修改通讯中，加入通讯模式参数
UseTransModule
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3518f4d570
commit
772bafa771
@ -1,5 +1,6 @@
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using Plane.Copters;
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using Plane.Protocols;
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using Plane.Windows.Messages;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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@ -17,8 +18,8 @@ namespace Plane.CommunicationManagement
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private DateTime waitRtcmTime = DateTime.Now;
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private bool starttime = false;
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private bool rtcm_run = false;
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//是否单独处理传输
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private bool IsSingleTrans=false;
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//是否使用专用传输模块
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private bool UseTransModule = true;
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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)
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{
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@ -300,9 +301,9 @@ namespace Plane.CommunicationManagement
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public async Task SetChannelsAsync(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
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{
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if (IsSingleTrans)
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await SetChannelsAsync_Single(copters, ch1, ch2, ch3, ch4);
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else await SetChannelsAsync_CMod(copters, ch1, ch2, ch3, ch4);
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if (UseTransModule)
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await SetChannelsAsync_CMod(copters, ch1, ch2, ch3, ch4);
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else await SetChannelsAsync_Single(copters, ch1, ch2, ch3, ch4);
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}
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public async Task SetChannelsAsync_Single(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
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{
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@ -330,9 +331,9 @@ namespace Plane.CommunicationManagement
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public async Task<bool> WriteMissionListAsync(ICopter copter, List<IMission> missions)
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{
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if (IsSingleTrans)
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return await WriteMissionListAsync_Single(copter, missions);
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else return await WriteMissionListAsync_CMod(short.Parse(copter.Id), missions);
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if (UseTransModule)
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return await WriteMissionListAsync_CMod(short.Parse(copter.Id), missions);
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else return await WriteMissionListAsync_Single(copter, missions);
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}
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@ -415,9 +416,9 @@ namespace Plane.CommunicationManagement
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/// <returns></returns>
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public async Task DoMissionStartAsync(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
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{
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if (IsSingleTrans)
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await DoMissionStartAsync_Single(copters,hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
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else await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
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if (UseTransModule)
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await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
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else await DoMissionStartAsync_Single(copters, hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
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}
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public async Task DoMissionStartAsync_Single(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
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@ -442,22 +443,31 @@ namespace Plane.CommunicationManagement
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await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
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}
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/// <summary>
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/// 暂停任务
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/// </summary>
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public async Task DoMissionPauseAsync()
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{
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if (UseTransModule)
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{
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byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, 0, 0, 0, 0, 0, 1, 0);
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await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
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}else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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/// 恢复任务
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/// </summary>
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public async Task DoMissionResumeAsync(int hour_utc, int minute_utc, int second_utc)
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{
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if (UseTransModule)
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{
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byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0, 2, 0);
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await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
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}else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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@ -466,6 +476,8 @@ namespace Plane.CommunicationManagement
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/// <param name="copters">要解锁的飞机</param>
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/// <returns></returns>
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public async Task UnlockAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -480,6 +492,9 @@ namespace Plane.CommunicationManagement
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byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
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await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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/// LED闪烁白灯
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@ -487,6 +502,8 @@ namespace Plane.CommunicationManagement
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/// <param name="copters">要闪烁的飞机</param>
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/// <returns></returns>
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public void LED_FlickerAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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Task.Run(async () =>
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{
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@ -498,6 +515,9 @@ namespace Plane.CommunicationManagement
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await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
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});
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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@ -508,6 +528,8 @@ namespace Plane.CommunicationManagement
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/// <param name="copters"></param>
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/// <returns></returns>
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public async Task<int> SetParamAsync(string paramname, float value, IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -518,6 +540,12 @@ namespace Plane.CommunicationManagement
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await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
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return packetNum;
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}
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else
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{
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Windows.Messages.Message.Show($"未开发完成！！");
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return 0;
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}
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}
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/// <summary>
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/// 广播设置多个参数
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@ -525,6 +553,8 @@ namespace Plane.CommunicationManagement
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/// <param name="param"></param>
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/// <returns></returns>
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public async Task<int> SetMultipleParamAsync(params string[] param)
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{
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if (UseTransModule)
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{
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if (param.Length % 2 == 1)
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return 0;
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@ -542,6 +572,12 @@ namespace Plane.CommunicationManagement
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await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
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return packetNum;
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}
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else
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{
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Windows.Messages.Message.Show($"未开发完成！！");
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return 0;
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}
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}
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/// <summary>
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@ -551,6 +587,8 @@ namespace Plane.CommunicationManagement
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/// <param name="copters"></param>
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/// <returns></returns>
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public async Task ReadParamAsnyc(string paramname, IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -559,6 +597,12 @@ namespace Plane.CommunicationManagement
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byte[] packet = GetParam2Async(paramname);
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await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
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}
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else
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{
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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}
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/// <summary>
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/// 起飞测试
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@ -567,6 +611,8 @@ namespace Plane.CommunicationManagement
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/// <param name="copters"></param>
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/// <returns></returns>
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public async Task TakeOffAsync(float alt, IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -581,6 +627,9 @@ namespace Plane.CommunicationManagement
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byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
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await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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/// 返航
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@ -588,6 +637,8 @@ namespace Plane.CommunicationManagement
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/// <param name="copters"></param>
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/// <returns></returns>
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public async Task ReturnToLaunchAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -596,6 +647,9 @@ namespace Plane.CommunicationManagement
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byte[] packet = SetModeAsync(FlightMode.RTL);
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await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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@ -606,6 +660,8 @@ namespace Plane.CommunicationManagement
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/// <param name="copters"></param>
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/// <returns></returns>
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public async Task GetVersionsAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -616,11 +672,16 @@ namespace Plane.CommunicationManagement
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byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST, req);
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await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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/// 降落
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/// </summary>
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/// <returns></returns>
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public async Task LandAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -629,6 +690,9 @@ namespace Plane.CommunicationManagement
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byte[] packet = SetModeAsync(FlightMode.LAND);
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await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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/// 加锁
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@ -636,6 +700,8 @@ namespace Plane.CommunicationManagement
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/// <param name="armit"></param>
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/// <returns></returns>
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public async Task LockAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -648,6 +714,9 @@ namespace Plane.CommunicationManagement
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byte[] data = packet1.Concat(packet2).ToArray();
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await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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/// 测试电机
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@ -655,6 +724,8 @@ namespace Plane.CommunicationManagement
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/// <param name="motor"></param>
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/// <returns></returns>
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public async Task MotorTestAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -669,12 +740,17 @@ namespace Plane.CommunicationManagement
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byte[] data = data1.Concat(data2).Concat(data3).Concat(data4).ToArray();
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await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket);
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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/// 切换悬停模式
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/// </summary>
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/// <returns></returns>
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public async Task HoverAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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{
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short copterId = 0;
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byte[] batchPacket = null;
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@ -687,6 +763,9 @@ namespace Plane.CommunicationManagement
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byte[] data = packet1.Concat(packet2).ToArray();
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await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
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}
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else
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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/// <summary>
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/// 切换手动模式
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