From c1b3a32407f7dc1e4e0296bce3cc9250077881ec Mon Sep 17 00:00:00 2001
From: xu <pxzleo@126.com>
Date: Fri, 21 Feb 2020 23:59:24 +0800
Subject: [PATCH] =?UTF-8?q?=E5=BC=80=E5=A7=8B=E4=BF=AE=E6=94=B9=E9=80=9A?=
 =?UTF-8?q?=E8=AE=AF?=
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---
 .../CommModuleGenerateMavLink.cs              | 58 ++++++++++++++++++-
 1 file changed, 56 insertions(+), 2 deletions(-)

diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index dd15f5c..27aab08 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -17,6 +17,8 @@ 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
+        private bool IsSingleTrans=false;
 
         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)
         {
@@ -293,7 +295,22 @@ namespace Plane.CommunicationManagement
         /// <param name="ch3"></param>
         /// <param name="ch4"></param>
         /// <returns></returns>
+
+
+
         public async Task SetChannelsAsync(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
+        {
+            if (IsSingleTrans)
+                await SetChannelsAsync_Single(copters, ch1, ch2, ch3, ch4);
+            else await SetChannelsAsync_CMod(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)
+        {
+            await Task.WhenAll(copters.Select(async copter =>
+                await copter.SetChannelsAsync(ch2:ch2))).ConfigureAwait(false);
+
+        }
+       public async Task SetChannelsAsync_CMod(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
         {
             short copterId = 0;
             byte[] batchPacket = null;
@@ -309,7 +326,22 @@ namespace Plane.CommunicationManagement
         /// <param name="id">飞机ID</param>
         /// <param name="missions">任务列表</param>
         /// <returns></returns>
-        public async Task<bool> WriteMissionListAsync(short id, List<IMission> missions)
+        /// 
+
+        public async Task<bool> WriteMissionListAsync(ICopter copter, List<IMission> missions)
+        {
+            if (IsSingleTrans)
+                return await WriteMissionListAsync_Single(copter, missions);
+            else return await WriteMissionListAsync_CMod(short.Parse(copter.Id), missions);
+
+        }
+
+        public async Task<bool> WriteMissionListAsync_Single(ICopter copter, List<IMission> missions)
+        {
+            return  await copter.WriteMissionListAsync(missions);
+        }
+
+        public async Task<bool> WriteMissionListAsync_CMod(short id, List<IMission> missions)
         {
             missions.Insert(0, PLCopter.PRE_TAKE_OFF_MISSION);
             List<MAVLink.mavlink_mission_item_t> mission_list = new List<MAVLink.mavlink_mission_item_t>();
@@ -381,8 +413,30 @@ namespace Plane.CommunicationManagement
         /// <param name="Missionlng">任务原点经度</param>
         /// <param name="Missionlat">任务原点纬度</param>
         /// <returns></returns>
+        public async Task DoMissionStartAsync(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
+        {
+            if (IsSingleTrans)
+                 await DoMissionStartAsync_Single(copters,hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
+            else  await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
 
-        public async Task DoMissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
+        }
+        public async Task DoMissionStartAsync_Single(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
+        {
+           
+           foreach (var vcopter in copters)
+           {
+               await vcopter.MissionStartAsync(hour_utc,
+                  minute_utc,
+                  second_utc,
+                  Missionlng,
+                  Missionlat
+                  );
+           }
+          
+        }
+
+
+        public async Task DoMissionStartAsync_CMod(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
         {
             byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, -1);
             await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);