From e10e19aaf739a17d5374330bc41c80f6f322e90e Mon Sep 17 00:00:00 2001
From: zxd <zxdaa217@qq.com>
Date: Sat, 23 Mar 2019 21:46:43 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=86=E6=91=86=E6=94=BE?=
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---
 PlaneGcsSdk.Contract_Shared/Copters/ICopter.cs    |  2 +-
 .../PlaneGcsSdk.Contract_Shared.projitems         |  1 +
 .../PlaneGcsSdk_Private_NET46.csproj              |  1 +
 .../CommunicationManagement/CommModule.cs         | 15 +++++++++++----
 .../Copters/CopterImplSharedPart.cs               | 11 +++++++++++
 5 files changed, 25 insertions(+), 5 deletions(-)

diff --git a/PlaneGcsSdk.Contract_Shared/Copters/ICopter.cs b/PlaneGcsSdk.Contract_Shared/Copters/ICopter.cs
index e038ccb..d4c4a61 100644
--- a/PlaneGcsSdk.Contract_Shared/Copters/ICopter.cs
+++ b/PlaneGcsSdk.Contract_Shared/Copters/ICopter.cs
@@ -2,7 +2,7 @@
 
 namespace Plane.Copters
 {
-    public partial interface ICopter : ICopterStatus, ICopterEvents, ICopterActions, ICopterCommunication, INotifyPropertyChanged
+    public partial interface ICopter : ICopterStatus, ICopterEvents, ICopterActions, ICopterCommunication, INotifyPropertyChanged, ICopterAttribute
     {
        
     }
diff --git a/PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems b/PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems
index 90ba7c6..f92db2d 100644
--- a/PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems
+++ b/PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems
@@ -21,6 +21,7 @@
     <Compile Include="$(MSBuildThisFileDirectory)Copters\Constants.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\CopterCommand.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\CopterState.cs" />
+    <Compile Include="$(MSBuildThisFileDirectory)Copters\ICopterAttribute.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\PLObservableObject.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\FlightCommand.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\GpsFixType.cs" />
diff --git a/PlaneGcsSdk_Private_NET46/PlaneGcsSdk_Private_NET46.csproj b/PlaneGcsSdk_Private_NET46/PlaneGcsSdk_Private_NET46.csproj
index 0569a3e..78eddf5 100644
--- a/PlaneGcsSdk_Private_NET46/PlaneGcsSdk_Private_NET46.csproj
+++ b/PlaneGcsSdk_Private_NET46/PlaneGcsSdk_Private_NET46.csproj
@@ -31,6 +31,7 @@
     <DocumentationFile>bin\Release\PlaneGcsSdk_Private_NET46.xml</DocumentationFile>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="PresentationCore" />
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Xml.Linq" />
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
index 60bc87f..6928324 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
@@ -7,6 +7,7 @@ using System.Diagnostics;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Media;
 
 namespace Plane.CommunicationManagement
 {
@@ -267,8 +268,9 @@ namespace Plane.CommunicationManagement
 
         bool temp = false;
         //测试用 灯光间隔1S闪烁
-        public async Task TestLED(short id)
+        public async Task TestLED(short id, string colorString)
         {
+            
             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;;
@@ -276,9 +278,14 @@ namespace Plane.CommunicationManagement
             led.pattern = 0;
             led.custom_len = 4;
             led.custom_bytes = new byte[24];
-            led.custom_bytes[0] = 175;
-            led.custom_bytes[1] = 30;
-            led.custom_bytes[2] = 50;
+      
+            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);
diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
index 0c88891..ae5a138 100644
--- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
+++ b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
@@ -150,6 +150,8 @@ namespace Plane.Copters
 
         private byte[] _Retain = new byte[4];
 
+        private float _GroundAlt = 0;
+
         private CopterState _State;
 
         private string _StatusText;
@@ -619,6 +621,15 @@ namespace Plane.Copters
             get { return BitConverter.ToSingle(Retain,0); }
         }
 
+        public float GroundAlt
+        {
+            get { return _GroundAlt; }
+            set {
+                Set(nameof(GroundAlt), ref _GroundAlt, value);
+                RaisePropertyChanged(nameof(GroundAlt));
+            }
+        }
+
 
         public byte[] Retain
         {