[feat] 增加广播通道发送关键指令

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

PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs

@@ -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！！");
         }
 
@@ -540,6 +552,9 @@ namespace Plane.CommunicationManagement
 
                 byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
+                if (Recomisopen)
+                    await BroadcastSendAsync(data);
+
             }
             else
             {
@@ -610,6 +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
@@ -668,6 +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
@@ -865,6 +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
             {
@@ -913,6 +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
             {
@@ -947,6 +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
             {
@@ -1213,11 +1238,21 @@ namespace Plane.CommunicationManagement
         byte rtcm_tmpser = 0;  //用于通讯模块的
         byte rtcm_Broadser = 0;//用于广播的
 
-
-        public async Task BroadcastbackupGpsDataAsync(byte[] packet)
+        /// <summary>
+        /// 发送到广播端口
+        /// </summary>
+        /// <param name="packet">发送数据</param>
+        /// <param name="reopensend">发送失败是否要重新打开再发一次</param>
+        /// <returns></returns>
+        public async Task BroadcastSendAsync(byte[] packet,bool reopensend = false)
         {
-
-            bool sendok=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
@@ -1229,8 +1264,10 @@ namespace Plane.CommunicationManagement
             {
                 Windows.Messages.Message.Show("广播端口发送失败...");
             }
-            if (!sendok)
+
+            if (!sendok&& reopensend)
             {
+                //再次打开串口
                 try
                 {
                     ReOpenRtcmserial();
@@ -1239,10 +1276,29 @@ 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
+                    {
+                        await RecomPort.BaseStream.WriteAsync(packet, 0, packet.Length);
+                        //RecomPort.Write(packet, 0, packet.Length);
+                    }
+                    catch (Exception ex)
+                    {
+                        Windows.Messages.Message.Show("再次发送失败...");
+                    }
+                }
+
             }
         }
+
+        public async Task BroadcastbackupGpsDataAsync(byte[] packet)
+        {
+            await BroadcastSendAsync(packet,true);
+        }
  
         // get sum crc 计算数据校验和
         public byte checkrtrcmsum(byte[] data, ushort length)
@@ -1413,7 +1469,7 @@ namespace Plane.CommunicationManagement
             await Task.Delay(1);
         }
 
-        string last_reserialport;
+        string last_reserialport="";
         public void ReOpenRtcmserial()
         {
             CloseResendRtcmserial();
@@ -1421,7 +1477,7 @@ namespace Plane.CommunicationManagement
 
         }
 
-        public void CloseResendRtcmserial()
+        public void CloseResendRtcmserial(bool cleanport=false)
         {
             if (Recomisopen)
             {
@@ -1429,15 +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";
             }
             
         }
@@ -1453,8 +1513,7 @@ namespace Plane.CommunicationManagement
             RecomPort.StopBits = StopBits.One;
             RecomPort.DataBits = 8;
             RecomPort.Handshake = Handshake.None;
-            //改为异步更好一些
-            // RecomPort.WriteTimeout = 500; // 设置写入超时为500毫秒
+            RecomPort.WriteTimeout = 500; // 设置写入超时为500毫秒,防止Close时候卡死
 
 
             try