添加空中升级

修改断线消息提醒机制

PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs

@@ -69,11 +69,13 @@ namespace Plane.CommunicationManagement
 
             if (Connection.IsOnline)
             {
+                Message.Connect(true);
                 SendQuery();
                 await StartReadingPacketsAsync();
             }
             else
             {
+                Message.Connect(false);
                 Reconnect();
             }
         }
@@ -112,11 +114,12 @@ namespace Plane.CommunicationManagement
         int times = 1;
         private void Reconnect()
         {
+            //Message.Show($"正在重新连接...");
             Task.Run(async () =>
             {
                 CloseConnection();
                 await Task.Delay(250).ConfigureAwait(false);
-                Message.Show($"正在重连:次数{times++}");
+                //Message.Show($"正在重连:次数{times++}");
                 await Task.Delay(250).ConfigureAwait(false);
                 await ConnectAsync();
                 
@@ -183,7 +186,7 @@ namespace Plane.CommunicationManagement
                                 string msg = string.Format("错误Id={0}, 检测飞机总数={1}，工作模式={2} 流水号={3}", errorId, copterCount, curMode, serialNum);
                                 CommModuleCopterCount = copterCount;
                                 CommModuleCurMode = curMode;
-                                //Message.Show(msg);                              
+                                //Message.Show(msg);
                                 break;
                         } 
                     }
@@ -254,6 +257,14 @@ namespace Plane.CommunicationManagement
             await WriteCommPacketAsync(copterId, messageType, data);
         }
 
+        public async Task UpdateCommModule()
+        {
+            MavComm.comm_update_copter_module commUpdate = new MavComm.comm_update_copter_module();
+            commUpdate.mav_count = (short)CommModuleCopterCount;
+            commUpdate.update_code = 0x7713;
+            await GenerateDataAsync(0, MavComm.COMM_UPDATE_COPTER_MODULE, commUpdate);
+        }
+
         bool temp = false;
         //测试用 灯光间隔1S闪烁
         public async Task TestLED(short id)
@@ -265,9 +276,9 @@ namespace Plane.CommunicationManagement
             led.pattern = 0;
             led.custom_len = 4;
             led.custom_bytes = new byte[24];
-            led.custom_bytes[0] = 80;
-            led.custom_bytes[1] = 0;
-            led.custom_bytes[2] = 0;
+            led.custom_bytes[0] = 175;
+            led.custom_bytes[1] = 30;
+            led.custom_bytes[2] = 50;
             led.custom_bytes[3] = 3;
             byte[] data;           
             data = MavlinkUtil.StructureToByteArray(led);

PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs

@@ -118,7 +118,7 @@ namespace Plane.CommunicationManagement
         /// </summary>
         public async Task DoMissionStartAsync(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, 0);
+            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);
         }
 

PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs

@@ -43,7 +43,8 @@ namespace Plane.CommunicationManagement
 
         private void AnalyzeStringPacket(short copterId, byte[] buffer)
         {
-            string msg = System.Text.Encoding.Default.GetString(buffer).Replace("tcpserver", "flicube");
+            int count = Array.IndexOf(buffer, (byte)0);
+            string msg = System.Text.Encoding.Default.GetString(buffer, 0, count).Replace("tcpserver", "flicube");
             Message.Show(msg);
         }
 
@@ -102,6 +103,13 @@ namespace Plane.CommunicationManagement
                 case 0x03:
                     SaveMissionWriteStat(copterId, buffer[1]);
                     break;
+
+                case 0x0e:
+                    if (copterId == 0)
+                        Message.Show("----------全部更新完成----------");
+                    else
+                        Message.Show($"飞机{copterId}:更新进度{buffer[1]}%");
+                    break;
             }
         }
 

PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs

@@ -79,6 +79,11 @@ namespace Plane.Protocols
         /// </summary>
         public const short COMM_NOTIFICATION = 0x1234;
 
+        /// <summary>
+        /// 空中升级(更新通信模块飞机端)
+        /// </summary>
+        public const short COMM_UPDATE_COPTER_MODULE = 0xFD;
+
         #endregion 
 
         public enum CommMode
@@ -119,7 +124,14 @@ namespace Plane.Protocols
             public Int16 mav_count;    //飞机总数
         };
 
-        
+        [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 4)]
+        public struct comm_update_copter_module
+        {
+            public Int16 mav_count;    //飞机总数
+            public Int16 update_code; 
+        };
+
+
         [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 8)]
         public struct comm_asyn_time
         {