修改通讯中，加入通讯模式参数

UseTransModule

PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs

@@ -1,5 +1,6 @@
 using Plane.Copters;
 using Plane.Protocols;
+using Plane.Windows.Messages;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -17,8 +18,8 @@ namespace Plane.CommunicationManagement
         private DateTime waitRtcmTime = DateTime.Now;
         private bool starttime = false;
         private bool rtcm_run = false;
-        //是否单独处理传输
+        //是否使用专用传输模块
-        private bool IsSingleTrans=false;
+        private bool UseTransModule = true;
 
         private byte[] SetChannels(ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null, ushort? ch5 = null, ushort? ch6 = null, ushort? ch7 = null, ushort? ch8 = null)
         {
@@ -300,9 +301,9 @@ namespace Plane.CommunicationManagement
 
         public async Task SetChannelsAsync(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
         {
-            if (IsSingleTrans)
+            if (UseTransModule)
-                await SetChannelsAsync_Single(copters, ch1, ch2, ch3, ch4);
+                await SetChannelsAsync_CMod(copters, ch1, ch2, ch3, ch4);
-            else await SetChannelsAsync_CMod(copters, ch1, ch2, ch3, ch4);
+            else await SetChannelsAsync_Single(copters, ch1, ch2, ch3, ch4);
         }
         public async Task SetChannelsAsync_Single(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
         {
@@ -330,9 +331,9 @@ namespace Plane.CommunicationManagement
 
         public async Task<bool> WriteMissionListAsync(ICopter copter, List<IMission> missions)
         {
-            if (IsSingleTrans)
+            if (UseTransModule)
-                return await WriteMissionListAsync_Single(copter, missions);
+                return await WriteMissionListAsync_CMod(short.Parse(copter.Id), missions);
-            else return await WriteMissionListAsync_CMod(short.Parse(copter.Id), missions);
+            else return await WriteMissionListAsync_Single(copter, missions);  
 
         }
 
@@ -415,9 +416,9 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task DoMissionStartAsync(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
         {
-            if (IsSingleTrans)
+            if (UseTransModule)
-                 await DoMissionStartAsync_Single(copters,hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
+                await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
-            else  await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
+            else await DoMissionStartAsync_Single(copters, hour_utc, minute_utc, second_utc, Missionlng, Missionlat); 
 
         }
         public async Task DoMissionStartAsync_Single(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
@@ -442,13 +443,18 @@ namespace Plane.CommunicationManagement
             await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
         }
 
+
         /// <summary>
         /// 暂停任务
         /// </summary>
         public async Task DoMissionPauseAsync()
+        {
+            if (UseTransModule)
             {
                 byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, 0, 0, 0, 0, 0, 1, 0);
                 await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            }else
+                Windows.Messages.Message.Show($"未开发完成！！");
         }
 
         /// <summary>
@@ -456,8 +462,12 @@ namespace Plane.CommunicationManagement
         /// </summary>
         public async Task DoMissionResumeAsync(int hour_utc, int minute_utc, int second_utc)
         {
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0 , 2, 0);
+            if (UseTransModule)
+            {
+                byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0, 2, 0);
                 await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            }else
+                Windows.Messages.Message.Show($"未开发完成！！");
         }
 
         /// <summary>
@@ -466,10 +476,12 @@ namespace Plane.CommunicationManagement
         /// <param name="copters">要解锁的飞机</param>
         /// <returns></returns>
         public async Task UnlockAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
-            GetCopterIds(copters,out copterId, out batchPacket);
+                GetCopterIds(copters, out copterId, out batchPacket);
 
                 byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
 
@@ -480,6 +492,9 @@ namespace Plane.CommunicationManagement
                 byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
 
         /// <summary>
         /// LED闪烁白灯
@@ -487,6 +502,8 @@ namespace Plane.CommunicationManagement
         /// <param name="copters">要闪烁的飞机</param>
         /// <returns></returns>
         public void LED_FlickerAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 Task.Run(async () =>
                 {
@@ -498,6 +515,9 @@ namespace Plane.CommunicationManagement
                     await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
                 });
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
 
 
         /// <summary>
@@ -508,6 +528,8 @@ namespace Plane.CommunicationManagement
         /// <param name="copters"></param>
         /// <returns></returns>
         public async Task<int> SetParamAsync(string paramname, float value, IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -518,6 +540,12 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
                 return packetNum;
             }
+            else
+            {
+                Windows.Messages.Message.Show($"未开发完成！！");
+                return 0;
+            }
+        }
 
         /// <summary>
         /// 广播设置多个参数
@@ -525,6 +553,8 @@ namespace Plane.CommunicationManagement
         /// <param name="param"></param>
         /// <returns></returns>
         public async Task<int> SetMultipleParamAsync(params string[] param)
+        {
+            if (UseTransModule)
             {
                if (param.Length % 2 == 1)
                     return 0;
@@ -542,6 +572,12 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
                 return packetNum;
             }
+            else
+            {
+                Windows.Messages.Message.Show($"未开发完成！！");
+                return 0;
+            }
+        }
 
 
         /// <summary>
@@ -551,6 +587,8 @@ namespace Plane.CommunicationManagement
         /// <param name="copters"></param>
         /// <returns></returns>
         public async Task ReadParamAsnyc(string paramname, IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -559,6 +597,12 @@ namespace Plane.CommunicationManagement
                 byte[] packet = GetParam2Async(paramname);
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
             }
+            else
+            {
+                Windows.Messages.Message.Show($"未开发完成！！");
+               
+            }
+        }
 
         /// <summary>
         /// 起飞测试
@@ -567,6 +611,8 @@ namespace Plane.CommunicationManagement
         /// <param name="copters"></param>
         /// <returns></returns>
         public async Task TakeOffAsync(float alt, IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -581,6 +627,9 @@ namespace Plane.CommunicationManagement
                 byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
 
         /// <summary>
         /// 返航
@@ -588,6 +637,8 @@ namespace Plane.CommunicationManagement
         /// <param name="copters"></param>
         /// <returns></returns>
         public async Task ReturnToLaunchAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -596,6 +647,9 @@ namespace Plane.CommunicationManagement
                 byte[] packet = SetModeAsync(FlightMode.RTL);
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
 
 
        
@@ -606,6 +660,8 @@ namespace Plane.CommunicationManagement
         /// <param name="copters"></param>
         /// <returns></returns>
         public async Task GetVersionsAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -616,11 +672,16 @@ namespace Plane.CommunicationManagement
                 byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST, req);
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
         /// <summary>
         /// 降落
         /// </summary>
         /// <returns></returns>
         public async Task LandAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -629,6 +690,9 @@ namespace Plane.CommunicationManagement
                 byte[] packet = SetModeAsync(FlightMode.LAND);
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
 
         /// <summary>
         /// 加锁
@@ -636,6 +700,8 @@ namespace Plane.CommunicationManagement
         /// <param name="armit"></param>
         /// <returns></returns>
         public async Task LockAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -648,6 +714,9 @@ namespace Plane.CommunicationManagement
                 byte[] data = packet1.Concat(packet2).ToArray();
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
 
         /// <summary>
         /// 测试电机
@@ -655,6 +724,8 @@ namespace Plane.CommunicationManagement
         /// <param name="motor"></param>
         /// <returns></returns>
         public async Task MotorTestAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -669,12 +740,17 @@ namespace Plane.CommunicationManagement
                 byte[] data = data1.Concat(data2).Concat(data3).Concat(data4).ToArray();
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket);
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
 
         /// <summary>
         /// 切换悬停模式
         /// </summary>
         /// <returns></returns>
         public async Task HoverAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
             {
                 short copterId = 0;
                 byte[] batchPacket = null;
@@ -687,6 +763,9 @@ namespace Plane.CommunicationManagement
                 byte[] data = packet1.Concat(packet2).ToArray();
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
             }
+            else
+                Windows.Messages.Message.Show($"未开发完成！！");
+        }
 
         /// <summary>
         /// 切换手动模式