/// <summary>
/// 控制系统灯
/// </summary>
/// <param name="colo"></param>
/// <returns></returns>
public bool ControlSystemLED(string colo)
{
SerialResponse re = null;
if (colo.Equals("黄"))
{
re = Send(Commands.SystemLED, new List <byte>()
{
(byte)0
});
}
else if (colo.Equals("绿"))
{
re = Send(Commands.SystemLED, new List <byte>()
{
(byte)1
});
}
else if (colo.Equals("红"))
{
re = Send(Commands.SystemLED, new List <byte>()
{
(byte)2
});
}
return(re.UserDatas[0] == 0);
}
/// <summary>
/// 右灯
/// </summary>
/// <param name="status"></param>
/// <returns></returns>
public bool RightLamp(bool status)
{
SerialResponse re = Send(Commands.RightLamp, new List <byte>()
{
(byte)(status ? 1 : 0)
});
if (re == null)
{
return(false);
}
return(re.UserDatas[0] == 0);
}
/// <summary>
/// 获得电动爪B的位置
/// </summary>
/// <returns></returns>
public int GetElectricClampB()
{
try
{
SerialResponse re = Send(Commands.ElectricClampBLocation, new List <byte>()
{
});
int reDis = re.UserDatas[2] + re.UserDatas[1] * 256;
return(reDis);
}
catch (Exception e)
{
Log.error(e.Message);
return(0);
}
}
/// <summary>
/// 移动电动夹B
/// </summary>
/// <param name="distance"></param>
/// <returns></returns>
public bool MoveElectricClampB(int distance)
{
try
{
SerialResponse re = Send(Commands.ElectricClampB, splitIntToDoubleByte(distance));
if (re == null)
{
return(false);
}
return(re.UserDatas[0] == 0);
}
catch (Exception e)
{
Log.error(e.Message);
return(false);
}
}
/// <summary>
/// 控制速度
/// </summary>
/// <param name="sta"></param>
/// <returns></returns>
public bool ControlSpeed(string sta)
{
try
{
SerialResponse re = Send(Commands.Speed, new List <byte>()
{
(byte)(Convert.ToInt32(sta) - 1)
});
if (re == null)
{
return(false);
}
return(re.UserDatas[0] == 0);
}
catch (Exception e)
{
Log.error(e.Message);
return(false);
}
}
/// <summary>
/// 电动夹爪A归零
/// </summary>
/// <returns></returns>
public bool RefreshElectricClampA()
{
try
{
SerialResponse re = Send(Commands.ElectricClampAReset, new List <byte>()
{
(byte)1
});
if (re == null)
{
return(false);
}
return(re.UserDatas[0] == 0);
}
catch (Exception e)
{
Log.error(e.Message);
return(false);
}
}
/// <summary>
/// 发送数据
/// </summary>
/// <param name="command"></param>
/// <param name="datas"></param>
/// <returns></returns>
private SerialResponse Send(Commands command, List <byte> datas)
{
try
{
SerialRequest serialRequest = SerialControl.CreateRequest();
serialRequest.SetData((byte)command, datas);
SerialResponse response = SerialControl.Send(serialRequest);
if (response.SourceDatas == null || response.SourceDatas.Count() == 0)
{
Log.error("异常，未接收到任何数据");
throw new Exception("异常，为接收到任何数据!");
}
if (response.UserDatas[0] != 0x00)
{
Log.error(string.Format("操作命令异常 : 命令关键字 - {0}, 错误吗 - {1}, 实际接收的全部数据 - {2}"
, serialRequest.KeyWorld.ToString("x2"), response.UserDatas[0].ToString("x2"), response.SourceDatas.JoinToString(",", b =>
b.ToString("X2")
)));
throw new Exception(string.Format("操作命令异常 : 命令关键字 - {0}, 错误吗 - {1}, 实际接收的全部数据 - {2}"
, serialRequest.KeyWorld.ToString("x2"), response.UserDatas[0].ToString("x2"), response.SourceDatas.JoinToString(",", b =>
b.ToString("X2")
)));
}
else
{
Log.log("接受数据 : ", response.SourceDatas.JoinToString(",", b =>
b.ToString("X2")
));
return(response);
}
}
catch (Exception ex)
{
Log.error("发送数据问题：" + ex.Message);
return(null);
}
}
