[fix] 退出异常调整测试灯光

详细描述

# 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

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()
         {

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)
                 {

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)
         {
-            
+            byte[] packet = DoLEDCommandAsync(51, 0, 51);
-            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();
-
             temp = !temp;
             while (temp)
             {
-                Message.Show("测试灯光，长度 = " + senddata.Length);
+                Message.Show("发送测试灯光");
-                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
+                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);
             } 
         }

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<ICopter> _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[0] = red;
-            led.custom_bytes[1] = 255;
+            led.custom_bytes[1] = green;
-            led.custom_bytes[2] = 255;
+            led.custom_bytes[2] = blue;
-            led.custom_bytes[3] = 3;
+            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)
             {