From 40bf208054455dce8ed99ec3c688bc8a584393e3 Mon Sep 17 00:00:00 2001
From: xu <pxzleo@126.com>
Date: Fri, 28 Jun 2024 23:15:26 +0800
Subject: [PATCH] =?UTF-8?q?[fix]=20=E5=B9=BF=E6=92=AD=E7=AB=AF=E5=8F=A3?=
 =?UTF-8?q?=E6=94=B9=E4=B8=BA=E5=BC=82=E6=AD=A5=E5=8F=91=E9=80=81=20?=
 =?UTF-8?q?=E6=B5=8B=E8=AF=95=E5=8F=91=E7=8E=B0RTK=E6=9C=89=E9=98=BB?=
 =?UTF-8?q?=E5=A1=9E=EF=BC=8C=E5=AF=BC=E8=87=B4=E6=AD=BB=E6=9C=BA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

# 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              | 21 ++++++++++++-------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 6fc8f92..063030c 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -1214,25 +1214,27 @@ namespace Plane.CommunicationManagement
         byte rtcm_Broadser = 0;//用于广播的
 
 
-        public void BroadcastbackupGpsDataAsync(byte[] packet)
+        public async Task BroadcastbackupGpsDataAsync(byte[] packet)
         {
 
             bool sendok=false;
             try
             {
-                RecomPort.Write(packet, 0, packet.Length);
+                //防止阻塞，异步发送
+                await RecomPort.BaseStream.WriteAsync(packet, 0, packet.Length);
+                //RecomPort.Write(packet, 0, packet.Length);
                 sendok = true;
             }
             catch (Exception ex)
             {
-                Windows.Messages.Message.Show("转发端口发送失败("+ ex.Message + ")，尝试新打开...");
+                Windows.Messages.Message.Show("广播端口发送失败...");
             }
             if (!sendok)
             {
                 try
                 {
                     ReOpenRtcmserial();
-                    if (Recomisopen) Windows.Messages.Message.Show("转发端口打开成功!");
+                    if (Recomisopen) Windows.Messages.Message.Show("广播端口打开成功!");
                 }
                 catch (Exception ex)
                 {
@@ -1289,15 +1291,15 @@ namespace Plane.CommunicationManagement
                     await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
                     //发送到广播端口作为备用数据源
                     if (enrecom)
-                        BroadcastbackupGpsDataAsync(packet);
+                        await BroadcastbackupGpsDataAsync(packet);
                     await Task.Delay(80).ConfigureAwait(false); //没有延时得话如果超过110长度，连续发可能收不到
 
                     // 重发一次，有序列号(target_component)飞机可以检测出来重复接收的
                     //需要新固件支持
                     await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
                     //发送到广播端口作为备用数据源
-                    if (enrecom) 
-                        BroadcastbackupGpsDataAsync(packet);
+                    if (enrecom)
+                        await BroadcastbackupGpsDataAsync(packet);
 
                     await Task.Delay(80).ConfigureAwait(false); //没有延时得话如果超过110长度，连续发可能收不到
                 }
@@ -1451,7 +1453,10 @@ 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
+
+
             try
             {
                 RecomPort.Open();