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[feat] 增加广播通道发送关键指令

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详细描述

# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动
This commit is contained in:
xu 2024-06-30 11:15:19 +08:00
parent 361a8bf001
commit ffb95b2e7d
1 changed files with 43 additions and 10 deletions
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53
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
View File

@ -487,8 +487,14 @@ namespace Plane.CommunicationManagement
short copterId = 0;
byte[] batchPacket = null;
//部分开始任务
if (copters!=null)
GetCopterIds(copters, out copterId, out batchPacket);
if (copters != null)
GetCopterIds(copters, out copterId, out batchPacket);
else
{
//只有全部飞机才广播
if (Recomisopen)
await BroadcastSendAsync(packet);
}
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
}
@ -502,7 +508,10 @@ namespace Plane.CommunicationManagement
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, 0, 0, 0, 0, 0, 1, 0);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
}else
if (Recomisopen)
await BroadcastSendAsync(packet);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
@ -515,7 +524,10 @@ namespace Plane.CommunicationManagement
{
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0, 2, 0);
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
}else
if (Recomisopen)
await BroadcastSendAsync(packet);
}
else
Windows.Messages.Message.Show($"未开发完成！！");
}
@ -613,6 +625,8 @@ namespace Plane.CommunicationManagement
byte[] packet = DoLEDCommandAsync();
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
if (Recomisopen&&(copters == null))
await BroadcastSendAsync(packet);
});
}
else
@ -671,6 +685,8 @@ namespace Plane.CommunicationManagement
byte[] packet = SetParam2Async(paramname, value);
int packetNum = packet[2];
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
if (Recomisopen && (copters == null))
await BroadcastSendAsync(packet);
return packetNum;
}
else
@ -868,6 +884,8 @@ namespace Plane.CommunicationManagement
short copterId = 0;
byte[] batchPacket = null;
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
if (Recomisopen)
await BroadcastSendAsync(packet);
}
else
{
@ -916,6 +934,8 @@ namespace Plane.CommunicationManagement
byte[] packet = SetModeAsync(FlightMode.LAND);
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
if (Recomisopen&&(copters == null))
await BroadcastSendAsync(packet);
}
else
{
@ -950,6 +970,8 @@ namespace Plane.CommunicationManagement
byte[] data = packet1.Concat(packet2).ToArray();
await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
if (Recomisopen&&(copters == null))
await BroadcastSendAsync(data);
}
else
{
@ -1224,8 +1246,13 @@ namespace Plane.CommunicationManagement
/// <returns></returns>
public async Task BroadcastSendAsync(byte[] packet,bool reopensend = false)
{
bool sendok = false;
//并且没有最后打开的端口说明已经人为关闭了
if (last_reserialport == "")
{
return;
}
try
{
//防止阻塞，异步发送
@ -1240,6 +1267,7 @@ namespace Plane.CommunicationManagement
if (!sendok&& reopensend)
{
//再次打开串口
try
{
ReOpenRtcmserial();
@ -1248,8 +1276,9 @@ namespace Plane.CommunicationManagement
catch (Exception ex)
{
Windows.Messages.Message.Show("再次打开串口失败" + ex.Message);
ReOpenRtcmserial();
return;
}
//再次发送
if (Recomisopen)
{
try
@ -1440,7 +1469,7 @@ namespace Plane.CommunicationManagement
await Task.Delay(1);
}
string last_reserialport;
string last_reserialport="";
public void ReOpenRtcmserial()
{
CloseResendRtcmserial();
@ -1448,7 +1477,7 @@ namespace Plane.CommunicationManagement
}
public void CloseResendRtcmserial()
public void CloseResendRtcmserial(bool cleanport=false)
{
if (Recomisopen)
{
@ -1456,15 +1485,19 @@ namespace Plane.CommunicationManagement
RecomPort.Dispose();
}
Recomisopen = false;
//清除端口
if (cleanport)
last_reserialport="";
}
public string BoardPortStatusStr
{
get {
if (Recomisopen)
return "已打开"+ last_reserialport;
return "广播端口已打开";
else
return "端口未打开";
return "广播端口未打开";
}
}