptorByte1 = nullable.HasValue ? nullable.GetValueOrDefault() : byte.MaxValue;
+            nullable = descriptorByte2;
+            this._descriptorByte2 = nullable.HasValue ? nullable.GetValueOrDefault() : byte.MaxValue;
+            this._requestedTransmissionResponse = requestedTransmissionResponse;
+        }
+
+        public override ANTMessage GetMessage()
+        {
+            byte[] numArray1 = new byte[9]
+            {
+                this._channel,
+                (byte) 70,
+                byte.MaxValue,
+                byte.MaxValue,
+                this._descriptorByte1,//byte.MaxValue
+                this._descriptorByte2,//byte.MaxValue
+                this._requestedTransmissionResponse,//4
+                this._page,//81
+                (byte) 1
+            };
+            ANTMessage antMessage = new ANTMessage();
+            antMessage.Id = (byte)79;
+            int num = (int)(byte)numArray1.Length;
+            antMessage.Size = (byte)num;
+            byte[] numArray2 = numArray1;
+            antMessage.Data = numArray2;
+            return antMessage;
+        }
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Pages.CalibrationPages
+{
+    internal class FecCalibrationPage : ICalibrationPage
+    {
+        public bool CanHandle(byte calibrationId)
+        {
+            return (int)calibrationId == 20;
+        }
+
+        public void Handle(byte[] dataPayload, AbstractAntDevice device)
+        {
+            var fecDevice = device as FitDevice;
+            if (fecDevice == null)
+                return;
+
+            var offset = (int)(short)((int)dataPayload[7] | (int)dataPayload[6] << 8);
+
+            fecDevice.DoCalibrationSuccess(offset);
+        }
+    }
+}
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@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Pages
+{
+    public interface IPageHandler
+    {
+        bool CanHandle(byte pageNumber);
+
+        void Handle(byte[] dataPayload, AbstractAntDevice device);
+    }
+}
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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant.Pages
+{
+    public class ManufacturerDataPageHandler : IPageHandler
+    {
+        private readonly Action<ManufacturerDataPageContent> _callback;
+        public ManufacturerDataPageHandler(Action<ManufacturerDataPageContent> callback)
+        {
+            _callback = callback;
+        }
+
+
+        public bool CanHandle(byte pageNumber)
+        {
+            return pageNumber == 80;
+        }
+
+        public void Handle(byte[] dataPayload, AbstractAntDevice device)
+        {
+            int hwRevision = dataPayload[3];
+            int mfgId = (int)dataPayload[4] | (int)dataPayload[5] << 8;
+            int modelNumber = (int)((int)dataPayload[6] | (int)dataPayload[7] << 8);
+
+            //device.ManufacturerId = mfgId;
+            _callback(new ManufacturerDataPageContent(hwRevision, mfgId, modelNumber));
+        }
+    }
+}
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@@ -0,0 +1,42 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public enum racerSportType : byte
+    {
+        Biking = 0x00,
+        Running = 0x01,
+        Rowing = 0x02,
+        Skiing = 0x03,
+        Unknown = 0xFF,
+    }
+
+    public enum racerSourceType
+    {
+        TrackRecord,
+        WorldRecordPace,
+        FitEquip,
+    }
+
+    public enum targetType
+    {
+        Seconds,
+        Meters,
+    }
+
+    public enum SensorType
+    {
+        None,
+        Cadence,
+        HeartRate,
+        Power,
+        Speed,
+        SpeedCadence,
+        Trainer,
+        VirtualPower,
+    }
+}
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@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices.Ant
+{
+    public class UserdChannel
+    {
+        public string DeviceNumber { get; set; }
+        public string DeviceTypeId { get; set; }
+        public byte Index { get; set; }
+    }
+}
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@@ -0,0 +1,52 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Assets.Scripts.Devices
+{
+    static class DeviceValueFilter
+    {
+        public const int MaxCadence = 255;
+        public const int MaxHeartRate = 254;
+        public const int MaxPower = 2000;
+        public const double MaxSpeed = 150.0;
+
+        public static int Cadence(int? value)
+        {
+            if (value.HasValue)
+            {
+                if (value.GetValueOrDefault(0) < MaxCadence)
+                {
+                    return value.Value;
+                }
+            }
+            return -1;
+        }
+
+        public static int HeartRate(int? value)
+        {
+            if (value.HasValue)
+            {
+                if (value.GetValueOrDefault(0) < MaxHeartRate && value.GetValueOrDefault(0) >= 0)
+                {
+                    return value.Value;
+                }
+            }
+            return -1;
+        }
+
+        public static int Power(int? value)
+        {
+            if (value.HasValue)
+            {
+                if (value.GetValueOrDefault(0) < MaxPower && value.GetValueOrDefault(0) >= 0)
+                {
+                    return value.Value;
+                }
+            }
+            return -1;
+        }
+    }
+}
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