增加LED灯控制

PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs

@@ -108,6 +108,12 @@ namespace Plane.Copters
         /// <returns>表示异步设置参数操作的 <see cref="Task"/> 实例。</returns>
         /// <exception cref="System.TimeoutException">操作超时。</exception>
         Task SetParamAsync(string paramName, float value, int millisecondsTimeout = Timeout.Infinite);
+        bool GetShowLEDAsync();
+
+        Task SetShowLEDAsync(bool Ledon);
+        Task SetShowLEDFlashAsync(int Flashtype, int millisecondsTime);
+        
+
 
         /// <summary>
         /// 开始对频。

PlaneGcsSdk_Shared/Communication/TcpServerConnectionManager.cs

@@ -54,7 +54,15 @@ namespace Plane.Communication
             var address = Dns.GetHostAddresses(Dns.GetHostName()).FirstOrDefault(addr => addr.AddressFamily == AddressFamily.InterNetwork && addr.GetAddressBytes()[0] == 192);
             if (address == null) return false;
             _listener = new TcpListener(address, TCP_LOCAL_PORT);
+            try
+            {
                 _listener.Start();
+            }
+            catch (Exception ex)
+            {
+              //  RaiseExceptionThrown(ex);
+                return false;
+            }
             _shouldListen = true;
             Task.Factory.StartNew(async () =>
             {

PlaneGcsSdk_Shared/Copters/EmptyCopter.cs

@@ -58,6 +58,19 @@ namespace Plane.Copters
         {
             return TaskUtils.CompletedTask;
         }
+        public  Task SetShowLEDFlashAsync(int Flashtype, int millisecondsTime)
+        {
+            return TaskUtils.CompletedTask;
+        }
+
+        public bool GetShowLEDAsync()
+        {
+            return false;
+        }
+        public Task SetShowLEDAsync(bool Ledon)
+        {
+            return TaskUtils.CompletedTask;
+        }
 
         public Task StartPairingAsync()
         {

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -84,6 +84,13 @@ namespace Plane.Copters
         /// </summary>
         private double _targetLng;
 
+
+        /// <summary>
+        /// FlyTo 的目标经度。
+        /// </summary>
+        private bool _ShowLED;
+
+
         /// <summary>
         /// 使用 <see cref="SynchronizationContext.Current"/> 创建 <see cref="FakeCopter"/> 实例。
         /// </summary>
@@ -258,6 +265,35 @@ namespace Plane.Copters
             // TODO: 林俊清, 20150807, 实现仿真的 SetParamAsync。
             return TaskUtils.CompletedTask;
         }
+        public bool GetShowLEDAsync()
+        {
+            return _ShowLED;
+        }             
+        public Task SetShowLEDAsync(bool Ledon)
+        {
+            _ShowLED = Ledon;
+            RaiseLocationChanged();
+            return TaskUtils.CompletedTask;
+        }
+        public Task SetShowLEDFlashAsync(int Flashtype, int millisecondsTime)
+        {
+            bool Ledison;
+            Ledison = GetShowLEDAsync();
+            if (!Ledison)
+            {
+                 SetShowLEDAsync(true);
+                 Task.Delay(millisecondsTime).ConfigureAwait(false);
+                 SetShowLEDAsync(false);
+            }
+            else
+            {
+                 SetShowLEDAsync(false);
+                 Task.Delay(millisecondsTime).ConfigureAwait(false);
+                 SetShowLEDAsync(true);
+            }
+           
+            return TaskUtils.CompletedTask;
+        }
 
         public void SetProperties(
             string id = null,   //"Junqing's Drone",

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -18,6 +18,7 @@ namespace Plane.Copters
         private int _setModeCount = 0;
 
         private int _takeOffCount;
+        private bool _showLed=false;
 
 #if PRIVATE
         public PLCopter(IConnection connection, SynchronizationContext uiSyncContext, bool autoSendHeartbeat = true, bool autoRequestData = true) : base(uiSyncContext)
@@ -113,6 +114,62 @@ namespace Plane.Copters
             ).ConfigureAwait(false);
         }
 
+
+
+
+
+
+        public bool GetShowLEDAsync()
+        {
+            return _showLed;
+
+            /*
+            int showled;
+             showled=(int)await _internalCopter.GetParamAsync("NTF_SHOWLED", 0).ConfigureAwait(false);
+            if (showled == 0)
+                return false;
+            else return true;
+            */
+
+        }
+
+
+        public async Task SetShowLEDAsync(bool Ledon)
+        {
+            if (Ledon)
+                await SetParamAsync("NTF_SHOWLED", 1, 5000);
+            else
+                await SetParamAsync("NTF_SHOWLED", 0, 5000);
+            _showLed = Ledon;
+         }
+
+        /// <summary>
+        /// 闪烁SHOWLED，如果当前没亮，那就亮一下，如果本来就是亮的，那就暗一下
+        /// </summary>
+        /// <param name="Flashtype">闪烁类型，目前没用</param>
+        /// <param name="millisecondsTime">闪烁时间ms</param>
+        /// <returns></returns>
+        public async Task SetShowLEDFlashAsync(int Flashtype,int millisecondsTime)
+        {
+            bool Ledison;
+            Ledison= GetShowLEDAsync();
+            if (!Ledison)
+            {
+                await SetShowLEDAsync(true);
+                await Task.Delay(millisecondsTime).ConfigureAwait(false);
+                await SetShowLEDAsync(false);
+                await SetShowLEDAsync(false);
+            }else
+            {
+                await SetShowLEDAsync(false);
+                await Task.Delay(millisecondsTime).ConfigureAwait(false);
+                await SetShowLEDAsync(true);
+                await SetShowLEDAsync(true);
+            }
+
+
+        }
+
         public async Task SetParamAsync(string paramName, float paramValue, int millisecondsTimeout = Timeout.Infinite)
         {
             var stopwatch = Stopwatch.StartNew();