From 361a8bf001dd093f44f20d3abd9486e343cc2cfd Mon Sep 17 00:00:00 2001
From: xu <pxzleo@126.com>
Date: Sat, 29 Jun 2024 20:30:28 +0800
Subject: [PATCH] =?UTF-8?q?[feat]=20=E8=B0=83=E6=95=B4=E5=B9=BF=E6=92=AD?=
 =?UTF-8?q?=E5=8F=91=E9=80=81=E5=87=BD=E6=95=B0=20=20=E4=B8=BA=E6=89=80?=
 =?UTF-8?q?=E6=9C=89=E9=9C=80=E8=A6=81=E5=B9=BF=E6=92=AD=E7=9A=84=E5=9C=B0?=
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# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动
---
 .../CommModuleGenerateMavLink.cs              | 40 +++++++++++++++----
 1 file changed, 33 insertions(+), 7 deletions(-)

diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 063030c..22a845e 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -540,6 +540,9 @@ namespace Plane.CommunicationManagement
 
                 byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
+                if (Recomisopen)
+                    await BroadcastSendAsync(data);
+
             }
             else
             {
@@ -1213,11 +1216,16 @@ namespace Plane.CommunicationManagement
         byte rtcm_tmpser = 0;  //用于通讯模块的
         byte rtcm_Broadser = 0;//用于广播的
 
-
-        public async Task BroadcastbackupGpsDataAsync(byte[] packet)
+        /// <summary>
+        /// 发送到广播端口
+        /// </summary>
+        /// <param name="packet">发送数据</param>
+        /// <param name="reopensend">发送失败是否要重新打开再发一次</param>
+        /// <returns></returns>
+        public async Task BroadcastSendAsync(byte[] packet,bool reopensend = false)
         {
 
-            bool sendok=false;
+            bool sendok = false;
             try
             {
                 //防止阻塞，异步发送
@@ -1229,7 +1237,8 @@ namespace Plane.CommunicationManagement
             {
                 Windows.Messages.Message.Show("广播端口发送失败...");
             }
-            if (!sendok)
+
+            if (!sendok&& reopensend)
             {
                 try
                 {
@@ -1240,9 +1249,27 @@ namespace Plane.CommunicationManagement
                 {
                     Windows.Messages.Message.Show("再次打开串口失败" + ex.Message);
                     ReOpenRtcmserial();
-                }               
+                }
+                if (Recomisopen)
+                {
+                    try
+                    {
+                        await RecomPort.BaseStream.WriteAsync(packet, 0, packet.Length);
+                        //RecomPort.Write(packet, 0, packet.Length);
+                    }
+                    catch (Exception ex)
+                    {
+                        Windows.Messages.Message.Show("再次发送失败...");
+                    }
+                }
+
             }
         }
+
+        public async Task BroadcastbackupGpsDataAsync(byte[] packet)
+        {
+            await BroadcastSendAsync(packet,true);
+        }
  
         // get sum crc 计算数据校验和
         public byte checkrtrcmsum(byte[] data, ushort length)
@@ -1453,8 +1480,7 @@ namespace Plane.CommunicationManagement
             RecomPort.StopBits = StopBits.One;
             RecomPort.DataBits = 8;
             RecomPort.Handshake = Handshake.None;
-            //改为异步更好一些
-            // RecomPort.WriteTimeout = 500; // 设置写入超时为500毫秒
+            RecomPort.WriteTimeout = 500; // 设置写入超时为500毫秒,防止Close时候卡死
 
 
             try