使用通信模块前的提交
添加速度改变
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@ -35,6 +35,11 @@
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/// </summary>
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TakeOff = 22,
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/// <summary>
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/// 命令飞行器改变速度
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/// </summary>
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ChangeSpeed = 178,
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/// <summary>
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/// 命令LED颜色改变
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/// </summary>
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@ -57,6 +57,10 @@
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<Compile Include="Properties\AssemblyInfo.cs" />
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</ItemGroup>
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<ItemGroup>
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<ProjectReference Include="..\..\Plane.Libraries\Plane.Windows.Messages\Plane.Windows.Messages.csproj">
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<Project>{413C18E2-235F-4E15-B5C1-633657DE5D7A}</Project>
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<Name>Plane.Windows.Messages</Name>
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</ProjectReference>
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<ProjectReference Include="..\PlaneGcsSdk.Contract_Private\PlaneGcsSdk.Contract_Private.csproj">
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<Project>{47141894-ece3-48ca-8dcf-ca751bda231e}</Project>
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<Name>PlaneGcsSdk.Contract_Private</Name>
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@ -44,6 +44,7 @@ namespace Plane.Communication
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}
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_isBroken = false;
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}
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_stream = _client.GetStream();
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}
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@ -24,7 +24,10 @@ namespace Plane.Communication
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{
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try
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{
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if (_client.Connected)
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return _client.Available;
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else
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return 0;
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}
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catch (ObjectDisposedException ex)
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{
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@ -89,6 +92,7 @@ namespace Plane.Communication
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{
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while (Available < count)
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{
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if (!IsOpen) return 0;
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await Task.Delay(5).ConfigureAwait(false);
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}
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return await _stream.ReadAsync(buffer, offset, count);
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@ -198,5 +198,13 @@ namespace Plane.Copters
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G = green, //Green
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B = blue //Blue
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};
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public static IMission CreateChangeSpeedMission(float levelSpeed, float upSpeed, float downSpeed) => new Mission
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{
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Command = FlightCommand.ChangeSpeed,
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Param1 = levelSpeed, //水平速度
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Param2 = upSpeed, //上升速度
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Param3 = downSpeed, //下降速度
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};
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}
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}
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@ -10,6 +10,7 @@
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</PropertyGroup>
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<ItemGroup>
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<Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommModule.cs" />
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<Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommModulePacketAnalysis.cs" />
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<Compile Include="$(MSBuildThisFileDirectory)Communication\ExceptionThrownEventSource.cs" />
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<Compile Include="$(MSBuildThisFileDirectory)Communication\EmptyConnection.cs" />
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<Compile Include="$(MSBuildThisFileDirectory)Communication\CompositeConnection.cs" />
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