From 8af733e644a1f68bb59d7898d237606a4d5bf83f Mon Sep 17 00:00:00 2001 From: xu Date: Tue, 2 Jul 2024 15:00:29 +0800 Subject: [PATCH] =?UTF-8?q?[fix]=20=E9=80=80=E5=87=BA=E5=BC=82=E5=B8=B8?= =?UTF-8?q?=E8=B0=83=E6=95=B4=E6=B5=8B=E8=AF=95=E7=81=AF=E5=85=89=20?= =?UTF-8?q?=E8=AF=A6=E7=BB=86=E6=8F=8F=E8=BF=B0?= 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 --- .../Communication/TcpConnection.cs | 19 ++++- .../Communication/TcpConnectionBase.cs | 2 +- .../CommunicationManagement/CommModule.cs | 71 +++---------------- .../CommModuleGenerateMavLink.cs | 33 ++++++--- 4 files changed, 48 insertions(+), 77 deletions(-) diff --git a/PlaneGcsSdk_Shared/Communication/TcpConnection.cs b/PlaneGcsSdk_Shared/Communication/TcpConnection.cs index b0e194b..b363ac8 100644 --- a/PlaneGcsSdk_Shared/Communication/TcpConnection.cs +++ b/PlaneGcsSdk_Shared/Communication/TcpConnection.cs @@ -80,7 +80,8 @@ namespace Plane.Communication var connectTask = _client.ConnectAsync(_remoteHostname, _remotePort); if (await Task.WhenAny(connectTask, Task.Delay(5000)) == connectTask) { - await connectTask.ConfigureAwait(false); + if (_client.Client != null) //需要测试 + await connectTask.ConfigureAwait(false); } else { @@ -91,15 +92,27 @@ namespace Plane.Communication catch (SocketException e) { logstr = e.Message; + CloseClient(); // 关闭并清理客户端 } catch (ObjectDisposedException) { + CloseClient(); // 关闭并清理客户端 + } + catch (Exception) + { + CloseClient(); // 处理其他可能的异常 + // throw; // 可选：重新抛出异常，以便调用者知道发生了错误 } _isBroken = false; } - _stream = _client.GetStream(); + if (_client != null) + _stream = _client.GetStream(); + } + private void CloseClient() + { + _client?.Close(); // 如果 _client 不为 null，则关闭连接 + _client = null; // 将 _client 设置为 null，以便垃圾回收器可以回收它 } - private void CreateClientAndConnect() { diff --git a/PlaneGcsSdk_Shared/Communication/TcpConnectionBase.cs b/PlaneGcsSdk_Shared/Communication/TcpConnectionBase.cs index 1d2b28a..53b2303 100644 --- a/PlaneGcsSdk_Shared/Communication/TcpConnectionBase.cs +++ b/PlaneGcsSdk_Shared/Communication/TcpConnectionBase.cs @@ -46,7 +46,7 @@ namespace Plane.Communication // bool bret ; // bret = _client.Client != null; // bret = bret && !((_client.Client.Poll(1000, SelectMode.SelectRead) && (_client.Client.Available == 0)) || !_client.Client.Connected); - return _client.Client != null && !((_client.Client.Poll(1000, SelectMode.SelectRead) && (_client.Client.Available == 0)) || !_client.Client.Connected); + return _client != null && _client.Client != null && !((_client.Client.Poll(1000, SelectMode.SelectRead) && (_client.Client.Available == 0)) || !_client.Client.Connected); } catch (ObjectDisposedException) { diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs index 8316c7a..a1dce3b 100644 --- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs +++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs @@ -439,72 +439,17 @@ namespace Plane.CommunicationManagement //测试用 灯光间隔1S闪烁 public async Task TestLED(short id, string colorString) { - - MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control(); - led.target_system = 1; - led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;; - led.instance = 0; - led.pattern = 0; - led.custom_len = 4; //命令类型——测试灯光 - led.custom_bytes = new byte[24]; - - if (colorString == "") colorString = "330033"; - - Color color = (Color)ColorConverter.ConvertFromString("#" + colorString); - - led.custom_bytes[0] = color.R; - led.custom_bytes[1] = color.G; - led.custom_bytes[2] = color.B; - led.custom_bytes[3] = 3; - byte[] data; - data = MavlinkUtil.StructureToByteArray(led); - - byte[] packet = new byte[data.Length + 6 + 2]; - packet[0] = MAVLink.MAVLINK_STX; - - packet[1] = (byte)(data.Length); - packet[2] = 1; - packet[3] = 255; // this is always 255 - MYGCS - - packet[4] = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER; - - packet[5] = MAVLink.MAVLINK_MSG_ID_LED_CONTROL; - int i = 6; - foreach (byte b in data) - { - packet[i] = b; - i++; - } - - ushort checksum = MavlinkCRC.crc_calculate(packet, packet[1] + 6); - checksum = MavlinkCRC.crc_accumulate(MAVLink.MAVLINK_MESSAGE_CRCS[MAVLink.MAVLINK_MSG_ID_LED_CONTROL], checksum); - - byte ck_a = (byte)(checksum & 0xFF); ///< High byte - byte ck_b = (byte)(checksum >> 8); ///< Low byte - - packet[i] = ck_a; - i += 1; - packet[i] = ck_b; - i += 1; - - - //await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet); - byte[] senddata = packet; - -// for (int times = 0; times < 14; times++) -// { -// senddata = senddata.Concat(packet).ToArray(); -// } - -// byte[] myByteArray = Enumerable.Repeat((byte)0x08, 15).ToArray(); -// -// senddata = senddata.Concat(myByteArray).ToArray(); - + byte[] packet = DoLEDCommandAsync(51, 0, 51); temp = !temp; while (temp) { - Message.Show("测试灯光，长度 = " + senddata.Length); - await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata); + Message.Show("发送测试灯光"); + await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet); + //如果是广播同时发送到广播端口 + if ((id==0)&& Recomisopen) + { + await BroadcastSendAsync(packet); + } await Task.Delay(1000).ConfigureAwait(false); } } diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs index c68e7e0..d9e5b56 100644 --- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs +++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs @@ -22,7 +22,21 @@ namespace Plane.CommunicationManagement private bool starttime = false; private bool rtcm_run = false; private SerialPort RecomPort; - public bool Recomisopen = false; + // public bool Recomisopen = false; + private bool _Recomisopen = false; + public bool Recomisopen + { + get { return _Recomisopen; } + set + { + if (_Recomisopen != value) + { + _Recomisopen = value; + //_RtcmInfoViewModel.SetRTKStatestr(); + } + } + } + private IEnumerable _allcopters; @@ -191,7 +205,7 @@ namespace Plane.CommunicationManagement return GeneratePacket(MAVLink.MAVLINK_MSG_ID_PARAM_REQUEST_READ, req); } - private byte[] DoLEDCommandAsync() + private byte[] DoLEDCommandAsync(byte red,byte green,byte blue) { MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control(); led.target_system = 1; @@ -200,11 +214,10 @@ namespace Plane.CommunicationManagement led.pattern = 0; led.custom_len = 4; led.custom_bytes = new byte[24]; - led.custom_bytes[0] = 255; - led.custom_bytes[1] = 255; - led.custom_bytes[2] = 255; - led.custom_bytes[3] = 3; - + led.custom_bytes[0] = red; + led.custom_bytes[1] = green; + led.custom_bytes[2] = blue; + led.custom_bytes[3] = 3; //持续亮的时间=1/3hz=0.33s return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led); } private byte[] DoThrowoutCommandAsync() @@ -623,7 +636,7 @@ namespace Plane.CommunicationManagement byte[] batchPacket = null; GetCopterIds(copters, out copterId, out batchPacket); - byte[] packet = DoLEDCommandAsync(); + byte[] packet = DoLEDCommandAsync(255,255,255); await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false); if (Recomisopen&&(copters == null)) await BroadcastSendAsync(packet); @@ -1469,7 +1482,7 @@ namespace Plane.CommunicationManagement await Task.Delay(1); } - string last_reserialport=""; + public string last_reserialport =""; public void ReOpenRtcmserial() { CloseResendRtcmserial(); @@ -1506,7 +1519,6 @@ namespace Plane.CommunicationManagement public bool OpenResendRtcmserial(string reserialport) { - last_reserialport = reserialport; RecomPort = new SerialPort(reserialport); RecomPort.BaudRate = 57600; RecomPort.Parity = Parity.None; @@ -1520,6 +1532,7 @@ namespace Plane.CommunicationManagement { RecomPort.Open(); Recomisopen = true; + last_reserialport = reserialport; } catch (Exception ex) {