继续修改wifi可以发送rtk等功能

PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs

@@ -131,8 +131,27 @@ namespace Plane.Copters
         /// <returns>表示此命令异步发送操作的 <see cref="Task"/> 实例。</returns>
         Task StopPairingAsync();
 
-
+        /// <summary>
+        /// 发送命令
+        /// </summary>
+        /// <param name="actionid"></param>
+        /// <param name="p1"></param>
+        /// <param name="p2"></param>
+        /// <param name="p3"></param>
+        /// <param name="p4"></param>
+        /// <param name="p5"></param>
+        /// <param name="p6"></param>
+        /// <param name="p7"></param>
+        /// <returns></returns>
         Task DoCommandAsync(int actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7);
+        /// <summary>
+        /// 发送命令数据包已生成
+        /// </summary>
+        /// <param name="actionid"></param>
+        /// <param name="data"></param>
+        /// <returns></returns>
+        Task DoCommandAckAsync(ushort command, byte result);
         
+
     }
 }

PlaneGcsSdk_Shared/Communication/UdpServerConnectionManager.NET.cs

@@ -41,6 +41,7 @@ namespace Plane.Communication
                             {
                                 var connection = new UdpServerConnection(ep, _client.SendAsync);
                                 _connections.Add(remoteAddress, connection);
+                                //调用AddOrUpdateCopter添加飞机
                                 RaiseConnectionEstablished(connection, remoteAddress);
                             }
                             _connections[remoteAddress].EnqueueDatagram(data);

PlaneGcsSdk_Shared/Communication/UdpServerConnectionManager.cs

@@ -27,6 +27,11 @@ namespace Plane.Communication
             _connections.Clear();
         }
 
+        public void DeleteConnections(string remoteAddress)
+        {
+            _connections.Remove(remoteAddress);
+        }
+
         public void Dispose()
         {
             if (_disposed)

PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs

@@ -18,6 +18,7 @@ namespace Plane.CommunicationManagement
         private DateTime waitRtcmTime = DateTime.Now;
         private bool starttime = false;
         private bool rtcm_run = false;
+        private IEnumerable<ICopter> _allcopters;
         //是否使用专用传输模块
         public bool UseTransModule = true;
 
@@ -494,8 +495,13 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                foreach (var vcopter in copters)
+                IEnumerable<ICopter> vcopters = copters;
-                    await vcopter.UnlockAsync();
+                if (vcopters == null) vcopters = _allcopters;
+                if (vcopters != null)
+                {
+                    foreach (var vcopter in vcopters)
+                        await vcopter.UnlockAsync();
+                }
             }
         }
 
@@ -553,8 +559,13 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                foreach (var vcopter in copters)
+                IEnumerable<ICopter> vcopters = copters;
-                    await vcopter.SetParamAsync(paramname, value);
+                if (vcopters == null) vcopters = _allcopters;
+                if (vcopters != null)
+                {
+                    foreach (var vcopter in vcopters)
+                        await vcopter.SetParamAsync(paramname, value);
+                }
                 return 0;
             }
         }
@@ -605,12 +616,24 @@ namespace Plane.CommunicationManagement
         }
 
 
+        public void SetAllCoptersForWifi(IEnumerable<ICopter> copters )
+        {
+
+            _allcopters = copters;
+
+        }
+       
+
+
         /// <summary>
         /// 读取参数
         /// </summary>
         /// <param name="paramname"></param>
         /// <param name="copters"></param>
         /// <returns></returns>
+        /// 
+
+
         public async Task ReadParamAsnyc(string paramname, IEnumerable<ICopter> copters = null)
         {
             if (UseTransModule)
@@ -730,8 +753,13 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                foreach (var vcopter in copters)
+                IEnumerable<ICopter> vcopters = copters;
-                    await vcopter.LandAsync();
+                if (vcopters == null) vcopters = _allcopters;
+                if (vcopters != null)
+                {
+                    foreach (var vcopter in vcopters)
+                        await vcopter.LandAsync();
+                }
 
             }
 
@@ -759,9 +787,13 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                foreach (var vcopter in copters)
+                IEnumerable<ICopter> vcopters = copters;
-                    await vcopter.LockAsync();
+                if (vcopters == null) vcopters = _allcopters;
-
+                if (vcopters != null)
+                {
+                    foreach (var vcopter in vcopters)
+                        await vcopter.LockAsync();
+                }
             }
 
         }
@@ -790,13 +822,14 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                foreach (var vcopter in copters)
+                if (copters != null)
-                {
+                    foreach (var vcopter in copters)
-                    await vcopter.MotorTestAsync(1);
+                    {
-                    await vcopter.MotorTestAsync(2);
+                        await vcopter.MotorTestAsync(1);
-                    await vcopter.MotorTestAsync(3);
+                        await vcopter.MotorTestAsync(2);
-                    await vcopter.MotorTestAsync(4);
+                        await vcopter.MotorTestAsync(3);
-                }
+                        await vcopter.MotorTestAsync(4);
+                    }
 
             }
 
@@ -823,7 +856,8 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                foreach (var vcopter in copters)
+                if (copters != null)
+                    foreach (var vcopter in copters)
                     await vcopter.HoverAsync();
 
             }
@@ -848,6 +882,7 @@ namespace Plane.CommunicationManagement
             }
             else
             {
+                if (copters!=null)
                 foreach (var vcopter in copters)
                     await vcopter.FloatAsync();
 
@@ -872,8 +907,9 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                foreach (var vcopter in copters)
+                if (copters != null)
-                    await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
+                    foreach (var vcopter in copters)
+                        await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
 
             }
         }
@@ -885,23 +921,26 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task DoNextPreflightCompassAsync(IEnumerable<ICopter> copters = null)
         {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
+            req.command = 1;
+            req.result = 1;
+
             if (UseTransModule)
             {
-                short copterId = 0;
-                byte[] batchPacket = null;
-                GetCopterIds(copters, out copterId, out batchPacket);
-
-                MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
-                req.command = 1;
-                req.result = 1;
-
                 byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
             }
             else
             {
-                Windows.Messages.Message.Show($"未开发完成！！");
+                if (copters != null)
-
+                    foreach (var vcopter in copters)
+                    {
+                       await vcopter.DoCommandAckAsync(1, 1);
+                    }
             }
         }
 
@@ -923,8 +962,9 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                foreach (var vcopter in copters)
+                if (copters != null)
-                    await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
+                    foreach (var vcopter in copters)
+                        await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
 
             }
         }
@@ -936,8 +976,15 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task DoCancelCalibrationCompassAsync(short copterId)
         {
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_CANCEL_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
+            if (UseTransModule)
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            {
+                byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_CANCEL_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
+                await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            }
+            else
+            {
+                Windows.Messages.Message.Show($"未开发完成！！");
+            }
         }
         /// <summary>
         /// 确认校准磁罗盘
@@ -961,20 +1008,28 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task InjectGpsDataAsync(byte[] data, ushort length)
         {
-            MAVLink.mavlink_gps_inject_data_t gps = new MAVLink.mavlink_gps_inject_data_t();
+            if (UseTransModule)
-            var msglen = 110;
-            int datalen = 0;
-            var len = (length % msglen) == 0 ? length / msglen : (length / msglen) + 1;
-            for (int a = 0; a < len; a++)
             {
-                datalen = Math.Min(length - a * msglen, msglen);
+                MAVLink.mavlink_gps_inject_data_t gps = new MAVLink.mavlink_gps_inject_data_t();
-                gps.data = new byte[msglen];
+                var msglen = 110;
-                Array.Copy(data, a * msglen, gps.data, 0, datalen);
+                int datalen = 0;
-                gps.len = (byte)datalen;
+                var len = (length % msglen) == 0 ? length / msglen : (length / msglen) + 1;
-                gps.target_component = 1;
+                for (int a = 0; a < len; a++)
-                gps.target_system = 1;
+                {
-                byte[] packet = GenerateRTKPacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps, gps.len);
+                    datalen = Math.Min(length - a * msglen, msglen);
-                await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                    gps.data = new byte[msglen];
+                    Array.Copy(data, a * msglen, gps.data, 0, datalen);
+                    gps.len = (byte)datalen;
+                    gps.target_component = 1;
+                    gps.target_system = 1;
+                    byte[] packet = GenerateRTKPacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps, gps.len);
+                    await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                }
+            }else
+            {
+                if (_allcopters != null)
+                    foreach (var vcopter in _allcopters)
+                        await vcopter.InjectGpsDataAsync(data, length);
             }
         }
 

PlaneGcsSdk_Shared/Copters/EmptyCopter.cs

@@ -64,6 +64,10 @@ namespace Plane.Copters
             recnumber = 0;
             sendnumber = 0;
         }
+        public  Task DoCommandAckAsync(ushort command, byte result)
+        {
+            return TaskUtils.CompletedTask;
+        }
 
 
         //重设数据量

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -97,6 +97,10 @@ namespace Plane.Copters
         public FakeCopter() : this(SynchronizationContext.Current)
         {
         }
+        public Task DoCommandAckAsync(ushort command, byte result)
+        {
+            return TaskUtils.CompletedTask;
+        }
 
         /// <summary>
         /// 创建 <see cref="FakeCopter"/> 实例。

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -356,6 +356,14 @@ namespace Plane.Copters
             }
         }
 
+        public async Task DoCommandAckAsync(ushort command, byte result)
+        {
+            MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
+            req.command = command;
+            req.result = result;
+            await _internalCopter.GeneratePacketAsync(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
+        }
+    
 
         public async Task DoCommandAsync(int actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
         {

PlaneGcsSdk_Shared/Copters/PlaneCopter.cs

@@ -737,6 +737,8 @@ namespace Plane.Copters
             ///<summary> Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  </summary>
             return await DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, 0);
         }
+
+ 
         public async Task<bool> DoCommandAsync(MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
         {
             giveComport = true;