通信模块的断线重连 固定IP改换为199.51

添加飞机选中数量的统计
优化写航点跳过错误，优化写航点的统计
通信模块的version
检测航点最小距离时显示ID号

PlaneGcsSdk.Contract_Shared/Copters/ICopterStatus.cs

@@ -173,6 +173,14 @@ namespace Plane.Copters
         /// </summary>
         float Voltage { get; }
 
+        /// <summary>
+        /// 预留字节用于通信模块条件下的返回值
+        /// </summary>
         byte[] Retain { get; }
+
+        /// <summary>
+        /// 飞机上通信模块版本
+        /// </summary>
+        byte CommModuleVersion { get; }
     }
 }

PlaneGcsSdk_Shared/Communication/TcpConnectionBase.cs

@@ -43,7 +43,7 @@ namespace Plane.Communication
             {
                 try
                 {
-                    return !((_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);
                 }
                 catch (ObjectDisposedException)
                 {
@@ -107,6 +107,8 @@ namespace Plane.Communication
             {
                 while (Available < count)
                 {
+                    if (Available > 0)
+                        Console.WriteLine("Available = " + Available);
                     //if (!IsOpen)
                     //    return 0;
                     if (!IsOnline)

PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs

@@ -662,6 +662,13 @@ namespace Plane.Copters
             protected set { Set(nameof(CommModuleMode), ref _CommModuleMode, value); }
         }
 
+        private byte _CommModuleVersion;
+        public byte CommModuleVersion
+        {
+            get { return _CommModuleVersion; }
+            protected set { Set(nameof(CommModuleVersion), ref _CommModuleVersion, value); }
+        }
+
 #if PRIVATE
         public
 #else

PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs

@@ -33,6 +33,7 @@ namespace Plane.Copters
                         Retain = BitConverter.GetBytes(_internalCopter.retain);
                         Voltage = _internalCopter.battery_voltage;
                         CommModuleMode = (FlightMode)_internalCopter.commModuleMode;
+                        CommModuleVersion = _internalCopter.commModuleVersion;
                         IsUnlocked = _internalCopter.isUnlocked;
                         Yaw = _internalCopter.yaw;
                         HeartbeatCount++;

PlaneGcsSdk_Shared/Copters/PlaneCopter.PacketAnalysis.cs

@@ -378,7 +378,7 @@ namespace Plane.Copters
         /// 处理通信模块发过来的数据
         /// </summary>
         /// <param name="buffer"></param>
-        public void AnalyzeCommMouldePositionIntPacket(byte[] buffer)
+        public void AnalyzeCommMouldePositionIntPacket(byte[] buffer, byte version)
         {
             var info = buffer.ByteArrayToStructure<MavComm.comm_copter_info>(0);
             lat = info.lat * 1.0e-7; 
@@ -392,6 +392,8 @@ namespace Plane.Copters
             battery_voltage = ((float)info.battery_voltage) / 1000;
             yaw = ((float)info.yaw / 100) % 360;
 
+            commModuleVersion = version;
+
             retain = info.retain;
             RaiseReceiveDataStreamEventOnUIThread(MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT);
         }

PlaneGcsSdk_Shared/Copters/PlaneCopter.cs

@@ -43,6 +43,8 @@ namespace Plane.Copters
 
         public uint mode { get; set; }
         public uint commModuleMode { get; set; }
+        public byte commModuleVersion { get; set; }
+
         public bool isUnlocked { get; set; }
 
         public float battery_voltage { get; set; }